Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
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CA 02390363 2002-07-22
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SPECIFICATION
Remote Radio Operating System, And Remote
Operating Apparatus, Mobile Relay Station And
Radio Mobile Working Machine
Technical Field
' - This invention relates t~o a remote radio control
system for remotely controlling a movable working machine
10. such as a hydraulic excavator, a bulldozer or a dump truck
by radio and relates further to a remote control apparatus ,
a movable repeater station and a radio movable working
machine for implementing the remote -radio control system.
15 Background Art
In recent years, research and development on
technology for remotely controlling a construction
machine such as a hydraulic excavator, a bulldozer ~or a - -
dump truck by radio have been performed energetically.
20 Particularly in a working site which is very dangerous
for a man to enter such as a site for restoration against
natural calamities, a site for construction of a dam, a.
quarry or an iron mill, it- i~s strongly expected to operate
an unmanned construction machine by radio from a remote
25 place so that various operations can be performed safely
and efficiently.. -
Here, in such a comparatively small scale working
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r
2
site that a control operator (operator) can control a
construction machine from a distance over which the
construction machine can be observed, since the.operator
can perform a controlling operation while always
observing an actual working condition of the construction
machine, the construction machine may be remotely
controlled in a so-called radio control (radio
controlling) fashion. However, where construction
machines must be controlled from a place from which the
construction machines cannot be observed over a very wide
range in working site such as a large scale site for
restoration against natural calamities, a function for
grasping actual working conditions of the construction-
machines is required.
Thus, it is a conventional countermeasure to mount,
on a construction machine, a television camera for imaging
a working condition of the construction machine in
addition to a radio communication apparatus and provide
an image imaged by the television camera to a remote
control room (operator) on the real time basis by radio
transmission so that remote control of the construction
machine can be performed in such a manner as in a case
wherein the construction machine can be observed or to
further mount a sound collecting microphone on the
construction machine to provide also operation sound of
the construction machine such as engine sound or
excavation sound to the working control room so that an
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actual working situation can be regenerated with fidelity
in the working control room at the remote place to achieve
improvement in efficiency of remote control.
Further, in such remote control technology as
described above, also it has been proposed that remote
controlling levers and buttons in the remote control room
are disposed in a similar manner to operation levers and
buttons in an actual cabin (operation control room) of
the construction machine so as to provide a structure
wherein operation environments in the remote control room
are simulated to those in the actual cabin so that the
operator can perform remote control of the construction
machine in a manner (virtual reality) nearer to an actual
operation feeling.
Furthermore, also a technique has been proposed
wherein,. in the remote control technique described above,
a repeater car (movable repeater station) which repeats
such various data such as an image, operation sound and --
operation control information to theconstruction machine
as described above sent thereto from the construction
machine is disposed between the remote control room and
the construction machine described above so that the
transmission distance of the various data mentioned above
may be increased to allow accurate remote control of the
construction machine also from a place spaced by a larger
distance.
However, with such a conventional remote radio
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control technique as described above, if an abnormal
condition or a failure occurs with a radio apparatus
mounted on the construction machine or the repeaterrcar
and disables radio communication with the construction
machine or the repeater car, then it becomes impossible
to control the construction machine or the repeater car
accurately, and consequently, not only is it impossible
to continue working, but also there is the possibility
of such a significant loss that the construction machine
or the repeater car cannot be recovered and cannot be
avoided must be left in a dangerous working site may occur.
Further, in a conventional technique, since a radio
apparatus is mounted on an ordinary construction machine
to allow remote radio control, an operator~must perform,
in a remote control room (particularly where it adopts
virtual reality), quite same operations as those
performed when the operator actually gets into the cabin
of the construction machine and controls the construction
machine must be performed. This is very advantageous to
a skilled person having much experience in getting into
and controlling the construction machine actually since
it is very easy to handle, but is not necessarily
advantageous to those who do not have much experience.
Particularly when a complicated work, a work for
which accuracy or precision is required or a like work
is to be performed, since more complicated and delicate
control operations are required, only a person skilled
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in controlling operations of the actual construction
machine can perform remote control of the construction
machine after all.
The present invention has been made in view of such
5 subjects as described above, and it is an object of the
present invention to make it possible to perform, even,
when communication with a construction machine or a
movable repeater station becomes impossible, such a
minimum required work as to retract the construction
machine or the repeater station to a safe place and to
make it possible for remote control of a construction
machine to be performed readily by any person other than
those skilled in controlling operations of an actual
construction machine.
Disclosure of Invention
To this end, a remote radio control system of the
present invention is characterized in that it comprises
a radio movable working machine capable of movably working
by radio control in a working site, a remote control
. apparatus for operating the radio movable working machine
by radio control, and a movable repeater station
interposed between the remote control apparatus and the
radio movable working machine for repeating a signal, that
first bidirectional communication means having a high
radio wave directionality and first automatic tracking
means are provided between the radio movable working
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machine and the movable repeater station, and that second
bidirectional communication means having a high radio
wave directionality, second automatictracking means, and
emergency spread spectrum bidirectional communication
means for enabling bidirectional communication between
the remote control apparatus and the movable repeater
station when communication by the second bidirectional
communication means is impossible are provided between
the remote control apparatus and the movable repeater
station.
Meanwhile, another remote radio control system of
the present invention is characterized in that it
comprises a radio movable working machine capable of
movably working by radio control in a working site, a
remote control apparatus for operating the radio movable
working machine by radio control , and a movable repeater
station interposed between the remote control apparatus
and the radio movable working machine for repeating a w
signal, that first bidirectional communication means
having a high radio wave directionality and first
automatic tracking means are provided between the radio
movable working machine and the movable repeater station,
that second bidirectional communication means having a
high radio wave directionality and second automatic
tracking means are provided between the remote control
apparatus and the movable repeater station, and that the
radio movable working machine includes a j oint type arm
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mechanism connected at one end portion thereof for pivotal
motion on a machine body and having a working member at
the other end side thereof, the join-t type arm mechanism
including at least one pair of arm members connected to
each other through a joint part, a cylinder type actuator
mechanism including a plurality of cylinder type
actuators which perform extension/contraction
operations to drive the arm mechanism, and a semiautomatic
control apparatus including angle detection means for
detecting a posture of the arm mechanism as angle
information, a reception section for receiving control
target value information transmitted from the remote
control apparatus through the movable repeater station,
and control means for controlling the cylinder type
actuators based on the control target value information
received by the reception section and the angle
information detected by the angle detection means so that
the,cylinder type actuators may exhibit predetermined --
extension/contraction displacements.
Here, in addition to the second bidirectional
communication means and the second automatic tracking
means, emergency spread spectrum bidirectional
communication means for enabling bidirectional
communication between the remote control apparatus and
the movable repeater station when communication by the
second bidirectional communication means is impossible
may be provided between the remote control apparatus and
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the movable repeater station.
The semiautomatic control apparatus described
above may include conversion means for converting the
angle information obtained by the angle detection means
into corresponding extension/contraction displacement
information of the cylinder type actuators, and the
control means described above may be constructed so as
to control the cylinder type actuators based on the
control target value information received by the
reception section and the extension/contraction
displacement information of the cylinder type actuators
obtained by the conversion by the conversion means so that
the cylinder type actuators may exhibit predetermined
extension/contraction displacements.
Further, in addition to the first bidirectional
communication means and the first automatic tracking
means, emergency low radio wave directionality
communication means having a radio wave directionality
lower than the radio wave directionality of the first
bidirectional communication means for enabling
communication of a control signal from the movable
repeater station to the radio movable working machine when
communication by the first bidirectional communication
means is impossible may be provided between the radio
movable working machine and the movable repeater station.
A plurality of sets of the first bidirectional
communication means and first automatic tracking means
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may be provided corresponding to a plural number of the
radio movable working machines, and also a plurality of
the emergency low radio wave directionality communication
means may be provided corresponding to a plural number
of the radio movable working machines.
It is to be noted that each of the first
bidirectional communication means and the second
bidirectional communication means preferably is simple
radio communication means of a giga hertz band (for
example, a several tens giga hertz band), and the
emergency spread spectrum bidirectional communication
means preferably is spread spectrum radio communication
means of a desired frequency band, and besides the
emergency low radio wave directionality communication
means preferably is radio communication means of a
megahertz band (for example, a several hundreds megahertz
band).
Further, the remote control apparatus may include
a camera apparatus for catching an image of the movable
repeater station when communication by the second
bidirectional communication means is impossible.
According to the present invention, a remote
control apparatus for operating a radio movable working
machine, which is capable of movably working in a working
site by radio control, by radio control through a movable
repeater station which repeats a signal, is characterized
in that it comprises a high radio wave directionality
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bidirectional transmission/reception section for
performing bidirectional communication having a high
radio wave directionality with the movable repeater
station, an automatic tracking apparatus for
5 automatically tracking a movement of the movable repeater
station, and an emergency spread spectrum bidirectional
transmission/reception section for enabling
bidirectional communication with the movable repeater
station when communication by the high radio wave
10 directionality bidirectional transmission/reception
section is impossible.
Further, according to the present invention, a
movable repeater station interposed between a radio
movable working machine, which is capable of movably
working in a working site by radio control, and a remote
control apparatus, which operates the radio movable
working machine by radio control, for repeating a signal,
is characterized in that it comprises a first high radio
wave directionality. bidirectional
transmission/reception section for performing
bidirectional communication having a high radio wave
directionality with the radio movable working machine,
a first automatic tracking apparatus for automatically
tracking a movement of the radio movable working machine,
a second-high radio wave directionality bidirectional
transmission/reception section for performing
bidirectional communication having a high radio wave
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directionality with the remote control apparatus, a
response section for responding to an automatic tracking
signal from a second automatic tracking apparatus
provided on the remote control apparatus, and an emergency
spread spectrum bidirectional transmission/reception
section for enabling bidirectional communication with the
remote control apparatus when communication by the second
high radio wave directionality bidirectional
transmission/reception section is impossible.
Here, the movable repeater station described above
may further comprise an emergency low radio wave
directionality transmission section having a radio wave
directionality lower than the radio wave directionality
of the first high radio wave directionality bidirectional
transmission/reception section for enabling
transmission of a control signal to the radio movable
working machine when communication by the first high radio
wave directionality bidirectional --
transmission/reception section is impossible.
Further, according to the present invention, a
radio movable working machine connected to a remote
control apparatus through a movable repeater station,
which repeats a signal, using bidirectionai radio
communication means as a communication medium in such a
manner that the radio movable working machine is capable
of movably working in a working site by radio control,
is characterized in that it comprises a high radio wave
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directionality bidirectional transmission/reception
section for performing bidirectional communication
having a high radio wave directionality with the movable
repeater station, a response section for responding to
an automatic tracking signal from an automatic tracking
apparatus provided on the movable repeater station, a
joint type arm mechanism connected at one end portion
thereof to a machine body and having a working member at
the other end side thereof , the j oint type arm mechanism
including at least one pair of arm members connected to
each other by a joint part, a cylinder type actuator
mechanism including a plurality of cylinder type
actuators which perform extension/contraction
operations to drive the arm mechanism, and a semiautomatic
control apparatus including angle detection means for
detecting a posture of the arm mechanism as angle
information, and control means for controlling the
cylinder type actuators based on control target value
information from the remote control apparatus received
by the high radio wave directionality bidirectional
transmission/reception section and the angle information
detected by the angle detection means so that the cylinder
type actuators may exhibit predetermined
extension/contraction displacements.
Here, the semiautomatic control apparatus may
include conversion means for converting the angle
information obtained by the angle detection means into
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corresponding extension/contraction information of the
cylinder type actuators, and the control means may be
constructed so as to control the cylinder type actuators
based on the control target value information received
by the high radio wave directionality bidirectional
transmission/reception section and the
extension/contraction displacement information of the
cylinder type actuators obtained by the conversion by the
conversion means so that the cylinder type actuators may
exhibit predetermined extension/contraction
displacements.
Further, the radio movable working machine may
further comprise an emergency low radio wave
directionality reception section having a radio wave
directionality lower than the radio wave directionality
of the high radio wave directionality bidirectional
transmission/reception section for enabling reception of
a control signal from the movable repeater station when
communication by the high radio wave directionality
bidirectional transmission/reception section is
impossible.
Meanwhile, a further remote radio control system
of the present invention is characterized in that it
comprises a radio movable working machine capable of
movably working in a working site by radio communication,
a remote control apparatus for operating the radio movable
working machine by radio communication,and bidirectional
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communication means, automatic tracking means and
emergency low radio wave directionality communication
means provided between the remote control apparatus and
the radio movable working machine, the bidirectional
communication means having a high radio wave
directionality, the emergency low radio wave
directionality communication means having a radio wave
directionality lower than the radio wave directionality
of the bidirectional communication means for enabling
communication of a control signal from the remote control
apparatus to the radio movable working machine when
communication by the bidirectional communication means
is impossible.
Further, a still further remote radio control
system of the present invention is characterized in that
it comprises a radio movable working machine capable of
movably working in a working site by radio communication,
and a remote control apparatus for operating the radio
movable working machine by radio communication, that
bidirectional communication means having a high radio
. wave directionality and automatic tracking means are
provided between the remote control apparatus and the
radio movable working machine, and that the radio movable
working machine includes a joint type arm mechanism
connected at one end portion thereof for pivotal motion
on a machine body and having a working member at the other
end side thereof, the joint type arm mechanism including
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at least one pair of arm members connected to each other
through a j oint part , a cylinder type actuator mechanism
including a plurality of cylinder type actuators which
perform extension/contraction operationsto drive the arm
5 mechanism, and a semiautomatic control apparatus
including angle detection means for detecting a posture
of the arm mechanism as angle information, a reception
section for receiving control target value information
transmitted from the remote control apparatus, and
10 control meansfor controlling the cylinder type actuators
based on the control target value information received
by the reception section and the angle information
detected by the angle detection means so that the cylinder
type actuators may exhibit predetermined
15 extension/contraction displacements.
Here, in addition to the bidirectional
communication means and the automatic tracking means,
emergency low radio wave directionality communication --
means~having a radio wave directionality lower than the
radio wave directionality of the bidirectional
. communication means for enabling communication of a
control signal from the remote control apparatus to the
radio movable working machine when communication by the
bidirectional communication means is impossible may be
provided between the remote control apparatus and the
radio movable working machine.
The semiautomatic control apparatus may include
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conversion means for converting the angle information
obtained by the angle detection means into corresponding
extension/contraction displacement information of the
cylinder type actuators, and the control means may be
constructed so as to control the cylinder type actuators
based on the control target value information received
by the reception section and the extension/contraction
displacement information of the cylinder type actuators
obtained by the conversion by the conversion means so that
the cylinder type actuators may exhibit predetermined
extension/contraction displacements.
Further, a plurality of sets of the bidirectional
communication means and automatic tracking means may be
provided corresponding to a plural number of the radio
movable working machines, and also a plurality of the
emergency low radio wave directionality communication
means may be provided corresponding to a plural number
of the radio movable working machines. --
The bidirectional communication means preferably
is simple radio communication means of a giga hertz band
. (for example, a several tens giga hertz band), and the
emergency low radio wave directionality communication
means preferably is radio communication means of a
megahertz band (for example, a several hundreds megahertz
band).
The remote control apparatus may include a camera
apparatus for catching an image of the radio movable
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working machine when communication by the bidirectional
communication means is impossible.
Meanwhile, according to the present invention, a
remote control apparatus for operating a radio movable
6 working machine, which is capable of movably working in
a working site by radio control, by radio control, is
characterized in that it comprises a high radio wave
directionality bidirectional transmission/reception
section for performing bidirectional communication
having a high radio wave directionality with the radio
movable working machine, an automatic tracking apparatus
for automatically tracking a movement of the radio movable
working machine, and an emergency low radio wave
directionality transmission section having a radio wave
directionality lower than the radio wave directionality
of the high radio wave directionality bidirectional
transmission/reception section for enabling
transmission of a control signal to the radio movable --
working machine when communication by the high radio wave
directionality bidirectional transmission/reception
section is impossible.
Further, according to the present invention, a
radio movable working machine connected to a remote
control apparatus using bidirectional radio
communication means as a communication medium in such a
manner that the radio movable working machine is capable
of movably working in a working site by radio control,
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is characterized in that it comprises a high radio wave
directionality bidirectional transmission/reception
section for performing bidirecti.onal communication
having a high radio wave directionality with the remote
control apparatus, a response section for responding to
an automatic tracking signal from an automatic tracking
apparatus provided on the remote control apparatus, a
joint type arm mechanism connected at one end portion
thereof to a machine body and having a working member at
the other end side thereof , the j oint type arm mechanism
including at least one pair of arm members connected to
each other by a j oint part , a cylinder type actuator
mechanism including a plurality of cylinder type
actuators which perform extension/contraction
operations to drive the arm mechanism, and a semiautomatic
control apparatus including angle detection means for
detecting a posture of the arm mechanism as angle
information, and control means for controlling the --
cylinder type actuators based on control target value
information from the remote control apparatus received
. by the high radio wave directionality bidirectional
transmission/reception section and the angle information
detected by the angle detection means so that the cylinder
type actuators may exhibit predetermined
extension/contraction displacements.
Here, the semiautomatic control apparatus may
include conversion means for converting the angle
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information obtained by the angle detection means into
corresponding extension/contraction information of the
cylinder type actuators, and the control means may be
constructed so as to control the cylinder type actuators
based on the control target value information received
by the high radio wave directionality bidirectional
transmission/reception section and the
extension/contraction displacement information of the
cylinder type actuators obtained by the conversion by the
conversion means so that the cylinder type actuators may
exhibit predetermined ez,tension/contraction
displacements.
Further, the radio movable working machine may
further comprise emergency low radio wave directionality
reception section having a radio wave directionality
lower than the radio wave directionality of the high radio
wave directionality bidirectional
transmission/reception section for enabling reception of
a control signal from the remote control apparatus when
communication in which the high radio wave directionality
bidirectional transmission/reception section is used is
impossible.
Accordingly, according to the present invention,
even if bidirectional communication between the remote
control apparatus and the movable repeater station
(hereinafter referred to simply as "repeater station")
is disabled by some trouble, since bidirectional
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communication between the remote control apparatus and
the movable repeater station is enabled by the emergency
spread spectrum bidirectional communication means, even
upon emergency, it is possible to cause the radio movable
5 working machine- (hereinafter referred to simply as
"working machine") to continue its working or to retract
or recover the working machine to a safe place and the
working efficiency in the working site can be improved
significantly.
10 Further, even if bidirectional communication between
the repeater station and the working machine is disabled,
since at least a construction machine control signal can be
transmitted to the working machine by the emergency low
radio wave directionality communication means, at least it
15 is possible to retract or recover the working machine to a
safe place, to certainly prevent a serious loss of leaving the
working machine in a dangerous working site where a
person cannot enter. -
20 Furthermore, where a radio wave of a high radio wave
directionality (simple radio means of a giga hertz band)
is used between the remote control apparatus and the
repeater station and between the repeater station and the
working machine, very long distance communication is
enabled for both of the remote control apparatus-repeater
station. and the repeater station-working machine.
Consequently, even in such a working site that a dangerous
CA 02390363 2002-07-22
i'
v
21
zone which a person cannot enter extends over a wide range,
the operator can control the working machine to perform
work safely and with certainty.
Further, where the automatic tracking means
described above is provided, even if the repeater station
or the working machine moves, since stabilized
communication can always be performed although a radio
wave of a high directionality is used between the remote
control apparatus and~the repeater station and between
the repeater station and the working machine, this
contributes very much to improvement in reliability of
the entire system.
Furthermore, where a plurality of sets of the
bidirectional communication means and automatic tracking
means are provided corresponding to the number of the
working machines as described above, bidirectional
communication with the individual working machines can
be performed independently for each of the working
machines, and consequently, the working machines can be
controlled to perform works different from one another
and the working efficiency can be further improved
significantly to shorten the working period:
Further, where a plurality of the emergency low
radio wave directionality communication means are
provided corresponding to a plural number of the working
machines, even if bidirectional communication between the
repeater station and the working machines becomes
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impossible, since the working machines can be remotely
controlled independently of one another, even upon
emergency, all of the working machines in the working site
can be retracted or. recovered to a safe place with
certainty.
Furthermore, where the semiautomatic control
apparatus is provided on the working machine as described
above, when the working machine is to be remotely
controlled from the remote control apparatus, if a
semiautomatic control mode is set from the remote control
apparatus, then a desired work can be performed by the
working machine efficiently with a high degree of accuracy .
Accordingly, any other person than those skilled in an
actual controlling operation of the working machine can
I5 perform remote control of the working machine very easily.
Particularly where the working machine is remotely
controlled while a two-dimensional image is observed, the
burden of the controlling operation to the operator can
be reduced significantly, and consequently, significant
improvement in productivity can be achieved.
Brief Description of the Drawings
FIG. 1 is a view schematically showing a
construction of a remote radio control system as a first
embodiment of the present invention;
FIG. 2 is a view schematically showing a hydraulic
excavator according to the first embodiment;
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23
FIGS. 3(a) and 3(b) are side elevational views
showing an example of a 50 GHz simple radio unit in the
first embodiment;
FIG. 4 is a block diagram schematically showing a
construction of an automatic tracking apparatus in the
first embodiment;
FIG. 5 is a view schematically showing a
construction of a repeater car in the first embodiment;
FIG. 6 is a view schematically showing a
construction of a remote control apparatus in. the first
embodiment;
FIG. 7 is a perspective view showing an example of
an appearance where the remote control apparatus in the
first embodiment is viewed from obliquely forwardly;
FIG. 8 is a perspective view showing an example of
an appearance where the remote control apparatus in the
first embodiment is viewed from obliquely rearwardly;
FIG. 9 is a functional block diagram of the remote -
radio control system composed of construction machines,
remote control apparatus and a repeater car in the first
embodiment;
FIG. 10 is a schematic view showing a construction
of a hydraulic excavator on which a control apparatus
according to the first embodiment is mounted;
FIG. 11 is a view roughly showing a construction
(an electric signal circuit and a hydraulic circuit) of
the entire control apparatus according to the first
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CA 02390363 2002-07-22
24
embodiment;
FIG. 12 is a block diagram roughly showing the
construction of the entire control apparatus according
to the first embodiment;
6 FIG. 13 is a block diagram showing a functional
construction of the entire control apparatus according
to the first embodiment;
FIG. 14 is a control block diagram showing a
construction of essential part of the control apparatus
according to the first embodiment;
FIG. 15 is a side elevational view showing operating
parts (a joint type arm mechanism and a bucket) of the
hydraulic excavator according to the first embodiment;
FIG. 16 is a side elevational view schematically
showing the hydraulic excavator according to the first
embodiment for explaining operation of the hydraulic
excavator;
FIG. 1? is a side elevational view schematically --
showing the hydraulic excavator according to the first
embodiment for explaining operation of the hydraulic
excavator;
FIG. 18 is a side elevational view schematically
showing the hydraulic excavator according to the first
embodiment for explaining operation of the hydraulic
excavator;
FIG. 19 is a side elevational view schematically
showing the hydraulic excavator according to the first
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CA 02390363 2002-07-22
embodiment for explaining operation of the hydraulic
excavator;
FIG. 20 is a perspective view schematically showing
the hydraulic excavator according to the first embodiment
5 for explaining operation of the hydraulic excavator;
FIG. 21 is a perspective view schematically showing
the hydraulic excavator according to the first embodiment
for explaining operation of the hydraulic excavator;
FIG. 22 is a view schematically showing a
10 construction of a remote radio control system as a second
embodiment of the present invention;
FIG. 23 is a view schematically showing a
construction of a remote control apparatus in the second
embodiment; and
15 FIG. 24 is a functional block diagram of the remote
radio control system composed of construction machines
and remote control apparatus in the second embodiment.
Best Mode for Carrying out the Invention
20 (A) Description of the First Embodiment
(A1 ) Description of the Construction of the Entire
Remote Radio Control System
FIG. 1 is a view schematically showing a
construction of a remote radio control system as a first
25 embodiment of the present invention. As shown in FIG. 1,
the remote radio control system (which may sometimes be
referred to simply as "system") of the present embodiment
f~ f . ~ ~~.~1 ~; d A1 f ~i s,
CA 02390363 2002-07-22
26
includes various unmanned construction machines (radio
movable working machines) such as hydraulic excavators
1, bulldozers 2 and a wheel loader 3 which can movably
work in a working site 4 by radio control, and remote
control apparatus (fixed station) 6A fixedly installed
in a site office 5 or the like for remotely controlling
the construction machines 1 to 3 by radio.
However, in the present embodiment, a repeater car
(movable repeater station) 7 for repeating radio signals
(construction machine control signals for remotely
controlling the construction machines 1 to 3, images
imaged by the construction machines 1 to 3 side and so
forth) to be communicated between the unmanned
construction machines (hereinafter referred to simply as
"construction machine") 1 to 3 and the remote control
apparatus 6A and supervising the entire working site 4
is disposed (interposed) between the working site 4 and
the site office 5, and the construction machines 1 to 3
are remotely controlled from the remote control apparatus
6A of the site office 5 through the repeater car 7.
It is to be noted that , in the present embodiment ,
a number of (5) such remote control apparatus 6A equal
to the number of the construction machines 1 to 3 which
are objects of control are provided such that they can
control the hydraulic excavators 1 to 3 of the objects
of remote control, which they individually take charge
of, in a one-by-one relationship.
CA 02390363 2002-07-22
27
In the following, constructions of the construction
machines 1 to 3, remote control apparatus 6A and repeater
car 7 which compose the present system are described in
detail . It is to be noted, however, that , in the following
description, a case wherein the present system is used
in the territory of Japan is presumed, and the description
proceeds on the assumption that frequencies of radio waves
which can be used for remote control conform to the Radio
Law of Japan.
FIG. 2 is a view schematically showing a
construction of the hydraulic excavators 1 according to
the present embodiment . As shown in FIG. 2, the hydraulic
excavator 1 according to the present embodiment includes ,
on a lower traveling unit 500 which has caterpillar
members 500A on the left and right thereof with respect
to an advancing direction, an upper revolving unit
(construction machine body) 100 with a cabin (originally
an operator cab in which an operator sits to perform
controlling operation) 600 for revolving movement in a
horizontal plane.
A boom (arm member) 200 having one end connected
for swingable motion is provided on the upper revolving
unit 100, and a stick (arm member) 300 connected at one
end thereof for swingable motion by a joint part is
provided on the boom 200.
Further, a bucket (working member) 400 which is
connected at one end thereof for swingable motion by a
~r I~., ~~~.d II I' . j1 I ~I i.
CA 02390363 2002-07-22
28
j oint part and can excavate the ground with a tip thereof
and accommodate earth and sand therein is provided on the
stick 300.
In this manner, a joint type arm mechanism which
is mounted at one end portion thereof for swingable motion
on the upper revolving unit 100 and has the bucket 400
on the other end side thereof and further has at least
the boom 200 and stick 300 as a pair of arm members
connected to each other by the j oint part is composed of
the boom 200 and stick 300.
Further, a boom hydraulic cylinder 120, a stick
hydraulic cylinder 121 and a bucket hydraulic cylinder
122 (in the following description, the boom hydraulic
cylinder 120 may be referred to ,as boom cylinder 120 or
simply as cylinder 120, the stick hydraulic cylinder 121
may be referred to as stick cylinder 121 or simply as
cylinder 121, and the bucket hydraulic cylinder 122 may
be referred to as bucket cylinder 122 or simply as cylinder -
122) as cylinder type actuators are provided.
Here, the boom cylinder 120 is connected at one end
thereof for swingable motion to the upper revolving unit
100 and is connected at the other end thereof for swingable
motion to the boom 200. In other words, the boom cylinder
120 is interposed between the upper revolving unit 100
and the boom 200, such that, as the distance between the
opposite end portions is ezpanded ox contracted, the boom
200 can be pivoted with respect to the upper revolving
m. I; I I II I ~I' I VI I ~
CA 02390363 2002-07-22
29
unit 100.
The stick cylinder 121 is connected at one end
thereof for swingable motion to the boom 200 and connected
at the other end thereof for swingable motion to the stick
300 . In other words, the stick cylinder 121 is interposed
between the boom 200 and the stick 300, such that, as the
distance between the opposite end portions is expanded
or contracted, the stick 300 can be pivoted with respect
to the boom 200.
The bucket cylinder 122 is connected at one end
thereof for swingable motion to the stick 300 and
connected at the other end thereof for swingable motion
to the bucket 400. In other words, the bucket cylinder
122 is interposed between the stick 300 and the bucket
400, such that, as the distance between the opposite end
portions thereof is expanded or contracted, the bucket
400 can be pivoted with respect to the stick 300. It is
to be noted that a linkage 130 is provided at a free end
portion of the bucket hydraulic cylinder 122.
In this manner, a cylinder type actuator mechanism
having a plurality of cylinder type actuators for driving
the arm mechanism by performing extending and contracting
operations is composed of the cylinders 120 to 122
described above.
It is to be noted that, though not shown in the figure,
also hydraulic motors for driving the left and right
caterpillar members 500A and a revolving motor for driving
~.. , ~ ~. I1.4 : ~i I ~I - I'
CA 02390363 2002-07-22
the upper revolving unit 100 to revolve are provided.
Further, as shown in FIG. 2, in the hydraulic
excavators 1 according to the present embodiment, a
control apparatus 30 for controlling the cylinders 120
5 to 122, the hydraulic motors and the revolving motor
described above to control the operation (posture) of the
hydraulic excavator 1 is provided in the upper revolving
unit 100, and a 50 giga hertz (GHz) simple radio unit 31
with a universal head (automatic tracking apparatus) 32
10 is placed on the upper revolving unit 100. Besides, a
429 MHz reception antenna 33, a GPS (Global Positioning
System) reception antenna 34 and revolving lights (patrol
lights) 35 are placed on the top face of the cabin 600,
and a television camera 36 with a universal head 37, fixed
15 television cameras 38, a microphone 39 and a light 40 with
a universal head 41 are mounted on a front face of the
cabin 600.
Here, the television cameras 36 and 38 image a w
working condition of the hydraulic excavator 1, and images
20 (image information) imaged by the cameras 36 and 38 are
transmitted from the 50 giga hertz simple radio unit
(which may sometimes be referred to simply as "simple
radio unit" or as 50 GHz antenna) 31 to the corresponding
remote control apparatus 6A via the repeater car 7 and
25 displayed on a display unit 67 (which will be hereinafter
described with reference to FTG. 6) of the remote control
apparatus 6A.
.. i I. i II '~ .I', I ~I " I
CA 02390363 2002-07-22
31
However, the camera 36 described above is mounted
on the cabin 600 for revolving motion in a horizontal plane
[azimuth (revolving) system] and for swinging motion in
a vertical plane (elevation angle system) by the universal
head 37, and the universal head 37 is controlled based
on a camera control signal received from the remote
control apparatus 6A by the 50 giga hertz simple radio
unit 31 through the repeater car 7 so that the imaging
direction can be suitably varied from the remote control
apparatus 6A. The cameras 38 are fixed to the cabin 600
and always image fixed places (principally a working
situation by the bucket 400).
The microphone 39 collects sound such as operation
sound and working sound of the hydraulic excavator 1, and
also sound information collected by the microphone 39 is
transmitted from the 50 giga hertz simple radio unit 31
to the remote control apparatus 6A through the repeater
car 7 and outputted from a speaker 68 (which will be --
hereinafter described with reference to FIG. 6) of the
remote control apparatus 6A. Further, the light
(illumination apparatus) 40 illuminates the front face
of the hydraulic excavators 1 (imaging ranges of the
cameras 36 and 38) so that working by remote control can
be performed smoothly even in a site wherein the range
of vision is narrow or at night.
It is to be noted that also this light 40 is mounted
on the cabin 600 for revolving movement in the azimuth
Ni ~~ =~. ~~~~~~~ i ~~I ~ ' 1I -- Y~I
CA 02390363 2002-07-22
32
system/swinging movement in the elevation angle system
by the universal head 41, and the universal head 41 is
controlled based on a light control signal received from
the remote control apparatus 6A by the 50 gigs hertz simple
radio unit 31 through the repeater car 7 so that the
illumination direction of it can be suitably varied from
the remote control apparatus 6A.
Further, the 50 gigs hertz simple radio unit (high
radio wave directionality bidirectional
transmission/receptionsection)3lisprovided to perform
very long distance (longer than 1 km) bidirectional
communication with the repeater car 7 using a radio wave
of a 50 GHz band having a high radio wave directionality,
and receives a control signal (construction machine
control signal: including control target value
information for "semiautomatic control" which will be
hereinafter described) to the hydraulic excavator 1 sent
thereto from the remote control apparatus 6A through the - -
repeater car 7. On the other hand, images (image
information) imaged by the television cameras 36 and 38,
sound information such as operation sound and working
sound of the hydraulic excavator 1 collected by the
microphone 39, vehicle monitor information (for example,
an engine rotational speed, a discharge of a hydraulic
pump, an operating oil temperature, and a cooling oil
temperature), and so forth are transmitted from the 50
gigs hertz simple radio unit 31 to the remote control
~.. ~ u.~u~~, ~ ~i i . ~ ~ i E
CA 02390363 2002-07-22
33
apparatus 6A through the repeater car 7.
However, the 50 GHz simple radio unit 31 used in
the present embodiment has one channel for a video line
and two channels for an audio line, and images imaged by
the television cameras 36 and 38 are transmitted using
the image line whereas sound collected by the microphone
39 is transmitted using one of the two channels of the
audio line to the remote control apparatus 6A side through
the repeater car 7 whereas a construction machine control
signal is received using the remaining one channel of the
audio line.
In short, this 50 GHz simple radio unit 31 forms,
together with a 50 GHz simple radio unit 71 (72 to 75:
hereinafter described with reference to FIG. 5) mounted
on the repeater car 7, first bidirectional communication
means having a high radio wave directionality of the 50
GHz band between the corresponding one of the construction
machines 1 to 3 and the repeater car 7.
It is -to be noted that the reason why a radio wave
of the 50 GHz band in this manner is used is that the
frequencies of radio waves which can be used for remote
radio control for approximately 1 km. in the territory of
Japan are limited to the 50 GHz band and a 2.4 GHz band,
which will be hereinafter described, and with radio waves
of the 2.4 GHz band of the two bands, transmission of an
image (image information) is impossible.
Then, the 50 GHz simple radio unit 31 of the present
CA 02390363 2002-07-22
34
embodiment is mounted for revolving motion over 360
degrees in the azimuth system and for swinging motion
within a range from approximately -20 degrees to
approximately +70 degrees in the elevation angle system
with reference to a reference horizontal plane set to 0
degree on the construction machine body 100 by the
automatic tracking apparatus 32 and is automatically
adjusted so that a radio wave radiation face thereof may
oppose a radio wave radiation face of the 50 GHz simple
radio unit 71 (or one of 72 to 75: hereinafter described
with reference to FIG. 5) mounted on the repeater car 7
in order that, although it uses a radio wave of 50 GHz
having a very high directionality, stabilized
communication may always be performed with the repeater
car 7.
To this end, the automatic tracking apparatus 32
described above includes, in the present embodiment, for
example, as shown in FIG. 4, an inertia sensor (gyro) 321 ~ -
of the azimuth (revolving) system, an inertia sensor
(gyro) 322 of the elevation angle system, a controller
323, a driver 324 and a stepping motor 325 for the
revolving system, and a driver 326 and a stepping motor
327 for the elevation angle system.
Here, the gyro 321 is provided to detect a direction
(azimuth angle) of the hydraulic excavator 1; the gyro
322 is provided to detect an inclination angle of the
hydraulic excavator 1; and the controller 323 is provided
CA 02390363 2002-07-22
to determine, by calculation based on an azimuth angle
and an inclination angle detected by the gyros 321 and
322 and a signal (radio wave) reception level by the 50
GHz simple radio unit 31, an orientation (an azimuth angle
5 and an elevation angle) of the antenna at which the signal
reception level by the 50 GHz antenna 31 exhibits its
maximum.
It is to be noted that , a result- of the calculation
by the controller 323 can be transmitted suitably as
10 vehicle monitor information to the remote control
apparatus 6A, and the orientation (azimuth/elevation
angles) at present of the 50 GHz antenna 31 can be
displayed on the display unit 67 of the remote control
apparatus 6A.
15 The driver 324 drives the stepping motor 325 for
the revolving system in response to an azimuth angle
obtained by the controller 323 to revolve the 50 GHz
antenna 31 by the azimuth angle described above, and the
driver 326 drives the stepping motor 327 for the elevation
20 angle system in response to an elevation angle obtained
by the controller 323 to swing the 50 GHz antenna 31 by
the elevation angle described above similarly.
In short, the automatic tracking apparatus 32
functions as a response section which searches a radio
25 wave of the 50 GHz band transmitted from the 50 GHz antenna
71 (or one of 72 to 75) on the repeater car 7 side so that
the signal reception level by the 50 GHz antenna 31 may
~~ l., I.I~:N;;G ~ rll I II ~ i
CA 02390363 2002-07-22
36
always be in the maximum (responses to an automatic
tracking signal) to automatically track the radio wave
radiation face of the 50 GHz antenna 71 (72 to 75) mounted
on the repeater car 7. Consequently, even if the relative
position to the repeater car 7 varies, communication with
the repeater car 7 can always be performed stably.
It is to be noted that , if an intercepting body comes
between the hydraulic excavator 1 to 3 and the repeater
car 7 and a 50 GHz radio wave from the repeater car 7 is
intercepted temporarily by the intercepting body, the
automatic tracking apparatus 32 first keeps the
orientation of the 50 GHz antenna 31 then for a fixed
period of time together with an automatic tracking
apparatus 71A ( 72A to 75A) of the repeater car 7 side which
will be hereinafter described and then automatically
searches a radio wave from the 50 GHz antenna 71 (?2 to
80) of the repeater car 7 side to restore communication
with the repeater car 7.
Further, if an antenna control signal from the
remote control apparatus 6A is received by the 429 MHz
. reception antenna 33 which will be hereinafter described,
the drivers 324 and 326 of the automatic tracking
apparatus 32 are driven in response to the antenna control
signal by the controller 323 ( in short , the orientation
of the simple radio unit 31 can be adjusted manually from
the remote control apparatus 6A side).
In particular, the automatic tracking apparatus 32
n al,~~..W ~ , ~i I ~I . i
CA 02390363 2002-07-22
37
described above forms, together with the automatic
tracking apparatus 71A (72A to 75A: hereinafter described
with reference to FIG. 5) of the 50 GHz simple radio unit
71 (72 to 75) mounted on the repeater car 7, first
automatic tracking meansbetween the construction machine
1 to 3 and the repeater car 7, and in the present embodiment,
five sets of such first bidirectional communication means
and first automatic tracking means as described above are
provided corresponding to the plural number of
construction machines 1 to 3 (five machines).
It is to be noted that the reason why five sets of
such first bidirectional communication meansas described
above are provided is that the number of the construction
machines 1 to 3 which can be remotely controlled using
radio waves of the 50 GHz band in the same working site
4 in the present situation is five in the maximum.
Accordingly, if no restriction by the Radio Law of Japan
is applicable and radio waves of some other band than the
50 GHz band can be used, then depending upon the frequency
band of radio waves, the nwnber of the first (high radio
wave directionality) bidirectional communication means
described above can be increased to increase the number
of the construction machines 1 to 3 which can be remotely
controlled by radio in the same working site 4.
The 429 MHz reception antenna (emergency low radio
wave directionality reception section)33 described above
is provided to receive, in normal operation, an antenna
'~I ; .II,~~3l~I,I ~ ill I - EI ~ I
CA 02390363 2002-07-22
38
control signal mentioned hereinabove from the repeater
car ?, but enable, upon emergency such as when
communication by the 50 GHz simple radio unit 31 is
interrupted, reception of a construction machine control
signal sent thereto from the remote control apparatus 6A
through the repeater car 7 ~by a radio wave of the 429 MHz
band (radio wave whose distance over which communication
is possible is approximately 100 m in diameter: called
particular power saving radio wave in Japan).
In short, the 429 MHz reception antenna 33 functions
as an emergency reception antenna when main communication
of the 50 GHz with the repeater car 7 is disabled, and
even if communication of the 50 GHz band described above
is interrupted, if the distance to the repeater car 7 is
approximately within 100 m, it allows a construction
machine control signal described above to be received by
the construction machine 1 to 3 to make it possible to
perform, from the remote control apparatus 6A side, such
minimum required operation control as to recover the
construction machine 1 to 3 into the site office 5 or
retract it to a safe place.
In particular, the 429 MHz reception antenna 33
forms, together with a 429 MHz transmission antenna 82
(hereinafter described with reference to FIG. 5) mounted
on the repeater car 7, emergency low radio wave
directionality communication means having a radio wave
directionally lower than the radio wave directionality
j" n ~~ ,~ r f . 1l ~ I~ i
CA 02390363 2002-07-22
39
of the first (high radio wave directionality)
bidirectional communication means described above far
enabling, when communication by the bidirectional
communication means is impossible, communication of a
construction machine control signal from the repeater car
7 to the construction machine 1 to 3, and upon emergency,
communication with the repeater car 7 can be performed
simply and conveniently even if the other party of
communication is automatically tracked like that with a
10~ radio wave of the 50 GHz band.
It is to be noted that the 429 MHz reception antenna
33 described above here has a diversity construction as
shown in FIG. 2 such that a reception signal of that one
of antennae which exhibits a higher reception sensitivity
-(signal quality) is adopted and, based on the adopted
reception signal, control of the 50 GHz simple radio unit
31 (universal head 32) , operation control of the hydraulic
excavator 1 upon emergency and so forth are individually
performed accurately.
The GPS reception antenna 34 is provided to receive
a signal (which may sometimes be hereinafter referred to
as satellite signal) from an artificial satellite (not
shown) to report a current position of the self apparatus
(hydraulic excavator 1) to the remote control apparatus
6A through the repeater car 7, and, on the remote control
apparatus 6A side, the movement (current position) of the
hydraulic excavator 1 can be managed on the real time basis
m '. ~i d~~ 1l ~~ - II I ii i
CA 02390363 2002-07-22
based on the current position information reported from
the hydraulic excavator 1.
The patrol lights 35 are provided to report to the
outside by lighting/blinking/rotation of lamps that the
5 hydraulic excavator 1 is operating, that an abnormal
condition has occurred with the hydraulic excavator 1 (an
alarm), or the like.
The control apparatus (semiautomatic control
apparatus) 30 described above~controls the universal head
10 32/36 based on a signal from the remote control apparatus
6A received as a radio wave of the 50 GHz band by the 50
GHz simple radio unit 31 to suitably control the
orientation of the simple radio unit 31/television camera
36 and control the cylinders 120 to 122, hydraulic motors,
15 revolving motor and so forth described above to control
the operation (posture) of the hydraulic excavator 1 so
that the hydraulic excavator 1 may perform a desired
operation. In the present embodiment, such w
semiautomatic control as hereinafter described is
20 performed by a controller (control means) 30B.
However, if communication with the repeater car 7
using a radio wave of the 50 GHz is disabled by some
abnormal condition, then since radio communication of the
429 MHz band is performed with the repeater car 7 through
25 the emergency reception antenna 33 if the distance to the
repeater car 7 is within 100 m as described above, the
control apparatus 30 controls operation of the hydraulic
CA 02390363 2002-07-22
41
excavator 1 based on a construction machine control signal
received by the emergency reception antenna 33.
Consequently, upon emergency, it is possible to recover
the hydraulic excavator 1 into the site office 5 or retract
it to a safe place.
It is to be noted that, while the construction of
the hydraulic excavators 1 is described hereinabove as
a construction of a representative one of the construction
machines 1 to 3, it is assumed that also the bulldozers
2 and the wheel loader 3 have a function for remote radio
control similar to that of the hydraulic excavators 1
described above.
FIG. 5 is a view schematically showing a
construction of the repeater car 7 described above, and
as shown in FIG. 5, the repeater car 7 of the present
embodiment is constructed making use of a vehicle of a
type same as that of the hydraulic excavators 1 described
above and is constructed such that an upper revolving unit - -
100' is mounted for revolving movement within a horizontal
plane on a lower traveling unit 500' which has caterpillar
members 500A' on the left and right thereof with respect
to an advancing direction
An extendible/contractable boom 200' which has one
end connected for swingable motion is provided on the
upper revolving unit 100', and further, a platform
(repeater base) 70 which can be revolved relative to the
boom 200' around an axis (junction) 201' by a support
I~~ '~ ~~~ ~i ~i i~,, i~i
CA 02390363 2002-07-22
42
mechanism 202' is provided on the boom 200'.
Further, a boom hydraulic cylinder 120' and a
support mechanism hydraulic cylinder 203' (the boom
hydraulic cylinder 120' may be hereinafter referred to
as boom cylinder 120' or simply as cylinder 120' , and the
support mechanism hydraulic cylinder 203' may be
hereinafter referred to as support mechanism cylinder
203' or simply as cylinder 203' ) are provided on the
repeater car 7.
Here, the boom cylinder 120' is connected at one
end thereof for swingable motion to the upper revolving
unit 100' and is connected at the other end thereof for
swingable motion to the boom 200'. In other words, the
boom cylinder 120' is interposed between the upper
revolving unit 100' and the boom 200' , such that , as the
distance between the opposite end portions is expanded
or contracted, the boom 200' can be pivoted within a
vertical plane with respect to the upper revolving unit '
loo'.
The support mechanism hydraulic cylinder 203' is
connected at one end thereof for swingable motion to the
boom 200' and is connected at the other end thereof for
swingable motion to the support mechanism 202' . In other
words, the support mechanism hydraulic cylinder_203' is
interposed between the boom 200' and the support mechanism
202' , such that, as the distance between the opposite end
portions is expanded or contracted, the platform ?0 can
m I I~ I :lei l a III I ~I ~ _ I _ _
CA 02390363 2002-07-22
43
be pivoted with respect to the axis 201'. Here, the
support mechanism hydraulic cylinder 203' is expanded or
contracted in response to the posture of the boom 200'
so that the platform 70 can always be held horizontally .
It is to be noted that, though not shown in FIG. 5,
also hydraulic motors for driving the left and right
caterpillar members 500A' described above and a revolving
motor for driving the upper revolving unit 100 to revolve
are provided on the present repeater car 7, and all of
the cylinders 120' and 203' , hydraulic motors, revolving
motor and so forth described above can be controlled by
a vehicle control apparatus 90 provided in the upper
revolving unit 100'.
Further, on the platform 70 described above, 50 GHz
simple radio units (antennae) 71 to 80 individually with
universalheads (automatic tracking apparatus) 71A to 80A,
a 2.4 GHz reception antenna 81, 429 MHz transmission
antennae 82, television cameras 83 with a universal head
83A, fixed television cameras 84, lights 85 with a
universal head 85A, fixed lights 86, a communication
control apparatus 89 and so forth are provided. It is
to be noted that a 2.4 GHz transmission/reception antenna
8? and a GPS reception antenna 88 are provided on the top
face of the upper revolving unit 100'.
Here , the 50 GHz simple radio unit ( first high radio
wave directionality . bidirectional
transmission/reception sections) 71 to 75 can
6a dl I' ~ 111 ; .II I fl I
CA 02390363 2002-07-22
44
individually perform bidirectional communication over a
very long distance by transmitting and receiving radi o
waves of the 50 GHz band of a high directionality to
corresponding ones of the hydraulic excavators 1 to 3
(totaling five construction machines), and they transmit
(repeat) construction machine control signals from the
remote control apparatus 6A to the construction machines
1 to 3 whereas they receive images imaged by the cameras
37 and 38 mounted on the construction machines 1 to 3,
sound collected by the microphones 39, vehicle monitor
information representative of operation conditions of the
construction machines 1 to 3 and so forth from the
construction machines 1 to 3.
Also the 50 GHz simple radio unit 71 to 75 are mounted
on the platform 70 for revolving movement for the
revolving system/swinging movement for the elevation
angle system by automatic tracking apparatus 71A to 75A,
respectively, and the orientations of the radio wave --
radiation faces are automatically adjusted so that the
signal reception levels may always be in the mazimum (so
that they may oppose the 50 GHz simple radio unit 31 of
the construction machines 1 to 3 which are the other
parties of communication).
It is to be noted that the automatic tracking
apparatus 71A to 75A described above have a construction
similar to that of the automatic tracking apparatus 32
shown in FIG. 4, and if an intercepting body enters between
I~ d, l, . ~I ~ I 41
CA 02390363 2002-07-22
any of the construction machines 1 to 3 and a corresponding
one of the automatic tracking apparatus and a radio wave
from the construction machine l to 3 is temporarily
interrupted, then the automatic tracking apparatus 71A
5 to 75A keeps, together with the automatic tracking
apparatus 32 on the construction machines 1 to 3 side,
the orientation of the 50 GHz antenna 71 to 75 then for
a fixed time and then automatically searches a radio wave
from the construction machine 1 to 3 side to recover
10 communication with the construction machine 1 to 3.
On the other hand, the 50 GHz simple radio units
(second high radio wave directionality bidirectional
transmission/reception sections) 76 to 80 can transmit
and receive radio waves of a high directionality of the
15 50 GHz band to and from corresponding ones of the remote
control apparatus 6A to perform bidirectional
communication over very long distances, and they repeat
and transmit images, sound, vehicle monitor information --
and so forth received through the simple radio units 71
20 to 75 as described above to the remote control apparatus
6A and receive construction machine control signals for
the construction machines 1 to 3, a repeater car control
signal for the self apparatus (repeater car 7) and so forth
from the remote control apparatus 6A.
25 In short, each of the 50 GHz simple radio units 76
to $0 forms, together with the simple radio unit 63 mounted
on each of the remote control apparatus 6A, second
CA 02390363 2002-07-22
46
bidirectional communication means having a high radio
wave directionality of the 50 GHz band between the remote
control apparatus 6A and the repeater car 7.
Also the simple radio units 76 to 80 are mounted
on the platform 70 for revolving movement for the
revolving system/swinging movement for the elevation
angle system by the automatic tracking apparatus 76A to
SOA (whose construction is similar to that shown in
FIG. 4) , and the orientations of the radio wave radiation
faces thereof are adjusted automatically so that the
signal reception levels thereof may always be in the
maximum ( so that they may oppose the 50 GHz simple radio
units 63 of the remote control apparatus 6A which are the
other parties of communication).
Further, if an intercepting body enters between any
of the 50 GHz simple radio units ?6 to 80 and a
corresponding one of the remote control apparatus 6A and
a radio wave from the remote control apparatus 6A is ' -
temporarily interrupted, then the 50 GHz antenna 76 to
80 keeps, together with the automatic tracking apparatus
63A on the remote control apparatus 6A side which will
be hereinafter described, the orientation thereof then
for a fi$ed time and then automatically searches a radio
wave from the remote control apparatus 6A side to recover
communication with tie remote control apparatus 6A.
It is to be noted that, when antenna control signals
from the remote control apparatus 6A are received by
~I" I l RI','.4 ~I I , ~I I
CA 02390363 2002-07-22
47
antenna control signal reception sections 891 and 893
which will be hereinafter described, the orientations of
the radio wave radiation faces of the 50 GHz antennae 71
to 75 and 76 to 80 described above are adjusted in response
to the antenna control signals (it is also possible to
adjust the orientations of the simple radio units 71 to
80 manually from the remote control apparatus 6A side) .
The 2.4 GHz reception antenna 81 is provided to
receive antenna control signals described above
transmitted as SS (Spread Spectrum) radio waves
(hereinafter described) of the 2.4 GHz band from the
remote control apparatus 6A.
Further, while the 429 MHz transmission antennae
82 described above are provided to transmit antenna
control signals for controlling the orientations of the
50 GHz simple radio units 31 individually mounted on the
construction machines 1 to 3 and other signals by radio
waves of the 429 GHz band, in the present embodiment, when
communication by a radio wave of the 50 GHz band with any
of the construction machines 1 to 3 is interrupted as
described above (upon emergency), the 429 MHz
transmission antenna 82 functions as an emergency antenna
(emergency low radio wave directionality transmission
section) such that a construction machine signal to the
construction machine 1 to 3 may be transmitted by a radio
wave of the 429 MHz band.
It is to be noted that , in the present embodiment ,
1.. ~ ~~~~. ~ ~i I = !I .~ I
CA 02390363 2002-07-22
48
a number of such 429 MHz transmission antennae 82 equal
to the number of the construction machines 1 to 3 (five
construction machines) and they have a diversity
construction (totaling 10 antenna constructions wherein
each two antennae correspond to one of the five
construction machines 1 to 3) similarly to the 429 MHz
reception antenna 33 of the reception side (construction
machines 1 to 3 side) such that signals of the same
contents and the same level can be transmitted
simultaneously in two systems for each of the construction
machines 1 to 3 (on the reception side, a signal of a higher
signal quality is adopted).
Further, the television cameras 83 and 84 are
provided to supervise around the working site 4 and catch
images of the construction machines 1 to 3 during
operation in the working site 4, and images (image
information) imaged by the cameras 36 to 38 are
transmitted to the remote control apparatus 6A through --
corresponding ones of the 50 GHz simple radio units 76
to 80 and displayed on the display units 67 of the remote
control apparatus 6A.
It is to be noted that the television cameras 83
described above are mounted on the platform 70 for
revolving movement for the revolving system/swinging
movement for the elevation angle system by the universal
heads 83A, and the universal heads 83A are controlled from
the remote control apparatus 6A so that the imaging
~~. ~i . ~.~ ~Il i1' ' ~+ I ~I ~~~ I ':
CA 02390363 2002-07-22
49
directions can be varied suitably. The cameras 84 are
fixed to the platform 70 and always image in fixed
directions (for example, the entire working site 4).
The lights 85 and 86 are provided to illuminate the
working site 4 or illuminate the construction machines
1 to 3 when the working site 4 has a poor field of view,
at night or in a like case . It is to be noted that also
the lights 85 described above are mounted on the platform
70 for revolving movement for the revolving
system/swinging movement for the elevation angle system
by the universal heads 85A and the universal heads 85A
are controlled from the remote control apparatus 6A so
that the illumination directions may be varied suitably.
The lights 86 are fixed to the platform 70 and always
illuminate in fixed directions.
The communication control apparatus 89 is provided
to control such processing as communication by the 50 GHz
simple radio units 71 to 80, 2.4 GHz reception antenna
81 and 429 MHz transmission antenna 82 described above,
the orientations of the simple radio units 71 to 80,
cameras 83 and lights 85 (universal heads ?1A to 80A, 83A
and 85A) , working of images imaged by the cameras 83 and
cameras 84 (conversion into image data).
To this end, the present communication control
apparatus 89 in the present embodiment includes, as shown
in FIG. 5, antenna control signal reception sections 89-1
and 893, an interface section (I/F) 892 for the 50 GHz
r" !N. ~ 1~ GL',6 . ~~, ~ ; ~I I
CA 02390363 2002-07-22
simple radio units 71 to 75, another ~:nterface section
(I/F) 894 for the 50 GHz simple radio units 76 to 80, a
transmission section 895 for the 429 MHz transmission
antennae 82, a camera/light control apparatus 896, an
5 image editing apparatus 897 and a central control unit
(CPU) 898.
Here, the antenna control signal reception section
891 adjusts, when an antenna control signal from any of
the remote control apparatus 6A is received by the
10 corresponding 2.4 GHz reception antenna 81, the
orientation of the 50 GHz simple radio unit 71 to 75 in
response to the antenna control signal. The interface
section 892 performs interfacing between the 50 GHz simple
radio units 71 to 75 and the CPU 898.
15 The interface section 894 adjusts, when an antenna
control signal from any of the remote control apparatus
6A is received by the 2.4 GHz reception antenna 81, the
orientation of the corresponding 50 GHz simple_radio unit
76 to 80 in response to the antenna control signal and
20 performs a function as a response section which responds
to an automatic tracking signal from an automatic tracking
apparatus 63A (hereinafter described with reference to
FIG. 6) mounted on the remote control apparatus 6A.
Further, the interface section 894 is provided to
25 perform interfacing between the 50 GHz simple radio units
76 to 80 and the CPU 898. The transmission section 895
transmits antenna control signals for controlling the
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CA 02390363 2002-07-22
s1
orientations of the 50 GHz simple radio units 31 on the
construction machines 1 to 3 side by radio waves of the
429 MHz band in response to instructions of the CPU 898.
It is to be noted, however, that the transmission
section 895 repeats and transmits, upon emergency [when
communication by any of the 50 GHz simple radio units 71
to 75 (interface section 892) is impossible], a
construction machine control signal received through the
corresponding 50 GHz simple radio unit 76 to 80 (upon
emergency, the 2.4 GHztransmission/reception antenna 87)
from the corresponding remote control apparatus 6A to
corresponding ones of the construction machines 1 to 3
by a radio wave of the 429 MHz band from the 429 MHz
transmission antenna 82.
The camera/light control apparatus 896 controls,
when a camera/light control signal is received from any
of the remote control apparatus 6A through the 50 GHz
simple radio unit 76 to 80, ON/OFF of the television
cameras 83 and 84 and lights 85 and 86, the orientations
of a camera 83 / light 85 (universal heads 83A/ 85A) and so
forth in response to an instruction from the CPU 898. The
image editing apparatus (image composer) 897 edits and
works images imaged by the cameras 83 and 84, for example,
into image data for one screen of the display unit 67 of
each of the remote control apparatus 6A.
The CPU 898 controls operation of the antenna
control signal reception sections 891 and 893,
I~ -l y~i N.. o i~ ~l ~ ~~
CA 02390363 2002-07-22
52
transmission section 895, camera/light control apparatus
896 and image editing apparatus 897 described above in
a concentrated manner, and here, it operates, upon
ordinary operation, principally based on signals
transmitted or received by the 50 GHz simple radio units
71 to 80, but operates, upon emergency, based on a signal
transmitted or received by the 2.4 GHz
transmission/reception antenna 87 for emergency.
It is to be noted that, if a repeater car control
signal is received from any of the remote control
apparatus 6A through the 50 GHz simple radio unit 76 to
80, then the CPU 898 provides an instruction corresponding
to the control signal to the vehicle control apparatus
90 provided in the upper revolving unit 100' so that, for
example, the boom cylinder 120' may be expanded or
contracted to raise or lower the platform 70, the
revolving motor may be rotated to revolve the upper
revolving unit 100' or the hydraulic motor may be driven -
to drive the caterpillar members 500A' to cause the
repeater car 7 to travel, by the vehicle control apparatus
90.
Further, the 2.4 GHz transmission/reception
antenna 87 (which may be hereinafter referred to as SS
radio unit 87) provided on the upper revolving unit 100'
is an emergency transmission/reception antenna for
enabling bidirectional communication (except images,
however) with the corresponding remote control apparatus
a un'~u~u~ uu i a ~i
CA 02390363 2002-07-22
,.
53
6A by an SS radio wave (spread spectrum radio wave) of
no directionality of the 2.4 GHz band upon emergency. .
An emergency transmission/reception antenna for enabling
bidirectional communication (except images, however)
with the A.
In short, the 2.4 GHz transmission/reception
antenna 87 forms, together with a 2.4 GHz
transmission/reception antenna 64 (hereinafter
described with reference to FIG. 6) mounted on the
corresponding remote control apparatus 6A, emergency
spread spectrum bidirectional communication means which
enables, when communication by a radio wave of the 50 GHz
band (second bidirectional communication means) is
impossible, bidirectional communication between the
remote control apparatus 6A and the repeater car 7.
Consequently, upon emergency, communication with the
remote control apparatus fiA can be performed simply and
conveniently even if the other party of communication is
not tracked automatically as with a 'radio wave of the 50
GHz band.
The GPS reception antenna 88 used to receive signals
from artificial satellites to detect the current position
of the present repeater car 7 and report it to the remote
control apparatus 6A, and consequently, on the remote
control apparatus 6A side, also the current position of
the repeater car 7 can be managed on the real time basis
together with the current positions of the construction
In ~~ . k d , y ,.G. i'~ I GI I
CA 02390363 2002-07-22
54
machines 1 to 3.
To this end, the vehicle control apparatus 90
described above further includes a 2.4 GHz
transmission/reception section (emergency spread
spectrum bidirectional transmission/reception section)
91 for performing transmission and reception of a signal
communicated v~ith the remote control apparatus 6A through
the 2.4 GHz transmission/reception antenna 87 upon
emergency, a GPS reception section 92 for performing
desired reception processing for satellite signals
received through the GPS reception antenna 88, and so
forth. It is to be noted that satellite signals received
by the GPS reception section 92 are used to detect the
current position of the repeater car 7 and so forth
(connected to the CPU 898).
FIG. 6 is a view schematically showing a
construction of the remote control apparatus 6A for the
construction machines 1 to 3. As shown in FIG. 6, each --
of the remote control apparatus 6A i.n the present
embodiment basically has a construction wherein a 50 GHz
simple radio unit (antenna) 63 with a universal head
(automatic tracking apparatus) 63A and a zoom camera 66,
a 2.4 GHz transmission/reception antenna 64 and a GPS
reception antenna 65 are mounted on an outer wall face
62 which forms a control space (room) 6l and a display
unit (large screen monitor) 67, a speaker 68, a seat 69
and so forth are provided in the control room 61.
~ d ~~d,:~~." ; II I - ~I I .
CA 02390363 2002-07-22
Here, the 50 GHz simple radio unit (high radio wave
directionality bidirectional transmission/reception
section) 63 is provided to perform bidirectional
communication by a radio wave of a high radio wave
5 directionality of the 50 GHz band with the repeater car
7, and it transmits operation information when any of a
control operation lever set 69A and control lever/switch
sets 69B and 69C which will be hereinafter described is
operated as a construction machine (repeater car) control
10 signal, an antenna control signal, a camera/light control
signal or the like toward the repeater car 7 and receives
an image, sound, vehicle monitor information and so forth
transmitted thereto from the repeater car 7.
Also the 50 GHz simple radio unit 63 is mounted on
15 the remote control apparatus 6A for revolving movement
for the revolving system/swinging movement for the
elevation angle system by the automatic tracking
apparatus 63A (whose construction is similar to that shown -
in FIG. 4), and the orientation of the radio wave
20 radiation face thereof is automatically adjusted so that
the signal reception level thereof may always be in the
maximum ( so that it may oppose a corresponding one of the
50 GHz simple radio units 76 to 80 of the repeater car
7 which is the other party of communication).
25 Also in this instance, if an intercepting object
enters between the repeater car 7 and the 50 GHz simple
radio unit 63 and a radio wave from the repeater car 7
~Iri t ~t ~, II,I i~l-
CA 02390363 2002-07-22
56
is interrupted temporarily, then the 50 GHz simple radio
unit 63 keeps, together with the automatic tracking
apparatus 76A (77A to 80A) of the repeater car 7 side,
the orientation of the 50 GHz antenna 63 then for a fixed
time and then automatically searches a radio wave from
the repeater car 7 to recover communication with the
repeater car 7.
Consequently, even if the relative position of the
remote control apparatus 6A to the repeater car 7 varies,
since the remote control apparatus 6A can automatically
track the 50 GHz simple radio unit 76 (77 to 80) mounted
on the repeater car 7 so that the radio wave radiation
face of the 50 GHz simple radio unit 63 and the radio wave
radiation face of the 50 GHz simple radio unit 76 (77 to
80) mounted on the repeater car 7 may always oppose each
other, stabilized communication can always be performed
with the repeater car 7.
It is to be noted that it is possible to manually
adjust the orientation of the radio wave radiation face
of the 50 GHz simple radio unit 63 described above by
operating a "fixed station 50 GHz universal head control
lever" of the control lever/switch set 69B which will be
hereinafter described.
Further, the 2.4 GHz transmission/reception
antenna (emergency spread spectrum bidirectional
transmission/reception section) 64 (which may sometimes
be hereinafter referred to as SS radio unit 64) is provided
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CA 02390363 2002-07-22
5?
to perform, upon emergency such as when bidirectional
communication with the repeater car 7 by the 50 GHz simple
radio unit 63 described above is interrupted,
bidirectional communication with the repeater car 7
(transmission of a construction machine control signal
and reception of vehicle monitor information) instead
using an SS radio wave (spread spectrum radio wave) of
the 2.4 GHz band. It is to be noted that the 2.4 GHz
transmission/reception antenna 64 is used also to
transmit antenna control signals for controlling the
orientations of the 50 GHz simple radio units 76 to 80
mounted on the repeater car 7.
The GPS reception antenna 65 is used to receive
signals from artificial satellites to detect the current
position of the present remote control apparatus 6A. The
zoom (very telescopic) camera (camera apparatus) 66 is
provided to catch an image of the repeater car 7 when
communication by the 50 GHz simple radio unit 63 described
above is impossible. When communication by the 50 GHz
simple radio unit 63 is impossible, the operator will
operate a "construction machine/repeater car changeover
switch" of the control lever/switch set 69B which will
be hereinafter described to change over the vehicle of
an obj ect of remote control to the repeater car 7 so that
it can remotely control (emergency operate) the repeater
car 7 while observing an image (displayed on the display
unit 67) of the repeater car 7 caught by the camera 66.
m ~ ~~ilil t.lil ~I
CA 02390363 2002-07-22
58
It is to be noted that the orientation (imaging
direction) of the zoom camera 66 in the present embodiment
is controlled in an interlocking relationship with the
orientation of the 50 GHz simple radio unit 63 by the
automatic tracking apparatus 63A and, even if the repeater
car 7 moves, an image of the repeater car 7 can always
be caught. However, it is also possible to control the
orientation of the zoom camera 66 irrespective and
independently of the orientation of the 50 GHz simple
radio unit 63.
The display unit 67 is provided to display an image
of the repeater car 7 caught by the zoom camera 66 or an
image from the construction machines 1 to 3 (or the
repeater car 7) received through the 50 GHz simple radio
unit 63 described above. The speaker 68 is provided to
output sound from the construction machines 1 to 3
received through the 50 GHz simple radio unit 63
similarly.
Further; in the control room 61, the seat 69 is a
place to be seated by the operator, who remotely radio
controls one of the construction machines 1 to 3 which
the operator takes charge of, and in the proximity of the
seat 69, a monitor panel (display switch panel) 10 with
a target slope face angle setting unit, the control
operation lever set 69A, control lever/switch sets 69B
and 69C, a screen changeover switch 69D and so forth are
provided.
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CA 02390363 2002-07-22
59
Here, the monitor panel 10 described above can
perform a switch operation when a "semiautomatic control
mode" which will be hereinafter described is to be started.
The control operation lever set 69A is provided to
remotely control one of the construction machines 1 to
3 which the control operation lever set 69A takes charge
of . If the control operation lever set 69A is provided,
for example, for one of the hydraulic excavators 1, at
least a boom/bucket operation lever 6 and a stick
operation lever 8 are included in the control operation
lever set 69A.
The control lever/switch set 69B is provided to
control equipments of the remote control apparatus 6A and
the construction machine 1 to 3 and includes, for example,
levers and switches given in (1) to (10) below.
(1) "Fixed station 50 GHz universal head control
lever" for adjusting the orientation of the 50 GHz simple
radio unit 63 (universal head 63A)
(2) "Fixed station camera control lever" for
adjusting the orientation/magnification of the zoom
camera 66
(3) "Construction machine 50 GHz universal head
control lever" for adjusting the orientation of the 50
GHz simple radio unit 31 mounted on the construction
machine 1 to 3
(4) "Construction machine camera universal head
control lever" for controlling the orientation of the
NI di ~~ ~-~~,~ i~~~~ - ~~
CA 02390363 2002-07-22
television camera 36 (universal head 37) mounted on the
construction machine 1 to 3
(5) "Construction machine light universal head
control lever" for controlling the orientation of the
5 light 40 (universal head 41) mounted on the construction
machine 1 to 3
(6) "Construction machine camera switch" for
controlling ON/OFF of the television cameras 36 and 37
mounted on the construction machine 1 to 3
10 (7) "Construction machine light switch" for
controlling ON/OFF of the light 40 mounted on the
construction machine 1 to 3
(8) "2.4 GHz wave changeover switch" for changing
over bidirectional communication with the repeater car
15 7 by the 50 GHz simple radio unit 63 to communication in
which the 2.4 GHz transmission/reception antenna 64 for
emergency is used when the bidirectional communication
is interrupted w
(9) "429 MHz wave changeover switch" for changing
20 over bidirectional communication with the construction
machine 1 to 3 by the 50 GHz simple radio unit 71 to 80
to communication in which the 429 MHz transmission antenna
82 for emergency is used when the bidirectional
communication is interrupted
25 (10) "Construction machine/repeater car changeover
switch" for changing over the vehicle of an object of
remote control between the construction machine 1 to 3
~A ; dl~h~ III 61
CA 02390363 2002-07-22
61
and the repeater car 7
Meanwhile, the control lever/switch set 69C is
provided to control equipments of the repeater car 7 and
includes, for example, levers and switches given in (1)
to (5) below.
(1) "Repeater car 50 GHz universal head control
lever" for adjusting the orientation of the 50 GHz simple
radio unit 71 to 80 (universal head 71A to 80A) mounted
on the repeater car 7
(2) "Repeater car camera universal head control
lever" for adjusting the orientation of the television
camera 83 (universal head 83A) mounted on the repeater
car 7
(3) "Repeater car light universal head control
lever" for adjusting the orientation of the light 85
(universal head 85A) mounted on the repeater car 7
(4) "Repeater car camera switch" for controlling
ON/OFF of the television cameras 83 and 84 mounted on the
repeater car 7
(5) "Repeater car light switch" for controlling
ON/OFF of the lights 85 and 86 mounted on the repeater
car
Further, the screen changeover switch 69D is
provided to suitably change over the display screen of
the display unit 67 to an imaged image screen of the
cameras 36 and 37 (83 and 84) sent from the construction
machine 1 to 3 (or the repeater car 7) or a display screen
.. ! II 1 ~l~I i 9 .II I fl I
CA 02390363 2002-07-22
62
of vehicle monitor information of the construction
machine 1 to 3.
In the present remote control apparatus 6A having
such a construction as described above, when the operator
seated on the seat 69 operates the control operation lever
set 69A or the control lever/switch set 69B or 69C
described above while observing a working condition of
the construction machine 1 to 3 displayed on the display
unit 67, information of the operation is transmitted as
such a construction machine (repeater car) control signal,
an antenna control signal, a camera/light control signal
or the like as described above from the 50 GHz simple radio
unit 63 to cause the construction machine 1 to 3 (repeater
car 7) to perform a desired work.
In short , in the remote control apparatus 6A of the
present embodiment , the structure in the control room '61
(arrangement of the control operation lever set 69 and
so forth) is formed imitating the structure in the cabin - -
60Q of the actual construction machines 1 to 3 (repeater
car 7 ) so that the operator can control , even from a remote
place, the construction machine 1 to 3 (repeater car) in
a sense (virtual reality environment) more proximate to
an actual driving feeling.
It is to be noted that FIG. 7 is a perspective view
25~ showing an example of an appearance when the remote
control apparatus 6A is viewed from obliquely forwardly,
and FIG. 8 is a perspective view showing an example of
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CA 02390363 2002-07-22
s3
an appearance when the same remote control apparatus 6A
is viewed from obliquely rearwardly.
FIG. 9 is a functional block diagram of the present
remote radio control system which includes the
construction machines 1 to 3, remote control apparatus
6A and repeater car 7 described above. Referring to
FIG. 9, each of the construction machines 1 to 3 includes
controllers 30A to 30C and an interface (I/F) section 30D,
and_each of the remote control apparatus 6A includes an
operation unit 60A, a communication changeover unit 60B,
an interface (I/F) section 60C, a monitor display control
section 60D and a personal computer (personal computer)
60E. It is to be noted that the other components (elements
denoted by like reference symbols to those shown in
15FIGS. 2, 5 and 6) are similar to those described
hereinabove with reference to FIGS. 2, 5 and 6.
In the construction machines 1 to 3, the controller
30A principally controls reception processing (diversity
reception processing and so forth) of a radio wave [an
antenna control signal for the 50 GHz simple radio unit
31 (universal head 32), a construction machine control
signal upon emergency and so forth) of the 429 MHz band
by the 429 MHz reception antenna 33. It is to be noted
that, when a signal is actually received by the 429 MHz
reception antenna 33, the controller 30A gives an
instruction to the controller 30B to selectively use the
signal received by the 429 MHz reception antenna 33.
ii. i ~~,~i.~~~~ 1 fllh ~ ' ~~
CA 02390363 2002-07-22
64
The controller 30B is provided to control
start/stop of an engine (not shown) , travelling (driving
of the left and right caterpillar members 500A) , posture
(semiautomatic) control of the construction machine 1 to
3 [in the case of the hydraulic excavator 1, control of
the boom 200 (cylinder 120), stick 300 (cylinder 121),
bucket 400 (cylinder 130), the revolving motor and so
forth] , imaging by the cameras 36 and 38, collection of
sound by the microphone 39 and so forth in response to
a construction machine control signal received through
the 50 GHz simple radio unit 31.
It is to be noted, however, that, if communication
by the 50 GHz simple radio unit 31 is interrupted, then
the controller 30B selectively uses a construction
machine control signal received by the 429 MHz reception
antenna 33 in place of the 50 GHz simple radio unit 31
to perform various controls such as start/stop of the
engine, travelling, posture control and so forth --
mentioned above.
Further, the controller 30C is provided for
. interfacing when images imaged by the cameras 36 and 38
or sound ( control sound, working sound of the construction
machine 1 to 3) collected by the microphone 39 is to be
transmitted as a radio wave of the 50 GHz band from the
50 GHz simple radio unit 31 toward the repeater car 7.
The interface section 30D is provided for interfacing
between the 50 GHz simple radio unit 31 and the controller
~7~,~~,k: , u~ v . ~i
CA 02390363 2002-07-22
30B.
Meanwhile, in the remote control apparatus 6A, the
operation unit 60A produces a signal in response to a
controlling operation by the operator and is a unit which
5 corresponds to the control operation lever set 69A and
the control lever/ switch sets 69B and 69C shown in FIG. 6.
The communication changeover unit 60B is provided to
change over the frequency band (50 GHz band and 2.4 GHz
band) of a radio wave to be used for communication with
10 the repeater car 7, and in ordinary operation, the 50 GHz
simple radio unit 63 is used, but upon emergency, the SS
radio unit 64 is used as described hereinabove.
Further, the interface section 60C interfaces
between the operation unit 60A and monitor display control
15 section 60D and the 50 GHz simple radio unit 63. The
monitor display control section 60D is provided to control
displaying on the display unit 6? of an image sent thereto
from the construction.machine 1 to 3 through the repeater
car 7. The personal computer 60E is provided to control
20 bidirectional communication by a 2.4 GHz band radio wave
upon emergency.
(A2) Description of Operation of the Entire Remote
Radio Control System
In the following, operation of the entire remote
25 radio control system of the present embodiment having such
a construction as described above is described in detail .
First, in any of the remote control apparatus 6A,
__ I»,.~ ~~ ~u,Y'impl,~ ; 81 I ; YI ",~,~.._.,.~.~. ~-.._.,~.~ . ._._ .
CA 02390363 2002-07-22
6fi
the operator will observe an image from the construction
machine 1 to 3 and the repeater car 7 displayed on the
display unit 6? and suitably operate the control operation
lever set fi9A and the control lever/switch sets fi9B and
69C to remotely control the construction machine 1 to 3
(repeater car 7) to transport the construction machine
1 to 3 to a predetermined position in the working site
4 and dispose the repeater car 7 to a predetermined
position in the proximity of the working site 4.
It is to be noted that, in this instance, the
operator will operate the "fixed station 50 GHz universal
head control lever" of the control lever/switch set 69B
to manually direct the 50 GHz simple radio unit 63 of the
remote control apparatus 6A side to the 50 GHz simple radio
unit 76 (77 to 80) of the repeater car 7 side and operate
the "repeater car 50 GHz universal head control lever"
of the control lever/switch set 69C to manually direct
the 50 GHz simple radio unit 71 (72 to 75) of the repeater
car side 7 to the 50 GHz simple radio unit 31. of the
construction machine 1 to 3 so that antenna automatic
tracking processing by the automatic tracking apparatus
63A, 71A to 80A and 32 is started between the remote
control apparatus 6A-repeater car 7 and between the
repeater car 7-construction machine 1 to 3.
In particular, if, for example, the 50 GHz simple
radio unit 63 of the remote control apparatus 6A side is
directed to the 50 GHz simple radio unit 76 to 80 of the
IL l G a'e~~a ~ ~I I ~I I
CA 02390363 2002-07-22
67
repeater car 7 side, then in the repeater car 7 side, the
automatic tracking apparatus 76A (77A to 80A)
automatically searches a radio wave from the other party
(50 GHz simple radio unit 63 of the remote control
apparatus 6A side) based on a signal reception level at
the simple radio unit 76 (77 to 80) to start automatic
tracking.
After an automatic tracking condition is entered
-in this manner, the automatic tracking apparatus 76A to
80A of the repeater car 7 side detects a change in
direction or rocking motion (inclination) of the repeater
car 7 by means of the gyros 321 and 322, and the controller
323 drives, while taking a result of the detection into
consideration, the drivers 324 and 326 for the revolving
system and the elevation angle system to drive the
stepping motors 325 and 327 to adjust the orientations
(revolving angle and elevation angle) of the 50 GHz simple
radio unit ?6 to 80 so that the reception level of a radio
wave of the 50 GHz band from the remote control apparatus
6A may be in the maximum.
On the other hand, also the automatic tracking
apparatus 63A of the remote control apparatus 6A side
drives, similarly to the automatic tracking apparatus 76A
to 80A described above, the drivers 324 and 326 for the
revolving system and the elevation angle system to drive
the stepping motors 325 and 327 to adjust the orientations
(revolving angle and elevation angle) of the 50 GHz simple
i ~~ ~ ~:i' i1 ~I
CA 02390363 2002-07-22
68
radio unit 63 so that the reception level of a radio wave
of the 50 GHz band from the 50 GHz simple radio unit 76
to 80 of the repeater car 7 side.
Also the automatic tracking apparatus 32 of the
construction machine 1 to 3 side adjusts, after an
automatic tracking condition is entered, the orientation
of the 50 GHz simple radio unit 31 so that the reception
level of a radio wave of the 50 GHz band from the repeater
car 7 may be in the maximum. Simultaneously, also the
automatic tracking apparatus 71A (72 to 75A) of the
repeater car 7 side adjusts the orientation of the 50 GHz
simple radio unit 71A (72 to 75A) so that the reception
level of a radio wave of the 50 GHz band from the 50 GHz
simple radio unit 31 of the construction machine 1 to 3
side may be in the maximum.
Consequently, in the present remote radio control
system, in whatever manners the construction machine 1
to 3 and the repeater car 7 move, the 50 GHz simple radio - -
units 63, 71 to 80 and 31 between the remote control
apparatus 6A-repeater car 7 and between the repeater car
7-construction machine 1 to 3 can be controlled to
individually oppose each other, the remote control
apparatus 6A can always perform very long distance
communication with the construction machine 1 to 3 stably .
After the automatic tracking apparatus 63A, 71A to
80A and 32 of the 50 GHz simple radio units 63, 71 to 80
and 31 are put into automatic tracking conditions to
fn i,: !! I: fi I il~ I CI
CA 02390363 2002-07-22
69
dispose the construction machine 1 to 3 and the repeater
car 7 to predetermined positions in such a manner as
described above, the operator will suitably. operate the
control operation lever set 69A (in the- case of the
hydraulic excavator 1, the boom/bucket operation lever
6 and the stick operation lever 8) in order to cause the
construction machine 1 to 3 to perform a desired work.
Information of the operation in this instance is
transmitted as a construction machine control signal in
the form of a radio wave of the 50 GHz band to the repeater
car 7 through the 50 GHz simple radio unit 63. When the
construction machine control signal from the remote
control apparatus 6A is received by the 50 GHz simple radio
unit 76 ( 77 to 80) , the repeater car ? transmits and
repeats the construction machine signal to the
corresponding construction machine 1 to 3.
In the construction machine 1 to 3, when the
construction machine control signal repeated from the --
repeater car ? in this manner is received by the 50 GHz
simple radio unit 31, the control apparatus 30 of the
construction machine 1 to 3 controls, in response to -the
construction machine control signal, operation of the
construction machine 1 to 3 [in the case of the hydraulic
excavator 1, the boom 200 (cylinder 120), stick 300
(cylinder 121), bucket 400 (cylinder 122), hydraulic
motors, revolving motor and so forth described
hereinabove] so that the construction machine 1 to 3
Ip d . ~~.~LId ;L . '.II I 11
CA 02390363 2002-07-22
performs a desired work in a semiautomatic control mode
(which will be hereinafter described).
Here, a case (emergency) wherein, in the present
system, communication by a radio wave of the 50 GHz band
5 between any of the remote control apparatus 6A and the
repeater car 7 or between the repeater car ? and any of
the construction machines 1 to 3 is interrupted by some
trouble is examined.
For example, if communication by a radio wave of
10 ~ the 50 GHz band between any of the remote control apparatus
6A and the repeater car 7 is interrupted, then the operator
will operate the operation unit 60A ("2.4 GHz wave
changeover switch" of the control lever/switch set 69B)
of the remote control apparatus 6A to change over the radio
15 unit to be used to the SS radio unit '(2.4 GHz
transmission/reception antenna) 64 through the
communication changeover unit 60B.
Consequently, information of the operation of the w
control operation lever set 69A by the operator in the
20 remote control apparatus 6A is transmitted as a
construction machine control signal in the form of an SS
radio wave of the 2.4 GHz band having no directivity to
the repeater car 7. In the repeater car 7, when the SS
radio wave of the 2.4 GHz band from the remote control
25 apparatus 6A is received by the 2.4 GHz
transmission/reception antenna 8?, the CPU 898 of the.
communication control apparatus 89 operates based on the
CA 02390363 2002-07-22
71
received SS radio wave so that the received construction
machine control signal is transmitted (repeated) to one
of the construction machines 1 to 3 which is an object
of remote control through a corresponding one of the 50
GHz simple radio units 71 to 75.
In the construction machine 1 to 3, the construction
machine control signal transmitted as a radio wave of the
50 GHz band is received by the 50 GHz simple radio unit
31, and the control apparatus 30 (controllers 30B and 30C)_
operates based on the construction.machine control signal
so that the engine, the hydraulic motors, the revolving
motor and so forth are suitably controlled to be driven
to perform a desired work.
It is to be noted that, in this instance, from the
repeater car 7 to the remote control apparatus 6A, at least
vehicle monitor information of the construction machine
1 to 3 and sound information collected by the microphone
39 of the construction machine 1 to 3 are transmitted --
through the 2.4 GHz transmission/reception antenna 87.
Although it is difficult , as things stand, to send images
imaged by the cameras 36 and 38 of the construction machine
1 to 3 using an SS radio wave of the 2.4 GHz band, there
is the possibility that it may become possible to transmit
it, for example, depending upon the progress of the image
compression technology in the future.
On the other hand, if communication by a radio wave
of the 50 GHz band between the repeater car 7 and any of
IA ,' I ~: I', ,L~ I N i
CA 02390363 2002-07-22
72
the construction machines 1 to 3 is interrupted, then when
the operator operates the "429 MHz wave changeover switch"
of the control lever/switch set 69B, the corresponding
remote control apparatus 6A transmits to the repeater car
7 through the 50 GHz simple radio unit 63 a changeover
signal for changing over the frequency of the radio wave
to be used between the repeater car 7 and the construction
machine 1 to 3 from the 50 GHz band to the 429 MHz band.
When the changeover signal from the remote control
apparatus 6A is received by the 50 GHz simple radio unit
76 to 80, the repeater car 7 changes over the signal
transmission line to be used by the CPU 898 from the 50
GHz simple radio unit ?1 to 75 to the 429 MHz transmission
antenna 82. Consequently, at least a construction
machine control signal from the remote control apparatus
6A received by the 50 GHz simple radio unit 76 to 80 is
transmitted as a radio wave of the 429 MHz band to the
construction machine 1 to 3 through the 429 MHz
transmission antenna 82.
If the construction machine 1 to 3 is at a distance
within approximately 100 m from the repeater car 7 and
can receive the radio wave of the 429 MHz band from the
repeater car 7 by means of the 429 MHz reception antenna
33, then the control apparatus 30 (controllers 30A and
30B) operates based on the construction control signal
so that the engine, hydraulic motors, revolving motor and
so forth are controlled to be driven suitably to perform
~_al i : ~4 I . !I I
CA 02390363 2002-07-22
?3
a desired work.
It is to be noted that, since communication by the
radio wave of the 429 MHz band in this instance is single
directional communication of the repeater car 7
construction machine 1 to 3, vehicle monitor information
of the construction machine 1 to 3, images imaged. by the
cameras 36 and 38, sound information collected by the
microphone 39 and so forth are not transmitted to the
remote control. apparatus 6A side. Further, if the
distance between the construction machine 1 to 3 and the
repeater car 7 exceeds 100 m, then the repeater car ? is
remotely controlled to move so that the distance thereto
may become within 100 m, whereafter it performs radio
communication of the 429 MHz band described above.
It is to be noted that, if communication .between
any of the remote control apparatus 6A and the repeater
car 7 and between the repeater car 7 and a corresponding
one of the construction machines 1 to 3 by radio waves --
of the 50 GHz band is interrupted, by a combination of
them, bidirectional communication by an SS radio wave of
the 2.4 GHz band is performed between the remote control
apparatus 6A and the repeater car 7 as described above,
and single directional communication by a radio wave of
the 429 MHz band is performed between the repeater car
7 and the construction machine 1 to 3 in such a manner
as described above. The following table represents
relationships of used radio waves of the present system
. ~I I dl
CA 02390363 2002-07-22
74
used upon ordinary operation and upon emergency.
Table : Relationships of radio wave frequencies used upon
normal operation and upon emergency
Station Fixed Repeater Construc
car
Commu- station -tion
nication machine
case
Normal 50 GHz 50 GHz 50 GHz 50 GHz
operation
U pon emergency
Repeater car 2.4 GHz 2.4 GHz~ 50 GHz 50 GHz
Construction 50 GHz 50 GHz 429 MHz 429 MHz
machine
Repeater car, 2.4 GHz 2.4 GHz 429 MHz 429 MHz
construction
machine
In this manner, with the remote radio control system
of the present embodiment, even if such a state of
emergency that bidirectional communication by a radio
wave of the 50 GHz band (second bidirectional
communication means) which is a main communication medium ' -
between any of the remote control apparatus 6A and the
repeater car 7 is interrupted is caused by some
abnormality, since bidirectional communication between
the remote control apparatus 6A and the repeater car 7
is enabled by an SS radio wave of the 2.4 GHz band
(emergency spread spectrum bidirectional communication
means) , .it is possible, even upon emergency, to cause the
construction machines 1 to 3 to continue their working
or retract or recover the construction machines 1 to 3
i , ~, ,~ L, d', I ~I
CA 02390363 2002-07-22
to a safe place, and the working efficiency in the working
site 4 can be improved remarkably.
Further, also in a case wherein bidirectional
communication by a radio wave of the 50 GHz band (first
5 bidirectional communication means) which is a main
communication medium between the repeater car 7 and any
of the construction machines 1 to 3 has stopped, since
at least a construction machine control signal can be
transmitted to the construction machine 1 to 3 by a radio
10 wave of the 429 MHz band (emergency weak radio wave
directional communication means) , it is possible at least
to retract and recover the construction machines 1 to 3
to a safe place, and such a significant loss that the
construction machines 1 to 3 must be left in the working
15 site 4 which is so dangerous that a person cannot enter
there can be eliminated with certainty.
Furthermore, in the present system, since the 50
GHz simple radio units 31, 63 and 71 to 80 are used for --
bidirectional communication between any of the remote
20 control apparatus 6A and the repeater car 7 and between
the repeater car 7 and any of the construction machines
1 to 3, very long distance communication over more than
l km is possible between the remote control apparatus
6A-repeater car 7 and also between the repeater car
25 7-construction machine 1 to 3. Consequently, where the
working site 4 is such that a dangerous place into which
no person can enter spans a wide range such as , for example ,
f~ ~ ~~..I,a'; I ;~ ~ ~~ I
CA 02390363 2002-07-22
76
a site for restoration against natural calamities by
avalanche by sand and stone, eruption of a volcano or the
like, the operator can control the construction machine
1 to 3 to perform working for restoration against the
natural calamities safely and with certainty.
Further, with the remote radio control system
described above, since any of the 60 GHz simple radio units
31, 63 and 71 to 80 can always be opposed to one of the
50 GHz simple radio units 31, 63 and 7l to 80 which is
the other party of communication by means of the automatic
tracking apparatus 32, 63A and 71A to 80A, although a radio
wave of the 50 GHz band having a high directionality is
used, even if the repeater car 7 or the construction
machine 1 to 3 moves, normally stable communication can
be performed, which contributes very much to improvement
in reliability of the present system.
Further, in the present system, since the 50 GHz
simple radio units 71 to 75 and 31 are provided on the
repeater car 7 side and the construction machines 1 to
3 side, respectively, and the automatic tracking
apparatus 71A to 75A and 32 are provided on the repeater
car 7 side and the construction machines 1 to 3 side,
respectively, to thereby provide 5 sets of bidirectional
communication means and automatic tracking means
corresponding to the number of the construction machines
1 to 3 (totaling 5 machines), bidirectional communication
with the construction machines 1 to 3 can be performed
~~ ~ ~~.a l, I I'~ I ~I
CA 02390363 2002-07-22
independently of each other for the individual
construction machines 1 to 3. Accordingly, it is
possible to cause the construction machines Z to 3 to
simultaneously perform different works from one another,
and the working efficiency can be improved remarkably and
the period for working can be shortened.
Furthermore, in the present system, since five sets
of emergency weak radio wave directional communication
means which are each formed from the 429 MHz transmission
antenna 82 of the repeater car 7 side and the 429 MHz
reception antenna 33 of the construction machines 1 to
3 side are provided corresponding to the five construction
machines 1 to 3, even if communication by a radio wave
of the 50 GHz band between the repeater car 7 and any of
the construction machines 1 to 3 is interrupted, the
construction machines 1 to 3 can be remotely controlled
independently of one another. Accordingly, even upon
emergency, all of the construction machines 1 to 3 in the
working site 4 can be retracted and recovered to a safe
place with certainty.
(A3) Description of "Semiautomatic Control" of the
Construction Machines 1 to 3
By the way, each of the construction machine's 1 to
3 described above in the present embodiment performs, when
the operation (posture) of the construction machine 1 to
3 is controlled to perform a desired work based on a
construction machine control signal transmitted thereto
L , . ~.d.~~,1 a ill I ~I
CA 02390363 2002-07-22
78
from the corresponding remote control apparatus 6A
through the repeater car 7, posture control called
"semiautomatic control" by means of the controller 30B.
In the following, whereas constructions of the
construction machines 1 to 3 with this "semiautomatic
control" taken notice of are described, here, for the
convenience, description is given by way of an example
of the hydraulic excavator 1 described hereinabove.
FIG. 10 is a view schematically showing a
construction of the hydraulic excavator 1. Referring to
FIG. 10, those elements to which like reference symbols
to those shown in FIG. 2 are applied denote like elements
to those described hereinabove with reference to FIG. 2,
and the hydraulic excavator 1 shown in FIG. 10 further
includes solenoid proportional valves (control valve
mechanisms) 3A, 3B and 3C, pressure sensors 19, 28A and
28B, resolvers 20 to 22, a vehicle inclination angle
sensor 24, a signal converter 26, an engine pump w
controller 27 and so forth. Details of the elements are
hereinafter described.
The hydraulic excavator 1 of the present embodiment
further includes, for example, as shown in FIG. 11,
hydraulic circuits (fluid pressure circuits) for the
cylinders 120 to 122 and the hydraulic motors and the
revolving motor described above, and in addition to pumps
51 and 52 of the variable discharge type (variable
delivery pressure type, variable capacity type) which are
it '~ ~i I Li i ~ ~ ~~ ~ '_
CA 02390363 2002-07-22
79
driven by an engine E (prime mover of the rotational output
type such as a Diesel engine) , a boom main control valve
(control valve, control valve mechanism) 13, a stick main
control valve (control valve, control valve mechanism)
14, a bucket main control valve (control valve, control
valve mechanism) 15 and so forth are interposed.
It is to be noted that the pumps 51 and 52 of the
variable discharge type is constructed such that they can
vary the discharges of working oil to the hydraulic
circuits by individually adjusting the tilt angles
thereof by means of the engine pump controller 27 which
will be hereinafter described. Further, where a line
which interconnects different components in FIG. 11 is
a solid line, this indicates that the line is an electric
circuit, but where a line which interconnects different
components is a broken line, this indicates that the line
is a hydraulic circuit.
Further, in order to control the main control valves
13, 14 and 15, a pilot hydraulic circuit is provided, and
in addition to the pilot pump 50 which is driven by the
engine E, the solenoid proportional valves (control valve
mechanism) 3A, 3B and 3C, solenoid directional control
valves 4A, 4B and 4C, selector valves 18A, 18B and 18C
and so forth are interposed in the pilot hydraulic
circuit.
Furthermore, the hydraulic excavator 1 of the
present embodiment includes the controller (control
CA 02390363 2002-07-22
means) 30B described above in order to control the main
control valves 13, 14 and 15 through the solenoid
proportional valves 3A, 3B and 3C in response to a
construction machine control signal from the remote
5 control apparatus 6A to control the boom 200, stick 300
and bucket 400 so that they may perform desired extension
or contraction displacements in accordance with a mode
in which they are to be controlled. It is to be noted
that the controller 30B is composed of a microprocessor,
10 memories such as a ROM and a RAM, a suitable input/output
interface and so forth.
To the controller 30B, detection signals (including
setting signals) from various sensors are inputted, and
the controller 30B executes the control described above
15 based on a construction machine control signal received
from the remote control apparatus 6A and detection signals
from the sensors.
Such control by the controller 30B is called w
"semiautomatic control mode", and also in excavation in
20 the semiautomatic control mode, fine adjustment of a
bucket angle, a target slope face height or the like can
be performed manually from the remote control apparatus
6A.
As such semiautomatic control modes as described
25 above, a bucket angle control mode (refer to FIG. 16),
a slope face excavation mode (bucket tip linear excavation
mode or raking mode; refer to FIG. 17) , a smoothing mode
dl ~:Ib,~ ~ ~4 I . il I
CA 02390363 2002-07-22
81
which is a combination of the slope face excavation mode
and the bucket angle control mode (refer to FIG. 18), a
bucket angle automatic return mode (automatic return
mode; refer to FIG. 19) , an automatic excavation loading
mode (refer to FIG. 21) and so forth are available.
Here, the bucket angle control mode is a mode in
which the angle (bucket angle) of the bucket 400 with
respect to the horizontal direction (vertical direction)
is always kept constant even if the stick 300 and the boom
200 are moved as shown in FIG. 16, and this mode is set
if a bucket angle control switch is operated through the
monitor panel 10 in the remote control apparatus 6A. It
is to be noted that this mode is cancelled when the bucket
400 is moved by remote control (manually) from the remote
control apparatus 6A side, and a bucket angle at a point
of time when the bucket 400 is stopped is stored as a new
bucket holding angle.
The slope face excavation mode is a mode in which --
a tip 112 of the bucket 400 moves linearly as shown in
FIG. 17. However, in this instance, the bucket hydraulic
cylinder 122 does not move. Further, the bucket angle
~ varies as the bucket 400 moves.
The slope face excavation mode + bucket angle
control mode (smoothing mode) is a mode in which the tip
112 of the bucket 400 moves linearly and also the bucket
angle ~ is kept constant during excavation as shown in
FIG. 18.
~r~+ ~i ~~~ i ; ~~i ~~ ~~ di
CA 02390363 2002-07-22
82
The bucket aut omat i c return mode i s a mode in whi ch
the bucket angle is automatically returned to an angle
set in advance as shown in FIG. 19, and the return bucket
angle is set by radio communication from the remote
control apparatus 6A side through the monitor panel 10
in the remote control apparatus 6A. This mode is started,
for example, when a bucket automatic return start switch
7A on the control operation lever set 69A (boom/bucket
lever 6) is switched ON. This mode is cancelled at a point
of time when the bucket 400 returns to the angle set in
advance.
The slope face excavation mode and the smoothing
mode are started by radio communication when, in the
remote control apparatus 6A, a semiautomatic control
switch is switched ON through the monitor panel 10 and
a slope face excavation switch 9 on a stick operation lever
8 is switched ON and besides both or either one of the
stick operation lever 8 and the boom/bucket operation
lever 6 is moved. It is to be noted that the target slope
face angle in set by a switch operation on the monitor
panel 10 in the remote control apparatus 6A.
Further, in the slope face excavation mode and the
smoothing mode, a bucket tip moving velocity in a parallel
direction to the target slope face angle is provided by
the operation amount of the stick operation lever 8, and
a bucket tip moving velocity in the perpendicular
direction to the target slope face angle is provided by
I~~ i I~ ~ ~1~ I . II I I ; EI ~~ I
CA 02390363 2002-07-22
83
the operation amount of the boom/bucket operation lever
6. Accordingly, if the stick operation lever 8 is
operated, then the bucket tip 112 starts its linear
movement along the target slope face angle, and fine
adjustment of the target slope face height by a manual
operation can be performed by moving the boom/bucket
operation lever 6 during excavation.
Furthermore, in the slope face excavation mode and
the smoothing mode , not only the bucket angle during
excavation can be adjusted finely by operating the
boom/bucket operation lever 6, but also the target slope
face height can be changed.
It is to be noted that, in the present system, also
a manual mode by remote radio control is possible, and
in this manual mode, not only operation equivalent to that
of the hydraulic excavator 1 by conventional remote radio
control is possible, but also coordinates of the bucket
tip 112 can be received as a kind of such vehicle monitor
information as described above from the construction
machine 1 to 3 and displayed on the monitor panel 10
provided in the remote control apparatus 6A.
The automatic excavation loading mode is a mode for
causing a series of operations of (>1 excavation by the
bucket 400, ~ a revolving movement of the upper revolving
unit 100 while the bucket 400 is lifted in a condition
wherein sediment is accommodated in the bucket 400
(lifting revolution), ~ discharging of the sediment
ib ; ~i ~-~i ~ i~~
CA 02390363 2002-07-22
84
accommodated in the bucket 400 (sediment discharge) and
~ returning of the bucket 400 to the excavation position
(return) to be automatically performed repetitively, and
is started when an "automatic excavation loading start
switch" is switched ON through the monitor panel l0 in
the remote control apparatus 6A. If the automatic
excavation loading start switch is switched ON in this
manner, then the hydraulic excavator 1 repetitively
performs the series of operations described above until
the automatic excavation loadingstart switch isswitched
OFF next.
It is to be noted that the excavation position and
the sediment discharging position by the bucket 400 can
be set and stored by a manual (teaching) operation of an
operator (to operate the control operation lever set 69A) .
Further, also a lifting revolution route and a return
route can be stored by a teaching operation. The teaching
operation in this instance is performed by setting and --
storing a lifting revolution starting position, a
sediment discharging position and a return end position
by a manual operation of an operator. In a teaching
operation, also an arbitrary position on the lifting
revolution route (or return route) can be set and stored
suitably, and, for example, it is possible also to set
and store such a route that, for example, upon revolving
movement , the bucket 400 moves bypassing an obstacle such
as a track vessel.
~~, ~ ~~ J .l! III ! N
CA 02390363 2002-07-22
After a teaching operation is performed in this
manner, a route and a velocity along and at which.the
bucket 400 moves smoothly are automatically determined
by the controller 30B, and even if the operator does not
5 particularly perform a controlling operation on the
remote control apparatus 6A side, the hydraulic excavator
1 automatically performs the excavation loading work
described above repetitively. It is to be noted that the
controller 30B automatically controls the excavation
10 operation of the bucket 400 by fuzzy control so that earth
and sand may always be loaded fully into the bucket 400,
and such a teaching operation as described above is not
required for the excavation operation.
Further, in the system of the present embodiment,
15 also a service mode for performing service maintenance
of the entire semiautomatic system is prepared, and this
service mode is performed by connecting an external
terminal 2' to the controller 30B. And, by this service -
mode, adjustment of control gains, initialization of
20 various sensors and so forth are performed.
By the way, as the various sensors connected to the
controller 30B, as shown in FIG. 11, pressure switches
16, pressure sensors 19, 28A and 28B, resolvers (angle
sensors, angle detection means) 20 to 22, a vehicle
25 inclination angle sensor 24 and so forth are provided.
Further, to the controller 30B, an engine pump controller
27, an ON/OFF switch (bucket automatic return start switch
i~ii~~ ~~i si i
CA 02390363 2002-07-22
06
described hereinabove) 7A, another ON/OFF switch (slope
face excavation switch described above) 9, the monitor
panel (display switch panel) 10 with a target slope face
angle setting unit are connected. It is to be noted that
the external terminal 2 is connected to the controller
30B upon adjustment of the control gains, initialization
of the sensors and so forth.
The engine pump controller 27 receives engine speed
information from an engine rotational speed sensor 23 and
controls the engine E and the tilt angles of the pumps
51 and 52 of the variable discharge type (variable
delivery pressure type, variable capacity type) , and can
communicate coordination information with the controller
30B.
The pressure sensors 19 are attached to pilot pipes
connected from the operation levers 6 and 8 for extension
and contraction of the stick 300 and for upward and
downward movement of the boom 200 to the main control --
valves 13, 14 and 15 and detect pilot hydraulic pressures
in the pilot pipes . Since the pilot hydraulic pressures
in such pilot lines are varied by the operation amounts
of the operation levers 6 and 8, by measuring the hydraulic
pressures, the controller 1 can estimate 'the operation
amounts of the operation levers 6 and 8 based on the
measured hydraulic pressures.
The pressure sensors 28A and 28B detect
extension/contraction conditionsof the boom cylinder120
Ihi - i II ~s~i~ ,~~ . III ( '.
CA 02390363 2002-07-22
87
and the stick cylinder 121.
It is to be noted that, upon semiautomatic control
described above, the stick operation lever 8 is used to
determine the bucket tip moving velocity in a parallel
direction to a set excavation inclined face, and the
boom/bucket operation lever 6 is used to determine the
bucket tip moving velocity in a perpendicular direction
to the set inclined face. Accordingly, when the stick
operation lever 8 and the boom/bucket operation lever 6
are operated at the same time, the moving direction and
the moving velocity of the bucket tip are determined by
a composite vector in the parallel and perpendicular
directions to the set inclined face.
The pressure switches 16 are attached to the pilot
pipes for the operation levers 6 and 8 for the boom 200,
stick 300 and bucket 400 with selector valves 17 or the
like interposed therebetween and are used to detect
whether or not the operation levers 6 and 8 are neutral.
In particular, when the operation lever 6 or 8 is in the
neutral condition, the output of the pressure switch 16
is OFF, but when the operation lever 6 or 8 is used, the
output of the pressure switch 16 changes to ON. It is
to be noted that the neutral detecting pressure switches
16 are utilized also for detection of an abnormal
condition of the pressure sensors 19 and for switching
between the manual/semiautomatic modes.
The resolver 20 is provided at a pivotally mounted
__ . " ~, , ~ ~ ~.ai I ; Ii I ~I I
CA 02390363 2002-07-22
portion ( j oint part ) of the boom 200 on the upper revolving
unit 100 at which the posture of the boom 200 can be
monitored and functions as posture detection means for
detecting the posture of the boom 200. The resolver 21
is provided at a pivotally mounted portion ( j oint part )
of the stick 300 on the boom 200 at which the posture of
the stick 300 can be monitored and functions as posture
detection means for detecting the posture of the stick
300. Further, the resolver 22 is provided at a linkage
pivotally mounted portion at which the posture of the
bucket 400 can be monitored and functions as posture
detection means for detecting the posture of the bucket
400. By those resolvers 20 to 22, angle detection means
for detecting the posture of the arm mechanism in angle
information is composed.
The signal converter (conversion means) 26 converts
angle information obtained by the resolver 20 into
extension/contraction displacement information of the --
boom cylinder 120, converts angle information obtained
by the resolver 21 into extension/contraction
displacement information of the stick cylinder 121, and
converts angle information obtained by the resolver 22
into extension/contraction displacement information of
the bucket cylinder 122, that is, converts angle
information obtained by the resolvers 20 to 22 into
corresponding extension/contraction displacement
information of the cylinders 120 to 122.
M ;,.~.~"~ w. : ~I I II I __ ..,...
CA 02390363 2002-07-22
89
To this end, the signal converter 26 includes an
input interface 26A for receiving signals' from the
resolvers 20 to 22, a memory 26B including a lookup table
26B-1 for storing extension/contraction displacement
information of the cylinders 120 to 122 corresponding to
angle information obtained by the resolvers 20 to 22, a
main arithmetic unit (CPU) 26C which can calculate the
extension/contraction displacement information of the
cylinders 120 to 122 corresponding to angle information
obtained by the resolvers 20 to 22 and communicate the
cylinder extension/contraction displacement information
with the controller 1, and an output interface 26D for
sending out the cylinder extension/contraction
displacement information from the CPU 26C.
16 Extension/contraction displacement information
~1 bm, ~ st and ~1 bk of the cylinders 120 to 122
corresponding to angle information B bm, B st and B bk
obtained by the resolvers 20 to 22 described above can w
be calculated using the cosine theorem in accordance with
the following expressions.
~1 bm = (Llol/loz2 + Llol/Illa
- 2LIOl/loa' Llol/IIICOS ( 8 bm + Axbm) ) 1/~ ...... ( 1 )
/~ S t =. (I'!03/1042 + LID4/105a' 2LIO3/lo4' L104/I05COS ~ st ) 1/2 ...... (
2
~l bk = (Llos/lo7a + Llo~/loe' ' ZLlosrlo~' Llovloscos 8 bk) lz ...... ( 3 )
Here, in the expressions above, Ll,~ represents a
fixed length, Axbm represents a fixed angle, and the
suffix i/j to L has information between the nodes i and
4. 1l' . , ~.~;:I! a . ~I I ~I ;; J
CA 02390363 2002-07-22
j . For example, L~omloa represents the distance between
the node 101 and the node 102. It is to be noted that
the node 101 is determined as the origin of the xy
coordinate system (refer to FIG. 15).
5 Naturally, each time the angle information 8 bm,
B st and 6~bk is obtained by the resolvers 20 to 22, the
expressions above may be calculated by arithmetic means
(for example, the CPU 26C). In this instance, the CPU
26C forms the arithmetic means which calculates, based
10 on the angle information obtained by the resolvers 20 to
22, extension/contraction displacement information of
the cylinders 120 to 122 corresponding to the angle
information by calculation.
It is to be noted that signals obtained by the
15 conversion by the signal converter 26 are utilized not
only for feedback control upon semiautomatic control but
also to measure coordinates for measurement/indication
of the position of the tip 112 of the bucket 400.
The position of the bucket tip in a semiautomatic
20 system is calculated using a certain one point of the upper
revolving unit 100 of the hydraulic excavator as the
origin. However, when the upper revolving unit 100 is
inclined in the front linkage direction, it is necessary
to .rotate the coordinate system on control calculation
25 by an angle by which the vehicle is inclined. , The vehicle
inclination angle sensor 24 is used in order to correct
the coordinate system for the angle of rotation.
CA 02390363 2002-07-22
91
The solenoid proportional valves 3A to 3C control,
in response to electric signals from the controller 30B,
the hydraulic pressures supplied from the pilot pump 50,
and the controlled hydraulic pressures are passed through
the directional control valves 4A to 4C or selector valves
18A to 18C so as to act upon the main control valves 13,
14 and 15 to control the spool positions of the main
control valves 13, 14 and 15 so that target cylinder
velocities may be obtained. However, if the directional
control valves 4A to 4C are changed over to the manual
mode side, then the cylinders 120 to 211 can be controlled
manually.
It is to be noted that a stick confluence control
proportional valve 11 adjusts the confluence ratio of the
two pumps 51 and 52 in order to obtain an oil amount
corresponding to a target cylinder velocity.
Further, the ON/OFF switch (slope face excavation
switch) 9 described hereinabove is mounted on the stick w
operation lever 8 of the remote control apparatus 6A, and
as the operator operates this switch 9, information of
the operation is received by the 50 GHz simple radio unit
31 of the hydraulic excavator 1 through the repeater car
7 and selection or no selection of a semiautomatic control
mode is performed. Then, if a semiautomatic control mode
is selected, then the tip 112 of the bucket 400 can be
moved linearly.
Furthermore, the ON/OFF switch (bucket automatic
I~ d ~ ~.,Ia d , III G : ~I I .
CA 02390363 2002-07-22
92
return start switch) 7A described above is mounted on the
boom/bucket operation lever 6 of the remote control
apparatus 6A, and as the operator switches the switch 7A
ON, the bucket 400 can be automatically returned to an
angle set in advance.
Safety valves 5A are provided to switch the pilot
pressures to be supplied to the solenoid proportional
valves 3A to 3C, and only when the safety valves 5 are
in an ON state, the pilot pressures are supplied to the
solenoid proportional valves3A to 3C. Accordingly, when
some failure occurs in semiautomatic control or in a like
case, automatic control of the linkage can be stopped
rapidly by switching the safety valves 5 to an OFF state .
Meanwhile, the rotational speed of the engine E is
varied by operating the position [set by operating a
throttle dial (not shown) J of the engine throttle set by
the operator, and further, even if the position of the
engine throttle is fixed,'the engine rotational speed w
varies depending upon the load.
Since the pumps 50, 51 and 52 are directly coupled
to the engine E, if the engine rotational speed varies,
then also the pump discharges (pump delivery pressures)
vary, and consequently, even if the spool positions of
the main control valves 13, 14 and 15 are fixed, the
cylinder velocities are varied by the variation of the
engine rotational speed. Thus, in order to correct this, .
the engine rotational speed sensor 23 is attached. When
G,~"~'G;G, , GI I , ;I I
CA 02390363 2002-07-22
93
the engine rotational speed is low, the target moving
velocity of the tip 112 of the bucket 400 is set slow.
The monitor panel 10 in the remote control apparatus
6A is not only used as a setting unit for the target slope
face angle a ( refer to FIGS . l5 and 20 ) and the bucket
return angle, but also used as an indicator for
coordinates of the bucket tip 400, the slope face angle
measured or the measured distance between coordinates of
two points sent thereto as a kind of vehicle monitor
information from the construction machine 1 to 3.
In particular, in the system according to the
present embodiment, the pressure sensors 19 and the
pressure switches 16 are incorporated in conventional
pilot hydraulic lines to detect operation amounts of the
operation levers 6 and 8 and feedback control is effected
using the resolvers 20, 21 and 22, and such control makes
it possible to effect multiple freedom degree feedback
control independently for each of the cylinders 120, 121
and 122. Consequently, the requirement for addition of
an oil unit such as a pressure compensation valve is
eliminated.
Further, an influence of inclination of the upper
revolving unit 100 is corrected using the vehicle
inclination angle sensor 24, and the solenoid
proportional valves 3A to 3C are utilized to drive the
cylinder 120, 121 and 122 with electric signals from the
controller 1. It is to be noted that the operator can
dl f I ~ I~i L . 1l I 61 ~ I I
CA 02390363 2002-07-22
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select a mode arbitrarily using the manual/semiautomatic
mode change-over switch 9 and besides can set a target
slope face angle.
In the following, a control algorithm of the
semiautomatic system performed by the controller 30B is
described. The semiautomatic control mode (ezcept the
bucket automatic return mode) effected by the controller
30B is generally such as illustrated in FIG. 13.
In particular, the moving velocity and the moving
direction of the tip 122 of the bucket 400 are first
calculated based on information of the target slope face
set angle, the pilot hydraulic pressures for controlling
the stick cylinder 121 and the boom cylinder 120, the
vehicle inclination angle and the engine rotational speed.
Then, target velocities of the cylinders 120, 121 and 122
are calculated based on the obtained information (the
moving velocity and the moving direction of the tip 122
of the bucket 400). In this instance, the information
of the engine rotational speed is required to determine
an upper limit to the cylinder velocities.
Further, the controller 30B includes, as shown in
FIGS . 12 and 13, control sections 1A, 1B and 1C provided
independently of one another for the cylinders 120, 121
and 122, and the controls are constructed as independent
control feedback loops as shown in FIG. 13 so that they
may not interfere with each other.
Here, the compensation construction in the closed
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CA 02390363 2002-07-22
loop controls shown in FIG. 13 has, in each of the control
sections 1A, 1B and 1C, a multiple freedom degree
construction including a feedback loop and a feedforward
loop with regard to the displacement and the velocity as
5 shown in FIG. 14 and includes feedback loop type
compensation means 72' having a variable control gain
(control parameter), and feedforward loop type
compensation means 73' having a variable control gain
(control parameter).
10 In particular, if a target velocity is given, then
the feedback loop type compensation means 72' performs
feedback loop processes according to a route wherein a
deviation between the target velocity and velocity
feedback information is multiplied by a predetermined
15 gain Hvp (refer to reference symbol 62' ) , another route
wherein the target velocity is integrated once (refer to
an integration element 61' of FIG. 14) and a deviation
between the target velocity integration information and ' -
displacement feedback information is multiplied by a
20 predetermined gain Kpp (refer to reference symbol 63')
and a further route wherein the deviation between the
target velocity integration information and the
displacement feedback information is multiplied by a
predetermined gain Kpi (refer to reference symbol 64')
25 and further integrated (refer to reference symbol 66')
are performed while the feedforward loop type
compensation means 73' performs a feedforward loop
II'. i1' ,1 ~ I~.;~.' . ~I I ~I '.. ~ -'. ... .___......
CA 02390363 2002-07-22
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process according to a route wherein the target velocity
is multiplied by a predetermined gain Kf (refer to
reference symbol 65') is performed.
Of the processes mentioned, the feedback loop
processes are described in more detail. The present
apparatus includes, as shown in FIG. 14,~operation
information detection means 91' for detecting operation
information of the cylinders 120 to 122, and the
controller 30B receives the detection information from
the operation information detection means 91' and target
operation information (for example, target moving
velocities) set by the target value setting means 80' as
input information and sets and outputs control signals
so that the arm members such as the boom 200 and the bucket
(work-ing member) 400 may exhibit target operation
conditions.
It is to be noted that the target value setting means
80' mentioned above receives a construction machine
control signal (control target value information)
transmitted thereto from the remote control apparatus 6A
through the repeater car 7 and sets target operation
information in response to the received control target
value information. In short, the target value setting
means 80' has a function as a reception section for
receiving control target value information transmitted
thereto from the remote control apparatus 6A through the
repeater car 7 together with the 50 GHz simple radio unit
a: ; i ~I J. Ii ,l d'r I ~ ~I .. I
CA 02390363 2002-07-22
97
31.
Further, the operation information detection means
91' described above particularly is cylinder position
detection means 83' which can detect positions of the
cylinders 120 to 122, and in the present embodiment, the
cylinder position detection means 83' is composed of the
resolvers 20 to 22 and the signal converter 26 described
hereinabove.
It is to be noted that the values of the gains Kvp,
Kpp, Kpi and Kf mentioned above can individually be varied
by a gain scheduler 70', and .particularly, the gain
scheduler 70' performs automatic gain adjustment on the
real time basis based on various information such as, for
example, the operating oil temperature, the bucket tip
position and the load pressure so that the gains Kvp, Kpp,
Kpi and Kf may individually have optimum values.
Further, while a non-linearity removal table 71'
is provided to remove non-linear properties of the --
solenoid proportional valves 3A to 3C, the main control
valves 13 to 15 and so forth, a process in which the
non-linearity removal table 71' is used is performed at
a high speed by a computer using a table lookup technique .
By such a construction as described above, where
the hydraulic excavator 1 is remotely radio controlled
from the remote control apparatus 6A to perform a slope
face excavation operation of a target slope face angle
a as shown in FIG: 20 semi-automatically, in the system
. G ~~.a1 ~4. . i II'I I ~I I
CA 02390363 2002-07-22
98
of the present embodiment, when compared with a
conventional manually controlled system, such
semiautomatic controlling functions as described above
can be realized by the electronic hydraulic system which
automatically adjusts the composite movement amount of
the boom 200 and the stick 300 in accordance with the
excavation speed.
In particular, a construction machine control
signal including control target value information
transmitted from the remote control apparatus 6A and
detection signals (including setting information of a
target slope face angle) from the various sensors are
inputted to the controller 30B mounted on the hydraulic
excavator 1, and the controller 30B controls the main
control valves 13, 14 and 15 through the solenoid
proportional valves 3A, 3B and 3C based on the control
target value information -and the detection signals from
the sensors (including also detection signals of the v
resolvers 20 to 22 received through the signal converter
26) to effect such control that the boom 200, stick 300
and bucket 400 may exhibit desired extension/contraction
displacements to execute such semiautomatic control in
remote radio control as described above.
Then, upon the semiautomatic control, the moving
velocity and the moving direction of the tip 112 of the
bucket 400 are calculated from information of the target
slope face set angle given from the remote control
,; ,~~I.~~.~If. : X41 ~i ,. 1
CA 02390363 2002-07-22
99
apparatus 6A, and pilot hydraulic pressures which control
the stick cylinder 121 and the boom cylinder 120, a vehicle
inclination angle and an engine rotational speed which
are all detected with the hydraulic excavator and
target velocities of the cylinders 120, 121 and 122 are
calculated. based on the calculated information (moving
velocity and moving direction of the tooth 112 of the
bucket 400) . In this instance, from the information of
the engine rotational speed, an upper limit to the
cylinder velocities is determined.. Further, the
controls are formed as feedback loops independent of one
another for the cylinder 120, 1.21 and 122 and do not
interference with one another.
It is to be noted that the setting of the target
slope face angle in the semiautomatic system can be
performed by a method which is based on inputting of a
numerical value by switches on the monitor panel 10 in
the remote control apparatus 6A, a two point coordinate
inputting method, or an inputting'method by a bucket angle,
and similarly, for the setting of the bucket return angle
in the semiautomatic system, a method which is based on
inputting of a numerical value by the switches on the
monitor panel 10 or a method which is based on bucket
movement is performed. For all of them, known techniques
are used.
Further, the semiautomatic control modes described
above and the controlling methods therein are performed
1111', ;III 41 I'
CA 02390363 2002-07-22
100
in the following manner based on cylinder
extension/contraction displacement information obtained
by conversion by-the signal converter 26 of the angle
information detected by the resolvers 20 to 22.
First, in the bucket angle control mode, the length
of the bucket cylinder 122 is controlled so that the angle
(bucket angle) ~ defined between the bucket 400 and the
x axis may be fixed at each arbitrary position. In this
instance, the bucket cylinder length ~ bk can be
calculated if the boom cylinder length ~lbm, the stick
cylinder length ~lst and the angle ~ are determined.
In the smoothing mode, since the bucket angle ~ is
kept fixed, the bucket tip position 112 and a node 108
move in parallel . First , a case wherein the node 108 moves
in parallel to the x axis (horizontal excavation) is
described below. In particular, in this instance, the
coordinates of the node 108 in the linkage posture when
excavation is started are represented by (xloa ~ Y~oa) ~ and ' -
the cylinder lengths of the boom cylinder 120 and the stick
cylinder 121 in the linkage posture in this instance are
calculated and the velocities of the boom 200 and the stick
300 are calculated so that xlo8 mentioned above may move
horizontally. It,is to be noted that the moving velocity
of the 'node 108 depends upon the operation amount of the
stick operation lever 8 in the remote control apparatus
6A.
On the other hand, where parallel movement of the
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CA 02390363 2002-07-22
101
node 108 is considered, the coordinates of the node 108
after the very short time 0t are represented by (xlo8 +
0 x ~ Y~os~ ~ 0 x is a very small displacement which depends
upon the moving velocity. Accordingly, by taking D x
mentioned above into consideration of xlo8, target lengths
of the boom and the stick cylinders after O t can be
calculated.
Further, in the slope face excavation mode, control
may be performed in a similar manner as in the smoothing
mode . However, the point which moves is changed from the
node 108 to the bucket tip position 112, and further, the
control takes it into consideration that the bucket
cylinder length is fixed.
Further, as regards correction of a finish
inclination angle by the vehicle inclination angle sensor
24, calculation of the front linkage position is performed
on the xy coordinate system whose origin is a node 101
of FIG. 15. Accordingly, if the vehicle body is inclined - -
with respect to the xy plane, then the xy coordinates are
rotated and the target inclination angle with respect to
the ground surface is varied. In order to correct this,
the inclination angle sensor 24 is mounted on the vehicle,
and when it is detected by the inclination angle sensor
24 that the vehicle body is inclined by a with respect
to the xy plane, the target inclination angle should be
corrected by replacing it with a value obtained by adding
a to it .
.. I I~ a I! ' 91 I ~I r. I I
CA 02390363 2002-07-22
102
While the various control modes and the controlling
methods in the control modes are described above, they
all employ a technique wherein they are performed based
on cylinder extension/contraction displacement
information, and control contents according to this
technique are publicly known. In particular, in the
system according to the present embodiment, since angle
information is detected first by the resolvers 20 to 22
and then the angle information is converted into cylinder
extension/contraction displacement information by the
signal converter 26, the known controlling technique can
be used for later processing.
However, in the automatic excavation loading mode,
since the controller 30B calculates
extension/contraction displacements of the cylinder 120
to 122 and the driving amount of the revolving motor based
on an excavation start position, a lifting revolution
route, a sediment discharging position and a return route
set and stored by a teaching operation described above
and controls the extension/contraction displacements of
the cylinder 120 to 122 and the revolving motor in response
to a result of the calculation to automatically control
the boom 200, stick 300, bucket 400 and upper revolving
unit 100 suitably so that they may have respective
predetermined postures, angleinformation detected by the
resolvers 20 to 22 is not required particularly.
It is to be noted that, while, in the present
r ~~ ~-~i .i. ~i ~ ~~
CA 02390363 2002-07-22
103
embodiment , only the hydraulic excavator 1 is described,
also each of the bulldozers 2 and the wheel loader 3 can
perform semiautomatic control similar to that described
hereinabove.
As described above, with the remote radio control
system according to the present embodiment, since each
of the construction machines 1 to 3 includes the
semiautomatic control apparatus30 (controller 30B), when
any of the construction machines I to 3 is remotely
controlled from the corresponding remote control
apparatus 6A, if any of the various semiautomatic control
modes is set from the remote control apparatus 6A side,
then the construction machine 1 to 3 can be made to perform
a desired work with a high degree of accuracy and
efficiency.
Accordingly, any other person than those who are
skilled in actual controlling operations of the
construction machines 1 to 3 can perform remote control
of .the construction machines I to 3 very readily.
Particularly in such a system that each of the
construction machines 1 to 3 is remotely controlled while
a two-dimensional image displayed on the display unit 67
is observed as described above, the burden of a driving
operation to an operator can be moderated significantly,
and consequently, significant improvement in
productivity can be achieved.
Further, in the present system, since, in each of
it ~ ~ ~ ~~ ~, : iii ~ _ ~~ ~ I
CA 02390363 2002-07-22
104
the construction machines 1 to 3, angle information
signals detected by the resolvers 20 to 22 are converted
into cylinder displacement information by the signal
converter 26 and inputted to the controller 30B, even if
expensive cylinder stroke sensors for. detecting
extension/contraction displacements of the cylinder 120
to 122 are not used as in the prior art, control which
uses cylinder extension/contraction displacements which
are used in conventional control systems can be executed.
Consequently, a system which can control the position and
the posture of the bucket 400 accurately and stably while
keeping the cost low can be provided. However, it
is naturally possible to perform similar control to that
of the embodiment described above even if such cylinder
stroke sensors as described above are used.
Further, in the embodiment described above, since
the feedback control loops are independent of one another
for the individual cylinder 120 to 122 and the control
algorithm provides multiple freedom degree control of
displacements, velocities and feedforward, the control
system can be simplified, and besides , since a non-linear
property of a hydraulic equipment can be converted into
a linear property at a high speed by a table lookup
technique, this contributes also to improvement of the
control accuracy.
Furthermore, since also maintenance such as a gain
adjustment can be performed using the external terminal
~- ~i ~,d~u:~~ i ~ i~l ~ ~~ I
CA 02390363 2002-07-22
105
2', an advantage that adjustment and so forth are easily
achieved. Further, since the operation amounts
of the operation lever 6 and 8 of the remote control
apparatus 6A are calculated from a variation of the pilot
pressure using the pressure sensors 19 and so forth and
besides a conventional open center valve hydraulic system
is used as it is, there is another advantage that addition
of a pressure compensating valve or the like is not
required. Furthermore, it is also possible to display
bucket tip coordinates on the real time basis on the
monitor panel 10 of the remote control apparatus 6A.
Further, by the construction which employs the safety
valves 5A, a system abnormal operation when the system
is abnormal can be prevented.
(B) Description of the Second Embodiment
FIG. 22 is a view schematically showing a
construction of a remote radio control system as a second
embodiment of the present invention. The system shown
in FIG. 22 is constructed such that the repeater car 7
in the first embodiment is not disposed, and each remote
control apparatus6B directly performscommunication with
one of the construction machines 1 to 3 which is an object
of control to remotely control the construction machine
1 to 3.
To this end, the remote control apparatus 6B
according to the present second embodiment directly
performs bidirectional communication by a radio wave of
Ik 4 , ~ ~.~~ R, 7 ~t I II I .
CA 02390363 2002-07-22
106
the 50 GHz band width the 50 Ghz simple radio unit 31 of
the construction machine 1 to 3 on which the 50 GHz simple
radio unit 63 is mounted. Further, in the present
embodiment, a 429 MHz transmission antenna (emergency low
radio wave directionality transmission section) 64A.for
transmitting a construction machine control signal to the
construction machine 1 to 3 by a radio wave of the 429
MHz band upon emergency such as when bidirectional
communication by the 50 GHz simple radio unit 63 is
interrupted is provided as shown in FIGS . 23 and 24 . It
is to be noted that a construction machine control signal
transmitted from the 429 MHz transmission antenna 64A is
received by the 429 MHz reception antenna 33 of the
construction machine l to 3.
Also in the present embodiment, the 50 GHz simple
radio unit 63 described above is mounted for revolving
movement in the azimuth system/swinging movement in the
elevation angle system on the remote control apparatus
6B by the automatic tracking apparatus 63A, and the 50
GHz simple radio unit 31 described above is mounted for
revolving movement in the azimuth system/swinging
movement in the elevation angle system on the construction
machine 1 to 3 by the automatic tracking apparatus 32 and
automatically searches a 50 GHz radio wave from the other
party of communication so that the signal reception level
may be in the maximum. Then, the 50 GHz simple radio units
63 and 31 are adjusted so that the radio wave radiation
. ~ ~:lL I ; ;1'i I : $I I
CA 02390363 2002-07-22
107
faces thereof may always oppose each other.
In particular, the remote radio control system
according to the present second embodiment includes,
between each of the remote control apparatus 6B and a
corresponding one of the construction machines 1 to 3,
bidirectional communication means (50 GHz antennae 63 and
31) of the 50 GHz band having a high radio wave
directionality, automatic tracking means (automatic
tracking apparatus 63A and 32), and emergency low radio
wave directionality communication means(429 MHz antennae
64A and 33) having a lower radio wave directionality than
the radio wave directionality of the 50 GHz antennae 63
and 31 for enabling, when communication by the 50 GHz
antennae 63 and 31 described above is disabled,
communication of a construction control signal (control
signal) from the remote control apparatus 6B to the
construction machine 1 to 3.
Also in the present embodiment, five sets of such w
bidirectional communication means and automatic tracking
means as described above are provided corresponding to
the five construction machines 1 to 3, and also five such
emergency low radio wave directionality communication
means as described above are provided corresponding to
the five construction machines 1 to 3. Further, also zoom
cameras 66 for catching images of the construction
machines 1 to 3 when communication by the 50 GHz antennae
63 and 31 is impossible are provided.
ii 'V 91 ~~~~-~~~a , i~~~i
CA 02390363 2002-07-22
108
It is to be noted that, since the remote control
apparatus 6B perform communication directly with the
construction machines 1 to 3, the control lever/switch
set 69C for the repeater car 7 in the first embodiment
is not required. Further, a "429 MHz wave changeover
switch" for changing over, upon such emergency as
described above, the communication to communication in
which the 429 MHz transmission antenna 64A is used is
provided in the control lever/switch set 69B in the first
embodiment, but the "construction machine/repeater car
changeover switch" is not required. Meanwhile, in
FIGS. 23 and 24, those elements which are denoted by like
reference symbols to those denoted in FIGS. 2, 6 and 9
and are not described particularly are similar to those
elements described hereinabove with reference to FIGS. 2,
6 and 9.
In the meantime, also the construction machines 1
to 3 according to the present second embodiment have w
constructions similar to those of the first embodiment.
For convenience, the hydraulic excavator 1 is described.
Also the hydraulic excavator 1 of the present second
embodiment includes a 50 GHz simple radio unit 31
described above for performing bidirectional
communication by a high directionality radio wave of the
50 GHz band with the remote control apparatus 6B, and an
automatic tracking apparatus 32 response section
described above having a function as a response section
h. i1.., r ~"~,n~ h. n ~~ ~ ° ~~ p1 ~ '.
CA 02390363 2002-07-22
109
for responding to a signal (automatic tracking signal)
from the automatic tracking apparatus 63A described above
mounted on the remote control apparatus 6B side.
The hydraulic .excavator 1 further includes a j oint
type arm mechanism composed of the boom 200, stick 300
and bucket 400, and cylinders 120 to 122 serving as a
cylinder type actuator mechanism which perform extension
and contraction operations to drive the arm mechanism.
Further, also in the present embodiment, the hydraulic
excavator l_includes angle detection means (resolvers 20
to 22) for detecting the posture of the arm mechanism as
angle information, target setting means 80' for receiving
a construction machine control signal (control target
value information) transmitted thereto from the remote
control apparatus 6B, and a semiautomatic control
apparatus 30 having a controller 30B for controlling the
cylinders 120 to 122 based on control target value
information received by the target setting means 80' and
angle information detected by the resolvers 20 to 22 so
that the cylinders 120 to 122 may exhibit predetermined
extension/contraction displacements.
It is to be noted that the semiautomatic control
apparatus 30 described above includes, similarly as in
the first embodiment, a signal converter 26 for converting
angle information obtained by the resolvers 20 to 22 into ,
corresponding extension/contraction displacement
information of the cylinder 120 to 122, and the controller
~N 'II I ~ ~w6'1~ ~1~ ill I II ~ ,
CA 02390363 2002-07-22
110
30B controls based on control target value information
received by the target setting means 80' and
extension/contraction displacement information of the
cylinders 120 to 122 obtained by conversion by the signal
converter 26~ so that the cylinders 120 to 122 may exhibit
predetermined extension/contraction displacements.
Also in the system according to the present second
embodiment having such a construction as described above,
similarly as in the first embodiment, when an operator
suitably operates, in the remote control apparatus 6B,
the control operation lever set 69A and the control
leverlswitch set 69B while observing an image from the
construction machine 1 to 3 displayed on the display unit
67, information of the operation is transmitted as a
construction machine control signal, an antenna control
signal, a camera/light control signal or the like to the
construction machine 1 to 3 through the 50 GHz simple radio
unit 63. The construction machine 1 to 3 performs working - -
and control in accordance with the signal received by the
50 GHz simple radio unit 31.
If communication by a radio wave of the 50 GHz
between the remote control apparatus 6B and the
construction machine 1 to 3 is interrupted, then when the
operator operates the "429 MHz wave changeover switch"
of the control lever/switch set 69B, the remote control
apparatus 6B changes over the frequency of the radio wave
to be used between the remote control apparatus 6B and
r~ ~ .~r~nf~aG ~i I ~I I;
CA 02390363 2002-07-22
111
the construction machine 1 to 3 from that of the 50 GHz
band to that of the 429 MHz band.
Consequently, a construction machine control
signal is transmitted as a radio wave of the 429 MHz band
toward the construction machine 1 to 3 through the 429
MHz antenna 82. Then, when the distance between the
construction machine 1 to 3 and the remote control
apparatus 6B is approximately within 100 m and the
construction machine 1 to 3 receives the radio wave of
the 429 MHz band from the remote control apparatus 6B by
means of the 429 MHz reception antenna 33, the control
apparatus 30 (controllers 30A and 30B) operates based on
the construction machine control signal so that the engine,
hydraulic motors, revolving motor and so forth are
suitably controlled to be driven to perform a desired
work.
It is to be noted that, also in this instance, in
the construction machine 1 to 3, the semiautomatic control
apparatus 30 performs posture control according to a
"semiautomatic control mode" as the controller 30B of the
semiautomatic control apparatus 30 controls based on
control target value information received from the remote
control apparatus 6B and extension/contraction
displacement information of the cylinder type actuators
( in' the case of the hydraulic excavator 1, the cylinders
120 to 122 ) obtained by the signal converter 26 so that
the cylinder type actuators may exhibit predetermined
is 4, . II ~;:1~414' , i1 l I ~ #I d I
CA 02390363 2002-07-22
112
eztension/contraction displacements, and performs a
desired work with a high degree of accuracy and
efficiently.
In this manner, also with the remote radio control
system of the present second embodiment , even if such an
emergency situation that bidirectional communication by
a radio wave of the 50 GHz band which is a main
communication medium between the remote controlapparatus
6B and the construction machine 1 to 3 is interrupted by
some trouble occurs, since at least a construction machine
control signal can be transmitted to the construction
machine 1 to 3 by radio communication of the 429 MHz band,
advantages similar to those of the first embodiment are
obtained. Further, in the present embodiment, since the
remote control apparatus 6B perform communication
directly with the construction machines 1 to 3,
particularly in the working site 4 which has a
comparatively small scale or the like, the repeater car w
7 described above need not be disposed, and reduction of
the cost of the entire system can be achieved.
Further, also in the present second embodiment,
since the 50 GHz simple radio units 31 and 63 can always
be opposed to the 50 GHz simple radio units 31 and 63 of
the other parties of communication by the automatic
tracking apparatus 32 and 63A, although a radio wave of
the 50 GHz band having a high directionality is used, even
if the construction machine d to 3 moves, stabilized
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control can always be performed, and this contributes very
much to improvement of the reliability of the present
system.
Furthermore, in the system according to the present
second embodiment, since five sets of bidirectional
communication. means and automatic tracking means are
provided corresponding to the number of the construction
machines 1 to 3 (totaling five machines) by providing the
50 GHz simple radio units 63 and 31 on the remote control
apparatus 6B side and the construction machines 1 to 3
side, respectively, and providing the automatic tracking
apparatus 63A and 32 on the remote control apparatus 6B
side and the construction machines 1 to 3 side,
respectively, bidirectional communication with the
construction machines 1 to 3 can be performed
independently of one another for the individual
construction machines 1 to 3. Accordingly, the
construction machines 1 to 3 can be made to perform different
works from one another at the same time, and the working
efficiency can be further improved significantly to
shorten the working period.
Further, in the system according to the present
second embodiment, since five emergency low radio wave
directionality communication means each formed from the
429 MHz transmission antenna 64A of the remote control
apparatus 6B side and the 429 MHz reception antenna 33
of the construction machine 1 to 3 side are provided
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corresponding to the five construction machines 1 to 3,
even if communication by a radio wave of the 50 GHz band
between any of the remote control apparatus 6B and a
corresponding one of the construction machines 1 to 3
becomes impossible, the construction machine 1 to 3 can
be remotely controlled independently. Accordingly, even
upon emergency, all of the construction machines 1 to.3
in the working site 4 can be retracted and recovered to
a safe place with certainty.
And, also with the system according to the present
second embodiment, since the control apparatus 30
(controller 30B) are provided for the construction
machines 1 to 3, when any of the construction machines
1 to 3 is remotely controlled from the corresponding
remote control apparatus 6B, if any of the various
semiautomatic control modes described above is set from
the remote control apparatus 6B side, then the
construction machine 1 to 3 can be made perform a desired
work with a high degree of accuracy and efficiently.
Accordingly, any other person than those skilled
in actual controlling operation of the construction
machines 1 to 3 can perform remote control of any of the
construction machines 1 to 3 very readily. Particularly
with such a system that each of the construction machines
1 to 3 is remotely controlled while a two-dimensional
image displayed on the display unit 67 is observed in the
remote control apparatus 6B, the burden of a controlling
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operation to the operator can be reduced remarkably, and
consequently, significant improvement of the
productivity can be achieved.
Further, since, also in the present second
embodiment, angle information signals detected by the ,
resolvers 20 to 22 any of in the construction machines
1 to 3 is converted into cylinder displacement information
by the signal converter 26 and inputted to the controller
30B, even if expensive stroke sensors for detecting
extension/contraction displacements of the hydraulic
cylinder 120 to 122 are not used. as in the prior art,
control in which cylinder extension/contraction
displacements used in a conventional control system are
used can be executed. Consequently, a system which can
control the position and the posture of the bucket 400
accurately and stably while the cost is kept low
can be provided.
(C) Others
It is to be noted that , while the remote radio
control system in each of the embodiments described above
is a system which includes both of communication means
for emergency to be used when communication by a radio
wave of the 50 GHz band is disabled and semiautomatic
control means for the construction machines 1 to 3, the
present invention is not limited to this, and the remote
radio control system may be constructed as a system which
includes either one of them.
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Further, while, in each of the embodiments
described above, a case wherein the remote radio control
system is used in the territory of Japan is presumed and,
from restrictions of the Radio Law of Japan, a radio wave
of the 50 GHz band is used as a radio wave having a high
directionality, a radio wave of the 2.4 GHz band is used
as a spread spectrum radio wave and a radio wave of the
429 MHz band is used as a radio wave having a low radio
wave directionality, the present invention is not limited
to this, and it is possible to employ radio waves of
arbitrary bands other than those specified above.
Particularly with regard to use outside the
territory of Japan, it is possible to use radio waves of
arbitrary frequency bands other than those specified
above suitably in accordance with frequency bands usable
in individual countries. Also in this instance, however,
it is preferable to use a radio wave of a GHz band (for
example, a several tens GHz band) as a radio wave having
a high directionality; to use a radio wave of, for example,
a several GHz band as a spread spectrum radio wave, and
to use a radio wave of a MHz band (for example, a several
hundreds MHz band) as a radio wave of a low radio wave
directionality.
Furthermore, while it is described in the
embodiments described above that the remote control
apparatus 6A (6B) are fixedly installed in the site office
5, also the remote control apparatus 6A (6B) may be carried
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CA 02390363 2002-07-22
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on a movable vehicle or vehicles so that they can be moved.
Further, while it is described in the embodiments
described above that the remote control apparatus 6A (6B)
can remotely control not only the construction machines
1 to 3 but also the repeater car 7, a remote control
apparatus for exclusive use for the repeater car 7 may
be provided separately from the remote control apparatus
6A (6B).
Furthermore, while, in the embodiments described
above, a case wherein the present invention is applied
to the hydraulic excavators 1, bulldozers 2 and wheel
loader 3 is described, the present invention is not
limited to this and can be applied similarly to any
construction machine (movable working machine) such as
a tractor or a dump track which has a joint type arm
mechanism which is driven by cylinder type actuators , and
operation and effects similar to those described above
can be achieved with any of such construction machines. --
Further, while, in the embodiments described above,
a case wherein the fluid pressure circuits for operating
the cylinder type actuators are hydraulic circuits is
described, the present invention is not limited to this,
and a fluid pressure circuit which makes use of a liquid
pressure other than a working oil pressure or a pneumatic
pressure may be used only if it has at least a pump driven
by a prime mover and a control valve mechanism. Also in
this instance, effects similar to those described above
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can be achieved with any of such construction machines.
Furthermore, while, in the embodiments described
above, a case wherein the engine E is a prime mover of
the rotational output type, for example, a Diesel engine,
is described, according to the present invention, it is
only required that the prime mover (various internal
combustion engines and so forth) can drive a pump for
causing a delivery pressure to act upon the fluid pressure
circuits, and the prime mover is not limited to a prime
mover of the rotational output type such as 'a Diesel
engine.
And, the present invention is not limited to the
embodiments described above and can be carried out in
various forms without departing from the subject matter
of the present invention.
Industrial Applicability of the Invention
Where the present invention is applied as remote w
radio control technology in a working side such as a
construction site or a site for restoration against
natural calamities, even if such an emergency situation
that bidirectional communication between a remote control
apparatus and a repeater car is interrupted occurs,
bidirectional communication between the remote control
apparatus and the repeater car is enabled by emergency
spread spectrum bidirectional communication means, and
consequently, even upon emergency, it is possible to cause
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a construction machine (working machine) to continue its
operation or to retract and recover a construction machine
-,
to a safe place and the working efficiency at a working
site can be improved significantly. Accordingly, the
usefulness of the present invention is very high.
