JP3612212B2 - Remote radio control system, wireless mobile work machine, and remote control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a remote radio control system for remotely controlling a mobile work machine such as a hydraulic excavator, a bulldozer, or a dump truck by radio, and also relates to a remote control device and a radio mobile work machine suitable for use in the remote radio control system. .
[0002]
[Prior art]
In recent years, research and development on technologies for remotely manipulating construction machines such as hydraulic excavators, bulldozers, dump trucks, etc., have been actively conducted. In particular, at disaster recovery sites, dam construction sites, quarry sites, and steelworks sites, it is possible to operate unmanned construction machines from a remote location using radio to perform various operations safely and efficiently. It is desired.
[0003]
For this reason, a technology for remotely manipulating construction machines by radio, that is, a remote radio maneuvering system is considered.
[0004]
[Problems to be solved by the invention]
By the way, in such a remote radio control system, it is necessary to provide a radio device for both the construction machine and the remote control device. As this radio device, a radio wave having a strong radio wave directivity of 50 GHz band is used. It is considered to adopt a 50 GHz simple radio that can perform two-way communication over a long distance (1 km or more).
[0005]
The 50 GHz simple wireless device receives a control signal sent from the remote control device to the construction machine, and on the other hand, operates the construction machine collected by the video (image information) taken by the TV camera of the construction machine or by the microphone. Sound information such as sound and work sound, vehicle monitor information (for example, engine speed, discharge amount of hydraulic pump, hydraulic oil temperature, cooling water temperature) indicating its own driving state, etc. are transmitted to the remote control device.
[0006]
In addition, these 50 GHz simple radios can rotate 360 degrees in the azimuth system and have a width of about -20 degrees to about +70 degrees with the reference horizontal plane as 0 degrees in the elevation system so that stable communication can be performed. Attach the auto-tracking device, and the radio wave radiation surface of the antenna of the 50 GHz simple radio mounted on the construction machine and the radio wave of the antenna of the 50 GHz simple radio mounted on the remote control device. It is considered to automatically adjust the radiating surface to face each other.
[0007]
However, simply by facing the radio wave radiation surface of the antenna of the 50 GHz simple radio mounted on the construction machine by the automatic tracking device and the radio wave radiation surface of the antenna of the 50 GHz simple radio mounted on the remote control device, Since the azimuth error of the antenna is detected using the received signal received by the 50 GHz simple wireless device, it is difficult to accurately detect the azimuth error of the antenna, and there is a problem that the reliability of the automatic tracking control cannot be improved. .
[0008]
The present invention has been devised in view of such a problem, and is capable of reliably detecting the azimuth error of an antenna and improving the reliability of automatic tracking control, as well as a wireless remote control system and a wireless mobile system. An object is to provide a work machine and a remote control device.
[0009]
[Means for Solving the Problems]
For this reason, the remote radio control system according to the first aspect of the present invention includes a radio mobile work machine capable of working movably at a work site by radio control using the first radio device with an antenna, and a first radio with an antenna. A remote control device for operating the wireless mobile work machine by wireless control using two wireless devices, and mounting the first wireless device on the wireless mobile work machine and attitude of the first wireless device A first attitude adjustment mechanism with a first adjustment base that can be adjusted is provided, and a second adjustment base that can adjust the attitude of the second wireless device by mounting the second wireless device on the remote control device A second attitude adjustment mechanism is provided, and one of a laser projector and a laser receiver is mounted on the first adjustment base of the first attitude adjustment mechanism together with the first wireless device, and the first The second adjustment base of the two-position adjustment mechanism And the other of the laser projector and laser receiver is mounted together with the second wireless device, The first attitude adjustment mechanism or the second attitude adjustment mechanism described above is controlled so that radio waves are taken into the antenna and the laser light from the laser projector is received by the laser receiver to detect an orientation error of the laser light. After the laser light Based on heading error ,Up First attitude adjustment mechanism Or Controlling the second attitude adjustment mechanism, antenna An automatic tracking control means for performing automatic tracking control is provided.
[0010]
According to a second aspect of the present invention, there is provided a wireless mobile work machine according to the present invention, wherein the wireless mobile work machine is capable of working movably at a work site by wireless control from a remote control device using a wireless device with an antenna. A posture adjustment mechanism with an adjustment base that can adjust the posture of the wireless device mounted on the device is provided, and the adjustment base of the posture adjustment mechanism is used for automatic tracking control together with the wireless device. Te The light reception Vessel Mounted And after controlling the posture adjusting mechanism to capture the radio wave into the antenna and receiving the laser beam from the laser projector provided in the remote control device by the laser receiver to detect the azimuth error of the laser beam And an automatic tracking control means for controlling the attitude adjustment mechanism and executing the antenna automatic tracking control based on the azimuth error of the laser beam. It is characterized by being.
[0011]
The remote control device of the present invention according to claim 3 is a remote control device for operating a wireless mobile work machine by wireless control using a wireless device with an antenna, and mounting the wireless device to adjust the attitude of the wireless device And a posture adjustment mechanism with an adjustment table that can be used for the automatic adjustment control together with the wireless device on the adjustment table of the posture adjustment mechanism. Te The light reception Vessel Mounted The attitude adjustment mechanism is controlled so that radio waves are taken into the antenna, and the laser light from the laser projector provided in the wireless mobile work machine is received by the laser receiver to detect the azimuth error of the laser light. Then, automatic tracking control means for controlling the attitude adjustment mechanism and performing antenna automatic tracking control based on the azimuth error of the laser beam is provided. It is characterized by being.
[0012]
According to a fourth aspect of the present invention, there is provided a wireless device with a posture adjusting mechanism according to the present invention Incorporates radio waves into the antenna, detects the laser beam azimuth error by receiving the laser beam, and performs automatic antenna tracking control based on the laser beam azimuth error In a wireless device used in a remote wireless control system, a posture adjustment mechanism having an adjustment base capable of posture adjustment, which is equipped with either a laser projector or a laser receiver for automatic tracking control together with the wireless device It is characterized by being provided.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, a remote radio control system (hereinafter also simply referred to as “system”) according to an embodiment of the present invention is a hydraulic excavator or bulldozer that can be moved at a work site by radio control. , Various unmanned construction machines (mobile stations) 1 such as wheel loaders, and a remote control device (fixed station) 2 that is fixedly installed in a field office or the like to remotely control these construction machines by radio It is configured.
[0014]
As shown in FIG. 1, a construction machine (wireless mobile work machine) 1 as a mobile station includes an automatic tracking device 3, a 50 GHz simple wireless device with an antenna 4A (a wireless device, a wireless device with an antenna, a first wireless device with an antenna). (Also referred to as a device) 4, a backup radio 5, and a GPS (Global Positioning System) antenna 6 are mounted. In FIG. 1, a two-dot chain line indicates a state of beam scanning.
[0015]
Although not shown here, the construction machine 1 is also equipped with a TV camera with a pan head, a fixed TV camera, a microphone and a light with a pan head, and the working state of the construction machine 1 taken by the TV camera. Is transmitted from the 50 GHz simple wireless device 4 to the remote control device 2. The voice information collected by the microphone is also transmitted from the 50 GHz simple wireless device 4 to the remote control device 2.
[0016]
Among these, the 50 GHz simple wireless device 4 is for performing two-way communication over a very long distance (1 km or more) with a radio wave having a strong radio wave directivity of 50 GHz band with the remote control device 2. While receiving the control signal (construction machine control signal) for the construction machine 1 sent from the remote control device 2, the operation sound and work of the construction machine 1 collected by the video (image information) captured by the TV camera and the microphone. Audio information such as sound, vehicle monitor information (for example, engine speed, hydraulic pump discharge amount, hydraulic oil temperature, cooling water temperature) indicating the operation state of itself (construction machine 1), etc. are transmitted to the remote control device 2. It has become.
[0017]
The use of 50 GHz band radio waves in this way is limited to the 50 GHz band and the 2.4 GHz band, which will be described later, according to the Radio Law. This is because video (image information) cannot be transmitted using radio waves in the 4 GHz band.
As described above, in this embodiment, the 50 GHz simple wireless device 4 is used and the radio wave with a very strong directivity of the 50 GHz band is used, but even in this case, stable communication can always be performed. As described above, the automatic tracking device 3 is attached to the 50 GHz simple wireless device 4, and the automatic tracking device 3 always uses the radio wave emission surface of the 50 GHz simple wireless device 4 mounted on the remote control device 2. It can be automatically adjusted to face the radiation surface.
[0018]
It is to be noted that the direction of the radio wave radiation surface of the 50 GHz simple wireless device 4 can be manually adjusted by operating a fixed station 50 GHz simple wireless device control lever for a control lever / switch group (not shown).
The automatic tracking device 3 is equipped with a 50 GHz simple wireless device 4 on an adjustment table (first adjustment table) 7, and an attitude adjustment mechanism with an adjustment table 7 for adjusting the posture of the 50 GHz simple wireless device 4 (first adjustment table with first adjustment table). 1 attitude adjustment mechanism) 8, a laser projector / receiver 9 mounted on the adjustment base 7 of the attitude adjustment mechanism 8 together with the 50 GHz simple radio device 4, and a computer 10 as automatic tracking control means (azimuth error detection tracking control means). It is configured with.
[0019]
The attitude adjustment mechanism 8 with the adjusting base 7 rotates the 50 GHz simple wireless device 4 and the laser projector / receiver 9 in the horizontal direction and the vertical direction, and the orientation system / elevation angle of the 50 GHz simple wireless device 4 and the laser projector / receiver 9. The angle of the system is adjusted.
The posture adjusting mechanism 8 with the adjusting table 7 is rotatably interposed between the adjusting table 7 and the wall portions 7A and 7B formed at both ends of the adjusting table 7, and the 50 GHz simple radio device 4 and the laser projector / light receiving device. A rod-like member 7C to which the device 9 is attached, a motor 19A attached to the end of the rod-like member 7C to rotate the adjustment stand 7 in the vertical direction, a shaft 20 attached to the lower portion of the adjustment stand 7, and adjustment The base 7 is configured to include a motor 21A that rotates the shaft 20 so as to rotate in the horizontal direction. Note that encoders 19B and 21B are attached to the motors 19A and 21A, respectively.
[0020]
The laser projector / receiver 9 is used for automatic tracking control, and includes a laser projector 9A and a laser receiver 9B. Then, the laser light is projected from the laser projector 9A, and the laser light from the laser projector 9A of the remote control device 2 described later is received by the laser receiver 9B.
The computer 10 as the automatic tracking control unit is configured to control the first attitude adjustment mechanism 8 and execute automatic tracking control. That is, the computer 10 performs automatic tracking control so that the antenna 4A of the 50 GHz simple wireless device 4 and the antenna 31A of the 50 GHz simple wireless device 31 of the remote control device 2 to be described later face each other. Detailed functions of the calculator 10 will be described later.
[0021]
In the present embodiment, this automatic tracking control is performed based on the azimuth error detected using the laser projector / receiver 9. That is, in the present embodiment, automatic tracking control is performed based on the azimuth error between the antenna direction of the 50 GHz simple wireless device 4 and the direction of laser light from the laser projector 37A of the remote control device 2 described later received by the laser receiver 9B. Is supposed to do.
[0022]
As described above, in this embodiment, the azimuth error is detected using the laser projector and the laser receiver. The principle of the azimuth error detection will be described with reference to FIG.
In this embodiment, as shown in FIG. 3B, the laser receiver 9B is configured to include a light receiving element divided into four parts, and a light receiving axis is obtained from a difference (error signal) between outputs from these light receiving elements. A horizontal / vertical shift with respect to is obtained, and thereby an azimuth error is detected.
[0023]
In FIG. 1, reference numeral 24 denotes an inertial sensor (rate gyro), and attitude angle data of the construction machine 1 is sent from the inertial sensor 24 to the computer 10. The inertial sensor 24 is for detecting the orientation (azimuth angle) of the construction machine 1 and the inclination angle of the construction machine 1.
As shown in FIG. 1, the backup radio device 5 is configured to include a 429 MHz reception antenna 5A, and normally receives an antenna control signal from the remote control device 2, while communication by the 50 GHz simple radio device 4 is interrupted. In order to enable the reception of construction machine control signals sent from the remote control device 2 by specific low-power radio waves in the 429 MHz band (radio waves with a communicable distance of about 100 m radius) in the event of an emergency It is.
[0024]
That is, the 429 MHz receiving antenna 5A functions as an emergency receiving antenna when main communication in the 50 GHz band with the remote control device 2 becomes impossible, and the communication in the 50 GHz band is interrupted. However, if the distance from the remote control device 2 is about 100 m or less, the construction machine 1 can receive the above construction machine control signal, and the construction machine 1 is moved from the remote control device 2 to a safe place. It is possible to perform the minimum necessary operation control such as retreating.
[0025]
The 429 MHz reception antenna 5A has a diversity configuration, and the reception signal of the antenna having the better reception sensitivity (level) is adopted. Based on the adopted reception signal, the control of the 50 GHz simple wireless device 4 is performed. The operation control of the construction machine 1 in an emergency is accurately performed.
The GPS antenna 6 is for receiving a signal from an artificial satellite (not shown) (hereinafter sometimes referred to as a satellite signal) and transmitting the current position of the self (construction machine 1) to the remote control device 2. On the remote control device 2 side, the movement (current position) of the construction machine 1 can be managed in real time based on the current position information transmitted from the construction machine 1. The signal received by the GPS antenna 6 is sent to the computer 10 as GPS data via the GPS transceiver 6A.
[0026]
On the other hand, the remote control device 2 as a fixed station operates the construction machine 1 by wireless control. As shown in FIG. 1, the automatic tracking device 30, a 50 GHz simple radio 31 and a backup radio 32 with an antenna 32A are provided. , A GPS antenna 33 and a computer 34 as automatic tracking control means (azimuth error detection tracking control means). The remote control device 2 may be a fixed type or a mobile type that moves slowly. In FIG. 1, a two-dot chain line indicates a state of beam scanning.
[0027]
Here, the 50 GHz simple wireless device (wireless device, wireless device with antenna, second wireless device with antenna) 31 with the antenna 31A performs two-way communication with the construction machine 1 by using highly directional radio waves in the 50 GHz band. While the operation information when the operation lever group and the control lever / switch group are operated is transmitted to the construction machine 1 as a construction machine control signal, an antenna control signal, a camera / light control signal, etc., It receives video, audio, vehicle monitor information, etc. transmitted from the construction machine 1. The 50 GHz simple radio 31 is the same as the configuration of the 50 GHz simple radio 4 of the construction machine 1 (see FIG. 2).
[0028]
This 50 GHz simple radio 31 is also attached to the remote control device 2 so that the azimuth / elevation system can rotate freely by the automatic tracking device 30 so that the reception level is always maximized (construction that is the communication partner). The direction of the radio wave radiation surface is automatically adjusted (to face the 50 GHz simple radio 31 of the machine 1).
The automatic tracking device 30 includes a 50 GHz simple wireless device 31 mounted on an adjustment table (second adjustment table) 35, and an attitude adjustment mechanism (adjustment table with a second adjustment table) with an adjustment table 35 that adjusts the posture of the 50 GHz simple wireless device 31. 2 attitude adjustment mechanism) 36, a laser projector / receiver 37 mounted on the adjustment table 35 of the attitude adjustment mechanism 36, and a computer 34 as automatic tracking control means (azimuth error detection tracking control means). .
[0029]
The attitude adjustment mechanism 36 with the adjusting base 35 rotates the 50 GHz simple radio 31 and the laser projector / receiver 37 in the horizontal and vertical directions, and the azimuth / elevation angle of the 50 GHz simple radio 31 and the laser projector / receiver 37. The angle of the system is adjusted.
The attitude adjustment mechanism 36 with the adjustment table 35 is rotatably interposed between the adjustment table 35 and the wall portions 35A and 35B formed at both ends of the adjustment table 35, and includes a 50 GHz simple radio 31 and a laser projector / light receiver. A rod-like member 35C to which the device 37 is attached, a motor 38A attached to the end of the rod-like member 35C to rotate the adjustment stand 35 in the vertical direction, a shaft 39 attached to the lower portion of the adjustment stand 35, and adjustment A motor 40A that rotates the shaft 39 so that the table 35 rotates in the horizontal direction is provided. Note that encoders 38B and 40B are attached to the motors 38A and 40A, respectively.
[0030]
The laser projector / receiver 37 is used for automatic tracking control, and here includes a laser projector 37A and a laser receiver 37B. Then, laser light is projected from the laser projector 37A, and the laser light from the laser projector 9A of the construction machine 1 is received by the laser receiver 37B.
The computer 34 as the automatic tracking control means is configured to execute the automatic tracking control by controlling the second attitude adjusting mechanism 36. That is, the computer 34 performs automatic tracking control so that the antenna 31A of the 50 GHz simple wireless device 31 and the antenna 4A of the 50 GHz simple wireless device 4 of the construction machine 1 described later face each other. The function of the calculator 34 will be described later.
[0031]
In this embodiment, the automatic tracking control is performed based on the azimuth error detected using the laser projector / receiver 37. That is, in this embodiment, as shown in FIG. 3A, the orientation of the antenna orientation of the 50 GHz simple radio 31 and the orientation of the laser light from the laser projector 9A of the construction machine 1 received by the laser receiver 37B. Automatic tracking control is performed based on the error.
[0032]
As described above, in this embodiment, the azimuth error is detected by using the laser projector and the laser receiver. The principle of the azimuth error detection will be described with reference to FIG.
In this embodiment, as shown in FIG. 3B, the light receiving element A in which the laser receiver 9B (37B) is divided into four parts. ₁ , A ₂ , A ₃ , A ₄ These light receiving elements A ₁ , A ₂ , A ₃ , A ₄ The horizontal / vertical deviation from the light receiving axis is obtained from the difference (error signal) between the outputs from the azimuth, thereby detecting the azimuth error.
[0033]
In the event of an emergency such as when the two-way communication with the construction machine 1 by the 50 GHz simple radio 31 is interrupted, the backup radio 32 is used for two-way communication with the construction machine 1 (transmission of construction equipment control signals and For receiving vehicle monitor information). The backup radio 32 is also used to transmit an antenna control signal for controlling the direction of the 50 GHz simple radio 5 mounted on the construction machine 1. The backup radio 32 is configured in the same manner as the backup radio 5 of the construction machine 1 described above.
[0034]
The GPS antenna 33 is used to receive a signal (hereinafter sometimes referred to as a satellite signal) from an artificial satellite (not shown) and detect the current position of the remote control device 2. The signal received by the GPS antenna 33 is sent as GPS data to the computer 34 via the GPS transceiver 33A.
[0035]
Next, the antenna automatic tracking control according to the present embodiment will be described. FIG. 4 is a functional block diagram according to the antenna automatic tracking control.
First, automatic antenna tracking control on the construction machine 1 side according to the present embodiment will be described.
In the construction machine 1, the adjustment base 7 of the automatic tracking device 9 is rotated in the horizontal direction and the vertical direction to rotate the antenna beam sent from the remote control device 2 and take it into the antenna 4 </ b> A of the 50 GHz simple radio 4. Then, the azimuth error is detected using the laser projector / receiver 9, the reference azimuth is set based on the azimuth error, and the automatic tracking control by the automatic tracking device 9 is performed based on the reference azimuth. When communication by the 50 GHz simple wireless device 4 is interrupted, automatic tracking control is performed using a signal received by the backup wireless device 5 and sent to the computer 10 instead of the 50 GHz simple wireless device 4.
[0036]
That is, on the construction machine 1 side, the search for the antenna beam at the time of starting is performed by first rotating the adjustment base 7 of the automatic tracking device 9 in the horizontal direction and the vertical direction to rotate the antenna beam, and the antenna beam to the 50 GHz simple wireless device. 4, and an azimuth error is detected using a laser projector / receiver 9, and a reference azimuth is set based on this detection (initial capturing function).
[0037]
After such initial capture (after lock-on), the angular velocity data from the inertia sensor 24 and the movement angle data transmitted from the remote control device 2 to be described later are used for the movement of the construction machine 1 and the attitude change of the construction machine 1. Antenna automatic tracking. That is, after the initial capture, automatic antenna tracking is performed by gimbal attitude control using the inertial sensor 24. Note that this automatic antenna tracking control is referred to as shaking control because control is performed by shaking the antenna by moving the shaft.
[0038]
In addition, for example, when a shielding object enters between the construction machine 1 and the remote control device 2 and the radio wave is cut off and is out of the tracking, the adjustment base 7 of the automatic tracking device 9 is rotated in the horizontal direction and the vertical direction. The antenna beam is rotated, and the antenna beam is taken into the antenna 4A of the 50 GHz simple wireless device 4, and the azimuth error is detected using the laser projector / receiver 9, and the automatic tracking control is restored based on the azimuth error. (Initial capture function).
[0039]
For example, when the attitude angle data from the inertial sensor 24 drifts and the signal level of the AGC signal decreases, the adjustment beam 7 of the automatic tracking device 9 is rotated horizontally and vertically to rotate the antenna beam. Then, the antenna beam is taken into the antenna 4A of the 50 GHz simple wireless device 4, and the azimuth error is detected using the laser projector / receiver 9, and then the reference azimuth is reset.
[0040]
Thereby, even if the relative position with respect to the remote control device 2 is changed, the construction machine 1 has the radio wave emission surface of the 50 GHz simple radio device 4 and the radio wave emission surface of the 50 GHz simple radio device 31 mounted on the remote control device 2. However, the adjustment table 7 of the automatic tracking device 9 is rotated so as to always face each other, so that stable communication with the remote control device 2 can always be performed.
[0041]
Further, in the automatic tracking control according to the present embodiment, a translocation type DGPS position measurement device is further incorporated, and the communication partner station direction information (here, the direction information of the construction machine, that is, DGPS measurement position data) is also used for the antenna beam search. You may make it do. As described above, the search operation can be quickly performed by using the AGC signal from the 50 GHz simple radio device 4 and the DGPS measurement position data from the DGPS position measurement device for the search of the antenna beam.
[0042]
In addition, during automatic antenna tracking, when the construction machine 1 and the remote control device 2 are at a long distance and the signal level of the AGC signal of the 50 GHz simple radio device 4 is low, the DGPS is similarly used as an auxiliary for automatic tracking control. The measurement position data may be used together. In this case, when the construction machine 1 and the remote control device 2 are in a short distance and the moving speed of the construction machine 1 is high, automatic tracking is performed by the radio wave received by the 50 GHz simple wireless device 4, and the construction machine 1 and the remote control device are remotely controlled. It is conceivable that automatic tracking is performed based on the DGPS measurement position data when the received power is small at a long distance from the device 2 and the moving speed of the construction machine 1 is low.
[0043]
In order to perform such automatic tracking control, an AGC signal is input to the computer 10 of the construction machine 1 from the 50 GHz simple radio device 4 via the relay connector 40 and the connection box 41 as shown in FIG. It is like that. Note that a voice (control) signal is also transmitted from the 50 GHz simple wireless device 4 via the relay connector 40 and the connection box 41. The 50 GHz simple wireless device 4 is also adapted to input and output video via the non-contact transmission unit 47. The non-contact transmission unit 47 and a slip ring 48 described later are configured as a signal transmission coupler 60.
[0044]
The computer 10 is also supplied with signals from a plurality of inertial sensors 24 (rate gyros) via a slip ring 42. Then, the computer 10 has the maximum signal reception level at the 50 GHz simple wireless device 4 based on the azimuth and inclination angles detected by these inertial sensors 24 and the signal (radio wave) reception level at the 50 GHz simple wireless device 4. The direction (azimuth angle, elevation angle) of the antenna 4A is calculated by calculation.
[0045]
The calculation result in the computer 10 is appropriately transmitted to the remote control device 2 as vehicle monitor information (monitor signal), and the current direction of the 50 GHz simple wireless device 4 (azimuth / Elevation angle) is displayed in real time.
Further, the computer 10 is supplied with an AZ angle signal from an encoder 21B attached to a motor 21A that rotates the shaft 20 of the attitude adjustment mechanism 8 in order to rotate the adjustment base 7 in the horizontal direction. . Further, an EL angle signal is input to the computer 10 from an encoder 19B attached to a motor 19A attached to an end of the rod-like member 7C of the posture adjusting mechanism 8 in order to rotate the adjustment base 7 in the vertical direction. It is like that.
[0046]
On the other hand, the computer 10 sends an AZ angle command to the motor 21A via the motor driver 43, and drives the motor 21A to rotate the shaft 20 of the attitude adjustment mechanism 8. Further, the computer 10 sends an EL angle command to the motor 19A via the slip ring 48 and the motor driver 44, and drives the motor 19A to rotate the rod-like member 7C of the posture adjusting mechanism 8.
[0047]
The relay connector 40 and the motor driver 44 are connected to an AC 100V power source via a power slip ring 45. The motor 19 </ b> A and the encoder 19 </ b> B are connected to an AC 100 V power source via a stabilized power source 46 and a power slip ring 45.
Here, the motor driver 43 rotates the 50 GHz simple wireless device 4 by the azimuth angle by driving the azimuth motor 21A according to the azimuth angle obtained by the calculator 10. Similarly, the motor driver 44 rotates the 50 GHz simple wireless device 4 by the above elevation angle by driving the elevation angle motor 19 </ b> A according to the elevation angle obtained by the computer 10.
[0048]
That is, the automatic tracking device 8 searches for a 50 GHz band radio wave transmitted from the 50 GHz simple radio 31 on the remote control device 2 side so that the signal reception level at the 50 GHz simple radio 4 is always the maximum. It functions as a response unit that automatically tracks the radio wave radiation surface of the 50 GHz simple radio 31 mounted on the remote control device 2 (in response to the automatic tracking signal). Even if the relative position changes, communication with the remote control device 2 can always be performed stably.
[0049]
Further, the computer 10 exchanges signals with the laser projector / receiver 9 via the slip ring 48 in order to detect the azimuth / elevation angle error (AZ / EL azimuth error). .
When the backup radio device 5 receives an antenna control signal from the remote control device 2, the automatic tracking device 8 drives the drivers 43 and 44 by the computer 10 in accordance with the antenna control signal. That is, it is possible to manually adjust the direction of the 50 GHz simple wireless device 4 from the remote control device 2 side. For this reason, a manual setting signal is also input to the computer 10.
[0050]
When the DGPS measurement position data is used together as described above, the GPS receiver data is input to the computer 10 and information such as the DGPS measurement position data is output.
Note that power is supplied to each unit from a stabilized power source 46 connected to a DC 24V power source via an AC 100V power source and a DC / AC converter 49.
[0051]
Next, antenna automatic tracking control on the remote control device 2 side according to the present embodiment will be described.
First, in the remote control device 2, the adjustment base 35 of the automatic tracking device 37 is rotated in the horizontal direction and the vertical direction to rotate the antenna beam sent from the construction machine 1 to the antenna 31A of the 50 GHz simple radio 31. At the same time, an azimuth error is detected using a laser projector / receiver 37, a reference azimuth is set based on the azimuth error, and automatic tracking control by the automatic tracking device 37 is performed based on the reference azimuth. When communication by the 50 GHz simple radio 31 is interrupted, automatic tracking control is performed using a signal received by the backup radio 32 instead of the 50 GHz simple radio 31 and sent to the computer 34.
[0052]
The configuration of the computer 34 for performing such automatic antenna tracking control is the same as the configuration of the computer 10 of the construction machine 1 described above.
Next, antenna tracking control by the remote control system according to the present embodiment will be described with reference to the flowchart of FIG.
First, in step S10, it is determined whether the mode is the manual mode or the automatic mode. If it is determined that the mode is the automatic mode as a result of the determination, the process proceeds to step S20, and it is determined whether or not the present system is being started. .
[0053]
As a result of this determination, if it is determined that the system is being started, the process proceeds to step S30, where initial acquisition control is performed by the initial acquisition function.
On the other hand, if it is determined that the system is not activated, the process proceeds to step S40, and automatic antenna tracking control by gimbal attitude control is performed by the automatic antenna tracking function.
[0054]
Then, it progresses to step S50, and it is determined whether it has come off from tracking, and if it has come off from tracking as a result of this determination, it will progress to step S60 and will perform initial acquisition control by an initial acquisition function.
On the other hand, when not deviating from tracking, the process returns to step S40, and the automatic antenna tracking control by the automatic antenna tracking function is continued. Thereafter, the same processing is repeated.
[0055]
By the way, when it is determined in step S10 that the manual mode is selected, the process proceeds to step S70 and tracking is performed by manual operation.
As described above, according to the remote radio control system according to the embodiment of the present invention, the 50 GHz simple radio device 4 and the laser projector / receiver 9 are mounted on the attitude adjustment mechanism 8 with the adjustment stand 7 provided in the construction machine 1. While the attitude adjustment of the 50 GHz simple radio 4 and the laser projector / receiver 9 is possible, the 50 GHz simple radio 31 and the laser projector / receiver are added to the attitude adjustment mechanism 36 with the adjustment stand 35 provided in the remote control device 2. , The attitude of the 50 GHz simple radio 31 and the laser projector / receiver 37 can be adjusted, and the computers 10 and 34 as the automatic tracking control means are used for the antenna orientation of the 50 GHz simple radio 4 and 31. On the basis of the azimuth error between the laser light from the laser projectors 37A and 9A received by the laser receivers 9B and 37B. The automatic tracking control is executed by controlling the posture adjusting mechanism 8 and the posture adjusting mechanism 36 so that the 50 GHz simple wireless device 4 and the 50 GHz simple wireless device 31 of the remote control device 2 face each other. An azimuth error can be reliably detected in the control, and there is an advantage that the reliability of the automatic tracking control can be improved.
[0056]
Note that the attitude adjustment mechanism with an adjustment table provided in the construction machine 1 or the remote control device 2 is not limited to this, and may be configured as shown in a modification example of FIG. That is, as shown in FIG. 5, the attitude adjustment mechanism 50 with an adjustment base is provided with an adjustment base 53 equipped with a 50 GHz simple radio device 51 and a laser projector / receiver 52, a motor, a driver, a power supply, a drive circuit, a cover, and the like. The azimuth shaft drive circuit, the coupler, the bearing assembly and the like are configured to rotate the adjustment table 53 in the horizontal direction. It may be configured to include a horizontal posture adjusting mechanism 55 and connected to a computer, a power source 56 and the like.
[0057]
Further, in the above-described embodiment, both the laser projector and the laser receiver are mounted on the wireless device with the posture adjustment mechanism of either the work machine or the remote control device, but this is not a limitation. Either one of the laser projector and the laser receiver is mounted on either the work machine or the wireless device with the attitude adjustment mechanism of the remote control device, and the other of the laser projector or the laser receiver is mounted on the other. May be.
[0058]
Furthermore, the antenna automatic tracking control by the remote radio control system according to the above-described embodiment is merely an example, and is not limited to the control as described above.
Moreover, although the radio apparatus with the radio wave reflection mechanism according to the present embodiment is provided in the work machine and the remote control apparatus of the remote radio control system that performs the automatic tracking control of the wireless mobile work machine, it is limited to this. Instead, the present invention can be applied to a remote radio control system that can widely perform remote radio control.
Moreover, the frequency of each radio | wireless machine concerning this embodiment is not limited to the above-mentioned thing.
[0059]
【The invention's effect】
As described in detail above, according to the remote wireless control system, the wireless mobile work machine, the remote control device, and the wireless device with the attitude adjustment mechanism of the present invention according to claims 1 to 4, the azimuth error detection in the automatic tracking control Thus, there is an advantage that the reliability of the automatic tracking control can be improved.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing an overall configuration of a remote radio control system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram showing an overall configuration of an automatic tracking device according to an embodiment of the present invention.
FIGS. 3A and 3B are schematic diagrams for explaining a radio apparatus with an attitude adjustment mechanism according to an embodiment of the present invention, in which FIG. 3A shows the direction error detection method and FIG. 3B shows the direction error detection principle; It is a figure for demonstrating.
FIG. 4 is a flowchart of automatic tracking control according to an embodiment of the present invention.
FIG. 5 is a schematic perspective view showing a wireless device with a posture adjusting mechanism according to a modification of one embodiment of the present invention.
[Explanation of symbols]
1 Construction machine (mobile station, wireless mobile work machine)
2 Remote control device (fixed station)
3 Automatic tracking device
4 50 GHz simple wireless device (wireless device, wireless device with antenna, first wireless device with antenna)
4A antenna
5 Backup radio
5A 429MHz receiving antenna
6 GPS (Global Positioning System) Antenna
6A GPS transceiver
7 Adjustment stand (first adjustment stand)
7A, 7B Wall
8 Attitude adjustment mechanism with adjustment base (First attitude adjustment mechanism with first adjustment base)
9 Laser projector / receiver
9A Laser projector
9B Laser receiver
10 Computer (automatic tracking control means, bearing error detection tracking control means)
19A, 21A motor
19B, 21B encoder
20 axes
24 Inertial sensor (rate gyro)
30 Automatic tracking device
31 50 GHz simple wireless device (wireless device, wireless device with antenna, second wireless device with antenna)
31A antenna
32 Backup radio
33 GPS antenna
33A GPS transceiver
34 Computer (automatic tracking control means, bearing error detection tracking control means)
35 Adjustment stand (second adjustment stand)
35A, 35B wall
36 Posture adjustment mechanism with adjustment base (second posture adjustment mechanism with second adjustment base)
37 Laser projector / receiver
37A Laser projector
37B Laser receiver
38A, 40A motor
38B, 40B encoder
39 axes
40 Relay connector
41 connection box
42, 48 slip ring
43, 44 Motor driver
45 Power slip ring
46 Stabilized power supply
47 Non-contact transmission unit
50 Posture adjustment mechanism with adjustment stand (first posture adjustment mechanism with first adjustment stand, second posture adjustment mechanism with second adjustment stand)
51 50GHz simple radio
52 Laser projector / receiver
53 Adjustment stand
54 Vertical orientation adjustment mechanism
55 Horizontal orientation adjustment mechanism
56 Computers, power supplies, etc.
60 Signal transmission coupler

Claims (4)

A wireless mobile work machine capable of working movably at a work site by wireless control using the first wireless device with an antenna;
A remote control device for operating the wireless mobile work machine by wireless control using a second wireless device with an antenna;
The wireless mobile work machine is provided with a first attitude adjustment mechanism with a first adjustment base that is mounted with the first radio apparatus and can adjust the attitude of the first radio apparatus,
The remote control device is provided with a second attitude adjustment mechanism with a second adjustment base, which is equipped with the second radio apparatus and can adjust the attitude of the second radio apparatus.
And one of a laser projector and a laser receiver is mounted on the first adjustment base of the first attitude adjustment mechanism together with the first wireless device,
The other of the laser projector and the laser receiver is mounted on the second adjustment base of the second attitude adjustment mechanism together with the second wireless device,
The first attitude adjustment mechanism or the second attitude adjustment mechanism described above is controlled so that radio waves are taken into the antenna and the laser light from the laser projector is received by the laser receiver to detect an orientation error of the laser light. after a feature that on the basis of the azimuth error of the laser beam, by controlling the first position adjustment mechanism or the second position adjusting mechanism of the upper reporting, automatic tracking control means for executing the antenna automatic tracking control is provided Remote radio control system. In a wireless mobile work machine that can work at a work site by wireless control from a remote control device using a wireless device with an antenna,
Provided with an attitude adjustment mechanism with an adjustment base that is equipped with the wireless device and can adjust the attitude of the wireless device;
To the adjustment base of the posture adjusting mechanism, together with the wireless device has been over. The light receiver is mounted as a for automatic tracking control,
The attitude adjustment mechanism is controlled so that radio waves are taken into the antenna, and laser light from a laser projector provided in the remote control device is received by the laser receiver to detect an azimuth error of the laser light. A wireless mobile work machine, comprising: automatic tracking control means for controlling the attitude adjustment mechanism and executing antenna automatic tracking control based on an azimuth error of light . In a remote control device for operating a wireless mobile work machine by wireless control using a wireless device with an antenna,
Provided with an attitude adjustment mechanism with an adjustment base that is equipped with the wireless device and can adjust the attitude of the wireless device;
To the adjustment base of the posture adjusting mechanism, together with the wireless device has been over. The light receiver is mounted as a for automatic tracking control,
After controlling the attitude adjustment mechanism to capture radio waves into the antenna and receiving laser light from a laser projector provided in the wireless mobile work machine with the laser receiver to detect an orientation error of the laser light A remote control device comprising: automatic tracking control means for controlling the attitude adjustment mechanism and executing automatic antenna tracking control based on an azimuth error of laser light . In a radio apparatus used in a remote radio control system that performs automatic antenna tracking control based on the azimuth error of a laser beam after capturing radio waves into the antenna and detecting the azimuth error of the laser beam by receiving the laser beam .
Along with the wireless device, an attitude adjustment mechanism having an adjustment base capable of attitude adjustment and equipped with either a laser projector or a laser receiver for automatic tracking control is provided. Wireless device with adjustment mechanism.

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