JPH0971386A - Remote control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To match an operating direction and a moving direction of a working body on a remote command device with each other by automating grasping of a direction of the working body and conversion of the direction. SOLUTION: It is furnished with an operating direction detection means 11 to detect an operating direction angle θ made by a specific steering direction and an operating direction of a remote command device 1, a first standard direction detection means 12 to detect a first standard direction angle ϕ made by the steering direction and a standard direction, a deviation angle computing means 13 to compute a deviation angle δ from the operating direction angle θand the first standard direction angle ϕ and a transmitter 14 to transmit the deviation angle δ. Additionally, the working body is furnished with a receiver 15 to receive the deviation angle δ from the transmitter 14, a second standard direction detection means 16 to detect a second standard direction angle ϕ' made by the specific steering direction and the standard direction, a moving direction computing means 17 to compute a moving direction from the second standard direction angle ϕ' and the deviation angle δ and a control means 18 to control movement of the working body 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for operating a work body according to a command from a remote command device.

[0002]

2. Description of the Related Art Generally, an operating device for controlling the operation of various working machines (for example, a crane) is usually fixed to the working machine side, and in this case, the operation intended by the operator is performed. By presenting it to the operating device, the controller incorporated in the work machine side can decompose the operation command into each actuator and drive the work machine as intended by the operator.

By the way, an operation signal from a remote command device (for example, a radio control device or the like) having a transmitter is received by a receiver built in the work machine side, and the work machine is remotely operated based on the received signal. Have been developed already.

[0004]

By the way, in the remote operation by the remote command device, for example, in the case of a work machine which is free in the horizontal direction, the operation direction presented on the remote command device is uniformly based on the front of the work machine. Although it is an operation signal, the remote commander and the work machine do not always point in the same direction, so the operator always grasps the direction of the work machine and uses the intended direction as the reference. Need to be converted to. In other words, the operator has to carry out the troublesome work of converting the intended direction each time the direction of the work machine is changed with the direction of the work machine as a reference.

The present invention has been made in view of the above points. By automating the grasping of the direction of the work machine and the conversion of the direction, the operating direction of the remote commander and the working direction of the work machine coincide with each other. The purpose is to make it possible.

[0006]

In the basic configuration of the present invention, as means for solving the above-mentioned problems, a remote command device and a work body whose working direction is instructed by a command signal from the remote command device are provided. In a remote operation device provided with the remote command device, an operation direction detecting means for detecting an operation direction angle formed between a specific direction of the remote command device and an operation direction of the remote command device; First reference direction detecting means for detecting a first reference direction angle formed with the reference direction of the remote command device, and the operation direction angle and the first reference direction angle detected by the operation direction detecting means and the first reference direction detecting means. And a transmitter for transmitting the deviation angle obtained by the deviation angle calculation means, while the deviation angle calculation means for calculating the deviation angle between the two is provided to the work body. A receiver for receiving a deviation angle from the device, a second reference direction detecting means for detecting a second reference direction angle formed by a specific directing direction of the work body and a reference direction of the work body, and the second reference direction detection means. Motion direction calculation means for calculating the motion direction of the work body from the second reference direction angle detected by the reference direction detection means and the deviation angle received by the receiver, and the motion direction obtained by the motion direction calculation means A control means for controlling the operation of the work body based on the above is provided to automate the grasping of the direction of the work body and the conversion of the direction.

In the basic configuration of the present invention, it is possible to easily perform the operation direction calculation of the work body by setting the reference direction to the direction of a point located at infinity with respect to the distance between the remote commander and the work body. It is preferable in terms.

Further, the reference direction is the direction of the working body in the remote command device, and the direction of the remote command device in the working body is remote controlled only by the mutual direction relation between the remote command device and the working body. In that case, it is easy to set the mutual direction relation between the remote command device and the work body by providing the remote command device with a direction adjusting means for instructing the direction of the work body. More preferable.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Some preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

First Embodiment FIGS. 1 to 3 show a remote control device according to a first embodiment of the present invention.

This remote control device comprises a remote command device 1 and
A crane 8 (FIG. 1), which is a work body whose operation direction is instructed by an operation command signal from the remote command device 1 (see FIG. 2).
(See) and is configured.

As shown in FIG. 2, the remote command device 1 is provided with various operation buttons 4a to 4h for presenting operation contents, an operation lever 5 for presenting an operation direction, and a transmitting antenna 6. The remote command device 1 is additionally provided with a control unit for determining the presentation content. Code 7
Is a handle gripped by the operator.

The crane 8 is mounted on the vehicle 2 and has a boom 10 which turns around a turning post 9. A control unit for controlling the operation of the crane 8 is attached to the vehicle 2.

The operation buttons 4a to 4h are operated independently to rotate the boom 10,
We will show you the stretching, undulating, and winch hoisting / lowering actions. On the other hand, the operation lever 5 presents the operation direction on the horizontal plane of the tip portion of the crane 8 (specifically, the boom 10) depending on the direction in which the operation lever 5 is tilted.

Next, the configurations of the remote command device 1 and the control unit in the vehicle 2 will be described with reference to FIGS. 3 and 4.

The control unit on the remote commander 1 side is
A specific pointing direction (eg,
The front direction F of the device and the operation direction of the remote commander 1 (that is,
An operation direction detecting means 11 for detecting an operation direction angle θ formed by the operation lever 5 tilting direction X, a pointing direction F and a reference direction of the remote command device 1 (for example, an absolute azimuth determined by detection of geomagnetism) Z. From the first reference direction detecting means 12 for detecting the first reference direction angle φ formed by the above, and the operation direction angle θ and the first reference direction angle φ detected by the operation direction detecting means 11 and the first reference direction detecting means 12. A deviation angle calculating means 13 for calculating a deviation angle δ between the two and a transmitter 14 for transmitting the deviation angle δ obtained by the deviation angle calculating means 13 are provided.

On the other hand, the control unit on the vehicle 2 side receives the deviation angle δ from the transmitter 14 by the receiver 15.
And a specific direction in which the crane 8 is directed (for example,
Second reference direction detecting means 16 for detecting a second reference direction angle φ ′ formed by the forward direction F ′ of the crane 8 ′ and a reference direction Ze of the crane 8 (for example, an absolute azimuth determined by detection of geomagnetism), and Based on the second reference direction angle φ ′ detected by the second reference direction detection means 16 and the deviation angle δ received by the receiver 14, the operation direction X ′ of the tip of the crane 8 is obtained.
(That is, the movement direction calculation means 17 for calculating the movement direction angle θ ′ from the pointing direction F ′), and the movement direction calculation means 17
Based on the movement direction X ′ (that is, the movement direction angle θ ′ from the directing direction F ′) obtained by the above, the control means 18 for controlling the tip of the crane 8 to move to a predetermined position or direction.
Is provided. Here, the reference directions Z and Z ′ are the absolute directions determined by the detection of the geomagnetism, and are the same direction.

Next, the case where the operation direction control of the tip portion of the crane 8 is performed using this remote control device will be described in detail.

First, the operation lever 5 of the remote command device 1
If the operator is tilted in the direction intended, the directivity direction of the remote command device 1 (that is, the front direction of the remote command device 12) F
The operation direction angle θ formed by the operation direction X and the operation direction X is detected by the operation direction detecting means 11, and the first reference direction angle φ formed by the directing direction F and the reference direction Z is detected by the first reference direction detecting means 12. It The operation direction angle θ and the first reference direction angle φ detected as described above are input to the deviation angle calculation means 13, and the deviation angle δ is calculated by δ = θ−φ. . The deviation angle δ thus obtained is the angle formed by the operation direction X and the reference direction Z. Here, the remote command device 1
The angle change in the clockwise direction is positive and the angle change in the counterclockwise direction is negative with reference to the pointing direction F of. The deviation angle δ is transmitted as a command value from the transmitter 14.

On the side of the vehicle 2, the second reference direction angle φ ′ formed by the directing direction F ′ of the crane 8 (that is, the forward direction of the crane 8) and the reference direction Z ′ is detected by the second reference direction detecting means 16. , The second reference direction angle φ ′ and the transmitter 14
Deviation angle δ transmitted by the receiver 15 and received by the receiver 15
Are input to the operation direction calculation means 17, and the operation direction calculation means 17 calculates the operation direction X ′ of the tip of the crane 8. The calculation is performed by obtaining an operating direction angle θ ′ formed by the directing direction F ′ of the work vehicle 2 and the operating direction X ′ by θ ′ = φ ′ + δ. Here, the angle change in the clockwise direction is positive and the angle change in the counterclockwise direction is negative with reference to the directing direction F ′ of the crane 8. The operation direction angle θ ′ is input to the control means 18, and the control means 18 controls the operation of the tip of the crane 8 in a direction determined by the operation direction angle θ ′.

With the above arrangement, as shown in FIG.
The operating direction X of the operating lever 5 and the operating direction X ′ of the tip portion of the crane 8 indicate the same direction, and the operator operates the operating lever 5 in the intended direction without considering the direction of the crane 8 or the like. Simply, the tip of the crane 8 can be automatically moved in the desired direction. The operation direction X'of the tip of the crane 8 presented by the operating lever 5 is the horizontal moving direction from the current position, and the moving speed is determined by the tilt angle of the operating lever 5, and the control means 1 is used.
8, the tilt angle is controlled by operating the boom 10 (for example,
Controlled by expansion / contraction, turning, and undulation control). Reference sign W is a suspended load that is suspended by the crane 8.

As a method of obtaining the reference directions Z and Z ', a method of detecting a magnetic field, a method of receiving a signal from a point considered to be infinite, such as a distant radio wave transmitter or an optical signal source. You can also do it.

Second Embodiment FIG. 6 shows the contents of a remote command device and a control unit in a work body which constitute a remote control device according to a second embodiment of the present invention.

In this case, as shown in FIG. 7, the reference directions Z and Z'are the direction of the crane 8 in the remote command device 1 and the direction of the remote command device 1 in the crane 8. Therefore, the reference directions Z and Z ′ face each other,
Since it has an angle of 180 °, the operation direction calculation means 17 (see FIG. 6) calculates the operation direction angle θ ′ by
θ ′ = φ ′ + (δ + π). Where π =
It is set to 180 °. The other configurations and operations are the same as those in the first embodiment, and the description thereof will be omitted.

As a method of obtaining the reference directions Z and Z ', the propagation direction of a transmission source (for example, a radio wave transmission device) attached to the work vehicle 2 in the remote commander 1 is detected, and the work vehicle 2 is detected. In, the method of detecting the propagation direction of the operation signal from the remote command device 1 is adopted.

The reference direction Z in the remote commander 1
Is determined by detecting the propagation direction of a transmission source (for example, a radio wave transmission device) attached to the crane 8, the remote commander 1 receives radio waves from the transmission source and the transmission source. Since a receiving device for determining the direction of the crane 8 is required, and the size of the remote command device 1 may be increased, as shown in FIG. If the adjusting means 19 is additionally provided, it is not necessary to increase the size of the remote command device 1.

Further, if a display 20 having a large number of luminous bodies 21, 21, ... Is equidistantly arranged around the entire circumference as shown in FIG. 9 is attached to the top of the crane 8, the direction from the remote command device 1 to the crane 8 is increased. By transmitting a signal in a direction (that is, a direction displaced by the first reference direction angle φ from the directing direction F of the remote command device 1), the operator determines whether or not the light emitting body 21 in that direction emits light. It can be confirmed whether or not 8 correctly recognizes the direction of the remote command device 1.

In each of the above-mentioned embodiments, the crane is used as the working body, but the present invention is applicable to those which remotely control other various moving bodies.

Further, in each of the above-mentioned embodiments, the directing directions of the remote command device and the work body are set to the front direction, but they may be set to the rear direction.

Furthermore, in each of the above embodiments, the remote control is performed only in the horizontal movement direction of the work body, but if another reference direction is set by detecting the direction of gravity, three-dimensional operation is possible. It is also possible to remotely control the direction of movement in space.

[0031]

According to the present invention, in remote control,
Since the remote command device and the work body acquire a relative positional relationship with each other (for example, the respective directional directions with respect to the reference direction), the conversion depending on the work position is to be automated. The movement direction of the work body is always in the same direction, and the operator automatically moves the work body to a desired direction simply by operating the remote command device in the intended direction without considering the direction of the work body or the like. It has an excellent effect that it can be operated.

[Brief description of drawings]

FIG. 1 is a side view showing a work vehicle equipped with a crane that is a work body that constitutes a remote control device according to a first embodiment of the present invention.

FIG. 2 is a plan view of a remote command device forming the remote control device according to the first exemplary embodiment of the present invention.

FIG. 3 is a block diagram showing the contents of a remote command device and a control unit in the work body that constitute the remote control device according to the first embodiment of the present invention.

FIG. 4A is an explanatory diagram showing the relationship between the directing direction, the reference direction, and the operating direction of the remote command device that constitutes the remote operating device according to the first embodiment of the present invention;
FIG. 3 is an explanatory diagram showing a relationship among a pointing direction, a reference direction, and a movement direction in a work body that constitutes the remote control device according to the first exemplary embodiment of the present invention.

FIG. 5 is an explanatory diagram showing the relationship between the operating direction of the operating lever and the operating direction of the tip portion of the crane, which is the working body, in the remote control device according to the first embodiment of the present invention.

FIG. 6 is a block diagram showing the contents of a remote command device and a control unit in a work body that constitute a remote control device according to a second embodiment of the present invention.

FIG. 7A is an explanatory diagram showing the relationship between the directing direction, the reference direction, and the operating direction in the remote command device that constitutes the remote operating device according to the second embodiment of the present invention; It is explanatory drawing which shows the relationship of the directivity direction in a work body which comprises the remote-control apparatus concerning the 2nd Embodiment of this invention, a reference direction, and a motion direction.

FIG. 8 is a plan view showing another example of the remote command device in the remote control device according to the second embodiment of the present invention.

FIG. 9 is a side view showing a display unit in the remote control device according to the second embodiment of the present invention.

[Explanation of symbols]

1 is a remote command device, 5 is an operation lever, 8 is a work body (crane), 11 is an operation direction detecting means, 12 is a first reference direction detecting means, 13 is a deviation angle calculating means, 14 is a transmitter, 1
5 is a receiver, 16 is a second reference direction detecting means, 17 is a movement direction calculating means, 18 is a controlling means, 19 is a direction adjusting means,
F and F'are pointing directions, X is an operating direction, X'is a moving direction,
Z and Z ′ are reference directions, θ is an operation direction angle, θ ′ is a movement direction angle, φ is a first reference direction angle, φ ′ is a second reference direction angle, and δ is a deviation angle.

Claims (4)

[Claims] 1. A remote control device comprising: a remote command device; and a work body whose work direction is instructed by a command signal from the remote command device, wherein the remote command device includes the remote command device. An operation direction detecting means for detecting an operation direction angle formed between a specific direction to be directed and an operation direction of the remote command device, and a first reference direction angle formed between the direction direction and the reference direction of the remote command device. 1 reference direction detecting means,
Deviation angle calculation means for calculating the deviation angle between the operation direction angle and the first reference direction angle detected by the operation direction detection means and the first reference direction detection means, and the deviation angle calculated by the deviation angle calculation means And a receiver for receiving a deviation angle from the transmitter, and a specific directing direction in which the working body points and a reference direction of the working body. Second reference direction detecting means for detecting the formed second reference direction angle, and the operation direction of the work body based on the second reference direction angle detected by the second reference direction detecting means and the deviation angle received by the receiver. A remote control device comprising: a motion direction calculation means for calculating the motion direction; and a control means for controlling the motion of the work body based on the motion direction obtained by the motion direction calculation means. 2. The remote control device according to claim 1, wherein the reference direction is a direction of a point located at infinity with respect to the distance between the remote command device and the work body. 3. The remote command device according to claim 1, wherein the reference direction is a direction of a work body in the remote command device and a direction of the remote command device in the work body. 4. The remote command device according to claim 3, wherein the remote command device is provided with a direction adjusting means for instructing a direction of the work body.