JP2000229781A - Construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably and securely transmit photographed signals to a remote operation side by installing an antenna at the optimum position on a construction machine when construction work is done on the ground which is apart from a remote operation place by 200 to 300 meters, has a difference of elevation of about 15 deg., and on which the construction machine is inclined by about 30 degrees. SOLUTION: In a construction machine which is provided with at least a front mechanism 6 and an operator's room 5 provided in an upper turning body 4, a photographing means 11 photographing work situations, and a mm wave radio transmitter and receiver 12 on machine side which transmits the photographed signals and is remote-operated based on the photographed signals received by a mm wave radio machine 21 on operation side which is provided at a remote place, an antenna of the mm wave radio transmitter and receiver is non-directional in the horizontal direction, has transmission and reception characteristics having a beam width exceeding a predetermined angle in the vertical direction, and is installed in an upper rear part of the operator's room, and a parabola antenna is used as the antenna of the mm radio machine on operation side.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remotely operated construction machine, and more particularly to an image pickup signal transmitted from a construction machine operating on a steep slope or a place having a height difference from a remotely controlled place. And related to a remotely operated construction machine.

[0002]

2. Description of the Related Art In recent years, remote control of construction machines has been put to practical use. In this remote control, a signal captured by a camera mounted on the construction machine is transmitted to a control side, and the control side controls the construction machine while watching the received image signal on a video monitor screen. Therefore, in this remote control, a wireless device for transmitting a control signal necessary for operating a construction machine and a wireless device for transmitting an imaging signal are required.

[0003] In Japan, as wireless devices capable of transmitting wireless signals without a license by a wireless worker, weak wireless devices, low-power wireless devices (SS wireless devices), and simple wireless devices in the 50 GHz band are generally used. There are three. Of these, the weak radio has a reach of only about 15 m and is not suitable for remote control. Further, the low power radio (SS radio) has only one radio wave frequency, and cannot cope with a case where a plurality of work machines are remotely controlled simultaneously. Therefore, 5
Only a simple wireless device in the 0 GHz band is the only wireless device that can be practically used, and a 50 GHz simple wireless device is used for remote control of construction machines.

[0004] The 50-GHz band simple radio is called an mm-wave radio because of the frequency band used. The 50-GHz radio has a short wavelength of about 6 mm. Therefore, since this radio has a high frequency, a high antenna gain is obtained. However, on the other hand, the directivity angle of the antenna is sharp, for example, in the case of a horn antenna of 25 mm, the antenna gain is about 20 dBi, but the beam half width is as narrow as 17 degrees. In a 30 cm circular parabolic antenna, the gain is as high as about 40 dBi, but the half-value directional angle (beam width) is as very narrow as about 1.5 degrees. For this reason, it is very difficult to use mm-wave radio equipment for construction equipment. Conventionally, a remote control of a construction machine using an mm-wave radio is disclosed in, for example, Tokyu Construction Research Institute Report No. 20 (p209 to p214) are known. These construction machines include:
Set up a tracking head to aim at a certain direction, and
An m-wave radio is mounted, and on the control side, an mm-wave radio is mounted on an electric pan head to receive imaging signals.

FIG. 13 is a diagram showing an example of a disaster site in which a mountain cliff collapses, a tunnel collapses, and a road is covered with rocks. FIG. 14 shows that a river is eroded by a landslide or a debris flow. It is a figure which shows an example of the disaster site buried in.
At such disaster sites, even if there is a danger of cliffs, landslides, and inflows of debris flows, it is necessary to urgently carry out restoration work from the standpoint of rescue of personal names, etc. Secondary disasters must be prevented as much as possible. Particularly in Japan, there are many places where such disasters are likely to occur, and work on construction machines by remote control is indispensable for construction at such disaster sites.

[0006]

Usually, a disaster site is not a flat place as shown in FIGS. 13 and 14, but has a height difference between a place where construction equipment is remotely controlled and a place where construction is performed. It is common to work with the machine tilted. Also, in such a disaster site restoration work,
In order to avoid the next disaster, it is necessary to remotely control the construction machine from a point 200 to 300 m away. At the site of a cliff collapse on a road as shown in FIG. 13, the construction machine will work on a collapsed or sloping debris remote from a remotely controlled location. Also, at a disaster site caused by a debris flow in a river as shown in FIG. 14, the construction machine works at the bottom of the valley, and a place to be remotely controlled is installed at a higher position than the construction machine.

[0007] As described above, a construction machine at a disaster site needs to move or work on an inclined place.
The feature is that there is a large difference in height with the place where the vehicle is remotely controlled.

On the other hand, in order to remotely control the construction machine as desired at such a disaster site, an attempt is made to transmit an image signal using an mm-wave radio device. It is necessary to set up a tracking head to aim.
However, in general, a tracking head is expensive due to its complicated structure, and becomes very expensive when its control device is included. Therefore, a camera platform that is actually put into practical use is one that can track only in the turning direction, and does not have a tracking function in the vertical direction.

However, such a tracking device has the following problems. In the disaster site assumed by the present invention, the distance between the construction machine and the remote control device may be 200 to 300 m and the height difference may be about 50 m, that is, the inclination angle between both may be 14 °. Therefore, as shown in FIG. 15, when a horn antenna is used as the antenna of the mm-wave radio at such a site, the beam width is only 17 degrees (8.5 on one side), and the inclination is 10 degrees. If so, transmission becomes impossible.
In other words, the mm-wave radio on the cockpit side deviates from the beam width of the mm-wave radio mounted on the construction machine side. Similarly, when a hydraulic shovel using a crawler as a driving wheel is used as a construction machine, the hydraulic shovel has an ability to climb a steep slope and may work on a slope up to about 20 ° at a disaster site. Therefore, in such a work site, the antenna on the cockpit side deviates greatly from the beam width of the antenna on the construction machine side, and transmission of an imaging signal becomes impossible.

SUMMARY OF THE INVENTION In view of the above-mentioned various problems, an object of the present invention is to operate a construction machine in an inclined state, such as a disaster site, and to connect a construction machine with a place to be remotely controlled. Even at a work site where there is a large difference in height, use inexpensive antenna equipment that can adapt to such situations without using expensive tracking equipment etc. It is an object of the present invention to provide a construction machine which can be installed at a proper position and operated remotely.

[0011]

The present invention employs the following means in order to solve the above-mentioned problems.

[0012] At least an upper revolving superstructure, an image pickup means for picking up an image of a work situation, and a machine m for transmitting a picked-up signal.
a construction machine comprising an m-wave wireless transceiver, and remotely controlled based on the imaging signal received by a steering-side mm-wave wireless device provided at a remote location, wherein the antenna of the mm-wave wireless transceiver has a horizontal It is omnidirectional in direction, has transmission / reception characteristics having a beam width of a predetermined angle or more in the vertical direction, and the antenna is installed at a position close to the center of rotation of the upper revolving unit, and the steering-side mm-wave radio is Is characterized in that a parabolic antenna is used.

In the construction machine according to the first aspect,
The antenna of the machine-side mm-wave radio device is characterized in that the beam width is set to 40 ° or more, and is installed within about 2.6 m from the center of rotation.

[0014] Further, at least a front mechanism and a cab provided on the upper revolving superstructure, an image pickup means for picking up an image of a working condition, and a machine-side mm-wave radio transceiver for transmitting the picked-up signal are provided at a remote place. Control side mm provided on
In a construction machine remotely controlled based on the imaging signal received by the wave radio, the antenna of the mm-wave radio transceiver is omnidirectional in the horizontal direction and has a beam width of a predetermined angle or more in the vertical direction. The antenna has a transmission / reception characteristic, and the antenna is installed in the upper rear of the cab, and a parabolic antenna is used as the antenna of the control-side mm-wave radio.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a first embodiment of the present invention will be described with reference to FIGS.

FIG. 2 is a perspective view showing the arrangement of the hydraulic shovel according to the present embodiment and a remote control room for remotely controlling the hydraulic shovel.

In FIG. 1, reference numeral 1 denotes a hydraulic excavator as a construction machine, 11 denotes a plurality of cameras provided on the hydraulic excavator, and images of working conditions of the hydraulic excavator, and 12 denotes a hydraulic excavator 1 as will be described in detail later. , A 50 GHz simple radio as a mm-wave radio for transmitting an image signal captured by the camera 11 to the remote control room, 2 is installed at a location remote from the hydraulic shovel 1, and the hydraulic shovel 1 A remote control room 21 is provided in the remote control room 2 and receives 50 GHz of an imaging signal transmitted from the 50 GHz simple wireless device 12 of the excavator 1.
A simple radio 4 is an upper revolving structure of the excavator 1, 5 is an operator cab provided on the upper revolving structure 4, and 6 is a front mechanism provided on the upper revolving structure 4.

Here, the remote cockpit 2 is a hydraulic excavator 1
The imaging signal transmitted from the 50 GHz simple wireless device 12 is received by the 50 GHz simple wireless device 21, and a steering signal is transmitted to the excavator 1 while watching the video monitor to perform remote control.
Although the hydraulic excavator 1 has been described as a construction machine, the present invention can also be applied to a bulldozer and a dump truck. Further, as a place for remote control, for example, a one-box car, a small bus, a Blehab hut, or the like can be used as the remote control room 2.

FIG. 1 is a diagram showing the configuration of a hydraulic shovel-side device and a remote control room-side device related to remote control.

In FIG. 1, reference numeral 13 denotes a camera platform provided in the camera D, 14 denotes a composite divider, 15 denotes an interface,
Reference numeral 16 denotes a camera platform / zoom controller, reference numeral 17 denotes a specific low-power wireless device on the hydraulic shovel side, reference numeral 18 denotes a controller provided on the hydraulic shovel 1, reference numeral 22 denotes a camera for imaging the 50 GHz simple wireless device 12 of the hydraulic shovel 1, and reference numeral 23 denotes 50 GHz. A platform on which the simple wireless device 21 and the camera 22 are mounted; 24, an interface; 25, a monitor for reproducing and imaging an image signal received by the 50 GHz simple wireless device 21;
Is a monitor for reproducing and imaging an image signal picked up by the camera 22, 27 and 28 are operation panels, 29 is an operation device, 3
0 is a specified low power radio, 31 is a 50 GHz simple radio 2
One parabolic antenna. The other configuration is the same as that shown in FIG.

Here, the 50 GHz simple radios 12, 21
Between them, an imaging signal is transmitted from the hydraulic excavator 1 to the remote control room 2, and an operation signal of the camera D and the camera platform 13 is transmitted from the remote control room 2 to the hydraulic excavator 1.
In addition, the specific low power radios 30 to the specific low power radios 17
An operation signal related to the operation of the vehicle body is transmitted to the vehicle. As described above, in this embodiment, the hydraulic excavator 1 that is remotely operated requires two wireless systems.

The excavator 1 has four cameras 1
The cameras A to C are fixed cameras, and the camera D is mounted on the electric pan head 13. Signals picked up by the four cameras 11 are input to the synthesis divider 14,
It is input to the 0 GHz simple wireless device 12 body.

Hydraulic excavator 1 50 GHz simple radio 1
As described later, an omni antenna is used as the second antenna, and an image signal of the 50 GHz simple wireless device 21 is transmitted.
In addition, a 50 GHz simple radio 2
1 is installed, and the received image signal is guided to the inside of the remote control room 2 and displayed on a monitor 25 via the interface 24. In the composite divider 14 of the excavator 1,
The four screens captured by the cameras A to D can be combined or a specific one screen can be selected. The combination is selected by an operation from the operation panel 27 of the remote cockpit 2.

When the camera D or the camera platform 13 is operated, the operation signal output by the operation from the operation panel 27 is different from the frequency of the imaging signal from the 50 GHz simple wireless device 21 via the interface 24. It is transmitted at a frequency and received by the 50 GHz simple wireless device 12. The received operation signal is input to the camera D or the camera platform 13 from the camera platform / zoom controller 16 via the interface 15, and controls the zoom of the camera D or the control of the electric camera platform 13. Here, the 50 GHz simple wireless device 21 uses a high-gain parabolic antenna 31. Parabolic antenna 31
Is controlled by operating the electric pan head 23 from the operation panel 28, and is directed to the 50 GHz radio 12 on the hydraulic excavator side. The camera 22 is 50 on the electric head 26.
The camera 2 is installed coaxially with the direction of the
Since the captured image 2 is displayed on the monitor 26, the electric pan head 23 can be controlled by operating the operation panel 28 so that the antenna of the 50 GHz simple wireless device 12 is projected at the center of the screen of the monitor 26.

As described above, according to the present embodiment, the 50 GHz simple wireless device 12 on the excavator 1 side does not require a special direction control device such as a tracking head. On the remote cockpit 2 side, the antenna of the 50 GHz simple radio device 12 is projected at the center by the camera 22 that remotely views the hydraulic excavator 1, and a manual tracking function is realized by controlling the electric pan head 23 by operating the operation panel 28. ing. Of course, if an automatic tracking function is provided, this part can be automated.

The operation of the hydraulic excavator 1 is performed by operating an operating device 29 installed in the remote cockpit 2, and this operation signal is transmitted from the specified low power radio 30 to the specified low power radio 17. The received operation signal is input to the controller 18 and further drives an electromagnetic valve (not shown) to control the pilot pressure of the hydraulic excavator 1.
Operate the excavator 1.

Next, the installation position of the 50 GHz simple wireless device 12 on the excavator 1 will be described with reference to FIG.

FIG. 3A shows a 50 GHz simple wireless device 12.
Is a front view of the hydraulic excavator 1 installed on the roof of the cab 5 of the hydraulic excavator 1, and FIG.
FIG. 3C is an enlarged view of an installation position of the 50 GHz simple wireless device 12.

Next, the hydraulic excavator 1 according to the present embodiment
The detailed configuration of the 50 GHz simple wireless device 12 installed in the device will be described with reference to FIGS.

FIG. 4 is a diagram showing an overview of the 50 GHz simple wireless device 12, wherein 121 is a wireless device main body of the 50 GHz simple wireless device 12, and 122 is a 50 GHz simple wireless device body 121.
Omni antenna installed on top.

FIG. 5A shows an omni antenna 122 and FIG.
(B) is a slot antenna part of the omni antenna 122,
It is a figure which shows each detailed structure.

In these figures, reference numeral 123 denotes a radome provided for the purpose of waterproofing the slot antenna portion, etc.
24 is a slot antenna unit, 125 is a waveguide, and 126 is a flange.

As shown in FIG. 4, an omni-antenna 122 connected by a waveguide 125 is mounted on the upper part of the radio main unit 121. As shown in FIG.
When 26 is fixed to radio main body 121, waveguide 125
Coincides with the waveguide of the wireless device main body 121, the electric power of the radio wave is transmitted to the slot antenna section 124, and is emitted from the slot 129 as a radio wave. Here, as the waveguide 125, for example, a conductive plate-shaped metal body made of copper or brass is used.

FIG. 6A shows the slot 1 of the waveguide 125.
FIG. 6B is a diagram illustrating the other surface opposite to the surface where the slots 129a ′ to 129d ′ are provided.

As shown in these figures, slots 129a to 129b and slots 129a 'to 129 are provided at predetermined positions on both surfaces of the waveguide 125 according to the radio wave wavelength to be used.
d 'is provided, and the slot 129 operates as an antenna. This antenna is known as a slot antenna on the H-plane of the waveguide 125. Since each slot 129 operates as an antenna, providing a plurality of slots 129 requires the slot 129 according to the principle of the array antenna.
Have the directional characteristics of the antenna in accordance with the position and arrangement of the antenna. In particular, the number of slots 129 affects the vertical beam width and antenna gain.

In the case of a slot antenna in the 50 GHz band,
As shown in FIGS. 6 (a) and 6 (b), in order to excite each slot in the same phase, it is not possible to arrange them on a straight line as in a normal array antenna. The position is greatly shifted. Also, when the number of slots is odd, the circumferential characteristics of the antenna are largely unbalanced. Therefore, it is desirable to make the antenna gain uniform in the circumferential direction by using even numbers.

The number of slots affects the vertical directivity of the antenna, that is, the vertical beam width.

Table 1 shows the relationship among the number of slots of the slot antenna, the vertical beam width, and the antenna gain.

[0039]

[Table 1]

As shown in this table, it can be seen that as the number of slots increases, the antenna gain increases but the vertical beam width decreases.

FIG. 7 shows a 50 GHz simple radio 12 on the hydraulic excavator 1 side and a 5 GHz radio on the remote cockpit 2 side according to the present embodiment.
The outline of the configuration with the 0 GHz simple wireless device 21 is shown.

As shown in FIG.
z The simple radio device 12 has the omni-directional characteristics in all directions in the horizontal direction and the characteristics of having a predetermined beam width in the vertical direction by using the omni-antenna 122. Even if the shovel 1 turns, radio waves can be radiated over a wide range in the horizontal and vertical directions, and the hydraulic shovel 1 does not need to be provided with a special device such as a tracking device.

FIG. 8 shows the relationship between the displacement of the center distance between the omni antenna 122 of the 50 GHz simple radio device 12 and the parabolic antenna of the 50 GHz simple radio device 21 and the transmission distance of the radio wave radiated from the omni antenna 122. FIG.

In the figure, each calculated value is based on the assumption that the omni antenna is inclined by 30 ° with respect to the parabolic antenna, and a is the calculated value when the beam width radiated from the slot antenna is 30 °. Where b is a calculated value when the beam width radiated from the slot antenna is 40 °, and c is a calculated value when the beam width radiated from the slot antenna is 90 °.

Here, the calculation of the inclination angle at 30 ° is set in consideration of the relationship between the inclination angle of the hydraulic excavator at the disaster site and the height difference from a place to be remotely controlled, which are assumed by the present invention. It is a thing. Also, 50 on the excavator side
The output of a simple GHz radio is 15mW and the receiving sensitivity is -70.
dBm, frequency 50 GHz, 50
GHz simple radio has a high gain of 40 dBi.
The calculation was performed assuming a case where a 00 mm parabolic antenna was used. The directivity of the slot antenna in the vertical direction is expressed as cos ² (2θ / θ) when the electric field strength is a half width of beam θm and an angle θ from the center of the antenna.
m) is calculated as changing.

According to the calculation result, the beam width is 40 °,
At a position with a transmission distance of 200 m, it means that transmission is possible even if the slot antenna is shifted by 2.7 m from the center of the 300 mm parabolic antenna. When the beam width is 30 °, the transmission distance is less than 200 m required at the disaster site, and the beam width is 40 ° to 90 °.
It can be seen that a transmission distance of 200 m or more can be obtained in the range. Therefore, in order to use a 50 GHz simple radio at a disaster site, the beam width of the slot antenna is at least 40 °.
Otherwise, the image signal cannot be transmitted.

In order to set the beam width to 40 ° or more, as shown in Table 1, the number of slots of the omni antenna 122 can be reduced to two or less. In this case, a 50 GHz simple radio device on the hydraulic shovel side is used. Does not require a special tracking device. In addition, the remote control room side only needs to include a 50 GHz simple wireless device coaxial with the camera mounted on the electric pan head, so that it has a simple configuration, and an inexpensive remote control hydraulic excavator as a whole can be realized. .

Next, a second embodiment of the present invention will be described with reference to FIG.

FIG. 9 is a diagram showing a configuration of an omni-antenna provided in the 50 GHz simple wireless device 12 of the excavator 1. This embodiment is different from the first embodiment in that the structure of the omni antenna 122 is different.

In the figure, reference numeral 1220 denotes a radome;
Reference numeral 21 denotes a lens unit and 1222 denotes a slot antenna unit.

In the omni antenna of the present embodiment, a radio wave lens is formed by a lens portion 1221 on a slot antenna having four slots, so that the beam width of the radio wave to be emitted is expanded. Here, the lens unit 122
Reference numeral 1 denotes a configuration in which a radome 1220 is made of a dielectric material having a refractive index larger than 1. Although the directivity of the radio wave can be expanded by the lens portion 1221, it is practically twice or less, and a material having a large refractive index must be used for the radome 1220 in order to further expand the directivity. For example, when tetrafluoroethylene chloride is used as such a material, the dielectric constant is about 2.5, the refractive index is 1.6, and the beam width can be expanded about twice.

Next, a third embodiment of the present invention will be described with reference to FIGS.

FIGS. 10A and 10B are diagrams showing the configuration of the 50 GHz simple radio, FIG. 10A is a front view of the 50 GHz simple radio, FIG. 10B is a side view of the 50 GHz simple radio, and FIG. (c) is a plan view of the 50 GHz simple wireless device.

This embodiment is different from the first embodiment in that
The difference is that the 50 GHz simple wireless device 12 has a gimbal structure including the omni antenna 122.

In the figure, 32a, 32b, 33a,
33b is a bearing, 34 is a bracket which supports the radio main body 121 of the 50 GHz simple radio, and is rotatably provided in the bearings 32a and 32b, and 35 is a bearing 32
a, 32b, the bracket 34 is supported.
Brackets 36 provided rotatably at 3a and 33b support the 50 GHz simple wireless device 12 including the omni antenna 122 via the brackets 35 at the bearings 33a and 33b, and connect the 50 GHz simple wireless device 12 via the gimbal mechanism. It is a bracket to be installed on the excavator 1.

Here, the gimbal mechanism includes the bearings 32a,
32b, 33a, 33b, brackets 34, 35, 36
In FIG. 10A, the hydraulic excavator 1
However, when tilted left and right, the tilt is absorbed by the bearings 33a and 33b, and when tilted back and forth, the bearings 32a and 32b
Absorb the tilt at b. Bearings 32a, 32b, 3
Since the center of gravity of the 50 GHz simple wireless device is set lower than the rotation center portions of 3a and 33b, the 50 GHz simple wireless device is always suspended in the direction of gravity as a whole. Accordingly, the omni antenna 122 is always oriented vertically, and the omni antenna 122 is always kept vertical even when the remotely operated hydraulic excavator 1 is tilted.

50GH having such a gimbal structure
The z-simplified wireless device 30 holds the vertical direction on average with respect to the vibration and the shaking of the excavator 1. However, not all vibrations and shaking can be absorbed transiently, and slight shaking remains, but when the excavator 1 climbs up a slope, the direction of the antenna can be directed vertically as a whole. .

FIG. 11 shows a 50 GH with a gimbal mechanism.
The omni antenna 122 of the simple wireless device 12 and 50 GHz
FIG. 7 is a diagram illustrating a relationship between a positional shift of a center distance of the parabolic antenna 31 of the simple wireless device 21 and a transmission distance of a radio wave radiated from the omni antenna 122.

In the figure, each calculated value is based on the assumption that the omni antenna is inclined by 15 ° with respect to the parabolic antenna, and d is the calculated value when the beam width radiated from the omni antenna is 15 °. Where e is the calculated value when the beam width radiated from the omni antenna is 20 °, f is the calculated value when the beam width radiated from the omni antenna is 90 °, and g is the value radiated from the omni antenna. H is a calculated value when the beam width radiated from the omni antenna is 30 °.

Here, the reason why the inclination angle is set to 15 ° is that the difference between the inclination angle of the hydraulic excavator at the disaster site assumed by the present invention and the height difference between the place to be remotely controlled when the gimbal mechanism is used. This is set in consideration of the relationship.

According to this calculation result, the beam width is 30 °
At 40 °, transmission can be performed to the longest distance. At this time, the number of slots of the omni antenna is 2 according to Table 1.
Three to three. When the beam width is set to 15 degrees, the transmission distance slightly exceeds the transmission distance 200 m required at the disaster site, and transmission can be easily interrupted by excessive movement such as turning of the excavator 1. If the beam width exceeds 20 degrees, it is possible to transmit even the 200 m required at the disaster site. That is, when using a 50 GHz simple wireless device at a disaster site,
When an omni-antenna is used using a gimbal-structured radio, an image signal cannot be transmitted unless the beam width is 20 degrees or more. In order to realize a beam width of 20 degrees or more, as shown in Table 1, if the number of slots is four or less, it can be realized. That is, when the omni antenna having the number of slots of 4 or less is used, a special tracking device becomes unnecessary on the hydraulic excavator side, as described in the first embodiment.
As a whole, an inexpensive remotely operable hydraulic excavator can be realized.

Next, a fourth embodiment of the present invention will be described.

In the present embodiment, the electronic lens for expanding the beam width used in the second embodiment is applied to the omni antenna of a 50 GHz simple wireless device having the gimbal mechanism of the third embodiment.

According to the present embodiment, in addition to the gimbal mechanism, the beam width of the radiated radio wave is expanded, so that the present invention can be applied to an omni antenna having five or more slots.

Next, Table 2 shows that the hydraulic excavator 1 of the omni antenna 122 can transmit radio waves radiated at each beam width from the omni antenna 122 to the parabolic antenna 31 when the excavator 1 is inclined. Indicates the permissible distance from the turning center.

[0066]

[Table 2]

According to this measurement result, regardless of the inclination angle of the hydraulic excavator 1 and the beam width angle of the omni-antenna 122, it is possible to more reliably transmit the signal to the remote control room 2 closer to the turning center. Become. Further, when the inclination of the excavator 1 is within 30 °, the omni antenna 122
If the beam width of the
It can be seen that the permissible installation distance from the center of rotation of No. 2 is within 2.6 m. This distance is, as shown in FIG.
This is a range that covers the upper swing body 4. When the inclination of the excavator 1 is within 15 ° and the beam width of the omni antenna 122 is 15 ° or less, the omni antenna 122 is used.
It can be seen that the permissible installation distance from the turning center of is within 1.6 m. This distance is a range that covers the cab 5 as also shown in FIG.

FIG. 12 is a view similar to FIG.
FIG. 9 is a diagram illustrating angles at which the omni antenna is shielded by the boom at each height of the omni antenna 122 on the cab 5 when the boom is rotated.

According to this calculation result, when the boom rotates in the range of 15 ° to 30 ° except when the boom is raised to the maximum, the shielding angle becomes smaller as the omni-antenna becomes higher. I understand. Also, it can be seen that the shielding angle is smaller when the omni-directional antenna is installed on the left rear than on the right rear on the cab 5.

Therefore, according to the results of Table 2 and FIG. 12, the optimum installation position of the omni antenna 122 in each of the above embodiments is, for example, as shown in FIG. It is preferable to install at a position and height that are not affected by 5.

As described in each of the above embodiments, the 50 GHz simple wireless device 12 and the omni-antenna 122 mounted on the hydraulic excavator 1 of each embodiment have a simple configuration. It can be easily replaced and can be easily attached to the excavator 1. That is, since the 50 GHz simple radio device 12 can be easily attached to the hydraulic excavator 1, the hydraulic excavator 1 can be easily used for practical remote control at the time of restoration work at an emergency disaster site.
Thus, a hydraulic shovel that can be remotely operated at low cost can be realized.

As described above, the present invention does not require a long-distance transmission distance or apply to remote control between flat places even at the same disaster site. By applying it to a work site where the hydraulic excavator works on a slope and there is a height difference between the hydraulic excavator and the remote control side,
It can function very effectively.

[0073]

As described above, according to the present invention, the construction machine is located 200 to 300 m away from the place where the remote control is performed, and the height difference between the construction machine and the remote control side is close to 15 °, or In the case where the construction machine works on a sloping land close to 30 degrees, by using an inexpensive antenna equipment suitable for such a situation on the construction machine and installing the antenna at an optimum position on the construction machine, Signals captured by the construction machine can be transmitted to the remote control side stably and reliably.

[Brief description of the drawings]

FIG. 1 is a diagram showing the configuration of a remotely operated hydraulic shovel-side device and a remote cockpit-side device according to a first embodiment of the present invention.

FIG. 2 is a perspective view showing an arrangement of a hydraulic shovel 1 according to the embodiment and a remote control room 2 for remotely controlling the hydraulic shovel 1;

FIG. 3 is a simplified 50 GHz wireless device 12 according to the embodiment;
1 is a front view and a plan view of a hydraulic shovel 1 installed on a driver's cab 5 of FIG.

FIG. 4 is a simplified 50 GHz wireless device 12 according to the embodiment.
FIG.

FIG. 5 is a diagram showing a detailed configuration of an omni antenna 122 and a slot antenna section 124 of the omni antenna 122 according to the present embodiment.

FIG. 6 shows a slot 1 of a waveguide 125 according to the present embodiment.
It is a figure which shows one surface provided with 29a-129b, and the other surface which opposes the said surface provided with the slots 129a'-129d '.

FIG. 7 shows a 50G on the hydraulic excavator 1 side according to the embodiment.
FIG. 2 is a diagram showing an outline of a configuration of a simple wireless device 12 Hz and a simple wireless device 21 of 50 GHz on the remote cockpit 2 side.

FIG. 8 shows a 50 GHz simple wireless device 12 according to the present embodiment.
4 is a diagram showing a relationship between a position shift of a center distance between the omni antenna 122 and the parabolic antenna 31 of the 50 GHz simple wireless device 21 and a transmission distance of a radio wave radiated from the omni antenna 122. FIG.

FIG. 9 is a diagram showing a configuration of an omni antenna 122 provided in a 50 GHz simple wireless device 12 according to a second embodiment of the present invention.

FIG. 10 shows 50 GHz according to the third embodiment of the present invention.
FIG. 2 is a diagram illustrating a configuration of a simple wireless device 12.

FIG. 11 is a perspective view of a 5 including a gimbal mechanism according to the embodiment.
Omni antennas 122 and 50 of 0 GHz simple radio 12
FIG. 3 is a diagram illustrating a relationship between a positional shift of a center-to-center distance of a parabolic antenna 31 of the GHz simple wireless device 21 and a transmission distance of radio waves radiated from the omni antenna 31.

FIG. 12 shows a hydraulic excavator according to each embodiment.
It is a figure showing the angle which the omni antenna is shielded by the boom at each height of the omni antenna 122 on the cab 5 when the boom of the front mechanism 4 is rotated.

FIG. 13 is a diagram illustrating an example of a disaster site to which the present invention is applied, in which a mountain cliff collapses, a tunnel collapses, and a road is covered with rocks.

FIG. 14 is a diagram illustrating an example of a disaster site where a river is buried in earth and sand due to a landslide or a debris flow to which the present invention is applied.

FIG. 15 shows a 50G on the hydraulic excavator 1 side according to the prior art.
It is a figure which shows the positional relationship at the disaster site of the 50-GHz simple radio and the 50-GHz simple radio 21 of the remote cockpit side.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 hydraulic excavator 11 camera 12 50 GHz simple wireless device 121 wireless device main body 122 omni antenna 1221 lens unit 123, 1220 radome 124, 1222 slot antenna unit 125 waveguide 126 flange 129 slot 13 pan head 17 low power wireless device 18 controller 2 remote Cockpit 21 50 GHz simple wireless device 22 camera 23 motorized pan head 25, 26 monitor 27, 28 operation panel 29 operating device 30 low power wireless device 32a, 32b, 33a, 33b bearing 34, 35, 36 bracket 4 upper revolving unit 5 operation Room 6 Front mechanism

Claims (3)

[Claims] 1. A control-side mm-wave radio provided at least in a remote place, comprising at least an upper revolving superstructure, an image pickup means for picking up an image of a work situation, and a machine-side mm-wave radio transceiver for transmitting a picked-up signal. In a construction machine remotely controlled based on the image signal received by the machine, the antenna of the mm-wave wireless transceiver is omnidirectional in the horizontal direction and has a beam width of not less than a predetermined angle in the vertical direction. A construction machine having characteristics, wherein the antenna is installed at a position near the center of rotation of the upper revolving unit, and a parabolic antenna is used as an antenna of the control-side mm-wave radio. 2. The antenna of the machine-side mm-wave radio according to claim 1, wherein the beam width is set to 40 ° or more, and the antenna is installed within about 2.6 m from the center of rotation. Construction machinery. 3. A remote location including at least a front mechanism and a driver's cab provided on the upper revolving superstructure, an imaging means for imaging a working situation, and a machine-side mm-wave wireless transceiver for transmitting the imaged signal. In a construction machine that is remotely controlled based on the imaging signal received by the control-side mm-wave wireless device provided in the, the antenna of the mm-wave wireless transceiver is omnidirectional in the horizontal direction and predetermined in the vertical direction. The antenna has a transmission / reception characteristic having a beam width equal to or larger than an angle, and the antenna is installed at an upper rear portion of the cab, and the antenna of the control side mm-wave radio is a parabolic antenna. machine.