JP2007107305A - Remote control system of construction machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote control system of a construction machine in which the degree of strictness for urgently stopping the construction machine when remote control is performed remotely from the construction machine is lowered more than that for urgently stopping the construction machine when the remote control is performed near the construction machine. <P>SOLUTION: A controller 60 controlling the hydraulic drive device 70 of a hydraulic shovel 1 comprises a function as an emergency stop control means in short-distance communication for performing a control to urgently stop the hydraulic shovel 1 (construction machine) when the frequency of occurrence of abnormal command signals reaches a preset first set frequency during the remote control by a modulation system (FSK system) for short-distance communication and a function as an emergency stop control means in long-distance communication for performing a control to urgently stop the hydraulic shovel 1 when the frequency of occurrence of abnormal command signals reaches a second set frequency preset higher than the first set frequency during the remote control by a modulation system (MSK system) for long-distance communication. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a construction machine remote control system capable of selecting a signal modulation method for remote control of a construction machine from a short-range communication modulation method and a long-distance communication modulation method.

  As a remote control system for construction machines, there is a conventional technique disclosed in Patent Document 1. This prior art is a wireless remote control device that can select a modulation method of a signal when transmitting a command signal in the form of radio waves to a construction machine from a modulation method for short-range communication and a modulation method for long-distance communication; A machine-side device that is provided in the construction machine and controls the construction machine according to a command signal obtained by receiving a radio wave from a wireless remote control device.

The near field communication modulation method is an FSK method, and the far field communication modulation method is an MSK method. In other words, the advantage of the FSK method that the communication speed is fast when remote control is performed in the vicinity of the construction machine is used, and when remote control is performed at a position far from the construction machine, the position is 2 km or more away. The advantage of the MSK method is that the signal is not easily deteriorated even in transmission from the network.
JP 2003-189376 A

  By the way, when remote control is performed in the vicinity of the construction machine, a dangerous situation in which the construction machine comes into contact with the operator must not be caused. Therefore, in general, the operation of the construction machine suddenly stops due to the radio wave interruption or the radio wave interruption is performed so that the operation of the construction machine not intended by the operator is not performed due to the abnormality of the radio wave. In order to prevent sudden operation due to the return of the radio wave from the machine, immediately stop the construction machine when there is an abnormality in the radio wave so that there is no danger of the construction machine coming into contact with the operator. ing.

  On the other hand, when performing remote operation at a position far from the construction machine, there is no danger of the construction machine coming into contact with the operator. Therefore, it is not necessary to perform an emergency stop as severely as when performing remote operation in the vicinity of the construction machine. In other words, when remote operation is performed in the vicinity of the construction machine, even if there is an abnormality in the radio wave that requires the emergency stop of the construction machine, the operation of the construction machine must be performed when performing remote control at a position far away from the construction machine. It may be desirable to continue.

  In the above-mentioned prior art, the signal modulation method can be switched according to the distance of communication with the construction machine. However, when performing remote operation in the vicinity of the construction machine and remote operation at a position far from the construction machine. It was not taken into account that there was a difference in the severity of the emergency stop of the construction machine.

  The present invention has been made in consideration of the actual state of the prior art described above, and its purpose is far from the construction machine than the severe degree of emergency stop of the construction machine when performing remote operation in the vicinity of the construction machine. It is an object of the present invention to provide a remote control system for a construction machine that can reduce the severity of emergency stop of the construction machine when remote control is performed at a remote position.

  [1] In order to achieve the above-mentioned object, according to the present invention, when a command signal is transmitted to a construction machine in the form of a radio wave, a modulation method applied to the command signal is changed to a short-range communication modulation method and a long-distance communication. A wireless remote control device that can be selected from among modulation methods, and a machine-side device that is provided in the construction machine and controls the construction machine according to the command signal obtained by receiving the radio wave In the construction machine remote operation system provided, the machine side device has reached a first preset frequency at which the frequency of occurrence of the radio wave abnormality has been set in advance during the remote operation of the construction machine by the short-range communication modulation method. In this case, during the remote operation of the construction machine by the near field communication emergency stop control means for performing the emergency stop control of the construction machine and the long distance communication modulation method, the occurrence frequency of the radio wave abnormality is the first frequency. Setting frequency When it reaches the second set frequency which is also high preset, characterized in that it comprises a emergency stop control unit when telecommunications performs control to emergency stop the construction machine.

  In the present invention configured as described above, during the remote operation of the construction machine by the short-range communication modulation method, when the occurrence frequency of the radio wave abnormality reaches the preset first set frequency, the emergency stop during the short-range communication The control means performs control to make the construction machine emergency stop. Further, when the occurrence frequency of the radio wave reaches a second setting frequency higher than the first setting frequency during the remote operation of the construction machine by the long distance communication modulation method, the emergency stop control means during the long distance communication is Controls emergency stop of construction machinery. As a result, the severity of emergency stop of the construction machine when performing remote operation at a position far from the construction machine is lower than the severity of emergency stop of the construction machine when performing remote operation near the construction machine. be able to.

  [2] According to the present invention, in the invention described in [1], the wireless remote control device outputs a release command signal for instructing release of the emergency stop state of the construction machine in response to an operation of a predetermined operation member. An emergency stop release command means for transmitting to the machine side device is provided, and the machine side device comprises an emergency stop release control means for performing control to release the emergency stop state of the construction machine in response to the release command signal. And

  In the present invention configured as described above, when a predetermined operation member of the wireless remote control device is operated, the emergency stop cancel command means of the wireless remote control device transmits a cancel command signal to the machine side device. When the machine side device receives the release command signal from the wireless remote control device, the emergency stop release control means of the machine side device releases the emergency stop state of the construction machine according to the release command signal. That is, it is possible to prevent the emergency stop state of the construction machine from being released unless a predetermined operation member of the wireless remote control device is operated.

  [3] The present invention relates to the invention according to [1], wherein when the machine side device has an abnormality in the radio wave during the remote operation of the construction machine by the telecommunications modulation method, It is characterized by comprising a temporary stop control means for performing control to temporarily stop the construction machine until the radio wave is restored.

  In the present invention configured as described above, when an abnormality occurs in the radio wave during remote control of the construction machine by the long-distance communication modulation method, the temporary stop control means starts control for temporarily stopping the construction machine. Thereafter, if the radio wave recovers from the abnormality without the occurrence frequency of the abnormality reaching the second set frequency, the temporary stop control means resumes the control of the construction machine according to the command signal obtained from the recovered radio wave. As a result, it is possible to contribute to improvement of work efficiency when performing remote operation at a position far away from the excavator 1.

  As described above, according to the present invention, the emergency stop of the construction machine is performed when the remote operation is performed at a position far away from the construction machine, rather than the severe degree of the emergency stop of the construction machine when the remote operation is performed near the construction machine. The severity to be made can be lowered. As a result, safety when performing remote operation in the vicinity of the construction machine can be secured, and it is possible to contribute to improvement of work efficiency when performing remote operation at a position far from the construction machine.

  In the following, the best embodiment of the remote control system for construction machines of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram showing the appearance of the best embodiment of the remote control system for construction machines according to the present invention, FIG. 2 is a block diagram showing the outline of the wireless remote control device shown in FIG. 1, and FIG. 3 is the machine side shown in FIG. It is a block diagram which shows the outline of an apparatus.

  In this embodiment, the construction machine shown in FIG. 1, that is, the hydraulic excavator 1 is a target for remote operation. The hydraulic excavator 1 includes a traveling body 2 that enables its own traveling, a revolving body 3 that is turnable on the traveling body 2, a boom 5, an arm 6, The working machine 4 is formed by connecting the bucket 7 so as to be rotatable.

  The excavator 1 also includes a hydraulic control device that drives the traveling body 2, the swing body 3, and the work implement 4. The hydraulic drive device includes a plurality of hydraulic actuators, that is, a pair of traveling motors (not shown) for driving the traveling body 2, a turning motor (not shown) for driving the revolving body 3, and a pair for driving the boom 5. Boom cylinder (only one boom cylinder 8 is shown in FIG. 1), an arm cylinder 9 for driving the arm 6, and a bucket cylinder 10 for driving the bucket 7. Moreover, the main pump 11 which discharges the pressure oil supplied to these hydraulic actuators is provided. Furthermore, an engine for driving the main pump 11, an engine control device, and an engine unit 12 for collecting an engine controller for controlling the engine control device are provided.

  The hydraulic drive device also includes a hydraulic control circuit (not shown) that controls the flow of pressure oil supplied from the main pump 11 to each of the plurality of hydraulic actuators. The hydraulic control circuit includes a plurality of main control valves, that is, a main control valve for driving motor control, a main control valve for swing motor control, a main control valve for boom cylinder control, a main control valve for arm cylinder control, and a main control valve for bucket cylinder control. A control valve is provided. In addition, a pilot pump (not shown) serving as a hydraulic pressure source of pilot pressure applied to these main control valves and a plurality of pilot pumps corresponding to each main control valve are provided to generate and output pilot pressure using the discharge pressure of the pilot pump as a primary pressure. Proportional solenoid valve. In addition, an electromagnetic ON / OFF valve that connects these proportional solenoid valves and the pilot pump at the initial position and shuts off at the operating position is provided. Reference numeral 13 in FIG. 1 denotes a main control valve unit in which the plurality of main control valves, the plurality of electromagnetic proportional valves, and the ON / OFF valve are integrated.

  Further, the excavator 1 includes yellow rotating lights 14 and 15 that notify the turning of the turning body 3 on the left and right sides of the rear part of the turning body 3, respectively. In addition, a blue rotating lamp 16 is provided on the upper left side of the front part of the cab 3a to notify that a remote operation is being performed. In addition, a red rotating lamp 17 is provided on the upper right side of the front part of the cab 3a to notify that the excavator 1 is in an emergency stop state.

  The present embodiment is applied to the remote operation of the hydraulic excavator 1 configured as described above. As shown in FIG. 1, the wireless remote control device 20 operated by the operator outside the hydraulic excavator 1, And a machine side device 40 provided in the hydraulic excavator 1.

  As shown in FIG. 2, the wireless remote control device 20 includes a start switch 21, an engine switch 22, an emergency stop switch 23, an arm / turning operation device 24, a boom / bucket operation device 25, a short-distance mode switch 26, and a long-distance mode. A switch 27 and a computer 28 that performs a preset process in response to an operation signal from the switch 27 are provided.

  The activation switch 21 outputs a pressing operation signal in response to the pressing operation of the operation button 21a. The computer 28 is set to start the system in response to the first pressing operation signal after turning on the power and to end the system in response to the next pressing operation signal. In other words, the computer 28 alternately starts and ends the system each time a pressing operation signal is given from the start switch 21. Further, the computer 28 reads out the communication mode (the short-distance mode and the long-distance mode, which will be described later) set last time from its own storage device (not shown), and instructs communication mode setting to set the communication mode. It is set to output a signal.

  The engine switch 22 is configured to output a pressing operation signal when the operating button 22a is pressed. The computer 28 is set to output an engine start command signal in response to a pressing operation signal given from the engine switch 22 for the first time after the system is started, and then responds to a pressing operation signal given from the engine switch 22. The engine stop command signal is set to be output. That is, the computer 28 alternately outputs an engine start command signal and an engine stop command signal each time a pressing operation signal is given from the engine switch 22.

  The emergency stop switch 23 outputs a pressing operation signal in accordance with the pressing operation of the operation button 23a. The computer 28 outputs an emergency stop command signal designating an emergency stop of the excavator 1 in response to a pressing operation signal from the emergency stop switch 23.

  The arm / turning operation device 24 outputs a front / rear operation signal corresponding to the tilt angle of the operation lever 24a in the front / rear direction of the cab 3a and a left / right operation signal corresponding to the tilt angle of the operation lever 24a in the left / right direction. It has become. The computer 28 outputs an arm command signal corresponding to the front / rear operation signal from the arm / swing operation device 24 and a turn command signal corresponding to the left / right operation signal from the operation device 24. The arm command signal is a signal for instructing the rotation direction and rotation speed of the arm 6, and the turning command signal is a signal for instructing the turning direction and turning speed of the revolving structure 3.

  The boom / bucket operation device 25 outputs a front / rear operation signal corresponding to the tilt angle of the operation lever 25a in the front / rear direction of the cab 3a and a left / right operation signal corresponding to the tilt angle of the operation lever 25a in the left / right direction. It has become. The computer 28 outputs a boom command signal corresponding to the front / rear operation signal from the boom / bucket operation device 25 and a bucket command signal corresponding to the left / right operation signal from the operation device 25. The boom command signal is a signal for instructing the rotation direction and rotation speed of the boom 5, and the bucket command signal is a signal for instructing the rotation direction and rotation speed of the bucket 7.

  In addition to the operation devices 24 and 25, the wireless remote control device 20 includes an operation device for instructing the traveling direction and traveling speed of the excavator 1, and an operation device for instructing the engine speed. However, description of those operating devices is omitted.

  The short distance mode switch 26 outputs a pressing operation signal in accordance with the pressing operation of the operation button 26a. When the computer 28 is given a pressing operation signal from the short-distance mode switch 26, the computer 28 sets the signal modulation method to the FSK method, that is, sets the communication mode to the short-distance mode. It is set to output a signal.

  The long-distance mode switch 27 outputs a pressing operation signal in accordance with the pressing operation of the operation button 27a. When the computer 28 is given a pressing operation signal from the long-distance mode switch 27, the long-distance mode setting commanding that the signal modulation method is set to the MSK method, that is, the communication mode is set to the long-distance mode. It is set to output a signal.

  In addition, the wireless remote control device 20 includes a transmitter 29, an FSK modulator 30, an MSK modulator 31, and a switch 32. The transmitter 29 is a wireless transmitter that transmits a command signal output from the computer 28 in the form of radio waves. The command signal is modulated by the FSK modulator 30 and the MSK modulator 31 before being transmitted from the transmitter 29 in the form of radio waves. The FSK modulator 30 is a modulator that modulates a command signal by a near field communication modulation method suitable for near field communication, that is, an FSK method. The MSK modulator 31 is a modulator that modulates a command signal by a modulation method for long-distance communication suitable for long-distance communication, that is, an MSK method.

  The switch 32 is a relay that switches a modulator used for modulating the command signal to one of the FSK modulator 30 and the MSK modulator 31 according to the short distance mode setting signal or the long distance mode setting signal. A fixed contact 32a connected to the FSK modulator 30, a fixed contact 32b connected to the MSK modulator 31, and one end connected to the computer 28 and the other end selectively brought into contact with the fixed contacts 32a and 32b. The movable contact 32c is configured to have a contact point drive unit 32d that drives the movable contact 32c. The contact driving unit 32d is configured to drive the movable contact 32c toward the fixed contact 32a on the FSK modulator 30 side by being provided with the short distance mode setting signal, and by being provided with the long distance mode setting signal. The movable contact 32c is driven toward the fixed contact 32b on the MSK modulator 31 side.

  That is, the wireless remote control device 20 applies a command signal to be transmitted to the machine-side device 40 by the short-distance mode switch 26, the long-distance mode switch 27, the computer 28, the switch 32, the FSK modulator 30, and the MSK modulator 31. The modulation method can be selected from the FSK method and the MSK method.

  Returning to FIG. 1, the machine side device 40 includes a receiving device 50 and a controller 60. The receiving device 50 is attached to a position where radio waves are not easily blocked by the work machine 4, for example, at the rear of the upper portion of the right side wall of the cab 3a. The controller 60 is installed in the lower part of the cab 3a.

  As shown in FIG. 3, the receiving device 50 demodulates a receiver 51 that receives radio waves from the wireless remote control device 20 and a command signal modulated by the FSK method, and is output from the computer 28 of the wireless remote control device 20. FSK demodulator 52 that returns to the same state as the original, MSK demodulator 53 that demodulates the command signal modulated by the MSK method and returns to the same state as the original output from the computer 28 of the wireless remote control device 20, and reception A switch 54 is provided for switching the demodulator connected to the controller 60 to one of the FSK demodulator 52 and the MSK demodulator 53 in accordance with the modulation method applied to the command signal received by the device 51. .

  The selector 54 selects a fixed contact 54a connected to the FSK demodulator 52, a fixed contact 54b connected to the MSK demodulator 53, and one end connected to the controller 60 and the other end to the fixed contacts 54a and 47b. A movable contact 54c that can be brought into contact with each other and a contact drive unit 54d that drives the movable contact 54c are provided.

  The contact drive unit 54d is connected to both the FSK demodulator 52 and the MSK demodulator 53, but the MSK demodulator 53 only demodulates the signal modulated by the FSK method, so that it is received by the receiver 51. If the radio wave is a signal modulated by the FSK method, the FSK demodulator 52 demodulates. On the contrary, since the FSK demodulator 52 only demodulates the signal modulated by the MSK method, if the radio wave received by the receiver 51 is a signal modulated by the MSK method, the MSK demodulator 53 demodulates. It will be.

  The FSK demodulator 52 outputs a short-distance mode setting signal to the contact driving unit 54d and the controller 60 when performing signal demodulation. The contact driving unit 54d is configured to drive the movable contact 54c toward the fixed contact 54a on the FSK demodulator 52 side by being given a short distance mode setting signal. The controller 60 is set to enter the short distance mode in response to the short distance remote communication mode setting signal.

  The MSK demodulator 53 outputs a long-distance mode setting signal to the contact driver 54d and the controller 60 when demodulating the signal. The contact driving unit 54d is configured to drive the movable contact 54c toward the fixed contact 54b on the MSK demodulator 53 side by being given a long-distance mode setting signal. The controller 60 is set to enter the long distance mode in response to the long distance mode setting signal.

  In addition, the controller 60 includes a start switch 61. The activation switch 61 outputs a pressing operation signal in accordance with the pressing operation of the operation button 61a. The controller 60 is set to start the system in response to the first pressing operation signal after turning on the power, and to end the system in response to the next pressing operation signal. That is, the controller 60 alternately starts and ends the system each time a pressing operation signal is given from the start switch 61.

  As shown in FIG. 3, the controller 60 is a computer that controls the hydraulic drive device of the excavator 1 in accordance with a command signal from the switch 54. Reference numeral 70 shown in FIG. 3 surrounded by a one-dot chain line is a hydraulic drive device of the excavator 1. In the drawing of the hydraulic drive device 70, the traveling motor, the swing motor, a plurality of hydraulic actuators such as the boom cylinder, the plurality of main control valves, and the plurality of proportional solenoid valves are collectively shown as 71, 72, 73, respectively. Simplified. Reference numerals 74, 75, and 76 denote the ON / OFF valve, the engine controller, and the engine control device, respectively.

  The controller 60 is set to output a command signal for instructing the engine control device 76 to perform an operation for starting the engine to the engine controller 75 in response to the engine start command signal. Further, a command signal for instructing the engine control device 76 to perform an operation for stopping the engine in response to the engine stop command signal is set to be output to the engine controller 75.

  Further, the controller 60 is set so as to perform emergency stop control for emergency stopping the hydraulic excavator 1 in response to the emergency stop command signal. In the emergency stop control, a command signal for instructing the engine control device 76 to perform an operation for stopping the engine is output to the engine controller 75, and the controller 60 invalidates the subsequent engine start command signal. From the processing to become a state to be processed, and the processing to output a valve operation control signal for operating the ON / OFF valve 74.

  The controller 60 is set to output an arm control signal for controlling a proportional solenoid valve corresponding to the main control valve for arm cylinder control in accordance with the arm command signal. Similarly, the turning control signal for controlling the proportional solenoid valve corresponding to the turning motor control main control valve is set to be output in accordance with the turning command signal. Similarly, a boom control signal for controlling a proportional solenoid valve corresponding to the main control valve for boom cylinder control is set to be output in accordance with the boom command signal. Similarly, a bucket control signal for controlling a proportional solenoid valve corresponding to the main control valve for bucket cylinder control is set to be output in accordance with the bucket command signal.

  In particular, in the present embodiment, the machine side device 40 includes an emergency stop control unit 60a during short-distance communication and an emergency stop control unit 60b during long-distance communication. The emergency stop control means 60a at the time of short-range communication is when the frequency of occurrence of radio wave abnormality reaches a preset first set frequency at the time of remote operation of the hydraulic excavator 1 by the FSK method, that is, in the short-range mode. The controller 60 is configured to perform emergency stop control. The emergency stop control means 60b during long-distance communication has a second set frequency that is set in advance so that the frequency of occurrence of radio wave abnormality is higher than the first set frequency when the construction machine is remotely operated by the MSK method, that is, in the long-range mode. Is set by setting the controller 60 to perform emergency stop control.

  Here, specific settings for the controller 60 to function as the emergency stop control means 60a during short-range communication and the emergency stop control means 60b during long-range communication will be described with reference to FIG. FIG. 4 is a diagram showing the relationship between the frequency of occurrence of abnormalities in radio waves and emergency stop.

  As shown in FIG. 4A, the received data of the command signal sent to the controller 60 includes a normal frame (normal received data), a frame that has become abnormal due to a radio wave interruption (received data abnormal), and the like. Are mixed. The controller 60 is set to determine whether the frame is normal or abnormal each time a received data frame is input.

  As shown in FIG. 4B, the controller 60 that has entered the short distance mode establishes reception when it determines that the number of frames of received data is normal for a preset number of frames, for example, 10 frames. It is set to be.

  And since the controller 60 functions as an emergency stop means during short-range communication, a reception data frame is set in advance after each reception of the arm command signal, the turn command signal, the boom command signal, and the bucket command signal is established. The number of frames (corresponding to the first setting frequency), for example, is set to perform emergency stop control when it is determined that there is an abnormality for two consecutive frames.

  As shown in FIG. 4 (c), the controller 60 in the long-distance mode determines that the received data frame of the command signal is normal for a preset number of frames, for example, two consecutive frames, less than in the short-distance mode. It is set to establish reception when judged.

  And since the controller 60 functions as an emergency stop means during long-distance communication, after receiving each of the arm command signal, the turn command signal, the boom command signal, and the bucket command signal, the received data frame is converted into the short distance mode. The emergency stop control is set to be performed when it is determined that the number of frames is set in advance more than the time (corresponding to the second setting frequency), for example, 10 frames continuously.

  In particular, in the present embodiment, the wireless remote control device 20 includes an emergency stop cancellation command means 28a that outputs a cancellation command signal that commands the cancellation of the emergency stop state of the excavator 1 in accordance with the operation of a predetermined operation member. Yes. The predetermined operation member is, for example, the operation button 21a of the start switch 21. The emergency stop cancel command means 28a is configured such that when the system is started in response to a pressing operation signal from the start switch 21, the computer 28 is set to output a cancel command signal.

  And the machine side apparatus 40 is provided with the emergency stop cancellation | release control means 60c which performs the emergency stop cancellation | release control which cancels | releases the emergency stop state of the hydraulic shovel 1 according to the cancellation | release command signal. The emergency stop cancellation control means 60c is configured by setting the controller 60 to perform emergency stop cancellation control in response to a cancellation command signal. The emergency stop release control includes a process for returning the controller ○ to a state in which the subsequent engine start command signal is processed as a valid command signal and a process for outputting a valve return control signal for returning the ON / OFF valve 74 to the initial position. Become.

  In particular, in the present embodiment, the machine side device 40 includes a temporary stop control means 60d. The temporary stop control means 60 performs temporary stop control for temporarily stopping the hydraulic excavator 1 until the radio wave recovers from the abnormality when the radio wave is abnormal during remote operation of the excavator 1 by the MSK method. In this way, the controller 60 is set. In the pause control, when the frame is determined to be abnormal after reception is established, the valve operation control signal is output, and after the abnormality is determined, the same number (2 frames) as necessary for establishment of reception is determined to be normal continuously. In other words, it is a process of outputting a valve return control signal when the radio wave returns.

  In addition, the controller 60 outputs a blue lamp operation control signal for operating the blue rotating lamp 16 in parallel with outputting a command signal for causing the engine control device 76 to perform an operation for starting the engine to the engine controller 75. It is set to output. In parallel with the emergency stop process, the controller 60 is set to output a blue lamp stop control signal for stopping the blue rotating lamp 16 and a red lamp operation control signal for operating the red rotating lamp 17. ing. In parallel with the output of the turning control signal, the yellow lamp operation control signal for operating the yellow rotating lamps 14 and 15 is set to be output.

  The present embodiment configured as described above operates as follows.

<Short distance mode>
The operation of this embodiment in the case of performing a remote operation near the hydraulic excavator 1 will be described with reference to FIG. FIG. 5 is a diagram for explaining the state transition of the controller of the machine side device when the hydraulic excavator is remotely operated in the short distance mode.

  When the operator presses the operation button 61 a of the start switch 61 of the machine side device 40, a press operation signal is output from the start switch 61 to the controller 60. The controller 60 activates the system in response to the pressing operation signal, and enters a standby state A in which a command signal can be input.

  When the operator presses the operation button 21 a of the start switch 21 of the wireless remote controller 20, a press operation signal is output from the start switch 21 to the computer 28. The computer 28 activates the system in response to the pressing operation signal. At this time, the computer 28 reads the communication mode set last time, for example, the long-distance mode from its own storage device, and outputs a long-distance mode setting signal to the contact drive unit 32 d of the switch 32. The contact drive unit 32d drives the movable contact 32c toward the fixed contact 32b on the MSK modulator 31 side in response to the long-distance mode setting signal, whereby the MSK modulator 31 passes through the movable contact 32c and the fixed contact 32b. To the computer. That is, the wireless remote control device 20 is in the long distance mode.

  Since the remote operation is performed near the excavator 1 now, the operator presses the operation button 26a of the short distance mode switch 26. Accordingly, a pressing operation signal is output from the short distance mode switch 26 to the computer 28. The computer 28 outputs a short distance mode setting signal to the contact drive unit 32d of the switch 32 in response to the pressing operation signal. The contact driving unit 32d drives the movable contact 32c from the fixed contact 32b on the MSK modulator 31 side to the fixed contact 32a on the FSK modulator 30 side in response to the short distance mode setting signal, thereby the FSK modulator 30. Is connected to the computer 28 via the movable contact 32c and the fixed contact 32a. That is, the wireless remote controller 20 is switched from the long distance mode to the short distance mode.

  Thereafter, when the operator presses the operation button 22 a of the engine switch 22, a pressing operation signal is output from the engine switch 22 to the computer 28. The computer 28 outputs an engine start command signal in response to the pressing operation signal. This engine start command signal is sent to the FSK modulator 30 via the movable contact 32c and the fixed contact 32a of the switch 32, and is modulated by the FSK modulator 30 in the FSK system, and then transmitted in the form of radio waves by the transmitter 29. It is transmitted to the machine side device 40.

  In the receiving device 50 of the machine side device 40, the engine start command signal from the transmitter 29 is received by the receiver 51 and sent to both the FSK demodulator 52 and the MSK demodulator 53. Since the engine start command signal is a signal modulated by the FSK method now, the FSK demodulator 52 demodulates the engine start command signal.

  The FSK demodulator 52 outputs a short-distance mode setting signal to the controller 60 and the contact driver 54d of the switch 54 in parallel with the demodulation of the engine start command signal. The controller 60 enters the short distance mode in response to the short distance mode setting signal. The contact driving unit 54d drives the movable contact 54c toward the fixed contact 54a in response to the short distance mode setting signal, whereby the FSK demodulator 52 is connected to the controller 60 via the movable contact 54c and the fixed contact 54a. The That is, the controller 60 enters the short distance mode and starts inputting the engine start command signal.

  The controller 60 determines whether the frame is normal or abnormal every time a frame of the received data of the engine start command signal is input. A command for instructing the engine control device 76 to perform an operation for starting the engine according to the engine start command signal is established when reception is determined to be normal for 10 frames continuously (remote control operation ON). A signal is output to the engine controller 75 (standby state A → remote control ON → operation state B1). Further, the controller 60 outputs a blue lamp operation control signal to the blue rotating lamp 16 in parallel with the output of the command signal to the engine controller 75. Thereafter, if another command signal from the wireless remote control device 20 is not sent to the controller 60 during the preset time, the controller 60 returns to the standby state A (operation state B1 → remote control operation OFF → standby). State A).

  In order to perform work on the work machine 4 after the engine is started, the operator tilts the operation lever 24a of the arm / turning operation device 24 of the wireless remote control device 20 in the front-rear direction or the left-right direction, or the boom / bucket operation device 25. The operation lever 25a is tilted in the front-rear direction or the left-right direction. For example, when the operation lever 24a of the arm / turning operation device 24 is tilted in the left / right direction, a left / right operation signal is output from the arm / turning operation device 24 to the computer 28, and the computer 28 turns the turn command signal corresponding to the left / right operation signal. Is output.

  This turn command signal is sent from the computer 28 to the FSK modulator 30 via the switch 32, modulated by the FSK modulator 30, and then sent to the machine side device 40 in the form of radio waves by the transmitter 29. .

  In the machine side device 40, the turning command signal from the transmitter 29 is received by the receiver 51 and demodulated by the FSK demodulator 52. The FSK demodulator 52 outputs a short-distance mode setting signal to the controller 60 and the contact driver 54d of the switch 54 in parallel with the demodulation of the turning command signal. When the controller 60 is in the standby state A, the controller 60 enters the short distance mode again in response to the short distance mode setting signal. The contact driving unit 54d drives the movable contact 54c again toward the fixed contact 54a in response to the short distance mode setting signal, whereby the FSK demodulator 52 causes the controller 60 to pass through the movable contact 54c and the fixed contact 54a. Will be connected again. That is, the controller 60 enters the short distance mode again and starts inputting the turning command signal.

  The controller 60 determines whether the frame is normal or abnormal each time a frame of the reception data of the turn command signal is input. Then, reception is established when it is determined to be normal for 10 frames continuously (remote control operation ON), and a turning control signal corresponding to the turning command signal is output to the proportional solenoid valve corresponding to the main control valve for turning motor control. (Standby state A → Remote control ON → Operation state B1).

  Further, the controller 60 outputs a yellow lamp operation control signal to the yellow rotating lamps 14 and 15 in parallel with the output of the turning control signal.

  Thereafter, if another command signal from the wireless remote control device 20 is not sent to the controller 60 during the preset time, the controller 60 returns to the standby state A (operation state B1 → remote control operation OFF → standby). State A).

  When the operator tilts the operation lever 24a of the arm / turning operation device 24 in the front-rear direction, tilts the operation lever 25a of the boom / bucket operation device 25 in the front-rear direction, and when the operation lever 25a is The operation of the present embodiment in each case of tilting in the left-right direction is the same as in the case of tilting in the left-right direction of the operation lever 24a of the arm / turning operation device 24 described above. Omitted.

  When the operator presses the operation button 22a of the engine switch 22 again and a pressing operation signal is output again from the engine switch 22 to the computer 28, the computer 28 responds to the pressing operation signal to generate an engine start signal. Instead, it outputs an engine stop command signal. As in the case of the engine start command signal and the turn command signal, the engine stop command signal includes the movable contact 32c and fixed contact 32a of the switch 32, the FSK modulator 30, the transmitter 29, the receiver 51, the FSK demodulator 52, It is sent to the controller 60 via the movable contact 54c and the fixed contact 54a of the switch 54. In response to the engine stop command signal, the controller 60 outputs to the engine controller 75 a command signal designating that the engine control device 76 performs an operation for stopping the engine.

  Thereafter, if another command signal from the wireless remote control device 20 is not sent to the controller 60 during the preset time, the controller 60 returns to the standby state A (operation state B1 → remote control operation OFF → standby). State A).

  When the operator presses the operation button 23a of the emergency stop switch 23 and a pressing operation signal is output from the emergency stop switch 23 to the computer 28, the computer 28 outputs an emergency stop command signal in response to the pressing signal. Output. As in the case of the engine start command signal and the turn command signal, the emergency stop command signal also includes the movable contact 32c and the fixed contact 32a of the switch 32, the FSK modulator 30, the transmitter 29, the receiver 51, the FSK demodulator 52, It is sent to the controller 60 via the movable contact 54c and the fixed contact 54a of the switch 54. Then, the controller 60 performs emergency stop control according to the emergency stop command signal (operation state B1 → emergency stop switch ON → emergency stop state C).

  In parallel with the emergency stop control, the controller 60 outputs a blue lamp stop control signal to the blue rotating lamp 16 and a red lamp operation control signal to the red rotating lamp 17.

  Further, as described above, the controller 60 controls the hydraulic drive device 70 in the short-distance mode according to the operation of the arm / swing operation device 24 and the boom / bucket operation device 25, while the emergency stop control during short-range communication. It also functions as the means 60a. In other words, when the radio wave interruption occurs in the arm command signal, the turn command signal, etc., and the emergency stop means 60b during long-distance communication determines that two frames of received data are abnormal in succession due to the radio wave interruption, the emergency stop occurs. Control is performed (operation state B1 → emergency stop ON when radio wave is cut off → emergency stop state C).

  At this time, the controller 60 outputs a blue lamp stop control signal to the blue rotating lamp 16 and a red lamp operation control signal to the red rotating lamp 17 in parallel with the emergency stop control.

  When the excavator 1 is in an emergency stop, the operator presses the operation button 21a of the start switch 21 of the wireless remote control device 20 to end the system of the computer 28, and presses the operation button 21a again to operate the system of the computer 28. Start up. At this time, the computer 28 outputs a release command signal. Similarly to the case of the engine start command signal and the turn command signal, the release command signal also includes the movable contact 32c and fixed contact 32a of the switch 32, the FSK modulator 30, the transmitter 29, the receiver 51, the FSK demodulator 52, the switch. It is sent to the controller 60 via the movable contact 54c and the fixed contact 54a of the device 54. The controller 60 functions as an emergency stop cancellation control means 60c in response to the cancellation command signal, that is, performs emergency stop cancellation control, and returns to the standby state A after the emergency stop cancellation control ends (emergency stop state C → emergency stop cancellation ON). → Standby state A).

<Long distance mode>
The operation of the present embodiment when remote control is performed at a position far from the excavator 1 will be described with reference to FIG. FIG. 6 is a diagram for explaining the state transition of the controller of the machine side device when the hydraulic excavator is remotely operated in the long-distance mode.

  As described above, when the operator presses the operation button 61a of the start switch 61 of the machine side device 40, the controller 60 starts the system and enters a standby state A in which a command signal can be input.

  As described above, when the operator presses the operation button 21a of the start switch 21 of the wireless remote control device 20, the computer 28 starts the system and reads the communication mode set last time from its own storage device. The communication mode setting signal is output to the contact drive unit 32d of the switch 32. For example, it is assumed that a short distance mode setting signal is output to the contact driving unit 32d. The contact driving unit 32d drives the movable contact 32c toward the fixed contact 32a on the FSK modulator 30 side according to the short distance mode setting signal, whereby the FSK modulator 30 passes through the movable contact 32c and the fixed contact 32a. Connected to computer 28. That is, the wireless remote control device 20 is in a short distance mode.

  Since the remote operation is now performed at a position far away from the hydraulic excavator 1, the operator presses the operation button 27a of the long distance mode switch 27. Accordingly, a pressing operation signal is output from the long-distance mode switch 27 to the computer 28. The computer 28 outputs a long-distance mode setting signal to the contact drive unit 32d of the switch 32 in response to the pressing operation signal. The contact driving unit 32d drives the movable contact 32c from the fixed contact 32a on the FSK modulator 30 side to the fixed contact 32b on the MSK modulator 31 side in accordance with the long-distance mode setting signal, thereby the MSK modulator 31. Is connected to the computer 28 via the movable contact 32c and the fixed contact 32b. That is, the wireless remote controller 20 switches from the short distance mode to the long distance mode.

  Thereafter, when the operator presses the operation button 22a of the engine switch 22, as described above, the computer 28 outputs an engine start command signal. This engine start command signal is sent to the MSK modulator 31 via the movable contact 32c and the fixed contact 32b of the switch 32, and is modulated by the MSK modulator 31 in the MSK method, and then transmitted in the form of radio waves by the transmitter 29. It is transmitted to the machine side device 40.

  In the receiving device 50 of the machine side device 40, the engine start command signal from the transmitter 29 is received by the receiver 51 and sent to both the FSK demodulator 52 and the MSK demodulator 53. Since the engine start command signal is a signal modulated by the MSK method now, the MSK demodulator 53 demodulates the engine start command signal.

  The MSK demodulator 53 outputs a long-distance mode setting signal to the controller 60 and the contact driver 54d of the switch 54 in parallel with the demodulation of the engine start command signal. The controller 60 enters the long distance mode in response to the long distance mode setting signal. The contact driving unit 54d drives the movable contact 54c toward the fixed contact 54b in response to the long-distance mode setting signal, whereby the MSK demodulator 53 is connected to the controller 60 through the movable contact 54c and the fixed contact 54b. The That is, the controller 60 enters the long distance mode and starts inputting the engine start command signal.

  The controller 60 determines whether the frame is normal or abnormal every time a frame of the received data of the engine start command signal is input. A command for instructing the engine control device 76 to perform an operation for starting the engine according to the engine start command signal is established when reception is determined to be normal for two consecutive frames (remote control operation ON). A signal is output to the engine controller 75 (standby state A → remote control ON → operation state B2).

  The controller 60 outputs a blue lamp operation control signal to the blue rotating lamp 16 in parallel with the output of the command signal to the engine controller 75.

  Thereafter, if another command signal from the wireless remote control device 20 is not sent to the controller 60 while a preset time elapses, the controller 60 returns to the standby state A (operation state B2 → remote control operation OFF → standby state). A).

  In order to perform work on the work machine 4 after the engine is started, the operator tilts the operation lever 24a of the arm / turning operation device 24 of the wireless remote control device 20 in the front-rear direction or the left-right direction, or the boom / bucket operation device 25. The operation lever 25a is tilted in the front-rear direction or the left-right direction. As described above, for example, when the operation lever 24a of the arm / turning operation device 24 is tilted left and right, the computer 28 outputs a turn command signal.

  This turning command signal is sent from the computer 28 to the MSK modulator 31 via the switch 32, modulated by the MSK modulator 31, and then transmitted to the machine side device 40 in the form of radio waves by the transmitter 29.

  In the machine side device 40, the turning command signal from the transmitter 29 is received by the receiver 51 and demodulated by the MSK demodulator 53. The MSK demodulator 53 outputs a long-distance mode setting signal to the controller 60 and the contact driver 54d of the switch 54 in parallel with the demodulation of the turning command signal. The controller 60 enters the long distance mode in response to the long distance mode setting signal. In response to this long distance mode setting signal, the contact driving unit 54d drives the movable contact 54c again toward the fixed contact 54b, whereby the MSK demodulator 53 returns to the controller 60 via the movable contact 54c and the fixed contact 54b. Connected. That is, the controller 60 enters the long distance mode again and starts inputting the turning command signal.

  The controller 60 determines whether the frame is normal or abnormal each time a frame of the reception data of the turn command signal is input. When it is determined that two frames are normal continuously, reception is established (remote control operation ON), and a turning control signal corresponding to the turning command signal is output to the proportional solenoid valve corresponding to the main control valve for turning motor control. (Standby state A → Remote control ON → Operation state B2).

  Further, the controller 60 outputs a yellow lamp operation control signal to the yellow rotating lamps 14 and 15 in parallel with the output of the turning control signal. Thereafter, if another command signal from the wireless remote control device 20 is not sent to the controller 60 while a preset time elapses, the process returns to the standby state A (operation state B2 → remote control operation OFF → standby state A). .

  When the operator tilts the operation lever 24a of the arm / turning operation device 24 in the front-rear direction, tilts the operation lever 25a of the boom / bucket operation device 25 in the front-rear direction, and when the operation lever 25a is Since the operation of the present embodiment in each case of tilting in the left-right direction is the same as that in the case of tilting the operation lever 24a of the arm / turning operation device 24 in the left-right direction, description of those operations is omitted.

  When the operator presses the operation button 22a of the engine switch 22 again and a pressing operation signal is given again from the engine switch 22 to the computer 28, the computer 28 outputs an engine stop command signal instead of the engine start signal. . As in the case of the engine start command signal and the turn command signal, the engine stop command signal includes the movable contact 32c and the fixed contact 32b of the switch 32, the MSK modulator 31, the transmitter 29, the receiver 51, the MSK demodulator 53, It is sent to the controller 60 via the movable contact 54c and the fixed contact 54b of the switch 54. As described above, the controller 60 outputs to the engine controller 75 a command signal that causes the engine control device 76 to perform an operation for stopping the engine in response to the engine stop command signal. Thereafter, if another command signal from the wireless remote control device 20 is not sent to the controller 60 during the preset time, the controller 60 returns to the standby state A (operation state B2 → remote control operation OFF → standby). State A).

  When the operator presses the operation button 23a of the emergency stop switch 23 and a pressing operation signal is obtained from the emergency stop switch 23 to the computer 28, the computer 28 outputs an emergency stop command signal. As in the case of the engine start command signal and the turn command signal, this emergency stop command signal also includes the movable contact 32c and fixed contact 32b of the switch 32, the MSK modulator 31, the transmitter 29, the receiver 51, the MSK demodulator 53, It is sent to the controller 60 via the movable contact 54c and the fixed contact 54b of the switch 54. As described above, the controller 60 performs emergency stop control in accordance with the emergency stop command signal (operation state B2 → emergency stop switch ON → emergency stop state C).

  In parallel with the emergency stop control, the controller 60 outputs a blue lamp stop control signal to the blue rotating lamp 16 and a red lamp operation control signal to the red rotating lamp 17.

  The controller 60 controls the hydraulic drive device 70 in the long-distance mode in accordance with the operation of the arm / swivel operation device 24 or the boom / bucket operation device 25, while also serving as the emergency stop control means 60b during long-distance communication. Function. In other words, when the radio wave interruption occurs in the arm command signal, the turn command signal, etc., and the emergency stop means 60b during long-distance communication determines that the received data frame is abnormal for 10 consecutive frames due to the radio wave interruption, the emergency stop occurs. Control is performed (operation state B2 → emergency stop ON when radio wave is cut off → emergency stop state C).

  In addition, the controller 60 controls the hydraulic drive device 70 in the long-distance mode according to the operation of the arm / turning operation device 24 and the boom / bucket operation device 25, and also functions as a temporary stop control means 60d. . That is, after receiving the arm command signal, the turn command signal, the boom command signal, and the bucket command signal, when it is determined that the received data frame is abnormal, the suspension control is performed (operation state B2 → pause ON → Paused state D).

  The controller 60 that is in the pause state D outputs a valve return control signal to the ON / OFF valve 74 when it determines that the frames of the received data are normal again for two consecutive frames, that is, when the radio wave returns. Then, it returns to the operation state B2 (pause state D → return to radio wave → operation state B2).

  Further, since the controller 60 also functions as the emergency stop control means 60b during long-distance communication, even after entering the pause control state D, it is determined that the frames are abnormal continuously, and it is determined that the frames are abnormal for 10 frames continuously. When this happens, that is, when the radio wave does not return, emergency stop control is performed (temporary stop state D → electricity return without emergency stop ON → emergency stop state C).

  At this time, the controller 60 outputs a blue lamp stop control signal to the blue rotating lamp 16 and a red lamp operation control signal to the red rotating lamp 17 in parallel with the emergency stop control.

  When the excavator 1 is in an emergency stop, as described above, the operator presses the operation button 21a of the start switch 21 of the wireless remote control device 20 to end the system of the computer 28, and presses the operation button 21a again. The system of the computer 28 is activated. That is, the computer 28 outputs a release command signal. Similarly to the case of the engine start command signal and the turn command signal, the release command signal also includes the movable contact 32c and fixed contact 32b of the switch 32, the MSK modulator 31, the transmitter 29, the receiver 51, the MSK demodulator 53, the switch It is sent to the controller 60 via the movable contact 54c and the fixed contact 54b of the device 54. As described above, the controller 60 functions as the emergency stop cancellation control means 60c according to the cancellation command signal, that is, performs the emergency stop cancellation control, and returns to the standby state A after the emergency stop cancellation control ends (emergency stop state C → Emergency stop release ON → Standby state A).

  According to this embodiment, the following effects can be obtained.

  In this embodiment, when the frequency of occurrence of radio wave abnormality reaches the first set frequency during remote operation of the hydraulic excavator 1 using the FSK method, that is, when two frames of received data are abnormal. In addition, the controller 60 performs emergency stop control as the emergency stop control means 60a during short-range communication. In addition, during remote operation of the excavator 1 using the MSK method, when the frequency of occurrence of radio wave abnormality reaches a second setting frequency that is higher than the first setting frequency, that is, 10 frames of received data are abnormal. The controller 60 performs emergency stop control as the emergency stop control means 60b during long-distance communication. As a result, the hydraulic excavator 1 is emergency-stopped when remotely operated at a position far away from the hydraulic excavator 1, rather than the severity of emergency stop of the hydraulic excavator 1 when remote-operated in the vicinity of the hydraulic excavator 1. The degree can be lowered. As a result, safety when performing remote operation near the hydraulic excavator 1 can be secured, and it is possible to contribute to improvement of work efficiency when performing remote operation at a position far away from the hydraulic excavator 1.

  In the present embodiment, the controller 60 of the machine side device 40 performs emergency stop release control as the emergency stop release control means 60c according to the release command signal from the wireless remote control device 20. Further, a release command signal is output when the system of the computer 28 of the wireless remote controller 20 is activated. Therefore, the emergency stop state C of the hydraulic excavator 1 cannot be released unless the operation button 21a of the start switch 21 is operated so that the computer 28 is restarted.

  In the present embodiment, if an abnormality occurs in the radio wave during the remote operation of the excavator 1 using the MSK method, the controller 60 performs the suspension control as the suspension control means 60d, and then the abnormality occurrence frequency is set to the second setting. If the radio wave recovers from the abnormality without reaching the frequency, the control of the excavator 1 according to the command signal obtained from the recovered radio wave is resumed. As a result, it is possible to contribute to improvement of work efficiency when performing remote operation at a position far away from the excavator 1.

It is a figure which shows the external appearance of the best embodiment of the remote control system of the construction machine of this invention. It is a block diagram which shows the outline of the radio | wireless remote control apparatus shown by FIG. It is a block diagram which shows the outline of the machine side apparatus shown in FIG. It is a figure which shows the relationship between the frequency which abnormality generate | occur | produces in an electromagnetic wave, and an emergency stop. It is a figure explaining the transition of the state of the controller of the machine side apparatus in the case of performing remote operation of a hydraulic excavator in short distance mode. It is a figure explaining the transition of the state of the controller of the machine side apparatus in the case of performing remote operation of a hydraulic shovel in a long distance mode.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hydraulic excavator 20 Wireless remote control device 21 Start switch 22 Engine switch 23 Emergency stop switch 24 Arm / turning operation device 25 Boom / bucket operation device 26 Short-distance mode switch 27 Long-distance mode switch 28 Computer 28a Emergency stop cancellation command means 29 Transmitter 30 FSK Modulator 31 MSK Modulator 32 Switch 40 Machine Side Device 50 Receiver 51 Receiver 52 FSK Demodulator 53 MSK Demodulator 54 Switch 60 Controller 60a Emergency Stop Control Means 60b Short Distance Communication Emergency Stop Control means 60c Emergency stop release control means 60d Temporary stop control means 61 Start switch 70 Hydraulic drive device

Claims (3)

A wireless remote control device capable of selecting a modulation method applied to the command signal when transmitting the command signal in the form of radio waves to the construction machine from a modulation method for short-range communication and a modulation method for long-distance communication;
In a remote control system for a construction machine, which is provided in the construction machine and includes a machine side device that controls the construction machine according to the command signal obtained by receiving the radio wave,
The machine side device is
During the remote operation of the construction machine by the near field communication modulation method, when the frequency of occurrence of the abnormality of the radio wave reaches a preset first set frequency, the short distance for performing the emergency stop control of the construction machine Emergency stop control means during communication;
During the remote operation of the construction machine by the telecommunications modulation method, when the frequency of occurrence of abnormality of the radio wave reaches a second preset frequency that is higher than the first preset frequency and is preset, the construction machine is A remote operation system for a construction machine, comprising: an emergency stop control means for long-distance communication for performing an emergency stop control. In the invention of claim 1,
The wireless remote control device includes an emergency stop cancellation command means for transmitting a cancellation command signal for commanding the cancellation of the emergency stop state of the construction machine to the machine side device according to an operation of a predetermined operation member,
The construction machine remote control system, wherein the machine side device includes an emergency stop release control means for performing control to release the emergency stop state of the construction machine in response to the release command signal. In the invention of claim 1,
When the machine side device has an abnormality in the radio wave during remote operation of the construction machine by the telecommunication modulation method, the construction machine is temporarily stopped until the radio wave recovers from the abnormality. 2. The remote control system for a construction machine according to claim 1, further comprising a temporary stop control means for performing the operation.

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