JP2010176587A - Travel control method of radio-control vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travel control method of a radio-control vehicle, to respond to a case where a receiver on the vehicle cannot receive an electric wave transmitted from a transmitter. <P>SOLUTION: Using an electric wave transmitted from a transmitter 19, a work machine vehicle 11 with a radio-control receiver 16 receiving the electric wave is radio-controlled. The work machine vehicle 11 records the position coordinates of its own movement locus obtained by a GPS receiver 17 as it moves. When an electric wave for communication between the transmitter 19 and the radio-control receiver 16 is interrupted, the work machine vehicle 11 traces back the position coordinates having been recorded so far while moving, so as to return to an area A where the radio-control receiver 16 can receive the electric wave transmitted from the transmitter 19. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a travel control method for a radio-controlled vehicle that is travel-controlled by radio waves transmitted from a transmitter.

  The work machine exchanges information with the base station by wireless communication. For example, the base station transmits a radio control signal to the work machine, and the work machine transmits vehicle operation data, position data, and the like to the base station. (For example, refer to Patent Documents 1, 2, and 3).

  In a radio-controlled vehicle, an operating device operated by an operator includes a transmitter, and an operation amount signal is sent from the transmitter of the operating device to a receiver mounted on the vehicle.

JP-A-7-229168 (first page, FIG. 1) Japanese Unexamined Patent Publication No. 7-230597 (first page, FIG. 1) Japanese Patent Laying-Open No. 2003-27528 (first page, FIG. 1)

  In such a radio-controlled vehicle, if the distance between the transmitter and the receiver is increased, the transmitter's radio waves may not reach the receiver and may become uncontrollable. It is necessary to operate. At this time, the place where the operator can approach may be limited, and in such a case, the radio operation is hindered.

  The present invention has been made in view of these points, and an object thereof is to provide a travel control method for a radio-controlled vehicle that can cope with a case where radio waves transmitted from a transmitter cannot be received by a vehicle receiver. And

  According to the first aspect of the present invention, a vehicle equipped with a receiver that receives a radio wave is radio-controlled by a radio wave transmitted from a transmitter, and the vehicle records a position coordinate of a movement locus while moving, When the radio wave for communication between the transmitter and the receiver is interrupted, the vehicle traces the recorded position coordinates in reverse, and at least until it is within the radio wave arrival range where the radio wave transmitted from the transmitter can be received by the receiver. It is a traveling control method of a radio controlled vehicle which returns.

  According to a second aspect of the present invention, the vehicle used in the traveling control method for a radio-controlled vehicle according to the first aspect is a work machine vehicle including a work device.

  According to the invention described in claim 1, when the communication radio wave is interrupted between the transmitter and the receiver, the vehicle traces the recorded position coordinates while moving so far, Since at least the radio wave transmitted from the transmitter returns to the radio wave reachable range that can be received by the receiver, the problem that the vehicle side cannot move and receive radio waves can be easily solved even if the transmitter side is not close to the vehicle.

  According to the second aspect of the present invention, when the work machine vehicle is operated by radio control in a place where entry of the operator is restricted, the radio wave transmitted from the transmitter can be received by the receiver of the work machine vehicle. If it runs out, it can be dealt with quickly and work efficiency can be improved.

1 is a schematic diagram showing an embodiment of a travel control method for a radio-controlled vehicle according to the present invention in relation to a vehicle movement locus. It is a circuit diagram which shows the traveling control circuit which implement | achieves a control method same as the above. It is a flowchart which shows an example of a control method same as the above.

  Hereinafter, a travel control method for a radio-controlled vehicle according to the present invention will be described in detail with reference to an embodiment shown in FIGS.

  As shown in FIG. 1, a work machine vehicle 11 such as a hydraulic excavator as a vehicle has a left crawler belt 13 and a right crawler belt 14 attached to the lower side of the airframe 12, and the work equipment 15 and the receiver above the airframe 12. And a radio positioning receiver 16 and a global positioning system receiver (hereinafter referred to as a GPS receiver) 17. On the other hand, a transmitter 19 is provided in the radio operating controller 18 operated by an operator.

  FIG. 2 shows a travel control circuit mounted on the work machine vehicle 11. The discharge port of the main pump 22 driven by the vehicle-mounted engine 21 is connected to the left travel switching valve 24 and the right travel switching valve 25 by a passage 23. The left travel switching valve 24 and the right travel switching valve 25 are connected to the supply ports, and output ports of the left travel switching valve 24 and the right travel switching valve 25 are a left traveling motor 26 that drives the left crawler belt 13 and a right traveling motor 27 that drives the right crawler belt 14, respectively. Are connected to each.

  Further, the discharge port of the pilot pump 31 driven by the in-vehicle engine 21 passes through the passage 33 and the check valve 34, which are set by the relief valve 32, to the left forward electromagnetic proportional valve 35, the left reverse electromagnetic proportional valve 36, It is connected to a right forward solenoid proportional valve 37 and a right reverse solenoid proportional valve 38. These solenoid proportional valves 35, 36, 37, and 38 are connected to a control device 39, and receive an electrical signal output from the control device 39 to proportionally displace the movable valve body.

  A radio control receiver 16 and a GPS receiver 17 are connected to the control device 39. The control device 39 receives the travel command signal transmitted from the transmitter 19 of the operating device 18 by the radio control receiver 16 and performs arithmetic processing therein, and according to the travel command signal, the left forward electromagnetic proportional valve 35, the left reverse travel Solenoid proportional valve 36, right forward solenoid proportional valve 37, and right reverse solenoid proportional valve 38, and pilot control of left travel switching valve 24 and right travel switching valve 25, and left travel motor 26 and The left crawler track 13 and the right crawler track are controlled by controlling the direction and speed of the left travel motor 26 and the right travel motor 27 by controlling the direction and flow rate of the hydraulic oil supplied to the right travel motor 27. 14 drive directions and drive speeds are controlled.

  In this way, the control device 39 receives the radio wave for wirelessly maneuvering the traveling system transmitted from the transmitter 19, and controls the traveling direction and traveling speed of the work machine vehicle 11 and the like. The vehicle position acquired by the GPS receiver 17 is recorded in the memory.

  Next, functions and effects will be described based on the travel control flow of the control device 39 shown in FIG. Note that the circled numbers in FIG. 3 indicate step numbers.

  The control device 39 of the work machine vehicle 11 periodically determines whether or not communication is established between the transmitter 19 and the radio control receiver 16 (step 1). For example, it is determined whether or not the current position acquired by the GPS receiver 17 and the previously recorded position are separated by, for example, 5 m or more (step 2). If they are separated, the position coordinates acquired by the GPS receiver 17 are recorded. (Step 3). While communication is established, the above steps are repeated.

  The control device 39 of the work machine vehicle 11 determines the coordinates of the current position when the communication radio wave is interrupted between the transmitter 19 and the radio control receiver 16 and communication is not established (NO in step 1). Using the coordinates P (-1) recorded immediately before P (0) as the travel target coordinates, the left forward solenoid proportional valve 35, the left reverse solenoid proportional valve 36, the right forward solenoid proportional valve 37, and the right reverse solenoid The proportional valve 38 is controlled to control the traveling direction and traveling speed (step 4). Then, it is determined whether or not the current position approaches the target coordinate P (-1), for example, has reached within a radius of 1 meter of the coordinate P (-1) (step 5).

  If the radius of the coordinate P (-1) is within 1 meter, the left proportional electromagnetic proportional valve will be the coordinate P (-2) recorded immediately before the coordinate P (-1) of the current position. 35, the left reverse electromagnetic proportional valve 36, the right forward electromagnetic proportional valve 37, and the right reverse electromagnetic proportional valve 38 are controlled to control the traveling direction, the traveling speed, and the like (step 6). Then, it is determined whether or not the current position has approached the target coordinate P (-2) and has reached, for example, within a radius of 1 meter of the coordinate P (-2) (step 7).

  When the radius of the coordinate P (-2) is within 1 meter, the left proportional electromagnetic proportional valve with the coordinate P (-3) recorded immediately before the coordinate P (-2) of the current position as the travel target coordinate 35, the left reverse electromagnetic proportional valve 36, the right reverse electromagnetic proportional valve 37, and the right reverse electromagnetic proportional valve 38 are controlled to control the traveling direction, the traveling speed, and the like (step 8). Then, it is determined whether or not the current position has approached the target coordinate P (-3), for example, has reached within a radius of 1 meter of the coordinate P (-3) (step 9).

  If the radius of the coordinate P (-3) reaches within 1 meter, the left forward electromagnetic proportional valve with the coordinate P (-4) recorded immediately before the coordinate P (-3) of the current position as the travel target coordinate 35, the left reverse electromagnetic proportional valve 36, the right reverse electromagnetic proportional valve 37, and the right reverse electromagnetic proportional valve 38 are controlled to control the traveling direction, the traveling speed, and the like (step 10). Then, it is determined whether or not the current position has approached the target coordinate P (-4) and has reached, for example, within a radius of 1 meter of the coordinate P (-4) (step 11).

  If the radius of the coordinate P (-4) is within 1 meter, the left forward electromagnetic proportional valve with the coordinate P (-5) recorded immediately before the coordinate P (-4) of the current position as the travel target coordinate 35, the left reverse electromagnetic proportional valve 36, the right reverse electromagnetic proportional valve 37, and the right reverse electromagnetic proportional valve 38 are controlled to control the traveling direction, the traveling speed, and the like (step 12). Then, it is determined whether or not the current position has approached the target coordinate P (-5), for example, has reached within a radius of 1 meter of the coordinate P (-5) (step 13).

  Thus, the work machine vehicle 11 equipped with the radio control receiver 16 that receives the radio wave is radio-controlled by the radio wave transmitted from the transmitter 19, and the work machine vehicle 11 is moved by the GPS receiver 17 while moving. Record the position coordinates of the acquired movement trajectory, and when the radio wave for communication between the transmitter 19 and the radio control receiver 16 is interrupted, the work machine vehicle 11 is the position recorded while moving so far. The coordinates are reversed, and as shown in FIG. 1, at least the radio wave transmitted from the transmitter 19 returns to the radio wave arrival area A where the radio-controlled receiver 16 can receive the radio wave.

  Thereby, even if there is a geographical or environmental situation where the operator having the operating device 18 cannot approach the work machine vehicle 11, the problem that the work machine vehicle 11 side moves and cannot receive radio waves can be solved easily.

  In particular, when the work machine vehicle 11 is operated by radio control in a place where entry of an operator is restricted, even when the radio wave transmitted from the transmitter 19 cannot be received by the radio control receiver 16 of the work machine vehicle 11 It can be dealt with promptly and work efficiency can be improved.

  The present invention is applicable not only to the work machine vehicle 11 but also to other vehicles that are wirelessly operated.

11 Work machine vehicles as vehicles
16 Radio control receiver as a receiver
19 Transmitter A Signal range

Claims (2)

A radio equipped with a receiver that receives this radio wave is radio-controlled by the radio wave transmitted from the transmitter,
The vehicle records the position coordinates of the movement trajectory while moving,
When the radio wave for communication between the transmitter and the receiver is interrupted, the vehicle traces the recorded position coordinates in reverse, and at least until it is within the radio wave arrival range where the radio wave transmitted from the transmitter can be received by the receiver. A travel control method for a radio-controlled vehicle, characterized in that it returns. The travel control method for a radio-controlled vehicle according to claim 1, wherein the vehicle is a work machine vehicle including a work device.

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