JP2019163115A - Work vehicle and remote control terminal - Google Patents

Abstract

To provide a work vehicle allowing a remote control terminal to used for general purposes, as well as capable of controlling error operations of the remote control terminal, by releasing mutual authentication of the remote control terminal when a predetermined time period elapses after work of a work device ends.SOLUTION: A crane 1, which is a work vehicle, comprises: one or more remote control terminal 60; a work device 40 remotely controlled through the remote control terminal 60; and a control unit which allows only one remote control terminal 60 that is mutually authenticated, to remotely control the work device 40; and releases mutual authentication of the one remote control terminal 60 when a predetermined time period elapses after work of the work device 40 ends.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a work vehicle and a remote control terminal.

  2. Description of the Related Art Conventionally, work vehicles including work devices such as a mobile crane and an aerial work vehicle are known. In recent years, a technique has been proposed that allows a work device of a work vehicle to be operated using a remote operation terminal. In the operation using the remote operation terminal, the operator can perform the operation while confirming the moving state of the suspended load in the vicinity of the suspended load or the target position of the suspended load that is away from the operating device of the working device.

  For example, Patent Document 1 discloses a system including a winch that lifts and lowers a suspended load and a plurality of remote operation terminals that control the winch with wireless signals. In this system, the winch-side control unit performs mutual authentication with the remote operation terminal that first transmitted the operation signal, and cancels the mutual authentication when the power of the remote operation terminal is turned off.

JP2011-235996A

  However, according to the technique of Patent Document 1, since mutual authentication is maintained until the power of the mutually authenticated remote operation terminal is turned off, the power of the remote operation terminal is not turned off after the work is finished. In this case, the remote control terminal cannot be used as a remote control terminal of another work vehicle at the next work. In addition, there is a risk that another operator may misoperate without knowing that the remote operation terminal left unattended is in a mutually authenticated state.

  The present invention relates to a work vehicle capable of making a remote operation terminal versatile and suppressing erroneous operation of the remote operation terminal by canceling the mutual authentication of the remote operation terminal after a predetermined time has elapsed from the end of work of the work device. And it aims at providing a remote control terminal.

  The work vehicle permits one or more remote operation terminals, a work device remotely operated by the remote operation terminal, and only one remote operation terminal that is mutually authenticated to permit remote operation of the work device, and the work device. And a control device for canceling the mutual authentication of the one remote control terminal after a predetermined time has elapsed since the end of the work.

  The work vehicle includes an operation tool capable of selecting and operating information corresponding to an identifier of the remote operation terminal within a predetermined range of the work device, and the control device includes the remote operation having the selected and operated identifier. You may control to mutually authenticate with a terminal.

  In the work vehicle described above, the remote operation terminal permits remote operation of only one work device that has been mutually authenticated, and the mutual operation of the one work device after a lapse of a predetermined time from the end of work of the work device. You may provide the terminal side control apparatus which cancels | releases authentication.

  The remote operation terminal is a remote operation terminal for remotely operating the work device of the work vehicle, permits remote operation of only one of the work devices that are mutually authenticated, and after a predetermined time has elapsed since the end of the work of the work device A terminal-side control device that cancels mutual authentication of the one working device is provided.

  According to the present invention, by canceling the mutual authentication of the remote operation terminal after a lapse of a predetermined time from the end of the work of the work device, the remote operation terminal can be made universal and erroneous operation of the remote operation terminal can be suppressed. .

It is a figure which shows a crane. It is a figure which shows the structure of an operation system. It is a figure which shows the condition which is operating the remote control terminal. It is a figure which shows an example of the image displayed on a display apparatus at the time of selection of remote control mode. It is a figure which shows the remote control terminal which concerns on one Embodiment. It is a figure which shows the remote control terminal which concerns on other embodiment. It is a figure which shows an example of the image displayed on a terminal side display apparatus at the time of selection of remote control mode.

  Below, the crane which is a typical work vehicle is demonstrated. The technical idea disclosed below can be applied to other cranes in addition to the crane 1 described below.

  First, the crane 1 is demonstrated using FIG.

  The crane 1 is mainly composed of a vehicle 2 and a crane device 3.

  The vehicle 2 includes a pair of left and right front wheels 4 and a rear wheel 5. In addition, the vehicle 2 includes an outrigger 6 that is grounded and stabilized when carrying the luggage L. In addition, the vehicle 2 can turn the crane apparatus 3 supported on the upper part by an actuator.

  The crane apparatus 3 includes a boom 7 so as to protrude forward from the rear part. Therefore, the boom 7 can be turned by an actuator (see arrow A). In addition, the boom 7 can be expanded and contracted by an actuator (see arrow B). Furthermore, the boom 7 can be raised and lowered by an actuator (see arrow C). In addition, a wire rope 8 is bridged over the boom 7.

  A winch 9 around which a wire rope 8 is wound is disposed on the proximal end side of the boom 7, and a hook 10 is suspended by the wire rope 8 on the distal end side of the boom 7. The winch 9 is formed integrally with the actuator, and enables the wire rope 8 to be wound and unwound. Therefore, the hook 10 can be moved up and down by an actuator (see arrow D).

  The crane device 3 includes a counterweight 11 behind the boom 7. In addition, the crane device 3 includes a cabin 12 on the side of the boom 7. Inside the cabin 12, a turning operation tool 21, a telescopic operation tool 22, a hoisting operation tool 23, a winding operation tool 24, and a display device 25 described later are provided.

  Next, the operation system will be described with reference to FIGS. Here, an operator who rides on the crane 1 and performs an operation will be referred to as “operator X1”, and an operator who performs an operation without boarding the crane 1 will be described as “operator X2”.

  The operation system mainly includes a control device 20. Various operating tools 21 to 24 are connected to the control device 20. Various valves 31 to 34 are connected to the control device 20.

  As described above, the boom 7 is turnable by the actuator (see arrow A in FIG. 1). In the present embodiment, such an actuator is defined as a turning hydraulic motor 41. The turning hydraulic motor 41 is appropriately operated by a turning valve 31 that is an electromagnetic proportional switching valve. That is, the turning hydraulic motor 41 is appropriately operated by the turning valve 31 changing the flow direction of the hydraulic oil or adjusting the flow rate of the hydraulic oil. The turning valve 31 is operated based on the operation of the turning operation tool 21 by the operator X1. Further, the turning angle and turning speed of the boom 7 are detected by a sensor (not shown). Therefore, the control device 20 can acquire the turning angle and turning speed of the boom 7.

  Further, as described above, the boom 7 can be expanded and contracted by an actuator (see arrow B in FIG. 1). In the present embodiment, such an actuator is defined as a telescopic hydraulic cylinder 42. The expansion / contraction hydraulic cylinder 42 is appropriately operated by the expansion / contraction valve 32 which is an electromagnetic proportional switching valve. In other words, the expansion / contraction hydraulic cylinder 42 is appropriately operated by the expansion / contraction valve 32 switching the flow direction of the hydraulic oil or adjusting the flow rate of the hydraulic oil. The telescopic valve 32 is operated based on the operation of the telescopic operation tool 22 by the operator X1. Further, the extension length and extension speed of the boom 7 are detected by a sensor (not shown). Therefore, the control apparatus 20 can acquire the expansion / contraction length and expansion / contraction speed of the boom 7.

  Furthermore, as described above, the boom 7 can be raised and lowered by an actuator (see arrow C in FIG. 1). In the present embodiment, such an actuator is defined as a hoisting hydraulic cylinder 43. The hoisting hydraulic cylinder 43 is appropriately operated by the hoisting valve 33 which is an electromagnetic proportional switching valve. That is, the hoisting hydraulic cylinder 43 is appropriately operated by the hoisting valve 33 switching the flow direction of the hydraulic oil or adjusting the flow rate of the hydraulic oil. The hoisting valve 33 is operated based on the operation of the hoisting operation tool 23 by the operator X1. The hoisting angle and hoisting speed of the boom 7 are detected by a sensor (not shown). Therefore, the control device 20 can acquire the hoisting angle and hoisting speed of the boom 7.

  In addition, as described above, the hook 10 is movable up and down by an actuator (see arrow D in FIG. 1). In the present embodiment, such an actuator is defined as a winding hydraulic motor 44. The winding hydraulic motor 44 is appropriately operated by a winding valve 34 that is an electromagnetic proportional switching valve. That is, the winding hydraulic motor 44 is appropriately operated by the winding valve 34 changing the flow direction of the hydraulic oil or adjusting the flow rate of the hydraulic oil. The winding valve 34 is operated based on the operation of the winding operation tool 24 by the operator X1. Further, the hanging length and the lifting speed of the hook 10 are detected by a sensor (not shown). Therefore, the control device 20 can acquire the hanging length and the lifting speed of the hook 10.

  In addition, the operation system includes a display device 25.

  The display device 25 is connected to the control device 20. Therefore, the control device 20 can provide information to the operator X1 through the display device 25. On the other hand, since the display device 25 is a so-called touch panel, it can be said that it is an input device of the operator X1. Therefore, the operator X1 can also provide information to the control device 20 through the display device 25. The display device 25 is attached to the front face of the cockpit so that the operator X1 can visually recognize it while operating the various operation tools 21 to 24.

  In addition, the operation system includes a communication device 51.

  The communication device 51 converts information to a radio signal and sends it out, and also accepts the radio signal and restores it to information. In the communication device 51, at least an antenna is attached to the tip portion of the boom 7 in order to reduce the influence of the features on the radio wave. The communication device 51 is connected to the control device 20. Therefore, the control device 20 can transmit information to the remote operation terminal 60 described later through the communication device 51. In addition, the control device 20 can acquire information transmitted from a remote operation terminal 60 described later through the communication device 51.

  In addition, it is assumed that this operation system has one or more remote operation terminals 60. The remote operation terminal 60 in the present embodiment is an example of a remote operation terminal, and is not limited to this.

  The remote operation terminal 60 is provided with a terminal side control device 66. Various operation tools 61 to 64 are connected to the terminal-side control device 66.

  The remote operation terminal 60 is provided with a terminal-side turning operation tool 61. The terminal side turning operation tool 61 is connected to the terminal side control device 66. Since the terminal side control device 66 can transmit information to the control device 20 through the terminal side communication device 67, when the operator X2 tilts the terminal side turning operation tool 61 in an arbitrary direction (see arrow E in FIG. 3). ), The turning operation of the boom 7 is performed in the same manner as the above-described turning operation tool 21 is tilted in an arbitrary direction. That is, when the operator X2 tilts the terminal-side turning operation tool 61 in an arbitrary direction, the turning hydraulic motor 41 is appropriately operated, and the boom 7 is turned left or right.

  In addition, the remote operation terminal 60 is provided with a terminal side telescopic operation tool 62. The terminal side telescopic operation tool 62 is connected to the terminal side control device 66. Since the terminal-side control device 66 can transmit information to the control device 20 through the terminal-side communication device 67, when the operator X2 tilts the terminal-side telescopic operation tool 62 in an arbitrary direction (see arrow F in FIG. 3). ) The boom 7 is expanded and contracted in the same manner as the above-described telescopic operation tool 22 is tilted in an arbitrary direction. That is, when the operator X2 tilts the terminal side expansion / contraction operation tool 62 in an arbitrary direction, the expansion / contraction hydraulic cylinder 42 is appropriately operated, and the boom 7 is expanded or contracted.

  Further, the remote operation terminal 60 is provided with a terminal side undulation operation tool 63. The terminal side hoisting operation tool 63 is connected to the terminal side control device 66. Since the terminal side control device 66 can transmit information to the control device 20 through the terminal side communication device 67, when the operator X2 tilts the terminal side hoisting operation tool 63 in an arbitrary direction (see arrow G in FIG. 3). ) The boom 7 is raised and lowered in the same manner as the above-described raising and lowering operation tool 23 is tilted in an arbitrary direction. That is, when the operator X2 tilts the terminal-side hoisting operation tool 63 in an arbitrary direction, the hoisting hydraulic cylinder 43 is appropriately operated, and the boom 7 is raised or tilted.

  In addition, the remote operation terminal 60 is provided with a terminal-side winding operation tool 64. The terminal side winding operation tool 64 is connected to the terminal side control device 66. Since the terminal side control device 66 can send information to the control device 20 through the terminal side communication device 67, when the operator X2 tilts the terminal side winding operation tool 64 in an arbitrary direction (arrow H in FIG. 3). Reference), the lifting and lowering operation of the hook 10 is performed in the same manner as the above-described winding operation tool 24 is tilted in an arbitrary direction. That is, when the operator X2 tilts the terminal side winding operation tool 64 in an arbitrary direction, the winding hydraulic motor 44 is appropriately operated, and the hook 10 is raised or lowered.

  In addition, the remote operation terminal 60 is provided with a terminal-side display device 65. The terminal side display device 65 is connected to the terminal side control device 66. Therefore, the terminal-side control device 66 can provide information to the operator X2 through the terminal-side display device 65. On the other hand, since the terminal side display device 65 is a so-called touch panel, it can be said that it is an input device of the operator X2. Therefore, the operator X2 can also provide information to the terminal-side control device 66 through the terminal-side display device 65. The terminal side display device 65 is attached to the front surface of the remote operation terminal 60 so that the operator X2 can visually recognize the operation tools 61 to 64 while operating them.

  In addition, the remote operation terminal 60 is provided with a terminal side communication device 67.

  The terminal-side communication device 67 converts information into a radio signal and sends it out, and accepts the radio signal and restores it to information. The terminal side communication device 67 is connected to the terminal side control device 66. Therefore, the terminal-side control device 66 can transmit information to the control device 20 through the terminal-side communication device 67. Further, the terminal side control device 66 can acquire information transmitted from the control device 20 through the terminal side communication device 67.

  According to such an operation system, the operator 40 can operate the work device 40 by operating the remote operation terminal 60 that has been mutually authenticated (paired). The work device 40 is synonymous with the crane device 3.

  Next, mutual authentication of the remote operation terminal 60 will be described. As shown in FIG. 3, in a situation where there are a plurality of remote operation terminals 60 around the crane 1, as a preparation for starting the remote operation by the remote operation terminal 60, the operator X1 riding on the crane 1 operates the touch panel. To select the remote operation mode. The remote operation mode is a mode in which only one remote operation terminal 60 that is mutually authenticated is allowed to remotely operate the crane apparatus 3. In the remote operation mode, the operation of the crane device 3 by the operation tools 21 to 24 on the vehicle 2 side may be permitted or not permitted.

  When the remote operation mode is selected, the control device 20 searches for the remote operation terminal 60 existing within a predetermined range (for example, within a radius of 50 m) from the crane 1, and performs a remote operation capable of mutual authentication in response. An identifier is acquired from the terminal 60. Then, the control device 20 generates an image as an example of information corresponding to the identifier of the remote operation terminal 60 that has responded, and outputs the image to the display device 25. The display device 25 displays the image and allows the identifier to be selected on the touch panel. When the operator X1 selects and operates the desired remote operation terminal 60 on the touch panel, the control device 20 performs mutual authentication processing with the terminal-side control device 66 of the remote operation terminal 60 that has been selected and operated. Thereby, mutual authentication is completed between the control device 20 of the crane 1 and the terminal side control device 66 of the selected remote operation terminal 60.

  FIG. 4 shows an example of an image 70 displayed on the display device 25 when the remote operation mode is selected. In the image 70, a message that prompts the operator X1 to select “Please select a terminal to pair” and a state where mutual authentication is possible such as “first terminal”, “second terminal”, and “third terminal”. A name corresponding to the identifier of a certain remote operation terminal 60 is described. The operator X1 can select a desired remote operation terminal 60 by touching one of “first terminal”, “second terminal”, and “third terminal” displayed on the display device 25. For example, when “first terminal” is selected and operated, mutual authentication is performed between the terminal-side control device 66 of the remote control terminal 60 having the identifier corresponding to “first terminal” and the control device 20 of the crane 1. Is called.

  After mutual authentication with one remote operation terminal 60, the control device 20 disallows mutual authentication with other remote operation terminals 60 until the mutual authentication is canceled. As a result, only one remote operation terminal 60 that has been mutually authenticated can operate the crane 1, and by preventing operations by other remote operation terminals 60, remote operation confusion can be eliminated and safe remote operation can be realized. it can.

  On the other hand, in the one remote operation terminal 60 that has been mutually authenticated, only one crane apparatus 3 that has been mutually authenticated is allowed to be operated remotely. Then, after mutual authentication with one control device 20, the terminal-side control device 66 disallows mutual authentication with the other control device 20 until the mutual authentication is canceled. Thereby, one remote operation terminal 60 that has been mutually authenticated can operate only one crane device 3, and prevents misoperation of other crane devices 3 within the remote control range, thereby eliminating confusion in remote operation, Safe remote operation can be realized.

  Therefore, when there are a plurality of crane devices 3 and a plurality of remote operation terminals 60 within a remotely operable range, or there are a plurality of crane devices 3 and one remote operation terminal 60 within a remotely operable range. Even when doing so, the confusion of remote control can be eliminated.

  The remote operation terminal 60 may notify that mutual authentication has been performed. For example, it is conceivable that the lighting unit 68 is provided in the remote operation terminal 60 (see FIG. 3) and only one remote operation terminal 60 that has been mutually authenticated is lit. For example, when “first terminal” is selected and mutual authentication is performed, only the lighting unit 68 provided in the remote operation terminal 60 having the identifier corresponding to “first terminal” lights up (see FIG. 5). .

  Further, for example, since the terminal-side display device 65 is provided in the remote operation terminal 60 (see FIG. 3), it is conceivable that the fact is displayed only on one remote operation terminal 60 that has been mutually authenticated. For example, when “first terminal” is selected and mutual authentication is performed, the fact is displayed only on the terminal-side display device 65 provided in the remote operation terminal 60 having the identifier corresponding to “first terminal”. (Refer to FIG. 6: See * mark part).

  In this case, the operator X2 who controls the one remote operation terminal 60 that has been mutually authenticated can recognize that the remote operation terminal 60 has been mutually authenticated at a glance. Note that a message such as “the first terminal is being paired” may be displayed on the terminal-side display device 65 of another remote operation terminal 60 that is not mutually authenticated.

  Next, when the work in the remote operation mode is completed, the operator X1 can cancel the mutual authentication of the remote operation terminal 60 that has been mutually authenticated by operating the release operation tool 26 (see FIG. 2). Further, the mutual authentication may be canceled by the operator X2 operating the terminal side release operation tool 69 (see FIGS. 2 and 3). When the mutual authentication is canceled, the crane apparatus 3 is in a state where mutual authentication can be performed with an arbitrary remote operation terminal 6, and the remote operation terminal 6 is in a state where mutual authentication can be performed with an arbitrary crane apparatus 3.

  Further, even when the release operation tool 26 or the terminal-side release operation tool 69 is not operated after the work in the remote operation mode is finished, the control device 20 has passed a predetermined time (for example, 2 hours) from the end of work of the crane device 3. The mutual authentication of the remote operation terminal 60 that has been mutually authenticated later is canceled. The determination at the end of the work can be, for example, the time when the power of the crane apparatus 3 or the remote operation terminal 60 is turned off. The display on the display device 25 disappears when the power of the crane device 3 is turned off, and the display on the terminal side display device 65 disappears when the power of the remote operation terminal 60 is turned off.

  Further, even when the release operation tool 26 or the terminal-side release operation tool 69 is not operated after the work in the remote operation mode is finished, the terminal-side control device 66 of the one remote operation terminal 60 that has been mutually authenticated is the crane device 3. The mutual authentication may be canceled after a predetermined time (for example, 2 hours) has elapsed since the end of the work.

  In this way, by canceling the mutual authentication after a predetermined time has elapsed from the end of the work of the work device 40, even if the remote operation terminal 60 is left after the work is finished, the remote operation terminal 60 can be used at the next work such as the next day. The situation where it cannot be used for remote operation of the other crane apparatus 3 can be avoided, and the remote operation terminal 60 can be made universal. Further, even if the remote operation terminal 60 is left unattended with mutual authentication, the mutual authentication is canceled after a predetermined time has elapsed since the end of the work of the work device 40, so that erroneous operation of the remote operation terminal 60 by other operators is suppressed. Can do. In addition, since mutual authentication is maintained for a predetermined time from the end of the work, even if additional work occurs after the work is completed, it is possible to save the trouble of performing the mutual authentication again within the predetermined time, which is convenient.

  In addition, you may provide the cancellation | release mode which cancels | releases the mutual authentication of the other remote control terminal 60 and the crane apparatus 3 as a mode executable with the terminal side control apparatus 66 which is not mutually authenticated. Thereby, it is possible to forcibly cancel the mutual authentication of the remote operation terminal 60 that is mutually authenticated by operating the remote operation terminal 60 that is not mutually authenticated. This cancellation mode can be used effectively when mutual authentication is erroneously performed or when it is desired to immediately cancel mutual authentication.

  In the above embodiment, the remote operation mode can be started by operating the display device 25, but the remote operation mode may be started by operating the terminal side display device 65. Specifically, the operator X2 operates the touch panel of the desired remote operation terminal 60 to select the remote operation mode.

  When the remote operation mode is selected, the terminal-side control device 66 searches the crane device 3 existing within a predetermined range (for example, within a radius of 50 m) from the remote operation terminal 60 and can perform mutual authentication with a response. An identifier is acquired from the control device 20 that controls the crane device 3. And the terminal side control apparatus 66 produces | generates the image corresponding to the identifier of the crane apparatus 3 which responded, and outputs it to the display apparatus 25. FIG. The terminal-side display device 65 displays the image and allows the identifier to be selected on the touch panel. When the operator X2 selects and operates the desired crane device 3 on the touch panel, the terminal-side control device 66 performs mutual authentication processing with the control device 20 that controls the selected crane device 3. Thereby, mutual authentication is completed between the terminal side control apparatus 66 and the control apparatus 20 which controls the selected crane apparatus 3. FIG.

  FIG. 7 shows an example of an image 80 displayed on the terminal side display device 65 when the remote operation mode is selected. In the image 80, a message prompting the operator X2 to select “Select a crane to be paired” and “First Crane”, “Second Crane”, and “Third Crane” indicate that mutual authentication is possible. A name corresponding to an identifier of a certain crane apparatus 3 is described. The operator X2 can select a desired crane device 3 by touching one of “first crane”, “second crane”, and “third crane” displayed on the terminal-side display device 65. For example, when the “first crane” is selected, mutual authentication is performed between the terminal-side control device 66 and the control device 20 that controls the crane device 3 having an identifier corresponding to “first crane”.

  Note that the mutual authentication in the above embodiment includes a case of connecting using registration information at the second and subsequent connections. That is, it is a process of registering each other's device information at the time of the first connection and permitting the connection using the registered information from the second connection. Therefore, the second and subsequent mutual authentications can be processed quickly because the registration information can be used.

  Finally, the technical idea disclosed in the present specification can be applied to other work vehicles. For example, it can be applied to an aerial work vehicle.

1 Crane (work vehicle)
20 control device 21 turning operation tool (operation tool)
22 Telescopic operation tool
23 Undulating operation tool (operating tool)
24 Winding operation tool (operating tool)
25 Display device 40 Work device 60 Remote operation terminal 66 Terminal side control device 70 Image

Claims (4)

One or more remote control terminals;
A work device remotely operated by the remote operation terminal;
A control device that permits remote operation of only the one remote operation terminal that has been mutually authenticated, and cancels the mutual authentication of the one remote operation terminal after a predetermined time has elapsed since the end of the work of the work device; A work vehicle comprising: An operation tool capable of selecting and operating information corresponding to an identifier of the remote operation terminal within a predetermined range of the work device;
The work vehicle according to claim 1, wherein the control device performs control so as to perform mutual authentication with the remote operation terminal having the identifier that has been selected and operated.   The remote operation terminal permits remote operation of only one work device that has been mutually authenticated, and releases the mutual authentication of the one work device after a predetermined time has elapsed since the end of the work of the work device. The work vehicle according to claim 1, further comprising: A remote operation terminal for remotely operating a work device of a work vehicle,
A terminal-side control device that permits remote operation of only one work device that has been mutually authenticated, and releases the mutual authentication of the one work device after a predetermined time has elapsed since the end of the work of the work device. Remote control terminal.

Images