JP6919548B2 - Work vehicle equipped with a remote control terminal and a remote control terminal - Google Patents

Description

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

Conventionally, in a work vehicle provided with a work device such as a mobile crane or an aerial work platform, a work vehicle in which the actuator of the work device is remotely operated and a remote control terminal for operating the actuator of the work device have been proposed. In the work using the remote control terminal, the operator can perform the remote control while checking the moving state of the suspended load in the vicinity of the suspended load away from the operating device of the working device or at the moving target position of the suspended load.

In such a work vehicle, the relative positional relationship between the work device and the remote control terminal changes according to the work situation. When the operating direction of the work device with respect to the operating direction of the operating tool of the remote control terminal is fixed, the operating vehicle does not match the operating direction of the operating tool of the remote control terminal with the operating direction of the working device operated by the operation. In some cases. Therefore, the operator who operates the work device by the remote control terminal needs to operate the operation tool of the remote control terminal while always considering the relative positional relationship with the work device. Therefore, regardless of the relative positional relationship between the work device and the remote control terminal, the operation direction of the operation tool of the remote control terminal and the operation direction of the work device are matched to easily and easily operate the work device. Remote control terminals that can be used are known. For example, as in Patent Document 1.

The remote control device (remote control terminal) described in Patent Document 1 is provided with a signal transmitting unit that transmits a laser beam or the like having high straightness as a reference signal as a reference signal. Further, the control device on the working machine (working device) side is provided with a reference signal receiving unit. The remote control device is configured so that the reference coordinate system of the operating tool and the transmission direction of the reference signal coincide with each other. The control device on the work equipment side identifies the direction of the remote control device by receiving the reference signal from the remote control device at the receiving unit, and matches the coordinate system of the work machine with the coordinate system of the remote control device. As a result, the operation direction of the operation tool of the remote control device and the operation direction of the work machine match, so that the work machine can be operated by the remote control device regardless of the relative positional relationship between the work machine and the remote control device. It can be done easily and easily.

However, the working machine described in Patent Document 1 uses the directivity of the reference signal received by the control device to specify the relative direction of the remote operating device with respect to the working machine, and works with the reference coordinate system of the operating tool. Since it matches the coordinate system of the machine, it is not possible to set the coordinate system in consideration of the situation at the site and the work situation, or to set the coordinate system according to the preference of the operator. Further, when the reception state of the reference signal is poor, there is a problem that the reference coordinate system of the operating tool and the coordinate system of the working machine cannot be matched.

Japanese Unexamined Patent Publication No. 2010-228905

An object of the present invention is to provide a work vehicle including a remote control terminal and a remote control terminal capable of easily and easily remotely controlling a work device according to a work state.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.

That is, the first invention is a remote control terminal of a work vehicle including a work device and a control device, a control unit that is configured to be communicable with the control device and controls the operation of the remote control terminal, and the work. The control unit includes a first operation unit that remotely controls the device and a second operation unit that sets a reference of the first operation unit with respect to the reference of the work vehicle, and the control unit is the second operation unit. Based on the set value of, the operating direction of the working device with respect to the operation of the first operating unit is calculated and transmitted to the control device.

In the second invention, the second operating unit sets an angle between the reference of the work vehicle and the reference of the first operating unit.

In the third invention, the second operation unit sets the reference of the work vehicle and the reference of the first operation unit based on the orientation or terrain information.

The fourth invention includes a display unit that displays an image showing the reference of the work vehicle, and the control unit displays an image showing the reference of the work vehicle in conjunction with the operation of the second operation unit. It is to be displayed on the part.

A fifth invention is a work vehicle including a work device to be remotely controlled, in which a first operation unit for remotely controlling the work device and a reference of the first operation unit with respect to the reference of the work vehicle are set. A remote control terminal having a second operation unit, and a control device configured to be communicable with the control unit of the remote control terminal and controlling the operation of the work device, the control device or the control The unit calculates the operating direction of the working device with respect to the operation of the first operating unit based on the set value of the second operating unit, and the control device operates the working device in the calculated operating direction. It is a thing.

The present invention has the following effects.

In the first invention and the fifth invention, the reference of the first operation unit with respect to the reference of the work vehicle is arbitrarily set by the second operation unit without grasping the relative position of the remote control terminal with respect to the work device. Set. Thereby, the remote control of the work device can be easily and easily performed according to the work state.

In the second invention, since the reference of the first operation unit is arbitrarily set by the relative angle with respect to the reference of the work vehicle, it is easy to grasp the moving direction of the suspended load. Thereby, the remote control of the work device can be easily and easily performed according to the work state.

In the third invention, since the reference of the first operation unit and the reference of the work vehicle are arbitrarily set based on the orientation or the topographical information, it is easy to objectively grasp the moving direction of the suspended load. Thereby, the remote control of the work device can be easily and easily performed according to the work state.

In the fourth invention, since the reference of the first operation unit with respect to the reference of the work vehicle is displayed on the remote control device, it is easy to grasp the relationship between the reference of the work vehicle and the reference of the first operation unit. Thereby, the remote control of the work device can be easily and easily performed according to the work state.

A side view showing the overall configuration of the crane. A block diagram showing a crane control configuration. The plan view which shows the schematic structure of the remote control terminal. The block diagram which shows the control configuration of a remote control terminal. (A) In the first embodiment, a partially enlarged view showing an operation direction reference when the reference changing operation tool of the remote control terminal is operated, and (b) the suspended load when the hanging load moving operation tool is also operated. A partially enlarged view showing the transport direction. In the first embodiment, a schematic diagram showing a remote control terminal on which a suspended load moving operation tool is operated and an operating state of a crane by the operation. In the first embodiment, a schematic diagram showing a remote control terminal in which a suspended load moving operation tool is operated in one direction after the reference changing operation tool is operated, and an operating state of a crane by the operation. In the first embodiment, a schematic diagram showing a remote control terminal in which the suspended load moving operation tool is operated in the other direction after the reference changing operation tool is operated, and an operating state of the crane by the operation. (A) In the second embodiment, a partially enlarged view showing the operation direction reference of the remote control terminal based on the arrangement state of the crane, and (b) a partially enlarged view showing the operation direction reference when the reference change operation tool is also operated. .. In the second embodiment, a schematic diagram showing a remote control terminal in which the suspended load moving operation tool is operated in one direction after the reference change operation tool is operated, and an operating state of the crane by the operation.

Hereinafter, the crane 1 which is a mobile crane (rough terrain crane) as the work vehicle 2 according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 2. In the present embodiment, the crane 1 (rough terrain crane) will be described as the work vehicle 2, but an all-terrain crane, a truck crane, a loaded truck crane, an aerial work platform, or the like may be used.

As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2, a crane device 6 which is a working device, and a remote control terminal 32 (see FIG. 2) capable of remotely controlling the crane device 6.

The vehicle 2 conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and travels by using the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 is composed of an overhang beam that can be extended by flood control on both sides of the vehicle 2 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can expand the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

The crane device 6 lifts the luggage W with a wire rope. The crane device 6 includes a swivel 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, an undulating hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. It is equipped with 17 and the like.

The swivel base 7 is configured to allow the crane device 6 to swivel. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The swivel base 7 is rotatably configured with the center of the annular bearing as the center of rotation. The swivel base 7 is provided with a hydraulic swivel hydraulic motor 8 which is an actuator. The swivel base 7 is configured to be swivelable in one direction and the other direction by a swivel hydraulic motor 8.

The swivel hydraulic motor 8 which is an actuator is rotated by a swivel valve 23 (see FIG. 2) which is an electromagnetic proportional switching valve. The swivel valve 23 can control the flow rate of the hydraulic oil supplied to the swivel hydraulic motor 8 to an arbitrary flow rate. That is, the swivel base 7 is configured to be controllable to an arbitrary swivel speed via the swivel hydraulic motor 8 that is rotationally operated by the swivel valve 23. The swivel 7 is provided with a swivel sensor 27 (see FIG. 2) that detects the swivel position (angle) and swivel speed of the swivel 7.

The boom 9, which is a boom, supports the wire rope so that the luggage W can be lifted. The boom 9 is composed of a plurality of boom members. The boom 9 is configured to be able to expand and contract in the axial direction by moving each boom member by an expansion / contraction hydraulic cylinder (not shown) which is an actuator. The boom 9 is provided so that the base end of the base boom member can swing at substantially the center of the swivel base 7.

The expansion / contraction hydraulic cylinder (not shown), which is an actuator, is expanded / contracted by the expansion / contraction valve 24 (see FIG. 2) which is an electromagnetic proportional switching valve. The expansion / contraction valve 24 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate. That is, the boom 9 is configured to be controllable to an arbitrary boom length by the expansion / contraction valve 24. The boom 9 is provided with a telescopic sensor 28 for detecting the length of the boom 9 and a weight sensor 29 (see FIG. 2) for detecting the weight of the luggage W.

The jib 9a expands the lift and working radius of the crane device 6. The jib 9a is held in a posture along the base boom member by a jib support portion provided on the base boom member of the boom 9. The base end of the jib 9a is configured to be connectable to the jib support portion of the top boom member.

The camera 9b, which is a detection device, captures the luggage W and the features around the luggage W. The camera 9b is provided at the tip of the boom 9. The camera 9b is configured to be capable of photographing the features and terrain around the luggage W and the crane from vertically above the luggage W.

The main hook block 10 and the sub hook block 11 hang the luggage W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook for hanging the luggage W. The sub-hook block 11 is provided with a sub-hook for suspending the luggage W.

The undulating hydraulic cylinder 12 which is an actuator raises and lays down the boom 9 and holds the posture of the boom 9. The undulating hydraulic cylinder 12 is composed of a cylinder portion and a rod portion. In the undulating hydraulic cylinder 12, the end of the cylinder portion is swingably connected to the swivel base 7, and the end of the rod portion is swingably connected to the base boom member of the boom 9.

The undulating hydraulic cylinder 12 is expanded and contracted by the undulating valve 25 (see FIG. 2), which is an electromagnetic proportional switching valve. The undulation valve 25 can control the flow rate of the hydraulic oil supplied to the undulation hydraulic cylinder 12 to an arbitrary flow rate. That is, the boom 9 is configured to be controllable to an arbitrary undulation speed by the undulation valve 25. The boom 9 is provided with an undulation sensor 30 (see FIG. 2) that detects the undulation angle of the boom 9.

The main winch 13 and the sub winch 15 perform feeding (winding) and feeding (rolling down) of the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor (not shown) in which the main drum around which the main wire rope 14 is wound is an actuator, and the sub winch 15 is a sub (not shown) in which the sub drum around which the sub wire rope 16 is wound is an actuator. It is configured to be rotated by a hydraulic motor.

The main hydraulic motor is rotated by a main valve 26 m (see FIG. 2), which is an electromagnetic proportional switching valve. The main valve 26m can control the flow rate of the hydraulic oil supplied to the main hydraulic motor to an arbitrary flow rate. That is, the main winch 13 is configured to control the main hydraulic motor by the main valve 26m so that it can be operated at arbitrary feeding and feeding speeds. Similarly, the sub winch 15 is configured to control the sub hydraulic motor by the sub valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at an arbitrary feeding and feeding speed.

The cabin 17 covers the cockpit. The cabin 17 is mounted on the swivel base 7. A cockpit (not shown) is provided. In the driver's seat, an operation tool for operating the vehicle 2 and a turning operation tool 18 for operating the crane device 6, an undulation operation tool 19, a telescopic operation tool 20, a main drum operation tool 21m, a sub-drum operation tool 21s, etc. Is provided (see FIG. 2). The swivel operating tool 18 can control the swivel hydraulic motor 8 by operating the swivel valve 23 (see FIG. 2). The undulation operating tool 19 can control the undulation hydraulic cylinder 12 by operating the undulation valve 25 (see FIG. 2). The expansion / contraction operating tool 20 can control the expansion / contraction hydraulic cylinder by operating the expansion / contraction valve 24 (see FIG. 2). The main drum operating tool 21m can control the main hydraulic motor by operating the main valve 26m (see FIG. 2). The sub-drum operating tool 21s can control the sub-hydraulic motor by operating the sub-valve 26s (see FIG. 2).

The communication device 22 receives a control signal from the remote control terminal 32 and transmits control information and the like from the crane device 6. The communication device 22 is provided in the cabin 17. When the communication device 22 receives a control signal or the like from the remote control terminal 32, the communication device 22 is configured to transfer the control signal or the like to the control device 31 via a communication line (not shown). Further, the communication device 22 is configured to transfer the control information from the control device 31 and the image from the camera 9b to the remote control terminal 32 via a communication line (not shown).

As shown in FIG. 2, the control device 31 controls the actuator of the crane 1 via each operation valve. The control device 31 is provided in the cabin 17. The control device 31 may actually have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.

The control device 31 is connected to the camera 9b, the swivel operation tool 18, the undulation operation tool 19, the telescopic operation tool 20, the main drum operation tool 21m, and the sub-drum operation tool 21s, acquires the image of the camera 9b, and obtains the image of the camera 9b, and the swivel operation tool 18, It is possible to acquire the operation amounts of the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s.

The control device 31 is connected to the swivel valve 23, the telescopic valve 24, the undulation valve 25, the main valve 26m and the sub valve 26s, and is connected to the swivel valve 23, the undulation valve 25, the main valve 26m and the sub valve. A control signal can be transmitted to the valve 26s.

The control device 31 is connected to the swivel sensor 27, the telescopic sensor 28, the weight sensor 29, and the undulation sensor 30, and can acquire the swivel position, boom length, undulation angle, and weight of the luggage W of the swivel base 7. can.

The control device 31 generates a control signal corresponding to each operation tool based on the operation amounts of the turning operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s.

The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, in the crane 1, the boom 9 is erected at an arbitrary undulating angle by the undulating hydraulic cylinder 12 by operating the undulating operating tool 19, and the boom 9 is extended to an arbitrary boom 9 length by operating the telescopic operating tool 20. By doing so, the lift and working radius of the crane device 6 can be expanded. Further, the crane 1 can convey the luggage W by lifting the luggage W by the sub-drum operating tool 21s or the like and turning the swivel base 7 by operating the swivel operating tool 18.

Next, the remote control terminal 32 will be described with reference to FIGS. 3 to 5.
As shown in FIG. 3, the remote control terminal 32 is used when the crane 1 is remotely controlled. The remote operation terminal 32 includes a housing 33, a suspended load moving operation tool 35 which is a first operation unit, a reference change operation tool 34 which is a second operation unit, a terminal side turning operation tool 36, and a terminal side expansion / contraction operation tool 37. , Terminal side main drum operation tool 38m, terminal side sub drum operation tool 38s, terminal side undulation operation tool 39, terminal side display device 40, terminal side communication device 41, terminal side control device 42 (see FIGS. 2 and 4), etc. Equipped. The remote control terminal 32 sets the operation direction reference Bo by the reference change operation tool 34, and sends the control signal of the operation valve of each actuator that moves the load W by the operation of the suspended load movement operation tool 35 or various operation tools to the crane device 6. Send to.

The operation direction reference Bo of the remote control terminal 32 is a reference for setting the movement direction of the luggage W to be moved with respect to the vehicle 2 by tilting the suspended load movement operating tool 35 in an arbitrary direction. Specifically, the operation direction reference Bo is the moving direction (crane device) of the load W that moves by tilting the suspended load moving operation tool 35 in an arbitrary direction with respect to the vehicle direction reference Bv that is the reference of the vehicle 2. This is a reference for setting the correction angle θ1 for correcting the operating direction of 6). In the present embodiment, the vehicle direction reference Bv is set in the forward direction, which is the forward direction of the vehicle 2 (see the alternate long and short dash arrow), and the operation direction reference Bo of the remote control terminal 32 is directed toward the operation surface of the housing 33. It is set in the upward operating direction (see the dashed arrow).

The housing 33 is a main component of the remote control terminal 32. The housing 33 is configured to have a size that can be held by an operator by hand. The housing 33 has a suspended load moving operation tool 35, a reference changing operation tool 34, a terminal side turning operation tool 36, a terminal side expansion / contraction operation tool 37, a terminal side main drum operation tool 38m, and a terminal side sub drum operation tool 38s on the operation surface. , A terminal-side undulating operation tool 39, a terminal-side display device 40, and a terminal-side communication device 41 (see FIGS. 2 and 4) are provided.

The reference changing operation tool 34, which is the second operation unit, receives an instruction to change the operation direction reference Bo of the remote control terminal 32 in the suspended load moving operation tool 35. The reference changing operation tool 34 includes a rotary knob protruding from the operation surface of the housing 33 and a sensor (not shown) that detects the movement of the rotary knob. The reference changing operation tool 34 is configured so that the rotation knob can be rotated in any direction. The reference changing operation tool 34 has a correction angle θ1 (FIG. 5A), which is an angle between the vehicle direction reference Bv and the operation direction reference Bo, which is the rotation direction and the amount of rotation indicating the rotation position of the rotation knob detected by the sensor. The signal for (see) is transmitted to the terminal side control device 42.

The suspended load moving operation tool 35, which is the first operating unit, receives an instruction to move the load W in an arbitrary direction at an arbitrary speed on an arbitrary horizontal plane. The suspended load moving operation tool 35 is composed of an operation tool that stands up substantially vertically from the operation surface of the housing 33 and a sensor (not shown) that detects the movement of the operation tool. The suspended load moving operating tool 35 is configured so that the operating tool can be tilted in any direction. The suspended load moving operation tool 35 sends a signal about the inclination angle θ2 (see FIG. 5B) between the inclination direction of the operation tool detected by the sensor and the operation direction reference Bo and the amount of inclination thereof to the terminal side control device 42. It is configured to communicate to. The suspended load moving operation tool 35 includes an arrow Aa indicating an upward direction toward the operation surface of the housing 33, an arrow Ab indicating a right direction toward the operation surface, and an arrow Ac indicating a downward direction toward the operation surface. The arrow Ad indicating the left direction toward the surface is displayed as a guideline for the tilt angle θ2 of the suspended load moving operation tool 35.

The terminal-side turning operation tool 36 is for inputting an instruction to turn the crane device 6 in an arbitrary moving direction at an arbitrary moving speed. The terminal-side turning operation tool 36 is composed of an operation tool that stands up substantially vertically from the operation surface of the housing 33 and a sensor (not shown) that detects the movement of the operation tool. The terminal-side turning operation tool 36 is configured to be tiltable in a direction instructing a left turn and a direction instructing a right turn, respectively. The terminal-side swivel operating tool 36 is configured to transmit the tilting direction and tilting amount of the operating tool detected by the sensor to the terminal-side control device 42.

The terminal-side expansion / contraction operation tool 37 is for inputting an instruction to expand / contract the boom 9 at an arbitrary speed. The terminal-side telescopic operation tool 37 is composed of an operation tool that stands up from the operation surface of the housing 33 and a sensor (not shown) that detects the movement thereof. The terminal-side expansion / contraction operating tool 37 is configured to be tiltable in a direction instructing stretching and a direction instructing contraction, respectively. The terminal-side telescopic operation tool 37 is configured to transmit the tilt direction and tilt amount of the operation tool detected by the sensor to the terminal-side control device 42.

The terminal-side main drum operating tool 38m is for inputting an instruction to rotate the main winch 13 in an arbitrary direction at an arbitrary speed. The terminal-side main drum operating tool 38m is composed of an operating tool that stands up from the operating surface of the housing 33 and a sensor (not shown) that detects the movement thereof. The terminal-side main drum operating tool 38m is configured to be tiltable in a direction instructing the winding of the main wire rope 14 and a direction instructing the winding down, respectively. The terminal-side main drum operating tool 38m is configured to transmit the tilting direction and tilting amount of the operating tool detected by the sensor to the terminal-side control device 42. The same applies to the terminal-side sub-drum operating tool 38s.

The terminal-side undulating operation tool 39 is for inputting an instruction to undulate the boom 9 at an arbitrary speed. The terminal-side undulating operation tool 39 is composed of an operation tool that stands up from the operation surface of the housing 33 and a sensor (not shown) that detects the movement thereof. The terminal-side undulating operation tool 39 is configured to be tiltable in a direction instructing standing up and a direction instructing undulation. The terminal-side undulation operating tool 39 is configured to transmit the tilting direction and tilting amount of the operating tool detected by the sensor to the terminal-side control device 42.

The terminal-side display device 40 displays various information such as attitude information of the crane 1 and information on suspended loads. The terminal-side display device 40 is composed of an image display device such as a liquid crystal screen. The terminal-side display device 40 is provided on the operation surface of the housing 33. On the terminal side display device 40, a reference figure G schematically representing the vehicle 2 of the crane 1 is displayed as an image showing the direction of the operation direction reference Bo of the remote control terminal 32. The reference figure G is drawn so that the vehicle direction reference Bv in the vehicle 2 can be recognized. The reference figure G is rotated and displayed in conjunction with the rotation position of the reference changing operation tool 34. That is, the terminal-side display device 40 displays the relative positional relationship between the operation direction reference Bo and the vehicle direction reference Bv, which reflects the rotation direction and the amount of rotation of the reference change operation tool 34.

Further, the terminal side display device 40 surrounds the reference figure G, and has an arrow Aa indicating an upward direction toward the operation surface of the housing 33, an arrow Ab indicating a right direction toward the operation surface, and an arrow Ab indicating the right direction toward the operation surface. The arrow Ac indicating the downward direction and the arrow Ad indicating the left direction toward the operation surface are displayed as a guideline for the tilt angle θ2 of the suspended load moving operation tool 35.

As shown in FIG. 4, the terminal-side communication device 41 receives the control information and the like of the crane device 6 and transmits the control information and the like from the remote control terminal 32. The terminal-side communication device 41 is provided inside the housing 33. The terminal-side communication device 41 is configured to transmit to the terminal-side control device 42 when it receives an image, a control signal, or the like from the crane device 6. Further, the terminal-side communication device 41 is configured to transmit control information from the terminal-side control device 42 to the crane device 6 of the crane 1.

The terminal-side control device 42, which is a control unit, controls the remote control terminal 32. The terminal side control device 42 is provided in the housing 33 of the remote control terminal 32. The terminal-side control device 42 may actually have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The terminal-side control device 42 includes a suspended load moving operation tool 35, a reference change operation tool 34, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, and a terminal. Various programs and data are stored for controlling the operation of the side undulating operation tool 39, the terminal side display device 40, the terminal side communication device 41, and the like.

The terminal-side control device 42 includes a suspended load moving operation tool 35, a terminal-side turning operation tool 36, a terminal-side expansion / contraction operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, and a terminal-side undulation operation tool 39. It is connected, and it is possible to acquire an operation signal consisting of the tilting direction and the tilting amount of the operating tool of each operating tool. Further, the terminal-side control device 42 is connected to the reference change operation tool 34, and can acquire an operation signal including a rotation direction and a rotation angle which are rotation positions of the reference change operation tool 34.

The terminal-side control device 42 operates the operating tools acquired from the terminal-side turning operation tool 36, the terminal-side telescopic operation tool 37, the terminal-side main drum operation tool 38m, the terminal-side sub-drum operation tool 38s, and the terminal-side undulation operation tool 39. From the signals, control signals for the corresponding swivel valve 23, telescopic valve 24, undulation valve 25, main valve 26m and sub valve 26s can be generated.

As shown in FIG. 5A, the terminal-side control device 42 has a rotation direction obtained from the rotation-operated reference change operating tool 34, and a correction angle θ1 which is an angle from the vehicle direction reference Bv. The operation direction reference Bo is rotated relative to the vehicle direction reference Bv based on the operation signal of. When the reference change operating tool 34 is rotated in one direction (right direction in FIG. 5A) from the operation direction reference Bo to the position of the angle θ1, the terminal side control device 42 performs the correction direction in the other direction (FIG. 5). The operation direction reference Bo is rotated from the vehicle direction reference Bv to the left direction in (a) as the correction angle θ1, and the direction of the operation direction reference Bo is corrected.

As shown in FIG. 5B, the terminal-side control device 42 has an inclination angle θ2, an inclination direction, and an angle between the operation direction reference Bo acquired from the suspended load moving operation tool 35 and the inclination direction of the operation tool. Based on the operation signal for the tilt amount, the movement direction and the movement speed of the luggage W from the operation direction reference Bo are calculated. When the direction of the operation direction reference Bo and the direction of the vehicle direction reference Bv match, and the suspended load moving operation tool 35 is tilted to the left or right side of the operation direction reference Bo by the tilt angle θ2, the terminal side The control device 42 has a correction angle θ1 set by the reference changing operation tool 34 (correction angle θ1 is 0 ° in FIG. 5B) and its correction direction (correction angle θ1 is 0 ° in FIG. 5B). Therefore, the correction direction is not set) and the tilt angle θ2, the movement angle θ of the luggage W with respect to the vehicle direction reference Bv is calculated. The terminal-side control device 42 calculates a control signal for moving the luggage W in the direction of the movement angle θ at a movement speed according to the amount of tilt.

As shown in FIG. 4, the terminal-side control device 42 is connected to the terminal-side display device 40, and the terminal-side display device 40 can display images and various information from the crane device 6. Further, the terminal-side control device 42 can rotate and display the reference figure G (or the reference coordinate axis) in conjunction with the rotation direction and the correction angle θ1 acquired from the rotation position of the rotation knob of the reference change operation tool 34. The terminal-side control device 42 is connected to the terminal-side communication device 41, and can transmit and receive various information to and from the communication device 22 of the crane device 6 via the terminal-side communication device 41.

Next, the setting of the operation direction reference Bo in the remote control terminal 32 and the control of the crane device 6 by the remote control terminal 32 will be described with reference to FIGS. 6 to 8. As the direction of the vehicle 2 of the crane 1, the forward direction of the vehicle 2 (the direction of the cabin 17 with respect to the boom 9) is the forward direction, the reverse direction (the direction facing the boom 9 as the reference) is the backward direction, and the right side toward the front direction. Is to the right, and the left side is to the left when facing the front. In the present embodiment, the vehicle direction reference Bv (one-dot chain arrow in FIGS. 5 to 8) is set in the front direction of the vehicle 2, and the operation direction reference Bo (broken arrow in FIGS. 5 to 8) of the remote control terminal 32 is set. Is set in the upward operation direction toward the operation surface of the housing 33 (direction of arrow Aa displayed on the suspended load moving operation tool 35 and the terminal side display device 40). Further, for the correction angle θ1 and the tilt angle θ2, the left direction from the arrow Aa direction is the + direction, the right direction from the arrow Aa direction is the − direction, and each code is used for adjusting the angles.

As shown in FIG. 6, in a state where the reference changing operation tool 34 matches the direction of the operation direction reference Bo and the direction of the vehicle direction reference Bv, the remote control terminal 32 starts from the rotation position of the reference change operation tool 34. , It is calculated that the correction angle θ1 which is the angle between the vehicle direction reference Bv and the operation direction reference Bo is 0 °. That is, in the remote control terminal 32, since the vehicle direction reference Bv and the operation direction reference Bo match, the operation direction reference Bo is not corrected by the correction angle θ1. At this time, the terminal side display device 40 of the remote control terminal 32 displays the front direction of the reference figure G schematically representing the vehicle 2 of the crane 1 toward the arrow Aa indicating the tilting direction of the suspended load moving operation tool 35. Has been done.

Further, as a tilting operation of the suspended load moving operation tool 35 in an arbitrary direction, for example, the tilting angle θ2 is tilted by an arbitrary tilting amount from the arrow Aa, which is the direction of the operation direction reference Bo, to the arrow Ab side (right side of the arrow Aa). When operated, the remote control terminal 32 responds to the movement direction and tilt amount of the luggage W from the vehicle direction reference Bv according to the movement angle θ = − tilt angle θ2 (including the − symbol indicating the right direction from the arrow Aa). The control signal for moving the luggage W at the moving speed is calculated. Then, the remote control terminal 32 generates control signals for the corresponding swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26 m, and the sub valve 26s based on the calculated movement angle θ and the tilt amount. Then, it is transmitted to the crane 1 by the communication device 41 on the terminal side.

When the crane 1 receives the control signal of the movement angle θ of the luggage W and the movement speed according to the tilt amount from the remote control terminal 32, the speed according to the tilt amount in the direction of the movement angle θ of the luggage W from the vehicle direction reference Bv. Move the luggage W with. In the crane 1, since the suspended load moving operation tool 35 is tilted by a predetermined tilting amount from the arrow Aa in the right direction (− direction) at an inclination angle θ2, the transport speed corresponding to the tilting amount of the suspended load moving operating tool 35. The luggage W is moved clockwise from the front direction of the vehicle 2 in the direction of the movement angle θ = tilt angle θ2. At this time, the crane 1 controls the swivel hydraulic motor 8, the contraction hydraulic cylinder, the undulating hydraulic cylinder 12, the main hydraulic motor, and the like according to the movement locus of the load W.

As shown in FIG. 7, when the reference change operating tool 34 is rotated by a correction angle θ1 to the right from the vehicle direction reference Bv as a rotation position where the vehicle direction reference Bv and the operation direction reference Bo do not match (for example, when the reference change operation tool 34 is rotated to the right from the vehicle direction reference Bv ( (See FIG. 5A), the remote control terminal 32 corrects the operation direction reference Bo to a position rotated by a correction angle θ1 to the left, which is the correction direction, from the vehicle direction reference Bv. That is, in the remote control terminal 32, the operation direction reference Bo is set at a position rotated to the left by the correction angle θ1 from the vehicle direction reference Bv. At this time, on the terminal side display device 40 of the remote operation terminal 32, the direction of the correction angle θ1 from the arrow Aa in which the front direction of the reference figure G schematically representing the vehicle 2 of the crane 1 is the operation direction reference Bo to the right. It is displayed facing.

As a tilting operation of the suspended load moving operation tool 35 in an arbitrary direction, for example, when the tilting operation is performed by an arbitrary tilting amount from the arrow Aa, which is the operation direction reference Bo, to the right at the tilting angle θ2, the remote control terminal 32 From the tilt angle θ2 from the operation direction reference Bo to the right direction (− direction) and the correction angle θ1 to the left direction (+ direction) which is the correction direction from the vehicle direction reference Bv of the operation direction reference Bo, the vehicle direction reference The control signal for moving the luggage W from Bv is calculated at the movement direction θ of the luggage W = correction angle θ1-tilt angle θ2 and the movement speed according to the tilt amount. Then, the remote control terminal 32 generates control signals for the corresponding swivel valve 23, the expansion / contraction valve 24, the undulation valve 25, the main valve 26 m, and the sub valve 26s based on the calculated movement angle θ and the tilt amount. Then, it is transmitted to the crane 1 by the communication device 41 on the terminal side.

When the crane 1 receives the control signal of the movement angle θ of the luggage W and the movement speed according to the tilt amount from the remote control terminal 32, the direction of the movement angle θ of the luggage W from the front direction of the vehicle 2 which is the vehicle direction reference Bv. The luggage W is moved at a speed according to the amount of inclination. In the crane 1, the suspended load moving operation tool 35 is tilted to the right (-direction) from the arrow Aa by a predetermined tilting angle θ2, so that the transport speed corresponding to the tilting amount of the suspended load moving operating tool 35. The luggage W is moved in the direction of the movement angle θ = correction angle θ1-tilt angle θ2 of the luggage W from the vehicle direction reference Bv. At this time, the crane 1 controls the swivel hydraulic motor 8, the contraction hydraulic cylinder, the undulating hydraulic cylinder 12, the main hydraulic motor, and the like according to the movement locus of the load W.

When the movement angle θ = correction angle θ1-tilt angle θ2 = 0 °, that is, when the correction angle θ1 and the tilt angle θ2 of the suspended load moving operation tool 35 are equal, the crane 1 is the vehicle 2 which is the vehicle direction reference Bv. Move the luggage W toward the front of the.
When the movement angle θ = correction angle θ1-tilt angle θ2> 0 °, that is, when the correction angle θ1 is larger than the tilt angle θ2 of the suspended load moving operation tool 35, the crane 1 is the vehicle 2 which is the vehicle direction reference Bv. The direction luggage W is moved in the direction of the moving angle θ in the left direction (+ direction) in the front direction of.
When the movement angle θ = correction angle θ1-tilt angle θ2 <0 °, that is, when the correction angle θ1 is smaller than the tilt angle θ2 of the suspended load moving operation tool 35, the crane 1 is the vehicle 2 which is the vehicle direction reference Bv. The directional load W is moved in the direction of the moving angle θ in the right direction (− direction) in the front direction of.

Further, as shown in FIG. 8, as an operation of tilting the suspended load moving operation tool 35 in an arbitrary direction, for example, the suspended load moving operation tool 35 is tilted by an arbitrary amount of tilt in the direction of the tilt angle θ2 in the left direction from the arrow Aa which is the operation direction reference Bo. When operated, the terminal-side control device 42 suspends an operation signal regarding the tilt angle θ2 and the tilt amount, which is the angle between the operation direction reference Bo and the tilt direction of the operating tool in the left direction (+ direction). Obtained from a sensor (not shown) of the moving operation tool 35. Further, the terminal side control device 42 has a load from the vehicle direction reference Bv from the acquired operation signal and the correction amount θ1 in the left direction (+ direction) which is the correction amount of the operation direction reference Bo from the vehicle direction reference Bv. A control signal for moving the luggage W is calculated at a movement direction of W movement angle θ = correction angle θ1 + tilt angle θ2 and a movement speed according to the tilt amount. Then, the remote control terminal 32 has a swivel valve 23, a telescopic valve 24, an undulation valve 25, a main valve 26 m, and a sub valve corresponding to the movement angle θ calculated by the terminal side control device 42 and the tilt amount. The control signal for 26s is generated and transmitted to the crane 1 by the terminal side communication device 41.

When the crane 1 receives the control signal of the movement angle θ of the luggage W and the movement speed according to the tilt amount from the remote control terminal 32, the direction of the movement angle θ of the luggage W from the front direction of the vehicle 2 which is the vehicle direction reference Bv. The luggage W is moved at a speed according to the amount of inclination. In the crane 1, the suspended load moving operation tool 35 is tilted from the arrow Aa in the left direction (+ direction) by a predetermined tilting angle θ2, so that the transport speed corresponding to the tilting amount of the suspended load moving operating tool 35. The luggage W is moved in the direction of the movement angle θ = correction angle θ1 + tilt angle θ2 of the luggage W in the left direction (+ direction) of the vehicle direction reference Bv. At this time, the crane 1 controls the swivel hydraulic motor 8, the contraction hydraulic cylinder, the undulating hydraulic cylinder 12, the main hydraulic motor, and the like according to the movement locus of the load W.

With this configuration, the crane 1 is a suspended load moving operation tool by the reference changing operation tool 34 without the operator grasping the relative position of the remote control terminal 32 with respect to the crane device 6 from the remote control terminal 32. The operation direction reference Bo of 35 is set to an arbitrary value as a relative angle of the work vehicle 2 with respect to the vehicle direction reference Bv. At this time, since the operation direction reference Bo with respect to the vehicle direction reference Bv is displayed on the terminal side display device 40 of the remote control device, the operator visually grasps the relationship between the vehicle direction reference Bv and the operation direction reference Bo. It's easy to do. As a result, the operator can easily and easily perform the remote control of the crane device 6 by the remote control terminal 32 according to the working state.

Next, the crane 43, which is the second embodiment of the crane according to the present invention, will be described with reference to FIGS. 2, 4, 9, and 10. The crane 43 according to each of the following embodiments is assumed to be applied in place of the crane 1 in the crane 1 shown in FIGS. 1 to 10, by using the name, drawing number, and code used in the description. , The same thing will be referred to, and in the following embodiments, the same points as those of the embodiments already described will be omitted, and the differences will be mainly described.

As shown in FIGS. 2 and 4, the vehicle 2 of the crane 43 is provided with a vehicle side orientation sensor 44, and the remote control terminal 32 is provided with a terminal side orientation sensor 45. The vehicle-side directional sensor 44 and the terminal-side directional sensor 45 are composed of a three-axis type directional sensor. The vehicle side orientation sensor 44 and the terminal side orientation sensor 45 detect the geomagnetism and calculate the absolute orientation. The vehicle side orientation sensor 44 is configured to calculate the orientation with reference to the front direction of the vehicle 2. The terminal side orientation sensor 45 is configured to calculate the orientation with reference to the upward direction toward the operation surface of the housing 33 of the remote control terminal 32.

The control device 31 is connected to the vehicle side orientation sensor 44 and can acquire the forward orientation of the vehicle 2. Further, the terminal-side control device 42 is connected to the terminal-side orientation sensor 45, and can acquire an upward orientation toward the operation surface of the housing 33 of the remote control terminal 32. Further, the terminal-side control device 42 can acquire the forward orientation of the vehicle 2 via the terminal-side communication device 41.

As shown in FIG. 3, the remote control terminal 32 is used when the crane 43 is remotely controlled. The remote operation terminal 32 includes a housing 33, a suspended load moving operation tool 35 which is a first operation unit, a reference change operation tool 34 which is a second operation unit, a terminal side turning operation tool 36, and a terminal side expansion / contraction operation tool 37. The terminal-side main drum operating tool 38m, the terminal-side sub-drum operating tool 38s, the terminal-side undulating operation tool 39, the terminal-side display device 40, the terminal-side communication device 41, the terminal-side control device 42, and the like are provided.

As shown in FIG. 9, the terminal-side display device 40 displays various information. The terminal side display device 40 displays an image showing the orientation of the remote control terminal 32 with reference to the upward direction toward the operation surface of the housing 33. Further, the image showing the orientation is rotated and displayed in conjunction with the rotation position of the reference changing operation tool 34. That is, the terminal side display device 40 displays the direction of the operation direction reference Bo in a state where the correction by the rotation position of the reference change operation tool 34 is reflected.

Further, the terminal side display device 40 displays a reference figure G schematically representing the vehicle 2 of the crane 43 based on the orientation of the vehicle 2. That is, the reference figure G is displayed so that the direction in the front direction of the vehicle 2 and the direction displayed on the terminal side display device 40 match. That is, the terminal-side control device 42 displays the reference figure G on the terminal-side display device 40 in conjunction with the forward orientation of the vehicle 2 acquired via the terminal-side communication device 41. The reference figure G is rotated and displayed in conjunction with the rotation position of the reference changing operation tool 34. As a result, the terminal-side display device 40 is relative to the operation direction reference Bo reflecting the correction by the rotation position of the reference change operation tool 34 and the vehicle direction reference Bv displayed based on the corrected direction. The positional relationship is displayed.

As shown in FIG. 9A, in a state where the vehicle 2 is facing east and the operation direction reference Bo, which is upward toward the operation surface of the housing 33 of the remote operation terminal 32, is facing north. On the terminal side display device 40, "N" indicating north, "E" indicating east, "S" indicating south, and "W" indicating west are displayed centering on the reference figure G. The reference figure G is displayed with the front direction facing the "E" direction.

As shown in FIG. 9B, when the reference changing operation tool 34 of the remote control terminal 32 is rotated toward the west side by 45 ° with the correction angle θ3, the terminal side control device 42 moves from the north direction to the correction direction. The operation direction reference Bo is corrected to the northeast, which is the direction rotated by 45 ° toward the east side. That is, in the remote control terminal 32, the operation direction reference Bo is set in the northeast direction rotated by the correction angle θ3 to the north from the vehicle direction reference Bv. At this time, on the terminal side display device 40 of the remote control terminal 32, "NE" indicating northeast is displayed at a position upward toward the operation surface of the housing 33, which is the operation direction reference Bo, and the corresponding positions are displayed. "SE" indicating southeast, "SW" indicating southwest, and "NW" indicating northwest are displayed in. Further, the front direction of the reference figure G is displayed facing east (the "E" direction in FIG. 9B), which is the direction of the correction angle θ3, on the east side of the operation direction reference Bo.

As shown in FIG. 10, as an operation of tilting the suspended load moving operation tool 35 in an arbitrary direction, for example, the tilting angle θ2 from the northeast direction, which is the operation direction reference Bo, is set to an arbitrary tilting amount in the direction of 45 °. When operated, the remote control terminal 32 calculates that the remote control terminal 32 is tilted toward the east, which is an orientation of 45 ° from the northeast to the east. Then, since the calculated tilting operation direction coincides with the east, which is the direction of the vehicle direction reference Bv, the remote control terminal 32 calculates the movement angle θ of the luggage W with respect to the vehicle 2 as the front direction of the vehicle 2. .. The remote control terminal 32 calculates a control signal for moving the luggage W at a movement speed according to the movement angle θ and the tilt amount. The remote control terminal 32 generates control signals for the turning valve 23, the expansion / contraction valve 24, the undulating valve 25, the main valve 26m, and the sub valve 26s, and transmits the control signals to the crane 43 by the terminal side communication device 41.

When the crane 43 receives the control signal of the movement angle θ of the luggage W and the movement speed according to the tilt amount from the remote control terminal 32, the crane 43 loads the luggage W in the forward direction of the vehicle 2 which is the vehicle direction reference Bv at a speed corresponding to the tilt amount. Move W. In the crane 43, since the suspended load moving operation tool 35 is tilted from the northeast to the east side in a direction of 45 ° with a predetermined tilt amount, the tilting amount of the suspended load moving operation tool 35 to the east, which is the direction of the vehicle direction reference Bv. The luggage W is moved at a transport speed corresponding to the above.

With this configuration, the crane 43 is a remote control terminal because the operation direction reference Bo of the suspended load moving operation tool 35 and the vehicle direction reference Bv of the vehicle 2 are arbitrarily set based on the orientation or topographical information. It is possible to objectively grasp the moving direction of the luggage W without grasping the relative positional relationship of the remote control terminal 32 with respect to the crane device 6 from 32. As a result, the operator can easily and easily perform the remote control of the crane device 6 by the remote control terminal 32 according to the working state. In the present embodiment, the relative positional relationship between the vehicle direction reference Bv and the operation direction reference Bo was calculated based on the geomagnetic direction, but the position information from the GNSS satellite and the camera 9b were obtained by changing to the direction. The relative positional relationship between the vehicle direction reference Bv and the operation direction reference Bo may be calculated based on the topographical information and the information of the feature.

In the first embodiment and the second embodiment, the crane 1 is used in the terminal side control device 42 of the remote control terminal 32 to perform a rotation direction and rotation amount of the reference change operation tool 34 and a tilt operation of the suspended load movement operation tool 35. Although the control signal for moving the luggage W is calculated from the above, the control device 31 of the crane 1 may be used to calculate the control signal. The crane 1 acquires the operation signals of the reference change operation tool 34 and the suspended load movement operation tool 35 from the remote control terminal 32. In the control device 31, the crane 1 calculates a control signal for moving the load W from the operation signals of the reference change operation tool 34 and the suspended load movement operation tool 35. With this configuration, the crane 1 can improve the operability by calculating the control signal by the control device 31 having higher performance than the terminal side control device 42.

The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the claims, and further, the equal meaning described in the claims, and all within the scope. Including changes.

1 Crane 6 Crane device 31 Control device 32 Remote control terminal 34 Standard change control tool 35 Suspended load movement control device 42 Terminal side control device

Claims (5)

It is a remote control terminal of the work device provided in the work vehicle.
A control unit that is configured to be communicable with the control device of the work device and controls the operation of the remote control terminal.
A first operation unit that remotely controls the work device, and
A second operation unit for setting a reference for the first operation unit with respect to the reference for the work vehicle is provided.
A remote control terminal in which the control unit calculates an operating direction of the work device with respect to an operation of the first operation unit based on a set value of the second operation unit, and transmits the operation direction to the control device. The remote control terminal according to claim 1, wherein the second operation unit sets an angle between the reference of the work vehicle and the reference of the first operation unit. The remote control terminal according to claim 1 or 2, wherein the second operation unit sets the reference of the work vehicle and the reference of the first operation unit based on the orientation or terrain information. A display unit for displaying an image showing the reference of the work vehicle is provided.
The remote control terminal according to any one of claims 1 to 3, wherein the control unit displays an image showing a reference of the work vehicle on the display unit in conjunction with the operation of the second operation unit. .. A work vehicle equipped with a remotely controlled work device
A remote control terminal having a first operation unit for remotely controlling the work device and a second operation unit for setting a reference for the first operation unit with respect to the reference for the work vehicle.
It is provided with a control device that is configured to be communicable with the control unit of the remote control terminal and controls the operation of the work device.
The control device or the control unit calculates the operating direction of the work device with respect to the operation of the first operation unit based on the set value of the second operation unit.
A work vehicle in which the control device operates the work device in the calculated operation direction.

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