JPH07281754A - Remotely controlled construction vehicle and emergency operation method for the same - Google Patents

Abstract

PURPOSE:To provide the relief method for a bulldozer in the case that the bulldozer or the like remotely controlled by radio is made immobile in a dangerous zone where nobody can enter. CONSTITUTION:The vehicle such as the bulldozer is provided with an emergency receiver 15 for controlling a special actuator while receiving a signal from an emergency commander 14 together with a general receiver 13 for controlling an actuator 23 while receiving a signal from a general transmitter 12. When the general receiver 13 breaks down, the vehicle is controlled by using the emergency commander 14 and the receiver 15 and moved to a safe place by itself. When the vehicle is stopped by fault in an engine 18, an emergency power unit 17 is driven by a battery 25 mounted on the vehicle. Then, the lift cylinder of a working device 22 such as a blade or a ripper is operated, the working device 22 is floated from the ground and at the same time, a brake 24 is released. The defective vehicle is moved to the safe zone by tracting the ripper or the like with a tractor to be repaired.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bulldozer which is remotely controlled by radio in a danger zone where humans cannot enter.
In unmanned construction with construction vehicles such as hydraulic excavators,
The present invention relates to a remote-controlled construction vehicle capable of escaping a vehicle into a safety zone when these vehicles stop functioning normally, and an emergency operation method thereof.

[0002]

2. Description of the Prior Art Bulldozers that are remotely controlled by radio or wire in a danger zone where people cannot enter,
Unmanned construction is performed by construction vehicles such as hydraulic excavators.

For example, when a bulldozer as shown in FIG. 8 is radio-controlled, the vehicle 1 is equipped with a receiver 2, an interface 3, and an actuator 4, as shown in FIG.

The receiving device 2 includes a signal receiver for receiving a wireless command signal from a transmitting device 5 operated by a pilot,
It is composed of electric and electronic parts such as a relay which processes the command signal and gives an instruction to the next interface 3. The transmitter 5 and the receiver 2 constitute a radio device for radio control (hereinafter referred to as radio control).

The interface 3 is typified by an electromagnetic valve, and switches the valve by an electric signal from the receiving device 2 to control the fluid supplied to the actuator 4.

In the example of the bulldozer shown in FIG. 8, the actuator 4 is a working device (blade 6a, ripper 6).
b), brakes 6c, hydraulic cylinders, hydraulic motors, hydraulic valves or pneumatic valves that operate other devices necessary for operating and manipulating vehicles, such as blade lift cylinders 4a and ripper lift cylinders 4b. To be done.

[0007]

The receiving device 2 mounted on the vehicle 1 uses a large amount of electronic components, and is highly likely to break down under severe operating conditions such as vibration and impact peculiar to construction vehicles. . Also, people may not get on by remote control,
The vehicle may be forcibly moved, or an excessive load may cause a failure of the vehicle body. Then, when the engine stops, the supply of the pressure oil for moving the actuator 4 also stops, and the vehicle 1 does not move and becomes uncontrollable.

In such an emergency, the working device (the blade 6a, the ripper 6b) may be in a state in which it cannot be pulled (a state in which it is covered with soil), and the vehicle is operated due to the fail-safe concept. Since the brake 6c is applied so that it does not move, it is not possible to pull the faulty vehicle to another vehicle and move it to the repair location.

Since the remote control by radio has a major purpose to operate the vehicle in a bad environment such as high temperature, toxic gas, and bad terrain that people cannot approach, an expensive vehicle must be left alone in some cases. It will be a situation that you will not get.

The present invention has been made in view of the above circumstances, and in the remote control of a construction vehicle such as a bulldozer or a hydraulic excavator by radio, an emergency situation occurs due to a malfunction of a wireless device, a malfunction of a vehicle body, or the like. A remote-controlled construction vehicle that can be quickly exited from an unmanned construction zone where workers cannot enter, even if remote control is impossible with normal wireless equipment The purpose is to provide an operation method.

[0011]

According to a first aspect of the present invention, in a construction vehicle that is remotely controlled based on a command signal received by radio and used for unmanned construction, a normal reception for receiving the command signal is performed. In addition to the device, it is a remote-controlled construction vehicle having a configuration in which an emergency reception device is mounted.

In a construction vehicle which is remotely controlled based on a command signal received by radio and used for unmanned construction, in addition to a normal receiving device for receiving the command signal, The remote-controlled construction vehicle is equipped with an emergency power unit controlled by the emergency receiver in addition to a normal power source.

According to a third aspect of the present invention, in the remote-controlled construction vehicle according to the second aspect, the emergency power unit is connected to the construction vehicle through an interface controlled by a command signal from an emergency receiver. This is a configuration in which the working device opening side of the actuator that operates the equipped working device and the brake releasing side are connected.

According to a fourth aspect of the present invention, in a method of operating a construction vehicle that is remotely controlled based on a command signal received by radio and used for unmanned construction, the wireless command signal transmitted from a normal transmitter is used. , If the normal receiving device controls the operation of the vehicle by receiving it with the normal receiving device installed in the vehicle, and if a problem occurs in the normal receiving device, the wireless command signal transmitted from the emergency commander is installed in the vehicle. It is an emergency operation method for a remote-controlled construction vehicle that receives the emergency reception device to control the operation of the vehicle and move the vehicle to a safe position.

According to a fifth aspect of the present invention, in a method for operating a construction vehicle that is remotely controlled based on a command signal received by radio and used for unmanned construction, a wireless command signal transmitted from a normal transmitter is used. , If the normal power source centered on the engine causes a trouble by controlling the operation of the vehicle by receiving it with the normal receiving device mounted on the vehicle, the wireless command signal transmitted from the emergency commander , The emergency power unit mounted on the vehicle is operated through the emergency receiver mounted on the vehicle, and the working device equipped on the vehicle is driven by the power supplied from the emergency power unit. It operates to an open position that does not hinder movement,
This is an emergency operation method for a remote-controlled construction vehicle in which a brake is released and a tow vehicle that is remotely controlled by radio is used to tow a vehicle in trouble to a safe position.

According to a sixth aspect of the present invention, in the emergency operation method for a remote-controlled construction vehicle according to the fifth aspect, the towing portion mounted on the towing vehicle is engaged with the trouble occurrence vehicle,
It is a method of towing and moving a vehicle in trouble to a safe place.

[0017]

According to the invention as set forth in claim 1, even when an ordinary radio receiving device mounted on a vehicle has an emergency such as a failure or a malfunction, the vehicle properly receives a radio signal through the emergency receiving device. Can be radio-controlled.

According to the second aspect of the present invention, when the ordinary power source is stopped and the vehicle cannot be moved, the emergency power unit is driven to retract the vehicle to the safe position.

According to a third aspect of the present invention, when the ordinary power source is stopped and the vehicle cannot be moved, the emergency power unit is driven to release the working device from the ground and release the brake. Then, the vehicle can be pushed or towed by another vehicle.

According to the fourth aspect of the invention, normally, a vehicle-mounted ordinary receiving device receives a wireless command signal transmitted from an ordinary transmitting device to control the operation of the vehicle. When a trouble occurs, an emergency wireless command signal is sent from the emergency command device to the vehicle-mounted emergency receiver, the vehicle is moved to a safe position, and the trouble is dealt with.

In a fifth aspect of the present invention, when a trouble occurs in an engine or the like, an emergency wireless command signal transmitted from an emergency commander causes an emergency signal to be transmitted via an on-vehicle emergency receiver. The operating unit of the vehicle is operated to operate the working device mounted on the vehicle to an open posture that does not hinder the movement of the vehicle and release the brake. Then, the vehicle in trouble is towed to a safe position by a towing vehicle that is remotely controlled by radio, and the trouble location is inspected and repaired.

According to a sixth aspect of the present invention, the bulldozer is improved to be a towing vehicle, and the towing portion is engaged with a trouble-occurring vehicle to tow it to a safe place for inspection and repair.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the embodiments shown in FIGS.

As shown in FIG. 1, a construction vehicle 11 such as a bulldozer or a hydraulic excavator, which is remotely controlled by radio and used for unmanned construction, receives a radio command signal from a normal transmission apparatus 12 on a normal reception apparatus. In addition to 13, emergency command machine
An emergency receiver 15 for receiving a wireless command signal from 14 is mounted, and in addition to a normal power source 16, an emergency power unit 17 controlled through the emergency receiver 15 is mounted.

The normal power source 16 is a hydraulic power source 19 including a main engine 18 and a hydraulic pump driven by this engine.
The hydraulic oil is supplied to the actuator 23 and the brake 24 that operate the working device 22 equipped on the construction vehicle through the interface 21 that is configured by and that is controlled by the command signal from the normal receiving device 13.

The emergency power unit 17 is a hydraulic power source which is driven by a battery 25 mounted on the vehicle as a power source, and is supplied to the vehicle through an interface 21 controlled by a command signal from the emergency receiver 15. The working oil is supplied to the working device opening side of the actuator 23 that operates the working device 22 installed in the working machine 22 and the releasing side of the brake 24. The battery 25 may be replaced by an auxiliary engine.

FIG. 2 shows an operation panel 14a of an emergency commander 14 for remotely controlling a bulldozer in an emergency, and a horn switch 31, an engine start switch 32, a brake on / off switch 33 and a ripper are provided on the upper stage. Up switch 34,
A blade raising switch 35, a vehicle left turning switch 36, a vehicle forward switch 37, and a vehicle right turning switch 38 are provided respectively, and the emergency blade raising switch 3 is provided at the lower part.
9.Emergency brake release switch 40, emergency ripper raising switch 41, ripper lowering switch 42, blade lowering switch 43, governor high / low changeover switch 44, vehicle reverse switch 45 are provided respectively, and further, a brake is provided in the middle section. A release indicator lamp 46, an engine stop switch 47, a channel selection switch 48, a battery consumption indicator lamp 49, a power source lamp 50, a power on switch 51, a power source off switch 52, and a governor high state indicator lamp 53 are provided respectively.

Emergency blade raising switch 39, emergency brake release switch 40, emergency ripper raising switch
Reference numeral 41 is an operation switch required to pull the vehicle when the engine is stopped.

As shown in FIG. 3, a conventional power source 16
Is connected to the blade lift cylinder 23a and the ripper lift cylinder 23b of the bulldozer via the electromagnetic valve 61 controlled by the command signal from the ordinary receiver 13, and the emergency power unit 17 is connected to the battery 25. Driven by the electric motor 62, a hydraulic pump 63 driven by the electric motor 62, and a relief valve 64 for controlling the hydraulic pressure discharged from the hydraulic pump 63 to a set value. The outlet is connected to the rod side of each lift cylinder 23a, 23b via the check valve 69 through the pipe line 65, and the head side of each lift cylinder 23a, 23b is connected to the electromagnetic valve 67 via the pipe line 66. Furthermore, it is connected to the tank 68.

When the electromagnetic valve 67 is in the closed position shown in FIG. 3, even if the emergency power unit 17 is driven, oil is not drained from the lift cylinders 23a and 23b. 23a and 23b do not work. At this time, the hydraulic oil discharged from the hydraulic pump 63 returns to the low pressure side via the relief valve 64.

On the other hand, from the emergency receiver 15 to the electromagnetic valve
When a command signal is input to the solenoid of 67 and the electromagnetic valve 67 is opened, the rods of the lift cylinders 23a and 23b are actuated in the pull-in direction by the hydraulic fluid supplied from the emergency power unit 17, and the bulldozer shown in FIG. The blade 22a and the ripper 22b, which are the working devices of the above, are levitated from the ground so as to have an open posture that does not hinder the movement of the vehicle.

At this time, a power transmission mechanism for driving the crawler belt 71.
The brake 24 (FIG. 1) provided at 72 is also released by the hydraulic oil supplied from the emergency power unit 17 through a line (not shown).

FIG. 4 is an example showing a state in which the vehicle A in which a trouble has occurred is towed by the tow vehicle B and moved. In the towing vehicle B, a bulldozer is used as a base machine, and a towing frame 83 as a towing portion is attached to the blade attachment frame 82 that is vertically moved by the blade lift cylinder 81, instead of the original blade. The troubled vehicle A is inserted from below the ripper 22b and hooked on the ripper 22b to pull the vehicle A to a safe place.

As shown in FIG. 5, the towing frame 83 of the towing vehicle B is a V-shaped towing frame body 83a.
The base end of the bracket is pivotally attached to a mounting plate 85 welded to the front surface of the blade mounting frame 82 by a pin 84, and the bracket 86 welded to the upper surface of the blade mounting frame 82 and the upper surface of the tow frame 83 are welded. The bracket 87 is connected by a stay 88 and held substantially horizontally, and a hook 89 is welded to the tip of the tow frame 83.

[0035] The inner surface of the tip portion of the tow frame 83 as described above
83b is engaged with the ripper 22b of the trouble-occurring vehicle A as described above and pulled. Further, the hook 89 at the tip engages with other parts of the trouble-occurring vehicle.

For example, when the towing vehicle B itself becomes stuck due to an engine trouble, the towing vehicle B is towed by the other towing vehicle B. At that time, the leading end inner surface 83b of one towing frame 83 and the other towing frame 83 are pulled. The tip hook 89
If the and tow are engaged with each other, the one towing vehicle B can pull the other towing vehicle B. Moreover, this tip hook
The 89 may be hooked on the tip of the bucket of the hydraulic excavator in which the engine trouble occurs and towed.

Next, with reference to the flow chart shown in FIG. 6, an emergency operation method for the remotely controlled construction vehicle according to the present invention will be described. In this figure, the circled numbers indicate the step numbers of the processing procedure.

While the normal transmitter 12 and receiver 13 are functioning normally, normal operation is continued (step 1
And 2), and the usual transmitter 12 and receiver 13
If is not normal but the vehicle can be moved, move the vehicle to a safe point for repair (steps 3 and 4).

At failure level 1 (step 5), in which only the normal transmission device 12 fails and the vehicle cannot be moved,
The normal transmitter 12 is replaced with a spare (step 6), and the operation of the vehicle is continuously controlled by this spare transmitter (step 2).

At the fault level 2 in which only the normal receiving device 13 fails and the vehicle cannot be moved (step 7),
Turn on the emergency commander 14 and use a normal transmitter
12 is turned off, the emergency command signal from the emergency command machine 14 is received by the emergency receiving device 15, the signal is commanded to the interface 21, and the actuator 23 is driven by the normal power source 16 to drive the vehicle. Is moved to a safe place by itself (step 8), and the faulty part is repaired (step 9).

On the other hand, in the failure level 3 in which the vehicle A cannot be moved due to the trouble of the power source 16 such as the engine 18 cannot be started due to the failure of the vehicle body (step 10),
The emergency command unit 14 and the emergency reception device 15 are used to drive the emergency power unit 17 by the battery 25 mounted on the vehicle, and the blade 22a and the ripper 22b as working devices mounted on the vehicle. Lift cylinder 23a,
The vehicle 23 is levitated to an open posture not to hinder the movement of the vehicle by 23b, the brake 24 is released, and the vehicle A in trouble is towed to a safe position by another towing vehicle B remotely controlled by radio ( In step 11), the faulty part is repaired (step 9).

Finally, when a serious trouble that does not correspond to any of the failure levels 1, 2, and 3 occurs, for example, the battery is exhausted, hydraulic oil is drained, or the vehicle itself is broken. In such cases, the vehicle must be left in the failed location until a safe environment is secured.

FIG. 7 shows another example of the present invention.
When trouble occurs in the normal power source of the hydraulic excavator a, the wireless command signal transmitted from the emergency commander causes the emergency receiving device mounted on the hydraulic excavator a to be installed on the hydraulic excavator a. The emergency power unit is operated to raise the front work implement 91 of the hydraulic excavator a from the ground and release the brake of the traveling system. Then, the bulldozer b, which is remotely controlled by radio, is used as a towing vehicle, and the upper part of its blade 93 is hooked on the tip of the bucket 92 from the lower side of the bucket 92 of the front working machine 91 to position the hydraulic excavator a at a safe position by the bulldozer b. Tow.

[0044]

According to the first aspect of the present invention, even when a normal radio receiving device mounted on a vehicle has an emergency such as a failure or a malfunction, the vehicle can be properly radioed through the emergency receiving device. I can steer.

According to the second aspect of the invention, even when the normal power source is stopped and the vehicle cannot be moved,
The emergency power unit can be driven to retract the vehicle to a safe position.

According to the third aspect of the present invention, by operating the emergency power unit to release the working device from the ground and release the brake, a working device for the ground such as a bulldozer or a hydraulic excavator can be provided. Even a construction vehicle that the user owns can be easily moved by another vehicle.

According to the invention described in claim 4, even when a trouble occurs in the ordinary receiving device, the vehicle is moved to the safe position by using the emergency commander and the on-vehicle emergency receiving device. Therefore, the trouble of the receiving device can be dealt with.

According to the invention described in claim 5, even when a trouble occurs in the engine of the vehicle, the emergency power unit is operated by the emergency wireless command signal to move the vehicle work device to the vehicle. By operating to an open position that does not hinder the vehicle and releasing the brake, other remotely operated towing vehicles can pull this trouble-occurring vehicle to a safe position, and inspect and repair trouble points.

According to the sixth aspect of the present invention, the tow portion provided on the bulldozer is engaged with the trouble occurrence vehicle,
It can be reliably towed to a safe place.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of an emergency operation system in a remotely controlled construction vehicle of the present invention.

FIG. 2 is a layout view of switches showing an operation panel of an emergency command machine for remotely controlling the vehicle.

FIG. 3 is a circuit diagram of a hydraulic circuit related to the emergency operation system of the vehicle.

FIG. 4 is an explanatory view showing a towed state when a trouble occurs in the vehicle.

FIG. 5 is a perspective view showing a towing frame in the towing vehicle for towing the trouble-occurring vehicle.

FIG. 6 is a flowchart showing an emergency operation method of the vehicle.

FIG. 7 is an explanatory diagram showing another example of towing when a vehicle trouble occurs in the same as above.

FIG. 8 is an explanatory diagram showing a general bulldozer.

FIG. 9 is a block diagram showing a general wireless device.

[Explanation of symbols]

 12 Normal transmitter 13 Normal receiver 14 Emergency commander 15 Emergency receiver 16 Normal power source 17 Emergency power unit 18 Engine 21 Interface 22 Working device 23 Actuator 24 Brake 82 Blade mounting frame 83 Traction Traction frame as part

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Yasushi Konishi 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction Co., Ltd. (72) Masanori Ishii 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction company (72) Inventor Shin Miyake 10-9 Nihonbashi Kobunecho, Chuo-ku, Tokyo Mountain ▲ Saki ▲ Construction Co., Ltd. (72) Inventor Hisao Masuko 10-9 Nibashi Kobunecho, Chuo-ku, Tokyo Mountain ▲ Saki ▲ Construction Co. (72) Inventor Naoki Okamoto 10-9 Nihonbashi Kobunecho, Chuo-ku, Tokyo Mountain ▲ Saki ▲ Construction Co. (72) Inventor Tatsuya Murase 4-10-1 Yoga, Setagaya-ku, Tokyo No. New Caterpillar Mitsubishi Co., Ltd. (72) Inventor Shigeru Yamaguchi 4-10-1 Yoga, Setagaya-ku, Tokyo Within New Caterpillar Mitsubishi Co., Ltd. (72) Inventor Keiji Nakachi 2-1 Kanagawa Caterpillar Mitsubishi Construction Machinery Sales Co., Ltd., 1-2 Shin-Yokohama, Kohoku-ku, Yokohama, Japan (72) Inventor Masaki Odagiri 1 2-1 Construction Machinery Sales Co., Ltd., Kanagawa-Kitakita-ku, Yokohama, Kanagawa In the company

Claims (6)

[Claims] 1. A construction vehicle that is remotely controlled based on a command signal received by radio and used for unmanned construction, in which an emergency reception device is mounted in addition to an ordinary reception device that receives the command signal. A remote-controlled construction vehicle characterized by the above. 2. A construction vehicle which is remotely controlled based on a command signal received by radio and is used for unmanned construction, in which an emergency receiving device is mounted in addition to an ordinary receiving device for receiving the command signal. In addition to the usual power source, a remote-controlled construction vehicle equipped with an emergency power unit controlled through an emergency receiver. 3. An emergency power unit, through an interface controlled by a command signal from an emergency receiver, a working device opening side of an actuator that operates a working device mounted on a construction vehicle, and a brake release. The remote-controlled construction vehicle according to claim 2, being connected to the side. 4. In a method of operating a construction vehicle that is remotely controlled based on a command signal received by radio and used for unmanned construction, a wireless command signal transmitted from a normal transmission device is normally mounted on the vehicle. If the trouble occurs in the normal receiving device by controlling the operation of the vehicle by receiving with the receiving device of the, the wireless command signal transmitted from the emergency command device is received by the emergency receiving device installed in the vehicle. An emergency operation method for a remote-controlled construction vehicle, characterized by receiving and controlling the operation of the vehicle to move the vehicle to a safe position. 5. In a method of operating a construction vehicle that is remotely controlled based on a command signal received by radio and used for unmanned construction, a wireless command signal transmitted from a normal transmission device is normally mounted on the vehicle. When the trouble occurs in the normal power source centered on the engine by receiving it with the receiving device of the vehicle and controlling the operation of the vehicle, the wireless command signal transmitted from the emergency commander sends an emergency command to the vehicle. The emergency power unit installed in the vehicle is operated via the receiver device for the vehicle, and the power supplied from the emergency power unit causes the working device equipped in the vehicle to reach an open position that does not hinder the vehicle movement. In the event of an emergency of a remote-controlled construction vehicle characterized by pulling a vehicle in trouble to a safe position by a towing vehicle that is operated, releases the brake, and is remotely controlled by radio. Operating method. 6. The remote-controlled construction vehicle according to claim 5, wherein a towing portion mounted on the towing vehicle is engaged with the trouble-occurring vehicle to pull and move the trouble-occurring vehicle to a safe place. Emergency operation method.