JPH1121953A - Remote travelling controller for remote-controlled car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote travelling controller, in which steering to the left and the right can be conducted in addition to the simultaneous forward movement and retreat of left-right travelling sections by operation by one control lever and operation performance and facility are improved. SOLUTION: The device is used for controlling the travelling operation of the remote-controlled car with left-right travelling sections, and has a first control lever 29 operating the working of the left travelling section and a second control lever 31 operating the working of the right travelling section and contains a transmitter 12 transmitting operation signals generated by the operation of each control lever to a receiver 13 installed to the remote-controlled car, a third control lever 30 simultaneously working the left-right travelling sections is mounted on the transmitter, and the device has a control means, in which the operation signals of first and third each control lever 29, 30, 31 are input and which controls the operation of the left-right travelling sections. When the third control lever 30 is worked, the left-right travelling sections are operated simultaneously, and left-right steering are conducted in response to the direction of operation of the third control lever 30.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote driving control device for a remote-controlled vehicle, and more particularly to an earth-moving and construction work machine such as a hydraulic shovel or the like which is remotely controlled wirelessly and having a traveling unit that operates independently on the left and right. The present invention relates to a remote travel control device having good operability used for a vehicle.

[0002]

2. Description of the Related Art For example, when a remote-operated hydraulic excavator is steered using a remote travel control device, the remote-drive hydraulic excavator is mounted on the work machine so as to drive a separately operated left and right traveling unit incorporated in a lower portion of the work machine. The left and right operation levers for operating the respective traveling units are separately used. A remote travel control device of a remotely controlled vehicle such as a hydraulic excavator is usually incorporated in a portable transmission device that wirelessly transmits an operation signal. The transmitting device controls the operation of causing the work machine to perform the original work, and controls the operation of the work machine moving forward and backward by the traveling unit or moving in the left and right direction in relation to the work operation. It has a function to do. To describe an example of remote traveling control in the transmission device, for example, when the traveling unit on the right side is moved forward, the operation is performed by leaning forward on the right operation lever, and when traveling backward, leaning backward. This operation method is the same for the relationship between the left traveling unit and the left operation lever.

When the left and right traveling units are to be simultaneously moved in the same direction by the same distance, a conventional transmission device having left and right operation levers corresponding to the left and right traveling units,
The left and right operation levers need to be operated in the same direction and at the same time (simultaneously). However, it is not easy for the operator to simultaneously operate the left and right operation levers in the same direction when the operator operates the respective operation levers with left and right separate hands. Normally, either one of the operation levers is operated first, and the one traveling unit may start moving first, so that the conventional transmission device has a problem that it is very difficult to handle.

[0004]

Therefore, the applicant of the present invention has a remote control in which the transmitting device is provided with a middle lever in addition to the left and right operation levers so that the left and right traveling parts can be simultaneously driven in the same direction by the middle lever. A remote control system for vehicles has been proposed (Japanese Patent Application No. 7-233267). According to this remote travel control device, the above-mentioned problem was solved, and the operation performance and ease of use were able to be improved.

On the other hand, in the above-mentioned remote traveling control device, only the forward and backward movements are made possible by the middle lever, but it is not possible to steer (steer) right and left only by the middle lever. Also, technically rigorously discussing the drive made possible by the middle lever to move the left and right traveling parts forward or backward at the same time, if it is rigorously discussed, it may also bend left and right due to hydraulic fluctuations and road surface conditions in the left and right traveling parts. In some cases, it was difficult to make the forward and backward straight.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problem, and it is possible to perform left and right steering in addition to simultaneous forward and backward movements of the left and right traveling parts by operating one operation lever, thereby improving the operation performance. Another object of the present invention is to provide a remote driving control device for a remote-controlled vehicle with improved ease of use.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, a remote travel control device for a remotely controlled vehicle according to the present invention is configured as follows.

A first remote-controlled vehicle for a remote-controlled vehicle (corresponding to claim 1) is used for controlling the traveling operation of a remote-controlled vehicle having left and right traveling units that operate independently, and operates the left traveling unit. A transmission device having a first operation lever for operating the vehicle and a second operation lever for operating the operation of the right traveling unit, and transmitting an operation signal generated by operation of each operation lever to a receiving device mounted on the remote control vehicle. A remote travel control device including
The transmission device further includes a third operation lever for simultaneously operating the left and right traveling units, and a control unit configured to input operation signals of the first to third operation levers and control the operation of the left and right traveling units. When the three operation levers are operated, the left and right traveling units are simultaneously operated, and the left and right steering is performed according to the operation direction of the third operation lever.

According to the first aspect of the present invention, in the transmitting device, the left and right traveling units are simultaneously operated in addition to the two operation levers that can separately operate the left and right traveling units based on the proportional output control. Since the third operation lever capable of performing left and right steering is provided, a person who performs remote control using the transmission device can easily operate the left and right traveling units simultaneously and perform left and right steering. .

According to the first aspect of the present invention, when the third operation lever is tilted in the oblique direction, the remote travel control device for the second remote control vehicle (corresponding to Claim 2) Is configured to change the steering of the vehicle.

According to the third aspect of the present invention, the third remote-controlled vehicle preferably has a pivot turn when the third operation lever is tilted in the lateral direction.

According to a fourth aspect of the present invention, in the fourth aspect of the present invention, in the first aspect of the present invention, the non-operating area is set in a region just beside the third operating lever. ing. This eliminates operational problems.

According to a fifth aspect of the present invention, in the first invention, when the third operation lever is tilted forward, the left and right traveling units operate simultaneously to move forward. Then, when the third operation lever is tilted backward, the left and right traveling units operate simultaneously and move backward. In addition to left and right steering, forward and reverse are also possible.

According to a sixth aspect of the present invention, in the above-mentioned second aspect of the present invention, the left and right steering change amounts determined according to the degree of oblique inclination of the third operation lever are as follows. , Calculated by using a specific function.

According to a seventh aspect of the present invention, in the above-mentioned second invention, the change amount of the left and right steering wheels determined according to the degree of the oblique inclination of the third operation lever is the same as that of the second invention. , Using a table showing a specific correspondence.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows the configuration of a typical embodiment of a remote travel control device according to the present invention. An example of a remotely controlled vehicle to which the remote traveling control device of the present embodiment is applied is a hydraulic shovel 1
It is one. The remote traveling control device includes a transmitting device 12 and a receiving device 13. The transmission device 12 is a control device, which is gripped by the operator and used at a position away from the excavator 11 to remotely control the operation of the excavator 11. The transmitting device 12 is a remote traveling control device in a narrow sense of a device that controls the traveling operation of the hydraulic excavator 11 from a remote position. The transmission device 12 is provided with various operation devices including an operation lever, and includes an electric element that generates a necessary signal according to the operation content and operation amount of each operation device, a transmission unit, and the like. When each of the operation devices is operated, the transmission device 12 transmits an operation signal corresponding to the operation content and the operation amount using a radio wave. On the other hand, the receiving device 13 is mounted on the main body of the excavator 11. The receiving device 13 receives the radio wave transmitted from the transmitting device 12, extracts an operation signal from the signal, generates a control signal corresponding to the operation signal, and generates a control signal corresponding to the operation signal. A control signal is sent to the unit (actuator) to control the operation.

A hydraulic excavator 11 which is an example of a remotely controlled vehicle
Is a working machine for performing civil engineering and construction work. In this excavator, a revolving unit 22 is provided on a traveling unit 21, and the revolving unit 22 includes a cockpit (operating room) 23, an engine machine unit 24, and a work machine unit 25. The traveling body 21 includes a right traveling section and a left traveling section. The work machine unit 25 is disposed at a front part of the revolving unit 22 and includes a boom 26, an arm 27, and a bucket 28. The work machine 25 includes a boom 2
6, a hydraulic cylinder (actuator) for operating the arm 27 and the bucket 28, and, for example, an angle sensor, a displacement sensor, and the like for detecting an operation amount of each unit are arranged. Cockpit 23
Are provided with input operation devices such as left and right operation levers for controlling the operation of the work machine unit 25 and the like, and left and right operation levers for manipulating forward, backward, turning and the like by the traveling body 21.

The transmission device 12 has a function of controlling the operation of each part of the boom 26, the arm 27, and the bucket 28 of the work machine unit 25 with respect to the operation of the hydraulic excavator 11,
1 is provided with a function of controlling each of the forward, backward and turning operations. On the upper part of the transmitting device 12, left and right operation levers 29 and 31 located on both sides and an operation lever 30 located in the center are provided.
Are provided. Each of the left and right operation levers 29 and 31 has various operation modes for operating each unit of the work machine unit 25 and operation modes for performing forward and backward operations of the left and right traveling units of the traveling body 11. Assigned.
Regarding the transmission device 12 arranged in front of the operator's chest, the operation lever 29 located on the left side controls the operation of the left traveling unit, and the operation lever 31 located on the right side, when viewing the transmission device 12 from the operator. Are configured to control the operation of the right traveling unit, and the operation levers 29 and 31 are independent of each other. The operation levers 29 and 31 have substantially the same configuration as that of a conventional transmission device. Hereinafter, the operation of the operation levers 29 and 31 will be described with reference to the traveling body 2.
The description will be limited to the operation for performing the operation of the left and right traveling units. The operation lever 30 provided at the center position
Shows a characteristic configuration of the present embodiment, and the left and right traveling units can be simultaneously operated by the operation lever 30. That is, by operating the operation lever 30, the left and right traveling units can be simultaneously operated, and forward, backward, and left and right steering (steering) can be performed. It should be noted that a certain relation is given in terms of software priority among the operations of the operation levers 29, 30, 31.

An operation lever 29 provided on the transmission device 12
To 31 to operate the traveling body 21 (that is, the left and right traveling parts).
For example, when performing forward or backward movement, each operation lever is inclined forward or backward. The inclination angle (analog amount) generated by operating each operation lever is A
The data is converted into a digital value by the / D converter (A / D) 32 and is taken into the CPU 33. This is an operation signal for determining the operation amount of the corresponding portion of the traveling body 21. The operation signal, which is a parallel signal output from the CPU 33, is converted into a serial signal by the serial signal input / output unit (SIO) 34, and is then modulated by the transmission unit 35 into a high-frequency signal and transmitted. The transmission device 12 has a CPU
ROM for storing a program for operating 33
36, a RAM 37 for temporarily storing usage data or generated data. The transmitting device 13 further includes a switch 38 for switching an operation target and a digital signal input / output unit (DIO) 39 for receiving an operation signal thereof.
Are provided.

An operation signal transmitted from the transmitting device 12 in the form of a radio wave 40 is received by a receiving section 41 inside the receiving device 13, demodulated here, and then converted from a serial signal into a parallel signal by an SIO 42. It is taken in by the CPU 43. Thereafter, a control signal is generated based on the data relating to the transmitted operation signal, the driver 44 outputs a drive signal corresponding to the control signal, and an electromagnetic control system (not shown) provided in a hydraulic drive system (not shown) for operating the traveling body 21. Proportional pressure reducing valve 4
The driving of the operations 5 and 46 is controlled. Electromagnetic proportional pressure reducing valve 45,
46 converts the drive signal from the driver 44 into a hydraulic signal supplied from a hydraulic source 47 to drive the main valve 48. Thereby, the hydraulic signal from the pump 49 is sent to the traveling body 21 to be operated, and the operation of the traveling body 21 is controlled. Although only one hydraulic circuit portion is shown in FIG. 1, there are actually two sets of left and right circuits. The receiving device 13 has a ROM 50 for storing a program for operating the CPU 43 and a RAM 51 for storing usage data and generated data.

The operation lever 29 provided on the transmission device 12 is used to drive the left traveling portion of the traveling body 21 and the operation lever 30
Is used to simultaneously drive the left and right traveling units, and the operation lever 31 is used to drive the right traveling unit. The operation signal of the operation lever 29 is signal-processed through the above-described path,
The electromagnetic proportional pressure-reducing valves 45 and 46 for the left traveling unit are driven via a portion related to the left traveling unit of the driver 44, and thus the left traveling unit is driven. The same applies to the operation lever 31 and the right traveling unit. The operation signal of the traveling operation lever 30 for simultaneously operating the left and right traveling units is signal-processed in the same manner as described above, and the left and right electromagnetic proportional pressure reducing valves are driven to simultaneously drive the left and right traveling units of the traveling body 21. Become. With this configuration, the operation lever 29 is operated when only the left traveling unit is to be driven, and the operation lever 31 is operated when the right traveling unit is to be driven. When it is desired to simultaneously drive the left and right traveling units forward or backward by the same distance, or to steer left or right, the operation lever 30 located at the center is operated.

On the other hand, since it is desired that the transmitting device 12 be as light as possible, it is desirable that the number of operating levers is small. Therefore, when an actuator other than the traveling of the hydraulic excavator 11 is driven, the actuator that can be operated and driven by the operation levers 29, 30, 31 is switched by the switching operation of the switch 38. For example, when the operation lever 29 is used for traveling control, the forward / backward movement of the left traveling portion of the traveling body 21 can be controlled. However, when controlling other actuators, the switch 38 is switched to switch the boom 26. Enables raising and lowering.

In the transmission device 12 according to the present embodiment, the operation levers 29 and 31 conventionally provided originally for controlling the respective operations of the left and right traveling portions of the traveling body 21 are provided.
In addition to the operation lever 30, the left and right traveling units can be operated simultaneously, that is, they can be moved forward and backward at the same time, and further, can be steered left and right.
Was provided.

According to the operation of each of these operating levers 29 to 31, one actuator can be operated by two operating levers. When one of the two is simultaneously operated, the signal processing is performed by prioritizing the processing of the operation signal generated based on each operation lever so as not to cause a problem in the operation of the left and right traveling units. Like that. In addition to the normal operation by the operation levers 29 and 31, a method of assigning priorities when the operation lever 30 can simultaneously advance and retreat, for example, is described in detail in Japanese Patent Application No. 7-233267.

Next, a description will be given of a structure and an operation in which the left and right traveling parts can be simultaneously operated by one central operation lever 30 to perform left and right steering.

FIG. 2 is a plan view of the operation lever 30 in the transmission device 12. The operation lever 30 is a joystick type operation device, and is operated by being tilted in any direction in a plane defined by the X axis and the Y axis shown in FIG. The operation lever 30 is operated while being tilted to any of the first to fourth quadrants (〜) determined by the combination of the plus / minus area of the X axis and the plus / minus area of the Y axis. When the operating lever 30 is tilted or operated in any direction, values (dx, dy) proportional to the tilt in the X-axis and Y-axis directions are output to the CPU 33 from the operation signal output unit of the operating lever 30. .

In the operation area shown in FIG. 2, when the vehicle is operated in the first quadrant, the vehicle is steered to the right in the forward direction, when the vehicle is operated in the second quadrant, the vehicle is steered to the left in the forward direction, and when the vehicle is operated in the third quadrant, the vehicle is steered to the left. When the vehicle is moved to the quadrant, the vehicle is steered to the right.

FIG. 3 shows an example of the operation of the operation lever 30. In this example, the operation lever 30 is tilted in the diagonal direction indicated by the arrow 61 in the first quadrant, and the component in the X-axis direction is +
The components in the dx and Y axis directions are + dy. These values dx and dy are input to the CPU 33 as values proportional to the inclination of the operation lever 30 in the oblique direction. Values dx, dy
Is input to the CPU 33, the CPU 33 outputs √ (dx ²
+ Dy ² ). Here, √ (dx ² + dy ² )
Means calculation for finding the square root of dx × dx + dy × dy. The CPU 33 further prepares variables dl and dr separately, and assigns X to the variables dl and dr as shown in the table of FIG.
Value dy and value √ (dx
² + dy ² ) and determine variables dl and dr. The value a shown in the table is the value of Y for setting the buffer area (discontinuous area, non-operating area or dead area) 62 shown in FIG. When the operation lever 30 is tilted in this area, the output becomes zero, and no steering operation is performed. In the operation lever 30 shown in FIG. 2, the buffer area 62 is set in a direction immediately beside the operation lever.

In the table of FIG. 5, X> 0, Y> a (first
Dl = √ (dx ² + dy ² ), dr =
dy, and when X <0, Y> a (second quadrant), d
l = dy, dr = √ (dx ² + dy ² ), and X <
Dl = −dy, d when 0, Y <−a (third quadrant)
r = −√ (dx ² + dy ² ), and X> 0, Y <−a
In the case of (fourth quadrant), dl = −√ (dx ² + d
y ² ), dr = −dy. X> 0 or X <
When 0 and −a <Y <a, dl and dr both become 0. The condition of X> 0 or X <0 and −a <Y <a means the buffer region 62 described above.

In the case of the operation shown in FIG. 3, X> 0,
Since Y> a (first quadrant), dl = √ (dx ² +
dy ² ), dr = dy. The dl and dr obtained in this manner are used to calculate functions F (dl) and F (dr) having the characteristic 63 shown in FIG.
Let F (dl) and R = F (dr). Here, L is a control output value that determines the amount of movement of the left traveling unit, and R is a control output value that determines the amount of operation of the right traveling unit. Therefore, the left traveling unit has an output value corresponding to the length of the tilted vector (61) of the operation lever 30, and the right traveling unit has an output value corresponding to the component dy in the Y-axis direction. Since dl> dr, the left traveling section moves more than the right traveling section, and traveling to the right is performed. As described above, the operations of the left and right traveling units are controlled by the control output values L and R, and steering to the front right is performed.

In the above, when dx becomes 0, dl = d
Since r = dy, the moving amount of the left running unit and the moving amount of the right running unit are equal, and the forward operation is performed. That is,
When the operation lever 30 is tilted in the + direction of the Y axis, that is, forward, the forward movement is performed.

Further, in the above, when dy becomes substantially a, that is, when the operation lever 30 is tilted rightward (+ X direction), dl = dx, dr = 0, and L = F (d
x), R = 0. As a result, the control output value of only the left traveling unit is output in accordance with dx, and the vehicle turns rightward at the pivot turn.

As described above, it is possible to steer the vehicle forward and rightward with an operation that matches the operation feeling of the driver.

In other cases, it can be considered in the same manner as in the above case.

When the operation lever 30 is tilted to the area of X <0, Y> a (second quadrant), dl = dy, dr =
Since √ (dx ² + dy ² ), L = F (dl)>
0, R = F (dr)> 0, and L ≦ R due to dl ≦ dr. As a result, steering to the right in the forward direction (including the pivot turn described above) is performed.

When the operation lever 30 is tilted to the region of X <0, Y <-a (third quadrant), dl = -dy, d
Since r = −√ (dx ² + dy ² ), L = F (d
l) <0, R = F (dr) <0, and | dl |
≤ | dr |. As a result, steering to the left in the backward direction (including the pivot turn described above) is performed. In this case, the characteristic 64 shown in FIG. 4 is used for calculating F (dl) and F (dr).

When the operation lever 30 is tilted to the region of X> 0, Y <-a (fourth quadrant), dl = -√ (dx
² + dy ² ) and dr = −dy, L = F (d
l) <0, R = F (dr) <0, and | dl |
≧ | dr |. As a result, steering to the right in the reverse direction (including the pivot turn described above) is performed. In this case, the characteristic 64 shown in FIG. 4 is used for calculating F (dl) and F (dr).

As described above, in any case, the traveling operation can be performed with an operation that matches the operational feeling of the operator.

In the description of the above embodiment, the moving amounts of the left and right running parts are obtained by calculation using a function having the characteristics shown in FIG. It is also possible to prepare and obtain the amount of movement of each of the left and right traveling units.

[0041]

As is apparent from the above description, according to the present invention, in addition to the left and right operation levers respectively corresponding to the left and right traveling units, the left and right traveling units are simultaneously operated to perform left and right steering. Operation lever that can perform
Left and right steering can be easily performed by tilting one operation lever in an oblique direction. Further, the operating lever can be moved forward or backward by tilting the operating lever forward or backward. By providing such an operation lever, work efficiency can be improved, and operability and ease of handling can be improved.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a remote-controlled vehicle according to an embodiment of the present invention and a system for remotely controlling the vehicle.

FIG. 2 is a plan view of a portion of an operation lever located at a center.

FIG. 3 is a diagram illustrating an example of an operation direction of an operation lever.

FIG. 4 is a diagram showing functions used to calculate control output values of left and right traveling units.

FIG. 5 is a diagram showing a correspondence table between operation directions of operation levers and values assigned to variables dl and dr.

[Explanation of symbols]

 Reference Signs List 11 hydraulic excavator 12 transmitting device 13 receiving device 21 traveling body 29, 30, 31 operating lever

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Yuji Maehara 216-3 Bentencho, Soka City, Saitama Prefecture Inside Hitachi Construction Machinery Engineering Co., Ltd.

Claims (7)

[Claims] 1. A first operation lever for controlling the operation of the left traveling unit and the operation of the right traveling unit, which are used for controlling the traveling operation of a remote control vehicle having left and right traveling units that operate independently. A remote travel control device including a transmission device having a second operation lever and transmitting an operation signal generated by operation of each of the operation levers to a reception device mounted on the remote control vehicle, A third operating lever for simultaneously operating the transmitting device; a control unit for inputting an operating signal of each of the first to third operating levers to control the operation of the left and right traveling units; When you operate
The left and right traveling units are simultaneously operated, and the left and right steering is performed according to the operation direction of the third operation lever. 2. The remote travel control device for a remotely controlled vehicle according to claim 1, wherein when the third operation lever is tilted in an oblique direction, left and right steerings are changed in accordance with the degree of the oblique direction. . 3. The remote travel control device for a remotely controlled vehicle according to claim 1, wherein a pivot turn is performed when the third operation lever is tilted laterally. 4. The remote travel control device for a remote-controlled vehicle according to claim 1, wherein a non-operation area is set in a region in a lateral direction of the third operation lever. 5. When the third operation lever is tilted forward, the left and right traveling units simultaneously operate to move forward,
2. The remote travel control device for a remotely controlled vehicle according to claim 1, wherein when the operation lever is tilted backward, the left and right traveling units simultaneously operate to perform retreat. 6. The remotely controlled vehicle according to claim 2, wherein the amount of change in left and right steering determined according to the degree of inclination of the third operation lever is obtained by calculation using a specific function. Remote travel control device. 7. The amount of change in left and right steering determined according to the degree of inclination of the third operation lever is obtained using a table showing a specific correspondence. Remote control of remote controlled vehicle.