JPH11269938A - Wireless remotely controlled vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance operating efficiency by easily effecting the combined action of the working machine part and the travel body of a wireless remotely controlled vehicle by use of a wireless controller. SOLUTION: A wireless remotely controlled vehicle comprises a vehicle main body, having a travel body 21 which comprises right and left traveling parts and having a working machine part 25, a receiver 13 mounted in the vehicle main body, and a transmitter 12 producing operation signals for controlling the travel body 21 and the working machine part, and is designed so that the operation signals transmitted wirelessly from the transmitter are converted by the receiver into control signals to operate the travel body and the working machine part. The transmitter includes one travel control lever 30 which outputs two-system operation signals for controlling the right and left traveling parts and at least one operation control lever 29, 31 for outputting operation signals for operating the working machine part, and the receiver has a CPU 43, etc., for controlling the action of each of the right and left traveling parts by combining the two-system operation signals.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radio remote control vehicle, and more particularly to a remote control vehicle for a remote control hydraulic excavator or the like which can easily perform a combined operation of a work machine unit and a traveling body by operating a radio control device. Regarding the configuration.

[0002]

2. Description of the Related Art For example, when a work machine (vehicle body) is operated using a radio control device in a radio remote control hydraulic excavator, the operation of the work machine is controlled by operating the radio control device at a position away from the work machine. I do. The radio pilot is a portable transmission device that generates an operation signal (operation command signal) and sends it by radio. Conventionally, the radio control device is provided with two universal control levers, and when these control levers are operated,
An operation signal is generated corresponding to the operation content. On the other hand, the work machine is provided with a receiving device that receives an operation signal from the wireless pilot. The target of motion control in work machines is
It is a traveling machine composed of a working machine unit including a boom, an arm, a bucket, a blade, and the like, and left and right traveling units. By operating two operating levers on the radio pilot,
The operation of the working machine unit or the operation of the left and right traveling units is controlled. Whether the two operation levers of the radio control unit are used for the working machine unit or for the left and right traveling units is selected by a separately provided switching button.

[0003] In the above-mentioned wireless remote control type hydraulic excavator, it is naturally possible to perform normal operation using an operation lever in a cab. When normal operation cannot be performed due to the danger degree of the work environment, etc., the special operation based on the wireless remote control is performed. In the case of normal operation, an operation lever for a working machine unit and an operation lever (or operation pedal) for a left and right traveling unit provided in a cab are used. In the cab, two operation levers for the working machine unit and two operation levers for the left and right traveling units are provided.

On the other hand, in the case of driving by radio remote control,
It is desirable that the configuration of the operation lever of the radio pilot is close to the configuration of the operation lever in the case of normal operation. However,
It is difficult to provide four operation levers in a small portable radio controller due to space limitations. Furthermore, even if four operating levers can be provided on the radio control device, the portable radio control device is operated using only the left and right hands, so in practice, the four control levers are simultaneously operated. It is difficult to do. Therefore, conventionally, as described above,
The operation lever of the present invention is provided, and is configured to be used as an operation lever for a working machine unit or an operation lever for a left and right traveling unit by switching an operation target with a switching button. Furthermore, when two operating levers are used for work or traveling, the specifications are similar to the specifications of each operating lever in normal operation.

[0005] As described above, according to the conventional radio remote-controlled hydraulic excavator, the radio-controlled device is provided with two operation levers, and is used by switching between work or traveling with the changeover button. The remote travel control device of the wireless remote control vehicle has been configured such that the control based on the two operation levers switched for traveling can be controlled in the same manner as the control lever for normal operation.

[0006]

Conventionally, when a radio remote-controlled hydraulic excavator or the like is operated by radio control, it is conventionally necessary to simultaneously control the operations of the working machine unit and the traveling body and to combine the operations of both. May have occurred. For example, when the operation of the traveling body is controlled and the earth pipe or the like is transported in a state where the earth pipe or the like is suspended by using a rope in a bucket of the work machine part, if there is an obstacle in the moving path, the earth pipe or the like is used. It is necessary to move the bucket up and down while maintaining the moving state so that does not collide with an obstacle.

However, according to the configuration of the conventional wireless remote control type hydraulic excavator or the like, since the two operation levers have to be switched and used for working or traveling, each of the working machine section and the traveling body is required. The operation cannot be controlled at the same time, and the combined operation of the working machine unit and the traveling body cannot be performed. When the combined operation of the working machine and the traveling body cannot be performed in the wireless remote control, there is a problem that the working efficiency is reduced.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and it is possible to easily perform a combined operation of a working machine portion and a traveling body by using a radio control device, thereby improving a work efficiency of a radio remote control vehicle. Is to provide.

[0009]

A radio remote-controlled vehicle according to the present invention is configured as follows to achieve the above object. A first wireless remote-controlled vehicle (corresponding to claim 1) includes a vehicle body including a traveling body including left and right traveling units and a working machine unit, a receiving device mounted on the vehicle body, and a traveling body. A transmission device that generates and transmits an operation signal for operating the work machine unit, and further converts the operation signal wirelessly transmitted from the transmission device into a control signal by a reception device to operate the traveling body and the work machine unit. Is configured. The transmission device includes one travel operation lever that outputs two systems of operation signals for operating the left and right traveling units, and at least one work operation lever that outputs an operation signal for operating the work machine unit, The receiving device includes a control unit that controls each operation of the left and right traveling units by combining two operation signals. In the configuration of the radio remote control vehicle, one universal operation lever dedicated to traveling is provided, and two-system operation signals (x, y) output when the operation lever is tilted are controlled by the receiving device. The sections are combined according to a prepared control program to generate a control signal for causing the left and right running sections of the running body to operate in association with each other, thereby operating the running body. Thus, with one traveling operation lever,
The left and right traveling units configured to operate independently can be simultaneously driven under the same condition (driving at the same speed in the same direction) or under different conditions (driving at different speeds, etc.). Of the traveling body by the operating lever for
It is possible to perform left and right steering in reverse, left and right turns, forward and reverse. By providing such one traveling operation lever, the traveling operation lever and at least one work operation lever originally provided in the transmission device are operated with left and right hands, and the traveling body is moved. The work operation of the work machine unit can be controlled while controlling the movement operation, and a combined operation of the traveling body and the work machine unit can be performed. Second radio remote control vehicle (corresponding to claim 2)
In the first configuration, the control unit may be configured to control the tilt operation of the traveling operation lever in the left-right direction corresponding to one of the two operation signals and the other one of the two operation signals. A movable range defined by a corresponding front-rear direction is set, a left turning operation and a right turning operation are associated in the left-right direction, and a forward operation and a backward operation are associated in the front-rear direction.
The third radio remote-controlled vehicle (corresponding to claim 3) is the second radio remote-controlled vehicle.
In the above configuration, in the movable range described above, a forward left steering operation, a forward right steering operation, a backward left steering operation, and a backward right steering operation are set to be possible by a combined operation of the operation lever in the left-right direction and the front-back direction. You. Fourth wireless remote control vehicle (corresponding to claim 4)
In the third configuration, when the traveling operation lever is inclined in the left-right direction, a turning operation is enabled.
The steering coefficient of each of the left and right traveling units is set according to the amount of inclination. In the fifth wireless remote-controlled vehicle (corresponding to claim 5), in each of the above-described configurations, when the traveling operation lever is inclined in the front-rear direction, the speed of the left and right traveling units is set according to the amount of inclination. It is characterized by. The sixth radio remote-controlled vehicle (corresponding to claim 6) is configured such that:
The operation lever is configured to be used also as a traveling operation lever by the switching device.

[0010]

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 shows a wireless remote-controlled hydraulic excavator as an example of the wireless remote-controlled vehicle of the present invention. The hydraulic excavator 11 is a working machine for performing civil engineering and construction work. The hydraulic excavator 11 can operate by one of a normal operation using a cab and an operation based on wireless remote control. The illustrated state is that the driver 14 is located at a position away from the vehicle body of the excavator 11 and the transmitting device 12 which is a radio control device.
Is operated by controlling the operation of the vehicle body by wireless remote control. An operation signal generated by the operation of the transmission device 12 is wirelessly transmitted to the reception device 13 mounted on the excavator 11. Hydraulic excavator 11
When the wireless remote control is performed, the transmitting device 12 and the receiving device 13
The operation is controlled by a remote control device consisting of The transmission device 12 is provided with various operation devices including an operation lever, and includes an electric element, a transmission unit, and the like that generate a necessary operation signal (operation command signal) according to an operation content and an operation amount of each operation device. Built-in. When the operating device is operated, the transmitting device 12 transmits the generated operation signal to the receiving device 13 as a serial signal using radio waves 40. Radio wave 4
"0" is constantly transmitted from the transmission device 12, and for example, the operation signal is transmitted as "0" even when the operating device is not operated at all. On the other hand, the receiving device 13 is mounted on the vehicle body of the excavator 11. Receiving device 13
Receives an electric wave 40 transmitted from the transmission device 12, extracts an operation signal from the operation signal, generates a control signal based on the operation signal and a function prepared in advance, and transmits a control signal to each actuator provided in the vehicle body. Send a control signal to
Control its operation.

In the vehicle body of the hydraulic excavator 11, a revolving unit 22 is provided on a traveling unit 21, and the revolving unit 22 includes a driver's cab 23, an engine machine unit 24, and a work machine unit 25.
The traveling body 21 includes a right traveling unit located on the right side and a left traveling unit located on the left side. The working machine unit 25 includes the revolving unit 22
And a boom 26, an arm 27, and a bucket 28. Further, the working machine 25 has a boom 26,
A hydraulic cylinder (actuator) for operating the arm 27 and the bucket 28 and, for example, an angle sensor and a displacement sensor for detecting the operation amount of each part are arranged. The driver's cab 23 is 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 steering forward, backward, steering, turning, and the like by the traveling body 21. Have been.

In the above-mentioned wireless remote-controlled hydraulic excavator, when the transmitting device 12 is operated to wirelessly control the hydraulic excavator 11, the work machine unit 2 is to be remotely controlled.
5 and the operation control of the traveling body 21. In the present invention, as described below, the traveling unit 2 by the transmission device 12 is used.
1 is characterized by the operation control method, and the operation control method of the work machine unit 25 by the transmission device 12 is the same as that of the conventional device. From the viewpoint of means for controlling the operation of the traveling body 21,
The following description will be made with emphasis on a remote travel control device constituted by the transmission device 12 and the reception device 13.

Referring to FIG. 2, transmitting apparatus 12 and receiving apparatus 1
3 will be described. As described above, the transmission device 12 performs the operation of the hydraulic excavator 11 with the work machine unit 25.
It has a function of controlling the operations of the vehicle and the revolving structure 22 and the like, and a function of controlling each operation of the traveling structure 21 such as forward, backward, steering, and turning. The upper part of the transmitting device 12 is preferably 3
Operating levers 29, 30, 31
A switch button 38 for switching the operation target by the button 31 is provided. Left and right operation levers 29 located on both sides,
When the switching button 38 is turned on, the work machine unit 25
, And can be used to operate the traveling body 21 when the switching button 38 is turned off. When the operation levers 29 and 31 are set so as to be used for operating the work machine unit 25, various operation modes for operating each unit of the work machine unit 25 are assigned to each operation lever. The operation levers 29 and 31 on the left and right sides are substantially the same as those of the conventional transmission device, and the revolving structure 22, the boom 26, the arm 27 and the bucket 28 are operated by operating the operation levers 29 and 31. Can be done. Specifically, in the transmitting device 12 gripped in front of the driver 14, the transmitting device 12
, Each operation of the revolving unit 22 and the arm 27 is operated by the operation lever 29 located on the left side, and each operation of the boom 26 and the bucket 28 is operated by the operation lever 31 located on the right side. When the left and right operation levers 29 and 31 are set so as to be used for operating the traveling body 21, operation modes for operating the left and right traveling units of the traveling body 21 are assigned to the respective operation levers. . This configuration is substantially the same as the configuration provided in the conventional transmission device.
That is, the left operation lever 29 is configured to control the operation of the left traveling unit, and the right operation lever 31 is configured to control the operation of the right traveling unit. The operation levers 29 and 31 are independent of each other. I have. On the other hand, the operation lever 30 provided at the center position has a characteristic configuration of the present invention. By operating one operation lever 30, the left traveling portion and the right traveling portion of the traveling body 21 are simultaneously operated under the same condition. Alternatively, they can be operated in association under different conditions. That is, each operation of the left and right traveling units is controlled under a predetermined relationship by the operation lever 30, and the traveling body 21 is moved forward, backward, steering,
Operations such as turning can be performed.

As described above, according to the transmission device 12, when controlling the operation of the traveling body 21, the two operation levers 2 are used.
It can be operated with either 9, 31 or one operating lever 30. Since the subject of the present invention is to perform a combined operation of the work machine unit 25 and the traveling body 21 by the transmission device 12, the operation levers 29 and 31 set for operating the work machine unit 25, the operation lever 30 and Is used. The operation levers 29 and 31 and the operation lever 30
In order to perform the above-mentioned combined operation by using a single operation lever, there is a feature in that a configuration of a remote traveling control that enables the traveling body 21 to move forward, backward, steering, turning, etc. with one operating lever 30 is provided. The operation levers 29 and 31 are set as operation levers of the work machine unit 25 by the switching button 38.

The operation levers 29, 30, 31 are all universal type lever devices. Each of these operation levers is moved 36 degrees from its neutral position (upright state).
It is configured so that it can be tilted in all directions of 0 °. The operation direction of the operation lever is the neutral position as the origin, the left and right directions viewed from the driver are the X direction, and the front and rear directions are the Y direction.
The right direction and the forward direction are defined as + directions, and the left direction and the rear direction are defined as the-directions. As an example,
The arm 27 in the X direction of the operation lever 29, the revolving unit 22 in the Y direction, the bucket 28 in the X direction of the operation lever 31,
Each operation of the boom 26 is assigned in the Y direction.

By operating the operation lever 31, for example, the boom 2
When operating 6, the operation lever 31 is inclined in the Y direction. When the operation lever 31 is tilted, an operation signal (analog amount) corresponding to the tilt angle is output from a universal joint (potentiometer) provided at the lever base.
The operation signal output based on the operation of the operation lever 31 is:
The data is converted into a digital value by an A / D converter (A / D) 32 inside the transmission device 12 and is taken into the CPU 33. This digital value becomes an operation signal for determining the operation amount of the boom 26. The CPU 33 outputs the operation signal as a parallel signal. The operation signal output from the CPU 33 is converted into a serial signal by a serial signal input / output unit (SIO) 34, and is then modulated into a high-frequency signal by a transmission unit 35 and transmitted. The transmitting device 12 has a ROM 36 for storing a program, a RAM 37 for temporarily storing use data or generated data,
Digital signal input / output section (DI
O) 39 are provided.

The operation signal transmitted from the transmitting device 12 by the radio wave 40 is received by the receiving section 41 in the receiving device 13, and after being demodulated there, the serial signal is converted into a parallel signal by the SIO 42 and taken into the CPU 43. It is. After that, a control signal corresponding to the operation signal is generated based on the control program and the function stored in the ROM 50 or the RAM 51, and the driver 44 outputs a drive signal corresponding to the control signal to the hydraulic drive system that operates the boom 26. The operation of the provided electromagnetic proportional pressure reducing valve 45 is drive-controlled. As shown in FIG. 3, the electromagnetic proportional pressure reducing valve 45 converts a drive signal (t1 to t12) from the driver 44 into a hydraulic pilot signal (p1 to p12) supplied from a hydraulic source 47 to operate the boom 26. The valve 65 is driven. Thus, the operation of the boom 26 can be controlled by sending the hydraulic signal from the pump 49 to the hydraulic cylinder 75 of the boom 26 to be operated.

In the above description, an example in which the boom 26 is operated independently has been described. However, in the above system, the operating lever 31 is simultaneously operated in the X direction and the Y direction, or the operating lever 29 and the operating lever 31 are simultaneously operated. By operating, the revolving unit 22, the boom 26, the arm 27, and the bucket 28 can be simultaneously operated. As shown in FIG. 3, in the hydraulic drive system, the hydraulic cylinder 76 corresponding to the bucket 28 and the main valve 66, and the hydraulic cylinder 7 corresponding to the arm 27
2 and a main valve 62 are provided. The opening and closing operations of the main valves 62 and 66 are controlled by the corresponding electromagnetic proportional pressure reducing valve 4.
5 is performed.

On the other hand, the operation lever 30 can be operated in the left-right direction, that is, the X direction, and the front-rear direction, that is, the Y direction, with the operation direction being the neutral position as the origin, as described above. FIG. 4 shows the relationship between the operation range of the operation lever 30 and the operation of the traveling body. A left turning operation and a right turning operation are associated with each other in the left and right direction, and a forward operation and a backward operation are associated with each other in the front and rear direction. 80 is the operating lever 3
The movable range 80 is defined by the X direction and the Y direction. The movable range 80 is divided into eight regions around the origin (zero point) which is a neutral position.
81 is a right turn operation area, 82 is a left turn operation area, 83 is a forward operation area, 84 is a reverse operation area, 85 is a forward right steering area, 86 is a forward left steering area, 87 is a backward right steering area, and 88 is This is the reverse left steering area. Each of the above-mentioned operation areas in the movable range 80 of the operation lever 30 is created by the CPU 43 processing two-system operation signals (x, y) sent from the transmission device 12 according to a control program, as described later.
When operating the operation lever 30 to cause the traveling body 21 to perform operations such as forward, backward, steering, and turning, the operation lever 30 is tilted in a predetermined direction in the movable range 80.

When the operating lever 30 is tilted in any direction within the movable range 80, the tilt angle in the X direction and the tilt angle in the Y direction of the operating lever 30 are determined by a universal joint (potentiometer) provided at the lever base. It is output as two systems of operation signals (X signal (x), Y signal (y)) corresponding to each inclination angle. The output operation signal (x,
y) is converted into a digital value by an A / D converter (A / D) 32 and taken into a CPU 33. These digital values serve as operation signals that determine the respective operation amounts of the left and right traveling units of the traveling body 21 and determine the operation states of the left and right traveling units of the traveling body 21. The CPU 33 outputs the operation signal as a parallel signal. The operation signal output from the CPU 33 is converted into a serial signal by a serial signal input / output unit (SIO) 34, and is then modulated into a high-frequency signal by a transmission unit 35 and transmitted.

The operation signal relating to the operation of the traveling body 21 transmitted from the transmitting device 12 is demodulated by the receiving section 41 and converted into a parallel signal by the SIO 42 as described above.
3 Thereafter, in accordance with the program stored in the ROM 50 and the use data and generation data stored in the RAM 51, the control signals (x, y) are combined to generate control signals for each of the left traveling unit and the right traveling unit,
Output. The driver 44 outputs a drive signal corresponding to each control signal, and controls the operation of an electromagnetic proportional pressure reducing valve 45 provided in a hydraulic drive system that operates the traveling body 21. As shown in FIG. 2 and FIG.
Converts the drive signal from the driver 44 into a hydraulic pilot signal supplied from the hydraulic pressure source 47 and drives the main valves 63 and 64 for operating the left traveling unit and the right traveling unit. As a result, the hydraulic signal from the pump 49 is used to operate the motor 73 of the left traveling unit and the motor 74 of the right traveling unit, which are the operation targets.
And the operation of the traveling body 21 can be controlled.

According to the transmitting device 12 of the present embodiment,
By inclining the operation lever 30 in an arbitrary direction in the movable range 80, two operation signals (x, y) are generated, and the left and right traveling units are simultaneously or simultaneously combined by combining the two operation signals. It is possible to generate control signals for operating individually, and cause the traveling body 21 to perform operations such as forward, backward, steering, and turning. That is, in the transmission device 12, the traveling body 2 is controlled by one operation lever 30.
1 can be controlled.

Next, an example of the relationship between the operation of the operation lever 30 and the operation of the traveling section 21 will be described with reference to the flowchart shown in FIG. This relationship example corresponds to each area of the movable range 80 described with reference to FIG. 4. When the operation lever 30 is operated only in the Y direction, it moves forward and backward, and when it is operated only in the X direction, it turns clockwise. An example is shown in which the right and left steering operations are performed by the traveling unit 21 based on a positive / negative combination of X and Y when the operation is simultaneously performed in the turning / left turning and XY directions. The process of the flowchart illustrated in FIG. 5 is executed by the CPU 43 of the receiving device 13 that receives the operation signal (x, y).

When the operating lever 30 is tilted in an arbitrary direction, two types of operating signals obtained with respect to the tilt angle in the X direction and the tilt angle in the Y direction of the operating lever 30 generated based on the tilting operation are as described above (x , Y). First, it is determined whether there is an input of the operation lever 30 (step S1). If there is no input, the left and right running units are stopped (step S2), and the process ends. Next, it is determined whether or not | y | is smaller than a constant a (step S3).
Here, the constant a is a value that defines a dead zone range in the Y direction for performing a stable turning operation, as shown in FIG. When | y | is smaller than the constant a, the sign of x is further determined (step S4). When x is positive, right turning operation processing is executed (step S5), and when x is negative, left turning operation processing is executed (step S6), and the process ends. On the other hand, when | y | is larger than the constant a, the positive / negative determination of y is performed (step S7).
When y is positive, it is determined in step S9 whether or not | x | is smaller than a constant b. When | x | is smaller than b, the forward movement processing is executed (step S1).
5), end. When | x | is greater than b and is greater than b (step S10), a forward right steering operation process is performed (step S16), and the process ends. When | x | is larger than b and smaller than b (step S11), a forward left steering operation process is performed (step S17), and the process ends. When all of the determinations in steps S9, S10, and S11 are NO, stop processing of the left and right traveling units is performed (step S2).
1). When y is negative, | in decision step S12
It is determined whether x | is smaller than a constant b. When | x | is smaller than b, the retreat operation processing is executed (step S18), and the processing ends. When | x | is greater than b and greater than b (step S1
3), a reverse right steering operation process is performed (step S).
19), end. When | x | is larger than b and smaller than b (step S14), a reverse left steering operation process is performed (step S20), and the process ends. If the determinations in steps S12, S13, and S14 are all NO, stop processing of the left and right traveling units is performed (step S22).

By executing the control method shown in FIG. 5 in response to an operation signal (x, y) generated based on the operation of the operation lever 30, the movable range 80 of the operation lever 30 can be changed to the operation area 81 shown in FIG. To 88 are set.

FIG. 6 shows an example of a relationship between an operation signal obtained from the operation lever 30 and a control signal for controlling driving of the left and right traveling portions of the traveling body 21. According to this relationship, as the operation signal (x or y) increases, the control signal gradually increases, and is maintained at a constant control signal value at a predetermined maximum operation amount. The relationship shown in FIG. 6 is stored in a program in the ROM 50 or in the RAM 51. Set the operating lever 30 to Y
The forward movement and the backward movement that occur when the vehicle is operated only in the direction are performed using the control signal corresponding to the operation signal y.
By driving the left and right traveling units in the same direction. Further, the turning operation of the traveling body 21 that occurs when the operation lever 30 is operated only in the X direction is performed by driving the left and right traveling units in the opposite directions using a control signal corresponding to the operation signal x.

On the other hand, the control signals to the left and right traveling parts in the steering operation of the traveling body 21 are determined as follows, for example. In addition to the above-described relationship shown in FIG. 6, the relationship for steering shown in FIG. 7 is prepared. According to the steering relationship, the steering coefficient is set to 1 when the operation signal | x | is equal to or smaller than a small fixed value, and the steering coefficient is set to decrease as the operation signal increases. The data related to the steering is also stored in the ROM.
The program is stored in the program in 50 or in the RAM 51.

The operation lever 3 is controlled by the CPU 43 of the receiving device 13.
When the control signal is generated from the operation signal (x, y) generated by the operation of 0, the control signal corresponding to the operation signal y is read based on the relationship shown in FIG. Read out the steering coefficient. According to the steering direction, the previously read control signal is used as it is for one of the left and right traveling portions of the traveling body 21, and the product of the control signal and the previously read steering coefficient is used as the control signal for the other. Drive each traveling unit. As shown in FIG. 7, since the steering coefficient is 1 or less in the region of all the operation signals, a difference occurs between the control signals to the left and right traveling units, whereby a predetermined steering operation can be performed on the traveling body 21. Becomes

As an example, as shown in FIG. 4, the operation lever 30 is moved from the operation position (operation signal) of (0, y1) to A
FIG. 8 shows the change of the control signal to the left and right traveling parts when moved in the + X direction as shown in FIG. Since the control signal corresponding to the operation signal y1 is output to the left traveling unit as it is, even if the operation lever 30 is moved in the + X direction, the control signal 91 to the left traveling unit does not change. On the other hand, for the right traveling section, the product of the control signal corresponding to the operation signal y1 and the steering coefficient corresponding to the operation signal in the X direction generated by moving the operation lever 30 in the + X direction is used as the control signal. As the operation lever 30 is moved in the + X direction, the control signal 92 to the right traveling section decreases. As a result, the traveling speed of the right traveling unit becomes slower than the traveling speed of the left traveling unit. As a result, the traveling body 21 performs the right steering operation while moving forward.

As described above, in the steering operation processing according to the present embodiment, the moving speed of the traveling body 21 is controlled by the operation of the operation lever 30 in the Y direction, and the steering amount is controlled by the operation in the X direction. Therefore, the steering operation of the excavator 11 can be easily performed by one operation lever 30 which is very close to the feeling of the driver.

By providing an operation lever 30 capable of performing wireless remote traveling control on the operation of the traveling body 21,
By operating the operation lever 30 with one hand, the left and right traveling units can be freely operated simultaneously, and by operating one of the operation levers 29 and 31 with the other hand, the traveling body 21 A combined operation with the work machine unit 25 can be performed. As an example of the combined operation, for example, a clay pipe is hung from a bucket 28 of the working machine unit 25 using a rope, and in this state, when the traveling body 21 is driven to move forward, an obstacle There is an example in which the arm 27 of the work machine unit 25 is moved upward to raise the earth pipe, or the moving path is changed by a steering operation. At this time, the operation lever 30 for traveling and the right operation lever 31 set for work are operated.

The above-described relationship between the operation of the operation lever 30 and the operation of the traveling body 21 or the processing method related to the steering operation is an example, and the present invention is not limited to this.

In this embodiment, the operation lever 30 can be tilted in an arbitrary direction. However, the operation lever 30 can be tilted in, for example, one axial direction, and a rotary switch is provided above the operation lever 30. Control lever,
An operation lever that can be tilted in one axis direction and has a rotary switch installed thereon, or an operation lever that can be tilted in one axis direction and has an analog push button switch can be realized. is there. Any of the operation levers is configured to output two systems of operation signals corresponding to the above (x, y).

[0034]

As is apparent from the above description, according to the present invention, in a radio remote-controlled vehicle such as a hydraulic excavator, a transmitting device is provided with an operating lever capable of operating each of the right and left traveling portions simultaneously with a single transmitting device. , Each of the left and right traveling parts can be simultaneously driven under the same conditions or under different conditions,
One traveling control lever can cause the traveling body to perform operations such as forward, backward, steering, and turning. In addition, a radio remote-controlled hydraulic excavator or the like can perform a high-level combined operation of the traveling body and the working machine unit, thereby improving the operation performance. Further, if a configuration in which one traveling operation lever is provided instead of the two traveling operation levers in the conventional transmission device is adopted, it contributes to downsizing of the transmission device.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing a state in which a hydraulic excavator is operated by wireless remote control.

FIG. 2 is a diagram illustrating an internal structure of a transmitting device and a receiving device and a relationship between the two.

FIG. 3 is a diagram illustrating a main part of a hydraulic system provided in the hydraulic excavator.

FIG. 4 is a diagram illustrating a relationship between an operation range of a traveling body control operation lever and an operation of the traveling body.

FIG. 5 is a flowchart showing the relationship between the operation of a traveling body control operation lever and the operation of the traveling body.

FIG. 6 is a diagram illustrating a relationship between an operation signal and a control signal.

FIG. 7 is a graph showing an example of a relationship between an operation signal and a steering coefficient.

FIG. 8 is a graph showing a relationship between an operation signal during steering and a control signal to the left and right traveling units.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Hydraulic excavator 12 Transmitting device 13 Receiving device 14 Driver 21 Traveling body 23 Operating room 25 Work machine part 29, 30, 31 Operating lever 80 Movable range

Continuing from the front page (72) Inventor Shinya Okumura 650, Kandachicho, Tsuchiura-shi, Ibaraki Prefecture Within the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. Construction Machinery Co., Ltd. (72) Inventor Toshihiro Kimura 650 Kandamachi, Tsuchiura-shi, Ibaraki Pref. Tsuchiura Plant, Hitachi Construction Machinery Co., Ltd.

Claims (6)

[Claims] 1. A vehicle body including a traveling body including left and right traveling units and a working machine unit, a receiving device mounted on the vehicle body, and an operation signal for operating the traveling body and the working machine unit. In a wireless remote control vehicle configured to generate and transmit, the operation signal transmitted wirelessly from the transmission device is converted into a control signal in the receiving device to operate the traveling body and the work machine unit, The transmission device includes one traveling operation lever that outputs two-system operation signals for operating the left and right traveling units, and at least one work operation lever that outputs an operation signal for operating the work machine unit. And a control unit that controls each operation of the left and right traveling units by combining the two systems of operation signals. 2. The control device according to claim 1, wherein the control unit is configured to control a tilting operation of the traveling operation lever in a left-right direction corresponding to one of the two operation signals and to correspond to another one of the two operation signals. A movable range defined by the front and rear direction to be set is set, a left turning operation and a right turning operation are associated in the left and right direction, and a forward operation and a backward operation are associated in the front and rear direction. The radio remote-controlled vehicle according to claim 1, wherein 3. In the movable range, a forward left steering operation, a forward right steering operation, a backward left steering operation, and a backward right steering operation can be performed by a combined operation of the operation lever in the left / right direction and the forward / backward direction. The wireless remote-controlled vehicle according to claim 2, wherein the vehicle is set. 4. The steering coefficient of each of the left and right traveling units is set according to the amount of inclination so that the turning operation is enabled when the traveling operation lever is inclined in the left / right direction. The wireless remote-controlled vehicle according to claim 3, wherein 5. The speed of the left and right traveling portions is set according to the amount of inclination when the traveling operation lever is inclined in the front-rear direction. A wireless remote-controlled vehicle according to claim 1. 6. The radio remote control vehicle according to claim 1, wherein the work operation lever is also used as a traveling operation lever by a switching device.