KR20190027140A - wireless remote device for high place operation car - Google Patents

Abstract

The present invention provides a remote control device for a high place operation car capable of securing a working space of a high place operation car by remote control and corresponding to a change in a surrounding environment. When an automatic control unit receives input from a transmitter and automatically moves to working space, the automatic control unit grasps a situation of an obstacle around a vehicle acquired from a surrounding water sensor and determines whether a sufficient space is secured for an operator to be moved up and down by operating a workbench to automatically move the vehicle or the workbench to a place where a work is easy, if necessary.

Description

[0001] The present invention relates to a remote control device for a high-

The present invention relates to a device for operating a high-altitude work vehicle remotely, and is provided with a precise device for wired and wireless operation in order to remotely operate a high-altitude workbench in a situation where a work vehicle and a working position are far away from each other . Consider situations in which the safety of the work station is not entrusted to a third party. In other words, the worker can wirelessly support the remote control method. As a part of the remote operation, it is not only one operation but also a worker can manipulate his / her work situation wirelessly as well as a work platform operation device.

There is known a driving support apparatus that supports an operation by setting an appropriate path at the time of operation. This technique is one of such driving support devices, which stores the route of the working position and enables automatic traveling along the route. Since there is no need for the driver to be riding at the time of automatic driving, there is an advantage that the operator and the safety manager can secure the space for the complaint operation without separately configuring the driver, the operator and the external vehicle control personnel.

This technique does not require the operation of the driver because the operation is performed along the path that has already been worked. There is a problem that proper support can not be provided when the route is memorized, the surrounding situation, the obstacle around the vehicle, and the location of another vehicle are changed. SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a vehicle remote control apparatus capable of coping with a change in circumstance in a vehicle remote control apparatus capable of performing a high-altitude operation by remote operation.

In order to solve the above problems, a vehicle remote control apparatus according to the present invention is a vehicle remote control apparatus for automatically moving a high-altitude worker by a remote operation, comprising: a grasping means for grasping an obstacle situation around the vehicle; And judging means for judging the degree of difficulty of the operation from the vehicle based on the condition of the obstacle and automatic controlling means for automatically moving the elevating platform based on the degree of difficulty determined by the judging means. And automatically moves the vehicle to a place where it is easy to work when it is determined that the movement to the work space specified by the determination means is not easy. In particular, when it is determined that difficulty from the specified obstacle is not easy between the current position and the designated position, the workbench is automatically moved to the place where it is easiest to work. The judging means may judge the degree of difficulty of the remote control based on the distance between the work space designated in the work space and the obstacle facing the work surface.

According to the present invention, even if the situation around the work space is changed by determining the degree of difficulty from the work space based on the detected obstacle situation by grasping the position of the obstacle around the vehicle and the distance from the vehicle, It is possible to judge whether or not space can be ensured. By automatically moving the workbench based on the determined degree of difficulty, the workbench can be appropriately moved by remote operation to a place where the operator can secure the space of the workbench, so that the remote control is not necessary Thereby improving the stability. By shifting to a place where it is easiest to work between a predetermined position, the number of people working on the vehicle or the worker does not need to be moved more than necessary in order to secure a working space of the high-performance work vehicle, thereby improving convenience and reliability of the system do.

1 is a conceptual diagram of a remote control device
2 is a block diagram of a remote control device

The vehicle remote control apparatus according to the present invention is configured around a remote control ECU as a control section. The remote control ECU is constituted by a CPU, a ROM, a RAM, and the like. And an obstacle detection unit, a vehicle time detection unit, a trajectory generation unit, a trajectory storage unit, and an autopilot control unit are provided therein. Each section in the remote operation ECU may be divided into hardware. In this case, a part of the hardware may be shared. If they are not classified in hardware or share some, they may be classified by software or may share a part of software. Further, a plurality of functions may be realized in the same software. The remote control ECU receives the outputs of the peripheral water sensor for detecting the position of the obstacle in the vicinity, the wheel speed sensor for detecting the rotation of the wheel, and the steering angle sensor for detecting the steering amount to read and input the respective vehicle state amounts. The remote control ECU also receives the output signal of the receiver, but the receiver has a function of communicating with a transmitter, which can be carried out by the operator such as a driver, out of the car, and receiving an instruction signal of the remote operation. This transmitter may be integrated with the ignition key of the vehicle. Ultrasonic sensors, laser radars, infrared sensors, etc. can be used as the surrounding water sensors. The peripheral water sensor is disposed at a plurality of points of the vehicle including at least the vicinity of the work space on the worker side. A steering actuator that performs steering, an engine that drives the vehicle, a transmission, and a brake that performs braking, respectively. An actuator of an electric power steering device may be used as the steering actuator. When the driver operates the vehicle at a point in time when the state of the transmission is set to the retracted state after the vehicle is stopped, the vehicle position at the time of start of the intake detected by the vehicle position detection unit and the margin of the work space at that time detected by the obstacle detection unit I remember. The position at the time of commencement of receipt is based on the vehicle position determined by a navigation device such as GPS (not shown). Or the change of the angle of inclination with the subsequent travel distance is stored with the start position of the arrival at the start point. The obstacle detection unit is configured to grasp the obstacle situation around the vehicle on the basis of the distance, the positional relationship, and the change with the obstacle around the vehicle detected by the surrounding water sensor and determine the margin of the work space on the basis of the obstacle circumstance. The allowance parameters of the work space include the distance to the obstacle facing the work space on the worker side or the lift space when the work space on the worker side is used as the work space other than the area of the area used for the work around the work space The shortest distance between the obstacle and the vehicle body in a predetermined range in the longitudinal direction of the vehicle body, and the space of the workable space. Detects and stores the movement trajectory during running and the allowance fluctuation of the working space. The movement locus is detected by the vehicle position detection unit by the obstacle detection unit in the same manner as in the preceding step. This locus is stored in association with the work space allowance fluctuation in the orbit storage unit. This is performed until reaching the working position, and the working position detected by the vehicle position detecting unit is stored. The parking operation up to this point may be carried out only by the driver's operation, but parking may be carried out by induction or autopilot so as to calculate an appropriate dressing route and move along the route. When the work position is reached, it is judged whether or not the work space is sufficient based on the margin of the work space at that time, that is, whether or not the worker's lifting space is sufficiently secured. When the work space is sufficient, the work space is difficult to work in the case where the work space is easily and insufficiently worked. Therefore, the margin of the work space functions as an index indicating the degree of difficulty of the worker. In the case where the lifting / lowering space is sufficiently secured, since the worker can work at the parking position, the parking is completed and the subsequent processing is skipped and the process is terminated. On the other hand, when it is determined that the lift space is not sufficiently secured and the worker's work at the parking position is hindered, the process moves to the previous step. In the next step, movement to the workable position is performed. Here, it is assumed that the lifting space of the worker is secured between the arrival start position and the current position based on the trajectory at the time of arrival and the free fluctuation of the work space stored in the trajectory storage unit and stored in the trajectory storage unit. And generates a locus from the parking position with that point as a destination. If it is judged that the work space of the operator is not sufficient by a preset margin, even if the operator returns to the start position, the parking space As shown in FIG. This locus is set as a change in steering angle with respect to the mileage. The autopilot control unit controls the steering angle by the steering actuator and controls the vehicle speed by operating the engine, the transmission, and the brake, and travels according to the generated trajectory to move the vehicle to the set destination. After reaching the destination, wait until the work of the operator is finished. The determination of the end of the work may be performed by transmitting to the receiver of the vehicle the meaning that the worker has finished raising and lowering using the transmitter and informing the automatic control unit of the completion of the work. This notification may be a notification for urging the continuation of the processing other than the completion of the lift-off. When it is determined that the work space is in operation, the seat belt, the seating state, the presence of a person in the vehicle, etc., the vehicle should be stopped. Or the stationary state is maintained. If it is determined that the driver has finished raising or lowering, the process moves to the next step to generate a route that goes backward from the previously set working position to the current position, and automatically moves to the first position by performing automatic steering along this route. In this case, if there is no destination that satisfies the condition that the operation is easier than the predetermined margin even if the destination is set to be easy to work between the arrival start position and the work position, the route to the arrival start position is further extended And may stop at a point at which the elevation reaches a predetermined margin or more. The worker can designate the work space to be the target by sending a command from the transmitter to the receiver. The present invention is desirable for a vehicle that can be operated remotely.

1: Remote control ECU
11:
12: Vehicle position detector
13: Orbit generator
14: Orbit memory unit
15:
21: Ambient water sensor
22: Wheel speed sensor
23: Angle sensor
24: receiver
31: Steering actuator
32: engine
33: Transmission
34: Break
50: Transmitter

Claims (4)

A vehicle remote control apparatus for automatically moving a workbench by a remote operation, comprising: a grasping means for grasping an obstacle situation around the high-altitude work car; and a control unit for controlling the degree of difficulty of the operation from the vehicle based on the state of the obstacle detected by the grasping means And an automatic control means for automatically moving the vehicle based on the degree of difficulty determined by the determination means. The apparatus according to claim 1, wherein, when it is determined that the work from the work space specified by the determination means is not easy, the vehicle is automatically moved to a place where the work is easy. The method according to claim 2, wherein if it is judged that the degree of difficulty of the operation from the designated work space is not easy between the current position and the designated position, a complaint for automatically moving the vehicle or workbench Working vehicle remote control device. 2. The apparatus according to claim 1, wherein the determination means determines the difficulty level of the operation based on the distance between the work vehicle designated in the vehicle and the obstacle facing the work space.

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