JP2021166498A - Remotely-controlled work machine - Google Patents

Abstract

To provide a remotely-controlled work machine capable of transmitting an inclination angle of a remotely-controlled work machine body to an operator without any hindrance to the remote control.SOLUTION: A remotely-controlled work machine 1 comprises a remotely-controlled work machine body 11, a signal light 2, and a signal light control section 3. The remotely-controlled work machine body 11 includes a detector 4 for detecting an inclination angle of the remotely-controlled work machine body 11, the detector 4 outputs inclination angle information, and the signal light control section 3, upon receiving the inclination angle information, outputs a flashing signal of flashing the signal light 2 at flashing intervals according to the inclination angle information. The signal light 2 is provided on the remotely-controlled work machine body 11, and, upon receiving the flashing signal, flashes at the flashing intervals to notify the information angle.SELECTED DRAWING: Figure 1

Description

The present invention relates to a remote control work machine.

A work machine for remotely controlling work has been developed and put into practical use. In particular, a work machine that works on an inclined surface is dangerous, so a technique for remotely controlling an unmanned work machine is required. Such work machines are used in various places such as river embankments, motorway slopes, and mountainous areas. Even an unmanned work machine has a risk of tipping over when used on slopes, and may break down if it rolls down. Therefore, as in Patent Document 1, the tilt angle transmitted from the remote control work machine is displayed on the display of the remote control controller, and the worker can always grasp the posture of the machine A.

Japanese Unexamined Patent Publication No. 2020-159

Slopes may be overgrown with tall weeds such as Solidago altissima. In such a case, the slope in front of the direction of travel to be worked on cannot be seen at all. Weeds cover the front of the remote-controlled work aircraft in the direction of travel, so it is constantly exposed to dangerous situations. That is, there is a danger that a dangerous place covered with weeds, for example, a dangerous place such as an unevenness or a large stone is hidden on the slope, and the tilt angle of the remote control work machine body suddenly changes and the machine falls over. Therefore, it is required to quickly respond to the tilt angle of the remote control work machine main body.
As described in Patent Document 1, there is a device that displays the tilt angle on the display of the remote control controller, but since the operator operates while looking at the remote control work machine, he looks at the display of the remote control controller at hand. Infrequently, the tilt angle was sometimes not well communicated to the operator. In particular, even if there was a sudden change in the tilt angle, the response was likely to be delayed.
Moreover, it is not desirable to take your eyes off the remote control aircraft during maneuvering.

An object of the present invention is to convey the tilt angle of the remote control work machine main body to the operator without hindering the remote control.

The present invention includes a remote control work machine main body, a signal light, and a signal light control unit, and the remote control work machine main body has a detector for detecting an inclination angle of the remote control work machine main body, and the detector is inclined. The angle information is output, the signal light control unit receives the tilt angle information, outputs a blinking signal for turning on the signal light at blinking intervals according to the tilt angle information, and the signal light is sent to the remote control work machine main body. The problem was solved by making the remote control work machine provided, which receives the blinking signal and lights up at the blinking interval to notify the tilt angle.

A detector and a signal light that output the tilt angle are provided in the main body of the remote control work machine that is remotely controlled, and the signal light notifies the tilt angle so that the operator who operates while looking at the remote control work machine can display it on the display at hand. I was able to know the tilt angle of the remote-controlled work equipment without having to shift my eyes, and I was able to respond quickly.

(A) Perspective view of remote-controlled work machine (remote-controlled mower) (B) Perspective view of control controller Conceptual diagram of the signal light control unit of the first embodiment Other Aspect 1 Conceptual diagram of signal light control unit Conceptual diagram of the signal light control unit of another aspect 2. (A) (a) Perspective view of the signal lamp of the second embodiment and installed upright (A) (b) Perspective view of the signal lamp of the second embodiment and installed by tilting (B) ) Perspective view of the remote-controlled working machine (remote-controlled mower) of the second embodiment.

The blinking interval referred to in the present invention refers to an interval that is the sum of the length of time that the light is on and the length of time that the light is off. It includes those with a short lighting time and a long lighting time, and those with various lengths including the lighting time and the extinguishing time.
(Example 1)
[Working machine]
The remote-controlled work machine 1 may be a civil work machine such as a bulldozer, or a transport work machine that carries agricultural products such as fruits on a loading platform, and any type of work machine can be used as long as it is remotely controlled. No.
FIG. 1 is a perspective view of a remote-controlled work machine 1 (remote-controlled mower). In the first embodiment, the remote control work machine 1 is a mowing machine, and the remote control work machine 1 is composed of a remote control work machine main body 11 and a mowing unit which is a work unit 12. In a work machine such as an agricultural product carrier suitable for transportation in a mountainous area, there is a remote control work machine 1 which has only a loading platform and does not have a work unit 12, but this is also a remote control work machine 1 in the present invention. It is included in the control work machine 1, and in this case, the remote control work machine 1 itself becomes the remote control work machine main body 11.
Further, the work unit 12 may be in front of, behind, sideways, or directly below the remote control work machine main body 11, and the location is appropriate depending on the type of the remote control work machine 1. For example, in the case of a mower, a mower having a mowing device serving as a working unit 12 provided in front of, behind, to the side of, or directly under the remote control working machine main body 11 is sold.

[Arrangement of guard bar and signal light]
It is preferable that the guard bar 13 is arranged above or around the remote control work machine main body 11 so as to protect the remote control work machine main body 11 when the inclined surface is overturned.
Further, a signal light 2 is provided at a place where the remote control work machine main body 11 is easily visible. The signal light 2 is preferably provided in a place protected by a guard bar 13 or another member (for example, a crawler), but if the card bar 13 is not provided, the signal light 2 may be embedded in a vehicle body cover or has a high durability. It can also be dealt with by using.
In the first embodiment, as the signal light 2, the first signal light 21 and the second signal light 22 are provided on the upper portion 15 of the working machine main body 1. The first signal light 21 and the second signal light 22 on the upper portion 15 are arranged so as to be displaced in the front-rear direction and to be displaced in the left-right direction of the work machine main body 1. This is to prevent the first signal light 21 and the second signal light 22 from overlapping and being seen from the side or the rear of the remote control work machine main body 11.
Apart from the signal light 2 provided at the upper part, the first signal light 21 and the second signal light 22 are also provided on the left and right side portions 16 of the remote control work machine main body 11.
Further, although not shown, a first signal light 21 and a second signal light 22 are also provided at the rear of the remote control work machine main body 11. Regardless of the direction in which the remote control work machine 1 is facing, the signal light 2 provided at any position can be seen, and the first signal light 21 and the second signal light 22 are devised so that they cannot be seen overlapping. So it is easy to maneuver.
The signal lamp 2 may be one capable of emitting a blinking signal such as a flashlight so that it can be seen even from a distance.

[Detector and signal light control unit]
As shown in FIG. 1, a detector 4 and a signal light control unit 3 are provided in the remote control work machine main body 11. The detector 4 detects the inclination angle of the work machine main body 1, and may be provided anywhere in the remote control work machine main body 11 or may be provided inside the remote control work machine main body 11.
Similarly, the signal light control unit 3 may be provided anywhere in the remote control work machine main body 11. Further, the signal light control unit 3 may exist as a module on software, does not have to exist as a tangible object, may be distributed, and is provided on the control controller 9 side to control the signal light 2 by communication. You may.

[Remote control controller]
FIG. 1B is a perspective view of the control controller 9. The control controller 9 is provided with a forward / reverse stick 91 on the left and a left / right turn stick 92 on the right. Further, a cutting blade operation button 94 is arranged. Various information can be displayed on the display 95. The emergency stop button 93 is for making an emergency stop in an emergency such as when the remote control work machine 1 falls over.
Further, an inclination display button 96 is provided, and when pressed, the inclination angle of the work machine main body 1 currently detected by the detector 4 is displayed on the display 95, and the signal light 2 is blinked in the manner described later to make the inclination angle. Is to be notified.

[Blinking control by signal light control unit]
FIG. 2 is a conceptual diagram of the signal light control unit of the first embodiment. In the embodiment of the first embodiment, one signal lamp 2 is used to notify the tilt angle by blinking. When the detector 4 detects the tilt angle, the tilt angle information 42 is output to the signal light control unit 3. The signal light control unit 3 that has received the tilt angle information 42 receives numerical information on the tens digit (large digit digit) of the tilt angle digit and the one digit (small digit digit) of the digit in the preprocessing unit 33. It is divided into the numerical information of the above and output to the blinking control unit 31. The blinking control unit 31 represents the tens place by the number of lights at the lighting interval of the slow blinking speed (the lighting interval is long), and the ones place by the number of lights of the lighting interval of the fast lighting speed (the lighting interval is short). A blinking signal 34, which is a combination of the number of lights in the tens place and the number of lights in the ones place, is output to the signal lamp 2. The operator can know the inclination angle from the combination of the number of lightings of the blinking interval of the slow speed and the fast speed of the signal light 2.

Note that FIGS. 2, 3 and 4 are conceptual diagrams, and the internal processing in the signal light control unit 3 is not limited to these drawings. For example, even if there is no such thing as a preprocessing unit 33 or a blinking control unit 31, the signal light control unit 3 receives the tilt angle information 42, and the number of lights in the tens place and the number of lights in the ones place Anything that outputs the combined blinking signal 34 is included. These figures are just a conceptualization of the function.

[Other aspects of blinking control by the signal light control unit 1]
FIG. 3 is a conceptual diagram of the signal light control unit 3 of another aspect 1. If the description overlaps with that of the first embodiment, the description will be omitted. The other aspect 1 is one of the modes in which the inclination angle is constantly notified by using the two signal lights 2. The signal light control unit 3 is provided with a setting unit 35 for receiving the setting angle information 351. The set angle information 351 may be sent from anywhere, but it is preferable to input and send the tilt angle using the soft keys displayed on the display 95 of the control controller 9.
The operator transmits the set angle information 351 including the set predetermined tilt angle to the signal light control unit 3. The setting unit 35 stores the received set angle information 351 and sends the set angle information 351 to the blinking control unit 31. For example, the set predetermined tilt angle may be a tilt angle that signals danger. Further, in addition to the set predetermined tilt angle, the rate of change of the sharp tilt angle may be included in the set angle information 351. Various information about the angle can be included in the set angle information 351.

Further, the setting unit 35 has a table of the relationship between the speed and the tilt angle of the remote control work machine 1, and detects a set predetermined tilt angle obtained from the received set angle information 351 at a speed (not shown). It may be increased or decreased according to the speed obtained from the device and sent to the blinking control unit 31. This is because if the speed is high, it is easy to fall and the dangerous tilt angle changes.

The operation of the preprocessing unit 33 is the same as that of the first embodiment, and the inclination angle is divided into tens digit numerical information and tens digit numerical information and output to the blinking control unit 31. When the blinking control unit 31 exceeds the inclination angle included in the set angle information 351 (for example, when it exceeds 45 °), the blinking control unit 31 emits a red light to notify that the area has entered a dangerous inclination angle area. The blinking signal 34, which is a combination of the number of lights in the tens digit and the number of lights in the ones digit, is output to the signal lamp 21 as in the first embodiment.
On the other hand, in the area less than the inclination angle (for example, less than 45 °) included in the set angle information 351, the blinking control unit 31 emits a second light to notify that the area has a safe inclination angle. The blinking signal 34, which is a combination of the number of lights in the tens digit and the number of lights in the ones digit, is output to the signal lamp 22 as in the first embodiment. By properly using the first signal light 21 and the second signal light 22 according to the degree of danger, the operator can be made to recognize the degree of danger of falling.
Of course, the set angle information 351 does not need to be set as a dangerous inclination angle, and is for notifying when there is a portion that impairs the aesthetic appearance such as a convex portion on a slope that is neatly leveled at a constant inclination angle. The tilt angle may be set to.

[Other aspects of blinking control by the signal light control unit 2]
The other aspect 2 is a modified aspect of the other aspect 1. If the tilt angle is constantly notified in a non-hazardous place, the operator becomes accustomed to the tilt angle notification. In order to draw attention when it is really dangerous, the tilt angle may not be notified on an inclined surface that is not a dangerous tilt angle.
As in the other aspect 1, the set angle information 351 is sent to the setting unit 35 as a dangerous tilt angle. The notification may use one signal light 2 or two signal lights 2. When two signal lights 2 are used, for example, if the set angle information 351 is set to 45 °, the blinking control unit blinks when the tilt angle of the remote control work machine 1 approaches 45 °, which is an inclination angle of concern. 31 outputs a blinking signal 34 which is a combination of the number of tens of lights and the number of tens of lights as in the first embodiment to the second signal light 22, and approaches a dangerous tilt angle by blinking the second signal light 22. Let me know that you are. Then, when the inclination angle exceeds 45 °, the blinking control unit 31 outputs a blinking signal 34, which is a combination of the number of lights in the tens place and the number of lights in the ones place, as in the first embodiment, to the first signal lamp 21. As a result, the first signal light 21 starts blinking to notify the operator of the danger.
When one signal light 2 is used, when only the first signal light 21 exceeds the inclination angle of 45 °, the blinking control unit 31 sets the first signal light 21 with the number of lights in the tens place as in the first embodiment. By outputting a blinking signal 34 that is a combination of the number of lights of the order, the first signal light 21 starts blinking, and the operator can be notified of the danger.
Further, the control controller 9 is provided with a tilt display button 96 in case it is desired to know the tilt angle of the current remote control work machine 1. When the tilt display button 96 is pressed, the signal light 2 may notify the current tilt angle regardless of the tilt angle included in the set angle information 351.
[Other aspects of blinking control by the signal light control unit 3]
FIG. 4 is a conceptual diagram of the signal light control unit 3 of another aspect 3. The detector 4 installed in the work machine main body 1 outputs the tilt angle of the remote control work machine main body 11 as the tilt angle information 42. The signal light control unit 3 that has received the tilt angle information 42 divides the tilt angle into tens digit numerical information and tens digit numerical information in the preprocessing unit 33, and controls the tens digit numerical information in the first blinking control. It is sent to unit 311 and the numerical information of the first digit is output to the second blinking control unit 312. The second blinking control unit 312 sends the first blinking signal 341 to the first signal lamp 21 that emits a red light representing the tens digit. The second blinking control unit 31 sends a second blinking signal 342 to the second signal lamp 22 that emits a blue light representing the ones place. As for the first blinking signal 341 and the second blinking signal 342, the larger the numerical value is, the faster the first signal lamp 21 and the second signal lamp 22 are blinked at a faster blinking interval. In the first embodiment, since the inclination angle is notified by using the two signal lights 2 of the first blinking signal 341 and the second blinking signal 342 as one set, the first blinking signal 341 and the second blinking signal 342 are combined. The blinking signal 34 turns on the signal lamp 2 at the blinking interval according to the inclination angle information 42.
The operator can know the tilt angle by the combination of the blinking red light and the blinking blue light.

[Other aspects of blinking control by the signal light control unit 4]
Another aspect 4 is to use two signal lights 2.
In the first embodiment, one signal lamp 2 is used, and lights are lit at a blinking interval of a speed proportional to the tilt angle information 42 so that the slowest blinking interval is obtained when the numerical value is 0 and the fastest blinking interval is obtained when the numerical value is 9. Is what you do. In another aspect 4, a rule is determined, the first signal light 21 and the second signal light 22 are used, and if the operator can roughly know the inclination angle, the blinking interval is changed according to the rule. For example, when 43 ° is the limit inclination angle of the remote control work machine 1, the first digit of the first embodiment is “3” according to the above setting, which is a considerably slow blinking interval. Further, since the remote control work machine 1 has a limit inclination angle of 43 °, it will fall if the tens digit is “5” or more, and the tens digit will not be “5” or more. When giving priority to notifying the degree of danger, when the tens digit is 4 in the blinking interval that originally has 10 steps, the first signal light 21 is set to the fastest blinking interval (the value that is originally "9"). When the tens digit becomes "4" and the ones digit becomes "3", the second signal light 22 is lit at the fastest blinking interval. You may. A worker who knows this rule has a limit inclination angle of 43 ° when both the first signal lamp 21 that emits red light and the second signal lamp 22 that emits blue light blink at the fastest blinking interval. Can be recognized. Then, the blinking is fast and it becomes a notification that it is really dangerous, and it is possible to give the operator a strong impression that it is in a dangerous state.
By using such a rule, it is possible to notify the operator of the inclination angle as well as the degree of danger.

[Other aspects of blinking control by the signal light control unit 5]
As another aspect of notifying the tilt angle by blinking using the signal lamp 2, the numerical value may be notified by the Morse code, and the tilt angle can be notified more accurately. For example, when notifying that the temperature is 43 °, the first signal light 21 indicating the tens place emits a red flashing "...-", and the second signal light 22 indicating the ones place emits "...-". A blue flashing "-" is emitted.
A single signal lamp 2 may be able to notify the tilt angle using Morse code. As described above, the blinking intervals do not have to be the same, and may be any as long as the operator can recognize the tilt angle.

Conventionally, in order to know the tilt angle, it was necessary to look at the display 95 of the control controller 9 at hand. In the present invention, the operator does not need to look at the control controller 9 to know whether or not the tilt angle is dangerous, and can know the tilt angle of the remote control work machine main body 11 while visually observing the remote control work machine 1. It can be done, and when it becomes a dangerous inclination angle, it can be dealt with quickly, operability is improved, and safety is also improved.

It should be noted that the present invention does not prevent the invention from being used in combination with a means for notifying when a dangerous tilted state is caused by a sound such as an alarm. Further, it does not prevent the display 95 from being used together with the means for displaying the tilt angle.

(Example 2)
In the second embodiment, the shape, function, and mounting mode of the signal lamp 2 are different from those in the first embodiment, and the others are unchanged. For the members other than the signal lamp 2, refer to the description of the first embodiment.
5 (A) and 5 (a) are the signal lights 2 of the second embodiment, and are perspective views of the signal lights 2 installed upright. The signal light 2 has a cylindrical shape, has no unevenness on the surface, and has specifications that prevent dust accumulation and water from entering. The signal light 2 is a combination of two lamps, a first signal light 21 (red) and a second signal light 22 (blue). Since the first signal light 21 and the second signal light 22 are integrated, the installation work becomes easier.
FIG. 5B is a perspective view of the remote-controlled working machine 1 (remote-controlled mower) of the second embodiment. A signal light 2 is erected on the upper portion 15 of the remote control work machine main body 11. A signal light 2 is also attached to the side portion 16. The signal light 2 attached to the upper portion 15 is excellent because it can be visually recognized regardless of the direction in which the remote control work machine 1 is facing.
In the case of a mower, it is common to run the remote control work machine 1 along the contour lines to perform the mowing work. The operator often looks at the side 16 side of the remote control work machine 1 that moves along the contour line from a place higher than the remote control work machine 1. As shown in FIG. 5 (B), when the signal light 2 is erected on the side portion 16, the first signal light 21 and the second signal light 22 are likely to overlap and be difficult for the operator to see, but in that case, the signal light 2 stands on the upper portion 15. You can look at the signal light 2 provided. When the remote control work machine 1 moves away from the operator, the side surface of the signal light 2 erected on the side portion 16 becomes visible, and the light emitted from the first signal light 21 and the second signal light 22 can be identified. become able to. Further, if necessary, as shown in FIGS. 5A and 5B, the signal light 2 may be half-embedded in the side portion 16 of the remote control work machine main body 11. In this case, since the signal light 2 is arranged inside the crawler and the guard bar 13, the signal light 2 is less likely to be broken even if the remote control work machine 1 falls.
Further, it may be configured so that it can be bent and fixed in a free direction around the base 23 of the signal lamp 2 shown in FIGS. 5A and 5A. In this case, the operator can change the direction of the signal light 2 to an angle that is easy to see according to his / her work mode. Further, when the remote control work machine 1 falls, when the signal light 2 hits the inclined surface and an impact is applied, the signal light 2 falls sideways around the base 23, so that the signal light 2 retracts into the guard bar 13 to prevent damage. can.

Although the examples and other aspects according to the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to these examples and other aspects, and the gist of the present invention is defined. It is included in the present invention even if there is a design change or the like within a range not deviating from.

The above-described embodiment and other aspects can be combined by diverting the technologies of each other as long as there is no particular contradiction or problem in the purpose and configuration thereof.

1 Remote control work machine 11 Remote control work machine main body 12 Work part 13 Guard bar 15 Upper part 16 Side part

2 Signal light 21 1st signal light 22 2nd signal light 23 base

3 Signal light control unit 31 Blinking control unit 311 1st blinking control unit 312 2nd blinking control unit 33 Preprocessing unit 34 Blinking signal 341 1st blinking signal 342 2nd blinking signal 35 Setting unit 351 Setting angle information

4 Detector 42 Tilt angle information

9 Steering controller 91 Forward / backward stick 92 Left / right turn stick 93 Emergency stop button 94 Cutting blade operation button 95 Display 96 Tilt display button

Claims (6)

Equipped with a remote control work machine body, signal light and signal light control unit,
The remote control work machine main body has a detector for detecting the inclination angle of the remote control work machine main body.
The detector outputs tilt angle information and
The signal light control unit receives the tilt angle information and outputs a blinking signal for lighting the signal light at blinking intervals according to the tilt angle information.
The remote control work machine is characterized in that the signal light is provided on the main body of the remote control work machine, receives the blinking signal, and lights up at the blinking interval to notify the inclination angle. In the blinking signal, the digit with a large tilt angle is represented by the number of lights in the lighting interval with a slow blinking speed, the digit with a small digit is represented by the number of lights with a lighting interval with a fast blinking speed, and the lighting with a large digit is represented. The remote control work machine according to claim 1, wherein the flashing signal turns on the signal light by a combination of the number and the number of lights in the order of a small digit. The signal light control unit has a setting unit that receives set angle information including a set predetermined tilt angle, and when the predetermined tilt angle is exceeded, the number of lights of the large digit and the number of lights of the small digit are reduced. The blinking signal for turning on the signal light is output to the first signal light by a combination of the number of lights, and when the tilt angle is less than a predetermined angle, the combination of the number of lights in the large digit and the number of lights in the small digit is used. The remote control work machine according to claim 2, wherein the blinking signal for turning on the signal light is output to the second signal light. The remote control work machine according to claim 1, wherein the signal light includes a first signal light indicating a digit position having a large inclination angle and a second signal light indicating a digit position having a small inclination angle. The first signal light and the second signal light are arranged on the upper part of the remote control work machine main body so as to be displaced in the front-rear direction of the remote control work machine body and in the left-right direction of the remote control work machine main body. The remote control work machine according to claim 3 or 4, wherein the remote control work machine is characterized by the above. The remote control work machine according to any one of claims 3 to 5, wherein the signal light is a combination of the first signal light and the second signal light.

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