JP2661873B2 - Remotely operated construction vehicle and its emergency operation method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a bulldozer which is remotely controlled by radio in a danger zone where no one can enter.
In unmanned construction with construction vehicles such as hydraulic excavators,
The present invention relates to a remote-controlled construction vehicle capable of escaping a vehicle to a safety zone when the vehicle does not function properly, and to an emergency operation method thereof.

[0002]

BACKGROUND OF THE INVENTION In danger zones where no one can enter, bulldozers that are remotely controlled by wire or wire,
Unmanned construction is performed by construction vehicles such as hydraulic excavators.

For example, when a bulldozer as shown in FIG. 8 is operated by radio, as shown in FIG. 9, the vehicle 1 is equipped with a receiving device 2, an interface 3, and an actuator 4.

[0004] The receiving device 2 includes a signal receiver that receives a radio command signal from a transmitting device 5 operated by a pilot,
It consists of electrical and electronic components such as a relay that processes the command signal and issues an instruction to the next interface 3. The transmitting device 5 and the receiving device 2 constitute a radio device for radio control (hereinafter, referred to as a radio control).

[0005] The interface 3 is typified by an electromagnetic valve, and switches the valve by an electric signal from the receiving device 2 to control the fluid supplied to the actuator 4.

In the example of the bulldozer shown in FIG. 8, the actuator 4 has a working device (a blade 6a, a ripper 6).
b), brakes 6c, hydraulic cylinders, hydraulic motors, hydraulic valves, pneumatic valves, etc. that operate devices necessary for operating and manipulating the vehicle, such as the lift cylinder 4a for blades and the lift cylinder 4b for ripper. Is done.

[0007]

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

In such an emergency, the working devices (the blades 6a and the ripper 6b) may be in a state where they cannot be towed (covering the soil), and the vehicle may fail due to fail-safe concept. Since the brake 6c is applied so as not to move, the other vehicle cannot tow the faulty vehicle to move to the repair place.

[0009] Remote control by radio has a major purpose of operating a vehicle in a poor environment such as high temperature, toxic gas, or poor terrain where people cannot approach, and in some cases, an expensive vehicle must be left unattended. It may not be possible.

The present invention has been made in view of the above points, and in remote control of a construction vehicle such as a bulldozer or a hydraulic excavator by radio, an emergency such as a failure of a wireless device or a failure of a vehicle body causes an emergency. Even if a remote control is impossible with a normal wireless device, a remote-controlled construction vehicle that can quickly escape the vehicle from an unmanned construction zone where entry of workers is restricted and its emergency It is intended to provide an operation method.

[0011]

According to 請 Motomeko 1 [SUMMARY OF] invention, the construction vehicle to be subjected to remote control by unmanned construction based on a command signal received by the radio, the normal receiving said command signal This is a remote-controlled construction vehicle equipped with an emergency receiving device in addition to the receiving device, and also equipped with an emergency power unit controlled through the emergency receiving device in addition to a normal power source.

[0012] According to a second aspect of the invention, the remote control type of construction vehicle according to claim 1, the power unit of the emergency, through an interface that is controlled by a command signal from the receiver of emergency, the construction vehicles This is a configuration in which the actuator for operating the equipped working device is connected to the working device release side and the brake release side.

According to a third aspect of the present invention, in a method of operating a construction vehicle which is remotely controlled based on a command signal received wirelessly and is provided for unmanned construction, a wireless command signal transmitted from a normal transmission device is transmitted. When the normal receiving device mounted on the vehicle receives the signal and controls the operation of the vehicle, and a trouble occurs in the normal receiving device, the wireless command signal transmitted from the emergency command device is mounted on the vehicle. This is an emergency operation method for a remotely operated construction vehicle in which the operation of the vehicle is controlled by receiving the emergency reception device and the vehicle is moved to a safe position.

According to a fourth aspect of the present invention, in a method of operating a construction vehicle which is remotely operated based on a command signal received wirelessly and is provided for unmanned construction, a wireless command signal transmitted from a normal transmitting device is transmitted. , Control the operation of the vehicle by receiving it with a normal receiving device mounted on the vehicle, and if a trouble occurs in the normal power source centering on the engine, by the radio command signal transmitted from the emergency commander The emergency power unit mounted on the vehicle is operated via the emergency receiving device mounted on the vehicle, and the working device mounted on the vehicle is driven by the power supplied from the emergency power unit. Operates to an open position that does not hinder movement,
This is an emergency operation method for a remote-controlled construction vehicle in which a brake is released and a trouble-causing vehicle is towed to a safe position by a tow vehicle remotely controlled by radio.

According to a fifth aspect of the present invention, in the emergency operation method for a remotely controlled construction vehicle according to the fourth aspect , the towing portion mounted on the towing vehicle is engaged with the trouble-occurring vehicle.
This is a method of towing the troubled vehicle to a safe place.

[0016]

[Action] 請 Motomeko invention described in 1, in a state where the conventional power source not move the vehicle to stop, by driving the power unit of the emergency, to retract the vehicle to a safe position.

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

According to the third aspect of the present invention, the operation of the vehicle is normally controlled by receiving the radio command signal transmitted from the normal transmitting device by the normal receiving device mounted on the vehicle. When a trouble occurs, the emergency command device sends an emergency wireless command signal to the emergency receiving device mounted on the vehicle, and moves the vehicle to a safe position to deal with the trouble.

According to a fourth aspect of the present invention, when a trouble occurs in the engine or the like, the emergency radio command signal transmitted from the emergency command device is transmitted via the emergency receiving device mounted on the vehicle. The power unit is operated to operate the working device mounted on the vehicle to an open position that does not hinder the movement of the vehicle and release the brake. Then, the troubled vehicle is towed to a safe position by a towed vehicle remotely controlled by radio, and the trouble spot is inspected and repaired.

According to a fifth aspect of the present invention, the bulldozer is improved to be a tow vehicle, and the tow portion is engaged with the trouble-occurring vehicle, tow to a safe place, inspect and repair.

[0021]

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

As shown in FIG. 1, a construction vehicle 11 such as a bulldozer or a hydraulic shovel, which is remotely operated by radio and provided for unmanned construction, is provided with a normal receiving device for receiving a radio command signal from a normal transmitting device 12. 13 plus emergency commander
An emergency receiving unit 15 that receives a wireless command signal from 14 is mounted, and in addition to a normal power source 16, an emergency power unit 17 controlled through the emergency receiving unit 15 is mounted.

An ordinary power source 16 includes a main engine 18 and a hydraulic source 19 composed of a hydraulic pump or the like driven by the engine.
And supplies hydraulic oil to an actuator 23 and a brake 24 that operate a working device 22 mounted on the construction vehicle through an interface 21 controlled by a command signal from a normal receiving device 13.

The emergency power unit 17 is a hydraulic power source driven by a battery 25 mounted on the vehicle as a power source. Hydraulic oil is supplied to the working device release side of the actuator 23 that operates the working device 22 mounted on the vehicle and the release side of the brake 24. The battery 25 may be replaced by an auxiliary engine.

FIG. 2 shows an operation panel 14a of an emergency commander 14 for remotely controlling a bulldozer in an emergency. A horn switch 31, an engine start switch 32, a brake on / off switch 33, a ripper Lift switch 34,
A blade raising switch 35, a vehicle left turning switch 36, a vehicle forward switch 37, and a vehicle right turning switch 38 are provided, respectively.
9. Emergency brake release switch 40, emergency ripper raising switch 41, ripper lowering switch 42, blade lowering switch 43, governor high / low switch 44, vehicle reverse switch 45 are provided, respectively. A release indicator lamp 46, an engine stop switch 47, a tuning switch 48, a battery exhaustion indicator lamp 49, a power lamp 50, a power on switch 51, a power off switch 52, and a governor high status indicator lamp 53 are provided, respectively.

The emergency blade raising switch 39, the emergency brake release switch 40, the emergency ripper raising switch
Reference numeral 41 denotes an operation switch required for towing the vehicle when the engine is stopped.

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

When the electromagnetic valve 67 is in the closed position shown in FIG. 3, even if the emergency power unit 17 is driven, no oil is drained from the lift cylinders 23a and 23b. 23a and 23b do not operate. At this time, the hydraulic oil discharged from the hydraulic pump 63 returns to the low pressure side via the relief valve 64.

On the other hand, from the emergency receiving device 15 to the electromagnetic valve
When a command signal is input to the solenoid of 67 and the electromagnetic valve 67 is opened, the hydraulic oil supplied from the emergency power unit 17 operates in the direction in which the rods of the lift cylinders 23a and 23b retract, and the bulldozer shown in FIG. Then, the blade 22a and the ripper 22b as the working devices are floated from the ground so as to be in an open posture that does not hinder the movement of the vehicle.

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

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

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

The inner surface of the tip of such a towing frame 83
83b is engaged with the ripper 22b of the trouble-producing vehicle A as described above and is towed. The hook 89 at the tip engages with another part of the vehicle in which the trouble has occurred.

For example, when the towing vehicle B itself becomes immobile due to an engine trouble, it is towed by another towing vehicle B. At this time, the leading inner surface 83b of one towing frame 83 and the other towing frame 83 are towed. Tip hook 89
Are mutually engaged, one towing vehicle B can tow the other towing vehicle B. Furthermore, this tip hook
The 89 may be hooked on the tip of the bucket of the hydraulic shovel in which the engine trouble has occurred to be pulled.

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

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

At failure level 1 where only the normal transmission device 12 fails and the vehicle cannot move (step 5),
The normal transmitting device 12 is replaced with a spare one (step 6), and the operation of the vehicle is continuously controlled by the spare transmitting device (step 2).

At failure level 2 where only the normal receiving device 13 fails and the vehicle cannot move (step 7),
Turn on the emergency commander and turn on the normal transmitter
Turn off 12 and receive the emergency command signal from the emergency command machine 14 with the emergency receiving device 15, instruct the signal to the interface 21, drive the actuator 23 with the normal power source 16, and Is moved to a safe place by itself (Step 8), and the failed part is repaired (Step 9).

On the other hand, at failure level 3 where vehicle A cannot be moved due to trouble of power source 16 such as failure to start engine 18 due to failure of the vehicle body (step 10),
The emergency power unit 17 is driven by the battery 25 mounted on the vehicle by using the emergency command device 14 and the emergency receiving device 15, and the blade 22a and the ripper 22b as working devices mounted on the vehicle are used. The lift cylinder 23a,
23b, the vehicle lifts up to an open position from the ground that does not hinder the vehicle movement, releases the brake 24, and then tow the trouble-causing vehicle A to a safe position by another tow vehicle B remotely operated by radio ( Step 11), repair the failed part (Step 9).

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

FIG. 7 shows another example of the present invention.
If a trouble occurs in the normal power source of the excavator a, it is mounted on the excavator a via an emergency receiving device mounted on the excavator a by a wireless command signal transmitted from the emergency commander. The operated emergency power unit is operated to raise the front work machine 91 of the excavator a from the ground and release the brake of the traveling system. The bulldozer b, which is remotely controlled by radio, is used as a towing vehicle. The upper part of the blade 93 is hooked on the tip of the bucket 92 from below the bucket 92 of the front work machine 91, and the bulldozer b moves the excavator a to a safe position. Towing up.

[0042]

According to the invention described in 請 Motomeko 1 according to the present invention, even if the normal power source not move the vehicle to stop, by driving the power unit of the emergency, safety position of the vehicle Can be evacuated to

According to the second aspect of the present invention, the emergency power unit is driven to release the working device from the ground and release the brake, so that the working device for the ground such as a bulldozer or a hydraulic excavator can be used. Even a construction vehicle having the same can be easily moved by another vehicle.

According to the third aspect of the present invention, even when a trouble occurs in the normal receiving device, the vehicle is moved to the safe position using the emergency commander and the emergency receiving device mounted on the vehicle. It is possible to deal with the trouble of the receiving device.

According to the fourth aspect of the present invention, even when a trouble occurs in the engine of the vehicle or the like, the emergency power unit is operated by the emergency radio command signal to move the working device of the vehicle to the vehicle. By operating the vehicle to an open position that does not hinder the vehicle and releasing the brake, the vehicle in which this trouble has occurred can be towed to a safe position by another remotely operated tow vehicle, and the trouble spot can be inspected and repaired.

According to the fifth aspect of the present invention, the traction portion provided on the bulldozer is engaged with the vehicle in which trouble has occurred,
It can be pulled to a safe place without fail.

[Brief description of the drawings]

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

FIG. 2 is an arrangement diagram of switches showing an operation panel of an emergency command device for remotely controlling the vehicle.

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

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

FIG. 5 is a perspective view showing a towing frame of the towing vehicle for towing the trouble occurrence vehicle;

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

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

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

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

[Explanation of symbols]

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

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tamotsu Konishi 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction Co., Ltd. (72) Inventor Masanori Ishii 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction (72) Inventor Susumu Miyake 10-9, Nihonbashi Kobuna-cho, Chuo-ku, Tokyo Mountain ▲ Saki ▲ Construction Co., Ltd. (72) Inventor Hisao Masuko 10-9, Nihonbashi-Kofuna-cho, Chuo-ku, Tokyo Yama ▲ Saki ▲ Construction Co., Ltd. (72) Inventor Naoki Okamoto 10-9, Nihonbashi Kobunacho, Chuo-ku, Tokyo Mountain ▲ Saki ▲ Construction Co., Ltd. (72) Inventor Murase Tatsuya 4-1-1 Yoga, Setagaya-ku, Tokyo New Inside Caterpillar Mitsubishi Corporation (72) Inventor Shigeru Yamaguchi 4-10-1, Yoga, Setagaya-ku, Tokyo New Inside Caterpillar Mitsubishi Corporation (72) Inventor Megumi Nakachi Kana Kanagawa Caterpillar Mitsubishi Construction Machinery Sales Co., Ltd. (72) Inventor Masaki Odagiri 1-2-2 Shin-Yokohama, Kohoku-ku Yokohama-shi, Kanagawa Prefecture (56) References JP-A-1-290830 (JP, A) JP-A-2-2000 (JP, A) Nishimatsu Construction Technical Report VOL18 PP93-100 (1995) Robotics and Mechatronics lecture by the Japan Society of Mechanical Engineers Proceedings Vol. 1995 PP 1224-1227 (1995)

Claims (5)

(57) [Claims] 1. A construction vehicle which is remotely operated based on a command signal received wirelessly and is provided for unmanned construction, comprising an emergency receiving device in addition to a normal receiving device for receiving the command signal. And a remote-controlled construction vehicle equipped with an emergency power unit controlled through an emergency receiving device in addition to a normal power source. 2. A work equipment release side of an actuator for operating a work equipment mounted on a construction vehicle, and a release of a brake, through an interface controlled by a command signal from an emergency reception device. The remotely operated construction vehicle according to claim 1, wherein the construction vehicle is connected to a side. 3. A method of operating a construction vehicle which is remotely operated based on a command signal received by radio and is provided for unmanned construction, comprising: transmitting a radio command signal transmitted from a normal transmitting device to a normal vehicle mounted on the vehicle. Control the operation of the vehicle by receiving it with the receiving device, and if a trouble occurs in the normal receiving device, the wireless command signal transmitted from the emergency command device is sent to the emergency receiving device mounted on the vehicle. An emergency operation method for a remotely controlled construction vehicle, wherein the operation of the vehicle is controlled and the vehicle is moved to a safe position. 4. A method of operating a construction vehicle which is remotely operated based on a command signal received by radio and is provided for unmanned construction, comprising: transmitting a radio command signal transmitted from a normal transmission device to a vehicle mounted on a vehicle; Control the operation of the vehicle in the event of a problem with the normal power source centering on the engine, the radio command signal sent from the emergency commander will After operating the emergency power unit mounted on the vehicle via the receiving device for the vehicle, the power supplied from the emergency power unit moves the working device mounted on the vehicle to an open position that does not hinder vehicle movement. In the emergency of a remotely controlled construction vehicle, which operates, releases the brakes, and tow the troubled vehicle to a safe position by a tow vehicle remotely controlled by radio. Operation method. 5. The remotely steerable construction vehicle according to claim 4, wherein the towing unit mounted on the towing vehicle is engaged with the trouble occurrence vehicle, and the trouble occurrence vehicle is towed to a safe place. Emergency service method.