Remote control system for work machine

Abstract

To control a work machine stably by preventing interference on a receiving device side even when a number of radio control devices increases in a remote control system for a work machine.SOLUTION: When a first radio control device 12A generates a first serial signal from the digital data of a first operation signal that it has generated, it generates the first serial signal by combining the digital data of the first operation signal generated by itself and the digital data of a second operation signal transmitted from a second radio control device 12B, and wirelessly transmits this first serial signal to a hydraulic excavator 100.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a remote control system for a work machine, which remotely controls a work machine such as a hydraulic excavator by using a radio control device. [Background technology]

[0002] When operating work machines such as hydraulic excavators in operating areas where humans cannot directly enter, such as recovery work at disaster sites or decontamination work in radioactively contaminated areas, remote control systems are used that transmit operating signals from a radio control device to the work machine to remotely operate the work machine, and an example of such a remote control system is described in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-44541 A Summary of the Invention [Problem to be solved by the invention]

[0004] When remotely operating a work machine using a remote control system, one radio control device is usually used for each work machine, but when operating a work machine with many actuators or when two work machines are combined to perform work, two radio control devices may be used to operate the work machines. In such cases, when there are multiple work machines operating within the same operating area, such as in recovery work at a disaster site, the number of radio control devices used within the same operating area increases, and accordingly the number of communication frequency channels used in the same operating area increases.

[0005] Here, when multiple communication frequency channels are used in the same operating area, as the number of communication frequency channels increases, interference (third-order intermodulation interference) may occur on the receiving device side, making stable control impossible. For example, in the 429.2500MHz to 429.7375MHz frequency band for specific low-power radio allocated for remote operation of construction machinery, 40 communication frequency channels can be used, but if seven or more communication frequency channels are used simultaneously in the same operating area, interference will occur and stable control will be impossible.

[0006] The object of the present invention is to provide a remote control system for a work machine that can prevent interference on the receiving device side and can stably control the work machine even when the number of radio control devices is increased. [Means for solving the problem]

[0007] In order to achieve the above object, the present invention provides a remote control system for a work machine comprising a first radio control device having a plurality of first operating levers, converting a first operating signal generated by operation of the plurality of first operating levers into digital data to generate a first serial signal, and transmitting the first serial signal wirelessly, and a first receiving device installed on a first work machine, receiving the first serial signal transmitted from the first radio control device, and extracting digital data of the first operating signal from the first serial signal, the first work machine further comprising a second radio control device having at least one operating member, converting a second operating signal generated by operation of the operating member into digital data to generate a second serial signal, and transmitting the second serial signal to the first radio control device via a communication cable, the first radio control device extracting the digital data of the second operating signal from the second serial signal transmitted from the second radio control device, combining the generated digital data of the first operating signal and the digital data of the second operating signal to generate the first serial signal, and transmitting the first serial signal wirelessly.

[0008] In this way, the second serial signal of the operation signal is sent from the second radio control device to the first radio control device via a communication cable, and in the first radio control device, the digital data of the second serial signal sent from the second radio control device is combined with the digital data of the generated first operation signal to generate a first serial signal, which is then transmitted wirelessly to the receiving device of the work machine.Even if the number of radio control devices is increased, the operation signal can be transmitted wirelessly without increasing the number of communication frequency channels, preventing interference on the first receiving device side and enabling stable control of the first work machine. Effect of the Invention

[0009] According to the present invention, even if the number of radio control devices increases, the operating signal can be transmitted wirelessly without increasing the communication frequency, preventing interference on the receiving device side and enabling stable control of the work machine. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing the overall configuration of a remote control system for a work machine according to a first embodiment of the present invention. [Diagram 2] FIG. 1 is a diagram showing a dual-arm hydraulic excavator which is a work machine remotely controlled by first and second radio control devices. [Figure 3A] FIG. 2 is a top view of the first and second radio control devices. [Figure 3B] FIG. 2 is a perspective view of the first and second radio control devices. [Figure 4] FIG. 4 is a diagram showing the relationship between the operation direction of the control lever of the first wireless control device and the operation of the hydraulic excavator. [Diagram 5] FIG. 4 is a diagram showing the relationship between the operation direction of the control lever of the second radio control device and the operation of the hydraulic excavator. [Figure 6] 4A to 4C are diagrams illustrating the operation of a hydraulic excavator corresponding to the operating directions of the control levers of a first radio control device and a second radio control device. [Figure 7A] FIG. 2 is a diagram showing the internal configurations of first and second radio control devices, a receiving device, and a controller. [Figure 7B] FIG. 2 is a diagram showing a configuration of a hydraulic circuit provided in a hydraulic excavator. [Figure 8] 10 is a flowchart showing a processing function of a CPU according to a first serial signal generation program. [Figure 9] 10 is a flowchart showing a processing function of a CPU according to a second serial signal generation program. [Figure 10] 2 is a diagram showing the data structure of a serial signal generated by a CPU of a first radio control device and a CPU of a second radio control device. FIG. [Figure 11] 1A and 1B are diagrams showing a state when a radio control device before setting is set as a first and second radio control device. [Figure 12] 4 is an explanatory diagram showing details of a procedure for setting a radio control device as a first and a second radio control device by a setting device. FIG. [Figure 13] FIG. 5 is a diagram showing the overall configuration of a remote control system for a work machine according to a second embodiment of the present invention. [Figure 14] FIG. 4 is a diagram showing a work machine according to a second embodiment of the present invention. [Figure 15] 2 is a diagram showing the data structure of a serial signal generated by a CPU of a first radio control device and a CPU of a second radio control device. FIG. [Figure 16] FIG. 11 is a diagram showing the overall configuration of a remote control system for a work machine according to a third embodiment of the present invention. [Figure 17] FIG. 1 is a diagram showing two work machines, a hydraulic excavator and a crawler carrier, which are remotely controlled by first and second radio control devices. [Figure 18] FIG. 4 is a diagram showing the relationship between the operation direction of the control lever of the first wireless control device and the operation of the hydraulic excavator. [Figure 19] 6 is a diagram showing the relationship between the operation direction of the control lever of the second radio control device and the movement of the crawler carrier. FIG. [Figure 20] 2 is a diagram showing the data structure of a serial signal generated by a CPU of a first radio control device and a CPU of a second radio control device. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0012] <First embodiment> The first embodiment of the present invention relates to a case in which there is one remotely controlled work machine, which is a dual-arm hydraulic excavator equipped with two working implements.

[0013] ~Overall composition~ FIG. 1 is a diagram showing the overall configuration of a remote control system for a work machine according to a first embodiment of the present invention.

[0014] In FIG. 1, the remote control system of this embodiment includes a first radio control device 12A, a second radio control device 12B, a receiving device (first receiving device) 13 installed on a dual-arm hydraulic excavator 100, and a controller 14.

[0015] The first radio control device 12A and the second radio control device 12B are carried and operated by different operators at positions away from the hydraulic excavator 100 to remotely control the hydraulic excavator 100.

[0016] The first wireless control device 12A has a plurality of first control levers 12a-12e, and generates a first operation signal according to the operation direction and operation amount of the first control levers 12a-12e by operating the first control levers 12a-12e. The first wireless control device 12A converts the generated first operation signal into digital data to generate a first serial signal, and wirelessly transmits the first serial signal to the hydraulic excavator 100.

[0017] Similarly, the second wireless control device 12B has a plurality of second control levers 22a-22e, and generates second operation signals according to the operation direction and operation amount of the second operation levers 22a-22e by operating the second operation levers 22a-22e. The second wireless control device 12B converts the generated second operation signals into digital data to generate second serial signals, and transmits the second serial signals to the first wireless control device 12A via the communication cable 16. When generating a first serial signal from the digital data of the first operation signal generated by the first wireless control device 12A, the first wireless control device 12A combines the digital data of the first operation signal generated by the first wireless control device 12A with the digital data of the second operation signal transmitted from the second wireless control device 12B to generate a first serial signal, and transmits the first serial signal to the hydraulic excavator 100 wirelessly.

[0018] The receiving device 13 installed in the hydraulic excavator 100 receives the first serial signal transmitted from the first wireless control device 12A and extracts the digital data of the first operation signal from the first serial signal. At this time, since there is only one hydraulic excavator 100 (work machine) to be remotely controlled in this embodiment, the receiving device 13 extracts both the digital data of the first operation signal and the digital data of the second operation signal from the serial signal. Then, the controller 14 generates a control signal based on the digital data of the first operation signal and the digital data of the second operation signal, and controls the driving of the corresponding actuator of the hydraulic excavator 100.

[0019] In the following, the "first operating lever" and the "second operating lever" may each be simply referred to as the "operating lever."

[0020] ~Work Machines~ FIG. 2 is a diagram showing a dual-arm hydraulic excavator, which is a work machine remotely controlled by first and second radio control devices 12A, 12B.

[0021] In Figure 2, a dual-arm hydraulic excavator 100 comprises a running body 101, a rotating body 102 rotatably mounted on the running body 101, and two work machines 103, 104 mounted on the front of the rotating body 102 so as to be rotatable in the vertical direction.

[0022] The running body 101 is equipped with left and right crawler-type running devices 101a, 101b (right running device 101b is not shown), and the left and right running devices 101a, 101b are driven by left and right running motors 101c, 101d (right running motor 101d is not shown) to propel the hydraulic excavator 100.

[0023] The rotating body 102 is equipped with a cabin 102a forming a driver's cab, and an engine and hydraulic equipment such as a hydraulic pump are mounted in a main body portion 102b other than the cabin 102a. The above-mentioned receiving device 13 and controller 14 are disposed in appropriate positions in the main body portion 102b of the rotating body 102. A rotating wheel 106 is disposed in the center of a rotating frame that forms the base of the rotating body 102, and the rotating body 102 rotates on the running body 101 by a rotating motor (not shown) provided on the rotating wheel 106.

[0024] The work machine 103 is a work machine serving as the main arm located on the right side of the cabin 102a, and is equipped with a boom 103a, an arm 103b, an attachment 103c, as well as a boom cylinder 103d, an arm cylinder 103e, and an attachment cylinder 103f which rotate the boom 103a, the arm 103b, and the attachment 103c in the vertical direction.

[0025] The work machine 104 is a work machine serving as a secondary arm located in front of the cabin 102a, and is equipped with a boom 104a, an arm 104b, an attachment 104c, as well as a boom cylinder 104d, an arm cylinder 104e, and an attachment cylinder 104f which rotate the boom 104a, the arm 104b, and the attachment 104c in the vertical direction.

[0026] Further, the work machine 104 serving as a sub-arm is of a swing type, and the base end of the boom 104a is attached to a swing post 102c so as to be rotatable in the vertical direction, and the swing post 102c is rotatable in the horizontal direction by a swing cylinder (not shown).

[0027] Furthermore, while a normal single-arm hydraulic excavator is equipped with a bucket as an attachment, the dual-arm hydraulic excavator 100 according to this embodiment is equipped with a hydraulic grapple capable of rotating and opening and closing the claws as the attachment 103c of the work machine 103, and a hydraulic cutter capable of rotating and opening and closing the blades as the attachment 104c of the work machine 104. The hydraulic grapple 103c and the hydraulic cutter 104c each have an actuator for opening and closing and an actuator for rotation, and a pair of claws and blades can be opened and closed, and the entire attachment can rotate with respect to the ends of the arms 103b and 104b around the axes Z1 and Z2 (see FIG. 6).

[0028] ~Radio Control Device~ FIG. 3A is a top view of the first and second radio control devices 12A and 12B, and FIG. 3B is a perspective view of the first and second radio control devices 12A and 12B.

[0029] In Figures 3A and 3B, the first wireless control device 12A has at least five operating levers 12a, 12b, 12c, 12d, and 12e on the upper operation panel surface, and the operator operates these operating levers to wirelessly transmit operation signals to the hydraulic excavator 100, thereby remotely controlling the work equipment 103 of the hydraulic excavator 100.

[0030] The second radio control device 12B, like the first radio control device 12A, has at least five operating levers 22a, 22b, 22c, 22d, and 22e on the upper operation panel surface, and the operator operates three of these operating levers, 22a, 22b, and 22c, to send operating signals to the first radio control device 12A, which are then transmitted wirelessly to the hydraulic excavator 100 via the first radio control device 12A, thereby remotely controlling the work equipment 103 of the hydraulic excavator 100.

[0031] The first radio control device 12A and the second radio control device 12B are radio control devices of the same specifications, and are configured with the same housing specifications including the first control levers 12a to 12e and the second control levers 22a to 22e.

[0032] The first radio control device 12A and the second radio control device 12B each have a built-in power supply 12f, and are preferably adapted to be equipped with a monitor 12g such as a tablet.

[0033] The operating levers 12a and 12c of the first radio control device 12A are operating devices for controlling the operation of the revolving body 102 of the hydraulic excavator 100 and the boom 103a and arm 103b of the work machine 103 serving as the main arm, and the operating lever 12b is an operating device for controlling the operation of the attachment 103c. Also, the operating levers 12d and 12e are operating devices for controlling the operation of the traveling devices 101a and 101b of the hydraulic excavator 100.

[0034] The operating levers 22a and 22c of the second wireless control device 12B are operating devices for controlling the operation of the swing post 102c of the hydraulic excavator 100 and the boom 104a and arm 104b of the work machine 104 serving as a secondary arm, and the operating lever 22b is an operating device for controlling the operation of the attachment 104c. Also, the operating levers 22d and 22e are operating levers that are not used in this embodiment, and are set not to generate an operating signal even when operated.

[0035] Fig. 4 is a diagram showing the relationship between the operating direction of the control lever of the first radio control device 12A and the operation of the hydraulic excavator 100, and Fig. 5 is a diagram showing the relationship between the operating direction of the control lever of the second radio control device 12B and the operation of the hydraulic excavator 100. Fig. 6 is a diagram showing the operation of the hydraulic excavator 100 corresponding to the operating directions of the control levers of the first radio control device 12A and the second radio control device 12B. In Figs. 4, 5 and 6, "ATT" means attachment.

[0036] In Fig. 4, the operating levers 12a, 12b, and 12c of the first radio control device 12A are two-axis joystick type operating devices, and the operating levers 12a, 12b, and 12c are operated by tilting them in the X direction (positive side [X+] and negative side [X-]) and the Y direction (positive side [Y+] and negative side [Y-]). The operating levers 12d and 12e are one-axis joystick type operating devices, and the operating levers 12d and 12e are operated by tilting them in the Y direction (positive side [Y+] and negative side [Y-]).

[0037] When the operating lever 12a is operated in the X+ direction, the arm 103b of the work machine 103 moves in the cloud direction, when the operating lever 12a is operated in the X- direction, the arm 103b of the work machine 103 moves in the dump direction, when the operating lever 12a is operated in the Y+ direction, the rotating body 102 rotates to the right, and when the operating lever 12a is operated in the Y- direction, the rotating body 102 rotates to the left.

[0038] When the operating lever 12c is operated in the X+ direction, the attachment 103c of the work machine 103 moves in the cloud direction, when the operating lever 12c is operated in the X- direction, the attachment 103c of the work machine 103 moves in the dump direction, when the operating lever 12c is operated in the Y+ direction, the boom 103a of the work machine 103 moves in the lowering direction, and when the operating lever 12c is operated in the Y- direction, the boom 103a of the work machine 103 moves in the raising direction.

[0039] When the operating lever 12b is operated in the X+ direction, the attachment 103c (grapple) of the work machine 103 rotates to the right around the axis Z1, when the operating lever 12b is operated in the X- direction, the attachment 103c (grapple) of the work machine 103 rotates to the left around the axis Z1, when the operating lever 12b is operated in the Y+ direction, the attachment 103c (grapple) of the work machine 103 moves in the opening direction, and when the operating lever 12b is operated in the Y- direction, the attachment 103c (grapple) of the work machine 103 moves in the closing direction.

[0040] When the operating lever 12d is operated in the Y+ direction, the left traveling device 101a moves forward, and when the operating lever 12d is operated in the Y- direction, the left traveling device 101a moves backward. When the operating lever 12e is operated in the Y+ direction, the right traveling device 101b moves forward, and when the operating lever 12e is operated in the Y+ direction, the right traveling device 101b moves backward.

[0041] In FIG. 5, the operating levers 22a to 22c of the second radio control device 12B are also two-axis joystick-type operating devices, and the operating levers 22a, 22b, 22c are operated by tilting them in the X direction (positive side [X+] and negative side [X-]) and the Y direction (positive side [Y+] and negative side [Y-]).

[0042] When the operating lever 22a is operated in the X+ direction, the arm 103b of the work implement 104 moves in the cloud direction, when the operating lever 22a is operated in the X- direction, the arm 103b of the work implement 104 moves in the dump direction, when the operating lever 22a is operated in the Y+ direction, the swing post 102c of the work implement 104 rotates to the right, and when the operating lever 22a is operated in the Y- direction, the swing post 102c of the work implement 104 rotates to the left.

[0043] When the operating lever 22c is operated in the X+ direction, the attachment 104c (cutter) of the work machine 104 moves in the cloud direction, when the operating lever 22c is operated in the X- direction, the attachment 104c (cutter) of the work machine 104 moves in the dump direction, when the operating lever 22c is operated in the Y+ direction, the boom 104a of the work machine 104 moves in the lowering direction, and when the operating lever 22c is operated in the Y- direction, the boom 104a of the work machine 104 moves in the raising direction.

[0044] When the operating lever 22b is operated in the X+ direction, the attachment 104c (cutter) rotates to the right around the axis Z2, when the operating lever 22b is operated in the X- direction, the attachment 104c (cutter) rotates to the left around the axis Z2, when the operating lever 22b is operated in the Y+ direction, the attachment 104c (cutter) moves in the opening direction, and when the operating lever 22b is operated in the Y- direction, the attachment 104c (cutter) moves in the closing direction.

[0045] ~Details of the first and second radio control devices, receiver, etc.~ 7A is a diagram showing the internal configuration of the first and second radio control devices 12A, 12B, the receiving device 13 and the controller 14, and FIG. 7B is a diagram showing the configuration of a hydraulic circuit provided in the hydraulic excavator 100. As shown in FIG.

[0046] In FIG. 7A, the first radio control device 12A has an A / D converter 31, a CPU 32, a memory 33, a transmitter 34, an antenna 35, and a serial communication connector unit (SIO) 36, and the second radio control device 12B similarly has an A / D converter 41, a CPU 42, a memory 43, a transmitter 44, an antenna 45, and a serial communication connector unit (SIO) 46.

[0047] The receiving device 13 has an antenna 50 , a receiving unit 51 , a CPU 52 , a memory 53 , and a serial connector unit (SIO) 56 .

[0048] The first radio control device 12A generates a first operation signal as an analog signal according to the operation direction and operation amount of the first control levers 12a to 12e, and the A / D converter 31 converts the first operation signal into digital data.

[0049] Similarly, the second radio control device 12B generates a second operation signal as an analog signal according to the operation direction and operation amount of the second control levers 22a to 22e, and the A / D converter 41 converts the second operation signal into digital data.

[0050] A first serial signal generation program is stored in the memory 33 of the first radio control device 12A, and the CPU 32 operates based on the first serial signal generation program to generate the first serial signal. Similarly, a second serial signal generation program is stored in the memory 43 of the second radio control device 12B, and the CPU 42 operates based on the second serial signal generation program to generate the second serial signal.

[0051] FIG. 8 is a flowchart showing the processing function of the CPU in accordance with the first serial signal generation program, and FIG. 9 is a flowchart showing the processing function of the CPU in accordance with the second serial signal generation program.

[0052] 8, the CPU 32 of the first radio control device 12A inputs digital data of the first operation signal from the A / D converter 31 (step S110). The CPU 32 also inputs the second serial signal transmitted from the serial communication connector unit (SIO) 46 of the second radio control device 12B to the serial communication connector unit (SIO) 36 via the communication cable 16, and extracts the digital data of the second operation signal from the second serial signal (step S120). Next, the CPU 32 refers to the digital data in the first serial signal data format stored in the memory 33, combines the digital data of the first operation signal and the digital data of the second operation signal, converts them into serial data, and generates the first serial signal (step S130). Next, the CPU 32 transmits the first serial signal to the transmission unit 34 (step S140).

[0053] 9, the CPU 42 of the second radio control device 12B receives digital data of the second operation signal from the A / D converter 41 (step S210), converts the digital data of the second operation signal into serial data by referring to the second serial signal data format stored in the memory 43, and generates a second serial signal (step S220). Next, the CPU 42 outputs the second serial signal to the serial communication connector unit (SIO) 46 (step S230). This second serial signal is further transmitted to the serial communication connector unit (SIO) 36 of the first radio control device 12A via the communication cable 16, and is taken into the CPU 32 of the first radio control device 12A.

[0054] Returning to FIG. 7A, the first serial signal transmitted to the transmitter 34 in the first wireless control device 12A is modulated into radio waves 15 and transmitted wirelessly from the antenna 35 to the hydraulic excavator 100.

[0055] The receiving device 13 installed in the hydraulic excavator 100 receives the radio waves 15 transmitted from the first radio control device 12A via the antenna 50, and the receiving unit 51 demodulates the radio waves 15 to extract a first serial signal, and inputs the first serial signal to the CPU 52. The CPU 52 extracts the digital data of the first operation signal and the digital data of the second operation signal from the first serial signal, and transmits the digital data of the first operation signal and the digital data of the second operation signal to the controller 14. The controller 14 has a driver 61, and the driver 61 controls the hydraulic circuit 60 shown in Fig. 7B based on the digital data of the first operation signal and the digital data of the second operation signal.

[0056] 7B, the hydraulic circuit 60 includes a hydraulic source 63 including a plurality of pumps, a plurality of actuators 64a, 64b, a main valve 65 disposed between the hydraulic source 63 and the plurality of actuators 64a, 64b and equipped with a plurality of spool valves for controlling the flow (supply direction and flow rate) of pressure oil supplied from the hydraulic source 63 to the plurality of actuators 64a, 64b, and a plurality of proportional solenoid valves 66a, 66b for controlling the operating direction and stroke (opening area) of the plurality of spool valves of the main valve 65. The plurality of actuators 64a, 64b represent the plurality of actuators 101c, 101d, 103d-103f, 104d-104f, etc. of the hydraulic excavator 100 shown in FIG. 2, and the proportional solenoid valves 66a, 66b also represent the plurality of proportional solenoid valves provided corresponding to those actuators.

[0057] The driver 61 of the controller 14 converts the digital data of the first operation signal and the digital data of the second operation signal into analog signals, generates a control current based on the analog signals, and outputs the control current to the proportional solenoid valves 66a, 66b. This changes the operating direction and stroke (opening area) of multiple spool valves in the main valve 65, changes the supply direction and flow rate of pressure oil supplied to the corresponding actuators, and drives the actuators 64a, 64b according to the operating direction and operation amount (inclination) of the operating levers 12a to 12e, 22a to 22c.

[0058] In this way, the hydraulic excavator 100 controls the driving of the corresponding actuators of the hydraulic excavator 100 based on the digital data of the first operation signal and the digital data of the second operation signal extracted by the receiving device 13.

[0059] ~Serial signal data structure~ Figure 10 is a diagram showing the data structure of the serial signal generated by the CPU 32 of the first radio controlling device 12A and the CPU 42 of the second radio controlling device 12B, with the left side of Figure 10 showing the data structure of the first serial signal generated by the first radio controlling device 12A and the right side of Figure 10 showing the data structure of the second serial signal generated by the second radio controlling device 12B.

[0060] In FIG. 10, the first serial signal and the second serial signal each have a section in which information such as the start of transmission, ID, and end of transmission is set, and data sections Da and Db in which the digital data of the operation signal generated by the operating lever is set.

[0061] As described above, the first serial signal is generated by combining the digital data of the first operation signal of the first operating lever 12a to 12e and the digital data of the second operation signal of the second operating lever 22a to 22c, and the data section Da has setting spaces for eight operation signals of the first operating signals of the first operating lever 12a to 12e described as "first operating lever signals" and six operation signals of the second operating signals of the second operating lever 22a to 22c described as "additional signals", in accordance with the respective numbers of the first operating signals and second operating signals.

[0062] The data section Db has setting spaces for six operation signals of the second operation signals of the second operation levers 22a to 22c, each of which is described as "second operation lever signal."

[0063] In this way, by setting the setting space in the data section Da of the first serial signal to a size that matches the number of first operating signals and second operating signals, the size of the data section Da is minimized, and optimal communication speed can be ensured.

[0064] As described above, the first serial signal and the second serial signal are generated using the first serial signal data format and the second serial signal data format stored in memory, and Figure 10 can also be said to be a diagram showing the first serial signal data format and the second serial signal data format.

[0065] ~Settings for the first and second radio control devices~ FIG. 11 is a diagram showing a state when the unconfigured radio control devices are configured as the first and second radio control devices 12A and 12B.

[0066] As shown in Fig. 11, the remote control system of this embodiment includes a setting device 71 that sets whether the unconfigured radio control device 12X is to be used as the first radio control device 12A or the second radio control device 12B. The setting device 71 is connected to a serial communication connector section (SIO) X6 of the unconfigured radio control device 12X via a communication cable 72. The setting device 71 has a structure that allows it to be attached and detached from the unconfigured radio control device 12X, and can be electrically disconnected from the radio control device 12X by removing the communication cable 72. The setting device 71 may be, for example, a personal computer such as a service tool used by a serviceman who performs maintenance and inspection.

[0067] The setting device 71 sets the radio control device 12X for use as a first radio control device 12A by setting operation signal information of the data section Da of the first serial signal in the data section of the serial signal data format stored in memory X3 of the radio control device 12X before setting, and sets the radio control device 12X for use as a second radio control device 12B by setting operation signal information of the data section of the second serial signal in the data section of the serial signal data format stored in memory X3 of the radio control device 12X before setting.

[0068] FIG. 12 is an explanatory diagram showing details of the procedure for setting the radio control device 12X as the first and second radio control devices 12A and 12B by the setting device 71.

[0069] When setting the radio control device 12X as the first radio control device 12A, the serviceman connects the setting device 71 to the serial communication connector section (SIO) X6 of the radio control device 12X via the communication cable 72 (step S310), and calls the serial signal data format stored in the memory X3 of the radio control device 12X to the CPU X2 (step S320). Next, the serviceman selects an operation signal to be used in the first radio control device 12A from various operation signals previously stored in the memory X3, and writes information on the selected operation signal into the data section of the serial signal data format (step S330).

[0070] In this embodiment, the operation signals in the data section Da of the first serial signal generated by the CPU 32 of the first radio control device 12A are a total of 14 operation signals, consisting of eight operation signals No. 10 to 17 of the "first operation lever signal" shown on the left side of Figure 10 and six operation signals No. 18 to 23 of the "additional signals", and therefore information on these 14 operation signals is written in the setting space of the data section of the serial signal data format.

[0071] Similarly, when setting the radio control device 12X as the second radio control device 12B, the serviceman connects the setting device 71 to the serial communication connector section (SIO) X6 of the radio control device 12X via the communication cable 72 (step S410), and calls the serial signal data format stored in the memory X3 of the radio control device 12X to the CPU X2 (step S420). Next, the serviceman selects an operation signal to be used in the second radio control device 12B from various operation signals previously stored in the memory X3, and writes information on the selected operation signal into the data section of the serial signal data format (step S430).

[0072] In this embodiment, the operation signals in the data section Db of the second serial signal generated by the CPU 42 of the second radio control device 12B are the six operation signals No. 10 to 15 of the "second operating lever signal" shown on the right side of Figure 10, and therefore information on these six operation signals is written in the setting space in the data section of the serial signal data format.

[0073] ~Effects~ According to this embodiment, the following effects can be obtained.

[0074] 1. The second serial signal of the operation signal is sent from the second radio control device 12B to the first radio control device 12A via the communication cable 16, and the first radio control device 12A combines the digital data of the second serial signal sent from the second radio control device 12B with the digital data of the first operation signal generated by itself to generate a first serial signal, which is then transmitted wirelessly to the receiver 13 of the hydraulic excavator 100. Therefore, even if the number of radio control devices is increased to two, the operation signal can be transmitted wirelessly without increasing the number of communication frequency channels, interference on the receiver 13 side can be prevented, and the hydraulic excavator 100 can be operated stably.

[0075] 2. A first serial signal is sent to one hydraulic excavator 100 (work machine), and the first operation signal and the second operation signal are extracted from the first serial signal received by the receiving device 13 of the hydraulic excavator 100. Therefore, even if the hydraulic excavator 100 has a large number of drive objects (actuators), it is possible to control the drive objects and perform the necessary work.

[0076] 3. The first radio control device 12A and the second radio control device 12B are constructed in a housing of the same specifications, including the first operating lever and the second operating lever, and each is configured to be set using a setting device 71, so that the first radio control device 12A and the second radio control device 12B can be easily secured.

[0077] 4. By sizing the setting space for the data section Da of the first serial signal to match the number of first operation signals and second operation signals, the size of the data section Da is minimized, ensuring optimal communication speed.

[0078] ~Variations~ In this embodiment, the work machine is described as being a dual-arm hydraulic excavator, but the work machine is not limited to a dual-arm hydraulic excavator. If the work machine has so many drive objects (actuators) that a single radio control device cannot cover them, the concept of this embodiment can be applied in the same way and the same effect can be obtained.

[0079] <Second embodiment> The second embodiment of the present invention is for a case in which there is one remotely controlled work machine, which is a hydraulic excavator equipped only with work machine 103 as the main arm shown in Figure 2 of the first embodiment (a work machine equipped with a hydraulic grapple as an attachment that can rotate and open and close the claws).

[0080] ~Overall composition~ FIG. 13 is a diagram showing the overall configuration of a remote control system for a work machine according to the second embodiment of the present invention.

[0081] In FIG. 13, in the remote operation system of this embodiment, the second radio control device 12B of the first embodiment is replaced with a second radio control device 12C that generates an operation signal by pedal operation.

[0082] The second radio control device 12C is composed of a first pedal device 82 having a first operating pedal 81a and generating a second operating signal by operating the first operating pedal 81a, a second pedal device 83 having a second operating pedal 81b and generating a second operating signal by operating the second operating pedal, and a signal adding device 85 which inputs the second operating signals from the first pedal device 82 and the second pedal device 83 via signal lines 84a, 84b, converts the second operating signals into digital data to generate a second serial signal, and transmits the second serial signal to the first radio control device 12A via a communication cable 86.

[0083] The signal adding device 85 has an A / D converter 85a, a CPU 85b, a memory 85c, a serial communication connector unit (SIO) 85d, and a power supply 85e.

[0084] The A / D converter 85a converts the second operation signals sent as analog signals from the first and second pedal devices 82, 83 into digital data.

[0085] A second serial signal generation program is stored in the memory 85c, and the CPU 85b operates based on the second serial signal generation program, converts the digital data of the second operation signal into serial data to generate a second serial signal, and outputs the second serial signal to the serial communication connector section (SIO) 85d. This second serial signal is transmitted to the serial communication connector section (SIO) 36 (see FIG. 7A) of the first radio control device 12A via the communication cable 16, and is taken into the CPU 32 (see FIG. 7A) of the first radio control device 12A.

[0086] As described in the first embodiment, the first radio control device 12A combines the digital data of the first operating signal generated by itself with the digital data of the second operating signal transmitted from the second radio control device 12B to generate a first serial signal, and wirelessly transmits this first serial signal to the hydraulic excavator 200.

[0087] The subsequent process flow is the same as in the first embodiment.

[0088] The power supply 85e is connected to a socket 87, and the socket 87 can be connected to an outlet of a power supply facility. The signal lines 84a, 84b also serve as power lines, and can supply power from the power supply 85e via the A / D converter 85a to the first pedal device 82 and the second pedal device 83. This allows the second wireless control device 12C to be remotely controlled for long periods of time using the operation pedals 81a, 81b.

[0089] ~Work Machines~ FIG. 14 is a diagram showing a working machine according to this embodiment.

[0090] The working machine according to this embodiment is a hydraulic excavator 200 equipped with a working implement 103 (a working implement equipped with a hydraulic grapple capable of rotating and opening / closing the claws as an attachment), and is the same as the hydraulic excavator 100 shown in Fig. 2, except that it does not have the working implement 104 as a secondary arm. In Fig. 14, the same reference numerals are used to designate the same members as those of the hydraulic excavator 100 shown in Fig. 2.

[0091] ~Relationship between the operation direction of the operation pedal and the operation of the hydraulic excavator 200~ FIG. 14 further illustrates the relationship between the operation of the hydraulic excavator 100 and the operation levers 12a, 12c to 12e (see FIG. 4) of the first radio control device 12A and the operation pedals 81a, 81b of the second radio control device 12C.

[0092] In this embodiment, the relationship between the operation directions of the control levers 12a, 12c to 12e of the first wireless control device 12A and the operation of the hydraulic excavator 100 is the same as that of the first embodiment shown in Fig. 4. Moreover, the control lever 12b (see Fig. 3A) of the first wireless control device 12A is set so as not to generate an operation signal even when operated.

[0093] The operation pedals 81a, 81b of the second radio control device 12C are one-axis operation devices, and when the rear part of the operation pedal 81a is pressed down as shown by the circled number 13 in Fig. 13, the attachment 103c (grapple) of the work machine 103 moves in the opening direction, and when the front part of the operation pedal 81a is pressed down as shown by the circled number 14 in Fig. 13, the attachment 103c (grapple) of the work machine 103 moves in the closing direction. When the rear part of the operation pedal 81b is pressed down as shown by the circled number 15 in Fig. 13, the attachment 103c (grapple) of the work machine 103 rotates leftward about the axis Z1, and when the front part of the operation pedal 81b is pressed down as shown by the circled number 16 in Fig. 13, the attachment 103c (grapple) of the work machine 103 rotates rightward about the axis Z1.

[0094] ~Serial signal data structure~ Figure 15 is a diagram showing the data structure of the serial signal generated by the CPU 32 of the first radio controlling device 12A and the CPU 85b of the second radio controlling device 12C, with the left side of Figure 15 showing the data structure of the first serial signal generated by the first radio controlling device 12A and the right side of Figure 15 showing the data structure of the second serial signal generated by the second radio controlling device 12C.

[0095] In FIG. 15, the data section Da of the first serial signal is In accordance with the respective numbers of the first operating signal and the second operating signal, there are six setting spaces for the first operating signals of the first operating levers 12a, 12c to 12e of the first radio control device 12A, which are described as "first operating lever signal," and two setting spaces for the second operating signals of the first and second pedal devices 82, 83 of the second radio control device 12C, which are described as "additional signals."

[0096] The data section Db of the second serial signal has setting spaces for two operating signals, the second operating signals of the first and second pedal devices 82, 83 of the second wireless control device 12C, which are written as "operating pedal signals".

[0097] In this way, by setting the setting space in the data section Da of the first serial signal to a size that matches the number of first operating signals and second operating signals, the size of the data section Da is minimized, and optimal communication speed can be ensured.

[0098] ~Effects~ According to this embodiment, the following effects can be obtained.

[0099] 1. In this embodiment, even if pedal devices 82, 83 are used as the operating devices of the second radio control device 12C, as in the first embodiment, the digital data of the first operating signal generated by the second radio control device 12C is combined with the digital data of the second operating signal transmitted from the second radio control device 12B to generate a first serial signal, and this first serial signal is transmitted wirelessly to the hydraulic excavator 200. Therefore, the operating signal can be transmitted wirelessly without increasing the number of communication frequency channels, interference on the receiving device 13 side can be prevented, and the hydraulic excavator 100 can be operated stably.

[0100] 2. When the work machine is a hydraulic excavator 200 equipped with a hydraulic grapple as an attachment 103C as shown in Fig. 14, it is necessary to open and close the claws of the grapple and rotate the grapple, and therefore it is necessary to assign each operation of the grapple to the central operation lever 12b of the first radio control device 12A as shown in Fig. 4. However, in that case, the operation levers used for operating the hydraulic excavator 200 other than traveling are the three operation levers 12a, 12b, and 12c, and since the operator has two hands, the three operation levers 12a, 12b, and 12c cannot be operated simultaneously, and one of the operation levers must be operated independently, which takes time to work.

[0101] In this embodiment, the second radio control device 12C is provided with a first pedal device 82 and a second pedal device 83 as operating devices, so that by placing the first pedal device 82 and the second pedal device 83 at the feet of an operator who operates the first radio control device 12A, the operator can operate the two operating levers 12a, 12c of the first radio control device 12A with two hands and simultaneously operate the operating pedals 81a, 81b of the first pedal device 82 and the second pedal device 83 with two feet. Thus, by simultaneously operating the operating levers 12a, 12c of the first radio control device 12A and the operating pedals 81a, 81b of the second radio control device 12C, a combined operation of simultaneously rotating the boom 103a or the arm 103b and opening and closing the claws of the grapple or rotating the grapple becomes possible, and work can be performed efficiently.

[0102] ~Variations~ In this embodiment, the work machine is described as a hydraulic excavator in which the attachment of the work machine is equipped with a hydraulic grapple capable of rotating and opening and closing the claws. However, if the work machine is a hydraulic excavator equipped with four or more drive objects (actuators), the concept of this embodiment can be similarly applied and similar effects can be obtained.

[0103] For example, a two-piece boom hydraulic excavator is known as a hydraulic excavator with a work machine having four or more drive targets (actuators) and with two boom elements (first boom and second boom) that are rotatably connected to each other. In such a hydraulic excavator, by using a pedal device as the operating device for one or both of the two boom elements, it becomes possible to perform a combined operation of operating the arm and the first boom or the second boom simultaneously by simultaneously operating the operating levers 12a, 12c of the first wireless control device 12A and the operating pedal of the pedal device, thereby enabling efficient work.

[0104] <Third embodiment> The third embodiment of the present invention relates to a case in which the remotely controlled work machines are two work machines that work in cooperation with each other.

[0105] ~Overall composition~ FIG. 16 is a diagram showing the overall configuration of a remote control system for a work machine according to the third embodiment of the present invention.

[0106] In Figure 16, in the remote control system of this embodiment, the second radio-controlled device 12B of the first embodiment is replaced with a second radio-controlled device 12D for a crawler carrier, and the work machines are replaced with two work machines, a conventional hydraulic excavator 300 and a crawler carrier 400.

[0107] The receiving device 13 (first receiving device) of the hydraulic excavator 300 (first work machine) extracts only the digital data of the first operating signal from the first serial signal transmitted from the first radio control device 12A, and the controller 14 generates a control signal based on the digital data of the first operating signal and controls the drive of the corresponding actuator of the hydraulic excavator 300.

[0108] In addition, the remote control system in this embodiment further includes a receiving device 413 (second receiving device) and a controller 414 installed on the crawler carrier 400 (second work machine), and the receiving device 413 extracts only the digital data of the second operating signal from the first serial signal transmitted from the first radio control device 12A, and the controller 414 generates a control signal based on the digital data of the second operating signal extracted by the receiving device 413, and controls the drive of the corresponding actuator of the crawler carrier 400.

[0109] ~Work Machines~ FIG. 17 is a diagram showing a hydraulic excavator 300 and a crawler carrier 400, which are two work machines remotely controlled by first and second radio control devices 12A and 12D.

[0110] The hydraulic excavator 300 is equipped with a working machine 103 having a bucket 103g as a working machine. Other configurations are substantially the same as those of the hydraulic excavator 100 shown in Fig. 14, and the same reference numerals are used for equivalent members.

[0111] The crawler carrier 400 comprises a running body 401 and a rotating body 402 rotatably mounted on the running body 401, and the rotating body 402 is driven by a rotating motor (not shown) provided on the slewing wheel 303 to rotate on the running body 401.

[0112] The running body 401 is equipped with left and right crawler-type running devices 401a, 401b (right running device 401b is not shown), and the left and right running devices 101a, 101b are driven by left and right running motors 401c, 401d (right running motor 101d is not shown) to propel the hydraulic excavator 100.

[0113] The rotating body 402 is equipped with a cabin 402a which forms the driver's cab, and a vessel (cargo platform) 402b located to the rear of the cabin 402a. The rear end of the vessel 402b is rotatably connected to the rear end of the base frame of the rotating body 402 via a pin extending to the left and right, and can be raised and lowered relative to the base frame by the extension and contraction of a hydraulic cylinder for the vessel (not shown).

[0114] The hydraulic excavator 300 and the crawler carrier 400 work together to load and transport cargo. Loading of cargo is performed with the crawler carrier 400 stopped, as shown in FIG. 17. At this time, an operator (hereinafter referred to as the first operator) operates the first radio control device 12A to operate the hydraulic excavator 300 and load the cargo onto the crawler carrier 400. When loading of the cargo is completed, another operator (hereinafter referred to as the second operator) operates the second radio control device 12D to run the crawler carrier 400 and transport the cargo. While the crawler carrier 400 is running, the hydraulic excavator 300 is stopped or performs necessary work such as moving the cargo in preparation for the next loading operation. In the latter case, the second operator operates the second radio control device 12D while the first operator operates the first radio control device 12A. When the crawler carrier 400 finishes transportation, unloads the load, and returns to the work site in FIG. 17, the first operator again operates the first radio control device to operate the hydraulic excavator 300 and load the load onto the crawler carrier 400.

[0115] ~Radio Control Device~ Figure 18 is a diagram showing the relationship between the operating direction of the operating lever of the first radio control device 12A and the operation of the hydraulic excavator 300, and Figure 19 is a diagram showing the relationship between the operating direction of the operating lever of the second radio control device 12D and the operation of the crawler carrier 400.

[0116] In Fig. 18, the relationship between the operation directions of the control levers 12a, 12c and the control levers 12d, 12e of the first wireless control device 12A and the operation of the hydraulic excavator 300 is the same as the relationship between the operation directions of the control levers 12a, 12c of the first wireless control device 12A shown in Fig. 4 and the operation of the hydraulic excavator 100. Moreover, the control lever 12b of the first wireless control device 12A is set so as not to generate an operation signal even when it is operated.

[0117] 19, the operating levers 22a and 22c of the second radio control device 12D are operating devices for controlling the operation of the revolving body 402 and the vessel 402b of the crawler carrier 400, respectively, and the operating levers 22a and 22c are operated by tilting in the Y direction (positive side [Y+] and negative side [Y-]). The operating levers 22d and 22e are operating devices for controlling the operation of the traveling devices 401a and 401b of the crawler carrier 400, and the operating levers 22d and 22e are operated by tilting in the Y direction (positive side [Y+] and negative side [Y-]).

[0118] When the operation lever 22a is operated in the Y+ direction, the rotating body 402 of the crawler carrier 400 rotates to the right, and when the operation lever 22a is operated in the Y- direction, the rotating body 402 rotates to the left. When the operation lever 22c is operated in the Y+ direction, the vessel 402b of the crawler carrier 400 moves in the upward direction, and when the operation lever 22c is operated in the Y- direction, the vessel 402b moves in the downward direction.

[0119] When the operation lever 22d is operated in the Y+ direction, the left traveling device 401a moves forward, and when the operation lever 22d is operated in the Y- direction, the left traveling device 401a moves backward. When the operation lever 22e is operated in the Y+ direction, the right traveling device 401b moves forward, and when the operation lever 22e is operated in the Y+ direction, the right traveling device 401b moves backward.

[0120] The operating levers 22a, 22c of the second wireless control device 12D are set so as not to generate an operating signal even when operated in the X direction, and the operating lever 12b is set so as not to generate an operating signal even when operated.

[0121] Furthermore, as described in the first embodiment, the first radio control device 12A combines the digital data of the first operating signal generated by itself with the digital data of the second operating signal transmitted from the second radio control device 12D to generate a first serial signal, and wirelessly transmits this first serial signal to the hydraulic excavator 200.

[0122] ~Serial signal data structure~ Figure 20 is a diagram showing the data structure of the serial signal generated by the CPU 32 of the first radio controlling device 12A and the CPU 42 of the second radio controlling device 12D, with the left side of Figure 20 showing the data structure of the first serial signal generated by the first radio controlling device 12A and the right side of Figure 20 showing the data structure of the second serial signal generated by the second radio controlling device 12D.

[0123] In FIG. 20, the data section Da of the first serial signal generated by the first radio control device 12A has setting spaces for six operating signals of the first operating signals of the first operating levers 12a, 12c to 12e of the first radio control device 12A, labeled "first operating lever signals," in accordance with the respective numbers of the first operating signals and second operating signals, and setting spaces for four operating signals of the second operating signals of the second operating levers 22a, 22c to 22e of the second radio control device 12D, labeled "additional signals."

[0124] The data section Db of the second serial signal generated by the second radio control device 12D has setting spaces for four second operation signals of the second operation levers 22a, 22c to 22e of the second radio control device 12D.

[0125] In this way, by setting the setting space in the data section Da of the first serial signal to a size that matches the number of first operating signals and second operating signals, the size of the data section Da is minimized, and optimal communication speed can be ensured.

[0126] ~Effects~ According to this embodiment, the following effects can be obtained.

[0127] 1. Even when the remotely controlled work machines are two work machines (hydraulic excavator 300 and crawler carrier 400) that work in coordination with each other, as in the first embodiment, the digital data of the first operation signal generated by the device itself is combined with the digital data of the second operation signal transmitted from the second radio control device 12B to generate a first serial signal, and this first serial signal is transmitted wirelessly to the hydraulic excavator 300 and the crawler carrier 400. This allows the operation signal to be transmitted wirelessly without increasing the number of communication frequency channels, prevents interference on the receiving device 13, 413 side, and enables stable operation of the hydraulic excavator 300 and the crawler carrier 400.

[0128] ~Variations~ In this embodiment, the case where the two work machines are a hydraulic excavator and a crawler carrier has been described, but the concept of this embodiment can be similarly applied and similar effects can be obtained if the two work machines are capable of working in coordination with each other, such as a hydraulic excavator and a dump truck.

[0129] <Other> In the above embodiments, the first and second radio control devices 12A, 12B have been described as having three operating levers that can be tilted in two-axis directions and two operating levers that can be tilted in one-axis direction as shown in Figures 3A and 3B. However, the first and second radio control devices 12A, 12B are not limited to this and may be radio control devices having various operating levers or controls depending on the type of work machine. [Explanation of symbols]

[0130] 12A No. 1 radio control device 12B, 12C, 12D Second radio control device 12a~12e Operating lever (first operating lever) Radio control device before 12X setting 13 Receiving device (first receiving device) 413 Receiving device (second receiving device) 14,414 Controllers 15 Radio Waves 16 Communication Cables 22a~22e Operating lever (second operating lever) 31,41 A / D converter 32,42 CPU 33,43 Memory 71 Setting device 82 First pedal device 83 Second Pedal Device 84a,84b signal line 85 Signal Addition Device 100, 200, 300 Hydraulic excavator (first work machine) 400 Crawler Carrier (Second Work Machine)

Claims

**Claim 1** A first wireless control device having a plurality of first operation levers, converting a first operation signal generated by operating the plurality of first operation levers into digital data to generate a first serial signal, and wirelessly transmitting the first serial signal; A first receiving device installed on a first working machine, receiving the first serial signal transmitted from the first wireless control device, and extracting digital data of the first operation signal from the first serial signal; In a remote control system for a working machine that controls driving of a corresponding actuator of the first working machine based on digital data of the first operation signal extracted by the first receiving device, A second wireless control device having at least one operation member, converting a second operation signal generated by operating the operation member into digital data to generate a second serial signal, and transmitting the second serial signal to the first wireless control device via a communication cable; The first wireless control device extracts digital data of the second operation signal from the second serial signal transmitted from the second wireless control device, combines the digital data of the generated first operation signal and the digital data of the second operation signal to generate the first serial signal, and wirelessly transmits the first serial signal. A remote control system for a working machine, characterized in that. **Claim 2** In the remote control system for a working machine according to Claim 1, The second wireless control device has a plurality of second operation levers as the at least one operation member, The first wireless control device and the second wireless control device are wireless control devices of the same specification, and are configured with a housing of the same specification including the first operation lever and the second operation lever. A remote control system for a working machine, characterized in that. **Claim 3** In the remote control system for a working machine according to Claim 1, The second wireless control device, At least one pedal device having an operation pedal as the at least one operation member and generating the second operation signal by operating the operation pedal; A signal adding device that inputs the second operation signal via a signal line from the pedal device, converts the second operation signal into digital data to generate the second serial signal, and transmits the second serial signal to the first wireless control device via the communication cable. A remote control system for a working machine, characterized in that. **Claim 4** In the remote control system for a working machine according to claim 1, the first receiving device installed in the first working machine extracts digital data of the first operation signal and digital data of the second operation signal from the first serial signal transmitted from the first radio control device, the first working machine generates a control signal based on the digital data of the first operation signal and the digital data of the second operation signal extracted by the first receiving device, and controls the driving of the corresponding actuator of the first working machine. A remote control system for a working machine is characterized by this.

5. In the remote control system for a working machine according to claim 1, it further includes a second receiving device installed in a second working machine, which extracts digital data of the second operation signal from the first serial signal transmitted from the first radio control device, the first working machine generates a control signal based on the digital data of the first operation signal extracted by the first receiving device, and controls the driving of the corresponding actuator of the first working machine, the second working machine generates a control signal based on the digital data of the second operation signal extracted by the second receiving device, and controls the driving of the corresponding actuator of the second working machine. A remote control system for a working machine is characterized by this.

6. In the remote control system for a working machine according to claim 1, it further includes a setting device for setting whether to use the radio control device before setting as the first radio control device or as the second radio control device, the setting device performs the setting to be used as the first radio control device by setting the operation signal information of the data part of the first serial signal in the data part of the serial signal data format stored in the memory of the radio control device before setting, performs the setting to be used as the second radio control device by setting the operation signal information of the data part of the second serial signal in the data part of the serial signal data format stored in the memory of the radio control device before setting. A remote control system for a working machine is characterized by this.

7. a first radio control device having a plurality of first operation levers, converting a first operation signal generated by operating the plurality of first operation levers into digital data to generate a first serial signal, and wirelessly transmitting the first serial signal, It includes a second radio control device having at least one operating member, which converts a second operation signal generated by operating the operating member into digital data to generate a second serial signal, and transmits the second serial signal to the first radio control device via a communication cable. The first radio control device extracts digital data of the second operation signal from the second serial signal transmitted from the second radio control device, combines the digital data of the generated first operation signal and the digital data of the second operation signal to generate the first serial signal, and wirelessly transmits the first serial signal. A remote control system for a working machine, characterized by the above.

Images