Remote control device and multi-operation system

Abstract

To provide a device and a system enabling switching and operating construction machines of different types.SOLUTION: A remote control device for remotely controlling construction machines includes: a plurality of operation levers; a plurality of operation pedals; selection means for selecting types of the construction machines; communication means for communicating with the selected types of construction machine; control means for instructing the communication means to transmit operation information input from at least one of the plurality of operation levers and the plurality of operation pedals; and output means for outputting the operation information of the construction machines received from the construction machines by the communication means.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a device and a multi-operation system for remotely operating a construction machine. [Background technology]

[0002] A radio control device is known as a device for remotely controlling construction machinery (see, for example, Patent Document 1). This radio control device allows one operation method to be selected from the correspondences between multiple types of stored operation methods, making it possible to operate machines made by different manufacturers with a single device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-85975 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned radio control devices were designed to accommodate differences in operation between different manufacturers, and could not be used to switch between different types of construction machinery. [Means for solving the problem]

[0005] The present invention has been made in consideration of the above problems, and provides a device for remotely operating a construction machine, A plurality of operating levers; A plurality of operation pedals; A selection means for selecting a type of construction machine; A communication means for communicating with the type of construction machine selected by the selection means; a control means for instructing a communication means to transmit operation information inputted from at least one of the plurality of operation levers and the plurality of operation pedals; an output means for outputting operation information of the construction machine received from the construction machine via the communication means; A remote control device is provided, comprising: Effect of the Invention

[0006] According to the present invention, it becomes possible to switch between and operate different types of construction machines. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing a multi-operation system including multiple types of construction machines and remote control devices. [Diagram 2] FIG. 2 is a diagram showing an example of the configuration of a multi-control unit including an operating lever, an operating pedal, and a selection means. [Diagram 3] FIG. 13 is a diagram for explaining an operation method in the case where a wheel loader is selected as the construction machine. [Figure 4] FIG. 13 is a diagram for explaining an operation method in the case where a drill jumbo is selected as the construction machine. [Diagram 5] FIG. 13 is a diagram for explaining an operation method when a road header is selected as the construction machine. [Figure 6] FIG. 13 is a diagram explaining the operation method when an erector integrated spray machine is selected as the construction machine. [Figure 7] FIG. 13 is a diagram for explaining the operation method when a backhoe is selected as the construction machine. [Figure 8] FIG. 13 is a diagram for explaining an operation method when a breaker is selected as the construction machine. [Figure 9] FIG. 13 is a diagram for explaining an operation method when an unmanned measuring machine is selected as the construction machine. [Figure 10] FIG. 13 is a diagram for explaining a first method for preventing an erroneous operation. [Figure 11] FIG. 11 is a diagram for explaining a second method for preventing an erroneous operation. [Figure 12] FIG. 1 is a diagram for explaining a method for setting an IP address. [Figure 13] FIG. 4 is a diagram for explaining settings of lever and pedal operations. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A number of construction machines (heavy machinery) are used in various construction projects such as road construction, building construction, tunnel construction, etc. Heavy machinery is often used in places with poor ground conditions or where there is a risk of wall collapse, posing a safety problem for workers.

[0009] In recent years, with the development of communication technology, it is now possible to use WiFi (registered trademark), low-power wireless, L5G, etc. to obtain information from sensors located in remote locations and to operate home appliances while away from home.

[0010] This technology can also be applied to remotely operate heavy machinery. Heavy machinery has control levers and pedals that can be operated to run the machinery and perform tasks such as excavating the ground. However, different types of heavy machinery have different functions, and therefore different control levers and pedals are used, as well as different numbers and arrangements of these. For this reason, it has not been possible to remotely operate multiple types of heavy machinery with a single device until now.

[0011] Therefore, in order to accommodate multiple types of heavy machinery, the present invention employs a configuration including the number of operating levers and operating pedals required for operating those types of heavy machinery, and a selection means for selecting the type of heavy machinery. If the number of operating levers and operating pedals corresponds to multiple types of heavy machinery, operation is possible, and if the type can be switched by the selection means, the desired heavy machinery can be operated.

[0012] Since the operation information of the control levers and the control pedals and the selection information of the selection means must be transmitted to the heavy equipment to be operated, a communication means for communicating with the type of heavy equipment selected by the selection means and a control means for instructing the communication means to transmit the operation information input from at least one of the multiple control levers and multiple control pedals are further adopted. Also, in order to confirm how to operate which control lever etc. and whether the heavy equipment is operating as operated, an output means for outputting the operation information of the heavy equipment received from the heavy equipment by the communication means is further adopted.

[0013] FIG. 1 is a diagram showing a multi-operation system including a plurality of types of construction machines and a remote control device. First, heavy machinery that can be remotely operated by the remote control device will be described. Examples of heavy machinery that can be remotely operated by the remote control device include a wheel loader 10, a drill jumbo 11, a road header 12, an erector-integrated spraying machine 13, a backhoe 14, a breaker 15, and an unmanned measuring device 16. Note that these heavy machinery are only examples, and may also be a contra fan as ventilation equipment in a tunnel, a crusher as a crushing machine, a belt conveyor, a batcher plant as a machine for mixing, a turbid water treatment device, etc.

[0014] The wheel loader 10 is equipped with a bucket at the front, travels on wheels, and is a machine used mainly for loading soil, crushed stone, etc. into dump trucks. The drill jumbo 11 is a rock drill that forms holes for setting explosives for blasting. The road header 12 is a free-section excavator that excavates natural ground and underground. The erector-integrated sprayer 13 is a machine that performs a series of tasks from erecting shoring to spraying concrete.

[0015] The backhoe 14 is a machine with a bucket attached facing the driver's seat. The breaker 15 is a machine used for removing insufficient excavation areas (removing marks) when the excavation cross section protrudes into the tunnel interior relative to the designed cross section. The unmanned measuring device 16 is a machine equipped with a measuring device such as a 3D scanner and a wireless communication device on a traveling means, and measures the three-dimensional shape of the excavation surface without human intervention.

[0016] These heavy machinery machines are equipped with a communication device capable of wireless communication using WiFi (registered trademark), low-power radio, L5G, etc., an operation means for operating an operation lever and an operation pedal equipped on the heavy machinery machine, and a control means for connecting the communication device and the operation means and controlling the operation means. The operation means for operating the operation lever can be a machine called a manipulator that uses hydraulics, pneumatics, electricity, etc. and performs manual work instead of humans. The operation means for operating the operation pedal can be an actuator or the like that converts an electrical signal output from the control means into physical movement. The control means is a controller equipped with a processor and a memory, and controls the operation means upon receiving instructions from a remote control device.

[0017] The heavy machinery can be equipped with various sensors and imaging devices. The various sensors and imaging devices are connected to the control means, and information acquired by the various sensors and imaging devices can be transmitted to the remote control device 20 via the communication device 17. Examples of the various sensors include a rotation angle sensor and an inclination sensor attached to the working part of the boom in the drill jumbo 11 and the erector-integrated spraying machine 13. The imaging device may be only one camera that images the front of each heavy machinery, or may be composed of multiple cameras to image other than the front. At least one communication device 17 is installed for each heavy machinery, and is configured to communicate between each communication device 17 and the remote control device. When two or more communication devices 17 are installed, all of them may be communication devices that communicate using different communication methods such as low-power wireless and L5G, or some or all of them may be communication devices that communicate using the same communication method.

[0018] Next, the remote control device 20 will be described. The remote control device 20 includes a stick controller unit (L) 21 for operation with the left hand and a stick controller unit (R) 22 for operation with the right hand as a plurality of operation levers, a foot controller unit 23 equipped with a plurality of operation pedals, and a target machine switching SW 24 as a selection means. The foot controller unit 23 includes, for example, four pedals. The stick controller units 21 and 22, the foot controller unit 23, and the target machine switching SW 24 constitute a multi-control unit 25. The multi-control unit 25 can perform travel and work operations of a plurality of types of heavy machinery by switching functions using the target machine switching SW 24.

[0019] The multi-control unit 25 can be used by connecting a handle type controller 26 in place of the stick controller units 21, 22 or together with the stick controller units 21, 22 to control the traveling of the heavy equipment. The multi-control unit 25 can also be used by connecting another controller. As the other controller, a table type controller 27 for operating a machine with many functions such as the drill jumbo 11 can be used.

[0020] The communication means is a communication device 28 that performs wireless communication with one of the multiple heavy machinery. The control means is a control unit 29 that converts operation information from the multi-control unit 25 into an electric signal that instructs an operation and transmits it to the heavy machinery to be controlled via the communication device 28. The control unit 29 acquires information from the heavy machinery to be controlled via the communication device 28 and instructs the output means to output the information. The output means is a video information unit 30 that displays and outputs information.

[0021] The control unit 29 includes an operation communication panel 31 that converts operation information from the multi-control unit 25 into an electrical signal that instructs operation, a data processing PC 32 that instructs the display of information regarding the traveling and operation of the heavy equipment obtained from the heavy equipment, and an image processing PC 33 that instructs the display of images captured by the heavy equipment.

[0022] The image information unit 30 includes a driving / operation information monitor 34 that receives instructions from the data processing PC 32 and displays information related to driving and operation, and an image monitor 35 that receives instructions from the image processing PC 33 and displays images. Here, the data processing PC 32 and the image processing PC 33 are separated, but they may be one PC. Also, the driving / operation information monitor 34 and the image monitor 35 may be one monitor. Furthermore, the PC and the monitor may be integrated into a monitor equipped with a touch panel, such as a tablet terminal. Note that devices other than PCs may be used as long as the display of each monitor can be controlled.

[0023] The remote control device 20 may include other units, and may be provided with a gateway (GW) 38 as a transmitting / receiving unit for transmitting information acquired from the heavy machinery to a server 37 connected to the Internet 36 for storage. The server 37 is on the cloud, and the GW 38 relays communication between networks different from the communication with each heavy machinery. The data processing PC 32 and the video processing PC 33 can access the server 37 via the GW 38, acquire information stored in the server 37, and display it on the driving / operation information monitor 34 and the video monitor 35.

[0024] The control unit 29 includes a switch 39 for switching the device with which communication is to be performed, and enables communication between two devices among five devices (the communication device 28, the operation communication panel 31, the data processing PC 32, the video processing PC 33, and the GW 38) connected to the switch 39. The switch 39 refers to the destination information included in the information transmitted from the communication source device, identifies the communication destination device from the destination information, and switches the communication path to the identified device.

[0025] The remote control device 20 can be installed inside an operation room, but since in tunnel construction it is necessary to move the operation room to within communication range of the heavy machinery every time a tunnel is excavated, it can be installed inside an operation room built on the loading platform of a truck, etc. If it is not necessary to move the operation room, the remote control device 20 can be installed inside a building such as a prefabricated office that is within communication range of the heavy machinery.

[0026] The configuration of the multi-control unit 25 will be described in detail with reference to Fig. 2. As shown in Fig. 2(a), the stick controller unit (L) 21 includes a lever 40 operable in the forward, backward, left and right directions, two button switches 41, six LED button switches 42, a lever 43 operable in the forward, backward, left and right directions, a lever 44 operable in the forward and backward directions, and nine LED corner switches 45. How to use each lever and switch will be described in detail in the section on how to operate each heavy machine.

[0027] The stick controller unit (R) 22 includes an emergency stop button 50, a lever 51 that can be operated forward, backward, left and right, two button switches 52, three LED button switches 53, an analog dial 54, a lever 55 that can be operated forward, backward, left and right, a lever 56 that can be operated forward and backward, nine LED corner switches 57, and a mouse table 58.

[0028] The foot controller unit 23 includes a foot controller 1 direction (front) 60, a foot controller 1 direction (front) 61, and a foot controller 2 direction (front and rear) 62. In the example shown in Fig. 2(a), a touch panel 63 is provided as the video information unit.

[0029] The touch panel 63 displays the selected heavy machinery and can also display the usable directions. The touch panel 63 can also display the usable lever (stick) directions, foot controllers (pedals), and buttons using lamps or the like depending on the type of heavy machinery being used.

[0030] As shown in FIG. 2(b), the various devices of the multi-control unit 25 include a foot controller 1 direction (front) 61 etc. that is arranged on the floor of the operation room for an operator to operate with his / her foot, an emergency stop button 50, a lever 51, an LED button switch 53, a lever 55, an LED corner switch 57 etc. that are arranged on the operation desk for an operator to operate with his / her hand, and a touch panel 63 that the operator can visually confirm is arranged in front of the operation desk.

[0031] The multi-control unit 25 is capable of operating multiple types of heavy machinery, and can sound a buzzer if the stick is moved in a direction not used for certain types of heavy machinery, or in the direction of a pedal not used. In addition, pedals and buttons not used can be locked to prevent them from moving. For this reason, the multi-control unit 25 can be equipped with sound output means and locking means.

[0032] Hereinafter, a method of operating each heavy machine will be described in detail with reference to Figures 3 to 9. Figure 3 is a diagram for explaining a method of operating the wheel loader 10. The wheel loader 10 is operated using stick controller units 21, 22 and a foot controller unit 23.

[0033] The nine LED corner switches 45 are switches for selecting the type of heavy machinery, and in the example shown in Fig. 3, the leftmost switch is the switch for selecting the wheel loader 10. When the wheel loader 10 is selected by the LED corner switch 45, it becomes possible to operate the lever 40 etc. as the lever etc. described below. This is the same for other types of heavy machinery.

[0034] Pressing the LED corner switch 45 once selects a specific type of heavy equipment, and pressing the same switch again cancels the selection. Therefore, if a specific type of heavy equipment is currently selected and you want to switch to a different type of heavy equipment, you need to press the switch that selected the specific type of heavy equipment to cancel the selection, and then press the switch that selects the other type of heavy equipment. If you switch without canceling the selection, two pieces of heavy equipment with different operation methods will operate at the same time, which is dangerous.

[0035] The lever 40 of the stick controller unit (L) 21 can be operated back and forth to raise and lower (lift up, lift down) an arm connected to a bucket that excavates the ground and scoops up soil and sand. The lever 40 can also be operated left and right to rotate the bucket up and down (bucket up, bucket down). The lever 40 has a lever button at the top of the lever 40, and can be operated while pressing the lever button. By operating the lever 40 left and right while pressing the lever button, the bucket can be rotated up and down (side up or side down) when loading the scooped up soil and sand into a truck. Note that the operations shown in () in the figure indicate the operation contents when the button is pressed.

[0036] One of the two button switches 41, button 41a, is a button for canceling all operations, and the other button 41b is a button for sounding the horn. The six LED button switches 42 are switches for turning on the lights. The levers 43 and 44 are not used.

[0037] The emergency stop button 50 of the stick controller unit (R) 22 is a button for making an emergency stop of the wheel loader 10. The lever 51 is not operated forward or backward, but only left or right. The lever 51 can change the angle of the front wheels of the wheel loader 10 to change the direction of travel. The lever 51 has a lever button at the top, which serves as a button for sounding the horn. One of the two button switches 52, button 52a, serves as a button for canceling all operations, and the other button 52b is not used.

[0038] The three LED button switches 53 are used to turn on the emergency flashers (blinker hazard lights). The analog dial 54 and levers 55 and 56 are not used.

[0039] One of the nine LED corner switches 57 is a bucket release switch, and another is a parking brake switch. The bucket release switch is a safety switch configured so that the bucket cannot be operated unless pressed, and the parking brake switch is a switch for manually stopping the operation and movement of the wheel loader 10.

[0040] The foot controller 1 direction (front) 60 of the foot controller unit 23 serves as a brake pedal and can stop the movement of the wheel loader 10. The foot controller 1 direction (front) 61 serves as an accelerator pedal and can move the wheel loader 10 forward or backward. Of the foot controller 2 directions (front / rear) 62, one foot controller 2 directions (front / rear) 62a serves as a pedal for switching between a forward gear and a reverse gear, and the other foot controller 2 directions (front / rear) 62b serves as a pedal for raising (gear up) or lowering (gear down) the switched gear.

[0041] Therefore, a worker can use the foot controller unit 23 to move the wheel loader 10 forward or backward while changing gears, operate the lever 51 to change the direction of travel, and operate the lever 40 to excavate the ground, scoop up the excavated soil and sand with a bucket, and load it onto the truck bed.

[0042] 4 is a diagram for explaining a method of operating the jumbo drill 11. The jumbo drill 11 is also operated using the stick controller units 21 and 22 and the foot controller unit .

[0043] The nine LED corner switches 45 are switches for selecting the type of heavy machinery. In the example shown in FIG.

[0044] The lever 40 of the stick controller unit (L) 21 and the lever button of the lever 40 are not used.

[0045] One of the two button switches 41, button 41a, is a button for canceling all operations, and the other button 41b is a button for sounding the horn. The six LED button switches 42 are switches for turning on the lights. The levers 43 and 44 are not used.

[0046] The emergency stop button 50 of the stick controller unit (R) 22 is a button for bringing the drill jumbo 11 to an emergency stop. The lever 51 is not operated forward or backward, but only left and right. By operating the lever 51 left and right, the angle of the front wheels of the drill jumbo 11 can be changed to change the direction of travel. The lever 51 has a lever button, which functions as a button for sounding the horn. One of the two button switches 52, button 52a, is a button for canceling all operations, and the other button 52b is not used. The three LED button switches 53 and levers 55 and 56 are not used.

[0047] The drill jumbo 11 is equipped with a rock drill, a guide shell, and a boom, and uses electricity to change the angle of the boom to move the rock drill at the tip to the hole drilling position, to move the rock drill forward or backward using the guide shell, and to rotate the rod that constitutes the rock drill and has a bit at its tip. Note that changes in the boom angle, etc., are controlled using a table-type controller 27 connected to the multi-control unit 25 shown in Figure 1.

[0048] Usually, the drill jumbo 11 receives power from a power receiving facility, which is stepped down to a predetermined voltage in a transforming facility, and is supplied with power from the transforming facility via a cable. The drill jumbo 11 receives this power supply to generate hydraulic pressure and operate the boom, etc. There are cases where power cannot be supplied temporarily due to the arrangement of cables for supplying power to the drill jumbo 11 or the maintenance of power facilities. In such cases, hydraulic pressure can be generated using the engine of the drill jumbo 11, but the engine speed needs to be controlled to generate the predetermined hydraulic pressure. The engine speed can be controlled using the accelerator, but when using a rock drill or the like, the drill jumbo 11 must be stopped from traveling. The analog dial 54 serves as a throttle to control the engine speed without using the accelerator.

[0049] Four of the nine LED corner switches 57 serve as switches for tensioning outriggers that use a hydraulic jack to raise the entire drill jumbo 11 and lift the wheels off the ground. Attaching the outriggers prevents the drill jumbo 11 from moving and suppresses vibration. One of the remaining four LED corner switches 57 serves as a switch for winding up, using a cable reel, the cable that supplies power from the substation to the drill jumbo 11, and the other serves as a parking brake switch, similar to the wheel loader 10.

[0050] The foot controller 1 direction (front) 60 of the foot controller unit 23 serves as a brake pedal and can stop the movement of the drill jumbo 11. The foot controller 1 direction (front) 61 serves as an accelerator pedal and can move the drill jumbo 11 forward or backward. Of the foot controller 2 directions (front / rear) 62, one foot controller 2 directions (front / rear) 62a serves as a pedal for switching between forward and reverse gears, and the other foot controller 2 directions (front / rear) 62b is not used.

[0051] Therefore, the worker can use the foot controller unit 23 to move the drill jumbo 11 forward or backward, operate the lever 51 to change its direction of travel, stop it at a specified position, extend the outriggers, and operate the table type controller 27 to change the angle of the boom, advance the guide shell, and rotate the rock drill to form a hole at a specified position in a rock bed or the like.

[0052] 5 is a diagram for explaining a method of operating the road header 12. The road header 12 is also operated using the stick controller units 21 and 22 and the foot controller unit 23.

[0053] The nine LED corner switches 45 are switches for selecting the type of heavy equipment, and in the example shown in FIG.

[0054] The lever 40 of the stick controller unit (L) 21 can be operated back and forth to extend or retract a boom, which is made up of nested hollow cylindrical bodies of different diameters. The lever 40 can be operated left and right to extend or retract an arm at the end of the boom. In FIG. 5, "arm_far" indicates that the arm is extended, and "arm_forward" indicates that the arm is retracted. The lever 40 has a lever button, but the lever button is not used.

[0055] Of the two button switches 41, one button 41a is a button to cancel all operations, and the other button 41b is a button to sound the horn. The six LED button switches 42 are switches for turning on the lights. The lever 43 is not used. By operating the lever 44 back and forth, the left endless track (crawler) can be made to move forward or backward.

[0056] The emergency stop button 50 of the stick controller unit (R) 22 is a button for emergency stopping the road header 12. The lever 51 can be operated back and forth to change the up and down angle of the boom, and can be operated left and right to change the left and right angle of the boom to rotate the boom. The lever 51 has a lever button, which functions as a button for sounding the horn. One of the two button switches 52, button 52a, functions as a button for canceling all operations, and the other button 52b functions as a switch for rotating a drum equipped with a bit, which is provided at the tip of the arm.

[0057] The road header 12 is an excavator that rotates a drum and excavates natural ground or underground with a bit at the tip. When excavating with the road header 12, dust is generated by cutting and the bit heats up due to friction with the rock base, etc., so water is sprayed to suppress the dust and cool the bit. The three LED button switches 53 are used as switches for this water spraying. The analog dial 54 is not used.

[0058] Like the drill jumbo 11, the road header 12 also uses electricity to extend and retract the arm and boom, rotate the drum, and so on. For this reason, the substation equipment and the road header 12 are connected by a cable. The cable is hung by a cable hanger and supplies power to the arm at the tip. There is a possibility that the cable may come into contact with the road header itself or other heavy machinery such as a hydraulic excavator, in which case the cable may be pulled, stretched, and cut. By operating the lever 55 back and forth and left and right, the cable hanger can be moved so that the cable does not come into contact with or become entangled. The lever button on the lever 55 is a button for switching between the left and right cable hangers. By operating the lever 56 back and forth, the right crawler can be moved forward or backward.

[0059] Four of the nine LED corner switches 57 are switches that tension the outriggers. Tensioning the outriggers prevents the road header 12 from moving and suppresses vibration. One of the remaining four LED corner switches 57 is a switch that winds up the cable for supplying power from the substation to the road header 12 using a cable reel.

[0060] The foot controller 1 direction (front) 60, 61 of the foot controller unit 23 are not used. One foot controller 2 direction (front-rear) 62a serves as a pedal for moving the right crawler forward or backward, and the other foot controller 2 direction (front-rear) 62b serves as a pedal for moving the left crawler forward or backward, so that the left and right crawlers can be moved forward or backward. The crawlers can also be moved forward or backward with the levers 44, 56, but the operation with the levers 44, 56 allows delicate operation (fine movement operation) and can be used when it is desired to move the crawlers finely.

[0061] Therefore, the worker can use the foot controller unit 23 to move the road header 12 to a predetermined position, operate levers 40 and 51 to extend and retract the arm and boom to position them, and press button 52b to rotate the drum and excavate the natural ground or underground.

[0062] 6 is a diagram for explaining a method of operating the erector-integrated spray machine 13. The erector-integrated spray machine 13 is also operated using stick controller units 21, 22 and a foot controller unit .

[0063] The nine LED corner switches 45 are switches for selecting the type of heavy machinery. In the example shown in FIG. 6, the fourth switch from the left is the switch for selecting the erector-integrated spray machine 13.

[0064] The lever 40 of the stick controller unit (L) 21 can be operated forward and backward to extend and retract the boom. The lever 40 can be operated left and right to rotate the arm at the tip of the boom left and right. The lever 40 has a lever button, but the lever button is not used.

[0065] One of the two button switches 41, button 41a, is a button for canceling all operations, and the other button 41b is a button for sounding the horn.

[0066] The erector-integrated sprayer 13 includes an erector boom used to erect shoring, a basket boom on which a worker rides to perform work at height, and a spray boom used to spray concrete. Three of the six LED button switches 42 are switches for selecting one of the three booms included in the erector-integrated sprayer 13. The remaining three of the six LED button switches 42 are switches for turning on the lights. When the spray boom is selected by the LED button switch 42, the lever 43 can be operated forward, backward, left, right, or up and down to change the direction of the spray nozzle for spraying concrete. The lever 44 can be operated forward and backward to move the left crawler forward or backward.

[0067] The emergency stop button 50 of the stick controller unit (R) 22 is a button for emergency stopping the erector-integrated sprayer 13. The lever 51 can be operated forward, backward, left and right to change the angle of the boom in the up-down and left-right directions and rotate the boom. The lever 51 has a lever button 51a, which functions as a button for sounding the horn. One of the two button switches 52, button 52a, functions as a button for canceling all operations, and the other button 52b functions as a switch for starting a compressor that supplies compressed air used to spray the concrete.

[0068] One of the three LED button switches 53 is a switch that starts a concrete pump that supplies concrete. When a quick-setting agent is used, another of the three LED button switches 53 is a switch that starts a pump that supplies the quick-setting agent.

[0069] The erector-integrated spray machine 13 also uses hydraulic pressure generated by electricity to rotate the arm, extend and retract the boom, change the angle, operate the concrete pump, etc., and also uses air generated by electricity to supply spray air. For this reason, the erector-integrated spray machine 13 is connected to the substation by a cable, but if power cannot be supplied from the substation, hydraulic pressure can be supplied from the engine of the erector-integrated spray machine 13. The analog dial 54 serves as a throttle that controls the engine speed when hydraulic pressure is supplied from the engine. If power cannot be supplied, spray air cannot be supplied.

[0070] Lever 55 is not used. Lever 56 can be operated forward or backward to move the right crawler forward or backward.

[0071] Four of the nine LED corner switches 57 are switches for tensioning the outriggers. Tensioning the outriggers prevents the erector-integrated spray machine 13 from moving and suppresses vibration. One of the remaining four LED corner switches 57 is a switch for winding up the cable that supplies power from the substation to the erector-integrated spray machine 13 using a cable reel, and the other is a switch for the parking brake.

[0072] The foot controller 1 direction (front) 60, 61 of the foot controller unit 23 are not used. One foot controller 2 direction (front-rear) 62a serves as a pedal for moving the right crawler forward or backward, and the other foot controller 2 direction (front-rear) 62b serves as a pedal for moving the left crawler forward or backward, so that the left and right crawlers can be moved forward or backward. Note that the operation using the levers 44, 56 allows fine movement operation and can be used when it is desired to finely move the left and right crawlers.

[0073] Therefore, a worker can use the foot controller unit 23 to move the erector integrated sprayer 13 to a predetermined position, operate lever 40 and lever 51 to extend and retract the arm and boom, press button 52b and LED button switch 53 to start the compressor and pump, and spray concrete onto the target.

[0074] The erector boom and basket boom can be operated using levers 40, 51, etc., or can be operated using a table type controller 27, etc.

[0075] 7 is a diagram for explaining a method of operating the backhoe 14. The backhoe 14 is also operated using the stick controller units 21 and 22 and the foot controller unit 23.

[0076] The nine LED corner switches 45 are switches for selecting the type of heavy machinery. In the example shown in FIG.

[0077] By operating the lever 40 of the stick controller unit (L) 21 back and forth, the arm of the backhoe 14 can be moved to "arm_rear" in a direction away from the control room, or to "arm_front" in a direction toward the control room. Also, by operating the lever 40 left and right, the control room can be rotated left and right. The lever 40 has a lever button, but the lever button is not used.

[0078] One of the two button switches 41, button 41a, is a button for canceling all operations, and the other button 41b is a button for sounding the horn.

[0079] The six LED button switches 42 are used to turn on the lights. The lever 44 can be operated forward or backward to move the left crawler forward or backward.

[0080] The backhoe 14 is a machine with a bucket attached to the end of an arm, and other attachments can be attached instead of the bucket. Attachments such as a hammer and a crusher can be listed as examples of the attachments. The lever 43 is used to operate the attachments, and is not used to operate the bucket.

[0081] The emergency stop button 50 of the stick controller unit (R) 22 is a button for emergency stopping the backhoe 14. The lever 51 can be operated back and forth to change the up and down angle of the boom. The lever 51 can be operated left and right to move the bucket toward or away from the control room. The lever 51 also has a lever button, which functions as a button for sounding the horn. One of the two button switches 52, button 52a, is a button for canceling all operations, and the other button 52b is not used.

[0082] The three LED button switches 53 are switches for operating a 3D scanner attached to the roof or the like of the operation room of the backhoe 14. The 3D scanner is a device that measures the three-dimensional shape of a measurement target. The analog dial 54 is a throttle that controls the engine speed to maintain a predetermined oil pressure from the engine of the backhoe 14.

[0083] Lever 55 is not used. Lever 56 can be operated forward or backward to move the right crawler forward or backward.

[0084] One of the nine LED corner switches 57 is a switch for releasing the operation. The switch for releasing the operation is a switch for preventing the lever from moving even if the lever touches the body.

[0085] The foot controller 1 direction (front) 60, 61 of the foot controller unit 23 are not used. One foot controller 2 direction (front-rear) 62a serves as a pedal for moving the right crawler forward or backward, and the other foot controller 2 direction (front-rear) 62b serves as a pedal for moving the left crawler forward or backward, so that the left and right crawlers can be moved forward or backward. Note that the operation using the levers 44, 56 allows fine movement operation and can be used when it is desired to finely move the left and right crawlers.

[0086] Therefore, a worker can use the foot controller unit 23 to move the backhoe 14 to a designated position, operate the levers 40 and 51 to rotate it, and move the boom, arm, and bucket to scoop up soil and sand.

[0087] 8 is a diagram for explaining a method of operating the breaker 15. The breaker 15 is also operated using the stick controller units 21 and 22 and the foot controller unit .

[0088] The nine LED corner switches 45 are switches for selecting the type of heavy machinery. In the example shown in FIG.

[0089] The lever 40 of the stick controller unit (L) 21 can be operated back and forth to move the arm of the breaker 15 to "arm_rear" which is a direction away from the operation room, or to "arm_front" which is a direction toward the operation room. The lever 40 can also be operated left and right to rotate the entire operation room left and right. The lever 40 has a lever button, but the lever button is not used.

[0090] One of the two button switches 41, button 41a, is a button for canceling all operations, and the other button 41b is a button for sounding the horn.

[0091] The six LED button switches 42 are used to turn on the lights. The lever 43 is used to operate the attachments, and is not used to operate the breaker. By replacing the attachment with a bucket, it becomes the backhoe 14 shown in Figure 7. By operating the lever 44 back and forth, the left crawler can be moved forward or backward.

[0092] The emergency stop button 50 of the stick controller unit (R) 22 is a button for emergency stopping the breaker 15. The lever 51 can be operated back and forth to change the up and down angle of the boom. The lever 51 can be operated left and right to move the bucket toward or away from the operation room. The lever 51 also has a lever button, which functions as a button for sounding the horn. One of the two button switches 52, button 52a, is a button for canceling all operations, and the other button 52b is not used.

[0093] The three LED button switches 53 are switches for operating a 3D scanner attached to the roof or the like of the operation room of the backhoe 14. The analog dial 54 is a throttle that controls the engine speed to maintain a predetermined oil pressure by the engine of the breaker 15.

[0094] Lever 55 is not used. Lever 56 can be operated forward or backward to move the right crawler forward or backward.

[0095] One of the nine LED corner switches 57 is a switch for releasing the operation. The switch for releasing the operation is a switch for preventing the lever from moving even if the lever touches the body.

[0096] The foot controller 1 direction (front) 60 of the foot controller unit 23 is not used. The foot controller 1 direction (front) 61 functions as a switch for the breaker 15, and stepping on the pedal turns on the breaker 15. One foot controller 2 direction (front-rear) 62a serves as a pedal for moving the right crawler forward or backward, and the other foot controller 2 direction (front-rear) 62b serves as a pedal for moving the left crawler forward or backward, and the left and right crawlers can be moved forward or backward. Note that the operation using the levers 44 and 56 allows fine movement operation, and can be used when it is desired to finely move the left and right crawlers.

[0097] Therefore, an operator can use the foot controller unit 23 to move the breaker 15 to a predetermined position, operate the levers 40 and 51 to rotate it, move the boom and arm, switch on the breaker 15, and strike the breaker with the chisel at the tip which is reciprocated by a piston to perform marking removal, etc.

[0098] 9 is a diagram for explaining a method of operating the unmanned measuring device 16. The unmanned measuring device 16 is powered by a battery and a motor, and the unmanned measuring device 16 is also operated using stick controller units 21 and 22 and a foot controller unit 23.

[0099] The nine LED corner switches 45 are switches for selecting the type of heavy machinery, and in the example shown in FIG.

[0100] A 3D scanner or the like serving as a measuring device can be rotated left and right by operating the lever 40 of the stick controller unit (L) 21 left and right. The lever 40 has a lever button, but the lever button is not used.

[0101] One of the two button switches 41, button 41a, is a button for canceling all operations, and the other button 41b is a button for sounding the horn.

[0102] At least one of the six LED button switches 42 serves as a shooting button for a camera that shoots the face side. The remaining LED button switches 42 serve as switches for turning on the lights. The lever 44 is not used.

[0103] The unmanned measuring device 16 has a lifting platform that can be raised and lowered and on which a measuring device such as a 3D scanner is placed. For this reason, the lifting platform can be raised and lowered by operating the lever 43 back and forth.

[0104] The emergency stop button 50 of the stick controller unit (R) 22 is a button for emergency stopping the unmanned measuring vehicle 16. The lever 51 can be operated back and forth to move the unmanned measuring vehicle 16 forward or backward. The lever 51 can be operated left and right to move the unmanned measuring vehicle 16 to the left or right. The lever 51 also has a lever button, which functions as a button for sounding the horn. One button 52a of the two button switches 52 is a button for canceling all operations, and the other button 52b is not used.

[0105] The three LED button switches 53 are used to operate the 3D scanner mounted on the unmanned measuring device 16. The analog dial 54 is not used.

[0106] The unmanned measuring device 16 is equipped with an imaging device (camera) that captures images in the direction of travel, etc. Tilting the camera to the left and right with the camera fixed is called "panning," and tilting it up and down is called "tilting." By operating the lever 55 forward, backward, left and right, the camera can be tilted up and down and left and right. The lever 55 has a lever button, and by operating the lever button forward and backward while pressing it, the image can be enlarged or reduced. The lever 56 is not used.

[0107] One of the nine LED corner switches 57 is a switch for releasing the operation. The switch for releasing the operation is a switch for preventing the lever from moving even if the lever touches the body.

[0108] The foot controller 1 direction (front) 60, 61 of the foot controller unit 23 are not used. One foot controller 2 direction (front-rear) 62a serves as a pedal for moving the right crawler forward or backward, and the other foot controller 2 direction (front-rear) 62b serves as a pedal for moving the left crawler forward or backward, so that the left and right crawlers can be moved forward or backward. Here, the left and right crawlers are moved forward or backward by only the pedals without using the levers 44, 56, but the left and right crawlers may be configured to be moved slightly by using the levers 44, 56.

[0109] Therefore, the unmanned measuring machine 16 can be moved by the lever 51 or by the foot controller in two directions (forward and backward) 62.

[0110] An operator can use lever 51 and foot controller unit 23 to move the unmanned measuring device 16 to a designated position, change the camera direction using lever 55, and operate lever 43 and LED button switch 53 to measure the three-dimensional shape of the object to be measured.

[0111] The multi-operation system can automatically display the operation details of the selected machine on the monitor referred to by the worker as a measure to prevent operational errors. Figure 10 is a diagram showing an example of a screen displayed on the monitor. As shown in Figure 10(a), the monitor has a machine parameter monitor (main) 70, a machine parameter monitor (secondary) 71, an operation explanation monitor 72, a video monitor (main) 73, and a video monitor (secondary) 74, and the operation details can be displayed on the operation explanation monitor 72, for example.

[0112] Figure 10(b) is a diagram showing an example of operation contents of the wheel loader 10. The operation contents are the same as those shown in Figure 3, and operation contents that are not used are displayed in a distinguishable manner, for example by changing the color of the text. Note that operation contents that are not used can also be hidden.

[0113] Figure 11 is a diagram showing another example of a screen displayed on the monitor. The content displayed on the screen itself is the same as that shown in Figure 10(b), but is displayed so that the status of the operations (levers, pedals, buttons) in the operation room can be confirmed. Figure 11 shows the status of the lever 40, indicating that the lever 40 displayed as "lever 1" is operated 50% in the lift-down direction and 50% in the bucket-up direction.

[0114] In addition to the screen displays shown in Figures 10(b) and 11, measures to prevent erroneous operation include a method of always turning off the machine currently being operated and switching to another machine when switching operations as described above, and a method of switching the displayed image to the image of the target machine when switching machines.

[0115] A local network such as Ethernet (registered trademark) is used for communication between the remote control device 20 and each heavy machine. The local network can only use, for example, 256 IP (Internet Protocol) addresses, and if there are 256 or more machines, simultaneous communication cannot be performed depending on the machines. The machines are individual devices such as sensors in each heavy machine and actuators that operate the boom, etc.

[0116] Therefore, as shown in Figure 12, machines 1 and 2, machines 3 and 4, and machines 5 and 6, which are not used at the same time, are grouped, and one IP address is assigned to each branching device that is the entrance to each group. Each branching device converts the IP addresses into the IP addresses that each machine has individually and connects to each machine. The IP address conversion can be performed, for example, based on the communication destination information included in the information sent to the branching device. In this way, communication between two machines in the same group and the control room is shown by two dashed and solid lines, but communication can be established only with one machine, and the other machine can be blocked from the network built between the control room and the other machine. This makes it possible to secure the number of IP addresses and reduce the amount of communication.

[0117] Since communication between the control room and each piece of heavy equipment is wireless, communication may be interrupted depending on the communication state. For example, if communication is interrupted while the heavy equipment is moving, it will not be able to brake, so the machine will continue moving and will not be able to maintain a safe condition.

[0118] Therefore, in order to keep the machines in a safe state when communication is lost, for example, for the wheel loader 10, the brake is turned ON and the parking brake is turned ON. For the drill jumbo 11, the hydraulic pump is stopped and the parking brake is turned ON. For the road header 12, the hydraulic pump is stopped. For the erector-integrated sprayer 13, the hydraulic pump is stopped and the parking brake is turned ON. For the backhoe 14 and breaker 15, the hydraulic pump is stopped, and for the unmanned measuring device 16, the servo is turned OFF.

[0119] The drill jumbo 11, road header 12, erector-integrated sprayer 13, backhoe 14, and breaker 15 all use hydraulic pressure to operate the arms and booms and rotate the drums. The hydraulic pump that supplies this hydraulic pressure cannot be controlled if communication is lost, so the hydraulic pump is stopped.

[0120] The unmanned measuring device 16 is equipped with a servo mechanism that operates automatically to track target values, with position, direction, attitude, etc. as control variables. Since the servo mechanism cannot be controlled if communication is cut off, the servo mechanism is turned off.

[0121] The lever and pedal operation of the remote control device 20 for each type of heavy machinery has been described with reference to Figures 3 to 9, but the levers and pedals have different ranges of play and strength depending on the type of heavy machinery. It is desirable to be able to adjust the settings (feel) of these operations so that the worker can operate them without feeling uncomfortable.

[0122] Fig. 13 is a diagram for explaining the settings of lever and pedal operation. Fig. 13(a) and (b) are diagrams for explaining the settings of the brake pedal operation of the drill jumbo 11 and the wheel loader 10, and Fig. 13(c) and (d) are diagrams for explaining the settings of the lever operation of the erector-integrated spray machine 13 and the backhoe 14.

[0123] The drill jumbo 11 is heavy and cannot be stopped easily, so the brakes can be set to have a large maximum braking range. On the other hand, the wheel loader 10 can be set to have a large range of braking strength and can be adjusted.

[0124] The Erector integrated sprayer 13 has a large range of play so that spraying does not start even if the lever is touched accidentally. On the other hand, the backhoe 14 has a large range of lever strength so that the amount of operation can be finely adjusted.

[0125] This information can be held in the operation communication panel 31 of the control unit 29 as setting information related to the operation amount of the lever and pedal according to the type of heavy equipment. The operation communication panel 31 adjusts the operation amount of the lever or pedal that was actually operated based on the setting information of the selected type. Then, the operation communication panel 31 instructs the communication device 28 to transmit the adjusted operation amount as operation information.

[0126] Note that these setting information are merely examples, and other setting information may be used, and appropriate setting information can be set depending on the type of each heavy machinery.

[0127] As described above, by providing the remote control device and multi-operation system of the present invention, it becomes possible to switch between and operate different types of construction machinery. Since there is no need to prepare an operation device for each heavy machinery, remote operation can be performed at low cost.

[0128] The remote control device and multi-operation system of the present invention have been described in detail above with reference to the embodiments shown in the drawings. However, the present invention is not limited to the above-described embodiments, and can be modified within the scope of what a person skilled in the art can conceive, such as other embodiments, additions, modifications, deletions, etc., and any aspect is within the scope of the present invention as long as it achieves the functions and effects of the present invention. [Explanation of symbols]

[0129] 10. Wheel loader 11. Drill Jumbo 12...Road Header 13…Erector integrated spray machine 14…Backhoe 15…Breaker 16...Unmanned measuring device 17…Communication device 20...Remote control device 21...Stick controller unit (L) 22...Stick controller unit(R) 23...Foot controller unit 24...Target machine switching switch 25...Multi-control unit 26...Handle type controller 27...Table type controller 28...Communication device 29…Control unit 30...Video Information Unit 31...Operation and communication panel 32…Data processing PC 33…Video processing PC 34…Driving and operation information monitor 35…Video monitor 36. Internet 37…Server 38…Golden Week 39…Switch 40, 43, 44, 51, 55, 56…Levers 41, 52...Button switch 41a, 41b, 52a, 52b…Buttons 42, 53...LED button switch 45, 57...LED square switch 50…Emergency stop button 54…Analog dial 58…Mouse table 60, 61...Foot controller 1 direction (front) 62, 62a, 62b...Foot controller 2 directions (front and back) 63...Touch panel 70...Machine parameter monitor (main) 71...Machine parameter monitor (secondary) 72...Operation explanation monitor 73…Video monitor (main) 74…Video monitor (secondary)

Claims

1. A device for remotely operating a construction machine, comprising: A plurality of operating levers; A plurality of operation pedals; A selection means for selecting a type of construction machine; a communication means for communicating with the type of construction machine selected by the selection means; a control means for instructing a communication means to transmit operation information input from at least one of the plurality of operation levers and the plurality of operation pedals; an output means for outputting operation information of the construction machine received from the construction machine by the communication means; A remote control device comprising:

2. 2. The remote control device according to claim 1, wherein said output means displays the operation details of the construction machine of the type selected by said selection means.

3. 3. The remote control device according to claim 2, wherein the output means displays the amount of operation of the operated operation lever or the operation pedal, or both.

4. 4. The remote control device according to claim 1, wherein the selection means, when switching the selected type, cancels the selection of the type and then selects another specified type.

5. 5. The remote control device according to claim 4, wherein the output means, when switched to the other type, switches to displaying the operation details of the other type of construction machine.

6. Two or more devices that are not used simultaneously among the multiple devices equipped on the multiple types of construction machines are grouped into the same group, and address information is assigned to each group, 6. The remote control device according to claim 1, wherein the communication means establishes communication with only one device that is to be used among the two or more devices in the group by using the address information.

7. The remote control device according to any one of claims 1 to 6, wherein the control means holds setting information regarding the operation amounts of the plurality of operating levers and the plurality of operating pedals according to the type of the construction machine, adjusts the operation information based on the setting information of a selected type, and instructs transmission of the adjusted operation information.

8. A multi-operation system comprising the remote control device according to any one of claims 1 to 7 and a plurality of types of construction machines.

9. 9. The multi-operation system according to claim 8, wherein a construction machine of a selected type from among the plurality of types of construction machines performs a predetermined action when communication with the remote control device is interrupted for a predetermined period of time.

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