Remote radio operating system, and remote operating apparatus, mobile relay station and radio mobile working machine

• US 6,778,097 B1
• Filed: 06/29/1999
• Issued: 08/17/2004
• Est. Priority Date: 10/29/1997
• Status: Expired due to Fees

• Current Assignee: Caterpillar Sarl (Caterpillar Incorporated)
• Original Assignee: Shin Caterpillar Mitsubishi Ltd. (Caterpillar Incorporated)
• Inventors: Awano, Katsusuke, Tozawa, Shoji, Nishikawa, Hiroyasu, Kajita, Shigeo, Miki, Masatoshi
• Primary Examiner(s): Zimmerman, Brian
• Assistant Examiner(s): YANG, CLARA I
• Application Number:
  US09/331,973
• Time in Patent Office: 1,876 Days
• Field of Search: 701/50, 701/28, 701/2, 340/679, 340/683, 340/825.69, 455/6, 455/15, 342/426
• US Class Current: 340/12.5
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• CPC Class Codes: E02F 3/438 Memorising movements for repetition, e.g. play-back capability
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2203 Arrangements for controlling the attitude of actuators, e.g. speed, floating function
• CPC Class Codes: E02F 9/2285 Pilot-operated systems
• CPC Class Codes: E02F 9/2292 Systems with two or more pumps
• CPC Class Codes: E02F 9/2296 Systems with a variable displacement pump
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246

Abstract

The present invention relates to remote radio control technology, and a remote radio control system includes a radio movable working machine (1), a remote control apparatus (6A), and a movable repeater station (7). First bidirectional communication means (31, 71) having a high radio wave directionality and first automatic tracking means (32, 71A) are provided between the working machine (1) and the repeater station (7), and second bidirectional communication means (63, 76) having a high radio wave directionality, second automatic tracking means (63A, 76A), and emergency spread spectrum bidirectional communication means (64, 87) for enabling bidirectional communication between the remote control apparatus (6A) and the repeater station (7) when communication by the second bidirectional communication means (63, 76) is impossible are provided between the remote control apparatus (6A) and the repeater station (7). Consequently, even if communication between the working machine (1) and the movable repeater station (7) is disabled, each of the working machine (1) and the repeater station (7) is permitted to perform a minimum necessary operation, and any other person than those skilled in actual controlling operation of the working machine (1) can perform remote control easily.

Claims

1. A remote radio control system, comprising:

a radio movable working machine capable of movably working by radio control in a working site,

a remote control apparatus for operating said radio movable working machine by radio control, and

a movable repeater station interposed between said remote control apparatus and said radio movable working machine for repeating a signal,

wherein, between said radio movable working machine and said movable repeater station, there are provided;

first bidirectional communication means having a high radio wave directionality for enabling bi-directional communication between a working-machine-side antenna equipped to said radio movable working machine and a first repeater-station-side antenna equipped to said movable repeater station;

first automatic tracking means for controlling orientation of said working-machine-side antenna and orientation of said first repeater-station-side antenna in an automatic way, so that said working-machine-side antenna and said first repeater-station-side antenna follow movement of each other; and

emergency low radio wave directionality communication means for transmitting (i) an antenna control signal from said movable repeater station to said radio movable working machine and (ii) a control signal from said movable repeater station to said radio movable working machine when communication by said first bidirectional communication means is impossible, and wherein, between said remote control apparatus and said movable repeater station, there are provided;

second bidirectional communication means having a high radio wave directionality, for enabling bi-directional communication between a control-apparatus-side antenna equipped to said remote control apparatus and a second repeater-station-side antenna equipped to said movable repeater station;

second automatic tracking means for controlling orientation of said control-apparatus-side antenna and orientation of said second repeater-station-side antenna automatically, so that said control-apparatus-side antenna and said second repeater-station-side antenna follow movement of each other; and

emergency spread spectrum bidirectional communication means for enabling bidirectional communication between said remote control apparatus and said movable repeater station when communication by said second bidirectional communication means is impossible.

2. A remote radio control system as set forth in claim 1, wherein a plurality of sets of the first bidirectional communication means and first automatic tracking means are provided corresponding to a plural number of the radio movable working machines.

3. A remote radio control system as set forth in claim 1, wherein a plurality of the emergency low radio wave directionality communication means are provided corresponding to a plural number of the radio movable working machines.

4. A remote radio control system as set forth in claim 1, wherein each of said first bidirectional communication means and said second bidirectional communication means is simple radio communication means for a giga hertz band.

5. A remote radio control system as set forth in claim 1, wherein said emergency spread spectrum bidirectional communication means is spread spectrum radio communication means for a desired frequency band.

6. A remote radio control system as set forth in claim 1, wherein said emergency low radio wave directionality communication means is radio communication means for a megahertz band.

7. A remote radio control system as set forth in claim 1, wherein said remote control apparatus includes a camera apparatus for catching an image of said movable repeater station when communication by said second bidirectional communication means is impossible.

8. A remote radio control system, comprising:

a radio movable working machine capable of movably working by radio control in a working site,

a remote control apparatus for operating said radio movable working machine by radio control, and

a movable repeater station interposed between said remote control apparatus and said radio movable working machine for repeating a signal,

wherein between said radio movable working machine and said movable repeater station, there are provided;

first bidirectional communication means having a high radio wave directionality for enabling bi-directional communication between a working-machine-side antenna equipped to said radio movable working machine and a first repeater-station-side antenna equipped to said movable repeater station;

first automatic tracking means for controlling orientation of said working-machine-side antenna and orientation of said first repeater-station-side antenna automatically, so that said working-machine-side antenna and said first repeater-station-side antenna follow movement of each other; and

emergency low radio wave directionality communication means for transmitting (i) an antenna control signal from said movable repeater station to said radio movable working machine and (ii) a control signal from said movable repeater station to said radio movable working machine when communication by said first bidirectional communication means is impossible, and wherein, between said remote control apparatus and said movable repeater station, there are provided;

second bidirectional communication means having a high radio wave directionality, for enabling bi-directional communication between a control-apparatus-side antenna equipped to said remote control apparatus and a second repeater-station-side antenna equipped to said movable repeater station; and

second automatic tracking means for controlling orientation of said control-apparatus-side antenna and orientation of said second repeater-station-side antenna automatically, so that said control-apparatus-side antenna and said second repeater-station-side antenna follow movement of each other, wherein

said radio movable working machine includes;

a joint type arm mechanism connected at one end portion thereof for pivotal motion on a machine body and having a working member at the other end side thereof, said joint type arm mechanism including at least one pair of arm members connected to each other through a joint part,

a cylinder type actuator mechanism including a plurality of cylinder type actuators which perform extension/contraction operations to drive said arm mechanism, and

a semiautomatic control apparatus including angle detection means for detecting a posture of said arm mechanism as angle information, a reception section for receiving control target value information transmitted from said remote control apparatus through said movable repeater station, and control means for controlling said cylinder type actuators based on the control target value information received by said reception section and the angle information detected by said angle detection means so that said cylinder type actuators may exhibit predetermined extension/contraction displacements.

9. A remote control system as set forth in claim 8, further comprising, in addition to said second bidirectional communication means and said second automatic tracking means, emergency spread spectrum bidirectional communication means for enabling bidirectional communication between said remote control apparatus and said movable repeater station when communication by said second bidirectional communication means is impossible.

10. A remote radio control system as set forth in claim 9, wherein said emergency spread spectrum bidirectional communication means is spread spectrum radio communication means for a desired frequency band.

11. A remote radio control system as set forth in claim 9, wherein said remote control apparatus includes a camera apparatus for catching an image of said movable repeater station when communication by said second bidirectional communication means is impossible.

12. A remote radio control system as set forth in claim 8, wherein said semiautomatic control apparatus includes conversion means for converting the angle information obtained by said angle detection means into corresponding extension/contraction displacement information of said cylinder type actuators, and said control means is constructed so as to control said cylinder type actuators based on the control target value information received by said reception section and the extension/contraction displacement information of said cylinder type actuators obtained by the conversion by said conversion means so that said cylinder type actuators may exhibit predetermined extension/contraction displacements.

13. A remote radio control system as set forth in claim 8, wherein in addition to said first bidirectional communication means and said first automatic tracking means, emergency low radio wave directionality communication means having a radio wave directionality lower than the radio wave directionality of said first bidirectional communication means for enabling communication of a control signal from said movable repeater station to said radio movable working machine when communication by said first bidirectional communication means is impossible is provided between said radio movable working machine and said movable repeater station.

14. A remote radio control system as set forth in claim 8, wherein a plurality of sets of the first bidirectional communication means and first automatic tracking means are provided corresponding to a plural number of the radio movable working machines.

15. A remote radio control system as set forth in claim 8, wherein each of said first bidirectional communication means and said second bidirectional communication means is simple radio communication means for a giga hertz band.

16. A remote radio control system as set forth in claim 8, wherein said remote control apparatus includes a camera apparatus for catching an image of said movable repeater station when communication by said second bidirectional communication means is impossible.

17. A remote control apparatus for operating a radio movable working machine, which is capable of movably working in a working site by radio control, by radio control through a movable repeater station which repeats a signal, comprising:

a high radio wave directionality bidirectional transmission/reception section for performing bidirectional communication having a high radio wave directionality for enabling bi-directional communication between a working-machine-side antenna equipped to said radio movable working machine and a first repeater-station-side antenna equipped to said movable repeater station;

an automatic tracking apparatus for controlling orientation of said working-machine-side antenna and orientation of said first repeater-station-side antenna automatically, so that said working-machine-side antenna and said first repeater-station-side antenna follow movement of each other;

emergency low radio wave directionality communication section for transmitting (i) an antenna control signal from said movable repeater station to said radio movable working machine and (ii) a control signal from said movable repeater station to said radio movable working machine when communication by said bidirectional transmission/reception section is impossible; and

an emergency spread spectrum bidirectional transmission/reception section for enabling bidirectional communication with said movable repeater station when communication by said high radio wave directionality bidirectional transmission/reception section is impossible.

18. A movable repeater station interposed between a radio movable working machine, which is capable of movably working in a working site by radio control, and a remote control apparatus, which operates said radio movable working machine by radio control, for repeating a signal, comprising:

a first high radio wave directionality bidirectional transmission/reception section for performing bidirectional communication having a high radio wave directionality for enabling bi-directional communication between a working-machine-side antenna equipped to said radio movable working machine and a first repeater-station-side antenna equipped to said movable repeater station;

a first automatic tracking apparatus for controlling orientation of said working-machine-side antenna and orientation of said first repeater-station-side antenna in an automatic way, so that said working-machine-side antenna and said first repeater-station-side antenna follow movement of each other;

a second high radio wave directionality bidirectional transmission/reception section, for performing bidirectional communication between a control-apparatus-side antenna equipped to said remote control apparatus and a second repeater-station-side antenna equipped to said movable repeater station;

a response section for responding to an automatic tracking signal from a second automatic tracking apparatus provided on said remote control apparatus, where the second automatic tracking apparatus controls orientation of said control-apparatus-side antenna and orientation of said second repeater-station-side antenna automatically, so that said control-apparatus-side antenna and said second repeater-station-side antenna follow movement of each other; and

an emergency spread spectrum bidirectional transmission/reception section for enabling bidirectional communication with said remote control apparatus when communication by said second high radio wave directionality bidirectional transmission/reception section is impossible.

19. A movable repeater station as set forth in claim 18, further comprising an emergency low radio wave directionality communication section for transmitting (i) an antenna control signal from said movable repeater station to said radio movable working machine and (ii) a control signal from said movable repeater station to said radio movable working machine when communication by said bidirectional transmission/reception section is impossible.

20. A radio movable working machine connected to a remote control apparatus through a movable repeater station, which repeats a signal, using bidirectional radio communication means as a communication medium in such a manner that said radio movable working machine is capable of movably working in a working site by radio control, comprising:

a high radio wave directionality bidirectional transmission/reception section for performing bidirectional communication having a high radio wave directionality for enabling bi-directional communication between a working-machine-side antenna equipped to said radio movable working machine and a first repeater-station-side antenna equipped to said movable repeater station;

a response section for responding to an automatic tracking signal from an automatic tracking apparatus provided on said movable repeater station, where the automatic tracking apparatus controls orientation of said working-machine-side antenna and orientation of said first repeater-station-side antenna in an automatic way, so that said working-machine-side antenna and said first repeater-station-side antenna follow movement of each other;

a joint type arm mechanism connected to one end portion thereof to a machine body and having a working member at the other end side thereof, said joint type arm mechanism including at least one pair of arm members connected to each other by a joint part,

a cylinder type actuator mechanism including a plurality of cylinder type actuators which perform extension/contraction operations to drive said arm mechanism, and

a semiautomatic control apparatus including angle detection means for detecting a posture of said arm mechanism as angle information, and control means for controlling said cylinder type actuators based on control target value information from said remote control apparatus received by said high radio wave directionality bidirectional transmission/reception section and the angle information detected by said angle detection means so that said cylinder type actuators may exhibit predetermined extension/contraction displacements.

21. A radio movable working machine as set forth in claim 20, wherein said semiautomatic control apparatus includes conversion means for converting the angle information obtained by said angle detection means into corresponding extension/contraction information of said cylinder type actuators, and said control means is constructed so as to control said cylinder type actuators based on the control target value information received by said high radio wave directionality bidirectional transmission/reception section and the extension/contraction displacement information of said cylinder type actuators obtained by the conversion by said conversion means so that said cylinder type actuators may exhibit predetermined extension/contraction displacements.

22. A radio movable working machine as set forth in claim 20, wherein it further comprises an emergency low radio wave directionality reception section having a radio wave directionality lower than the radio wave directionality of said high radio wave directionality bidirectional transmission/reception section for transmitting (i) an antenna control signal from said movable repeater station to said radio movable working machine and (ii) a control signal from said movable repeater station to said radio movable working machine when communication by said bidirectional transmission/reception section is impossible.

23. A remote radio control system, comprising:

a radio movable working machine capable of movably working in a working site by radio communication, and

a remote control apparatus for operating said radio movable working machine by radio control,

wherein, between said remote control apparatus and said radio movable working machine, there are provided;

bidirectional communication means having a high radio wave directionality for enabling bi-directional communication between a working-machine-side antenna equipped to said radio movable working machine and a control-apparatus-side antenna equipped to said remote control apparatus;

automatic tracking means for controlling orientation of said working-machine-side antenna and orientation of said control-apparatus-side antenna in an automatic way, so that said working-machine-side antenna and said control-apparatus-side antenna follow movement of each other; and

emergency low radio wave directionality communication means for transmitting (i) an antenna control signal from said remote control apparatus to said radio movable working machine and (ii) a control signal from said remote control apparatus to said radio movable working machine when communication by said bidirectional communication means is impossible.

24. A remote radio control system as set forth in claim 23, wherein a plurality of sets of the bidirectional communication means and automatic tracking means are provided corresponding to a plural number of the radio movable working machines.

25. A remote radio control system as set forth in claim 23, wherein a plurality of the emergency low radio wave directionality communication means are provided corresponding to a plural number of the radio movable working machines.

26. A remote radio control system as set forth in claim 23, wherein said bidirectional communication means is simple radio communication means for a giga hertz band.

27. A remote radio control system as set forth in claim 23, wherein said emergency low radio wave directionality communication means is radio communication means for a megahertz band.

28. A remote radio control system as set forth in claim 23, wherein said remote control apparatus includes a camera apparatus for catching an image of said radio movable working machine when communication by said bidirectional communication means is impossible.

29. A remote radio control system, comprising:

a radio movable working machine capable of movably working in a working site by radio communication, and

a remote control apparatus for operating said radio movable working machine by radio control, that

bidirectional communication means having a high radio wave directionality for enabling bi-directional communication between a working-machine-side antenna equipped to said radio movable working machine and a first repeater-station-side antenna equipped to said movable repeater station and automatic tracking means for controlling orientation of said working-machine-side antenna and orientation of said first repeater-station-side antenna in an automatic way, so that said working-machine-side antenna and said first repeater-station-side antenna follow movement of each other, where the birectional communication means and the automatic tracking means are provided between said remote control apparatus and said radio movable working machine, and that

said radio movable working machine includes

a joint type arm mechanism connected at one end portion thereof for pivotal motion on a machine body and having a working member at the other end side thereof, said joint type arm mechanism including at least one pair of arm members connected to each other through a joint part,

a cylinder type actuator mechanism including a plurality of cylinder type actuators which perform extension/contraction operations to drive said arm mechanism, and

a semiautomatic control apparatus including angle detection means for detecting a posture of said arm mechanism as angle information, a reception section for receiving control target value information transmitted from said remote control apparatus, and control means for controlling said cylinder type actuators based on the control target value information received by said reception section and the angle information detected by said angle detection means so that said cylinder type actuators may exhibit predetermined extension/contraction displacements.

30. A remote radio control system as set forth in claim 29, wherein, in addition to said bidirectional communication means and said automatic tracking means, emergency low radio wave directionality communication means for transmitting (i) an antenna control signal from said movable repeater station to said radio movable working machine and (ii) a control signal from said movable repeater station to said radio movable working machine when communication by said first bidirectional communication means is impossible is provided between said remote control apparatus and said radio movable working machine.

31. A remote radio control system as set forth in claim 30, wherein a plurality of the emergency low radio wave directionality communication means are provided corresponding to a plural number of the radio movable working machines.

32. A remote radio control system as set forth in claim 30, wherein said emergency low radio wave directionality communication means is radio communication means for a megahertz band.

33. A remote radio control system as set forth in claim 30, wherein said remote control apparatus includes a camera apparatus for catching an image of said radio movable working machine when communication by said bidirectional communication means is impossible.

34. A remote radio control system as set forth in claim 29, wherein said semiautomatic control apparatus includes conversion means for converting the angle information obtained by said angle detection means into corresponding extension/contraction displacement information of said cylinder type actuators, and said control means is constructed so as to control said cylinder type actuators based on the control target value information received by said reception section and the extension/contraction displacement information of said cylinder type actuators obtained by the conversion by said conversion means so that said cylinder type actuators may exhibit predetermined extension/contraction displacements.

35. A remote radio control system as set forth in claim 29, wherein a plurality of sets of the bidirectional communication means and automatic tracking means are provided corresponding to a plural number of the radio movable working machines.

36. A remote radio control system as set forth in claim 29, wherein said bidirectional communication means is simple radio communication means for a giga hertz band.

37. A remote radio control system as set forth in claim 29, wherein said remote control apparatus includes a camera apparatus for catching an image of said radio movable working machine when communication by said bidirectional communication means is impossible.

38. A remote control apparatus for operating a radio movable working machine, which is capable of movably working in a working site by radio control, by radio control, comprising:

a high radio wave directionality bidirectional transmission/reception section for performing bidirectional communication having a high radio wave directionality for enabling bi-directional communication between a working-machine-side antenna equipped to said radio movable working machine and a first repeater-station-side antenna equipped to said movable repeater station;

an automatic tracking apparatus for controlling orientation of said working-machine-side antenna and orientation of said first repeater-station-side antenna in an automatic way, so that said working-machine-side antenna and said first repeater-station-side antenna follow movement of each other; and

emergency low radio wave directionality communication means for transmitting (i) an antenna control signal from said movable repeater station to said radio movable working machine and (ii) a control signal from said movable repeater station to said radio movable working machine when communication by said first bidirectional communication means is impossible.

39. A radio movable working machine connected to a remote control apparatus using bidirectional radio communication means as a communication medium in such a manner that said radio movable working machine is capable of movably working in a working site by radio control, comprising:

a high radio wave directionality bidirectional transmission/reception section for performing bidirectional communication having a high radio wave directionality for enabling bi-directional communication between a working-machine-side antenna equipped to said radio movable working machine and a first repeater-station-side antenna equipped to said movable repeater station;

a response section for responding to an automatic tracking signal from an automatic tracking apparatus provided on said movable repeater station, where the automatic tracking apparatus controls orientation of said working-machine-side antenna and orientation of said first repeater-station-side antenna in an automatic way, so that said working-machine-side antenna and said first repeater-station-side antenna follow movement of each other;

a joint type arm mechanism connected at one end portion thereof to a machine body and having a working member at the other end side thereof, said joint type arm mechanism including at least one pair of arm members connected to each other by a joint part;

a cylinder type actuator mechanism including a plurality of cylinder type actuators which perform extension/contraction operations to drive said arm mechanism; and

a semiautomatic control apparatus including angle detection means for detecting a posture of said arm mechanism as angle information, and control means for controlling said cylinder type actuators based on control target value information from said remote control apparatus received by said high radio wave directionality bidirectional transmission/reception section and the angle information detected by said angle detection means so that said cylinder type actuators may exhibit predetermined extension/contraction displacements.

40. A radio movable working machine as set forth in claim 39, wherein said semiautomatic control apparatus includes conversion means for converting the angle information obtained by said angle detection means into corresponding extension/contraction information of said cylinder type actuators, and said control means is constructed so as to control said cylinder type actuators based on the control target value information received by said high radio wave directionality bidirectional transmission/reception section and the extension/contraction displacement information of said cylinder type actuators obtained by the conversion by said conversion means so that said cylinder type actuators may exhibit predetermined extension/contraction displacements.

41. A radio movable working machine as set for in claim 39, wherein it further comprises emergency low radio wave directionality reception section having a radio wave directionality lower than the radio wave directionality of said high radio wave directionality bidirectional transmission/reception section for enabling reception of a control signal from said remote control apparatus when communication in which said high radio wave directionality bidirectional transmission/reception section is used is impossible.