JP3461391B2 - How to move the work vehicle - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle moving method for moving work vehicles such as a plurality of work machines from the outside of a dangerous boundary where humans cannot enter to a deep work site.

[0002]

2. Description of the Related Art Conventionally, in a dangerous work site where humans cannot enter, for example, in a work site where various works such as collecting and transporting earth and sand accompanying a volcanic eruption are carried out, a backhoe, a bulldozer, a power shovel, etc. An unmanned work machine is used to perform various works. Further, the earth and sand at the work site is transported to a predetermined location on the work site by an unmanned transportation machine such as a wheel dump or a crawler dump.

When remotely operating a plurality of work vehicles such as the unmanned work machine and the transport machine as described above at a work site, for example, a manned person may be placed at a safe place at a predetermined distance from a dangerous work site. A base station is installed and an unmanned communication relay vehicle is installed near the work site. And multiple working machines and unmanned transport machines installed in the work site,
A plurality of work vehicles arranged in the work site are remotely operated from the base station through a communication relay vehicle, and each work is performed.

Further, in the above remote control, a manned base station and an unmanned communication relay vehicle, or a communication relay vehicle and each work vehicle are installed at positions where they can be seen from each other, and are mounted on both the base station and the communication relay vehicle. The base station and the communication relay vehicle communicate with each other by bidirectional communication using the millimeter-wave communication paso-link line formed by the millimeter-wave communication unit. Also,
Each work vehicle is driven by remote control by a specific low power radio from a communication relay vehicle, and each work vehicle performs a predetermined work.

Further, in order to carry the plurality of work vehicles from outside the dangerous boundary line to the work site, for example, by remotely operating by a specific low power radio from a communication relay vehicle installed at the danger boundary, Each work has been performed after moving a plurality of work vehicles within the range of the specified low power radio.

[0006]

However, according to the conventional work vehicle carry-in method, the transmission distance of the specific low-power radio for remotely operating each work vehicle by the communication relay vehicle is extremely short, about 150 m at best. Therefore, when a plurality of work vehicles are brought into the work site by remote control from a communication relay vehicle installed outside the work site, the danger boundary is approximately 15
Each work vehicle can be carried in only about 0 m, and there is a limit to carrying multiple work vehicles from the dangerous boundary to the deep work site, and it is sufficient to secure workability in a wide work site area. At the same time, there was a problem that it was difficult to ensure sufficient safety.

The present invention has been devised in view of the above circumstances, and an object of the present invention is to install a relay station outside a dangerous boundary and use a 1-channel SS radio from the relay station. Remotely control a communication relay vehicle or a specific work vehicle by SS radio, and remotely control a communication relay vehicle by millimeter-wave communication from a base station to move multiple work vehicles from a dangerous boundary to a deep work site. Another object of the present invention is to provide a method for moving a work vehicle that can perform work and ensure sufficient safety.

[0008]

In order to achieve the above-mentioned object, a method of moving a work vehicle according to the present invention is provided with a manned base station.
Connects to unmanned communication relay vehicles via the first millimeter-wave communication line
Between the communication relay vehicle and each of the unmanned work vehicles.
Connected by a specified low power wireless line,
Line and the plurality of work through the specific low power wireless line
Work vehicle remote that allows the vehicle to be operated remotely from the base station
In the operating system, there is provided a method of moving the work vehicle, before
Spread spectrum radio (without SS)
Equipped with an SS wireless unit to establish a line
It is possible to remotely control the communication relay vehicle via the SS wireless line.
And the millimeter wave communication unit antenna of the communication relay vehicle.
To control the direction of the vehicle and the movement of the communication relay vehicle.
And (1) the communication relay vehicle via the SS wireless line.
By remotely controlling the communication relay vehicle,
The distance from the work vehicle allows communication on the specified low power wireless line
Move within a range that does not exceed the distance, and
By remotely operating the communication relay vehicle via the line
The direction of the antenna of the millimeter wave communication unit of the communication relay vehicle.
Control between the base station and the communication relay vehicle.
The first millimeter wave communication line is established, and (3) the first millimeter wave
The plurality of communication lines through the communication line and the specific low power wireless line.
By remotely operating the work vehicle from the base station,
If the distance from the communication relay vehicle is
Within the range that does not exceed the communication range of the specified low power wireless line
Move and repeat steps (1), (2), and (3) above.
By returning Ri, characterized in that said plurality of service vehicle and the communication relay vehicle adapted to move to the work site of interest.

Further, a method of moving a work vehicle according to the present invention is
When moving the plurality of work vehicles, move the work machine, such as a bulldozer, that moves forward while making a passage,
It is characterized in that another work vehicle is moved through a passage created by the work machine. In addition, the method of moving the work vehicle according to the present invention uses the second millimeter wave communication line.
Connected to the base station via the SS wireless line
Installed a relay station connected to a communication relay vehicle, the second millimeter
Via the wave communication line and the SS wireless line to the base station
La the communication relay vehicle so as to remotely control, further, the transportation machine such as a wheel dump, said from the relay station SS
Characterized in that the so that to remotely via a wireless line. Further, a method of moving a work vehicle according to the present invention is characterized in that a transporting machine such as the wheel dump is moved to the work site through a passage created by the work machine.

[0010]

In order to move a plurality of work vehicles into the target work site within the danger boundary, a predetermined location outside the danger boundary must be
The base station, a relay station remotely operated by millimeter wave communication from the base station, and a mobile communication relay vehicle remotely operated by millimeter wave communication from the base station and SS radio from the relay station are provided. I'll do it. Then, first, when the remote operation signal is transmitted from the base station to the mobile communication relay vehicle through the millimeter wave communication, the remote operation signal is transmitted to each work vehicle through the specific low power radio from the mobile communication relay vehicle, for example, It is moved with a work vehicle such as a bulldozer making a passage at the top,
Other work vehicles are moved through the created aisle, and these work vehicles are moved within the range of the specified low power radio from the mobile communication relay vehicle. Next, a remote operation signal is transmitted from the base station to the relay station through millimeter wave communication, and the mobile communication relay vehicle is moved to a position where the plurality of work vehicles have advanced through the SS wireless communication from the relay station to perform mobile communication. Remotely operate the relay vehicle so that millimeter wave communication is possible. After that, by repeating the above two steps in sequence, a plurality of work vehicles and mobile communication relay vehicles can be operated within the range where the SS radio from the relay station can reach.
It is moved from the dangerous boundary to the work site of a deep purpose. In addition, transport machines such as wheel dumps are
It is remotely controlled by radio and moved to the target work site through the passage created by the work machine.

Therefore, when the plurality of work vehicles are moved from the dangerous boundary to the target work site by using the millimeter wave communication, the specific low power radio, and the SS radio, the plurality of work vehicles are first communicated by mobile communication. By the specified low power radio from the relay vehicle, the mobile communication communication vehicle is moved to the range reached by the specified low power radio, and then by the SS wireless from the SS relay vehicle to the place where the work vehicle has advanced, By repeating the various moving operations in sequence, the SS radio range from the SS relay vehicle installed outside the dangerous boundary, that is, approximately 5 from the dangerous boundary.
It is possible to move a plurality of work vehicles from a dangerous boundary to a deep work site by a distance of about 00 m to 2 km. As a result, it is possible to work on a wide work site, and it is possible to install a base station, which is a manned base station, at a place sufficiently distant from each work vehicle, and to ensure sufficient safety. Is possible. In addition, when moving the work vehicle, for example, by moving the work machine such as a backhoe or a moving camera car, or a transport machine such as a wheel dump, by moving while making a passage with the bulldozer at the head. Will be easier.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 to 5 are schematic configuration diagrams sequentially showing a method for moving a work vehicle according to the present embodiment, FIG. 6 is an enlarged view showing a control room, FIG. 7 is an enlarged view showing an SS relay vehicle, and FIG. 8 is a mobile communication relay vehicle. FIG. 9 is an enlarged view showing a bulldozer,
10 is an enlarged view showing a moving camera vehicle, FIG. 11 is an enlarged view showing a backhoe, and FIG. 12 is an enlarged view showing a hole dump.

1 to 5, 1 is a manned control room (base station), 3 is an unmanned SS relay vehicle (relay station), 5 is an unmanned mobile communication relay vehicle, 7 is a bulldozer,
Reference numeral 9 is a backhoe, 11 is a moving camera vehicle, 13 wheel dump, K is a dangerous boundary where a dike is formed and humans cannot enter, and W is a passage created for moving to a work site.

When performing various kinds of work in the work site, as shown in FIG. 5, unmanned working machines such as a bulldozer 7 and a backhoe 9 are arranged, and further, a wheel dump 13, a crawler dump (not shown), and the like. Unmanned transporting machines such as Carrior scrapers and unmanned mobile communication relay vehicles 5
Alternatively, the mobile camera vehicle 11 is movably arranged. In this case, the control room 1 and the SS relay vehicle 3, the SS relay vehicle 3 and the unmanned transporting machine such as the wheel dump 13, and the mobile communication relay vehicle 5 are arranged at positions that can be seen from each other. 5 and the bulldozer 7, the unmanned work machine such as the backhoe 9, and the mobile camera vehicle 11,
Similarly, they are arranged at positions where they can be seen from each other.

The control room 1 is provided in a large traveling vehicle as shown in FIGS. 1 and 6.
It is installed at a safe place apart from the boundary K where humans cannot enter as described above and at a place where the SS relay vehicle 3 can be seen. Further, in the upper part of the control room 1, millimeter wave communication units 15 and 17 of 50 Gz band capable of transmitting and receiving are provided. In this embodiment, two types of millimeter wave communication units 15 and 17 for mobile communication relay vehicles and SS relay vehicles are installed, and an antenna 19 is provided in front of these millimeter wave communication units 15 and 17. There is.

In addition, each millimeter wave communication unit 15, 1
7 are installed on a pan head (not shown) provided on the column 21, respectively, and the millimeter wave communication units 15 and 1 are installed.
At the upper part of 7, the orientation camera 23 has an antenna 19
It is installed in the same direction as, and the pan head is rotated by the drive source so that the directivity of the antenna 19 and the camera 23 of each millimeter wave communication unit 15, 17 can be displaced in the three-dimensional direction. It has become.

Then, the millimeter wave communication units 15 and 17 respectively provide the same millimeter wave communication units 29 and 35 which are installed so as to correspond to the SS relay vehicle 3 and the mobile communication relay vehicle 5, respectively, which will be described later. Each of the paso-link lines shown by solid lines in FIGS. 1 to 5 is formed, and images picked up by the surveillance camera 51 such as the mobile camera vehicle 11 are transmitted and various signals are exchanged. In each of these PASOLINK lines, communication is performed using a millimeter wave communication unit in the 50 Gz band, and the control room 1 and the S
S relay vehicle 3, control room 1 and mobile communication relay vehicle 5
As for the distance between and, communication is possible within the range of about 3 km to 20 km.

Further, the millimeter wave communication units 15 and 17 provided in the control room 1 are connected to a personal computer and a monitor provided in the control room 1 through a predetermined cable and a matching device, and the personal computer has an S
S relay vehicle 3, mobile communication relay vehicle 5, work vehicles 7, 9, 13
An operation panel for operating the mobile camera vehicle 11 is connected.

As shown in FIGS. 1 to 5, the SS relay vehicle 3 is installed in a place where the control room 1 can be seen through, and there is a danger that a transport machine such as a mobile communication relay vehicle 5 and a wheel dump 13 which will be described later can be seen through. It is installed outside the boundary K. As shown in FIG. 7, the SS relay vehicle 3 includes a traveling vehicle 3a, a variable leg 3b on the traveling vehicle 3a that can be adjusted to an arbitrary height, and a support base 3c supported by the variable leg 3b. Is equipped with. A support column 21 is erected on the support base 3c, and a camera 27 for facing the top is mounted on a platform (not shown) supported on the support column 21.
The millimeter wave communication unit 29 provided with is installed, and the monitoring camera 31 supported on the platform on the support 21 is provided on the support base 3c. Then, these millimeter wave communication unit 29 and surveillance camera 3
1 is configured so that a pan head can be rotated by a drive source to be displaced in three-dimensional directions, respectively, and a paso link line is formed by the millimeter wave communication unit 15 in the control room 1.

Further, a personal computer is connected to the millimeter wave communication unit 29 of the SS relay vehicle 3 via a predetermined cable or a matching device, and an SS radio unit 33 described later is connected to this personal computer via a predetermined cable. This SS radio 33
Is configured, for example, as a one-channel radio device in the 2.4 GHz band, and by transmitting an operation control signal by the SS radio device 33, each mobile communication relay vehicle 5 and wheel dump 13, etc., which will be described later, The transport machine is operated remotely. Further, as shown in FIG. 7, the SS relay vehicle 3 has an SS radio (simple radio) equipped with an antenna.
Is installed. The SS wireless is referred to as the scan flops red spectrum method, but not large directivity than Pasolink line, since it has a predetermined directivity, S
It is possible to perform remote control of each of the operation target vehicles 5 and 13 centering on the S relay vehicle 3 within a range of about 500 m to 2 km.

Further, the SS radio is composed of one channel, and the control command transmitted in the SS radio is a simultaneous command for simultaneously issuing control commands to the receiving section of the SS radio of each machine to be operated. It is possible to employ a report system or a one-to-one system in which one-to-one control commands are issued to the receiving unit of the SS radio of each machine to be operated. In this embodiment, the communication is performed by the one-to-one method, and in this case, the control unit is made into packets according to the respective communication command formats and the control commands are alternately given to the transmitting unit of the SS radio 33 of the relay station 3. It is transmitted from each of the transport machines 13 and the mobile communication relay vehicle 5 by so-called multiplex communication. Also, in the case of this one-to-one system, since it is necessary to wait for the other party's return, there is a slight time difference in operation, for example, a time difference of 0.1 sec or less, but there is no particular problem, and one channel Even in the case of SS wireless communication, it is possible to reliably remotely control a plurality of operation target vehicles such as a transport machine such as the wheel dump 13 and the mobile communication relay vehicle 5 from one SS relay vehicle 3.

As shown in FIG. 8, a millimeter wave communication unit 35 corresponding to the millimeter wave communication unit 17 in the control room 1 and work vehicles 9 and 11 are provided above the mobile communication relay vehicle 5. Millimeter wave communication unit 49, 53
Corresponding to a plurality of millimeter wave communication units 37, 39, 41
Is installed. These millimeter wave communication units 37,
Each of 39 and 41 also includes an orientation camera 42, and the orientation of the antenna 19 can be arbitrarily set so that the antenna 19 is installed on the platform and is displaceable in the three-dimensional direction, as described above. In addition, an antenna 43 is provided above the mobile communication relay vehicle 5.
The SS radio 43 equipped with a
The operation control signal transmitted from the SS wireless device 33 of the SS relay vehicle 3 is received by the receiving unit of the wireless device 43. Further, the mobile communication relay vehicle 5 has a surveillance camera 45.
Alternatively, a transmission station of the specified low power radio 57 is installed. The communication by the specific low power radio 57 is, for example, a radius 1
Communication is limited within a range of about 50 m.

Further, an unmanned working machine such as the bulldozer 7 and the backhoe 9 shown in FIGS. 9 and 11 is equipped with a specific low power radio (not shown). Further, as shown in FIG. 11, the backhoe 9 is equipped with a surveillance camera 47 and a millimeter wave communication unit 49, and a Paso link line is constituted by the millimeter wave communication unit 41 of the mobile communication relay vehicle 5. The video imaged by the surveillance camera 47 is transmitted.

Each mobile camera vehicle 11 is also equipped with a specified low power radio (not shown), a surveillance camera 51, and a millimeter wave communication unit 53, and the millimeter wave communication unit 37 of the mobile communication relay vehicle 5 is installed. And 39 form a PASOLINK line, and the surveillance camera 51 transmits an image of the work vehicle.

Then, the bulldozer 7 and the backhoe 9
Unmanned work machines such as, and each mobile camera car 11,
The operation control signal from the mobile communication relay vehicle 5 is received through the specific low-power radio, and the drive source for traveling, the drive source for steering,
The work drive source is controlled to perform various works. The images captured by the surveillance cameras 47 and 51 mounted on the backhoe 9 and the mobile camera vehicle 11 are formed by the millimeter wave communication unit 35 of the mobile communication relay vehicle 5 and the millimeter wave communication unit 17 of the control room 1. It is sent to the control room 1 via the PASOLINK line.

As shown in FIG. 12, an SS radio (not shown) equipped with an antenna 55a is mounted on an unmanned transportation machine such as the wheel dump 13 and the SS radio of this transportation machine is received. In the section, the SS of the SS relay vehicle 3
The operation control signal transmitted from the wireless device 33 is received.

The transportation machine 13 and the like which are remotely operated by the SS relay vehicle 3 are equipped with a traveling drive source for driving crawlers and wheels, a steering drive source for steering, a control circuit for controlling these, and the like. Further, the vehicle is controlled based on the operation control by the SS radio, and further, each operation target vehicle is provided with a cargo bed drive source for driving the cargo bed, and is similarly controlled based on the operation control by the SS radio.

Next, a case where a plurality of work vehicles are moved from the outside of the dangerous boundary to the work site by remote control from the control room will be described. In order to move each work machine into the work site, first, the antenna 19 of the millimeter wave communication unit 35 of the mobile communication relay vehicle 5 installed outside the dangerous boundary K is set to the millimeter of the control room 1. When the operation control signal is transmitted from the control room 1 through the millimeter wave communication unit 17 and the millimeter wave communication unit 35 of the mobile communication relay vehicle 5 while facing the antenna 19 of the wave communication unit 17, An operation control signal is transmitted to each work vehicle 7, 9, 11 through the specified low power radio from the specified low power radio 57 of the mobile communication relay vehicle 5.

When carrying in the work vehicle, since there is a wasteland from the dangerous boundary K to the work site, it is necessary to level the passage W for each work vehicle while leveling. Therefore, among the plurality of work vehicles, , The optimum bulldozer 7 for forming the passage W is placed at the top, and then the mobile camera vehicle 11 and the backhoe 9 are carried into the dangerous boundary K by remote control. Further, in this case, the specific low-power radio from the mobile communication relay vehicle 5 reaches only a range of about 150 m, so that the work vehicle can be guided only once in a range of about 150 m. Therefore, first, as shown in FIG. 1 (a), the mobile communication
Communication from a specific low power wireless line is possible if the distance from the relay vehicle 5 is
Within the range that does not exceed the distance, that is, about 15 from the danger boundary K
Drive each work vehicle with the bulldozer 7 at the head within the range of 0 m. After that, the millimeter wave communication unit 29 and the control room 1 of the SS relay vehicle 3 installed outside the dangerous boundary K
With the millimeter wave communication unit 15 of FIG. 1 facing each other, the operation control signal from the control room 1 is transmitted to the SS relay vehicle 3 through the PASOLINK line formed by the millimeter wave communication units 15 and 29 of both sides. As shown in b), the mobile communication relay vehicle 5 is remotely operated through the SS radio from the SS relay vehicle 3, and the mobile communication relay vehicle 5 is moved to a position where the work vehicles 7, 9, 11 are advanced. Move to.

Next, as shown in FIG. 2, by a remote control through the SS wireless from SS relay vehicle 3, the antenna millimeter wave communication of control room 1 of millimeter wave communication unit 35 of the mobile communication relay vehicles 5 Control to face the antenna of the unit 17 is performed, whereby the millimeter wave communication unit 35 of the mobile communication relay vehicle 5 and the millimeter wave communication unit 17 of the control room 1 establish a paso-link line. Then, as described above, the remote control signal is transmitted from the control room 1 to the mobile communication relay vehicle 5 through the PASOLINK line between the mobile communication relay vehicle 5 and the control room 1, and the remote communication signal from the mobile communication relay vehicle 5 is transmitted. Each work vehicle 7, 9, 11 is connected to the bulldozer 7 through the specified low power radio.
While making the passage W with the head of, you can go further by about 150 m. In this manner, the backhoe 9 is formed while the passage W is formed with the bulldozer 7 at the head by the specific low power radio.
Move the work vehicle such as the mobile camera vehicle 11 or the like about 150 m ahead, and then move the mobile communication relay vehicle 5 by SS radio.
Controlled remotely, and the mobile communication relay vehicle 5, it
From the work vehicle to the specified working distance of the specified low-power wireless line
Move within a range that does not exceed the separation, for example, about 150 m
After advancing, each working vehicle is advanced by about 150 m again by the specific low power radio, and this is repeated, so that FIG.
As shown in (b) to FIG. 5, the work vehicles 7, 9, 11 and the mobile communication relay vehicle 5 are sequentially delivered to the work site approximately every 150 m by using the PASOLINK line, the specific low power radio, and the SS radio in sequence. Be moved. As for the range of movement of the work vehicle and the mobile communication relay vehicle 5, the SS radio from the SS relay vehicle 3 reaches, that is, a distance of about 500 m to 2 km is moved from the dangerous boundary to a deep work site. be able to.

Further, as shown in FIG. 5, each work vehicle 7,
When 9 and 11 and the mobile communication relay vehicle 5 reach the work site, the transportation machine such as the wheel dump 13 is finally loaded. The transport machine such as the wheel dump 13 is remotely controlled by the SS radio from the SS relay vehicle 3, and is moved to the work site by using the passage W created by the bulldozer 7 as shown in FIG. And at the work site,
The SS relay vehicle 3 and the control room 1, and the mobile communication relay vehicle 5 and the control room 1 communicate with each other through their respective PASOLINK lines. In addition, the carrier machine such as the wheel dump 13 is remotely controlled by the SS radio from the SS relay vehicle 3, and the work machine such as the bulldozer 7 and the mobile camera vehicle 11 are remotely controlled by the specific low power radio from the mobile communication relay vehicle 5. Various work is performed.

As described above, in this embodiment, the working machines 7, 9 and the working vehicle such as the mobile camera vehicle 11 are targeted from the danger boundary K by using the PASOLINK line, the specific low power radio and the SS radio. When moving to the work site, first move a plurality of work vehicles 7, 9, 11 to the range of the specified low power radio from the mobile communication relay vehicle 5 by the specified low power radio, and then move to the mobile communication relay vehicle. 5 is moved to the positions of the work vehicles 7, 9, 11 by SS radio from the SS relay vehicle 3, and by repeating such work in sequence, the SS relay vehicle 3 installed outside the dangerous boundary K is SS It is possible to move from the danger boundary K to a deep work site by a distance of about 500 m to 2 km from the danger boundary K, as a result of which it becomes possible to work in a wide area and at the same time as a manned person. Control Room 1, which is the ground stations will be able to set up at a place sufficiently separated from each work vehicle, you are possible to ensure the safety of more fully. Further, when the work vehicles 7, 9, 11 are moved, for example, the work vehicles 7, 9, 11 can be easily moved by moving the work vehicles 7, 9, 11 while heading the bulldozer 7 while forming the passage W.

[0033]

As described above, according to the present invention, when a plurality of work vehicles are moved from a dangerous boundary to a target work site by using millimeter wave communication, specific low power radio and SS radio. , First move a plurality of work vehicles to the range reached by the specified low power radio by the specified low power radio from the mobile communication relay vehicle, and then by the SS radio from the SS relay vehicle to the place where the work vehicle has advanced By moving the mobile communication relay vehicle and repeating such moving work in sequence, the range within which the SS radio can reach from the SS relay vehicle installed outside the dangerous boundary, that is, a distance of about 500 m to 2 km from the dangerous boundary. Only multiple work vehicles can be moved from a dangerous boundary to a deep work site. As a result, it is possible to work on a wide work site, and it is possible to install a base station, which is a manned base station, at a place sufficiently distant from each work vehicle, and to ensure sufficient safety. Is possible. In addition, when moving the work vehicle, for example, by moving the work machine such as a backhoe or a moving camera car, or a transport machine such as a wheel dump, by moving while making a passage with the bulldozer at the head. Will be easier.

[Brief description of drawings]

1 (a) and 1 (b) relate to one embodiment of the present invention,
It is a schematic block diagram which shows the moving method of a working vehicle.

2A and 2B relate to an embodiment of the present invention,
It is a schematic block diagram which shows the moving method of a working vehicle.

3A and 3B relate to an embodiment of the present invention,
It is a schematic block diagram which shows the moving method of a working vehicle.

4A and 4B relate to an embodiment of the present invention,
It is a schematic block diagram which shows the moving method of a working vehicle.

FIG. 5 is a schematic configuration diagram showing a method of moving the work vehicle according to the embodiment of the present invention.

FIG. 6 is an enlarged view showing a control room.

FIG. 7 is an enlarged view showing an SS broadcast vehicle.

FIG. 8 is an enlarged view showing a mobile communication relay vehicle.

FIG. 9 is an enlarged view showing a bulldozer.

FIG. 10 is an enlarged view showing a mobile camera vehicle.

FIG. 11 is an enlarged view showing a backhoe.

FIG. 12 is an enlarged view showing a hole dump.

[Explanation of symbols]

1 base station 3 relay stations 5 mobile communication relay vehicle 7 Bulldozer (work vehicle) 9 Backhoe (work vehicle) 11 Mobile camera vehicle (work vehicle) 13 wheel dump (transportation machine) K danger boundary W passage

Continuation of front page (56) Reference JP-A-5-282588 (JP, A) JP-A-1-318104 (JP, A) JP-A-2-86228 (JP, A) JP-A-4-199920 (JP , A) JP-A-6-268563 (JP, A) JP-A-5-276088 (JP, A) JP-A-4-104527 (JP, A) JP-A-7-202792 (JP, A) 61-33541 (JP, U) Shinichi Sako, et al., "Special Feature: Fujita Tele Earthwork System After Unmanned Construction at Unzen Fugendake," Mechanization of Construction, Japan Construction Mechanization Association, 1994 August 25, No. 534, August 1994, p. 6-9 (58) Fields surveyed (Int.Cl. ⁷ , DB name) H04B ^7/ 14-7/22

Claims (4)

(57) [Claims] 1. A manned base station and an unmanned communication relay vehicle.
Connected via the first millimeter-wave communication line,
Connected to each unmanned work vehicle of
Next, the first millimeter wave communication line and the specific low power radio
Remotely control the work vehicles from the base station via a line.
A method for moving a work vehicle in a remote control system for a work vehicle, wherein the spread spectrum wireless (SS
Equipped with an SS wireless unit to establish a (wireless) line
And remotely control the communication relay vehicle via the SS wireless line.
The millimeter wave communication unit of the communication relay vehicle.
You can control the direction of the antenna and the movement of the communication relay vehicle.
Unishi, the communication relay vehicle via (1) the SS wireless line remote
By operating the communication relay vehicle,
The distance from the car is the communication distance of the specified low power wireless line
(2) Remotely move the communication relay vehicle via the SS wireless line.
By operating the millimeter-wave communication unit of the communication relay vehicle.
Controlling the direction of the antenna of the
Establishing the first millimeter wave communication line with the connecting vehicle, (3) the first millimeter wave communication line and the specific low power radio
Remotely control the work vehicles from the base station via a line.
By creating these multiple work vehicles during the communication
The distance from the connecting vehicle is the communication distance of the specified low power wireless line
Repeat the steps (1), (2), and (3) by moving within a range that does not exceed the separation.
In, and it is moved to a work site of interest of the plurality of service vehicle and the communication relay vehicle, work vehicle method for mobile, characterized in that. 2. When moving the plurality of work vehicles, a work machine such as a bulldozer which moves while forming a passage is moved first, and another work vehicle is moved through a passage made by the work machine. The method for moving a work vehicle according to claim 1, wherein 3. The base station via a second millimeter wave communication line.
And the communication relay vehicle via the SS wireless line.
Installed a relay station to be connected and connected to the second millimeter wave communication line.
And communicating from the base station via the SS wireless line
So as to remotely control the Tsugisha, further, a transportation machine such as a wheel dump, maintenance vehicles method of transfer of claim 1, wherein you so that you remotely via the SS radio channel from the relay station. 4. A transporting machine such as the wheel dump,
The method for moving a work vehicle according to claim 1, wherein the work vehicle is moved to the work site through a passage created by the work machine.