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

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.

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.

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.

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.

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.

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.

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.

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.