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

Claim 2

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.

Claim 3

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.

Claim 4

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.

Claim 5

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.

Claim 6

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.

Claim 7

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.

Claim 8

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.

Claim 9

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.

Claim 10

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.

Claim 11

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.

Claim 12

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.

Claim 13

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.

Claim 14

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.

Claim 15

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.

Claim 16

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.

Claim 17

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.

Claim 18

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.

Claim 19

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.

Claim 20

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.

Claim 21

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.

Claim 22

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.

Claim 23

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.

Claim 24

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.

Claim 25

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.

Claim 26

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.

Claim 27

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.

Claim 28

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.

Claim 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, 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.

Claim 30

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.

Claim 31

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.

Claim 32

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.

Claim 33

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.

Claim 34

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.

Claim 35

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.

Claim 36

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.

Claim 37

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.

Claim 38

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.

Claim 39

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.

Claim 40

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.

Claim 41

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.

Claim 42

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.

Claim 43

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.

Claim 44

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.

Claim 45

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.

Claim 46

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.

Claim 47

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.

Claim 48

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.

Claim 49

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.

Claim 50

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.