JPH10277976A - Remote control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate a need for modifying a work vehicle, and execute remote control for an existing work vehicle with ease regardless of the kind of the work vehicle. SOLUTION: An industrial robot provided with multi-joint arms 202, is fixed to an operator's seat of a work vehicle, multi-joint operating arms 403 are set up at an operation seat 70 for a monitor center 50, the operations of a rest lever 402, a dummy running lever 407 and the like by means of the multi- joint operating arms 403 while images taken by video cameras 31 to 33 are being indicated over a monitor display device 83, allow angular data detected by the respective angle sensors 403D, 405, 403E 403F (403G and 403H) of the multi-joint operating arms 403 to be transmitted through radios 82 and 36, allow respective driving motors 202D, 204 and 204E (202F and 202G) and a driving part to be drivingly controlled based on the aforesaid angular data, and also allow the multi-joint arms 202 to be thereby operated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control system suitable for remotely controlling a vehicle and a construction machine at a disaster recovery site where workers cannot enter.

[0002]

2. Description of the Related Art Conventionally, when remotely controlling a vehicle such as a crawler dump and a construction machine such as a back hood at a disaster recovery site where workers cannot enter, handles and levers for operating the vehicle and the construction machine are used. By changing the control device of this corresponding device and the control device of the monitoring center by a wireless line, and operating the joy tech for remote control of the monitoring center, etc. The corresponding machine on the slave side is controlled to remotely control the vehicle and the construction machine.

[0003]

However, in the above-described conventional remote control system, the vehicle and the construction machine must be converted into a remote control compatible machine.
The cost of remodeling vehicles and construction machinery rises, and maintenance is cumbersome.Existing vehicles and construction machinery will not be able to carry out excavation or transport of earth and sand at a disaster recovery site where workers cannot enter. It was not possible to respond, and if there were no modified vehicles or construction equipment in the remote control compatible machine, disaster recovery work would not be possible, and there was a problem of lack of urgency.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a remote operation system that does not require modification of a work vehicle and that can easily remotely control an existing work vehicle regardless of the model. With the goal.

[0005]

According to the present invention, a work vehicle corresponding to a transport vehicle and a construction machine is operated by an operation command from a monitoring center located at a position away from a work area of the work vehicle. A remote control system for remote control, comprising: at least one operating means installed in a driver's seat of the work vehicle and operating various operated parts such as a running / work lever disposed in a driver's cab of the work vehicle. A working robot having: a driving means mounted on the operating means for driving the operating means; and a driving room installed on the working robot, an operating condition of the operating room of the working vehicle, the operating means, and a working condition of the working vehicle. Image capturing means for capturing a scene outside the work vehicle including telephoto and wide angles, transmitting an operation command signal to the operation means to the work vehicle, and monitoring the video information captured by the image capture means Communication means for transmitting the centers, is installed in the monitoring center, and display means for displaying the captured image transmitted through the communication means from the image pickup means,
A remote operation unit installed at the monitoring center and operating the operation unit by operating while viewing an image displayed on the display unit; and a driving unit of the operation unit by detecting a movement amount of the remote operation unit And a sensor for transmitting the operation command signal.

According to the present invention, the work robot further includes a robot body fixed to a driver's seat of a work vehicle, and the operating means has one end supported by the robot body so as to be capable of turning in a horizontal direction, and the other end provided at the other end. A drive motor controlled by an operation command signal from the remote control means is provided for each articulated part of the articulated arm, a turning support part for the robot body, and a grip part, each of which is constituted by an articulated arm having a grip part. It is provided. In the present invention, the remote control means may further include a multi-joint operation arm having one end rotatably supported by a fixed portion of the monitoring center in a horizontal direction and a grip portion at the other end, wherein the sensor includes the multi-joint operation arm. Are provided at each of the joint portions, the swing support portion to the fixed portion, and the grip portion, and detect the movement angles of these, and send them as operation command signals to the drive motors of the articulated arm. According to the present invention, a pseudo operated part corresponding to an operated part such as a running / work lever disposed in a driver's cab of the work vehicle is provided at the monitoring center, and the multi-joint of the pseudo operated part is provided. The position and the height with respect to the operation arm are configured to be adjustable corresponding to the operated portion of the work vehicle.
The present invention also provides a rugged pad member for stably gripping the operated portion without slipping on the opposing surfaces of the gripping pieces constituting the gripping portion of the articulated arm so as to be movable in the longitudinal direction of the gripping pieces. It is a thing. The present invention is also capable of moving a pad member with irregularities for stably gripping the pseudo-operated part without slipping on the opposing surfaces of the gripping pieces constituting the gripping part of the articulated operation arm in the longitudinal direction of the gripping pieces. It is provided in. In the present invention, preferably, the operating means includes a frame provided at a tip of an arm fixed to the driver's seat, an X-axis movable body provided on the frame so as to be movable in the X-axis direction, A Y-axis movable body provided on the body so as to be movable in the Y-axis direction and to which the operated portion is connected; and a driving unit provided on the frame body and driving the X-axis movable body and the Y-axis movable body, respectively. Is composed of

According to the present invention, a work robot having at least one operating means consisting of at least one articulated arm or the like for operating a part to be operated such as a running / work lever of a work vehicle is installed in a driver's seat of the work vehicle. The work vehicle is remotely controlled by driving and controlling the robot's operating means with an operation command signal from a remote control means consisting of a multi-joint operation arm, etc., which eliminates the need for modification of the work vehicle and is related to the model and manufacturer of the work vehicle. No existing work vehicle can be used.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram of a remote operation system to which the method of the present invention is applied, FIG. 2 is a plan view showing a state in which a work robot constituting the remote operation system is set on a driver's seat of a work vehicle, and FIG. 3 is a remote operation system. FIG. 4 is a functional block diagram on the remote operation side in the remote operation system. In FIGS. 1 and 2, reference numeral 10 denotes a transport vehicle such as a crawler dump and a work vehicle corresponding to a construction machine such as a back fork engaged in work such as excavation and transport of earth and sand at a disaster recovery site where workers cannot enter. The driver's seat 102 in the driver's cab 101 of the work vehicle 10 has a driver's cab 10
1, a work robot 20 for operating various work vehicle operated parts such as a pair of work levers 103, a pair of travel levers 104, a keyboard 106 such as an engine key 105, a wiper button and the like is installed. I have. One end of an attachment 107 extending parallel to the driver's seat 102 is fixed to the upper end of each of the traveling levers 104, and the other end of each of the attachments 107 is located in the middle between the working levers 103. ing. Thereby, the operation of each traveling lever 104 by the work robot 20 is facilitated.

As shown in FIGS. 1 and 2, the working robot 20 includes a robot body 201 and a pair of articulated arms 20.
2 is provided. The robot main body 201 includes a board 201A fixed in a crossed state on left and right armrests 102A of the driver's seat 102, and a driver seat 10 from an intermediate portion of the board 201A.
Backrest 1 after extending horizontally to the backrest 102B side of 2
Plate-like support portion 201B raised upward along 02B
The pair of articulated arms 202 are attached to the left and right ends of the board 201A via a turning base 203 so as to be able to turn horizontally. On the upper end portion of the support portion 201B, a first operation that is performed in the elevation direction and the horizontal direction is performed.
A camera head 30A and a second camera head 30B are installed,
On the first camera platform 30A, a first video camera 31 composed of a solid-state image sensor or the like capable of capturing a scene outside the work vehicle including the working room of the work vehicle and the work state of the work vehicle at a telephoto and wide angle is installed. The second camera head 30B includes a solid-state image pickup device capable of performing telephoto and wide-angle imaging, which enables a locally operated stereoscopic view of a work vehicle operated portion and a work condition of the work vehicle in the driver's cab 101. 2, a third video camera 32,
33 are installed.

The articulated arm 202 has a work lever 103.
And the operating lever 104 to operate the upper arm 202A, the lower arm 202B, and the gripper 20 corresponding to human arms.
2C, the upper arm 202A and the turning base 203 are connected in a bendable manner, and a drive motor 202D such as a step motor for driving the upper arm 202A in the vertical direction with respect to the turning base 203 is attached to the bent portion. ing. The turning base 203 is driven by a driving motor 204 such as a step motor provided on the substrate 201A so as to be able to turn in the horizontal direction. Upper arm 202A and lower arm 20
A drive motor 202E such as a step motor for driving the lower arm 202B in the vertical direction with respect to the upper arm 202A is attached to the bent portion between the two arms 2B. In addition, the lower arm 202B and the base of the grip 202C are connected in a bendable manner, and a drive motor 202F such as a step motor for bending the grip 202C is mounted on the bent portion as shown in FIG. In addition, a drive motor 202G such as a step motor for rotating the grip 202C around the axis is mounted on the base of the grip 202C. Further, a drive section 202H such as an actuator for opening and closing the grip section 202C is mounted on the grip section 202C.

In FIG. 1, reference numeral 35 denotes a board computer mounted on the work vehicle 10 for transmitting and receiving data necessary for remote operation and controlling a work robot. The board computer 35 includes the drive motors 202D and 204 described above. , 2
02E, 202F, 202G, a driving unit 202H, the first video camera 31, the second and third video cameras 32, 33, and a wireless device 36 constituting a communication unit for transmission and reception are connected to each other. ing.

In FIG. 1, reference numeral 40 denotes a remote control device (remote control means) installed at a monitoring center 50 located at a position distant from the work area of the work vehicle 10, and an operator 60 sits on the remote control device 40. An operation seat 70 is provided. On both left and right sides of the operation seat 70, a pair of support plates 401 extending in parallel to the front from the operation seat 70 is provided so as to be extendable and contractable. From the driver's seat 102 of the work vehicle 10 to the work lever 10
The structure can be adjusted according to the interval up to 3.
On the tip of each support plate 401, a pseudo rest lever 402 similar to the working lever 103 of the work vehicle 10 is provided.
Are provided so as to be tiltable in the front, rear, left and right directions. The height of the rest lever 402 can be adjusted in accordance with the height of the working lever 103. A multi-joint operation arm 403 similar to the multi-joint arm 202 of the work robot 20 is mounted on the left and right armrest portions 701 of the operation seat 70 via a turning base 404 so as to be capable of turning horizontally. A pair of pseudo travel levers 407 corresponding to the pair of travel levers 104 of the work vehicle 10 are supported on the floor positioned between the pair of rest levers 402 so as to be tiltable in the front-rear direction.

The multi-joint operation arm 403 generates an operation command signal for remotely operating the multi-joint arm 202 of the work robot 20, and includes an upper arm 4 corresponding to a human arm.
The upper arm 403A has a lower arm portion 403B and a grip portion 403C. The upper arm portion 403A and the turning base 404 are flexibly connected to each other. Angle sensor 403D is mounted. The armrest 701 has an angle sensor 40 for detecting a turning angle of the turning base 404.
5 are provided. The upper arm portion 403A and the lower arm portion 403B are connected so as to be bendable.
An angle sensor 403E for detecting a vertical movement angle of the lower arm 403B with respect to A is mounted. In addition, the lower arm 403B and the base of the grip 403C are connected so as to be bendable, and an angle sensor 403F for detecting the bending angle of the grip 403C is attached to the bent part as shown in FIG. At the same time, at the base of the grip 403C,
An angle sensor 403G for detecting a rotation angle when the gripper 403C is rotated around the axis is mounted. Further, an angle sensor 403H for detecting the opening / closing angle is mounted on the grip 403C.

In FIG. 1, reference numeral 81 denotes a board computer installed at the monitoring center 50 for transmitting and receiving data necessary for remote operation and for displaying the data. The board computer 81 includes the angle sensors 403D and 405. ,
403E, 403F, 403G and detection sensor 403
H, the wireless device 82 and the first
Video camera 31 and second and third video cameras 3
Monitor display device 8 for displaying the video imaged in 2, 33
3 are connected to each other.

Next, the configuration of FIGS. 3 and 4 will be described. 3, the board computer 35 of the work vehicle 10 includes a central control device 351 for controlling and managing the entire work robot 20. The central controller 351 includes:
From the remote control device 40 of the monitoring center 50 to the wireless device 82,
A motor control circuit 352 for a multi-joint arm, a motor control circuit 353 for a pan head, and a motor control circuit 354 for a camera, which are operated based on an operation command signal transmitted through 36, are connected. The articulated motor control circuit 352 includes:
Each drive motor 202D, 20 of the articulated arm 202
4, 202E, 202F, 202G and drive unit 202H
Are connected to the pan head motor control circuit 353, and respective driving units 301 and 302 for driving the camera pan heads 30A and 30B in the elevating direction and the horizontal direction, respectively. Further, the camera motor control circuit 354 is connected to Drive motors 31A, 32A for zooming the first video camera 31 and the second and third video cameras 32, 33,
33A is connected.

The central control unit 351 has a first video camera 31, a second video camera 32, and a third video camera 32 via an A / D conversion circuit 355 and an image processing circuit 356.
3 are connected. The A / D conversion circuit 355 includes the first video camera 31 and the second and third video cameras 32, 3
3 is converted into a digital signal. Each digital signal output from the A / D conversion circuit 355 is input to an image processing circuit 356, and is subjected to discrete cosine transform or the like. The configuration is such that the data is converted into compressed image data of a data amount and is taken into the central controller 351. further,
The wireless device 36 is connected to the central control device 351 via a communication control circuit 357.

In FIG. 4, the board computer 81 of the monitoring center 50 includes a central controller 811 for controlling and managing the entire remote controller 40. The central control device 811 receives the angle sensors 403D and 403 of the articulated operation arm 403 via an AD conversion circuit 812.
5, 403E, 403F, 403G and 403H are respectively connected. Further, the camera platform operation switch 81 is connected via the central controller 811 and the input interface 813.
4. a camera selection switch 815 for selecting one of the first video camera 31 or the second and third video cameras 32 and 33; a zooming operation switch 816 for performing zooming operation on the selected video camera; 819 etc. are connected. These operation switches are arranged on an operation panel 700 provided near the operation seat 70 as shown in FIG. Further, a wireless device 82 is connected to the central control device 811 via a communication control circuit 817. After the received image data is subjected to inverse discrete cosine transform by the central control device 811, the image data is converted to an NTSC signal. And a display control circuit 818 for performing image synthesis, and a monitor display device 83 is connected to the display control circuit 818.

Next, the operation of the remote control system according to the present embodiment configured as described above will be described.
When remotely controlling the work vehicle 10 such as a back fork at a disaster recovery site where workers cannot enter, first, the work robot 20 is shown in FIG. 2 in the driver's seat 102 in the cab 101 of the work vehicle 10. The work robot 20, the video cameras 31 to 33, and the board computer 35 including the wireless device 36 are set to the initial state by turning on the power supply (not shown). Similarly, the power supply (not shown) of the monitoring center 50 is turned on, and the board computer 81 including the remote control device 40 and the monitor display device 83 is set to an initial state. In this state, each video signal captured by each of the video cameras 31 to 33 is converted into a digital signal by the A / D conversion circuit 355, and then compressed into image data for transmission by the image processing circuit 356 frame by frame. Then, it is taken into a frame memory or the like in the central control device 351. Central controller 351
Then, the compressed image data of each of the video cameras 31 to 33 is multiplexed, transmitted from the communication control circuit 357 to the wireless device 36, and wirelessly transmitted from the wireless device 36 to the monitoring center 59.

In the monitoring center 50, after the image data transmitted from the work vehicle 10 is received and demodulated by the wireless device 82, the central control device 81 passes through the communication control circuit 817.
1 and decompressed to the original image data by inverse discrete cosine transform.
It is converted into a C signal and displayed on the monitor display device 83. Here, when the image captured by the video camera 31 is wide-angle, the image is displayed on the entire screen of the monitor display device 83. When the video images captured by the video cameras 32 and 33 are telephoto, the images are combined to form a monitor display device 83.
At the center 83A. Therefore, the operator 60 sitting on the operation seat 70 operates the articulated operation arm 403 by hand while looking at the display screen of the monitor display device 83, and thereby the work robot 10 of the work vehicle 10
The remote control command required for the operation of the vehicle is given.

For example, the engine key 105 of the working vehicle 10
Is operated, the user operates the camera selection switch 815 while watching the display screen of the monitor display device 83 to select the video cameras 32 and 33 so that the zoom operation can be performed.
In addition, the central control unit 811 and the communication control circuit 817 transmit a command signal for operating the camera platform 30 in the elevation direction and the horizontal direction by manually operating the platform control switch 819.
Is transmitted from the wireless device 82 to the work vehicle 10 via In the work vehicle 10, the command signal is received by the wireless device 36, and the received command signal is transmitted to the communication control circuit 367 and the central control device 3.
The video camera 32, 33 is transmitted to the pan head control circuit 353 through the controller 51 and the driving means 302 of the camera pan head 30B is controlled to operate the camera pan head 30B in the elevation direction and the horizontal direction. Orient in the shooting direction, that is, the direction in which the engine key 105 is projected. By operating the zooming operation switch 816 to transmit a zooming command signal from the wireless device 82 to the work vehicle 10 and supplying the zooming command signal received by the wireless device 36 to the camera control circuit 354, the video camera 32, 33 is zoomed in the telephoto direction, and the portion of the engine key 105 is photographed. This video camera 32, 33
The image picked up by the central processing unit 83A of the monitor display device 83
Will be enlarged. Here, when the operator 60 operates one of the multi-joint operation arms 403 while watching the display screen of the monitor display device 83, the angle sensors 403D, 405, and 40 of the multi-joint operation arm 403 are associated with this operation.
3E, 403F, and 403G detect the respective movement angles, and these angle signals are converted by an AD conversion circuit 81.
After being converted into a digital signal by the wireless communication device 2, the digital signal is transmitted from the wireless device 82 to the wireless device 36 of the work vehicle 10 through the central control device 811 and the communication control circuit 817. This radio 36
Is supplied to the motor control circuit 352 through the central control device 351 to thereby control the drive motors 202D, 204, and 2 of the multi-joint arm 202 of the work robot 20 corresponding to the one multi-joint operation arm 403.
02E, 202F, and 202G are driven, and the multi-joint arm 202 is remotely operated so that the engine key 105 can be operated. Thus, when the engine key 105 is operated, the engine of the work vehicle 10 is started.

When excavation work or the like is performed by the work vehicle (back four) 10, the operator 60 holds the left and right hands of the left and right articulated operation arms 403 while holding the display screen of the monitor display device 83. The left and right articulated operation arms 403 are moved with the
The left and right rest levers 402 are gripped by 03C. At this time, each angle sensor 40 of each articulated operation arm 403
3D, 405, 403E, 403F, 403G and 40
3H detects the respective movement angles, and these angle signals are converted into digital signals by an A / D conversion circuit 812, and then transmitted from the radio 82 to the radio of the work vehicle 10 through the central control device 811 and the communication control circuit 817. 36. By supplying the angle signal received by the wireless device 36 to the motor control circuit 352 through the central controller 351, each drive motor 202 D, 204, 202 E, 202 F, 20 F of the articulated arm 202 of the work robot 20 is provided.
2G and the drive unit 202H.
02 following the articulated operation arm 403
03, and the work lever 103 is gripped by the grip portion 202C. When the operator operates the rest lever 402 forward, backward, left, and right with the multi-joint operation arm 403 while viewing the work screen displayed on the monitor display device 83, the multi-joint operation arm 403 that operates in accordance with this operation is operated.
Angle sensors 403D, 405, 403E, 403
F and 403G detect the respective movement angles, and these angle signals are converted into digital signals by an A / D conversion circuit 812, and then transmitted from the wireless device 82 through the central control device 811 and the communication control circuit 817 to the work vehicle 10. Radio 36
Is supplied to the motor control circuit 352 through the central control device 351 and is transmitted to the multi-joint arm 20 of the work robot 20.
2 drive motors 202D, 204, 202E, 202
F and 202G are driven and controlled. As a result, the multi-joint arm 202 can remotely control the work of the work vehicle 10 by operating the work lever 103 in accordance with the operation of the multi-joint operation arm 403.

When the vehicle 10 travels, the operator 60 attaches the left and right hands of the operator 60 to the grip portions 403C of the left and right articulated operation arms 403 while watching the display screen of the monitor display device 83 in the same manner as described above. In this state, the left and right articulated operation arms 403 are moved, and the left and right pseudo running levers 407 are gripped by the gripping portions 403C. At this time, each angle sensor 403D, 405, 4 of each articulated operation arm 403
Reference numerals 03E, 403F, 403G, and 403H detect the respective movement angles, and these angle signals are converted into digital signals by an A / D conversion circuit 812, and then transmitted through a central control unit 811 and a communication control circuit 817.
Transmitted to the wireless device 36 of the working vehicle 10 from the wireless device 3
6 is supplied to the motor control circuit 352 through the central controller 351 so that the drive motors 202D and 202D of the articulated arm 202 of the work robot 20
204, 202E, 202F, 202G and drive unit 20
2H, the multi-joint arm 202 is moved to the attachment 107 side of the travel lever 104 following the multi-joint operation arm 403, and the attachment 107 is gripped by the grip 202C. When the pseudo running lever 407 is operated forward with the multi-joint operation arm 403 while looking at the screen outside the vehicle displayed on the monitor display device 83, the multi-joint operation arm 4 that operates according to this operation is operated.
03 angle sensors 403D, 405, 403E, 4
03F and 403G detect respective movement angles, and these angle signals are converted into digital signals by an A / D conversion circuit 812, and then transmitted from the radio 82 to the work vehicle 10 through the central control device 811 and the communication control circuit 817. The angle signal transmitted to the wireless device 36 and received by the wireless device 36 is supplied to the motor control circuit 352 through the central control device 351, so that the multi-joint arm 2
02 drive motors 202D, 204, 202E, 20
2F and 202G, and the multi-joint arm 202 follows the operation of the multi-joint operation arm 403 to move the traveling lever 10.
The work vehicle 10 can be moved forward by tilting the work 4 forward. Further, if the pseudo traveling lever 407 is tilted toward the near side of the operator 60 by the multi-joint operation arm 403, the multi-joint arm 202 tilts the traveling lever 104 toward the front to move the work vehicle 10 backward according to this operation. be able to. When the left pseudo-running lever 407 is tilted forward by the multi-joint operation arm 403 and the right pseudo-running lever 407 is tilted forward, the work vehicle 10 is turned right. If the simulated running lever 407 on the right side is tilted forward with the simulated running lever 407 toward the front, the work vehicle 10 is turned to the left.

As described above, according to the present embodiment, the work robot 20 having the articulated arm 202 corresponding to both arms of the human is fixed to the driver's seat 102 of the work vehicle 10 and the operation seat 70 of the monitoring center 50 is fixed. A multi-joint operation arm 403 corresponding to both arms of a human is installed on both armrests 701 of
While displaying images captured by the video cameras 31 to 33 on the display screen of the monitor display device 83, the multi-joint operation arm 403 uses the rest lever 402 and the pseudo travel lever 407.
By operating the like, each angle sensor 403D, 405, 403E, 403F,
The angle data detected by 403G and 403H is transmitted in real time through the wireless devices 82 and 36, and based on the angle data, each drive motor 202D, 204, 202E, 202F,
Since the multi-joint arm 202 is operated by controlling the driving of the 202G and the drive unit 202H, the work lever 103 or the travel lever 104 of the work vehicle 10 is operated to remotely control the work vehicle 10. Modification of the work vehicle is not required unlike the related art, and remote control can be easily performed using an existing work vehicle regardless of the type or manufacturer of the work vehicle. For this reason, even when excavating or transporting earth and sand at a disaster recovery site where workers etc. cannot enter, it is possible to immediately respond with existing vehicles and construction machinery, as well as vehicles and construction machinery The maintenance of the work vehicle can be facilitated, and the cost of the work vehicle remote control system can be reduced.

In this embodiment, the length of the support plate 401 on which the rest lever 402 similar to the working lever 103 is projected forward is determined by the length of the driver's seat 1 of the working vehicle 10.
02 and the working lever 103, and the height of the rest lever 402 can be adjusted according to the height of the working lever 103. Even if the manufacturers are different, the position and height of the rest lever can be optimally adjusted according to these work vehicles.

FIG. 7 is a plan view showing another embodiment of the grip portion 202C of the articulated arm 202 of the work robot 20. 7, a pad member 212 made of hard rubber or the like having corrugated unevenness 212A formed on opposing surfaces of a pair of gripping pieces 211 attached to the base 210 of the gripping part 202C so as to be openable and closable is arranged in the longitudinal direction of the gripping piece 211. The work lever 103 is gripped by a gripping piece 211 via the pad member 212. In this embodiment, the work lever 103 and the like can be stably gripped by the concave portion of the unevenness 212A without slipping, and the pad member 212 is
By providing the position adjustment in the longitudinal direction, the gripping position of the pad member 212 with respect to the working lever 103 or the like can be adjusted so as to face the concave portion. Although not shown, the grip 403C of the multi-joint operation arm 403 is configured similarly to the grip 202C of the multi-joint arm 202.

FIG. 8 is a plan view showing still another embodiment of the grip portion 202C of the articulated arm 202 of the work robot 20. In FIG. 8, the grip portion 202C
A pair of gripping pieces 21 attached to the base 210 so as to be openable and closable
1 are configured to be able to bend inward each other.
A small motor 215 that bends the gripping piece 211 inward is provided in the bent portion of, and a pad member 216 made of hard rubber or the like is further provided on the opposing surface of the gripping piece 211 and on the inner surface of the base. And the working lever 10 via the pad member 216 by the bending operation of the small motor 215
3 and the like. In this embodiment, the working lever 103 and the like can be more stably and reliably gripped. Although not shown, the grip portion 403C of the multi-joint operation arm 403 is configured substantially in the same manner as the grip portion 202C of the multi-joint arm 202. The difference from the grip portion 202C is that the bending portion of the grip piece has a bending angle. Where there is an angle sensor for detecting The angle data detected by the angle sensor becomes a remote command for controlling the drive of the small motor 215 of the gripping piece 211.

In the above embodiment, the working vehicle 10
A case has been described in which a multi-joint arm 202 corresponding to a human arm having a motor mounted on each joint portion and a turning support portion is used as an operating means for operating each operated portion such as the traveling lever 103. The present invention is not limited to this. For example, as shown in FIG. 9, an X-axis moving body 91 that moves in the X-axis direction is provided on a rectangular frame 90 provided at the tip of an arm 89 fixed to the robot body. A Y-axis moving body 92 that moves in the Y-axis direction is provided, and the frame body 90 and the X-axis moving body 91 are further provided with an X-axis moving body 91 and a Y-axis moving body 91.
Motors 93 and 94 for driving the shaft moving body 92 are provided, and the rotation shaft of each of the motors 93 and 94 and the pulley 9
Loop-shaped wire 9 wound between 5 and 96
7, 98 are connected to the X-axis moving body 91 and the Y-axis moving body 92,
By driving and controlling the motors 93 and 94 according to the remote control command to drive the wires 97 and 98, the X-axis moving body 9 is controlled.
The configuration may be such that the 1 and the Y-axis moving body 92 are moved, and the traveling lever 103 and the like connected to the Y-axis moving body 92 are remotely operated. In this case, the remote operation means on the monitoring center 50 side includes a frame, an X-axis moving body, and a Y-axis moving body similar to the operation means on the work vehicle 10 side, and further includes the X-axis moving body and the Y-axis moving body.
It is configured to include a detector such as an encoder that detects the amount of movement of the shaft moving body. Further, the operation means and the remote operation means in the present invention are not limited to those constituted by the articulated arms corresponding to human arms described in the above embodiment, but may be articulated bodies equivalent to human legs. , May be provided in pairs or more. Also, the traveling lever 104 shown in FIG.
Is not limited to the articulated arm, and a hydraulic cylinder can be used. Further, the communication means between the work vehicle 10 and the monitoring center 50 in the present invention is not limited to the wireless system for the wireless devices 36 and 82, and optical communication or satellite communication can be used.

[0028]

As described above, according to the present invention, at least one of the operating parts such as the running / work lever of the working vehicle is operated.
A working robot having operating means including two articulated arms is installed in a driver's seat of a work vehicle, and the operating means of the working robot is driven and controlled by an operation command signal from a remote operating means such as an articulated operating arm. Since the work vehicle is remotely controlled, modification of the work vehicle is not required, and remote control can be easily performed using an existing work vehicle regardless of the type or manufacturer of the work vehicle. As a result, even when excavating or transporting earth and sand at a disaster recovery site where workers etc. cannot enter, the existing work vehicle can be immediately responded and maintenance of the work vehicle becomes easy. This has the effect that the cost of the remote control system for the work vehicle can be reduced.

Further, according to the present invention, a pseudo operated part corresponding to an operated part such as a traveling / work lever disposed in a driver's cab of a work vehicle is provided at a monitoring center, and the pseudo operated part is provided. The position and the height of the work vehicle with respect to the multi-joint operation arm can be adjusted in accordance with the position of the operated part of the work vehicle. The position and height of the pseudo operated part can be adjusted optimally according to the part.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a remote operation system to which the present invention is applied.

FIG. 2 is a plan view showing a state in which a work robot constituting the remote control system according to the embodiment of the present invention is set on a driver's seat of a work vehicle.

FIG. 3 is a functional block diagram of the working robot according to the embodiment of the present invention.

FIG. 4 is a functional block diagram of a remote operation side according to the embodiment of the present invention.

FIG. 5 is a perspective view of a grip portion of the articulated arm according to the embodiment of the present invention.

FIG. 6 is a perspective view of a grip portion of the articulated operation arm according to the embodiment of the present invention.

FIG. 7 is a plan view showing another embodiment of the gripping part in the articulated arm of the working robot of the present invention.

FIG. 8 is a plan view showing still another embodiment of the gripping part in the articulated arm of the working robot of the present invention.

FIG. 9 is a plan view showing another embodiment of the operation means in the present invention.

[Explanation of symbols]

Reference Signs List 10 work vehicle 101 driver's cab 102 driver's seat 103 work lever (operated part) 104 travel lever (operated part) 20 work robot 201 robot main body 202 articulated arm (operating means) 202C grip part 202D, 204, 202E, 202F, 202G Driving motor 202H Driving unit 203 Revolving base 30A, 30B Camera head 301, 302 Head driving means 31, 32, 33 Video camera (imaging means) 31A, 32A, 33A Driving motor for zooming 36 Radio (communication means) ) 40 remote control device (remote control means) 401 support plate 402 rest lever (pseudo operated portion) 403 multi-joint operation arm 403C grip portion 403D, 405, 403E, 403F, 403G, 4
03H Angle sensor 404 Turning base 50 Monitoring center 82 Radio (communication means) 83 Monitor display device 211 Holding piece 213 Pad member 89 Arm 90 Frame 91 X-axis moving body 92 Y-axis moving body 93, 94 Drive motor

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI H04N 5/225 H04N 5/225 Z H04Q 9/00 301 H04Q 9/00 301B 311 311K 361 361

Claims (7)

[Claims] 1. A remote control system for remotely controlling a work vehicle corresponding to a transport vehicle and a construction machine according to an operation command from a monitoring center located at a position distant from a work area of the work vehicle, comprising: A work robot installed in a seat and having at least one operation means for operating various operated parts such as a running / work lever provided in a driver's cab of the work vehicle; Driving means for driving means, imaging means installed in the work robot, and taking images of the outside of the work vehicle including the operation room of the work vehicle and the operation state of the operation means and the work state of the work vehicle at telephoto and wide angles. A communication unit that transmits an operation command signal to the operation unit to a work vehicle and transmits video information captured by the imaging unit to the monitoring center; A display unit that is installed and displays a captured image transmitted from the imaging unit via a communication unit; and the operation unit that is installed in the monitoring center and operates while viewing the image displayed on the display unit. And a sensor that detects the amount of movement of the remote control means and sends it to the drive means of the operation means as an operation command signal. 2. The work robot includes a robot body fixed to a driver's seat of a work vehicle, and the operation means has one end supported by the robot body so as to be able to turn in a horizontal direction,
A drive controlled by an operation command signal from the remote control means, comprising an articulated arm having a gripping portion at the other end, and controlling each joint portion of the articulated arm, a turning support portion to the robot body, and a gripping portion. The remote control system according to claim 1, further comprising a motor. 3. The remote control means includes an articulated operation arm having one end supported by a fixed portion of the monitoring center so as to be pivotable in the horizontal direction, and the other end having a grip portion. 3. The joint portion of claim 1, a pivot support portion for the fixed portion, and a grip portion, each of which detects a movement angle thereof and sends it as an operation command signal to each drive motor of the articulated arm. The remote control system as described. 4. A pseudo operated part corresponding to an operated part such as a running / work lever disposed in a cab of the work vehicle is provided at the monitoring center, and the multi-joint of the pseudo operated part is provided. 4. The remote control system according to claim 3, wherein a position and a height with respect to the operation arm are configured to be adjustable corresponding to an operated portion of the work vehicle. 5. A rugged pad member for stably gripping an operated portion without slipping is provided on opposing surfaces of a gripping piece constituting a gripping part of the articulated arm so as to be movable in a longitudinal direction of the gripping piece. The remote control system according to claim 2, wherein: 6. A rugged pad member for stably gripping a pseudo-operated part without slipping can be moved in the longitudinal direction of the gripping piece on opposing surfaces of gripping pieces constituting a gripping part of the articulated operation arm. 5. The device according to claim 3, wherein
The remote control system as described. 7. The operating means includes: a frame provided at a tip of an arm fixed to the driver's seat; an X-axis movable body provided on the frame so as to be movable in an X-axis direction; A Y-axis movable body provided on the body so as to be movable in the Y-axis direction and to which the operated portion is connected; and a driving unit provided on the frame body and driving the X-axis movable body and the Y-axis movable body, respectively. The remote control system according to claim 1, comprising: