JP2002152399A - Remote operation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform long distance remote operation of a working machine conveniently and easily. SOLUTION: When a construction machine 10 at a work site is operated from a control room 20 at a remote place, the construction machine 10 and the control room 20 are provided with portable telephone terminals 11 and 21 and data communication is performed between them through a portable telephone network 30. The construction machine 10 delivers a video signal picked up by means of a camera to the control room 20 through the portable telephone terminals 11 and 21 and the portable telephone network 30 and displays the camera video on a monitor. The control room 20 delivers a remote operation signal for controlling the construction machine 10 through the portable telephone terminals 11 and 21 and the portable telephone network 30 to the construction machine 10 and controls each section of the construction machine 10 thus performing unattended operation.

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 for remotely controlling various types of work machines, for example, at a disaster recovery site where workers cannot enter.

[0002]

2. Description of the Related Art Conventionally, various systems have been put to practical use in which various work machines are arranged at a work site at a disaster recovery site or the like where workers cannot enter, and the work machines are remotely controlled from a remote control room. . In such a remote control system, a work machine is provided with a control device that performs control for performing various works, and, for example, a camera that shoots a work site and a wireless device that performs data communication are provided.
A video signal from the camera is transmitted to the control room by a wireless device, and a remote worker who visually recognizes this video on the monitor device sends a remote control signal wirelessly,
The control device is operated via a wireless device to realize remote control of the work machine. As the wireless communication means used for such remote control, for example, specific low-power wireless communication,
A method for performing communication by directly exchanging wireless signals between wireless devices, such as spread spectrum (SS) wireless communication and 500 Hz band simple wireless communication (hereinafter, generally referred to as normal wireless).
Was used.

[0003]

However, it is difficult to secure a sufficient communication distance when remote control is performed using individual wireless devices. Therefore, by installing a relay station between the work machine and the control room and combining various radios, it is possible to communicate over a relatively long distance of about several km, but if the distance becomes 5 km or more, it will be used. Is nothing. In addition, a wireless device with a high frequency (simple wireless) needs to have a line of sight with a communication partner, and may be subject to positional restrictions during use.
In addition, in the specific low-power wireless communication device and the like, since the number of channels is limited, if the number of construction machines to be operated increases,
In some cases, radio wave interference occurs and the device does not operate normally. In addition, in the event of an emergency disaster, when using a high-output radio that allows radio waves to reach a wide area, use permission procedures are required, and there is a problem that it takes time to start construction.

It is an object of the present invention to provide a remote control system that enables simple and easy remote control of a work machine over long distances.

[0005]

According to the present invention, there is provided a remote control system for remotely controlling a work machine disposed at a work site from a control room installed at a remote place. A telephone wireless communication terminal for performing data communication through a network is provided, and a telephone communication terminal for performing data communication through a public network is provided in the control room, and a telephone communication terminal of the control room and a telephone of a work machine are provided. The work machine is remotely controlled by performing data communication with a system wireless communication terminal via a public network.

The present invention also relates to a remote control system for remotely controlling a work machine arranged at a work site from a control room installed at a remote place, comprising a relay station between the work machine and the control room. The work machine is provided with a telephone-based wireless communication terminal that performs data communication through a public network, and the relay station is provided with a telephone-based communication terminal that performs communication through a public network, and a wireless device that performs normal wireless communication, Further, a wireless device for performing normal wireless communication is provided in the control room, and data communication by normal wireless is directly performed between the wireless device in the control room and the wireless device in the relay station, and a telephone communication terminal in the relay station. The work machine is remotely operated by performing data communication with the telephone wireless communication terminal of the work machine via the public network. To.

The present invention also relates to a remote control system for remotely controlling a work machine arranged at a work site from a control room installed at a remote place, comprising a relay station between the work machine and the control room. The work machine is provided with a wireless device for performing normal wireless communication, and the relay station is provided with a wireless device for performing normal wireless communication, and a telephone communication terminal for performing data communication via a public network, and further provided with a public device in the control room. A telephone communication terminal for performing data communication via a network is provided, and data communication is performed between the telephone communication terminal of the control room and the telephone communication terminal of the relay station via a public network, and The remote control of the work machine is performed by directly performing normal wireless data communication between the radio and the work machine radio. That.

In the remote control system according to the present invention, when a work machine at a work site is remotely controlled from a remote control room, a telephone wireless communication terminal is provided in the work machine, and a public network is connected to the telephone wireless communication terminal. It is accessed from a telephone communication terminal in the control room via the control room to perform data communication. Therefore, long-distance remote operation of a work machine can be easily and easily performed using a public network and a telephone-based terminal, and the restrictions on facilities and distance and positional restrictions when wireless communication is normally used. It is possible to configure a flexible and scalable remote control system without receiving it.

In the remote control system of the present invention, when a work machine at a work site is remotely controlled from a remote control room via a relay station, the work machine is provided with a telephone wireless communication terminal. Access the wireless communication terminal from the telephone communication terminal of the relay station via the public network,
Perform data communication. Communication between the relay station and the control room is usually performed by wireless communication. Therefore, part of the long-distance remote operation of the work machine can be easily and easily performed using the public network and the telephone-based terminal. It is possible to configure a flexible and scalable remote control system without any restrictions.

In the remote control system of the present invention, when a work machine at a work site is remotely controlled from a control room at a remote place via a relay station, a telephone system wireless communication terminal is provided at the relay station, and the telephone system wireless communication terminal is provided. A wireless communication terminal is accessed from a telephone communication terminal in a control room via a public network to perform data communication. Communication between the work machine and the relay station is usually performed by wireless communication. Therefore, part of the long-distance remote operation of the work machine can be easily and easily performed using the public network and the telephone-based terminal. It is possible to configure a flexible and scalable remote control system without any restrictions.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a remote control system according to the present invention will be described below. FIG. 1 is a schematic diagram showing a schematic configuration of a remote operation system according to a first embodiment of the present invention. The remote control system according to the first embodiment includes:
FIG. 3 illustrates the most basic configuration of the present invention. That is, in this example, the work machine (construction machine) 1 at the work site
0 is directly operated remotely from a control room 20 at a remote place, and is an example of a system in which a relay station is not interposed in the middle. And the construction machine 10 and the control room 2
0 is provided with mobile phone terminals 11 and 21 as telephone wireless communication terminals, respectively, and performs data communication between the mobile phone terminals via the mobile phone network 30 so that the mobile phone terminal can communicate with the construction machine from the control room 20. 10 remote operations. Although one construction machine 10 is shown in FIG. 1, in practice, a plurality of construction machines 10 are remotely operated in parallel to perform work.

The construction machine 10 has a portable telephone terminal 1
An interface 12 for controlling the exchange of data between the device 1 and each unit in the construction machine 10, a control device (not shown) for controlling various operations, and a camera (not shown) for photographing the work site (Not shown).
On the other hand, the control room 20 has a mobile phone terminal 21.
Interface 22 for controlling the exchange of data between the control unit 20 and each unit in the control room 20, and operating means (not shown) provided with, for example, an operating lever for the remote operator to perform various operation inputs. ) And a monitor device (not shown) for observing the work site.

On the construction machine 10 side, a video signal 40A photographed by the camera is transmitted to the mobile phone network 30 via the interface 12 and the mobile phone terminal 11, and the mobile phone terminal in the control room 20 is transmitted from the mobile phone network 30. 2
1 is received. Then, the received video signal 40B
Is sent from the mobile phone terminal 21 to the monitor device via the interface 22 and is projected as a camera image. The operator of the control room 20 looks at the camera image and operates the operation means to control the direction of the camera in the construction machine 10 or the operation signal 41B for controlling the operation of the construction machine 10. Enter 42B. These operation signals 41B and 42B are transmitted to the mobile phone network 30 via the interface 22 and the mobile phone terminal 21.
And received by the mobile phone terminal 11 of the construction machine 10 from the mobile phone network 30. Then, the received operation signal 41A is transmitted from the mobile phone terminal 11 to the interface 12
Is sent to each part of the construction machine 10 via the.

As described above, in the remote control system of this embodiment, when the construction machine 10 at the work site is remotely controlled from the remote control room 20, the mobile phone terminals 11 and 21 are connected to the construction machine 10 and the control room 20. And a mobile phone network 30 between these mobile phone terminals 11 and 21.
By communicating the video signal, the operation signal, and the like, that is, by performing data communication, long-distance remote control of the construction machine 10 can be performed easily and easily. In this example, the mobile phone terminal 21 is provided in the control room 20, but a fixed telephone terminal capable of performing data communication may be used in the control room 20. In addition, as a telephone wireless communication terminal, a PHS (Personal Handy Phone System) is used instead of a mobile phone terminal.
A terminal or another terminal using a new simple wireless communication or a satellite mobile phone may be provided.

FIG. 2 is a schematic diagram showing a schematic configuration of a remote control system according to a second embodiment of the present invention. The remote control system according to the second embodiment includes a construction machine 50 at a work site.
A communication relay vehicle 70 as a relay station is disposed between the control room 60 and the remote control room 60.
Is to remotely control the construction machine 50 via the communication relay vehicle 70. Although one communication relay vehicle 70 is shown in FIG. 2, a plurality of communication relay vehicles may be provided according to the situation at the work site. Then, the construction machine 50 and the communication relay vehicle 70
Are provided with mobile phone terminals 51 and 71 as telephone wireless communication terminals, respectively, and perform data communication between the mobile phone terminals via the mobile phone network 80. Further, the communication relay vehicle 70 and the control room 60 are provided with interfaces 72 and 61 having a wireless communication function, and perform data communication between these interfaces by normal wireless communication. Note that, as the normal wireless communication used here, for example, a 500 Hz band simple wireless communication, an SS wireless communication or the like is used for a video signal, and a specific small power wireless communication or an SS wireless communication is used for a control signal. In addition, communication of video signals and control signals may be performed using construction radio used in an emergency disaster as normal radio communication. With such a system, the communication relay vehicle 7 can be controlled from the control room 60.
0 to remotely control the construction machine 50.

The construction machine 50 includes a portable telephone terminal 5.
An interface 52 for controlling the exchange of data between the device 1 and each unit in the construction machine 50, a control device for controlling various operations, and a camera for photographing the work site are provided. On the other hand, the control room 60 is provided with operation means (not shown) provided with, for example, an operation lever for the remote operator to perform various operation inputs, and a monitor device for observing the work site. . Then, on the construction machine 50 side, the video signal 90A captured by the camera is sent to the mobile phone network 80 via the interface 52 and the mobile phone terminal 51, and from the mobile phone network 80 to the mobile phone terminal 71 of the communication relay vehicle 70. Sent,
Further, it is received by the interface 61 of the control room 60 via the interface 72 of the communication relay vehicle 70. Then, the video signal 90B received by the interface 61 of the control room 60 is sent to the monitor device via the interface 61, and is displayed as a camera video.

The operator of the control room 60 looks at the camera image and operates the operating means to operate the construction machine 5.
Operation signal 91 for controlling the direction of the camera at 0
B and operation signals 92 for controlling the operation of the construction machine 50
Enter B. These operation signals 91B and 92B are sent to the mobile phone network 80 via the interfaces 61 and 72 and the mobile phone terminal 71, and are received from the mobile phone network 80 to the mobile phone terminal 51 of the construction machine 50. Then, the received operation signal 91 </ b> A is sent from the mobile phone terminal 51 to each section of the construction machine 50 via the interface 52.

As described above, in the remote control system of the present embodiment, when the construction machine 50 at the work site is remotely controlled from the remote control room 60 via the communication relay vehicle 70, the construction machine 50 and the communication relay vehicle 70 Mobile phone terminal 5
1 and 71, and the video signals and the operation signals are communicated between the mobile phone terminals 51 and 71 via the mobile phone network 80, that is, data communication is performed. Remote control can be easily and easily performed. In this example, the communication relay vehicle 70
Although the mobile telephone terminal 71 is provided in the present embodiment, it is not always necessary to provide a movable relay station, and a fixed telephone terminal capable of data communication may be used on the relay station side. Further, as the telephone-based wireless communication terminal, a PHS (Personal Handy Phone System) terminal or another terminal using a new simple wireless communication or a satellite portable telephone may be provided instead of the portable telephone terminal.

FIG. 3 is a schematic diagram showing a schematic configuration of a remote control system according to a third embodiment of the present invention. The remote control system according to the third embodiment includes a construction machine 10 at a work site.
A communication relay vehicle 120 as a relay station is disposed between the control room 110 and the remote control room 110, and the construction machine 100 is connected to the construction machine 100 via the communication relay vehicle 120 from the control room 110.
Is operated remotely. The control room 110 and the communication relay vehicle 120 are provided with mobile phone terminals 111 and 121 as telephone wireless communication terminals, respectively, and perform data communication between the mobile phone terminals via the mobile phone network 130. . Also, the communication relay vehicle 120 and the construction machine 100 are provided with interfaces 122 and 101 having a wireless communication function, and data communication is performed between these interfaces by normal wireless communication. Note that, as the normal wireless communication used here, for example, a 500 Hz band simple wireless communication, an SS wireless communication or the like is used for a video signal, and a specific small power wireless communication or an SS wireless communication is used for a control signal. Further, as the normal wireless communication, communication of the video signal and the control signal may be performed using a construction wireless used in an emergency such as a disaster. With such a system, the construction machine 100 is remotely controlled from the control room 110 via the communication relay vehicle 120.

The construction machine 100 is provided with a control device for controlling various operations and a camera for photographing the work site. On the other hand, the control room 110 is provided with an interface 112 for controlling the exchange of data between the mobile phone terminal 111 and each unit in the control room 110, and furthermore, for the remote operator to perform various operation inputs. For example, an operating means (not shown) provided with an operating lever or the like and a monitor device for observing a work site are installed. On the construction machine 100 side, the video signal 140A captured by the camera is transmitted to the interface 101 and the communication relay vehicle 1.
The mobile phone terminal 130 is sent to the mobile phone network 130 via the interface 122 and the mobile phone terminal 121, sent from the mobile phone network 130 to the mobile phone terminal 111 in the control room 110, and received by the interface 112. And
The video signal 140B received by the interface 112 of the control room 110 is sent to the monitor device and displayed as a camera video.

The operator of the control room 110 looks at the camera image and operates the operating means to control the operation signal 141B for controlling the direction of the camera in the construction machine 100 and to control the operation of the construction machine 100. Is input. These operation signals 141B,
142B is the interface 112, the mobile phone 1
11 to the mobile phone network 130 and the mobile phone network 1
30, via the mobile telephone terminal 121 of the communication relay vehicle 120 and the interface 122 to the interface 101 of the construction machine 120. Then, the received operation signal 141A is sent to each section of the construction machine 100 via the interface 101.

As described above, in the remote control system according to the present embodiment, when the construction machine 100 at the work site is remotely controlled from the remote control room 110 via the communication relay vehicle 120, the control room 110 and the communication relay vehicle 1 are controlled.
20, mobile phone terminals 111 and 121 are provided, and the video signals and the operation signals are communicated between the mobile phone terminals 111 and 121 via a mobile phone network 130;
That is, by performing data communication, the construction machine 100
Remote control over a long distance can be performed easily and easily. FIG. 4 is a schematic diagram showing a state in which a plurality of construction machines 100A and 100B are performing an unmanned operation in a work site (construction area) by such a system. As shown in the figure, since the control room 110 performs data communication with the communication relay vehicle 120 through the mobile phone network 130, control can be performed from a considerably long distance as compared with a system that normally performs remote control by wireless. In addition, even when the number of construction machines 100A and 100B increases, the number of channels can be extremely easily increased, and a flexible remote control system can be configured. Note that, in this example, the mobile phone terminal 121 is
However, it is not always necessary to provide a movable relay station, and a fixed telephone system terminal capable of data communication may be used on the relay station side. In addition, as a telephone wireless communication terminal,
Instead of the mobile phone terminal, a PHS (Personal Handy Phone System) terminal or another terminal using new simplified radio may be provided.

[0023]

As described above, in the remote control system according to the present invention, when a work machine at a work site is remotely controlled from a remote control room, a telephone wireless communication terminal is provided in the work machine and the telephone system wireless communication terminal is provided. A wireless communication terminal is accessed from a telephone communication terminal in a control room via a public network to perform data communication. As a result, long-distance remote operation of a work machine can be easily and easily performed using a public network and a telephone system terminal. In general, there are facility restrictions, distance and positional restrictions when wireless communication is used. There is an effect that it is possible to configure a flexible and scalable remote control system without receiving the information.

In the remote control system according to the present invention, when a work machine at a work site is remotely controlled from a remote control room via a relay station, the work machine is provided with a telephone wireless communication terminal. The wireless communication terminal is accessed from the telephone communication terminal of the relay station via the public network to perform data communication, and the communication between the relay station and the control room is usually performed by wireless communication.
For this reason, part of long-distance remote operation of the work machine can be easily and easily performed using the public network and the telephone-based terminal. There is an effect that it is possible to configure a flexible and scalable remote control system without being subject to any restrictions or the like.

In the remote control system of the present invention, when a work machine at a work site is remotely controlled from a remote control room via a relay station, a telephone-type radio communication terminal is provided at the relay station, and the telephone-type radio communication terminal is provided. A wireless communication terminal is accessed from a telephone communication terminal in a control room via a public network to perform data communication, and communication between a work machine and a relay station is usually performed by wireless communication. For this reason, part of long-distance remote operation of the work machine can be easily and easily performed using the public network and the telephone-based terminal. There is an effect that it is possible to configure a flexible and scalable remote control system without being subject to any restrictions or the like.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a configuration of a remote operation system according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram illustrating a configuration of a remote operation system according to a second embodiment of the present invention.

FIG. 3 is a schematic diagram showing a configuration of a remote operation system according to a third embodiment of the present invention.

FIG. 4 is a schematic view showing a state where a plurality of construction machines are performing unmanned operations in a work site by the remote operation system shown in FIG. 3;

[Explanation of symbols]

10, 50, 100, 100A, 100B Construction machines 11, 21, 51, 71, 111, 121 Mobile phone terminals 12, 22, 52, 61, 72, 101, 122 Interfaces 20, 60, 110 Control rooms 30, 80, 130 Mobile phone network 70,120 Communication relay vehicle

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Kazuhiro Chayama 4-6-115 Sendagaya, Shibuya-ku, Tokyo Inside Fujita Co., Ltd. (72) Katsumi Obata 4-6-1-15 Sendagaya, Shibuya-ku, Tokyo Stock Company F-term in Fujita (reference) 2D003 BA04 BA06 5K048 AA04 BA10 BA21 DB01 DC01 DC07 EB02 EB15 HA01 HA02 HA03 5K067 AA41 BB04 BB28 DD23 DD52 EE02 EE10 EE16 HH21 5K101 KK11 LL01 LL11 NN06

Claims (15)

[Claims] 1. A remote control system for remotely controlling a work machine arranged at a work site from a control room installed at a remote place, comprising: a telephone wireless communication terminal for performing data communication with the work machine via a public network; A telephone communication terminal for performing data communication via a public network in the control room, and a data communication via a public network between the telephone communication terminal of the control room and the telephone wireless communication terminal of the work machine. A remote control system, wherein the remote control of the work machine is performed by performing communication. 2. The remote control system according to claim 1, wherein the telephone communication terminal in the control room is a telephone wireless communication terminal. 3. A remote control system for remotely controlling a work machine arranged at a work site from a control room installed at a remote place, comprising: a relay station between the work machine and the control room; A telephone-based wireless communication terminal for performing data communication via a public network is provided, and the relay station is provided with a telephone-based communication terminal for performing communication via a public network, and a wireless device for performing normal wireless communication; A wireless device for normal wireless communication is provided in the room, and data communication by normal wireless is directly performed between the wireless device in the control room and the wireless device in the relay station. The remote control of the work machine is performed by performing data communication with a telephone wireless communication terminal via a public network. Operation system. 4. The relay station is a mobile vehicle, and the telephone communication terminal of the relay station is a telephone wireless communication terminal.
The remote control system as described. 5. A remote control system for remotely controlling a work machine arranged at a work site from a control room installed at a remote place, comprising: a relay station between the work machine and the control room; A wireless device that performs normal wireless communication is provided, and a wireless device that performs normal wireless communication at the relay station, and a telephone communication terminal that performs data communication via a public network are provided.
Further, a telephone communication terminal for performing data communication via the public network is provided in the control room, and data communication is performed between the telephone communication terminal of the control room and the telephone communication terminal of the relay station via the public network. Together, by performing direct normal wireless data communication between the radio of the relay station and the radio of the work machine,
A remote control system for remotely controlling a work machine. 6. The relay station is a mobile vehicle, and the telephone communication terminal of the relay station is a telephone wireless communication terminal.
The remote control system as described. 7. The remote control system according to claim 6, wherein the telephone communication terminal in the control room is a telephone wireless communication terminal. 8. The remote operation system according to claim 1, wherein the telephone-based wireless communication terminal is a mobile telephone terminal. 9. The remote control system according to claim 1, wherein the telephone-based wireless communication terminal is a satellite mobile telephone terminal. 10. The remote control system according to claim 1, wherein said telephone-type radio communication terminal is a PHS terminal. 11. The public network according to claim 1, wherein said public network is a telephone network.
The remote control system according to 2, 3, 4, 6, or 7. 12. The remote operation system according to claim 3, wherein the normal wireless communication is communication using a specific low-power wireless communication. 13. The remote control system according to claim 3, wherein the normal wireless communication is communication using high-frequency band simple wireless communication. 14. The remote operation system according to claim 3, wherein said normal wireless communication is communication by SS wireless. 15. The remote operation system according to claim 3, wherein said normal wireless communication is communication by construction radio.