JP2006219894A - Camera controlling device in remote control of construction machinery - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To constitute a camera controlling device capable of carrying out work with good workability while looking at a picture when construction machinery is made to operate by remote control by making use of a plurality of cameras taking a picture of operation of the construction machinery. <P>SOLUTION: The camera controlling device is so constituted that a plurality of first, second and third cameras 19, 20 and 21 taking a picture of operation of a hydraulic shovel 1 are installed in a fixed state, picture data from these cameras 19, 20 and 21 is inputted to a camera controlling section 22, at the same time, the camera controlling section 22 is connected to a body controlling section 18, the camera controlling section 22 decides the operation of the hydraulic shovel 1 based on an input of an operating signal operating the hydraulic shovel 1 and that the optimum cameras 19, 20 and 21 for confirming the operation are selected to transmit the picture data of the selected cameras 19, 20 and 21 to a monitor 23. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention belongs to the technical field of a camera control device in remote operation of a construction machine to which a work device such as a hydraulic excavator is attached.

  Construction machines are usually operated by operators operating on construction machines, but work in hazardous areas such as disaster-stricken areas and underground areas, and in poor environments such as high temperatures, extreme cold, and high levels of dust In some cases, the operator does not board the vehicle, and may perform work by remote operation by operating an operation unit provided in a remote operation room (control room). In this case, when the operator cannot directly see the work site, it is proposed to operate while monitoring the video from the camera provided on the construction machine on the screen of the receiver provided on the operation unit. In this case, a plurality of cameras are installed on the construction machine, and the operator operates the video from each camera while looking through a plurality of receivers provided in correspondence with each camera in a remote place. In this case, it is necessary to install a plurality of cameras and a plurality of receivers, and the operator needs to select one of the plurality of receivers displaying images from each camera. Therefore, it is necessary to select and view necessary videos (receivers) one by one, and there is a problem that the operability and workability are inferior.

As a measure to improve this, one camera is installed on the construction machine, and the video from the camera is viewed with a receiver installed at a remote location, while the viewpoint of the camera is activated according to the operation of the control lever. The thing comprised so that it may move according to the motion of the working apparatus to perform is shown (refer patent document 1). And in this thing, although it is the structure using one camera, it is comprised so that a required direction can be monitored. On the other hand, a plurality of cameras are provided in the traveling vehicle, and a camera in the steering direction of the traveling vehicle is selected in accordance with the steering of the traveling vehicle, and an image from the selected camera is displayed for the left eye of the remote operator, There has been proposed one configured to be viewed through a video machine provided for each eye (see Patent Document 2). And in this thing, the operator can see a required image | video, without selecting an image | video one by one.
JP-A-9-218713 JP-A-6-78308

  However, in the former, the viewpoint of the camera changes in accordance with the movement of the working device according to the operation of the operation unit, so the relative position of the bucket with respect to the airframe cannot be confirmed on the video, and it is difficult to operate. There's a problem. In addition, since the image follows the movement of the bucket, the entire screen becomes an image that moves as a whole, and if you stare at it, you may be in motion sickness, making it difficult to work for a long time. is there. The latter is a camera provided in the traveling vehicle, and selects a camera that matches the steering direction (traveling direction). For this reason, in the case where work such as excavation is involved in addition to traveling of the airframe as in a construction machine, it is necessary to monitor the operation of the working unit, and this cannot be applied to the construction machine as it is. There are problems to be solved by the present invention.

The present invention was created with the object of solving these problems in view of the above-mentioned circumstances, and the invention of claim 1 is characterized in that a work device is mounted on a machine body so as to be displaceable and can be remotely located. In a construction machine that is remotely operated based on transmitting an operation signal from the provided remote control unit to the machine control unit, a plurality of cameras are installed in the machine body, and video data from these cameras is provided in a remote location. When transmitting to the receiver, the camera control unit connected to each camera determines the operation of the construction machine based on the operation signal input to the machine control unit, and selects a camera suitable for confirming the operation. Then, camera selection means for transmitting the video data of the selected camera to the receiver via the video transmitter is provided.
And by doing in this way, it is possible to confirm the image according to the operation state of the construction machine among the images from a plurality of fixed cameras with one receiver, and confirm the state of the construction machine It is easy to do and can improve workability.

  By setting it as invention of Claim 1, it is easy to confirm the operation state of a construction machine, and can improve workability | operativity.

Next, an embodiment of the present invention will be described based on the drawings of FIGS.
In the drawings, reference numeral 1 denotes a hydraulic excavator as a construction machine. The hydraulic excavator 1 includes a lower traveling body 2 having a pair of left and right crawlers 2a and 2b, and an upper portion that is pivotally supported by the lower traveling body 2. The revolving unit 3 includes a cab 4 disposed on the upper revolving unit 3, a work device 5 attached to the upper revolving unit 3, and the like. Further, the working device 5 includes a boom 6 whose base end is pivotally supported by the upper swing body 3 so as to be swingable up and down, and an arm whose base end is pivotally supported by the distal end of the boom 6 so as to be swingable back and forth. 7. It consists of members, such as the bucket 8 attached to the front-end | tip part of this arm 7 so that rocking | swiveling (excavation, dumping) is possible, and these basic structures are all as usual.

  The pair of left and right crawlers 2a, 2b of the lower traveling body 2 are respectively suspended by a pair of driving and driven sprockets 2d, 2e disposed at the front and rear of the lower frame 2c. A pair of travel motors (not shown), which are hydraulic actuators interlocked with each drive sprocket 2d, rotate appropriately forward and reverse by pilot-controlling each travel motor control valve via an electromagnetic valve. Accordingly, the corresponding drive sprocket 2d rotates to cause the crawlers 2a and 2b to rotate forward and backward, whereby the hydraulic excavator 1 is set to perform traveling operations such as forward, reverse, left turn, and right turn.

  The upper swing body 3 is disposed between the lower traveling body 2 via a swing device (not shown), and the swing motor (not shown), which is a hydraulic actuator, is a control valve for the swing motor. Is controlled so as to perform a left turn or a right turn operation of the upper swing body 3.

  The working device 5 includes a boom cylinder 9 for swinging the boom 6 up and down, an arm cylinder 10 for swinging the arm 7 back and forth, and a bucket cylinder 11 for swinging the bucket 8. The work device 5 is configured to perform work operations based on the expansion and contraction operations of the hydraulic cylinders 9 to 11. The hydraulic cylinders 9 to 11 are expanded or contracted based on pilot control of boom, arm, and bucket control valves (not shown) through corresponding solenoid valves. It is set to expand and contract by switching to the side.

On the other hand, 12 is a control device 12 that can be carried at a location (remote location) away from the work site where the excavator 1 works. The control device 12 includes first, second joystick levers 13, 14, and Various operation tools required for remote operation of the hydraulic excavator 1 such as the first and second operation levers 15 and 16 are provided.
Then, by operating the first and second joystick levers 13 and 14 and the first and second operation levers 15 and 16, the operation is performed based on the operation direction and the operation amount of each lever 13, 14, 15 and 16. The work operation of the device 5, the traveling operation of the lower traveling body 2, and the turning operation of the upper swing body 3 are configured to be performed with corresponding operation amounts.

  Here, the operation corresponding to the various levers 13, 14, 15, 16 of the control device 12 and the operation direction corresponding to the operation direction of the levers 13, 14, 15, 16 are different depending on the model and the manufacturer. In the control device 12 of the form, the arm 7 is swung in the front-rear direction by operating the first joystick lever 13 in the front-rear direction, and the left-right swiveling operation of the upper swing body 3 is performed by operating in the left-right direction. It is set to be made. Further, the boom 6 is swung up and down by operating the second joystick lever 14 of the control device 12 in the front-rear direction, and the bucket 8 is swung by operating in the left-right direction. Has been.

  Further, by operating the left first operation lever 15 in the front-rear direction, the left crawler 2a of the lower traveling body 2 is rotated forward and backward, and by operating the right second operation lever 16 in the front-rear direction, The right crawler 2b of the traveling body 2 is set to rotate forward and backward. Incidentally, in the present embodiment, when the driven sprocket 2e side of the lower traveling body 2 is set in front of the lower traveling body 2, the forward traveling operation of the lower traveling body 2 is performed in the forward rotation of each of the crawlers 2a and 2b. In the description of the rotation, it is assumed that the vehicle travels backward.

Reference numeral 17 denotes a remote control unit provided in the control device 12. The remote control unit 17 includes a control unit in addition to the first and second joystick levers 13 and 14, the first and second operation levers 15 and 16. Various operation signals output based on operations of various operation tools provided in the device 12 are set to be input. That is, in the present embodiment, an arm operation signal is input to the remote control unit 17 when the first joystick lever 13 is operated, and a left turn operation signal or a right turn operation signal is input when the first joystick lever 13 is operated. Is set to be. Further, the remote control unit 17 is set so that a boom operation signal is input when the second joystick lever 14 is operated, and a bucket operation signal is input when the second joystick lever 14 is operated. Further, the remote control unit 17 is set so that the corresponding crawler forward rotation operation signal or crawler reverse rotation operation signal is input when the first and second operation levers 15 and 16 are operated.
The remote control unit 17 is set to output signals such as the input operation signals to the machine control unit 18 provided on the hydraulic excavator 1 side via the communication interface 17a.

The machine control unit 18 includes a communication interface 18a, and inputs and outputs signals to and from the remote control unit 17 via the communication interface 18a and the communication interface 17a on the remote control unit 17 side. It is configured as follows. Then, when the operation signals are input, the machine control unit 18 performs signal processing such as calculation as appropriate based on the input operation signals, and sends a command signal corresponding to the operation signal to the boom 6. Various control valves for arm 7, bucket 8, swing motor, travel motor, etc. are output to solenoid valves and various devices arranged for pilot control. The excavator 1 is set to perform various operations such as traveling, turning of the upper swing body 3, excavation work by the work device 5, and the hydraulic excavator 1 is remotely operated based on the operation of the operation tool of the control device 12 in this way. Is set to be.
When the control valves for the boom 6, the arm 7, the bucket 8, the swing motor, and the travel motor are composed of solenoid valves, the body control unit 18 sends command signals corresponding to the operation signals to these electromagnetic signals. Can output directly to the valve.

In FIG. 3, 19, 20, and 21 are first, second, and third cameras mounted on the hydraulic excavator 1, and these first, second, and third cameras 19, 20, and 21 are wide-angle lenses. It is configured with. The first camera 19 is located at the front left end of the upper surface of the cab 4 and is fixed forward, and is set so as to capture an image in the fixing direction. The horizontal field of view center H1 of the first camera 19 is set at a predetermined angle α1 toward the aircraft center, and the vertical field center V1 is set at a predetermined angle β1 downward. In addition, it is configured to take an image of a predetermined visual field range with reference to the visual field centers H1 and V1.
Further, the second camera 20 is located in front of the upper surface of the right end portion of the upper swing body 2 and is positioned lower than the first camera 19 and is fixed forward. The horizontal visual field center H2 is set at a predetermined angle α2 toward the aircraft center, and the vertical visual field center V2 is set at a predetermined angle β2 downward. , V2 is taken as a reference, and a video in a predetermined visual field range is taken.
Further, the third camera 21 is a central portion in the left-right direction on the upper surface of the rear end portion of the upper swing body 2, and the horizontal visual field center H3 of the third camera 21 is straight (horizontal direction) toward the rear of the aircraft. The orientation and vertical visual field center V3 is set in a state where a predetermined angle β3 exists downward, and is configured to capture an image of a predetermined visual field range with reference to the visual field centers H3 and V3. .

In FIG. 4, reference numeral 22 denotes a camera control unit to which video data photographed by the first, second, and third cameras 19, 20, and 21 are input. The camera control unit 22 includes the cameras 19, 20. , 21 is processed, and the processed video signal is set to be output via the video transmitter 22a.
The camera control unit 22 is connected to the machine body side control unit 18 and has operations of the first and second joystick levers 13 and 14 and the first and second operation levers 15 and 16, and the machine body side control unit. When various operation signals are input to 18, the airframe side control unit 18 outputs the corresponding command signal to each actuator of the hydraulic excavator 1 as described above, while the input to the camera control unit 22. It is set to output an operation signal. When each operation signal is input to the camera control unit 22, the operation pattern of the hydraulic excavator 1 is determined based on the input operation signal, and the optimal position for confirming the determined operation pattern is obtained. A camera that is positioned is selected from the first, second, and third cameras 19, 20, and 21, and video data from the selected cameras 19, 20, and 21 is used as a monitor that constitutes the receiver of the present invention. The video signal is output to the video transmitter 22a so as to be displayed on the video transmitter 22a, and this configuration corresponds to the camera selection means 22b of the present invention.

  On the other hand, the monitor 23 is provided at a remote location similar to the control device 12, and includes a video receiver 23a. Then, the video signals from the cameras 19, 20, 21 selected by the camera control unit 22 are transmitted and input to the video receiver 23 a via the video transmitter 22 a, and thereby set to be displayed on the monitor 23. Has been. In this case, the monitor 23 of the present embodiment is set so that the screen can be divided into two and the images from the two cameras 19, 20, and 21 can be displayed simultaneously. Depending on the number of cameras, the size of the monitor screen, etc., it can be divided and displayed as appropriate.

When the camera control unit 22 receives any one of an arm operation signal, a boom operation signal, and a bucket operation signal, for example, the operation pattern of the excavator 1 is a work device operation such as excavation by the work device 5. The first and second cameras 19 and 20 facing the work device 5 side (front) that are appropriate for confirming the work operation by the work device 5 are selected, and the first and second cameras 19 and 20 are selected. Is transmitted to the video receiver 23a via the video transmitter 22a, and the monitor 23 is set so that the video from the first and second cameras 19 and 20 can be divided into two parts. Has been.
As described above, the camera control unit 22 is set in advance so as to select an appropriate camera for confirming the operation pattern, assuming an operation pattern of the hydraulic excavator 1 corresponding to the operation signal. In addition to the operation patterns described later, various types of assumptions can be made. A camera optimal for the assumed operation pattern is selected in advance, and an image from the corresponding camera is sequentially switched to the monitor 23 in response to the input of the operation signal. It can be configured to display.

Next, an example of selection control of the first, second, and third cameras 19, 20, and 21 by the camera control unit 22 will be described based on the flowchart shown in FIG. 5.
The camera control unit 22 determines which operation signal is the input operation signal. If the operation signal is an arm operation signal, a boom operation signal, or a bucket operation signal, the camera control unit 22 The output of the video signal is as described above.
Subsequently, when it is determined that the input signal is a left turn operation signal, the operation pattern of the hydraulic excavator 1 is a left turn operation of the upper swing body 3, and the camera control unit 22 performs the left turn operation. A first camera 19 facing left front and a third camera 21 facing rear that are appropriate for checking are selected, and video signals from these first and third cameras 19 and 21 are transmitted via a video transmitter 22a. It is set to transmit to the video receiver 23a, whereby the monitor 23 is configured to display the video from the first and third cameras 19 and 21 in two parts.
When it is determined that the input signal is a right turn operation signal, the operation pattern of the hydraulic excavator 1 is a right turn operation of the upper swing body 3, and the camera control unit 22 performs the right turn operation. The second camera 20 facing right front and the third camera 21 facing rear that are appropriate for confirming the operation are selected, and the video transmitter 22a receives the video signals from the second and third cameras 20 and 21. Thus, the monitor 23 is configured to display the images from the second and third cameras 20 and 21 in two parts on the monitor 23.

Further, when it is determined that the input signal is a crawler forward rotation operation signal, it is determined that the operation pattern of the lower traveling body 2 is a forward traveling operation, and subsequently, the upper swing body 3 with respect to the lower traveling body 2. The turning position of is determined. When it is determined that the front of the lower traveling body 2 and the front of the upper swing body 3 (the work device 5 mounting side portion) are facing the same direction, the camera control unit 22 advances the lower traveling body 3 forward. The first and second cameras 19 and 20 facing the front of the upper swing body 3 that are appropriate for confirming the traveling operation are selected, and video signals from the first and second cameras 19 and 20 are transmitted to the video transmitter. It is set so as to be transmitted to the video receiver 23a via 22a, whereby the video from the first and second cameras 19 and 20 is displayed on the monitor 23 in two parts.
On the other hand, when it is determined that the front of the lower traveling body 2 and the front of the upper swing body 3 are in opposite directions, the camera control unit 22 performs the forward travel operation (upper swing body) of the lower traveling body 2. The second and third cameras 20 and 21 located at a lower position close to the lower swing body 2 which is appropriate for confirming the reverse traveling motion of the second and third cameras 20 and 21. The video signal is set to be transmitted to the video receiver 23a via the video transmitter 22a, so that the video from the second and third cameras 20 and 21 is displayed on the monitor 23 in two parts. It is configured.

Further, when it is determined that the input signal is a crawler reverse rotation operation signal, the operation pattern of the lower traveling body 2 is determined to be a backward traveling operation, and then the upper swing body 3 with respect to the lower traveling body 2 is determined. The turning position of is determined. When it is determined that the front of the lower traveling body 2 and the front of the upper swing body 3 are in the same direction, the camera control unit 22 is appropriate for confirming the backward traveling operation of the lower traveling body 2. The second and third cameras 20 and 21 located at a lower position near the lower swing body 2 are selected, and video signals from these second and third cameras 20 and 21 are received via the video transmitter 22a. Accordingly, the monitor 23 is configured to display the video from the second and third cameras 20 and 21 in two parts on the monitor 23.
On the other hand, when it is determined that the front of the lower traveling body 2 and the front of the upper swing body 3 are in opposite directions, the camera control unit 22 performs the backward travel operation (upper swing body) of the lower traveling body 2. The first and second cameras 19 and 20 facing the front of the upper swing body 3 that are suitable for confirming the forward traveling motion of the first and second cameras 19 and 20 are selected. Is set to be transmitted to the video receiver 23a via the video transmitter 22a, whereby the video from the first and second cameras 19 and 20 is displayed on the monitor 23 in two parts. Has been.

  In this embodiment configured as described, when the work is performed while looking at the monitor 23 in the control room 12 away from the site where the work is performed by the excavator 1, the monitor 23 is fixed to the airframe. Since the images from the first, second, and third cameras 19, 20, and 21 are displayed, the relative position of the work device 5 and the like with respect to the airframe can be easily understood, and the work and running operation can be smoothly and reliably operated. In addition, the center of the field of view of each camera 19, 20, 21 does not move, so there is no movement as a whole screen, and even if you stare at the screen, you do not feel bad and you can work for a long time. It becomes.

  In addition, in this case, the camera control unit 22 determines an operation pattern of the hydraulic excavator 1 based on an operation signal input to the machine control unit necessary for operating the hydraulic excavator 1, and a plurality of images for photographing a plurality of locations. The first, second, and third cameras 19, 20, and 21 are selected and displayed on the monitor 23 by selecting the most suitable camera for capturing an operation pattern. One monitor 23 can be viewed in a concentrated manner without selecting an appropriate image, and the workability can be further improved.

  Needless to say, the present invention is not limited to the above-described embodiment, and it is only necessary to install a suitable number of cameras according to the operation pattern of the hydraulic excavator to be covered. The combined video can be displayed on the entire screen of the receiver or in a plurality of divided states, and in any case, the operator can work based on the video from the fixed camera.

It is a schematic side view of a hydraulic excavator. It is a perspective view of a control apparatus. 3A and 3B are a plan view and a side view of a hydraulic excavator for explaining the installation state of the camera, respectively. It is a block diagram explaining the control state of a hydraulic excavator. It is a flowchart figure explaining the control state in a camera control part.

Explanation of symbols

1 Construction machine (hydraulic excavator)
5 Working device 17 Remote control unit 18 Airframe control unit 19 Camera (first camera)
20 cameras (second camera)
21 Camera (third camera)
22 Camera Control Unit 22a Video Transmitter 22b Camera Selection Unit 23 Receiver (Monitor)

Claims (1)

  In a construction machine that is remotely operated based on mounting a work device movably on the machine body and transmitting an operation signal from a remote control unit provided at a remote location to the machine control unit, a plurality of cameras are installed on the machine body. When installing and transmitting video data from these cameras to a receiver installed at a remote location, the camera control unit connected to each camera is operated on the basis of the operation signal input to the machine control unit. A construction comprising a camera selection means for selecting a camera suitable for judging and confirming the operation, and transmitting video data of the selected camera to a receiver via a video transmitter Camera control device for remote operation of machines.

Images