JP2008144378A - Controller for remote controlled working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller for a remote controlled working machine operable by remote control by radio, reducing costs by a simple configuration, and allowing an operator to understand the situation around the working machine easily. <P>SOLUTION: This controller for the remote controlled working machine has a boom and an arm provided in a revolving super structure and a radio operation device for operating by a radio signal by remote control. This controller is provided with a plurality of distance sensors 1a-1e fixed to a plurality of positions including at least one position among the positions of the boom, the arm, and the revolving super structure to detect distance from a machine body to an obstacle around it, a plurality of imaging cameras 2a-2d fixed close to each of distance sensors 1a-1e to image the direction of obstacle, an image selecting device 13 for selecting a desired image from among a plurality of images imaged by the imaging cameras 2a-2d based on the distance, and a first display device 24 for displaying the image selected by the image selecting device 13. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a control device for a remote control work machine capable of remote control by radio.

Conventionally, a remote control work machine is known as a work machine for performing various kinds of work in a work site that cannot be easily approached by people such as disaster recovery work, a steel works, and an industrial waste disposal site. The remote control working machine is an engine or a hydraulic actuator mounted on a working machine represented by a hydraulic excavator that can be remotely operated by radio.
For example, in a normal hydraulic excavator, various input devices similar to operation levers and operation switches arranged in a cab are provided in a portable controller, and the operation content of the controller is transmitted to the hydraulic excavator wirelessly. The excavator operates according to the operation of the controller. Thus, the operator can control the operation of the excavator from the outside of the cab of the excavator, that is, from a position away from the excavator. As such a remote control working machine, there is one described in Patent Document 1, for example.

  In the technique described in Patent Document 1, in a construction machine capable of remote operation, a work camera that automatically tracks and images a bucket blade edge is mounted on a cab of the construction machine, and an image signal captured by the work camera is used. Has been disclosed that is transmitted on a radio wave and displayed on a display. That is, the operator can proceed with the work while grasping the actual state of the bucket blade edge by remotely operating the construction machine while referring to the image on the display.

  By the way, when working in a narrow work site, it is necessary to operate the work machine so that the machine body does not come into contact with surrounding obstacles. However, when the operator is performing remote control at a location remote from the remote control work machine, it is difficult to grasp the situation around the work machine. In view of this, a work machine has been developed in which a sensor for detecting an obstacle around the work machine is provided on the machine body and a collision prevention measure is taken.

For example, in Patent Document 2, a plurality of object detection sensors that detect obstacles (objects) within the operation range of a hydraulic power shovel are arranged in the body, and the obstacles are within the target range related to the operation of the operation lever. A configuration is disclosed in which when an object is detected, the operation of the hydraulic excavator is stopped and an alarm is issued. With such a configuration, when the position of the obstacle detected by the object detection sensor is within the operating range of the machine, it is possible to take collision prevention measures such as stopping the machine and issuing an alarm. When the position is outside the operating range of the machine, unnecessary collision prevention measures can be avoided.
JP-A-8-74296 JP-A-5-59752

However, in a remote control work machine, there are cases where the situation around the work machine cannot be grasped only by stopping the operation of the machine or issuing an alarm as in the technique described in Patent Document 2. Further, with this technique, although it is possible to prevent a collision between the work machine and the obstacle, it is difficult to operate the work machine so as to avoid the obstacle.
In response to the above-described problems, for example, it may be possible to equip the work machine with a plurality of cameras different from the work camera that capture the surroundings of the work machine, which is a blind spot of the work camera. In other words, it is intended to grasp the situation around the work machine by adding a plurality of cameras so as to eliminate the blind spot around the work machine.

  However, in this case, a plurality of transmitters / receivers and a plurality of display devices for transmitting images taken by each of the plurality of cameras by radio waves are required, and the cost increases. Moreover, even if a plurality of transceivers and a plurality of display devices are prepared, there is a limit to the display contents of the display device that can be watched by the operator who actually operates the controller, and the situation around the work machine can be easily grasped. I can't say that.

  In particular, in the case of a remote control working machine, there may be a case where such a configuration cannot be realized due to restrictions on the use of radio waves. That is, normally, in the use of radio waves, the usable radio band and the number of channels are limited. Therefore, even if the number of cameras is increased, the number of camera images that can be simultaneously transmitted and received is limited, and all camera images may not be confirmed at the same time.

  The present invention has been made in view of such problems, and in a remote control work machine capable of remote control by wireless, the cost can be reduced with a simple configuration, and the situation around the work machine can be easily grasped. It is an object of the present invention to provide a control device for a remote control working machine that can be used.

  In order to achieve the above object, a control device for a remote control working machine according to a first aspect of the present invention includes a boom and an arm serving as a working device provided on an upper swing body, and the working device remotely using a radio signal. A control device for a remote control working machine having a radio control device for steering, wherein the remote control work device is fixedly installed at a plurality of positions including at least one position of the boom, the arm, and the upper swing body. A plurality of distance sensors for detecting a distance from the body of the pilot work machine to an obstacle, and fixed to the remote control work machine in proximity to each of the plurality of distance sensors, and each of the plurality of distance sensors detects A plurality of imaging cameras that capture the direction of the obstacle and a desired image from the plurality of images captured by the plurality of imaging cameras based on the distance of the obstacle detected by the distance sensor. Image selector to select It is characterized by comprising a first display unit for displaying images selected by the image selector.

Preferably, the plurality of distance sensors are fixedly provided at positions near the tip of the boom, near the tip of the arm, and at the rear end of the upper swing body.
According to a second aspect of the present invention, there is provided the control device for a remote control working machine according to the first aspect, wherein the image selector is configured in ascending order of the distance to the obstacle detected by the distance sensor. First selection means for selecting an image obtained by capturing the direction of the obstacle as the desired image, and the first display device sequentially displays the desired images selected by the first selection means. It is characterized by that.

  According to a third aspect of the present invention, there is provided a control device for a remote control work machine according to the first aspect of the present invention, wherein the image selector uses the remote control work among the obstacles detected by the distance sensor. Second selection means for selecting an image in the direction of the obstacle with the smallest distance to the machine as the desired image, and the first display device displays the desired image selected by the second selection means It is characterized by doing.

  According to a fourth aspect of the present invention, there is provided the remote control work machine control device according to the first aspect of the present invention, wherein the image data selected by the image selector is transmitted wirelessly. And a receiver for receiving the data transmitted from the transmitter, wherein the first display device displays the image based on the data received by the receiver. It is characterized by.

  A control device for a remote control work machine according to a fifth aspect of the present invention is the configuration according to any one of the first to fourth aspects, wherein the posture detection sensor detects the posture of the remote control work machine, An arithmetic processing unit that images the distance detected by the plurality of distance sensors and the posture detected by the posture detection sensor, and the distance and the posture imaged by the imaging arithmetic processing unit are displayed. And a second display device.

According to the control device for a remote control work machine of the present invention (Claim 1), the remote operator can accurately visually recognize a desired obstacle by selecting an image based on the distance of the obstacle. Can easily grasp the situation. In addition, the number of first display devices can be reduced regardless of the number of images captured by a plurality of imaging cameras.
Moreover, according to the control device for a remote control work machine of the present invention (Claim 2), it is possible to visually recognize an obstacle from a short distance to the remote control work machine in order, and it is easy for the remote operator to see the surrounding situation. I can grasp it.

Further, according to the control device for a remote control work machine of the present invention (Claim 3), the obstacle with the closest distance to the remote control work machine can be visually recognized, and the situation can be grasped more accurately for the remote operator. be able to.
According to the control device for a remote control working machine of the present invention (Claim 4), only data of a desired image among a plurality of images captured by a plurality of imaging cameras is transmitted between the transmitter and the receiver. Therefore, it is not necessary to simultaneously transmit and receive a large number of image information wirelessly, and the radio wave band can be saved. In addition, the number of transmitters and receivers can be reduced.

  Further, according to the remote control machine control device of the present invention (Claim 5), the remote operator can objectively visually recognize the imaged posture of the remote control work machine and the obstacle, The surrounding situation can be grasped more accurately.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIGS. 1 to 5 illustrate a control device for a remote control working machine according to an embodiment of the present invention, and FIG. 1 is a schematic diagram illustrating an overall configuration of a working machine including the control device. (A) is a side view thereof, (b) is a top view thereof, FIG. 2 is a control block diagram showing the overall configuration of the present control device, and FIG. 3 relates to image selection displayed on the first display device of the present control device. FIG. 4 is a flowchart for explaining the control content, FIG. 4 is a flowchart showing the control content related to the image displayed on the second display device of the present control device, and FIG. 5 is an image of the image displayed on the second display device of the present control device It is an example.

[Constitution]
[1. (Excavator)
This control apparatus is applied to a hydraulic excavator 10 shown in FIGS. The hydraulic excavator 10 includes a lower traveling body 7 equipped with a crawler type hydraulic traveling device, and an upper revolving body 6 that is rotatably mounted on the lower traveling body 7.

The upper swing body 6 includes a hydraulically-driven work device 5 extending toward the front of the body, a cab 6a on which an operator (driver) can ride, an engine room 6b in which an engine and a hydraulic pump are disposed, and the weight of the body A counterweight 6c and the like for maintaining balance are provided.
The work device 5 includes three parts, a boom 5a, an arm 5b, and a bucket 5c. A hydraulic cylinder is provided between each of these parts, and each part is driven independently by operating each hydraulic cylinder. FIGS. 1A and 1B show a boom cylinder 5A for driving the boom 5a, an arm cylinder 5B for driving the arm 5b, and a bucket cylinder 5C for controlling the angle of the bucket 5c. Yes.

  As shown in FIG. 1A, the boom 5 a is a member whose lower end is pivotally supported by the upper swing body 6. By expanding and contracting the boom cylinder 5A, the tip end side of the boom 5a swings in the vertical direction. In addition, an angle sensor (attitude detection sensor) 4 a that detects a rotation angle of the boom 5 a (a rotation angle with respect to the upper swing body 6) is provided at a pivotal support portion between the boom 5 a and the upper swing body 6.

The arm 5b is a member that is pivotally supported at the tip of the boom 5a. When the arm cylinder 5B is expanded and contracted, the front end side of the arm 5b swings in the vertical direction. Similarly to the boom 5a, an angle sensor 4b that detects a rotation angle of the arm 5b (a rotation angle with respect to the boom 5a) is provided at a shaft support portion of the arm 5b with respect to the boom 5a.
The bucket 5c is a member pivotally supported at the tip of the arm 5b, and can be opened and closed by extending and retracting the bucket cylinder 5C. An angle sensor 4c that detects a rotation angle of the bucket 5c (a rotation angle with respect to the arm 5b) is provided at a shaft support portion of the bucket 5c with respect to the arm 5b.

In an engine room 6b disposed behind the cab 6a, a hydraulic pump for driving an engine or a hydraulic device serving as a driving source of the hydraulic excavator 10, a control unit 11 and the like are disposed.
The hydraulic excavator 10 is not only capable of operating an engine or a hydraulic actuator by an operating device installed in the cab 6a, but also can be remotely operated wirelessly using a portable controller. It has become a machine. In addition, two work cameras 3 for imaging the cutting edge of the bucket 5c are installed in the upper front part of the upper swing body 6. As a result, even if the operator is away from the excavator 10, the work can be performed while confirming the actual state of the cutting edge of the bucket 5c by checking the imaging screen of the work camera 3. It has become.

  In the present embodiment, it is assumed that an operator performs a remote operation from a base station provided with a monitor device or the like for confirming the imaging screen of the work camera 3. The control unit 11 is an electronic control device that performs arithmetic processing related to transmission / reception of signals for such remote operation. For example, control contents related to operation of an engine or a hydraulic actuator will be described in this specification. Is omitted.

  As shown in FIGS. 1A and 1B, the hydraulic excavator 10 includes a plurality of imaging cameras 2 and a plurality of distance sensors 1 in addition to the work camera 3 described above. . First, in the vicinity of the tip of the boom 5a, a distance sensor 1a that detects an obstacle above the boom 5a and an imaging camera 2a that images a detection area of the distance sensor 1a are installed. The detection direction of the distance sensor 1a and the imaging direction of the imaging camera 2a are set to be substantially the same, and this is indicated by an arrow A in FIG. For example, when any obstacle is detected within the detection range of the distance sensor 1a, the obstacle enters the imaging range of the imaging camera 2a and is taken as an image (video).

For example, an ultrasonic sensor or a laser radar can be used as the distance sensor 1a. Any sensor that can detect whether or not an obstacle exists in the detection range may be used, but in the present embodiment, a sensor that measures the distance to the obstacle is used.
Also, a distance sensor 1b and an imaging camera 2b are arranged in parallel near the tip of the arm 5b. Both the detection direction of the distance sensor 1b and the imaging direction of the imaging camera 2b are set toward the outside of the arm 5b (the direction in which the arm 5b rotates when the arm cylinder 5B is contracted), which is shown in FIG. Indicated by arrow B in a). Similarly, distance sensors 1c, 1d, 1e and imaging cameras 2c, 2d are arranged in parallel at the rear end of the counterweight 6c. The detection direction and the imaging direction are indicated by an arrow C in FIG. It shows with. These distance sensors 1c, 1d, and 1e are respectively fixed to the right side, the center in the width direction, and the left side of the rear end portion of the counterweight 6c.

The distances to the obstacles around the body of the excavator 10 are grasped by the plurality of distance sensors 1a to 1e. Further, the obstacle is photographed by the plurality of imaging cameras 2a to 2d.
The angle information detected by the angle sensors 4a to 4c and the distance information to the obstacle that can be detected by the distance sensors 1a to 1e are input to the control unit 11, and then the base station (base The station is wirelessly transmitted to a later-described station. In addition, images captured by the imaging cameras 2a to 2d are also wirelessly transmitted to the base station via the control device. As shown in FIG. 1A, a first transmitter (transmitter) 14 and a second transmitter 15 for wireless transmission are fixedly installed on the upper surface of the cab 6a.

Hereinafter, the angle detected by the angle sensor 4a~4c described as theta ₁ through? _3, describing that the distance to the obstacle detected by the distance sensors 1a~1e and D ₁ to D ₅ To do.
[2. Controller unit〕
As shown in FIG. 2, the control unit 11 includes an arithmetic processor 12 and an image selector 13.

[2-1. (Arithmetic processor)
The arithmetic processor 12 is for transmitting to the base station 20 based on the information of the angles θ _{1 to} θ ₃ and the distances D _{1 to} D ₅ detected by the angle sensors 4a to 4c and the distance sensors 1a to 1e. A function to create transmission data is provided. The transmission data created here is wirelessly propagated from the second transmitter 15. In the present embodiment, the transmission data includes information on all angles θ _{1 to} θ ₃ and distances D _{1 to} D ₅ .

Further, the arithmetic processor 12 determines proximity of the information of the distance D ₁ to D ₅ detected by the distance sensors 1 a to 1 e, the obstacle at the position near the distance sensors 1 a to 1 e is attached It has a function to do.
First, a first set distance D _c is set in the arithmetic processor 12 as a threshold value that serves as a criterion for determining the degree of proximity. The first set distance D _c is a threshold value that determines that the distance of the obstacle to the body of the excavator 20 is a distance that requires attention for remote operation.

For example, in the present embodiment, the first set distance D _c is set to 1 m for each of the distance sensors 1a to 1e. When the distances D _{1 to} D ₅ detected by the distance sensors _{1 a to 1} e are larger than the first threshold value D _c , “a distance with no problem (that is, an obstacle in the detection range of the distance sensors 1 a to 1 e). Including the case where there is no). Further, when the distances D _{1 to} D ₅ are equal to or smaller than the first threshold value D _c , it is determined as “a distance requiring attention”.

Based on the first set distance D _c , the arithmetic processor 12 determines the proximity to the obstacle around the position where the distance sensors 1a to 1e are attached, and the determination result is sent to the image selector 13. It is designed to output.

[2-2. (Image selector)
The image selector 13 has a function of selecting a desired image from images captured by the respective imaging cameras based on the proximity of the obstacle determined by the arithmetic processor 12. Here, in the case where two or more distance sensors among the distance sensors 1a to 1e are determined as “distances requiring attention”, the distance sensors are arranged at predetermined time intervals in ascending order of the distances. The image captured by the imaging camera corresponding to is selected, and the image data is input to the first transmitter 14. In addition, when it is determined that “a distance that requires attention” by only one distance sensor, an image captured by an imaging camera corresponding to the distance sensor is selected, and the image data is transmitted to the first transmitter. 14 is output.

  The image data selected here is transmitted from the first transmitter 14 by radio. Thereby, when there are a plurality of obstacles with high proximity to the airframe of the hydraulic excavator 10, image data capturing images of the obstacles in descending order of proximity is wirelessly transmitted from the first transmitter 14. When there is only one obstacle, only image data that captures the image of the obstacle is wirelessly transmitted from the first transmitter 14.

[3. base station〕
The base station 20 displays images taken by the first receiver (receiver) 21 and the second receiver 22 and the imaging cameras 2a to 2d for receiving radio waves transmitted from the excavator 10 side. TV monitor (first display device) 24, CG monitor (second display device) 26 for displaying virtual CG images based on the detection results of distance sensors 1a to 1e and angle sensors 4a to 4c, CG An imaging arithmetic processing unit 23 as an electronic control unit for creating a CG image to be displayed on the monitor 26 and an alarm unit 25 for notifying the operator of the possibility of an obstacle contacting the excavator 10 are provided.

The first receiver 21 receives image data that captures an image of an obstacle transmitted wirelessly from the first transmitter 14. On the other hand, the second receiver 22 receives information on the angles θ _{1 to} θ ₃ and the distances D _{1 to} D ₅ transmitted from the second transmitter 15 by radio.
The television monitor 24 displays image data transmitted from the first transmitter 14 on the hydraulic excavator 10 side and received by the first receiver 21. That is, the television monitor 24 has a function of displaying an image selected by the image selector 13 of the control unit 11.

On the other hand, the CG monitor 26 displays the image data created by the imaging processor 23.
First, a second set distance D _d (where 0 <D _d <D _c ) is set in the imaging arithmetic processing unit 23 as a threshold value that serves as a criterion for determining the proximity of an obstacle. The second set distance _Dd is a threshold at which it is determined that the distance of the obstacle to the machine body of the excavator 20 is a distance that may cause contact. In this embodiment, the second set distance D _d is set to 50cm for the distance sensors 1 a to 1 e. The distance D ₁ to D ₅ detected by the distance sensors 1a~1e when: the second threshold value D _d is determined to be "the distance that may contact".

Since the second set distance D _d is set to a value smaller than the first set distance D _c , the imaging calculation processor 23 determines a higher degree of proximity than the calculation processor 12. . If at least one of the distances D _{1 to} D ₅ detected by the distance sensors _{1 a to 1} e is determined to be “a distance that may be touched”, the imaging processor 23 controls the alarm device 25. And an alarm is issued.

Further, the imaging processing unit 23, creates from the angle theta ₁ through? ₃ detected by the angle sensor 4 a to 4 c, the boom 5a, the attitude data of the hydraulic excavator 10 to grasp the posture of the arm 5b and the bucket 5c To do. The posture data created here is virtual CG image data indicating the state of the excavator 10. Further, the imaging arithmetic processing unit 23 reflects the arithmetic processing unit 12 and the determination result of the proximity determined by itself on the CG image and outputs the result to the CG monitor 26.
That is, the CG monitor 26 has a function of displaying the distance information of the obstacle imaged by the imaging processor 23 and the posture of the excavator 10.

[Action]
[1. (Image selection flow)
Next, a control flow performed by the control unit 11 of the excavator 10 will be described with reference to FIG.

In step A10, the distances D _{1 to} D ₅ detected by the distance sensors 1a to 1e are read into the arithmetic processor 12. The distances D _{1 to} D ₅ are actually measured values of the distances to the obstacles detected in the detection ranges of the distance sensors 1a to 1e. When no obstacle is detected in the detection ranges, the distance sensors 1a to 1e The value is larger than the maximum detection distance (for example, 2 m).
In step A20, the first set distance D _c at each distance sensor 1a~1e is read. Here, the first set distance D _c = 1 m is read for all the distance sensors 1a to 1e. For example, a different first set distance D _c may be set for each of the distance sensors D _{1 to} D _5, and the setting contents of the first set distance D _c can be selected and changed by the operator. May be.

In step A30, the distance D ₁ which is detected by the distance sensor 1a is first set distance whether or not D _c1 following distance sensor 1a is determined. That is, in this step, it is determined whether the proximity of the obstacle on the detection range side of the distance sensor 1a is low (or there is no obstacle). Since the distance sensor 1a is fixed to the upper side of the boom 5a, the spatial margin above the boom 5a is determined here. Here, if D ₁ ≦ D _c1 , the process proceeds to step A40, the boom flag F _B is set to F _B = 1, and the process proceeds to step A50. On the other hand, if D ₁ > D _c1 , the process directly proceeds to step A50.

The boom flag F _B, is an index indicating the proximity of an obstacle in the boom 5a above, is a flag that is set by the control unit within 11. The initial value of this flag is F _B = 0, which means that the proximity of the obstacle is low (or there is no obstacle). Further, F _B = 1 means that the proximity of the obstacle is slightly high (the obstacle is close enough to require attention for remote operation). If the proximity of the obstacle is higher, this flag is set to F _B = 2. This will be described later.

Similar to the boom flag F _B, the control unit within 11, and indicator of the proximity of an obstacle in the arm flag F _A, counterweight 6c rear as an index indicating proximity of the obstacle in the arm 5b forward A rear right flag F _C1 , a rear center flag F _C2, and a rear left flag F _C3 are set.
In step A50, the distance D ₂ which is detected by the distance sensor 1b is first set distance whether or not D _c2 following distance sensor 1b is determined. Since the distance sensor 1b is fixed toward the outside near the tip of the arm 5b, the spatial margin outside the arm 5b is determined here. If D ₂ ≦ D _c2 , the process proceeds to step A60 where the arm flag F _A is set to F _A = 1 and the process proceeds to step A70. On the other hand, if D ₂ > D _c2 , the process directly proceeds to step A70.

In step A70, the distance D ₃ that is detected by the distance sensor 1c is first set distance whether or not D _c3 following distance sensor 1c is determined. Since the distance sensor 1c is fixed to the right rear end of the counterweight 6c, the right spatial margin behind the counterweight 6c is determined here. Here, if D ₃ ≦ D _c3 , the process proceeds to step A80, the rear right flag F _C1 is set to F _C1 = 1, and the process proceeds to step A90. On the other hand, if D ₃ > D _c3 , the process proceeds directly to step A90.

In step A90, the distance D ₄ detected by the distance sensor 1d is first set distance D _c4 whether less or is a distance sensor 1d is determined. Since the distance sensor 1d is fixed at the center in the width direction at the rear end of the counterweight 6c, the spatial margin immediately after the counterweight 6c is determined here. If D ₄ ≦ D _c4 , the process proceeds to step A100 where the rear right flag F _C2 is set to F _C2 = 1 and the process proceeds to step A110. On the other hand, if D ₄ > D _c4 , the process directly proceeds to step A110.

At step A110, the distance D ₅ detected by the distance sensor 1e is first set distance whether or not D _c5 following distance sensor 1e is determined. Since the distance sensor 1e is fixed to the left at the rear end of the counterweight 6c, the spatial margin immediately after the counterweight 6c is determined here. If D ₅ ≦ D _c5 , the process proceeds to step A120, the rear right flag F _C3 is set to F _C3 = 1, and the process proceeds to step A130. On the other hand, if D ₅ > D _c5 , the process directly proceeds to step A130.

In step A130, it is determined whether or not all of the boom flag F _B , arm flag F _A , rear right flag F _C1 , rear center flag F _C2, and rear left flag F _C3 are zero. Here, when all the flags are 0, it is considered that there are no obstacles around the excavator 10 to the extent that the remote operation requires attention, and this flow is finished as it is. On the other hand, if the condition in this step is not satisfied, the process proceeds to the next step A140.

In step A140, it is determined whether or not two or more of the boom flag F _B , the arm flag F _A , the rear right flag F _C1 , the rear center flag F _C2, and the rear left flag F _C3 are one. . If it is determined that two or more flags are 1, the process proceeds to step A150. If only one flag is 1, the process proceeds to step A160.
At step A150, select the flag of the distance D ₁ to D ₅ image captured by the imaging camera corresponding to the distance sensor detects the distance corresponding to the conditions that 1 is smaller in the order of distance at a predetermined time interval And output to the image selector 13. In subsequent step A170, the image selector 13 outputs the image data to the first transmitter 14.

For example, when the boom flag F _B , the arm flag F _A and the rear right flag F _C1 are 1, and D ₁ = 80 cm, D ₂ = 60 cm, and D ₃ = 70 cm, the image taken by the imaging camera 2b The images are selected at predetermined time intervals in the order of the image captured by the imaging camera 2c and the image captured by the imaging camera 2a, and the image data is output to the first transmitter 14.
On the other hand, in step A160, only the image photographed by the imaging camera corresponding to the distance sensor that has detected the distance corresponding to the condition for setting the flag to 1 is output to the image selector 13, and in step A170, the image data is stored. It is output to the first transmitter 14.

[2. (CG imaging flow)
Next, a control flow performed by the imaging arithmetic processor 23 of the base station will be described with reference to FIG.
In step B10, the imaging processor 23 reads the distances D _{1 to} D ₅ detected by the distance sensors 1a to 1e and the angles θ _{1 to} θ ₃ detected by the angle sensors 4a to 4c. Subsequently in step B20, the second set distance D _d of the distance sensors 1a~1e is read. Here, the second set distance D _d = 50 cm is read for all the distance sensors 1a to 1e. For example, a different second set distance D _d may be set for each of the distance sensors D _{1 to} D _5, and the setting contents of the second set distance D _d can be selected and changed by the operator. May be.

In step B30, the distance D ₁ which is detected by the distance sensor 1a and the second set distance whether or not D _d1 following distance sensor 1a is determined. That is, in this step, it is determined whether or not the proximity of the obstacle on the detection range side of the distance sensor 1a is high (that is, the obstacle exists at a distance that requires attention for remote operation). Since the second set distance D _d is set to a value smaller than the first set distance D _c , the determination condition in this step is a stricter condition than the determination condition in step A30 in the flowchart described above. When the determination condition is satisfied, the boom 5a is located at a distance where there is a possibility of contact with an obstacle existing above the boom 5a.

Here, if D ₁ ≦ D _d1 , the process proceeds to step B40, the boom flag F _B is set to F _B = 2, and the process proceeds to step B50. On the other hand, if D ₁ > D _d1 , the process proceeds to step B50 as it is.
In step B50, the distance D ₂ which is detected by the distance sensor 1b and the second set distance whether or not D _d2 following distance sensor 1b is determined. Since the distance sensor 1b is fixed toward the outside near the tip of the arm 5b, the proximity of the obstacle on the outside of the arm 5b is determined here. Here, if D ₂ ≦ D _d2 , the process proceeds to step B60 where the arm flag F _A is set to F _A = 2 and the process proceeds to step B70. On the other hand, if D ₂ > D _d2 , the process proceeds to step B70 as it is.

In step B70, the distance D ₃ that is detected by the distance sensor 1c is a second set distance whether or not D _d3 following distance sensor 1c is determined. Since the distance sensor 1c is fixed to the right rear end of the counterweight 6c, the proximity of the obstacle behind the counterweight 6c is determined here. Here, if D ₃ ≦ D _d3 , the process proceeds to step B80, the rear right flag F _C1 is set to F _C1 = 2 and the process proceeds to step B90. On the other hand, if D ₃ > D _d3 , the process proceeds to step B90 as it is.

In step B90, the distance D ₄ detected by the distance sensor 1d second set distance whether or not D _d4 following distance sensor 1d is determined. Since the distance sensor 1d is fixed at the center in the width direction at the rear end of the counterweight 6c, the proximity of the obstacle immediately after the counterweight 6c is determined here. Here, when D ₄ ≦ D _d4 , the process proceeds to step A100, the rear right flag F _C2 is set to F _C2 = 2 and the process proceeds to step B110. On the other hand, if D ₄ > D _d4 , the process proceeds to step B110 as it is.

In step B 110, the distance D ₅ detected by the distance sensor 1e second set distance whether or not D _d5 following distance sensor 1e is determined. Since the distance sensor 1e is fixed to the left at the rear end of the counterweight 6c, the proximity of the obstacle immediately after the counterweight 6c is determined here. Here, when D ₅ ≦ D _d5 , the process proceeds to step B120, the rear right flag F _C3 is set to F _C3 = 2 and the process proceeds to step B130. On the other hand, if D ₅ > D _d5 , the process directly proceeds to step B130.

In step B130, the working posture of the excavator 10 is calculated based on the angles θ _{1 to} θ ₃ read in step B10. That is, here, the positional relationship of each of the boom 5a, the arm 5b, and the bucket 5c with respect to the upper swing body 6 of the excavator 10 is calculated, and image data indicating the posture of the entire excavator 10 is obtained. Created. Note that the image data created here may be two-dimensionally expressing the attitude of the excavator 10 or may be three-dimensionally expressed.

In the subsequent step B140, based on the image data created in step B130, the posture of the virtual excavator 10 is output to the CG monitor 26, and the boom flag F _B , arm flag F _A , rear right flag F Based on the values of the flags _C1 , rear center flag F _C2 and rear left flag F _C3 , the proximity of the obstacle is superimposed on the monitor 26 and displayed. When there is a flag having a value of 2, the imaging arithmetic processing unit 23 controls the alarm unit 25 to generate an alarm.

FIG. 5 shows a display example on the CG monitor 26. Here, for each distance sensor 1a to 1e in which an obstacle is detected around the excavator 10, image data in which the detection range is colored is illustrated. For example, boom flag F _B , rear right flag F _C1 and rear center flag F _C2 are F _B = F _C1 = F _C2 = 0, rear left flag F _C3 is F _C3 = 1, arm flag F _A is F _{When A} = 2, the detection range of the distance sensor 1b of the arm 5b is red, the detection range of the distance sensor 1e on the left end of the counterweight 6b is yellow, and the detection ranges of the other distance sensors 1a, 1c, and 1d are Colored green. Here, the hydraulic excavator is drawn in a posture corresponding to the detection results of the angle sensors 4a to 3c.

[effect]
By the control as described above, the following effects can be obtained according to the control device for the remote control work machine.
First, in the control unit 11 of the hydraulic excavator 10, the arithmetic processor 12 determines not only the presence or absence of obstacles around the hydraulic excavator 10, but also the proximity thereof. Further, the image selector 13 selects an image capturing an obstacle at a “distance requiring attention” from a plurality of camera images based on the proximity.

  That is, since an image is selected based on the distance of the obstacle from a plurality of camera images that capture the obstacle, the operator can visually recognize the obstacle with high proximity to the body of the excavator 10. The situation around the work machine can be easily grasped. Obstacle avoidance operation is easy, and even if a false detection occurs in the distance sensors 1a to 1e due to, for example, dust at the work site, it can be immediately confirmed by the camera image.

In addition, since image data that captures an image of an obstacle is transmitted wirelessly in descending order of proximity, the obstacle close to the excavator 10 can be viewed in order. Therefore, it becomes easier for the operator to grasp the situation around the excavator 10.
When an obstacle is detected by only one distance sensor among the distance sensors 1a to 1e, the image data capturing the obstacle image is wirelessly transmitted, so that the operator can work accurately. The situation around the aircraft can be grasped.

  Further, regarding wireless transmission of image data obtained by the imaging camera, not all image data obtained from the imaging camera is transmitted, but only desired image data is transmitted. That is, when an obstacle is detected by one distance sensor, the image data of the imaging camera corresponding to the obstacle is detected, and when an obstacle is detected by a plurality of distance sensors, it corresponds to them. The image data of the imaging camera is transmitted from the first transmitter 14 one by one in order at predetermined intervals.

That is, it is possible to save the radio wave band without simultaneously transmitting and receiving many camera images wirelessly. In addition, the number of transmitters and receivers related to transmission / reception of camera images can be reduced. At least one transmitter and one receiver are sufficient.
In addition, the present embodiment includes angle sensors 4a to 4c that detect respective rotation angles of the boom 5a, the arm 5b, and the bucket 5c of the work device 5, and the hydraulic excavator 10 is configured using these angle sensors 4a to 4c. The posture is calculated and output to the CG monitor 26.

  Therefore, the operator can objectively grasp not only the situation around the excavator 10 but also the state of the excavator 10 main body. Further, the configuration is simple and the cost can be reduced.

[Others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.
For example, in the embodiment described above, based on the distance D ₁ to D ₅ to the obstacle detected by the distance sensors 1 a to 1 e, by comparison with the first set distance D _c or the second set distance D _d 3 Although the type of proximity is determined, the method for determining the proximity is not limited to this. Distance D ₁ to D as ₅ greater proximity is low, the distance is intended D ₁ to D, the higher the proximity ₅ is small, for example, in the case how much smaller than the distance a potentially "contact distance It can be changed according to the size of the working machine that is the object, the situation at the work site, and the like.

In the above-described embodiment, the proximity of the obstacle is displayed on the CG monitor 26 in three different colors, but the distance to the obstacle and the position of the obstacle (relative position with respect to the excavator 10) are represented by CG. It may be displayed on the monitor 26. With this configuration, the operator can more easily grasp the situation around the excavator 10.
In the above-described embodiment, the control device for a remote control working machine according to the present invention is applied to the hydraulic excavator 10, but it can be applied to other vehicles. Any work machine capable of remote control can be widely applied to work machines such as bulldozers and wheel loaders.

  In the above-described embodiment, the distance sensors 1a to 1e are fixed at positions near the tip of the boom 5a, near the tip of the arm 5b, and the rear end of the counterweight 6c. The fixed position is not limited to this. In order to grasp the obstacles around the hydraulic excavator 10, a plurality of positions including at least one of the positions of the boom 5a, the arm 5b, and the upper swing body 6 may be provided. In order to grasp the position of the obstacle, it is also a proposal to add a distance sensor to the bucket 5c and the lower traveling body 7.

It is a schematic diagram which shows the whole structure of the working machine provided with the control apparatus of the remote control working machine which concerns on one Embodiment of this invention, (a) is the side view, (b) is the top view. It is a control block diagram which shows the whole structure of this control apparatus. It is a flowchart for demonstrating the control content concerning the image selection displayed on the 1st display apparatus of this control apparatus. It is a flowchart which shows the control content which concerns on the image displayed on the 2nd display apparatus of this control apparatus. It is an example of the image displayed on the 2nd display apparatus of this control apparatus.

Explanation of symbols

1a to 1e Distance sensor 2a to 2d Imaging camera 3 Working camera 4a to 4c Angle sensor (attitude detection sensor)
DESCRIPTION OF SYMBOLS 5 Work apparatus 5a Boom 5b Arm 5c Bucket 6 Upper revolving body 6a Cab 6b Engine room 6c Counterweight 7 Lower traveling body 10 Hydraulic excavator 11 Control unit 12 Arithmetic processor 13 Image selector 14 1st transmitter (transmitter)
15 Second transmitter 21 First receiver (receiver)
22 Second receiver 23 Image processor 24 Television monitor (first display device)
25 Alarm 26 CG monitor (second display device)

Claims (5)

A control device for a remote control work machine comprising a boom and an arm as a work device provided on the upper swing body, and a radio control device for remotely controlling the work device using a radio signal,
A plurality of distance sensors fixed to a plurality of positions including at least one position of the boom, the arm, and the upper swing body, and detecting a distance from a body of the remote control work machine to a surrounding obstacle;
A plurality of imaging cameras that are fixed to the remote control work machine in proximity to each of the plurality of distance sensors and that image the direction of the obstacle detected by each of the plurality of distance sensors;
An image selector for selecting a desired image from a plurality of images captured by the plurality of imaging cameras based on the distance of the obstacle detected by the distance sensor;
A control device for a remote control working machine, comprising: a first display device that displays an image selected by the image selector. The image selector has first selection means for selecting, as the desired image, an image in which the direction of the obstacle is imaged in ascending order of the distance to the obstacle detected by the distance sensor,
The remote control work machine control device according to claim 1, wherein the first display device sequentially displays the desired images selected by the first selection means. The image selector has second selection means for selecting, as the desired image, an image in the direction of the obstacle having the smallest distance to the remote control work machine among the obstacles detected by the distance sensor. ,
The remote control work machine control device according to claim 1, wherein the first display device displays the desired image selected by the second selection means. A transmitter for wirelessly transmitting image data selected by the image selector;
A receiver for receiving the data transmitted from the transmitter; and
The control apparatus for a remote control working machine according to any one of claims 1 to 3, wherein the first display device displays the image based on the data received by the receiver. . An attitude detection sensor for detecting the attitude of the remote control work machine;
An imaging arithmetic processor for imaging the distance detected by the plurality of distance sensors and the attitude detected by the attitude detection sensor;
The remote control according to claim 1, further comprising a second display device that displays the distance and the posture imaged by the imaging arithmetic processing unit. Control device for work equipment.

Images