JP2013168777A - Remote control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote control system that allows an operator to efficiently work by complementing decline in workability due to delay in an image.SOLUTION: A vibration detection sensor 61 is provided in a work machine 12, and detects vibration at a work part caused by work. A vibration generation device 62 is provided at an operation seat 15, a detection signal of the vibration detection sensor 61 is transmitted to the vibration generation device 62 by radio, and the vibration generation device 62 vibrates the operation seat 15 when the detection signal of the vibration detection sensor 61 is input into the vibration generation device 62. In addition, a data preparation for line drawing creation device 70 provided in the work machine 12 prepares data for line drawing creation for creating a line drawing of the work part, transmits the data for line drawing creation to a line drawing creation device 71 at the operation seat 15 by radio, and displays the line drawing on a monitor 17 superposing it on video photographed by a camera 31.

Description

  The present invention relates to a remote operation system that allows a work machine such as a construction machine to be remotely operated wirelessly by a controller to perform work unattended.

  At the disaster recovery site of an earthquake or natural disaster, the accident occurrence site of a nuclear power plant, etc., there is a risk of a secondary disaster, so it is difficult to dispatch an operator to the site to work. Therefore, conventionally, a remote operation system in which a work machine such as a construction machine is wirelessly operated remotely by a controller is used for such on-site work (for example, Patent Document 1). By remotely operating the work machine arranged at the work site with a controller, it is possible to perform an unattended restoration work and the like without dispatching the worker to the work site.

  In such a remote operation system, an operation seat for operating the work machine is provided in a control room away from the site, and a controller is provided in the operation seat. When the controller is operated, the operation signal is wirelessly transmitted to the work machine, and the work machine operates in accordance with the operation of the controller. For example, when a backhoe is used as a work machine, an excavator (bucket) as a work unit can be operated by operating a controller to perform soil excavation and repelling work unattended. In addition, the work machine is equipped with a camera for photographing the working part, and the video signal of this camera is wirelessly transmitted to a monitor provided in the operation seat. As a result, the operator can remotely operate the work machine using the controller while viewing the image of the work unit displayed on the monitor.

JP 2007-13319 A

  In such a remote operation system, since the operation signal transmitted from the controller has small signal data and is transmitted to the work machine with a slight time lag by radio, the work machine can be operated without time lag by operating the controller.

  On the other hand, since the video signal of the camera showing the working unit has a larger amount of signal data than the operation signal of the controller, the work machine operates by the operation of the controller during the time lag until it is wirelessly transmitted and displayed on the monitor It becomes larger than the time lag until. For this reason, when the working unit is operated, an “image delay” in which the working unit is displayed at a position shifted from the actual working unit position is generated on the monitor. When an image delay occurs, the operator must operate the work machine in consideration of the image delay, so that the efficiency of work using the remote operation system is reduced.

  An object of the present invention is to provide a remote operation system that can efficiently perform work while compensating for workability degradation due to image delay.

  A remote operation system according to the present invention is a remote operation system in which a work machine having a work unit is wirelessly operated remotely by a controller provided in an operation seat, the camera being provided in the work machine and photographing the work unit; A monitor that is provided in the operation seat and wirelessly transmits a video signal of the camera, a vibration detection sensor that is provided in the work machine and that detects vibration generated by the work, and the operation seat. And a vibration generating means that wirelessly transmits a detection signal of the vibration detection sensor, and when the vibration detection sensor detects vibration due to work of the working unit, the vibration generation means causes the operation seat to The vibration is applied to

  The remote operation system of the present invention is characterized in that the vibration generating means applies vibration to the controller.

  The remote operation system according to the present invention is characterized in that the vibration generating means applies vibration to a seat portion of the operation seat.

  The remote operation system of the present invention is provided in the work machine, and is provided in the line drawing creation data creation means for creating the line drawing creation data necessary for creating the line drawing of the working unit, and is provided in the operation seat. A line drawing creating means for creating a line drawing of the working section at a position corresponding to the working section of the video captured by the camera based on the data for line drawing creation transmitted in step S, and the line drawing created by the line drawing creating means Is superimposed on the video image taken by the camera and displayed on the monitor.

  The remote operation system according to the present invention includes transmission line drawing creation means that is provided in the work machine and creates a line drawing of the working unit at a position corresponding to the working unit of the video captured by the camera. The line drawing created by the creation means is wirelessly transmitted to the monitor and is displayed on the monitor so as to be superimposed on the captured video of the camera.

  The remote operation system according to the present invention is characterized in that wireless communication between the work machine and the operation seat is performed by a telephone wireless communication terminal wirelessly connected to an HSPA network.

  In the remote control system of the present invention, the telephone wireless communication terminal is a mobile router.

  The remote control system according to the present invention includes a telephone wireless communication terminal connected wirelessly to an HSPA line network and a telephone wired communication terminal connected to the HSPA line network in a wired manner between the work machine and the operation seat. The wireless communication is performed.

  In the remote control system of the present invention, the telephone wireless communication terminal is a mobile router, and the telephone wired telephone terminal is a broadband router.

  According to the present invention, since vibration is applied to the operation seat when the working unit of the work machine generates vibration due to the work, even if an image delay occurs in the display on the monitor, the operator is caused by the vibration applied to the operation seat. The actual position of the working unit can be estimated or recognized. Therefore, the operator can operate the working unit while complementing the image delay of the monitor based on the vibration applied to the operation seat. Thereby, work can be efficiently performed using this remote control system.

  According to the present invention, data for creating a line drawing necessary for creating a line drawing of a working unit is wirelessly transmitted from the work machine to the operator's seat, and the line drawing making means is used to generate a video image taken by the camera based on the line drawing making data. A line drawing of the work section is created at a position corresponding to the work section, and the line drawing is superimposed on the video captured by the camera and displayed on the monitor, so the line drawing created based on the line drawing creation data with a small time lag due to transmission By using, the working unit can be displayed at a position closer to the actual position. As a result, the operator can operate the work unit while complementing the image delay of the monitor based on the line drawing displayed on the monitor in addition to the vibration applied to the operation seat. You can work with the system.

  According to the present invention, the line drawing of the working unit is created by the transmission line drawing creating means at a position corresponding to the working unit of the shot video of the camera, and the line drawing is wirelessly transmitted to the monitor and superimposed on the shot video of the camera. Thus, the working unit can be displayed at a position closer to the actual position using a line drawing with a small time lag due to transmission. Accordingly, even if an image delay occurs in the display on the monitor, the operator can operate the working unit while complementing the image delay on the monitor based on the line drawing displayed on the monitor. As a result, the operator can operate the work unit while complementing the image delay of the monitor based on the line drawing displayed on the monitor in addition to the vibration applied to the operation seat. You can work with the system.

It is a figure which shows a mode that the working machine arrange | positioned at the work site is remotely operated by the remote operation system which is one embodiment of this invention. It is a schematic diagram which shows the structure of the remote control system of this invention. It is a figure which shows the operation seat arrange | positioned in a control room. (A) is a figure which shows the display of the monitor before operation | movement of a working part, (b) is a figure which shows the display of a monitor when operating a working part. It is a schematic diagram which shows the modification of the remote control system shown in FIG. It is a modification of the remote control system shown in FIG. 2, Comprising: It is a schematic diagram which shows the case where the line drawing created on the working machine side is transmitted to a monitor wirelessly.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  The remote control system according to the present invention can be used, for example, at work sites where it is difficult to dispatch workers due to the possibility of secondary disasters such as disaster recovery sites for earthquakes and natural disasters, and accident sites at nuclear power plants. Applied to the work.

  As shown in FIG. 1, a remote operation system 11 according to an embodiment of the present invention includes a work machine 12 and a control room 13. The work machine 12 is disposed at the work site 14, and the control room 13 is provided at a remote place away from the work site 14. In the present embodiment, the control room 13 is provided at a location approximately 950 km away from the work site 14.

  An operation seat 15 is provided in the control room 13, and a controller 16 and a monitor 17 are provided in the operation seat 15 as shown in FIGS. The controller 16 includes a plurality of operation levers 16a operated by an operator, and the operator can remotely operate the work machine 12 by operating these operation levers 16a.

  In the case shown in FIG. 1, a backhoe type hydraulic excavator (construction machine) is used as the work machine 12 arranged at the work site 14. The working unit 12a of the working machine 12 is an excavator (bucket) provided at the tip of the movable arm 12b, and operations such as excavation of soil can be performed by the working unit 12a.

  In the present embodiment, only one work machine 12 is arranged on the work site 14, but the present invention is not limited to this, and a plurality of work machines 12 are arranged on the same work site 14, and these work machines are arranged. A plurality of work machines 12 may be operated in parallel by remotely operating 12 with a corresponding controller 16. The work machine 12 is not limited to a backhoe type excavator, and other construction machines such as a bulldozer and a wheel loader may be used.

  As shown in FIG. 2, the work machine 12 is provided with a drive control device (reception control unit) 21 for remote operation. When an operation signal from the controller 16 is input to the drive control device 21, the work machine 12 is driven. The controller 21 is driven and controlled to perform an operation according to an operation signal from the controller 16.

  As the work machine 12, a work machine 12 dedicated to remote operation in which a drive control device 21 for remote operation is integrally incorporated in the work machine 12 may be used, or a cab on which an operator gets on for operation. A work machine 12 configured to be remotely operable by mounting a drive control device 21 provided as a separate unit from the work machine 12 may be used.

  The controller 16 and the drive control device 21 are configured as a radio control device using specific low-power wireless communication. However, in the present embodiment, the controller 16 and the drive control device 21 are directly connected to each other using specific low-power wireless communication. Instead of wireless communication, wireless communication is performed via the HSPA network 22.

  As shown in FIG. 2, in order to perform wireless communication between the controller 16 and the drive control device 21 via the HSPA line network 22, the operation seat 15 is provided with a mobile router 23 as a telephone wireless communication terminal. 12 is provided with a mobile router 24 as a telephone wireless communication terminal.

  A media converter 25 is provided between the controller 16 and the mobile router 23, and an operation signal output from the interface of the controller 16 is converted into transmission data suitable for the mobile router 23 by the media converter 25 to be an interface of the mobile router 23. Is input. In the present embodiment, an operation signal is output from the RS422 interface of the controller 16, and the operation signal is converted into RS232c by the media converter 25 and input to the RS232c interface of the mobile router.

  A media converter 26 is also provided between the drive control device 21 and the mobile router 24, and the operation signal output from the interface of the mobile router 24 is returned to transmission data suitable for the drive control device 21 by the media converter 26 and driven. Input to the interface of the control device 21. In the present embodiment, the operation signal is output from the RS232c interface of the mobile router 24, converted to RS422 by the media converter 26, and input to the RS422 interface of the drive control device 21.

  Each of the mobile routers 23 and 24 can be connected to the HSPA network 22 by radio. Accordingly, the mobile router 23 on the operation seat 15 side and the mobile router 24 on the work machine 12 side can perform data communication with each other via the HSPA network 22. When the controller 16 is operated, the operation signal is output from the mobile router 23 on the controller 16 side, that is, the operation seat 15 side, and transmitted to the mobile router 24 on the work machine 12 side via the HSPA line network 22. Input to the drive control device 21.

  As described above, in the remote operation system 11, the controller 16 and the drive control device 21 are wirelessly communicated with each other via the HSPA line network 22, so that the work machine 12 is wirelessly operated remotely by the controller 16. Accordingly, the controller 16 and the work machine 12 can perform wireless communication with each other regardless of the distance between the controller 16 and the work machine 12 as long as they are connected to the HSPA network 22.

Where HSPA (High
Speed Packet Access (22) is 3GPP (Third Generation)
This is a telephone network of a 3.5th generation mobile communication system that performs high-speed wireless packet communication conforming to the HSPA standard defined by the Partnership Project. High speed wireless packet communication includes HSDPA (High Speed Downlink Packet Access) and HSUPA (High Speed Uplink Packet Access). Examples of such an HSPA network 22 include “FOMA (registered trademark) high speed service” provided by NTT DoCoMo, Inc. and “3G high speed (registered trademark)” provided by SOFTBANK MOBILE Corp. And “EM Mobile (registered trademark) broadband service” provided by EMOBILE.

  As shown in FIG. 2, the work machine 12 is provided with a camera 31 for photographing a working unit (excavator) 12 a. The camera 31 is a video camera that captures moving images, and the video signal captured by the camera 31 is wirelessly transmitted to the monitor 17 of the operation seat 15. That is, the work unit 12 a of the work machine 12 captured by the camera 31 is displayed on the monitor 17 of the operation seat 15. As a result, the operator can remotely operate the work machine 12 by operating the controller 16 while confirming the state of the work unit 12 a displayed on the monitor 17.

  The camera 31 is fixed, for example, on the cab of the work machine 12 so that the working state of the working unit 12a can be photographed, or provided so that the photographing direction can be changed wirelessly.

  In order to wirelessly transmit the video of the camera 31 to the monitor 17, the camera 31 is connected to the mobile router 24 by Ethernet (registered trademark). An encoder 32 is connected between the camera 31 and the mobile router 24, and a video signal (video camera signal: NTSC) of the camera 31 is transmitted to the H.264 by the encoder 32. H.264 (MPEG-4 AVC) compression encoding is performed and input to the mobile router 24.

  On the other hand, the monitor 17 is connected to the mobile router 23 via Ethernet (registered trademark). A decoder 33 is connected between the mobile router 23 and the monitor 17, and transmission data from the camera 31 compressed and encoded by the encoder 32 is restored to the original video signal by the decoder 33 and input to the monitor 17.

  Since the mobile router 23 connected to the monitor 17 can be connected to the HSPA network 22, the mobile router 24 on the camera 31 side and the mobile router 23 on the monitor 17 side exchange data with each other via the HSPA network 22. Communication can be performed. Therefore, the video signal from the camera 31 is transmitted via the mobile router 24, the HSPA network 22 and the mobile router 23 and input to the monitor 17. As described above, the video signal of the camera 31 that images the working unit 12 a of the work machine 12 is also transmitted by wireless communication via the HSPA network 22 and input to the monitor 17, similarly to the operation signal of the controller 16.

  As shown in FIG. 1, two cameras 41 and 42 are arranged in the work site 14 in addition to the camera 31 provided in the work machine 12. These cameras 41 and 42 are supported by support bases 43 and 44, respectively, and are arranged at the work site 14, and the working state of the work machine 12 arranged at the work site 14 is photographed from the outside. Yes.

  As with the camera 31 provided on the work machine 12, mobile routers 45 and 46 are connected to the cameras 41 and 42 supported by the support bases 43 and 44, respectively, via Ethernet. Also, encoders 47 and 48 are connected between the cameras 42 and 43 and the mobile routers 45 and 46, respectively, and video signals (video camera signals: NTSC) of the cameras 41 and 42 are transmitted to the H.264 by the encoders 47 and 48, respectively. It is input to the mobile routers 45 and 46 after H.264 (MPEG-4 AVC) compression encoding is performed.

  As shown in FIGS. 2 and 3, sub-monitors 51 and 52 corresponding to these cameras 41 and 42 are located on both sides of the monitor 17 and arranged in the operation seat 15. Mobile routers 53 and 54 are connected to the sub-monitors 51 and 52 via Ethernet, respectively, and decoders 55 and 56 are connected between the mobile routers 53 and 54 and the sub-monitors 51 and 52, respectively. As a result, the video signals captured by the cameras 41 and 42 are input to the corresponding sub-monitors 51 and 52 via the mobile routers 45 and 46, the HSPA network 22 and the mobile routers 53 and 54, and are input to the sub-monitors 51 and 52, respectively. The state of the work seen from the outside of the work machine 12 photographed by the cameras 41 and 42 is displayed.

  An image of the work unit 12a is displayed on the monitor 17 of the operation seat 15, and an image of the work machine 12 viewed from the outside is displayed on the sub-monitors 51 and 52. Therefore, the operator sitting on the seat 57 of the operation seat 15 Can remotely control the work machine 12 by operating the controller 16 while viewing the images on the monitors 17, 51, 52. When the controller 16 is operated, the operation signal is transmitted to the work machine 12 via the HSPA network 22, and the work machine 12 is remotely operated to perform an unattended operation.

  As shown in FIG. 2, in the remote control system 11 of the present invention, a vibration comprising a vibration detecting sensor 61 and a vibration generating device (vibration generating means) 62 in order to complement the image delay of the monitor 17 and increase the work efficiency. A transmission system is provided.

  The vibration detection sensor 61 is provided in the work machine 12 and detects vibration generated when the work unit 12a performs a predetermined work. For example, in the present embodiment, the vibration detection sensor 61 detects vibration generated when the excavator, which is the working unit 12a, moves downward from above toward the soil and collides with the surface of the soil as vibration due to work. Is set to An acceleration sensor is used as the vibration detection sensor 61 and is fixed to the work unit 12a or the cab of the work machine 12 or the like.

  In the present embodiment, the vibration detection sensor 61 is set so as to detect the vibration generated when the working unit 12a collides with the soil as the vibration caused by the work. The vibration detection sensor 61 can be set so as to detect vibration due to the work of the work unit 12a when the work unit 12a performs a desired work according to the type of the work unit 12a.

  The vibration detection sensor 61 is connected to a mobile router 24 provided in the work machine 12, and a detection signal of the vibration detection sensor 61 is wirelessly transmitted from the mobile router 24 to the mobile router 23 on the operation seat 15 side via the HSPA network 22. Is transmitted.

  On the other hand, the vibration generator 62 is provided in the 15 controller 16 of the operation seat. The vibration generator 62 is connected to the mobile router 23, and the detection signal from the vibration detection sensor 61 transmitted from the mobile router 24 on the work machine 12 side is received by the mobile router 23, and from there, the vibration generator 62 receives the detection signal. Entered. When the detection signal from the vibration detection sensor 61 is input, the vibration generator 62 starts to operate and applies vibration to the operation lever 16a of the controller 16. That is, when the working unit 12a of the work machine 12 collides with soil or the like and generates vibration, the vibration generating device 62 applies vibration to the operation lever 16a of the controller 16 in accordance with the generation of the vibration.

  The vibration generator 62 is not limited to the configuration provided in the controller 16, and may be provided in the operation seat 15 so that vibration can be transmitted to the operator. For example, as shown in FIG. 3, the vibration generator 62 may be provided in the seat 57 of the operation seat 15 in addition to the controller 16. In this case, when the work unit 12a of the work machine 12 collides with soil or the like and generates vibration, vibration is applied to the seat 57 in addition to the operation lever 16a of the controller 16 in accordance with the generation of the vibration. Note that the vibration generator 62 may be provided only on either the controller 16 or the seat 57.

  Since the video signal transmitted wirelessly from the camera 31 to the monitor 17 has a larger data amount than the operation signal transmitted wirelessly from the controller 16 to the work machine 12, the video signal from the camera 31 is wirelessly transmitted. Thus, the time lag until it is displayed on the monitor 17 becomes larger than the time lag until the working unit 12a starts operating by the operation of the controller 16. Therefore, the display on the monitor 17 causes an “image delay” in which the operation of the work unit 12 a displayed on the monitor 17 is delayed with respect to the actual operation of the work unit 12 a by the operation of the controller 16. On the other hand, since the detection signal of the vibration detection sensor 61 has a smaller data amount than the video signal of the camera 31, it is instantaneously transmitted to the vibration generator 62 by wireless communication with a small time lag, similar to the operation signal of the controller 16. That is, in the remote operation system 11 of the present invention, even if an image delay occurs in the display on the monitor 17, the vibration generated when the work unit 12 a of the work machine 12 collides with soil or the like is instantaneously transmitted to the controller 16 or the seat 57. Will be.

  As a result, the operator who operates the work machine 12 at the operation seat 15 can detect the vibration due to the vibration applied to the controller 16 or the seat 57 even if the work unit 12a displayed on the monitor 17 has not yet collided with the soil due to the image delay. In fact, it can be estimated or recognized that the working unit 12a will vibrate by colliding with the soil or the like, that is, the actual working unit 12a has moved to a position where it collides with the soil. . Therefore, the operator compensates for the image delay of the working unit 12a displayed on the monitor 17 by estimating or recognizing that the working unit 12a collides with the soil or the like based on the vibration applied to the controller 16 or the seat 57. However, the work machine 12 can be operated by the controller 16.

  As described above, in the remote operation system 11 of the present invention, when the work unit 12a of the work machine 12 is vibrated by the work, the operation seat 15 is vibrated, so that an image delay occurs in the display on the monitor 17. However, it is possible to cause the operator to guess or recognize the actual position of the working unit 12a by the vibration applied to the operation seat 15. As a result, the operator can operate the work unit 12a while complementing the image delay of the monitor 17 based on the vibration applied to the operation seat 15, and the work efficiency using the remote operation system 11 is improved. Can do.

  As shown in FIG. 2, the remote control system 11 of the present invention includes a line drawing creation data creation device 70 as a line drawing creation data creation means and a line drawing creation device 71 as a line drawing creation means in addition to the vibration transmission system. A line drawing display system is provided. As shown in FIG. 4, the line drawing display system displays a line drawing 72 of the working unit 12 a created by the line drawing creating device 71 on the monitor 17 so as to be superimposed on the shot image of the working unit 12 a taken by the camera 31. The image delay of the display on the monitor 17 can be complemented more easily.

  The line drawing creation data creation device 70 is configured as a microcomputer having a CPU (Central Processing Unit), a memory, and the like, and is provided in the work machine 12 and connected to the camera 31 by Ethernet. When video data of a photographed video from the camera 31 is input, the line drawing creation data creation device 70 processes the photographed image by software for executing image recognition (pattern recognition), and the contour of the working unit 12a is obtained from the photographed image. , And line drawing creation data necessary for creating a line drawing 72 having a shape along the detected outline is created. That is, the line drawing creation data creation device 70 creates line drawings 72 necessary for creating a line drawing 72 having a shape corresponding to the contour of the work unit 12a at a position corresponding to the work unit 12a of the captured video input from the camera 31. Create data. Then, the line drawing creation data creation device 70 outputs the created line drawing creation data to the monitor 17.

  The line drawing creation data creation device 70 is connected to the mobile router 24, and the line drawing creation data created by the line drawing creation data creation device 70 is transferred from the mobile router 24 via the HSPA line network 22 to the mobile station 15. It is transmitted to the router 23.

  The line drawing creation device 71 is provided in the operation seat 15 and is connected to the mobile router 23 by Ethernet. The line drawing creation data transmitted to the mobile router 23 is input to the line drawing creation device 71 via the mobile router 23. The line drawing creation device 71 is configured as a microcomputer having a CPU (Central Processing Unit), a memory, and the like, and is connected to the monitor 17 by Ethernet.

  When the line drawing creation data is input from the line drawing creation data creation device 70, the line drawing creation device 71 works at a position corresponding to the working unit 12a of the captured video input from the camera 31 based on the line drawing creation data. A line drawing 72 having a shape corresponding to the contour of the portion 12a is created. Then, the line drawing 72 of the working unit 12a created by the line drawing creation device 71 is input to the monitor 17, and the monitor 17 superimposes the photographed video based on the video signal from the camera 31 on the working unit 12a created by the line drawing creation device 71. A line drawing 72 is displayed.

  Here, the line drawing creation data of the working unit 12 a created by the line drawing creation data creation device 70 is composed of coordinate information necessary for displaying the line drawing 62 on the screen of the monitor 17, and is transmitted from the camera 31. Since the amount of data is significantly smaller than that of the video signal, the time lag of transmission of the line drawing creation data to the monitor 17 by wireless communication is smaller than that of the video signal from the camera 31. Therefore, the line drawing 72 displayed on the monitor 17 has a smaller image delay than the image of the working unit 12 a by the video signal from the camera 31.

  FIG. 4A is a diagram showing the display on the monitor before the operation of the working unit, and FIG. 4B is a diagram showing the display on the monitor when the working unit is operated.

  Since the image delay does not occur on the monitor 17 when the work unit 12a is stopped, as shown in FIG. 4A, the monitor 17 includes a work unit 12a photographed by the camera 31 and a line drawing 72 of the work unit 12a. Are overlaid. From this state, when the work machine 12 is remotely operated by the controller 16 by radio to operate the work unit 12a, an image delay due to wireless communication is caused in the captured image of the camera 31 displayed on the monitor 17 as the work unit 12a moves. As a result, the working unit 12a based on the video captured by the camera 31 is displayed with a shift from the actual position of the working unit 12a.

  On the other hand, since the line drawing 72 of the working unit 12a created by the line drawing creation data creation device 70 and the line drawing creation device 71 hardly causes image delay due to wireless communication, as shown in FIG. Reference numeral 72 is displayed at a position preceding the working unit 12a based on the video captured by the camera 31. That is, the line drawing 72 is displayed on the monitor 17 at a position closer to the actual working unit 12a than the working unit 12a of the captured video of the camera 31. Therefore, the operator can operate the work unit 12a while estimating or recognizing the actual position of the work unit 12a from the line drawing 72 displayed on the monitor 17.

  Thus, in the remote operation system 11 of the present invention, the operator estimates the actual position of the work unit 12a based on the line drawing 72 of the work unit 12a displayed on the monitor 17 in addition to the vibration applied to the operation seat 15. Or can be recognized. Therefore, for example, even if the working unit 12a displayed on the monitor 17 due to image delay has not yet collided with the soil, in addition to the vibration generated by the vibration generating device 62, the line drawing creating data creating device 70 and the line drawing creating device. By visually observing that the line drawing 72 of the working unit 12a created by 71 collides with the soil, the actual working unit 12a collides with the soil or the like, that is, the position of the actual working unit 12a is estimated or recognized. Can do. As a result, the operator can operate the work machine 12 while more reliably compensating for the image delay.

  FIG. 5 is a schematic diagram showing a modification of the remote control system shown in FIG.

  In the remote control system 11 shown in FIG. 2, the monitors 17, 51, 52 are connected to the HSPA network 22 by wireless communication using mobile routers 23, 53, 54.

  On the other hand, in the modification shown in FIG. 5, each monitor 17, 51, 52 is connected to the HSPA line network 22 by wire by a broadband router 81 which is a telephone wired communication terminal. In this case, the monitors 17, 51, 52 are also connected to the broadband router 81 via Ethernet, and the decoders 33, 55, 56 are connected between the monitors 17, 51, 52 and the broadband router 81, respectively.

  When the operation seat 15 is arranged in the control room 13 configured as a building and it is not necessary to carry the controller 16 to the outside of the control room 13 or the like, as shown in the modification shown in FIG. 52 is connected to the HSPA line network 22 using a broadband router 81 which is a telephone system wired communication terminal, thereby improving the communication speed and communication stability of a video signal transmitted from the camera 31 to each of the monitors 17, 51 and 52. be able to.

  On the other hand, as shown in FIG. 2, by using mobile routers 23, 53, and 54, which are telephone wireless communication terminals, as the communication terminals of the controller 16 and the monitors 17, 51 and 52, the operation seat 15 is configured as a vehicle. The controller 16 and the monitors 17, 51 and 52 can be carried around.

  FIG. 6 is a schematic diagram showing a modification of the remote control system shown in FIG. 2, in which a line drawing created on the work machine side is wirelessly transmitted to a monitor.

  In the remote operation system 11 shown in FIG. 2, the line drawing creation data creation device 70 is provided in the work machine 12, and the line drawing creation data created by the line drawing creation data creation device 70 is wirelessly transmitted from the work machine 12 to the operation seat 15. Then, a line drawing 72 of the working unit 12 a is created by the line drawing creating device 71 provided in the operation seat 15 and displayed on the monitor 17.

  On the other hand, in the modification shown in FIG. 6, the work machine 12 is provided with a transmission line drawing creation device 91 as transmission line drawing creation means, and the transmission line drawing creation device 91 creates the line drawing 72. The transmission line drawing creation device 91 has the functions of both the line drawing creation data creation device 70 and the line drawing creation device 71, and creates the line drawing 72 of the working unit 12a from the captured video of the camera 31 using a technique such as image recognition. can do.

  The line drawing data of the line drawing 72 created by the transmission line drawing creation device 91 is transmitted from the mobile router 24 to the mobile router 23 on the operation seat 15 side via the HSPA network 22 and input to the monitor 17. Also in this case, the line drawing data of the line drawing 72 is composed of coordinate information for displaying the line drawing 67 on the screen of the monitor 17, and the amount of data is much smaller than the video signal transmitted from the camera 31. Compared with the video signal from 31, the time lag of transmission to the monitor 17 by wireless communication is small, and it is transmitted to the monitor 17 instantaneously.

  In FIGS. 5 and 6, members corresponding to those described above are denoted by the same reference numerals.

  It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention.

  For example, in the above-described embodiment, the work machine 12 and the operation seat 15 are wirelessly communicated via the HSPA line network 22, but the present invention is not limited to this. For example, wireless communication via another telephone line network is possible. A configuration may be adopted in which the work machine 12 and the operation seat 15 are wirelessly communicated using other wireless communication means such as communication and normal wireless communication such as specific low power wireless communication.

  In the above-described embodiment, the mobile routers 23, 24, 45, 46, 53, and 54 are used as telephone wireless communication terminals. A communication terminal may be used.

  Further, in the above-described embodiment, the vibration detection sensor 61 uses an acceleration sensor. However, the present invention is not limited to this, and the vibration detection sensor 61 can detect vibration generated by the work. Using other types of vibration detection sensors, such as those using capacitance type or eddy current type displacement sensors, those using piezoelectric elements, those using speed sensors, those using torsional vibrometers, etc. You may do it.

  Furthermore, in the above-described embodiment, a line drawing display system is provided in the remote operation system 11 in addition to the vibration transmission system. However, the present invention is not limited to this, and only the vibration transmission system may be provided.

  Furthermore, in the above-described embodiment, the present invention is applied to work at the work site 14 such as a disaster recovery site. However, the present invention is not limited to this, and the present invention is applied to other work sites such as normal construction sites and civil engineering work sites. You may make it use the remote control system 11 of invention. In this case, the work machine 12 is not limited to a construction machine, and fire fighting vehicles, disaster recovery vehicles for nuclear power plants, military vehicles such as tanks, and the like can be used depending on the work application.

DESCRIPTION OF SYMBOLS 11 Remote operation system 12 Work machine 12a Working part 12b Movable arm 13 Control room 14 Work site 15 Operation seat 16 Controller 16a Operation lever 17 Monitor 21 Drive control device 22 HSPA line network 23, 24 Mobile router (telephone radio communication terminal)
25, 26 Media converter 31 Camera 32 Encoder 33 Decoder 41, 42 Camera 43, 44 Support base 45, 46 Mobile router (telephone wireless communication terminal)
47, 48 Encoder 51, 52 Sub monitor 53, 54 Mobile router (telephone wireless communication terminal)
55, 56 Decoder 57 Seat 61 Vibration detection sensor 62 Vibration generator (vibration generator)
70 Line drawing creation data creation device (line drawing creation data creation means)
71 Line drawing creation device (line drawing creation means)
72 Line Drawing 81 Broadband Router (Telephone Wired Communication Terminal)
91 Transmission line drawing creation device (transmission line drawing creation means)

Claims (9)

A remote operation system for remotely operating a work machine equipped with a work unit wirelessly by a controller provided in an operation seat,
A camera provided on the work machine and photographing the working unit;
A monitor provided in the operation seat and wirelessly transmitting video signals of the camera;
A vibration detection sensor provided in the work machine, wherein the working unit detects vibration caused by work;
Vibration generating means provided in the operation seat and wirelessly transmitting a detection signal of the vibration detection sensor;
The remote operation system according to claim 1, wherein when the vibration detection sensor detects vibration due to work of the working unit, vibration is applied to the operation seat by the vibration generating means. The remote control system according to claim 1, wherein
The remote operation system, wherein the vibration generating means applies vibration to the controller. The remote control system according to claim 1, wherein
The remote operation system, wherein the vibration generating means applies vibration to a seat portion of the operation seat. The remote control system according to any one of claims 1 to 3,
Line drawing creation data creation means for creating line drawing creation data necessary for creating a line drawing of the working unit provided in the work machine;
Line drawing creation means for creating a line drawing of the working unit at a position corresponding to the working unit of the video captured by the camera based on the line drawing creation data wirelessly transmitted to the operation seat;
A remote control system, wherein the line drawing created by the line drawing creation means is displayed on the monitor so as to be superimposed on a video image taken by the camera. The remote control system according to any one of claims 1 to 3,
Provided in the work machine, and having a transmission line drawing creating means for creating a line drawing of the working unit at a position corresponding to the working unit of the video captured by the camera;
A remote operation system, wherein a line drawing created by the transmission line drawing creation means is wirelessly transmitted to the monitor and displayed on the monitor so as to be superimposed on a video image taken by the camera. In the remote control system according to any one of claims 1 to 5,
A remote operation system for performing wireless communication between the work machine and the operation seat by a telephone wireless communication terminal wirelessly connected to an HSPA network. The remote control system according to claim 6, wherein
The remote control system according to claim 1, wherein the telephone wireless communication terminal is a mobile router. In the remote control system according to any one of claims 1 to 5,
Wireless communication between the work machine and the operator seat is performed by a telephone wireless communication terminal connected wirelessly to the HSPA line network and a telephone wired communication terminal connected by wire to the HSPA line network. Remote control system. The remote control system according to claim 8, wherein
The telephone system wireless communication terminal is a mobile router, and the telephone system wired telephone terminal is a broadband router.

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