JP2017092908A - Video transmission system for remote control construction machine - Google Patents
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Abstract
Description
本発明は遠隔操縦用建設機械の映像伝送システムに係り、特にデータ通信量の低減技術に関する。 The present invention relates to a video transmission system for a construction machine for remote control, and more particularly to a technology for reducing the amount of data communication.
建設機械の遠隔操作システムにおける映像技術の一例として、特許文献１には、「油圧ショベルの動作を撮影する複数の第一、第二、第三カメラを固定した状態で設置し、これらカメラからの映像データをカメラ制御部に入力するとともにカメラ制御部を機体制御部に接続し、カメラ制御部は、油圧ショベルを操作する操作信号の入力に基づいて油圧ショベルの動作を判断し、該動作を確認するのに最適なカメラを選択して、該選択されたカメラの映像データをモニタに送信する（要約抜粋）」構成が開示されている。 As an example of video technology in a remote control system for construction machinery, Patent Document 1 states that “a plurality of first, second, and third cameras for photographing the operation of a hydraulic excavator are installed in a fixed state, Video data is input to the camera control unit and the camera control unit is connected to the machine control unit. The camera control unit determines the operation of the hydraulic excavator based on the input of an operation signal for operating the hydraulic excavator and confirms the operation. A configuration is disclosed in which an optimal camera is selected and video data of the selected camera is transmitted to a monitor (summary excerpt).
建設機械の遠隔操縦システムの映像伝送において、例えば油圧ショベルが旋回動作をすることによりカメラの撮影対象が大きく動くことになり伝送する映像データが増える。それに伴い、映像データを送受信する通信回線容量を圧迫し、映像データの乱れや欠落が発生することがある。特許文献１に記載の技術は、複数のカメラから遠隔操縦の内容に応じてカメラを選択し一つのモニタに表示させて操縦者の視認性を向上させることができるが、カメラに表示されているか否かを問わず、映像データを伝送する際の通信負荷については考慮されていないので、撮影対象が動いた場合の映像データの増加がデータ通信回線を逼迫することによる画質の低下という課題が残る。 In video transmission of a remote control system for construction machinery, for example, when a hydraulic excavator performs a turning operation, a subject to be photographed by the camera moves greatly, and video data to be transmitted increases. As a result, the communication line capacity for transmitting and receiving video data may be reduced, and the video data may be disturbed or lost. The technique described in Patent Document 1 can select a camera from a plurality of cameras according to the content of remote control and display it on one monitor to improve the visibility of the driver. Is it displayed on the camera? Regardless of whether or not the communication load at the time of video data transmission is not taken into consideration, there remains a problem that the increase in the video data when the shooting target moves causes the image quality to deteriorate due to tightness of the data communication line .
本発明は上記課題に鑑みてなされたものであり、建設機械の遠隔操縦に必要な映像データの送受信に際し、操縦者に必要最小限の情報を提供するとともにデータ通信回線への通信負荷を低減する技術を提供することを目的とする。 SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and provides the minimum necessary information to the operator and reduces the communication load on the data communication line when transmitting and receiving video data necessary for remote control of the construction machine. The purpose is to provide technology.
上記の課題を達成するために本発明は、アクチュエータを有する建設機械に搭載された周囲監視映像を撮影するカメラと、前記建設機械を遠隔操縦する操作器と、前記周囲監視映像を表示する表示器とをネットワークを介して通信接続し、前記表示器に前記周囲監視映像を伝送する遠隔操縦用建設機械の映像伝送システムにおいて、前記ネットワーク上に配置され、前記カメラが撮影した前記周囲監視映像の映像信号を圧縮符号に変換出力するエンコーダと、前記ネットワーク上に配置され、前記エンコーダから入力した圧縮符号変換された映像信号を伸長復号し出力するデコーダと、前記エンコーダと前記デコーダとの間に配置され、前記エンコーダと前記デコーダとの間を接続状態又は切断状態に切り替える接続切断部材と、前記操作器から入力され、前記アクチュエータの目標速度に相当する操作信号に基づいて、前記接続切断部材を動作させる制御信号を出力する接続切断制御装置と、前記エンコーダと前記デコーダとの間の接続を許容するかどうかを判定するため、前記操作信号と比較される許容判定閾値を記憶する閾値記憶部と、を備え、前記表示器は複数あり、前記接続切断制御装置は、前記操作信号が前記許容判定閾値以上の場合、前記表示器の内、前記操作信号により前記建設機械が駆動する方向にある前記周囲監視映像を映す表示器が接続された前記エンコーダと前記デコーダとの間のみを接続する制御を行うことを特徴とする。 In order to achieve the above object, the present invention provides a camera that captures a surrounding monitoring image mounted on a construction machine having an actuator, an operating device that remotely controls the construction machine, and a display that displays the surrounding monitoring image. In a video transmission system for a remote control construction machine that communicates with each other via a network and transmits the surrounding monitoring video to the display unit. The video of the surrounding monitoring video that is arranged on the network and is captured by the camera An encoder that converts and outputs a signal into a compression code; a decoder that is disposed on the network and that decompresses and outputs a compressed code-converted video signal input from the encoder; and is disposed between the encoder and the decoder A connection cutting member for switching the connection between the encoder and the decoder to a connected state or a disconnected state; A connection disconnection control device that outputs a control signal for operating the connection disconnection member based on an operation signal corresponding to a target speed of the actuator, and whether to allow connection between the encoder and the decoder A threshold value storage unit that stores an allowable determination threshold value to be compared with the operation signal in order to determine whether the operation signal is equal to or greater than the allowable determination threshold value. In this case, control is performed to connect only the encoder and the decoder to which the display that displays the surrounding monitoring video in the direction in which the construction machine is driven by the operation signal is connected. It is characterized by.
本発明によれば、建設機械の遠隔操縦に必要な映像データの送受信に際し、操縦者に必要最小限の情報を提供するとともにデータ通信回線への通信負荷を低減する技術を提供することができる。上記した以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。 ADVANTAGE OF THE INVENTION According to this invention, when transmitting / receiving video data required for remote control of a construction machine, it is possible to provide a technique for providing the operator with the minimum necessary information and reducing the communication load on the data communication line. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.
以下、本発明に係る遠隔操縦用建設機械の映像伝送システムの実施形態について、図１〜図５を参照して概略構成を説明する。図１は、本発明を適用した遠隔操縦用建設機械の映像伝送システムの概略構成を示す説明図である。図２は、移動式建設機械としての油圧ショベルの構成を示す説明図であって、（ａ）は上面図、（ｂ）は左側面図を示す。図３は、操作レバーの角度（θ）と接続切断部材のＯＮ・ＯＦＦの対応を示す図である。図４は、接続切断部材の構成例を示す図であって、（ａ）はフォトカプラを用いた例、（ｂ）はトランジスタを用いた例を示す。図５は、遠隔操縦用コントローラを示す説明図であって、（ａ）は正面図、（ｂ）は上面図を示す。 Hereinafter, an outline configuration of an embodiment of a video transmission system for a construction machine for remote control according to the present invention will be described with reference to FIGS. FIG. 1 is an explanatory diagram showing a schematic configuration of a video transmission system for a remote control construction machine to which the present invention is applied. 2A and 2B are explanatory views showing a configuration of a hydraulic excavator as a mobile construction machine, where FIG. 2A is a top view and FIG. 2B is a left side view. FIG. 3 is a diagram showing the correspondence between the angle (θ) of the operation lever and ON / OFF of the connection cutting member. 4A and 4B are diagrams showing a configuration example of the connection cutting member, where FIG. 4A shows an example using a photocoupler, and FIG. 4B shows an example using a transistor. 5A and 5B are explanatory views showing a remote control controller, where FIG. 5A is a front view and FIG. 5B is a top view.
図１に示す遠隔操縦用建設機械の映像伝送システム１０は、作業現場に配置された移動式建設機械２に搭載された撮影システム１から、移動式建設機械２から離れた場所に設置される操作室３内のモニタ（表示器に相当する）に映像データを伝送するシステムである。作業現場に配置された移動式建設機械２と操作室３とは、通信回線６を介して接続される。 A video transmission system 10 for a construction machine for remote control shown in FIG. 1 is an operation that is installed at a location away from the mobile construction machine 2 from the imaging system 1 mounted on the mobile construction machine 2 arranged at the work site. This is a system for transmitting video data to a monitor (corresponding to a display) in the room 3. The mobile construction machine 2 arranged at the work site and the operation room 3 are connected via a communication line 6.
図２に移動式建設機械２の一例として油圧ショベル２０の構成を示す。図２（ａ）に示すように、油圧ショベル２０は左右一対のクローラ２５a及び２５ｂを備えた下部走行体、及び該下部走行体に旋回自在に支持される上部旋回体２４、及び該上部旋回体２４に取り付けられるキャブ２３及び該上部旋回体２４に上下揺動自在に支持されるブーム２６、該ブーム２６に上下揺動自在に支持されるアーム２７（図２（ｂ）参照）、該アーム２７に揺動自在に支持されるバケット２８を備える。またクローラ２５ａ、及び２５ｂを用いた走行動作、上部旋回体２４の旋回動作、及びブーム２６、アーム２７、バケット２８の揺動動作を各々実施するために、アクチュエータである図示しない油圧モータや油圧シリンダを備えている。油圧モータは旋回動作等のために備えられ、油圧シリンダはブーム２６等の揺動動作のために備えられている。なお、ここでは油圧式を想定したがそれに拘るものでなく、例えば電動モータやリニアアクチュエータなど電動式でもよい。 FIG. 2 shows a configuration of a hydraulic excavator 20 as an example of the mobile construction machine 2. As shown in FIG. 2A, the excavator 20 includes a lower traveling body including a pair of left and right crawlers 25a and 25b, an upper revolving body 24 that is pivotally supported by the lower traveling body, and the upper revolving body. 24, a boom 26 supported by the upper swing body 24 so as to be swingable up and down, an arm 27 supported by the boom 26 so as to be swingable up and down (see FIG. 2B), and the arm 27 The bucket 28 is supported in a swingable manner. Further, in order to carry out the traveling operation using the crawlers 25a and 25b, the turning operation of the upper turning body 24, and the swinging operation of the boom 26, the arm 27, and the bucket 28, a hydraulic motor or hydraulic cylinder (not shown) that is an actuator. It has. The hydraulic motor is provided for the turning operation and the hydraulic cylinder is provided for the swinging operation of the boom 26 and the like. Although a hydraulic type is assumed here, the present invention is not limited thereto, and an electric type such as an electric motor or a linear actuator may be used.
油圧ショベル２０は、キャブ２３の上部左側に左カメラ２１ａを、上部前方右側に前方カメラ２１ｄを、各々備える。また上部旋回体２４の後ろに後方カメラ２１ｃを、更に上部右側に右カメラ２１ｂを備える。 The excavator 20 includes a left camera 21a on the upper left side of the cab 23 and a front camera 21d on the upper front right side. A rear camera 21c is provided behind the upper swing body 24, and a right camera 21b is further provided on the upper right side.
図１に戻り、油圧ショベル２０は、第一のエンコーダ２２ａ、第二のエンコーダ２２ｂ、第三のエンコーダ２２ｃ、及び第四のエンコーダ２２ｄを備える。そして、左カメラ２１ａと第一のエンコーダ２２ａ、右カメラ２１ｂと第二のエンコーダ２２ｂ、後方カメラ２１ｃと第三のエンコーダ２２ｃ、及び前方カメラ２１ｄと第四のエンコーダ２２ｄを其々接続する。 Returning to FIG. 1, the excavator 20 includes a first encoder 22a, a second encoder 22b, a third encoder 22c, and a fourth encoder 22d. The left camera 21a and the first encoder 22a, the right camera 21b and the second encoder 22b, the rear camera 21c and the third encoder 22c, and the front camera 21d and the fourth encoder 22d are respectively connected.
油圧ショベル２０は、ネットワークインタフェース（Ｉ／Ｆ）６２と、第一の接続切断部材３１ａ、第二の接続切断部材３１ｂ、第三の接続切断部材３１ｃ、閾値記憶部３２、及び接続切断制御装置３３を備える。第一〜第三のエンコーダ２２ａ、２２ｂ、及び２２ｃの其々は、各エンコーダにおける映像信号の出力端が、第一の接続切断部材３１ａ、第二の接続切断部材３１ｂ、及び第三の接続切断部材３１ｃの入力端に接続される。第一の接続切断部材３１ａ、第二の接続切断部材３１ｂ、及び第三の接続切断部材３１ｃの映像通信信号の出力端は、ネットワークＩ／Ｆ６２に接続され、ネットワークＩ／Ｆ６２は通信回線６に接続される。 The excavator 20 includes a network interface (I / F) 62, a first connection disconnecting member 31a, a second connection disconnecting member 31b, a third connection disconnecting member 31c, a threshold storage unit 32, and a connection disconnection control device 33. Is provided. In each of the first to third encoders 22a, 22b, and 22c, the output ends of the video signals in the respective encoders are the first connection cutting member 31a, the second connection cutting member 31b, and the third connection cutting. It is connected to the input end of the member 31c. The video communication signal output ends of the first connection cutting member 31a, the second connection cutting member 31b, and the third connection cutting member 31c are connected to the network I / F 62, and the network I / F 62 is connected to the communication line 6. Connected.
なお、本実施形態では、前方カメラ２１ｄからの映像信号は、操作内容に関らずメインカメラからの映像信号として前方モニタ５１ｄに表示させ続けるものとする。そのため、第四のエンコーダ２２ｄとネットワークＩ／Ｆ６２との間には接続切断部材を備えることはなく、第四のエンコーダ２２ｄの出力端がネットワークＩ／Ｆ６２に接続される。 In the present embodiment, the video signal from the front camera 21d is continuously displayed on the front monitor 51d as the video signal from the main camera regardless of the operation content. Therefore, no connection disconnection member is provided between the fourth encoder 22d and the network I / F 62, and the output end of the fourth encoder 22d is connected to the network I / F 62.
接続切断制御装置３３は、第一の接続切断部材３１ａ、第二の接続切断部材３１ｂ、及び第三の接続切断部材３１ｃの其々と接続される。また、接続切断制御装置３３は、ネットワークＩ／Ｆ６２を介して通信回線６に接続される。そして接続切断制御装置３３は、通信回線６を介して遠隔操縦用コントローラ４（操作器に相当する）に接続される。 The connection disconnection control device 33 is connected to each of the first connection disconnection member 31a, the second connection disconnection member 31b, and the third connection disconnection member 31c. The connection disconnection control device 33 is connected to the communication line 6 via the network I / F 62. The connection disconnection control device 33 is connected to the remote control controller 4 (corresponding to an operating device) via the communication line 6.
閾値記憶部３２は、遠隔操縦用コントローラ４から入力された操作信号と比較して、各エンコーダと、後述する各デコーダとの間にあるネットワークＩ／Ｆ６２間の接続を許容するかどうかを判定するための許容判定閾値を記憶し、接続切断制御装置３３が切断判定処理を実行する際にその許容判定閾値を参照する。 The threshold value storage unit 32 determines whether or not to allow connection between the network I / F 62 between each encoder and each decoder described later, compared with the operation signal input from the remote control controller 4. Is stored, and when the disconnection control device 33 executes the disconnection determination process, the allowable determination threshold is referred to.
遠隔操縦用コントローラ４の操作レバー４１、４２、および第一及び第二の走行レバーは例えばジョイスティックであり、各レバーを傾斜させた際の傾斜角度、および傾斜方向がアクチュエータである油圧モータ、油圧シリンダの目標速度に相当する。傾斜角度が目標速度のスカラ値、すなわち油圧モータ、油圧シリンダの速さに相当し、傾斜方向が目標速度の方向、すなわち油圧モータ、油圧シリンダの動作方向に相当する。この傾斜角度および傾斜方向を電気的に変換した信号を操作信号とし、この操作信号を遠隔操縦用コントローラ４から油圧ショベル２０に伝送する事で、油圧ショベル２０に備えられたアクチュエータである油圧モータ、油圧シリンダはこの操作信号に応じた目標速度に追従駆動するよう、油圧ショベル２０に備えられた図示しない油圧ポンプや流量制御弁が制御される。この結果、目標速度に応じたブーム２６、アーム２７、バケット２８の作業動作、下部走行体の走行動作、上部旋回体２４の旋回動作を行う事ができる。 The operation levers 41 and 42 and the first and second travel levers of the remote control controller 4 are, for example, joysticks, and a hydraulic motor and a hydraulic cylinder whose tilt angle and tilt direction when each lever is tilted are actuators. It corresponds to the target speed. The inclination angle corresponds to the scalar value of the target speed, that is, the speed of the hydraulic motor and the hydraulic cylinder, and the inclination direction corresponds to the direction of the target speed, that is, the operation direction of the hydraulic motor and the hydraulic cylinder. A signal obtained by electrically converting the tilt angle and the tilt direction is used as an operation signal, and the operation signal is transmitted from the remote control controller 4 to the hydraulic excavator 20, whereby a hydraulic motor that is an actuator provided in the hydraulic excavator 20, A hydraulic pump (not shown) and a flow control valve (not shown) provided in the hydraulic excavator 20 are controlled so that the hydraulic cylinder is driven to follow the target speed corresponding to the operation signal. As a result, the operation of the boom 26, the arm 27, and the bucket 28 according to the target speed, the traveling operation of the lower traveling body, and the turning operation of the upper revolving body 24 can be performed.
図３のグラフは、上部旋回体２４を左右に旋回させる操作信号を出力する操作レバー４１の手前方向（後ろ方向）及び奥行方向（前方向）への傾斜角度（θ）と上部旋回体２４の左旋回速度及び右旋回速度（Ｖ）との関係を示す。 The graph of FIG. 3 shows the inclination angle (θ) of the operation lever 41 that outputs an operation signal for turning the upper swing body 24 to the left and right, the forward direction (backward direction) and the depth direction (forward direction), and the upper swing body 24. The relationship between the left turn speed and the right turn speed (V) is shown.
図３において、操作レバー４１の傾斜角度△θの間は、操作信号に含まれる目標速度のスカラ値が０でない、すなわち操作レバー４１が前後のいずれかの方向に倒されて上部旋回体２４が旋回を開始しているが、接続切断制御装置３３がＯＦＦ（切断処理をせず、接続状態を維持している）であることを示す。この△θを含む操作レバー４１の手前方向（後ろ方向）の傾斜角度θ１及び操作レバー４１の奥行方向（前方向）の傾斜角度θ２が許容判定閾値に相当する。操作レバー４１の手前方向の傾斜角度がθ１未満の場合、また奥行方向の傾斜角度がθ２未満の場合、上部旋回体２４が左旋回又は右旋回を開始してもすぐには接続切断制御装置３３が第二のエンコーダ２２ｂ又は第一のエンコーダ２２aとネットワークＩ／Ｆ６２とを切断せず接続状態を維持する。すなわち、接続切断制御装置３３が切断信号を出力することなく、モニタはカメラからの映像を表示し続ける。これにより、上部旋回体２４の微細な動作の度に切断処理を実行して映像データの伝送の停止・再開を繰り返し、モニタの映像が頻繁に表示・非表示に切り替わることを抑止することができる。なお、上記では操作レバー４１による上部旋回体２４の旋回動作を例に挙げて説明したが、操作レバー４１の左右方向の操作信号、また操作レバー４２（図５参照）の前後方向、左右方向の各操作信号に対しても、上記と同様に許容判定閾値を設定してもよい。 In FIG. 3, during the inclination angle Δθ of the operation lever 41, the scalar value of the target speed included in the operation signal is not 0, that is, the operation lever 41 is tilted in either the front or rear direction, and the upper swing body 24 is moved. Although the turning is started, the connection disconnection control device 33 is OFF (the disconnection process is not performed and the connection state is maintained). The tilt angle θ1 in the forward direction (backward direction) of the operation lever 41 including this Δθ and the tilt angle θ2 in the depth direction (forward direction) of the operation lever 41 correspond to the allowable determination threshold value. When the forward tilt angle of the operation lever 41 is less than θ1, and when the tilt angle in the depth direction is less than θ2, the connection disconnection control device is immediately activated even if the upper swing body 24 starts turning left or right. 33 maintains the connection state without disconnecting the second encoder 22b or the first encoder 22a and the network I / F 62. That is, the monitor continues to display the video from the camera without the disconnection control device 33 outputting a disconnection signal. Accordingly, the cutting process is executed every time the upper swing body 24 is finely operated to repeatedly stop and restart the transmission of the video data, thereby preventing the monitor video from being frequently switched between display and non-display. . In the above description, the turning operation of the upper swing body 24 by the operation lever 41 has been described as an example. However, the operation signal in the left-right direction of the operation lever 41 and the front-rear direction and the left-right direction of the operation lever 42 (see FIG. 5) are described. For each operation signal, an allowable determination threshold value may be set in the same manner as described above.
図４は、接続切断部材３１ａ〜３１ｃの構成例を示す説明図であって、（ａ）はフォトカプラを使った例、（ｂ）はトランジスタを使った例を示す。 FIGS. 4A and 4B are explanatory views showing a configuration example of the connection disconnecting members 31a to 31c, in which FIG. 4A shows an example using a photocoupler, and FIG. 4B shows an example using a transistor.
接続切断部材３１ａ〜３１ｃの構成例として、図４（ａ）に示すように、接続切断部材３１ａ〜３１ｃをフォトカプラ７０及び電磁スイッチ７１、及び電源７２を組み合わせて構成してもよい。通常時は電磁スイッチ７１とそれに電圧を印加する電源７２とが電断状態に設定されており、各エンコーダ２２ａ〜２２ｃの其々とネットワークＩ／Ｆ６２とが接続されている。そして、接続切断制御装置３３が切断処理を実行するための切断信号を出力すると、フォトカプラ７０が電源７２と電磁スイッチ７１とを通電させ、電磁スイッチ７１が作動し、エンコーダ２２ａ〜２２ｃの其々とネットワークＩ／Ｆ６２とが切断される。これにより、エンコーダ２２ａ〜２２ｃからネットワークＩ／Ｆ６２に映像通信信号が伝送されなくなる。 As a configuration example of the connection disconnecting members 31a to 31c, as shown in FIG. 4A, the connection disconnecting members 31a to 31c may be configured by combining a photocoupler 70, an electromagnetic switch 71, and a power source 72. Normally, the electromagnetic switch 71 and the power source 72 that applies a voltage to the electromagnetic switch 71 are set in a power-off state, and the network I / F 62 is connected to each of the encoders 22a to 22c. Then, when the disconnection control device 33 outputs a disconnection signal for executing the disconnection process, the photocoupler 70 energizes the power source 72 and the electromagnetic switch 71, the electromagnetic switch 71 operates, and each of the encoders 22a to 22c. And the network I / F 62 are disconnected. As a result, video communication signals are not transmitted from the encoders 22a to 22c to the network I / F 62.
接続切断部材３１ａ〜３１ｃの構成例は図４（ａ）に限定されず、例えば図４（ｂ）に示すように、フォトカプラ７０に代わりトランジスタ７３を用いてもよい。 The configuration example of the connection disconnecting members 31a to 31c is not limited to FIG. 4A. For example, as illustrated in FIG. 4B, a transistor 73 may be used instead of the photocoupler 70.
一方、操作室３には、遠隔操縦用コントローラ４（操作器に相当する）、左モニタ５１ａ、右モニタ５１ｂ、後方モニタ５１ｃ、及び前方モニタ５１ｄと、ネットワークＩ／Ｆ６３とが備えられ、各モニタ５１ａ〜５１ｄの其々とネットワークＩ／Ｆ６３との間には、第一のデコーダ５２ａ、第二のデコーダ５２ｂ、第三のデコーダ５２ｃ、第四のデコーダ５２ｄが配置される。 On the other hand, the operation room 3 includes a remote control controller 4 (corresponding to an operation device), a left monitor 51a, a right monitor 51b, a rear monitor 51c, a front monitor 51d, and a network I / F 63. Between each of 51a-51d and network I / F63, the 1st decoder 52a, the 2nd decoder 52b, the 3rd decoder 52c, and the 4th decoder 52d are arrange | positioned.
図５に遠隔操縦用コントローラ４の構成を示す。図５に示すように、遠隔操縦用コントローラ４は、第一及び第二の操作レバー４１、４２と第一及び第二の走行レバー４３、４４といった油圧ショベル２０を遠隔操縦するために必要な操作部材を備える。 FIG. 5 shows the configuration of the remote control controller 4. As shown in FIG. 5, the remote control controller 4 includes operations necessary for remote control of the excavator 20 such as the first and second operation levers 41 and 42 and the first and second travel levers 43 and 44. A member is provided.
ここで遠隔操縦用コントローラ４の各レバー４１、４２、４３、４４に対応する油圧ショベル２０の動作と動作方向は任意の設定が可能であるが、本実施形態では、以下のごとく設定される。操作レバー４１の前後操作により上部旋回体２４の旋回動作を行い、操作レバー４１の左右操作によりアーム２７の揺動動作を行う。操作レバー４２の前後操作によりブーム２６の揺動動作を行い左右操作によりバケット２８の揺動動作を行う。走行レバー４３の前後操作によりクローラ２５ａの正逆回転動作を行う。走行レバー４４の前後操作によりクローラ２５ｂの正逆回転動作を行う。 Here, the operation and operation direction of the hydraulic excavator 20 corresponding to the levers 41, 42, 43, and 44 of the remote control controller 4 can be arbitrarily set, but in the present embodiment, they are set as follows. The revolving operation of the upper revolving structure 24 is performed by operating the operation lever 41 back and forth, and the arm 27 is swung by operating the operation lever 41 left and right. The boom 26 is swung by the front / rear operation of the operation lever 42, and the bucket 28 is swung by the left / right operation. The forward / reverse rotation of the crawler 25a is performed by operating the traveling lever 43 back and forth. The forward / reverse rotation of the crawler 25b is performed by operating the traveling lever 44 back and forth.
左カメラ２１ａから前方カメラ２１ｄの其々で撮影した映像信号は、第一のエンコーダ２２ａから第四のエンコーダ２２ｄの其々に入力され、各エンコーダ２２ａ〜２２ｄが入力された映像信号に対して圧縮符号化を行った後に第一〜第四の映像通信信号の其々として出力する。そして、第一〜第三の映像通信信号の其々は、第一〜第三の接続切断部材３１ａ〜３１ｃの其々を介し、ネットワークＩ／Ｆ６２を通じて通信回線６に出力される。また第四の映像通信信号は、第四のエンコーダ２２ｄからネットワークＩ／Ｆ６２を通じて通信回線６に出力される。 Video signals captured by the left camera 21a and the front camera 21d are input from the first encoder 22a to the fourth encoder 22d, and compressed by the encoders 22a to 22d. After encoding, the first to fourth video communication signals are output. The first to third video communication signals are output to the communication line 6 through the network I / F 62 via the first to third connection disconnecting members 31a to 31c. The fourth video communication signal is output from the fourth encoder 22d to the communication line 6 through the network I / F 62.
第一の映像通信信号〜第四の映像通信信号の其々は、通信回線６から、遠隔操縦用コントローラ４のネットワークＩ／Ｆ６３を介して第一から第四のデコーダ５２ａ〜５２ｄの其々に入力される。第一〜第四のデコーダ５２ａ〜５２ｄの其々に入力された映像通信信号は、各デコーダ５２ａ〜５２ｄの其々において伸長復号化され、左モニタ５１ａ〜前方モニタ５１ｄの其々に作業現場の映像として出力される。 Each of the first video communication signal to the fourth video communication signal is sent from the communication line 6 to each of the first to fourth decoders 52a to 52d via the network I / F 63 of the remote control controller 4. Entered. The video communication signals input to the first to fourth decoders 52a to 52d are decompressed and decoded by the decoders 52a to 52d, respectively, and the left monitor 51a to the front monitor 51d are connected to the work site. Output as video.
操縦者は左モニタ５１ａ〜前方モニタ５１ｄの其々に表示された映像を見ながら遠隔操縦用コントローラ４に備えられた操作レバー４１、４２及び走行レバー４３、４４を操作する。遠隔操縦用コントローラ４は各レバー４１、４２、４３、４４の傾斜角度、傾斜方向に応じた操作信号を、通信回線６を介して操作レバー検知部３４に送信する。 The operator operates the operation levers 41 and 42 and the travel levers 43 and 44 included in the remote control controller 4 while viewing the images displayed on the left monitor 51a to the front monitor 51d. The remote control controller 4 transmits an operation signal corresponding to the inclination angle and inclination direction of each lever 41, 42, 43, 44 to the operation lever detection unit 34 via the communication line 6.
操作レバー検知部３４は、入力された操作信号を油圧ショベル２０の油圧モータや油圧シリンダに出力し、操作信号に応じて油圧モータや油圧シリンダが動作する。 The operation lever detector 34 outputs the input operation signal to the hydraulic motor or hydraulic cylinder of the excavator 20, and the hydraulic motor or hydraulic cylinder operates according to the operation signal.
更に操作レバー検知部３４は、受信した操作信号を接続切断制御装置３３に出力する。接続切断制御装置３３は、遠隔操縦用コントローラ４から受信した操作信号と閾値記憶部３２に記憶された許容判定閾値とを比較し、その比較結果に応じて第一の接続切断部材３１ａから第三の接続切断部材３１ｃの其々に対し切断信号を出力する。切断信号が出力された接続切断部材を経由する映像通信信号の伝送経路は、切断（遮断）される。 Furthermore, the operation lever detection unit 34 outputs the received operation signal to the connection disconnection control device 33. The connection disconnection control device 33 compares the operation signal received from the remote control controller 4 with the allowable determination threshold value stored in the threshold value storage unit 32, and the first connection disconnection member 31a to the third determination unit according to the comparison result. A disconnection signal is output to each of the connection disconnecting members 31c. The transmission path of the video communication signal that passes through the connection cutting member from which the cutting signal is output is cut (blocked).
各エンコーダと各デコーダとの間では、映像通信信号が伝送されないときでも、データ通信量としては小さいものの通信制御信号が伝送される。そのため、本実施形態のように、接続切断部材３１ａ〜３１ｃをエンコーダとデコーダとの間に設置することで、映像通信信号の伝送の必要がないときにエンコーダ及びデコーダの間で通信制御信号が伝送されることも合わせて抑止できる。 Even when a video communication signal is not transmitted between each encoder and each decoder, a communication control signal with a small data communication amount is transmitted. For this reason, as in the present embodiment, the connection cutting members 31a to 31c are installed between the encoder and the decoder so that the communication control signal is transmitted between the encoder and the decoder when there is no need to transmit the video communication signal. It can also be suppressed.
また、本実施形態では遠隔操縦用コントローラ４に、接続切断制御装置３３の切断制御を禁止させる禁止指示装置である禁止指示器４５を備える。禁止指示器４５は例えばトグルスイッチにより構成してもよい。 In the present embodiment, the remote control controller 4 includes a prohibition indicator 45 that is a prohibition instruction device that prohibits disconnection control of the connection disconnection control device 33. The prohibition indicator 45 may be constituted by a toggle switch, for example.
禁止指示器４５は、オンされると接続切断制御が無効となり、オフされると有効となる。禁止指示器４５は、オンされると、接続切断部材３１ａ〜３１ｃへの接続切断動作を禁止する指示信号である制御禁止指示信号を生成し、移動式建設機械２である油圧ショベル２０の操作レバー検知器３４に出力する。操作レバー検知器３４は、制御信号を接続切断制御装置３３に出力し、制御信号を受けた接続切断制御装置３３は第一から第三の接続切断部材３１ａ〜３１ｃへの伝送回路を切断し、接続切断制御を無効とする。また、禁止指示器４５は、オフされると、制御可指示信号を生成し、無効の際と同様に接続切断制御装置３３に出力し、接続切断制御装置３３は第一から第三の接続切断部材３１ａ〜３１ｃへの伝送回路を接続し、接続切断制御を有効とする。 When the prohibition indicator 45 is turned on, the connection disconnection control becomes invalid, and when it is turned off, the prohibition indicator 45 becomes valid. When the prohibition indicator 45 is turned on, the prohibition indicator 45 generates a control prohibition instruction signal that is an instruction signal for prohibiting the connection disconnection operation to the connection disconnecting members 31a to 31c, and the operation lever of the hydraulic excavator 20 that is the mobile construction machine 2 Output to the detector 34. The operation lever detector 34 outputs a control signal to the connection disconnection control device 33, and the connection disconnection control device 33 receiving the control signal disconnects the transmission circuit from the first to third connection disconnection members 31a to 31c, Disable disconnection control. When the prohibition indicator 45 is turned off, the prohibition indicator 45 generates a control enable instruction signal and outputs it to the connection disconnection control device 33 in the same manner as when it is disabled, and the connection disconnection control device 33 performs the first to third connection disconnections. A transmission circuit to the members 31a to 31c is connected, and connection disconnection control is made effective.
この禁止指示器４５は、例えば旋回動作をしながら、バケット２８を溝の壁面に当てて壁面の締め固める旋回横当てという作業など、アクチュエータの速度でなく力を使って作業する場合に有効である。例えば旋回横当てでは、許容判定閾値以下の操作信号で旋回させてバケット２８を壁面まで近づけ、その後操作信号を許容判定閾値以上に増大させてバケット２８を壁面に押し付け、更に許容判定閾値内の逆操作で壁面から離れ、また許容判定閾値以上で壁面に押し付けると言った短時間での繰り返し動作が想定される。接続切断制御を有効にした場合、バケット２８を壁面に押し付けている間、実際にはほぼ旋回していない状態にも拘らず映像通信信号の伝送経路が切断され、モニタ５１ａ〜５１ｃの内、旋回方向以外のモニタに映像が映らなくなる。壁面から離れた際は、映像通信信号の伝送経路が接続され、旋回方向以外のモニタに映像が映るようになる。これが短時間で繰り返されるのは、遠隔操縦用コントローラ４を操作している操縦者にとって不快と感じる可能性がある。そこで、禁止指示器４５をオンにして接続切断制御を無効とすれば、このような繰り返しが抑制でき、操縦者が不快と感じる事を防げる。また、通常の旋回作業に戻れば禁止指示器４５をオフにして接続切断制御を有効にすればよい。 This prohibition indicator 45 is effective when working using force instead of actuator speed, for example, turning side-to-side contact in which the bucket 28 is placed against the wall surface of the groove and the wall surface is compacted while turning. . For example, in turning lateral placement, the bucket 28 is turned to the wall surface by an operation signal that is less than or equal to the allowable determination threshold value, and then the operation signal is increased to be greater than or equal to the allowable determination threshold value to press the bucket 28 against the wall surface. It is assumed that a repetitive operation is performed in a short time, such as when the user moves away from the wall surface by the operation and presses against the wall surface above the allowable determination threshold. When the connection disconnection control is enabled, the transmission path of the video communication signal is disconnected while the bucket 28 is pressed against the wall surface, despite the fact that the bucket 28 is not actually turning, and the turning of the monitors 51a to 51c. The image is not displayed on the monitor other than the direction. When away from the wall, the transmission path of the video communication signal is connected, and the video is displayed on a monitor other than the turning direction. If this is repeated in a short time, it may be uncomfortable for the operator operating the remote control controller 4. Therefore, if the prohibition indicator 45 is turned on to disable the connection disconnection control, such repetition can be suppressed and the operator can be prevented from feeling uncomfortable. Further, when returning to the normal turning work, the prohibition indicator 45 may be turned off to enable the connection disconnection control.
なお、旋回横当てなどの力作業を行う場合、自動で接続切断制御をオンオフさせる制御も考えられる。例えば、旋回横当てなどは操作信号が許容判定閾値以上であるにも拘らず、実際には旋回をしていないので、旋回動作を行う油圧モータにかかる圧力が図示しないリリーフ弁設定圧まで上昇している事が予想される。この制御構成は、油圧モータにかかる圧力を検出する圧力検出装置と、この圧力に対し圧力閾値を新たに設け記憶させた閾値記憶部３２とを備え、接続切断制御装置３３では、操作信号が許容判定閾値以上、かつこの油圧モータにかかる圧力が圧力閾値以上であれば力作業をしていると判断し、接続切断制御を無効にすることで実現できる。これにより旋回方向以外のモニタにも映像を映すこと事ができる。しかし、この制御は検出した圧力をフィードバックした制御であり、圧力が圧力閾値に到達するまでの遅れが生じるため、映像が映るまでに応答遅れが生じ、操縦者に違和感を与える可能性がある。 In addition, when performing force work, such as turning horizontal contact, control which turns on / off connection disconnection control automatically is also considered. For example, because the turning signal is not actually turning even if the operation signal is equal to or greater than the allowable determination threshold, the pressure applied to the hydraulic motor that performs the turning operation rises to a relief valve set pressure (not shown). It is expected that This control configuration includes a pressure detection device that detects the pressure applied to the hydraulic motor, and a threshold value storage unit 32 that newly stores and stores a pressure threshold value for this pressure. In the connection disconnection control device 33, an operation signal is allowed. If the pressure applied to the hydraulic motor is equal to or higher than the determination threshold and the pressure is equal to or higher than the pressure threshold, it is determined that the power work is being performed, and the connection disconnection control is invalidated. Thereby, an image can be projected on a monitor other than the turning direction. However, this control is a control in which the detected pressure is fed back, and there is a delay until the pressure reaches the pressure threshold value. Therefore, there is a possibility that a response delay occurs before the image is displayed, and the driver feels uncomfortable.
次に図６を参照して、本実施形態に係る映像伝送システムの処理の流れについて説明する。図６は、本実施形態に係る映像伝送システムの処理の流れを示すフローチャートである。 Next, a processing flow of the video transmission system according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart showing a processing flow of the video transmission system according to the present embodiment.
操縦者が遠隔操縦用コントローラ４を操作しておらず操作レバー検知部３４に操作信号の入力がないとき、すなわち油圧ショベル２０が動作を行っていないときは、接続切断制御装置３３は、全ての接続切断部材３１ａ〜３１ｃに対して切断信号を出力することなく、接続状態を維持する（Ｓ６０）。この場合、全てのモニタ５１ａ〜５１ｄの其々に、左カメラ２１ａ〜前方カメラ２１ｄの其々からの周囲監視映像が表示される。 When the operator is not operating the remote control controller 4 and no operation signal is input to the operation lever detector 34, that is, when the excavator 20 is not operating, the connection disconnection control device 33 is connected to all of the connection control devices 33. The connection state is maintained without outputting a disconnection signal to the connection disconnecting members 31a to 31c (S60). In this case, surrounding monitor images from the left camera 21a to the front camera 21d are displayed on all the monitors 51a to 51d, respectively.
操縦者が遠隔操縦用コントローラ４の禁止指示器４５をオンしたかどうかを判定する（Ｓ６１）。オンの場合は禁止指示有として、接続切断制御装置３３による接続切断制御を無効とし（Ｓ６１／Ｙｅｓ）、オフの場合は禁止指示無として、接続切断制御装置３３による接続切断制御を有効とする（Ｓ６１／Ｎｏ）。 It is determined whether the operator has turned on the prohibition indicator 45 of the remote control controller 4 (S61). If it is on, the prohibition instruction is present and the disconnection control by the connection disconnection control device 33 is invalidated (S61 / Yes), and if it is off, the prohibition instruction is not present and the connection disconnection control by the connection disconnection control device 33 is validated ( S61 / No).
操縦者が走行動作を行う場合は、操縦者はすべてのカメラの映像を確認しながら走行操作を行う。遠隔操縦用コントローラ４は、操縦者が走行レバー４３、４４を操作すると（Ｓ６２／Ｙｅｓ）油圧ショベル２０に走行動作を行わせるための操作信号を出力する。走行動作を行わせるための操作信号を検知した接続切断制御装置３３は、切断信号を出力することなく全てのモニタに各カメラの映像が表示された状態を維持する（Ｓ６０へ戻る）。 When the operator performs a traveling operation, the operator performs a traveling operation while checking the images of all the cameras. When the pilot operates the travel levers 43 and 44 (S62 / Yes), the remote control controller 4 outputs an operation signal for causing the excavator 20 to perform a travel operation. The connection disconnection control device 33 that has detected the operation signal for performing the traveling operation maintains the state in which the images of the respective cameras are displayed on all the monitors without outputting the disconnection signal (return to S60).
右旋回動作をする場合（Ｓ６２／Ｎｏ、Ｓ６３／Ｙｅｓ）、操縦者は左方向に設置されている左モニタ５１ａを見る必要はない。そこで、左カメラ２１ａの映像通信信号の伝送を停止させる。そのために、操縦者が遠隔操縦用コントローラ４の操作レバー４１を操縦者から見て奥行方向（前方向）に動かし、右旋回の操作を行う。遠隔操縦用コントローラ４は右旋回の操作信号を操作レバー検知部３４に出力する。操作レバー検知部３４は右旋回の操作信号を検知し、接続切断制御装置３３に右旋回の操作信号を出力する。 When performing a right turn operation (S62 / No, S63 / Yes), the operator does not need to look at the left monitor 51a installed in the left direction. Therefore, the transmission of the video communication signal of the left camera 21a is stopped. For this purpose, the operator moves the operation lever 41 of the remote control controller 4 in the depth direction (forward direction) as viewed from the operator and performs a right turn operation. The remote control controller 4 outputs a right turn operation signal to the operation lever detection unit 34. The operation lever detector 34 detects a right turn operation signal and outputs a right turn operation signal to the connection disconnection control device 33.
接続切断制御装置３３は、右旋回の操作信号と、右旋回時の切断判定に用いる許容判定閾値θ２（図３参照）とを比較し、操作信号が許容判定閾値θ２以上の場合（Ｓ６４／Ｙｅｓ）、第一の接続切断部材３１ａに対して切断信号を出力する（Ｓ６５）。これにより、第一の接続切断部材３１ａは第一のエンコーダ２２ａとネットワークＩ／Ｆ６２との間の接続を切断する。その結果、左カメラ２１ａの映像信号に基づく第一の映像通信信号が通信回線６を流れなくなるので、右旋回動作による映像の動きによって他の映像通信信号のデータ量が増えても、通信回線６を流れる映像通信信号のデータ量の総量を削減し、映像データの欠落を防ぎ映像乱れを抑えることができる。 The connection disconnection control device 33 compares the right turn operation signal with the permissible determination threshold value θ2 (see FIG. 3) used for the right turn determination, and when the operation signal is equal to or greater than the permissible determination threshold value θ2 (S64). / Yes), a disconnection signal is output to the first connection disconnecting member 31a (S65). As a result, the first connection disconnecting member 31a disconnects the connection between the first encoder 22a and the network I / F 62. As a result, since the first video communication signal based on the video signal of the left camera 21a does not flow through the communication line 6, even if the data amount of other video communication signals increases due to the movement of the video due to the right turn operation, the communication line 6 can reduce the total amount of data of the video communication signal flowing through 6, and can prevent video data from being lost and suppress video disturbance.
右旋回の操作信号が許容判定閾値θ２未満の場合は（Ｓ６４／Ｎｏ）、接続状態を維持し、右旋回が終了していなければ（Ｓ６６／Ｎｏ）、ステップＳ６４にて操作信号と許容判定閾値θ２との比較処理を続ける。 If the right turn operation signal is less than the permissible determination threshold θ2 (S64 / No), the connected state is maintained, and if the right turn is not completed (S66 / No), the operation signal and the permissible signal are accepted in step S64. The comparison process with the determination threshold θ2 is continued.
操縦者が右旋回動作を止める、すなわち遠隔操縦用コントローラ４の操作レバー４１を初期の位置に戻すと（Ｓ６６／Ｙｅｓ）、遠隔操縦用コントローラ４は右旋回動作を行う操作信号の出力を止める。接続切断制御装置３３は、右旋回動作を行う操作信号の入力が止まったことを検知し、第一の接続切断部材３１ａに対する切断信号の出力を停止し、第一のエンコーダ２２ａとネットワークＩ／Ｆ６２とを接続状態に復帰させる（Ｓ６７）。これにより左カメラ２１ａからの映像通信信号がネットワークＩ／Ｆ６２を介して通信回線６に伝送され、左モニタ５１ａに左カメラ２１ａが撮影した映像が表示される。 When the operator stops the right turn operation, that is, when the operation lever 41 of the remote control controller 4 is returned to the initial position (Yes in S66), the remote control controller 4 outputs an operation signal for performing the right turn operation. stop. The connection disconnection control device 33 detects that the input of the operation signal for performing the right turn operation has stopped, stops the output of the disconnection signal to the first connection disconnection member 31a, and the first encoder 22a and the network I / O F62 is returned to the connected state (S67). As a result, the video communication signal from the left camera 21a is transmitted to the communication line 6 via the network I / F 62, and the video captured by the left camera 21a is displayed on the left monitor 51a.
操縦者が左旋回動作を行う場合を説明する。左旋回動作をする場合（Ｓ６３／Ｎｏ、Ｓ６８／Ｙｅｓ）、操縦者は右方向に設置されている右カメラ２１ｂが撮影した周囲監視映像が表示されている右モニタ５１ｂを見る必要はない。そこで、右カメラ２１ｂの映像通信信号の伝送を停止させる。 A case where the pilot performs a left turn operation will be described. When performing a left turn operation (S63 / No, S68 / Yes), the operator does not need to look at the right monitor 51b on which the surrounding monitoring video imaged by the right camera 21b installed in the right direction is displayed. Therefore, the transmission of the video communication signal of the right camera 21b is stopped.
操縦者が遠隔操縦用コントローラ４の操作レバー４１を操縦者から見て手前方向に動かし、左旋回の操作を行う。遠隔操縦用コントローラ４は左旋回の操作信号を操作レバー検知部３４に出力する。操作レバー検知部３４は、接続切断制御装置３３に左旋回の操作信号を出力する。接続切断制御装置３３は、左旋回の操作信号と左旋回時の切断判定に用いる許容判定閾値θ１（図３参照）とを比較し、操作信号が許容判定閾値θ１以上の場合（Ｓ６９／Ｙｅｓ）、切断信号を第二の接続切断部材３１ｂに対して出力する（Ｓ７０）。 The operator moves the operation lever 41 of the remote control controller 4 toward the front as viewed from the operator, and performs a left turn operation. The remote control controller 4 outputs a left turn operation signal to the operation lever detection unit 34. The operation lever detector 34 outputs a left turn operation signal to the connection disconnection control device 33. The connection disconnection control device 33 compares the operation signal for turning left with the permissible determination threshold value θ1 (see FIG. 3) used for determining the disconnection when turning left, and the operation signal is equal to or greater than the permissible determination threshold value θ1 (S69 / Yes). Then, the disconnection signal is output to the second connection disconnecting member 31b (S70).
第二の接続切断部材３１ｂは第二のエンコーダ２２ｂとネットワークＩ／Ｆ６２との間の接続を切断する。これにより、第二の映像通信信号が通信回線６を流れなくなるので、通信回線６を流れる映像通信信号のデータ量の総量を削減し、映像データの欠落を防ぎ映像乱れを抑えることができる。 The second connection disconnecting member 31b disconnects the connection between the second encoder 22b and the network I / F 62. Thereby, since the second video communication signal does not flow through the communication line 6, the total amount of data of the video communication signal flowing through the communication line 6 can be reduced, video data can be prevented from being lost, and video disturbance can be suppressed.
左旋回の操作信号が許容判定閾値θ１未満の場合（Ｓ６９／Ｎｏ）は接続状態を維持し、左旋回が終了していなければ（Ｓ７１／Ｎｏ）、ステップＳ６９にて操作信号と許容判定閾値θ１との比較処理を続ける。 If the left turn operation signal is less than the permissible determination threshold value θ1 (S69 / No), the connected state is maintained. If the left turn is not completed (S71 / No), the operation signal and the permissible determination threshold value θ1 are determined in step S69. Continue the comparison process.
操縦者が左旋回動作を終了する、すなわち遠隔操縦用コントローラ４の操作レバー４１を初期の位置に戻すと（Ｓ７１／Ｙｅｓ）、遠隔操縦用コントローラ４は左旋回動作を行う操作信号の出力を止める。接続切断制御装置３３は、左旋回動作を行う操作信号の入力が止まったことを検知し、第二の接続切断部材３１ｂに対する切断信号の出力を停止し、第二のエンコーダ２２ｂとネットワークＩ／Ｆ６２とを接続状態に復帰させる（Ｓ７２）。これにより右カメラ２１ｂの映像通信信号が、ネットワークＩ／Ｆ６２を介して通信回線６に伝送され、右モニタ５１ｂに右カメラ２１ｂが撮影した映像が表示される。 When the operator finishes the left turn operation, that is, when the operation lever 41 of the remote control controller 4 is returned to the initial position (Yes in S71), the remote control controller 4 stops outputting the operation signal for performing the left turn operation. . The connection disconnection control device 33 detects that the input of the operation signal for performing the left turn operation has stopped, stops the output of the disconnection signal to the second connection disconnection member 31b, and the second encoder 22b and the network I / F 62. Are returned to the connected state (S72). As a result, the video communication signal of the right camera 21b is transmitted to the communication line 6 via the network I / F 62, and the video captured by the right camera 21b is displayed on the right monitor 51b.
操縦者がブーム、アーム、バケット（合わせてフロントと呼ぶ）の動作を行う場合を説明する。操縦者がフロント動作を行う場合は後方モニタ５１ｃを見る必要がない。そこで、後方カメラ２１ｃの映像通信信号の伝送を停止させる。 A case will be described in which the operator operates the boom, arm, and bucket (collectively referred to as the front). When the operator performs the front operation, there is no need to look at the rear monitor 51c. Therefore, the transmission of the video communication signal of the rear camera 21c is stopped.
操縦者が遠隔操縦用コントローラ４の操作レバー４１の左右操作（アーム動作）、操作レバー４２の前後操作（ブーム動作）、操作レバー４２の左右操作（バケット動作）の少なくとも一つを行う。遠隔操縦用コントローラ４はフロント動作の操作信号を操作レバー検知部３４に出力する。操作レバー検知部３４はフロント動作の操作信号を検知すると（Ｓ７３／Ｙｅｓ）、接続切断制御装置３３は、フロント動作の操作信号とフロント動作時の切断判定に用いる許容判定閾値とを比較し、操作信号が許容判定閾値以上の場合（Ｓ７４／Ｙｅｓ）、切断信号を第三の接続切断部材３１ｃに対して出力する（Ｓ７５）。 The operator performs at least one of the left / right operation (arm operation) of the operation lever 41 of the controller 4 for remote control, the front / rear operation (boom operation) of the operation lever 42, and the left / right operation (bucket operation) of the operation lever 42. The remote control controller 4 outputs a front operation signal to the operation lever detection unit 34. When the operation lever detection unit 34 detects the operation signal for the front operation (S73 / Yes), the connection disconnection control device 33 compares the operation signal for the front operation with the permissible determination threshold used for the disconnection determination during the front operation. If the signal is equal to or greater than the allowable determination threshold (S74 / Yes), a disconnection signal is output to the third connection disconnecting member 31c (S75).
第三の接続切断部材３１ｃは第三のエンコーダ２２ｃとネットワークＩ／Ｆ６２との間の接続を切断する。これにより、第三の映像通信信号が通信回線６を流れなくなるので、通信回線６を流れる映像通信信号のデータ量の総量を削減し、映像データの欠落を防ぎ映像乱れを抑えることができる。 The third connection disconnecting member 31 c disconnects the connection between the third encoder 22 c and the network I / F 62. As a result, the third video communication signal does not flow through the communication line 6, so that the total amount of data of the video communication signal flowing through the communication line 6 can be reduced, video data can be prevented from being lost, and video disturbance can be suppressed.
フロント動作の操作信号が許容判定閾値未満の場合（Ｓ７４／Ｎｏ）は接続状態を維持し、フロント動作が継続している間は（Ｓ７６／Ｎｏ）、ステップＳ７４にて操作信号と許容判定閾値との比較処理を続ける。 When the operation signal of the front operation is less than the allowable determination threshold value (S74 / No), the connection state is maintained, and while the front operation continues (S76 / No), the operation signal and the allowable determination threshold value are determined in step S74. Continue the comparison process.
操縦者がフロント動作を終了する、すなわち遠隔操縦用コントローラ４の操作レバー４１及び操作レバー４２を初期の位置に戻すと（Ｓ７６／Ｙｅｓ）、遠隔操縦用コントローラ４はフロント動作の操作信号の出力を止める。接続切断制御装置３３は、フロント動作の操作信号の入力が止まったことを検知し、第三の接続切断部材３１ｃに対する切断信号の出力を停止し、第三のエンコーダ２２ｃとネットワークＩ／Ｆ６２とを接続状態に復帰させる（Ｓ７７）。これにより後方カメラ２１ｃの映像通信信号が、ネットワークＩ／Ｆ６２を介して通信回線６に出力され、後方モニタ５１ｃに後方カメラ２１ｃが撮影した映像が表示される。 When the operator finishes the front operation, that is, when the operation lever 41 and the operation lever 42 of the remote control controller 4 are returned to the initial positions (S76 / Yes), the remote control controller 4 outputs an operation signal for the front operation. stop. The connection disconnection control device 33 detects that the input of the operation signal for the front operation has stopped, stops output of the disconnection signal to the third connection disconnection member 31c, and connects the third encoder 22c and the network I / F 62. The connection state is restored (S77). As a result, the video communication signal of the rear camera 21c is output to the communication line 6 via the network I / F 62, and the video captured by the rear camera 21c is displayed on the rear monitor 51c.
上記のように本実施形態では操縦者が移動式建設機械（本実施形態では油圧ショベルに相当する）の遠隔操縦において動作中見る必要がない映像通信信号の通信を遮断することにより、操縦者に必要最小限の情報を提供するとともに通信回線を流れる映像通信信号のデータ量の総量を削減し、映像データの欠落を防ぎ映像乱れを抑えることができる。 As described above, in this embodiment, the operator cuts off the communication of the video communication signal that does not need to be seen during operation in the remote control of the mobile construction machine (corresponding to the hydraulic excavator in this embodiment). In addition to providing the minimum necessary information, the total amount of video communication signal data flowing through the communication line can be reduced, and video data can be prevented from being lost to prevent video disturbance.
上記説明では移動式建設機械に設置するカメラの数及び映像通信信号の伝送経路を４つとしたが、作業現場環境、作業内容によってカメラの数及び伝送経路の数を増減させてもよい。また、カメラの設置位置も本実施形態に限らず作業現場環境、作業内容によって他の場所に設置してもよい。 In the above description, the number of cameras installed in the mobile construction machine and the transmission path of video communication signals are four. However, the number of cameras and the number of transmission paths may be increased or decreased depending on the work site environment and work contents. In addition, the installation position of the camera is not limited to the present embodiment, and may be installed in another place depending on the work site environment and work contents.
また、上記説明では遠隔操縦用コントローラの操作レバーと走行レバーの操作に対応する移動式建設機械の動作の一例を示したが、他の対応する動作に変更してもよい。 In the above description, an example of the operation of the mobile construction machine corresponding to the operation of the operation lever and the travel lever of the remote control controller is shown, but the operation may be changed to another corresponding operation.
上記実施形態ではステップＳ６４、Ｓ６９、Ｓ７４において、操作信号と各動作に応じて定められた許容判定閾値との比較処理を行ったが、この比較処理は必須ではなく、操作信号を検知すると直ちに切断処理を行うように構成してもよい。 In the above embodiment, in steps S64, S69, and S74, a comparison process between the operation signal and the allowable determination threshold determined in accordance with each operation is performed. However, this comparison process is not essential and is immediately disconnected when the operation signal is detected. You may comprise so that a process may be performed.
また、本実施形態ではエンコーダとネットワークＩ／Ｆとの間に接続切断部材を設置したが設置位置はこれに限らず、エンコーダからデコーダまでの映像信号の伝送経路上の任意の位置に接続切断部材を設置し上記と同様に接続切断部材を動作させることで、建設機械の駆動方向の周辺監視画像のみを表示器に表示し、駆動方向とは異なる方向の周辺監視映像の映像信号が通信回線に出力されないように構成してもよい。 In this embodiment, the connection cutting member is installed between the encoder and the network I / F. However, the installation position is not limited to this, and the connection cutting member is placed at an arbitrary position on the transmission path of the video signal from the encoder to the decoder. By operating the connection cutting member in the same manner as above, only the peripheral monitoring image in the driving direction of the construction machine is displayed on the display, and the video signal of the peripheral monitoring video in the direction different from the driving direction is displayed on the communication line. You may comprise so that it may not output.
１ 撮影システム
１０ 映像伝送システム
２ 移動式建設機械
２１ カメラ
２２ エンコーダ
３ 操作室
３１ 接続切断部材
３２ 閾値記憶部
３３ 接続切断制御装置
３４ 操作レバー検知部
４ 遠隔操縦用コントローラ
４１、４２ 操作レバー
４３、４４ 走行レバー
４５ 禁止指示器
５１ モニタ
５２ デコーダ
DESCRIPTION OF SYMBOLS 1 Imaging | photography system 10 Video transmission system 2 Mobile construction machine 21 Camera 22 Encoder 3 Operation room 31 Connection cutting member 32 Threshold storage part 33 Connection cutting | disconnection control apparatus 34 Operation lever detection part 4 Remote control controller 41, 42 Operation lever 43, 44 Travel lever 45 Prohibition indicator 51 Monitor 52 Decoder
Claims (2)
前記ネットワーク上に配置され、前記カメラが撮影した前記周囲監視映像の映像信号を圧縮符号に変換出力するエンコーダと、
前記ネットワーク上に配置され、前記エンコーダから入力した圧縮符号変換された映像信号を伸長復号し出力するデコーダと、
前記エンコーダと前記デコーダとの間に配置され、前記エンコーダと前記デコーダとの間を接続状態又は切断状態に切り替える接続切断部材と、
前記操作器から入力され、前記アクチュエータの目標速度に相当する操作信号に基づいて、前記接続切断部材を動作させる制御信号を出力する接続切断制御装置と、
前記エンコーダと前記デコーダとの間の接続を許容するかどうかを判定するため、前記操作信号と比較される許容判定閾値を記憶する閾値記憶部と、を備え、
前記表示器は複数あり、
前記接続切断制御装置は、前記操作信号が前記許容判定閾値以上の場合、前記表示器の内、前記操作信号により前記建設機械が駆動する方向にある前記周囲監視映像を映す表示器が接続された前記エンコーダと前記デコーダとの間のみを接続する制御を行う、
ことを特徴とする遠隔操縦用建設機械の映像伝送システム。 A camera that captures a surrounding monitoring image mounted on a construction machine having an actuator, an operation device that remotely controls the construction machine, and a display that displays the surrounding monitoring image are connected via a network, and the display In a video transmission system for a construction machine for remote control that transmits the surrounding monitoring video to a machine,
An encoder that is disposed on the network and converts the video signal of the surrounding monitoring video captured by the camera into a compression code;
A decoder that is arranged on the network and that decompresses and outputs a compression-coded video signal input from the encoder;
A connection cutting member that is arranged between the encoder and the decoder and switches between the encoder and the decoder to a connected state or a disconnected state;
A connection disconnection control device that outputs a control signal for operating the connection disconnection member based on an operation signal input from the operation device and corresponding to a target speed of the actuator;
A threshold storage unit that stores an allowable determination threshold to be compared with the operation signal in order to determine whether or not to allow connection between the encoder and the decoder;
There are a plurality of the indicators,
When the operation signal is equal to or greater than the allowable determination threshold, the connection disconnection control device is connected to a display that displays the surrounding monitoring video in the direction in which the construction machine is driven by the operation signal. Control to connect only between the encoder and the decoder,
This is a video transmission system for construction equipment for remote control.
前記接続切断部材が前記エンコーダと前記デコーダとの間の接続を切断する動作を禁止する指示信号を出力する禁止指示装置を備える、
ことを特徴とする遠隔操縦用建設機械の映像伝送システム。 In the video transmission system of the construction machine for remote control according to claim 1,
A prohibition instruction device that outputs an instruction signal for prohibiting the connection disconnecting member from disconnecting the connection between the encoder and the decoder;
This is a video transmission system for construction equipment for remote control.
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