JP2019071592A - Remote construction management system and remote construction management method - Google Patents

Abstract

To provide a remote construction management system which makes it easy for even a remote operator to grasp a real site environment.SOLUTION: A system comprises: an imaging unit for taking an image of the inside of an operation room of a caisson; a display device which is used outside the operation room, is wearable by a user, and displays the taken image; and a display control unit which in response to a posture of the user, changes the position of a region to be displayed in the operation room, and displays the image on a head set.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a remote construction management system and a remote construction management method.

There are open caisson method and pneumatic caisson method for caisson construction. In the pneumatic caisson method, a working room is provided in the lower part of the caisson main body, and compressed air is sent therein to make it into a high pressure state, and a drilling operation is performed. Since the high pressure work room is in a high pressure state, the time that workers can enter is limited. Therefore, in the pneumatic caisson construction method, in construction under water or high pressure, unmanned construction in which construction is performed by remote control from the ground is adopted from the viewpoint of improvement of work efficiency and safety of work environment.
In such unmanned construction, an image of the working conditions in the high pressure work room taken by the surveillance camera provided in the high pressure work room is installed on a desk of a safe remote work room on land away from the high pressure work room. The operator displays on a monitor, and remotely controls a working machine such as an excavator while looking at this screen to perform construction.
On the other hand, there is a construction management system using AR (Patent Document 1). In this construction management system, in tunnel excavation work, when a worker wearing a see-through type head mount display looks at the inner circumferential surface of the tunnel, the virtual three-dimensional image is superimposed on the inner circumferential surface of the tunnel in real space. And construction management information is displayed.

JP 2000-155855 A

However, in the remote work described above, since the surveillance camera is a fixed point camera installed at a predetermined position and having a fixed angle of view so as to image a specific area, the work obtained from such surveillance camera and viewpoint movement There is a limit to the situation on the site, and there is a problem that it is difficult to grasp the realization site environment. Further, in the case of confirming the work site from another angle of view, it takes time and effort to provide a plurality of surveillance cameras and switch which video of the surveillance camera is displayed.
Further, in the construction management system of Patent Document 1, after the worker enters the tunnel, various images are displayed on the inner circumferential surface of the tunnel to be visually recognized. It is not intended to work remotely without entering the work room.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a remote construction management system and a remote construction management method which make it easy to grasp an actual place environment even by a remote worker. is there.

  In order to solve the problems described above, according to the present invention, there is provided an imaging unit for imaging a working room of a caisson, a display device for use by the user outside the working room and mountable by a user and displaying the imaged image. And a display control unit configured to change the position of the area to be displayed in the work room according to the posture of the user and to cause the display device to display the changed area.

  Further, according to the present invention, the imaging unit captures an image of the caisson work room, the display device is used outside the work room and can be worn by the user, and the captured image is displayed, and the display control unit The position of the area to be displayed in the work room is changed according to the posture of the user and displayed on the display device.

As described above, according to the present invention, it is possible to provide a remote construction management system in which even a remote worker can easily grasp the actual environment.
Also, it is possible to work from a safe remote control room as if the operator were in the realization site.

It is a conceptual diagram explaining the composition by which the remote construction management system was used for the caisson by one embodiment of this invention. It is a schematic block diagram explaining the apparatus contained in the remote construction management system provided in the operator room remote from the caisson 1. It is a flowchart explaining operation | movement of a remote construction management system. It is a figure which shows an example of the display object camera image extracted by the control apparatus. It is a figure showing an example at the time of each synthetic picture being compounded and displayed on a display object camera picture.

Hereinafter, a remote construction management system according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a conceptual view illustrating a configuration in which a remote construction management system is used in a caisson according to an embodiment of the present invention. In this figure, the caisson 1 is in a state of being installed in water or in the ground by the pneumatic caisson method, and shows a cross section viewed from the side. The caisson 1 is installed underwater or in the ground by the pneumatic caisson method. The working room 2 is formed in the lower part of the caisson 1, and more specifically, is formed between the bottom plate 1 a of the caisson 1 and the soil 10. The rails 3 are provided on the lower surface side of the bottom plate 1 a of the caisson 1 (a surface corresponding to the ceiling of the work room 2). The caisson shovel 4 has a traveling unit 4a, is movable along the rail 3 by driving the traveling unit 4a, receives an operation instruction from the outside of the operation room, and responds to the operation instruction. Move along or excavate earth and sand 10 in the lower part of the working room 2. As the soil 10 is excavated, the caisson 1 sinks.

The radar 5 is provided at the base of the caisson shovel 4 and moves along with the movement of the caisson shovel 4 along the rail 3. The radar 5 measures the distance to the object in the working room 2 based on its own position. The range in which the radar 5 can measure the distance is a predetermined range around the position of the radar 5 itself, and three-dimensional measurement is possible based on the measurement direction and the distance. For example, the radar 5 can measure the excavating shape of the surrounding soil 10, the distance to the work device installed in the work chamber 2, the work tool, and the like based on its own position. Since the radar 5 moves along with the movement of the caisson shovel 4, the reference position for measuring the object to be measured also changes according to the movement of the caisson shovel 4.
The radar 5 can use, for example, a laser radar, a millimeter wave radar, an infrared radar, and an ultrasonic radar. The shape of the earth and sand 10 can be measured by recording the radiation direction and the distance in three dimensions.

  The omnidirectional camera 6 is provided at the base of the caisson shovel 4 and images the inside of the working room 2. The omnidirectional camera 6 can capture the entire circumference based on its own position. In addition, the omnidirectional camera 6 also moves as the caisson shovel 4 moves along the rail 3. In addition, since illumination is normally provided in multiple places in the work room 2, even if it is a case where external light does not reach, it can be imaged in the state which can recognize the to-be-imaged thing in the work room 2 . The inclinometer 7 measures the amount of inclination of the entire caisson 1. The installation position of the inclinometer 7 is arbitrary as long as the inclination of the caisson 1 can be measured. For example, the inclinometer 7 is provided on the upper surface side of the bottom plate 1 a of the caisson 1. A plurality of blade-to-mouth reaction force meters 8 are installed on the lower surface of the blade 1 b of the caisson 1 along the outer periphery of the caisson. The sound collecting unit 9 is provided at the base of the caisson shovel 4 and collects the sound in the working room 2.

FIG. 2 is a schematic configuration diagram for explaining equipment included in the remote construction management system provided in the operator's room remote from the caisson 1.
A part of the remote construction management system is provided in an operator room outside the work room 2 and at a remote place, and the headset 20, the operation base 21, the rotary base 22, the vibration device 23, the control device 24. It is comprised including.

  The headset 20 is attached to the head of the operator. The headset 20 is a head mounted display that can be used externally and can be worn by the user and displays an image captured by the omnidirectional camera 6, and headphones that emit sound collected by the sound collecting unit 9. A display for measuring the posture of the head of the operator on which the headset 20 is mounted, changing the position of the area to be displayed in the work room 2 according to the measured posture, and displaying it on the head mount display It comprises a control part.

  The operation base 21 is provided outside the work room 2 and receives from the user an operation input for changing the posture of the work device (for example, the caisson shovel 4). The operator can operate the caisson shovel 4 remotely by operating the operation base 21, and can excavate soil and the like.

  The rotary pedestal 22 is provided with a seating portion capable of being seated by the operator, and when the operation input is made to the caisson shovel 4 via the operation base 21, the rotary pedestal 22 rotates in the horizontal direction according to the content of the operation. For example, when an operation input for turning the caisson shovel 4 right or left is made, the seat portion is turned right or left according to the turning operation. As a result, in response to the operator performing a turning operation on the caisson shovel 4, the seating portion on which the operator itself is sitting turns relative to the floor surface. Therefore, even if the heavy machine (the caisson shovel 4) is not boarded, the caisson shovel 4 can be remotely operated as if it is actually a heavy machine.

The vibrating device 23 vibrates the seating portion via the rotary pedestal 22. For example, when the earth and sand are excavated by the caisson shovel 4, a vibration corresponding to a vibration, an impact and the like that the caisson shovel 4 receives is given to the seating portion. As a result, it is possible to give the operator a feeling that he / she is actually carrying on a heavy machine (the caisson shovel 4) and performing excavation work and the like.
The control device 24 is provided in the operator's room with the respective units (the caisson shovel 4, the radar 5, the omnidirectional camera 6, the inclinometer 7, the blade opening reaction force meter 8, the sound collecting unit 9 etc. The respective units (headset 20, operation base 21, rotary pedestal 22, vibration device 23) provided are connected via a communication line using wireless or wire, etc., and various information is provided between these units. Send and receive The control device 24 distributes and delivers devices to be transmitted according to the control content, with respect to information transmitted / received between each part provided in the work room 2 and each part provided in the operator room. For example, the control device 24 transmits imaging data obtained from the omnidirectional camera 6 to the headset 20, and transmits operation data representing an operation content transmitted from the operation base 21 to the drive control unit of the caisson shovel 4. Etc., it distributes to the necessary delivery destination devices and transmits. The control device 24 is, for example, a computer.

  Further, the control device 24 performs composition processing of display screens to be displayed on the headset 20. This combination process may be performed by the headset 20. The control device 24 applies VR (Virtual Reality) technology to an image captured by the omnidirectional camera 6 installed on the caisson shovel 4 and capable of capturing an image of 360 ° around, and synthesizes various images. In this way, the operator is in the operator's room (remote control room) and intuitively operates as if it were present in the work room 2 to look over the entire area of the site in the vertical and horizontal directions. The caisson shovel 4 can be operated to perform work such as digging.

FIG. 3 is a flowchart for explaining the operation of the remote construction management system.
When the remote construction management system is activated, the radar 5, the omnidirectional camera 6, the inclinometer 7, the blade opening reaction force meter 8, the sound collector 9 and the like each perform measurement and measurement, and the result is used as a communication line. It transmits to each apparatus of the operator room via The computer of the operator room receives the information transmitted from each part in the work room 2 (step S101), and distributes the information to the transmission target equipment for transmission.
The control device 24 generates a composite image for displaying an image representing the amount of inclination on the screen based on the data representing the amount of inclination received from the inclinometer 7 (step S102).

  Next, based on the measurement result of measuring the distance received from the radar 5, the control device 24 generates a composite image for displaying an image representing the relief of the earth and sand of the work room 2 on the screen (step S103). . Here, a composite image for displaying a contour map is generated based on the position where the radar 5 is installed, that is, the distance and direction to surrounding soil, other working equipment, etc. on the basis of the caisson shovel 4 on the rail 3 Do. Here, the measurement range of the radar 5 may be all directions (360 °) with reference to the radar 5, or it may be possible to grasp the ups and downs of the soil, so an area lower than the position where the radar 5 is installed It may be a measurement target. Furthermore, here, when it is possible to identify an object other than earth and sand as being not earth and sand, it is possible to estimate and display the unevenness of earth and sand when there is no object, not the unevenness of the object. . As a method of identifying an object other than earth and sand, for example, a marker (for example, a specific figure) is attached in advance to a work device or the like, and the marker is detected from an image captured by the omnidirectional camera 6 The object can be identified by extracting the outline of the object to which the marker is attached. Further, the relief of the portion of the object may be estimated as a relief connecting the contour portions of the object on the inner side of the contour.

  Next, the control device 24 combines and displays on the screen an image representing the reaction force at the cutting edge of the caisson 1 based on the measurement result obtained by measuring the reaction force received from the cutting force reaction force meter 8. A composite image is generated (step S104). In the remote construction management system, a plurality of blade / counterforce gauges 8 are provided, and provided along a blade port of the caisson 1 at a plurality of places so as to have a predetermined interval. In addition, the blade and mouth reaction force meter 8 is assigned an identification number, and transmits it to the control device 24 together with the detected value detected and the identification number assigned to itself of the blade and mouth reaction force meter 8. The control device 24 stores in advance blade-tip reaction force position information correlating the position at the blade opening based on the construction drawing data of the caisson 1 with the identification number assigned to the blade-opening reaction force meter 8, By receiving measurement results and identification numbers from the blade-port reaction force meter 8 and referring to the blade-port reaction force meter position information, it is possible to grasp what level of reaction force is generated in which part of the blade port of the caisson 1 It can be done. Then, the control device 24 is all based on the current position of the omnidirectional camera 6 (the current position of the caisson shovel 4 on the rail 3), the construction drawing data of the caisson 1, and the blade opening reaction force position information. With the position of the celestial camera 6 as a reference, a composite image representing the reaction force of the blade in the horizontal direction is generated. For example, a composite image is a contour diagram.

  Next, the control device 24 extracts an object to be recognized from the captured image received from the omnidirectional camera 6, and generates a composite image to be displayed in a mode different from the other (step S105). Here, the recognition of the object to be recognized may be performed by the process of extracting the image of the object using the above-described marker. In that case, the marker is attached in advance to the object to be recognized. Further, the control device 24 stores a plurality of image data obtained by capturing an object to be recognized, and performs matching between the image data and an image captured by the omnidirectional camera 6 to obtain an object to be recognized. An object to be recognized may be extracted by determining whether there is As an aspect different from the other, for example, with respect to an object to be recognized, a predetermined translucent color or pattern is superimposed on an image corresponding to the object to be recognized to be displayed in an aspect different from the other Do. Here, by superimposing and displaying a semi-transparent color or the like, a predetermined color or the like is superimposed and displayed in a state in which the image of the object to be recognized can be viewed. Since it is possible to visually recognize the image of the object to be recognized, it is possible to grasp what kind of object it is.

  Next, the control device 24 extracts an area to be displayed among the images obtained from the omnidirectional camera 6 according to the posture of the head on which the headset 20 is mounted (step S106). Here, by detecting the attitude of the headset 20, the attitude is detected on the head of the operator wearing the headset 20. For example, the detection of the posture can be detected by a gyro sensor, an acceleration sensor or the like provided in the headset 20. The detected posture is the direction of the headset 20 (the direction in which the face of the operator is facing). Among the images of the entire circumference based on the position of the omnidirectional camera 6 obtained by the omnidirectional camera 6, an image of a predetermined size in the direction of the headset 20 is extracted according to the detected posture. Thus, for example, when the operator wearing the headset 20 faces in the horizontal direction in the north direction, the image in the horizontal direction on the north side among the images obtained from the omnidirectional camera 6 is displayed on the headset 20 It extracts in the range according to the screen size of the device. For example, when the operator faces north and faces a little downward, the image is obtained from the omnidirectional camera 6 in the horizontal direction on the north side according to the depression angle when the operator faces downward. The image on the lower side is extracted in a range corresponding to the screen size of the display device of the headset 20. The control device 24 uses this extracted image as a display target camera image.

  Next, the control device 24 displays the combined camera image obtained by superimposing each composite image on the display target camera image extracted in step S106 on the display device of the headset 20 (step S107). Furthermore, the control device 24 emits the sound obtained by the sound collection unit 9 from the headphones of the headset 20 (step S108). Next, the control device 24 acquires the detection result of the attitude of the headset 20 again, and compares it with the detection result of the attitude of the headset 20 acquired last time to determine whether or not there is a change in the attitude (step S109). ). That is, it is determined whether or not the direction of the face of the operator has changed.

  If there is a change in the attitude of the headset 20 (YES in step S109), an area to be displayed is extracted from the image obtained from the omnidirectional camera 6 according to the current attitude and extracted. The combined camera image obtained by superimposing each composite image on the display target camera image is displayed on the display device of the headset 20 (step S110). On the other hand, if there is no change in the attitude of the headset 20 (step S109-NO), the area obtained as the display target camera image is displayed as it is.

  Next, the control device 24 determines whether or not an operation input has been made from the operation base 21 (step S111). When the operator inputs an operation input from the operation base 21 by operating the operation base 21, the control device 24 transmits a driving signal for operating the caisson shovel 4 to the caisson shovel 4 according to the operation content. (Step S112). As a result, the caisson shovel 4 travels along the rails, turns left and right, raises and lowers the boom, bends and extends the arm, and digs and opens the bucket according to the drive signal. Thereby, the work such as excavation can be performed remotely.

Next, the control device 24 drives the rotary base and the vibration device according to the driving condition. For example, when the operation input for turning the caisson shovel 4 is performed on the operation base 21, the rotary base is also rotated (turned) according to the operation input. Thereby, even when being at a remote location, it is possible to carry out construction such as excavation in a state close to the feeling of working at the site. Further, the control device 24 vibrates the seating portion via the rotary pedestal 22 by driving the vibration device 23. For example, when the caisson shovel 4 travels along the rails 3, or when digging or the like, a vibration corresponding to the vibration, impact or the like the caisson shovel 4 receives is given to the seating portion. In the case of applying the vibration accompanying traveling, the control device 24 determines the vibration to be applied based on the traveling speed and the moving direction input from the operation board 21, and outputs a drive signal to the vibrating device 23. In the case where the caisson shovel 4 receives a vibration or a shock according to an impact, for example, a vibration sensor is provided in advance at a predetermined position (for example, an arm) of the caisson shovel 4 and the control device 24 detects the vibration sensor The vibration to be applied is determined according to the vibration to be generated, and the vibration generated by the determined vibration is supplied to the vibration device 23, thereby vibrating the vibration device 23.
On the other hand, when there is no operation input from the operation base 21, the processes of steps S112 and S113 are skipped.
In addition, the process based on the flowchart shown in FIG. 3 is repeatedly performed for every predetermined time until the driving | operation of a remote construction management system is stopped.

  FIG. 4 is a view showing an example of a display target camera image extracted by the control device 24. As shown in FIG. As shown in this figure, the display target camera image is an image obtained by imaging the inside of the work room 2, and the work situation in the work room can be grasped. Further, the display target camera image is an image in which a predetermined region is extracted in the direction according to the attitude of the headset 20 among the images of the entire circumference obtained by the omnidirectional camera 6.

FIG. 5 is a diagram illustrating an example in which each composite image is combined with a display target camera image and displayed.
As described above, by combining various images with images obtained by the omnidirectional camera 6 using information obtained by various sensors etc. and displaying them, it is as if the operator were in the operator's room. The intuitive operation as if existing in the working room 2 makes it possible to operate the caisson shovel 4 and perform work such as excavation while looking over the entire range of the site in the upper, lower, left and right, front and back directions. As in the present embodiment, by using the remote construction management system for caisson installation work by the pneumatic caisson method, it is possible to realize pneumatic caisson unmanned construction.
At the upper part of this screen, a display bar representing the amount of inclination of the caisson 1 is displayed (reference numeral 100). This inclination amount is, for example, an image generated as a composite image in step S102 in FIG. The display bar displays a predetermined mark on the display bar according to the amount of inclination of the caisson 1 with respect to the horizontal direction with respect to the current attitude of the headset 20 (front side direction to which the operator faces). . For example, a predetermined mark is displayed on the display bar according to a value (unit: mm) inclined in the left-right direction.

In addition, on the left side of the screen, a display bar is displayed that represents the amount of inclination of the caisson 1 in the depth direction toward the screen (reference numeral 110). This inclination amount is, for example, an image generated as a composite image in step S102 in FIG. In this display bar, predetermined marks are displayed on the display bar according to the amount of inclination with respect to the depth direction based on the current attitude of the headset 20 (the front side direction to which the operator faces). For example, a predetermined mark is displayed on the display bar according to a value (in mm) inclined to the depth or the front direction.
Further, on this screen, the image of the object to be recognized is displayed in a display mode different from the other (reference numerals 120, 121, etc.). The amount of tilt is, for example, an image generated as a composite image in step S105 of FIG. For example, here, as an object to be recognized, an image in which predetermined colors are superimposed is displayed for another work device or material. Therefore, the operator can easily identify the earth and sand to be excavated, the side plate of the caisson 1 and the like, and other objects. Further, such display on the image of the object to be recognized can be displayed for a proximity obstacle (object to be recognized within a predetermined distance) based on the caisson shovel 4 operated by the operator. Whether they are close to each other can be detected based on the distance obtained by the radar 5 by judging whether the distance is within a predetermined distance.

  Further, on the upper right of this screen, a contour diagram indicating the magnitude of the caisson blade-opening reaction force with reference to the current position of the caisson shovel 4 is displayed (reference numeral 130). Around the caisson shovel 4 is a cutting edge connected to the side plate of the caisson 1, and the measurement results of a plurality of cutting force counterforce gauges 8 provided at the cutting edge are displayed. Thereby, the concentric circle on the basis of the present position of caisson shovel 4 is displayed, and the color according to the size of the reaction force of the surrounding blade mouth is displayed inside this concentric circle. Thereby, it is possible to intuitively grasp the blade-opening reaction force. For example, the digging operation can be performed while confirming that the reaction force does not drop extremely at the edge of a specific part compared to the other edge.

Next, in the area corresponding to the earth and sand of this screen, the ground height is displayed as a contour according to the unevenness of the earth surface (earth and sand) (reference numeral 140). By performing this contour display, the ground surface height (concave and convex) state can be easily grasped, so that the operator can easily grasp the excavated location compared with the case of only the camera image. Here, using AR (Augmented Reality) technology and projecting the contour display on the field of view on the screen using virtual CG (Computer Graphics) etc., it is possible to make the height difference of the ground surface easy to visually recognize, the operator Makes it easy to grasp the drilling position.
As described above, in the case of unmanned construction with the pneumatic caisson method, the operator projects the digging position and the digging condition by projecting the reaction force value and inclination (concave and convex) of the caisson blade edge into the view through the screen of the headset 20. It becomes possible to grasp easily.

  In addition, the headset 20 displays the above-described screen and emits the sound collected by the collection unit 9 from the headphones. Thereby, the operator can recognize sounds (work sounds etc.) in the work room 2 through hearing while visually recognizing the above-mentioned screen. Further, the operator is given vibration according to the work content (operation of the caisson shovel 4) by the vibration device 23. As a result, the operator can work in the sense of being in the working room 2 through the sense of sight, hearing and tactile sense (vibration) given from the remote construction management system despite being in the operator's room. You can work while feeling

  In addition, the amount of inclination, the value of the blade reaction force, the display for the object to be recognized, the unevenness display on the ground surface, the sound emission from headphones, the vibration by the vibration device 23, the turning by the rotation pedestal 22, etc. It is possible to switch on and off. This allows the operator to select according to what information is required.

In the embodiment described above, the remote construction management system is used for caisson installation work in the pneumatic caisson method, but the remote construction management system is a construction for remote construction outside in addition to the excavation work in the tunnel. Etc. can be used.
In the embodiment described above, although the case where the control device 24 and the headset 20 are configured as separate devices has been described, the headset 20 may have at least one function of the control device 24. . For example, the headset 20 may perform the process of steps S102 to S110 in FIG.

In addition, even when it is desired to change the angle of view of the camera in order to understand the situation in the working room 2, the operator can turn the face to either the left or right or up or down direction to Since the area displayed on the display screen of the headset 20 can be changed according to the posture of the head, it is not necessary to perform an operation to switch images from a plurality of surveillance cameras, and information is collected. It saves time and effort and streamlines the judgment of workers. Further, by intuitively operating the image displayed on the display screen of the headset 20, it is possible to change the visible area in the work room 2.
In addition, although the above-mentioned remote construction management system has been described as being used in the working room 2 of the field in an actual pneumatic caisson method, a three-dimensional model (working room, soil, caisson shovel, etc.) of the site is prepared in advance. By performing simulation work using CG (Computer Graphics) in advance, it becomes possible to simulate work on site, and it is possible to grasp the work environment and to practice in advance.

  The respective functions of the control device 24 and the headset 20 in the above-described embodiment may be realized by a computer. In that case, a program for realizing this function may be recorded in a computer readable recording medium, and the program recorded in the recording medium may be read and executed by a computer system. Here, the “computer system” includes an OS and hardware such as peripheral devices. The term "computer-readable recording medium" refers to a storage medium such as a flexible disk, a magneto-optical disk, a ROM, a portable medium such as a ROM or a CD-ROM, or a hard disk built in a computer system. Furthermore, “computer-readable recording medium” dynamically holds a program for a short time, like a communication line in the case of transmitting a program via a network such as the Internet or a communication line such as a telephone line. It may also include one that holds a program for a certain period of time, such as volatile memory in a computer system that becomes a server or client in that case. Further, the program may be for realizing a part of the functions described above, or may be realized in combination with the program already recorded in the computer system. It may be realized using a programmable logic device such as an FPGA (Field Programmable Gate Array).

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design and the like within the scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... caisson, 1a ... bottom version, 1b ... blade mouth, 2 ... working chamber, 3 ... rail, 4 ... caisson shovel, 4a ... running part, 5 ... radar, 6 ... all-sky camera, 7 ... inclinometer, 8 ... Blade-to-tail force meter 9: sound collecting part 10: earth and sand 20: headset 21: operation base 22: rotation base 23: vibration device 24: control device

Claims (8)

An imaging unit for imaging the caisson work room;
A display device which is used outside of the work room and can be worn by the user and displays the captured image;
And a display control unit configured to change the position of an area to be displayed in the work room according to the posture of the user and display the position on the display device. It has an inclination sensor which measures the amount of inclination of the above-mentioned caisson,
The remote construction management system according to claim 1, wherein the display control unit causes the display device to display the measurement result of the tilt sensor. An extraction unit for extracting an object to be recognized based on the captured image;
The remote construction management system according to claim 1 or 2, wherein the display control unit causes the display device to display the extracted object in a display mode different from that of the other objects. A cutting edge reaction force gauge for measuring a reaction force from the ground at the cutting edge of the caisson,
The display control unit causes the display device to display the position of the blade with the reaction force measured based on the position at which the imaging unit performs imaging, and the reaction force. Remote construction management system described in Section. A distance measuring unit provided in the work chamber and measuring a distance from the provided position to an object in the work chamber;
The remote construction management system according to any one of claims 1 to 4, wherein the display control unit causes the display device to display an image representing unevenness in the work room based on the measured distance. . A sound collection unit that collects sound in the work room;
The remote construction management system according to any one of claims 1 to 5, further comprising: a sound emitting unit provided outside the work room and emitting the collected sound. The imaging unit is attached to a work device provided in the work room,
The remote construction management system
The remote construction management system according to any one of claims 1 to 6, further comprising: an operation unit provided outside the work room and receiving an operation input for changing a posture of a work device from the user. The imaging unit captures an image of the caisson work room.
A display device is used outside the work room and can be worn by a user to display the captured image;
The display control unit changes the position of the area to be displayed in the work room according to the posture of the user and causes the display device to display the position.