JP2019163122A - Work vehicle and remote control terminal - Google Patents

Abstract

To provide a work vehicle capable of controlling error operations at remote control of a work device, as well as facilitating the remote control of the work device.SOLUTION: A crane 1, which is a work vehicle, comprises: a remote control terminal 32; a crane device 6 remotely controlled through the remote control terminal 32; a camera 9b; and a control unit which controls the crane device 6 and the camera 9b. The remote control terminal 32 comprises a terminal side control tool for remotely controlling the crane device 6 according to an operation direction reference Bo. The control unit calculates a direction D1 that is projected on a horizontal plane of the remote control terminal 32 with respect to the control device 6 from detection data of the camera 9b, and set the operation direction reference Bo onto a line L of the direction D1.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a work vehicle and a remote control terminal.

  2. Description of the Related Art Conventionally, work vehicles including work devices such as a mobile crane and an aerial work vehicle are known. In recent years, a technique has been proposed in which a work device of a work vehicle can be remotely operated using a remote operation terminal. In the work using the remote operation terminal, the operator can perform the work while confirming the moving state of the suspended load in the vicinity of the suspended load or the target position of the suspended load that is away from the operating device of the working device.

  For example, Patent Literature 1 discloses an image display device that captures an image including a hook with a camera provided on a boom of a crane and displays the moving direction of the hook superimposed on the image. Thereby, the operator can easily recognize the moving direction of the hook.

Japanese Patent Laying-Open No. 2006-166087

  Therefore, if the movement direction of the hook is displayed in the above-described remote operation terminal as in Patent Document 1, it is considered that the operator can confirm the movement direction of the hook on the remote operation terminal. However, the operator can confirm the moving direction of the hook after operating the remote control terminal, and cannot confirm it before the operation. Since the relative positional relationship between the work device and the remote operation terminal changes every moment according to the work situation, the operator of the remote operation terminal always takes into account the relative positional relationship between itself and the work device. It was necessary to operate the operation terminal.

  It is an object of the present invention to provide a work vehicle and a remote operation terminal that suppress an erroneous operation at the time of remote operation of the work device and facilitate the remote operation of the work device.

  A work vehicle includes a remote operation terminal, a work device remotely operated by the remote operation terminal, a vehicle that supports the work device, a sensor, and the work device and a control device that controls the sensor. The remote operation terminal includes a terminal side operation tool for remotely operating the work device based on an operation direction reference, and the control device is configured to detect the remote operation terminal for the work device based on detection data of the sensor. The direction projected on the horizontal plane is calculated, and the operation direction reference is set on the line of the direction.

  In the above remote operation terminal, the sensor may be a camera, and the control device may identify the remote operation terminal from an image photographed by the camera.

  Further, in the above remote operation terminal, the work device includes a boom, a wire rope spanned from the base end side of the boom toward the tip end side, and a wire rope suspended from the tip end side of the boom. And a hook that moves up and down by extension, and the camera may be provided near the tip of the boom.

  In the work vehicle, the sensor may be provided in the vehicle.

  In the above remote operation terminal, the sensor may be a radar.

  In the above remote operation terminal, the remote operation terminal includes a communication device that communicates with the remote operation terminal, the remote operation terminal includes a terminal-side communication device that communicates with the communication device, the sensor is the communication device, The detection data may be distribution data of received intensity with respect to the direction.

  The remote operation terminal is a remote operation terminal for remotely operating a work device of the work vehicle, and a terminal that communicates with a terminal-side operation tool for remotely operating the work device based on an operation direction standard, and a communication device of the work vehicle. A terminal-side communication device, and a terminal-side control device that controls the terminal-side operation tool and the terminal-side communication device. A direction projected on a horizontal plane of the operation terminal is calculated, and the operation direction reference is set on a line of the direction.

  According to the present invention, by setting the operation direction reference on the line of the direction projected on the horizontal plane of the remote operation terminal for the work device, it is possible to suppress erroneous operation during remote operation of the work device and facilitate remote operation of the work device. Can be.

It is a side view showing the whole crane composition of one embodiment. It is a block diagram which shows the control structure of the crane of one Embodiment. It is a top view which shows schematic structure of the remote control terminal of one Embodiment. It is a block diagram which shows the control structure of the remote control terminal of one Embodiment. It is a figure explaining the operation | movement which detects a remote control terminal, (a) is a schematic diagram which shows the positional relationship of a crane apparatus and a remote control terminal, (b) is a figure which shows the image of the remote control terminal detected with the camera. It is. It is a top view which shows schematic structure of the remote control terminal of one Embodiment. It is a schematic diagram which shows operation | movement of the crane apparatus when the suspended load movement operation tool is operated. It is a top view of the vehicle of the 1st modification. It is a top view of the vehicle of the 2nd modification.

  Below, the crane 1 which consists of a mobile crane (rough terrain crane) which is a work vehicle which concerns on one Embodiment of this invention using FIG. 1 and FIG. 2 is demonstrated. In this embodiment, the rough terrain crane will be described. However, an all terrain crane, a truck crane, a loading truck crane, an aerial work vehicle, or the like may be used.

  As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified location. The crane 1 includes a vehicle 2, a crane device 6 that is a work device, and a remote operation terminal 32 (see FIG. 2) capable of remotely operating the crane device 6.

  The vehicle 2 conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and travels using the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 includes a projecting beam that can be extended by hydraulic pressure on both sides in the width direction of the vehicle 2 and a hydraulic jack cylinder that can extend in a direction perpendicular to the ground. The vehicle 2 can extend the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

  The crane device 6 lifts the load W with a wire rope. The crane device 6 includes a swivel base 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, a hoisting hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. 17 etc.

  The swivel base 7 is configured to allow the crane device 6 to swivel. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The swivel base 7 is configured to be rotatable about the center of an annular bearing as a rotation center. The swivel base 7 is provided with a hydraulic swivel hydraulic motor 8 as an actuator. The swivel base 7 is configured to be turnable in one direction and the other direction by a turning hydraulic motor 8.

  The turning hydraulic motor 8 that is an actuator is rotated by a turning valve 23 (see FIG. 2) that is an electromagnetic proportional switching valve. The turning valve 23 can control the flow rate of the hydraulic oil supplied to the turning hydraulic motor 8 to an arbitrary flow rate. That is, the swivel base 7 is configured to be controllable to an arbitrary turning speed via the turning hydraulic motor 8 that is rotated by the turning valve 23. The swivel base 7 is provided with a swivel sensor 27 (see FIG. 2) for detecting the swivel position (angle) of the swivel base 7 and the turning speed.

  The boom 9 supports the wire rope so that the luggage W can be lifted. The boom 9 is composed of a plurality of boom members. The boom 9 is provided so that the base end of the base boom member can swing in the approximate center of the swivel base 7. The boom 9 is configured to be extendable and contractable in the axial direction by moving each boom member with an expansion / contraction hydraulic cylinder (not shown) that is an actuator. Further, the boom 9 is provided with a jib 9a. The jib 9a is held in a posture along the base boom member by a jib support portion provided on the base boom member of the boom 9. The base end of the jib 9a is configured to be connectable to the jib support portion of the top boom member.

  An expansion / contraction hydraulic cylinder (not shown) that is an actuator is expanded and contracted by an expansion / contraction valve 24 (see FIG. 2) that is an electromagnetic proportional switching valve. The expansion / contraction valve 24 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate. The boom 9 is provided with an expansion / contraction sensor 28 that detects the length of the boom 9.

  The camera 9b obtains a direction calculation image i (d) for detecting the remote operation terminal 32 in addition to the package W and the image i of the features around the package W. That is, the camera 9b is also used as a sensor for detecting the remote operation terminal 32. The camera 9b is provided at the tip of the boom 9. The camera 9b is configured to be able to photograph the features and topography around the load W and the crane 1 from above the load W. Further, the camera 9b is configured to be able to rotate 360 °, and can photograph all directions around the tip of the boom 9.

  The main hook block 10 and the sub hook block 11 suspend the luggage W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook 10a for hanging the luggage W. The sub hook block 11 is provided with a sub hook 11a for hanging the luggage W.

  The hoisting hydraulic cylinder 12 that is an actuator raises and lowers the boom 9 and maintains the posture of the boom 9. In the hoisting hydraulic cylinder 12, the end of the cylinder portion is swingably connected to the swivel base 7, and the end of the rod portion is swingably connected to the base boom member of the boom 9. The hoisting hydraulic cylinder 12 is expanded and contracted by a hoisting valve 25 (see FIG. 2) which is an electromagnetic proportional switching valve. The hoisting valve 25 can control the flow rate of the hydraulic oil supplied to the hoisting hydraulic cylinder 12 to an arbitrary flow rate. The boom 9 is provided with a hoisting sensor 29 (see FIG. 2) for detecting the hoisting angle of the boom 9, a weight sensor for detecting the weight of the load W, and the like.

  The main winch 13 and the sub winch 15 are used to feed (wind up) and feed (wind down) the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor (not shown) on which a main drum around which the main wire rope 14 is wound is an actuator, and the sub winch 15 is a sub drum (not shown) in which a sub drum on which the sub wire rope 16 is wound is an actuator. It is configured to be rotated by a hydraulic motor.

  The main hydraulic motor is rotated by a main valve 26m (see FIG. 2) which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor by a main valve 26m and to be operated at an arbitrary feeding and feeding speed. Similarly, the sub winch 15 is configured to control the sub hydraulic motor by a sub valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at an arbitrary feeding and feeding speed.

  The cabin 17 covers the cockpit. The cabin 17 is mounted on the swivel base 7. A cockpit (not shown) is provided. In the cockpit, an operation tool for driving the vehicle 2, a turning operation tool 18 for operating the crane device 6, a hoisting operation tool 19, a telescopic operation tool 20, a main drum operation tool 21 m, a sub drum operation tool 21 s, etc. Is provided (see FIG. 2). The turning operation tool 18 can operate the turning hydraulic motor 8. The hoisting operation tool 19 can operate the hoisting hydraulic cylinder 12. The telescopic operation tool 20 can operate the telescopic hydraulic cylinder. The main drum operation tool 21m can operate the main hydraulic motor. The sub drum operation tool 21s can operate the sub hydraulic motor.

  The communication device 22 (see FIG. 2) receives a control signal from the remote operation terminal 32 and transmits control information from the crane device 6 and the like. The communication device 22 is provided in the cabin 17. The communication device 22 is configured to transfer a control signal or the like from the remote operation terminal 32 to the control device 31 via a communication line (not shown). The communication device 22 is configured to transfer the control information from the control device 31 and the image i from the camera 9b to the remote operation terminal 32 via a communication line (not shown).

  A GNSS receiver 30 is provided at the tip of the boom 9. The GNSS receiver 30 is a receiver that constitutes a global positioning satellite system, and receives a ranging radio wave from a satellite and calculates latitude, longitude, and altitude that are position coordinates of the receiver. It is. The crane 1 can acquire the position coordinates of the tip of the boom 9 by the GNSS receiver 30.

  As shown in FIG. 2, the control apparatus 31 controls the actuator of the crane apparatus 6 via each valve. The control device 31 is provided in the cabin 17. The control device 31 may actually have a configuration in which a CPU, a ROM, a RAM, an HDD, and the like are connected by a bus, or may be configured by a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.

  The control device 31 is connected to the camera 9b, the turning operation tool 18, the hoisting operation tool 19, the telescopic operation tool 20, the main drum operation tool 21m, the sub drum operation tool 21s, and the GNSS receiver 30, and calculates the image i and direction of the camera 9b. The image i (d) can be acquired, and the operation amounts of the turning operation tool 18, the hoisting operation tool 19, the main drum operation tool 21m, and the sub drum operation tool 21s and the position coordinates of the tip of the boom 9 can be acquired.

  The control device 31 is connected to the communication device 22, acquires a control signal from the remote operation terminal 32, and transmits control information from the crane device 6, a camera angle θc of the camera 9b, an image i from the camera 9b, and the like. Can do.

  The control device 31 is connected to the turning valve 23, the expansion / contraction valve 24, the hoisting valve 25, the main valve 26m and the sub valve 26s, and the turning valve 23, the hoisting valve 25, the main valve 26m and the sub valve A control signal can be transmitted to the valve 26s.

  The control device 31 is connected to the turning sensor 27, the expansion / contraction sensor 28, and the undulation sensor 29, and can acquire the turning position, the boom length, the undulation angle, and the weight of the load W of the turntable 7.

  The control device 31 sets the horizontal plane of the remote control terminal 32 relative to the tip of the boom 9 (camera 9b) based on the camera angle θc with respect to the extending direction projected on the horizontal plane of the boom 9 when the direction calculation image i (d) is acquired. The projected direction can be calculated.

  The control device 31 can generate a control signal corresponding to each operation tool based on the operation amounts of the turning operation tool 18, the hoisting operation tool 19, the main drum operation tool 21m, and the sub drum operation tool 21s.

  The crane 1 configured as described above can move the crane device 6 to an arbitrary position by running the vehicle 2. Further, the crane 1 raises the boom 9 to an arbitrary hoisting angle by the hoisting hydraulic cylinder 12 by operating the hoisting operation tool 19, and extends the boom 9 to an arbitrary boom 9 length by operating the telescopic operation tool 20. By doing so, the lift and working radius of the crane device 6 can be expanded. In addition, the crane 1 can transport the load W by lifting the load W with the sub drum operation tool 21 s or the like and turning the turntable 7 by operating the turning operation tool 18.

  Next, the remote operation terminal 32 will be described with reference to FIGS. As shown in FIG. 3, the remote operation terminal 32 is used when the crane device 6 is remotely operated. The remote operation terminal 32 includes a housing 33, a terminal-side display device 41, a terminal-side communication device 42, a terminal-side control device 43 (see FIG. 4), and the like. On the operation surface of the housing 33, as a terminal side operation tool, a direction calculation operation tool 34, a suspended load movement operation tool 35, a terminal side turning operation tool 36, a terminal side telescopic operation tool 37, a terminal side main drum operation tool 38m, A terminal-side sub drum operation tool 38s, a terminal-side undulation operation tool 39, and the like are provided. The remote operation terminal 32 transmits, to the control device 31, a control signal for the valve of each actuator that moves the load W by operating the suspended load moving operation tool 35 based on the operation direction reference Bo or operating various terminal side operation tools. .

  The operation direction reference Bo of the remote operation terminal 32 is a reference for setting the movement direction of the load W that is moved by the tilting operation of the suspended load movement operation tool 35 in an arbitrary direction. Specifically, in the present embodiment, the operation direction reference Bo is referred to as an upward direction toward the operation surface of the casing 33 of the remote operation terminal 32 as an initial setting (hereinafter simply referred to as “upward direction of the remote operation terminal 32”). ) (See dashed arrows). The operation direction reference Bo is a tilt angle when the suspended load moving operation tool 35 is tilted in an arbitrary direction in order to calculate the moving direction of the load W moved by the crane device 6 (the operating direction of the tip of the boom 9). This is a reference for calculating θ2.

  The housing 33 is a main constituent member of the remote operation terminal 32. The housing 33 is configured to have a size that can be held by the operator's hand.

  The direction calculating operation tool 34 receives an instruction for calculating the direction of the remote operation terminal 32 with respect to the tip of the boom 9. The direction calculation operation tool 34 includes a button and the like protruding from the operation surface of the housing 33. The direction calculation operation tool 34 is photographed to capture a direction calculation image i (d) while rotating the camera 9 b by being pressed, and transmits a signal for detecting the remote operation terminal 32 to the terminal-side control device 43. It is configured as follows.

  The suspended load moving operation tool 35 is input with an instruction to move the load W in an arbitrary direction at an arbitrary speed on an arbitrary horizontal plane. The suspended load moving operation tool 35 includes an operation stick that stands substantially vertically from the operation surface of the housing 33 and a sensor (not shown) that detects the tilt direction and the tilt amount of the operation stick. The suspended load moving operation tool 35 is configured such that the operation stick can be tilted in any direction. The suspended load moving operation tool 35 transmits to the terminal side control device 43 a signal about the tilt angle θ2 (see FIG. 7) between the operation direction reference Bo and the tilt direction of the operation stick detected by the sensor and the tilt amount. It is configured as follows. The suspended load moving operation tool 35 includes an arrow Aa indicating an upward direction toward the operation surface of the housing 33, an arrow Ab indicating a right direction toward the operation surface, an arrow Ac indicating a downward direction toward the operation surface, and an operation. An arrow Ad indicating the left direction toward the surface is displayed as a guideline for the tilt angle θ2 of the suspended load movement operation tool 35.

  The terminal side turning operation tool 36 receives an instruction to turn the crane device 6 in an arbitrary movement direction at an arbitrary movement speed. The terminal-side turning operation tool 36 includes, for example, an operation stick that stands substantially vertically from the operation surface of the housing 33 and a sensor (not shown) that detects the tilt direction and tilt amount of the operation stick. The terminal-side turning operation tool 36 is configured to be tiltable in a direction instructing a left turn and a direction instructing a right turn.

  The terminal side expansion / contraction operation tool 37 receives an instruction to extend and retract the boom 9 at an arbitrary speed. The terminal-side telescopic operation tool 37 includes, for example, an operation stick that stands up from the operation surface of the housing 33 and a sensor (not shown) that detects the tilt direction and tilt amount thereof. The terminal side expansion / contraction operation tool 37 is configured to be tiltable in a direction instructing extension and a direction instructing contraction.

  The terminal-side main drum operating tool 38m receives an instruction to rotate the main winch 13 in an arbitrary direction at an arbitrary speed. The terminal-side main drum operation tool 38m includes, for example, an operation stick that stands up from the operation surface of the housing 33 and a sensor (not shown) that detects a tilt direction and a tilt amount thereof. The terminal-side main drum operation tool 38m is configured to be tiltable in a direction for instructing winding of the main wire rope 14 and a direction for instructing lowering. The terminal side sub drum operation tool 38s is configured in the same manner.

  The terminal-side hoisting operation tool 39 is input with an instruction for hoisting the boom 9 at an arbitrary speed. The terminal-side hoisting operation tool 39 includes, for example, an operation stick that stands up from the operation surface of the housing 33 and a sensor (not shown) that detects the tilt direction and tilt amount thereof. The terminal side hoisting operation tool 39 is configured to be tiltable in a direction instructing to stand and in a direction instructing to overturn.

  The terminal-side display device 41 displays various information such as crane 1 posture information and luggage W information. The terminal side display device 41 is composed of an image display device such as a liquid crystal screen. The terminal side display device 41 is provided on the operation surface of the housing 33. The terminal side display device 41 displays an image i of the luggage W taken from the boom 9 and the surrounding features. Further, the package i displayed on the terminal side display device 41 and the image i of the surrounding features are rotated and displayed according to the calculated direction of the remote operation terminal 32. That is, the image i is displayed on the terminal side display device 41 in a state in which the rotation direction of the operation direction reference Bo (see the broken line arrow) with respect to the extending direction of the boom 9 is reflected.

  Further, the terminal side display device 41 includes an arrow Aa indicating an upward direction toward the operation surface of the housing 33, an arrow Ab indicating a right direction toward the operation surface, an arrow Ac indicating a downward direction toward the operation surface, An arrow Ad indicating the left direction toward the operation surface is displayed as a guide for the tilt angle θ2 of the suspended load movement operation tool 35.

  As shown in FIG. 4, the terminal-side communication device 42 receives control information and the like of the crane device 6 and transmits control information and the like from the remote operation terminal 32. The terminal side communication device 42 is provided inside the housing 33. The terminal-side communication device 42 is configured to transmit to the terminal-side control device 43 when it receives an image i taken by the camera 9b, a control signal, or the like. The terminal-side communication device 42 is configured to transmit control information from the terminal-side control device 43 to the control device 31 via the communication device 22 of the crane 1.

  The terminal side control device 43 controls the remote operation terminal 32. The terminal side control device 43 is provided in the housing 33 of the remote operation terminal 32. The terminal-side control device 43 may actually have a configuration in which a CPU, a ROM, a RAM, an HDD, and the like are connected by a bus, or may be configured by a one-chip LSI or the like. The terminal side control device 43 includes a direction calculation operation tool 34, a suspended load movement operation tool 35, a terminal side turning operation tool 36, a terminal side telescopic operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, a terminal Various programs and data are stored in order to control operations of the side hoisting operation tool 39, the terminal side display device 41, the terminal side communication device 42, and the like.

  The terminal side control device 43 includes a direction calculation operation tool 34, a suspended load movement operation tool 35, a terminal side turning operation tool 36, a terminal side telescopic operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, and a terminal. An operation signal connected to the side hoisting operation tool 39 and including the tilt direction and tilt amount of the operation stick of each terminal-side operation tool can be acquired. In addition, when the terminal-side control device 43 acquires the operation signal of the direction calculation operation tool 34, the terminal-side control device 43 transmits a signal for calculating the direction of the remote operation terminal 32 to the control device 31 via the terminal-side communication device 42. It is configured. The terminal-side control device 43 is connected to the terminal-side communication device 42 and can transmit and receive various types of information to and from the control device 31 via the communication device 22 of the control device 31.

  The terminal-side control device 43 receives each operation acquired from the sensors of the terminal-side turning operation tool 36, the terminal-side telescopic operation tool 37, the terminal-side main drum operation tool 38m, the terminal-side sub drum operation tool 38s, and the terminal-side undulation operation tool 39. Control signals for the corresponding turning valve 23, expansion / contraction valve 24, hoisting valve 25, main valve 26m, and sub valve 26s can be generated from the operation signal of the stick.

  When acquiring the operation signal from the direction calculation operation tool 34, the terminal-side control device 43 controls the signal for detecting the remote operation terminal 32 by capturing the direction calculation image i (d) while rotating the camera 9b. Transmit to the device 31.

  The terminal-side control device 43 can acquire the image i captured by the camera 9b from the control device 31 via the communication device 22. The terminal-side control device 43 can acquire the operation direction reference Bo from the control device 31.

  The terminal-side control device 43 is connected to the terminal-side display device 41 and can display various information such as an image i acquired from the control device 31 of the crane device 6 on the terminal-side display device 41. Further, the terminal-side control device 43 can rotate and display the image i based on the direction of the operation direction reference Bo with respect to the extending direction projected on the horizontal plane of the boom 9 acquired from the control device 31.

  The calculation of the direction projected on the horizontal plane of the remote operation terminal 32 with respect to the tip of the boom 9 by the control device 31, the setting of the operation direction reference Bo, and the image by the remote operation terminal 32 will be described below with reference to FIGS. The display of i will be described.

  As shown in FIG. 5A, when the control device 31 acquires the operation signal of the direction calculation operation tool 34 of the remote operation terminal 32, the control device 31 starts photographing around the boom 9 by the camera 9b. The control device 31 sequentially acquires images taken by the camera 9b, analyzes each image, and identifies the remote operation terminal 32. When the control device 31 finds the remote operation terminal 32 (which may be a pilot of the remote operation terminal 32) in the image, the remote operation terminal 32 as shown in FIG. Is obtained, and a camera angle θc of the camera 9b with respect to the extending direction projected on the horizontal plane of the boom 9 at that time is obtained. And the control apparatus 31 calculates the direction D1 projected on the horizontal surface of the remote control terminal 32 with respect to the front-end | tip (camera 9b) of the boom 9 based on camera angle (theta) c.

  The control device 31 sets the operation direction reference Bo on the calculated line L in the direction D1. In the present embodiment, the reverse direction of the calculated direction D1 is set as the operation direction reference Bo. The control device 31 transmits the set operation direction reference Bo to the terminal-side control device 43 via the communication device 22. When the terminal-side control device 43 acquires the operation direction reference Bo from the control device 31, based on the operation direction reference Bo, the terminal-side control device 43 rotates the luggage W photographed by the camera 9 b and the surrounding image i to the terminal-side display device 41. Display.

  Specifically, as shown in FIG. 5A, assuming that the upward direction of the remote operation terminal 32 is directed to the tip of the boom 9, for example, the operator who holds the remote operation terminal 32 has the direction of the tip of the boom 9. In the state of facing the remote operation terminal 32, the upward direction of the remote operation terminal 32 and the direction of the operation direction reference Bo substantially coincide. Therefore, on the terminal side display device 41, as shown in FIG. 6, an image i photographed by the camera 9b is opposite to the direction D1 projected on the horizontal plane of the remote operation terminal 32 with respect to the tip of the boom 9 in the image i. The direction and the direction of the operation direction reference Bo are displayed so as to coincide with each other. As a result, the terminal-side display device 41 displays the image i in accordance with the extending direction of the boom 9 as viewed from the operator's position regardless of the extending direction of the boom 9.

  Next, control of the crane apparatus 6 by the remote operation terminal 32 is demonstrated using FIG. As shown in FIG. 7, as the tilting operation of the suspended load moving operation tool 35 of the remote operation terminal 32 in one direction, one direction (rightward from the operation direction reference Bo that is the direction of the arrow Aa of the suspended load moving operation tool 35. When the tilt operation is performed at the tilt angle θ2 in the rotation direction (see the arrow), the terminal-side control device 43 determines the tilt angle θ2 and the tilt amount that are the angles of the operation stick tilted in one direction from the operation direction reference Bo. An operation signal is acquired from a sensor (not shown) of the suspended load moving operation tool 35. Furthermore, the terminal-side control device 43 calculates a moving speed according to the moving direction and the tilt amount of the luggage W from the acquired operation signal, and converts them into a control signal. The control signal is a control signal of the turning valve 23, the expansion / contraction valve 24, the hoisting valve 25, the main valve 26m, and the sub valve 26s. Then, the remote operation terminal 32 transmits a control signal to the communication device 22 by the terminal side communication device 42.

  In response to this, the control device 31 moves the load W according to the control signal (see the black arrow). That is, the crane 1 moves the load W based on the operation direction reference Bo and the tilt direction θ2 of the suspended load movement operation tool 35. Thus, the crane 1 conveys the load W in the same direction as the tilting operation direction of the suspended load movement operation tool 35. Therefore, the operator of the remote operation terminal 32 only has to tilt the suspended load moving operation tool 35 in the direction in which the load W is to be moved. Therefore, the erroneous operation at the time of remote operation of the crane apparatus 6 can be suppressed, and the remote operation of the crane apparatus 6 can be facilitated.

  Note that the operation of the control device 31 and the operation of the terminal-side control device 43 in the above embodiment are examples, and the operation direction reference Bo and each control signal are calculated by either the control device 31 or the terminal-side control device 43. May be. For example, the terminal-side control device 43 may calculate the operation direction reference Bo based on the camera angle θc. Further, for example, in the above-described embodiment, the terminal side control device 43 is configured to calculate control signals for the expansion / contraction valve 24, the hoisting valve 25, the main valve 26m, and the sub valve 26s, but the control device 31 is suspended. These control signals may be calculated from the operation signal of the load movement operating tool 35.

  In the above embodiment, the camera 9b is configured to rotate. Alternatively, a configuration using an omnidirectional camera (360 ° camera) capable of photographing all directions at once can be used. In this case, the control device 31 analyzes the omnidirectional image captured by the omnidirectional camera and identifies the remote operation terminal 32. Next, the control device 31 acquires the angle of the remote operation terminal 32 with respect to the extending direction projected onto the horizontal plane of the boom 9 on the omnidirectional image (corresponding to the angle θc in FIG. 5B). And the control apparatus 31 calculates the direction D1 projected on the horizontal surface of the remote control terminal 32 with respect to the front-end | tip of the boom 9 based on angle (theta) c.

  In the above embodiment, the camera 9b provided at the tip of the boom 9 is used as a sensor for detecting the remote operation terminal 32, but a camera provided in the vehicle 2, a radar provided in the vehicle 2, The communication device 22 described above can also be used. In the following, a description will be given of a mode using a travel assist camera provided in a vehicle as a first modification, an obstacle detection radar provided in the vehicle 2 as a second modification, and a communication device 22 as a third modification. .

  First, the first modification will be described. FIG. 8 is a plan view of the vehicle 2 of the first modification. A travel assisting camera 2 a is provided on each of the front, rear, left and right side surfaces of the vehicle 2 to photograph the surroundings. When the vehicle 2 travels, an image captured by the travel assisting camera 2a is displayed on a display device (not shown) in the cabin 17, so that the driver in the cabin 17 cannot see the surroundings of the vehicle 2 Can be grasped. Moreover, you may make it synthesize | combine and display the bird's-eye view image which looked down at the vehicle 2 from the image of the four driving assistance cameras 2a.

  At the time of remote operation of the crane device 6, the control device 31 analyzes the image captured by the travel assisting camera 2 a to identify the remote operation terminal 32, and viewed the remote operation terminal 32 from the travel assisting camera 2 a. The angle θd and the distance F1 of the remote operation terminal 32 are calculated. Next, the control device 31 projects the direction projected on the horizontal plane of the remote operation terminal 32 with respect to the tip of the boom 9 based on the position of the travel assisting camera 2a that captured the remote operation terminal 32 and the position of the GNSS receiver 30. D1 is calculated. Thereafter, the same processing as in the above embodiment is performed. Thus, the driving assistance camera 2a can be used as a sensor for detecting the remote operation terminal 32.

  Next, a second modification will be described. FIG. 9 is a plan view of the vehicle 2 of the second modified example. Obstacle detection radars 2b for detecting surrounding obstacles are provided at the front, rear, left and right corners of the vehicle 2, respectively. When the vehicle 2 travels, the obstacle detection radar 2b detects obstacles around the vehicle 2, and the control device 31 outputs a warning when there is a possibility of collision with the detected obstacle, and the inside of the cabin is detected. Notify the pilot.

  During remote operation of the crane device 6, the control device 31 analyzes the detection data detected by the obstacle detection radar 2 b to identify the remote operation terminal 32, and detects the obstacle operation radar 2 b that detects the remote operation terminal 32. The angle θe and the distance F2 of the remote control terminal 32 viewed from the above are calculated. Next, the control device 31 is projected onto the horizontal plane of the remote control terminal 32 with respect to the tip of the boom 9 based on the position of the obstacle detection radar 2b that has detected the remote control terminal 32 and the position of the GNSS receiver 30. The direction D1 is calculated. Thereafter, the same processing as in the above embodiment is performed. In this manner, the obstacle detection radar 2b can be used as a sensor for detecting the remote operation terminal 32.

  Next, a third modification will be described. At the time of remote operation of the crane device 6, the control device 31 calculates the direction and distance of the remote operation terminal 32 by analyzing the distribution data of the received intensity for each direction received by the communication device 22. Next, based on the position of the communication device 22 and the position of the GNSS receiver 30, the control device 31 calculates a direction D1 projected on the horizontal plane of the remote operation terminal 32 with respect to the tip of the boom 9. Thereafter, the same processing as in the above embodiment is performed. As described above, the communication device 22 can also be used as a sensor for detecting the remote operation terminal 32.

1 Crane (work vehicle)
2 Vehicle 2a Travel assist camera (sensor)
2b Radar for obstacle detection (sensor)
6 Crane equipment (work equipment)
9 Boom 9b Camera (sensor)
10a Main hook (hook)
11a Sub hook (hook)
14 Main wire rope (wire rope)
16 Sub-wire rope (wire rope)
22 communication device 31 control device 32 remote operation terminal 35 suspended load movement operation tool (terminal side operation tool)
36 Terminal-side turning tool (terminal-side tool)
37 Terminal side telescopic operating tool (terminal side operating tool)
38m terminal side main drum operation tool (terminal side operation tool)
38s Terminal side sub drum operation tool (Terminal side operation tool)
39 Terminal-side undulation tool (terminal-side tool)
42 Terminal side communication device 43 Terminal side control device Bo Operation direction reference

Claims (7)

A remote control terminal;
A work device remotely operated by the remote operation terminal;
A vehicle that supports the working device;
A sensor,
A work vehicle comprising the work device and a control device for controlling the sensor,
The remote operation terminal includes a terminal side operation tool for remotely operating the work device based on an operation direction reference,
The control device calculates a direction projected on a horizontal plane of the remote operation terminal with respect to the work device from detection data of the sensor, and sets the operation direction reference on a line of the direction. The sensor is a camera;
The work vehicle according to claim 1, wherein the control device identifies the remote operation terminal from an image captured by the camera. The working device includes a boom, a wire rope that extends from the base end side to the tip end side of the boom, and a hook that hangs down from the tip end side of the boom and moves up and down as the wire rope is retracted and extended. And
The work vehicle according to claim 2, wherein the camera is provided near a tip of the boom.   The work vehicle according to claim 1, wherein the sensor is provided in the vehicle.   The work vehicle according to claim 1, wherein the sensor is a radar. A communication device that communicates with the remote control terminal;
The remote control terminal includes a terminal-side communication device that communicates with the communication device,
5. The work vehicle according to claim 1, wherein the sensor is the communication device, and the detection data is distribution data of reception intensity with respect to a direction. A remote operation terminal for remotely operating a work device of a work vehicle,
A terminal side operation tool for remotely operating the work device based on an operation direction reference;
A terminal-side communication device that communicates with a communication device of the work vehicle;
A terminal-side control device that controls the terminal-side operation tool and the terminal-side communication device,
The terminal-side control device calculates a direction projected on a horizontal plane of the remote operation terminal with respect to the work device from detection data of the work vehicle sensor, and sets the operation direction reference on a line of the direction. Remote control terminal.

Images