JP5383121B2 - Wireless heavy equipment remote control system - Google Patents

Description

  The present invention relates to a wireless heavy machine remote operation system for wirelessly operating heavy machines that perform work in a storage facility.

  Conventionally, a bulk material such as coal is supplied from a supply conveyor installed above to form and store a pile of bulk material, and a hopper (dispensing) in which the pile of bulk material is installed at a substantially central portion of the floor of the storage facility A storage facility is known which is discharged by gravity through a device and transported to a loading position by a discharge conveyor connected to a hopper.

  At this time, the bulk material remaining without being discharged by the gravity action remains in a ring shape around the hopper. The bulk material remaining in the shape of the ring is collected (accumulated) into a hopper by a heavy machine such as a shovel car or a bulldozer, and a discharging operation for forcibly discharging from the hopper is performed.

  A bulk material discharge management method in a bulk storage facility has been proposed in which the time required for the forced discharge operation of the bulk material by the heavy machinery can be made short and substantially constant (see, for example, Patent Document 1).

On the other hand, a remote operation system in which an operator remotely operates a heavy machine wirelessly while viewing a captured image captured by a camera has been proposed (see, for example, Patent Document 2 and Patent Document 3).
JP 2001-315969 A JP-A-8-16235 Japanese Patent No. 2628008

  Here, when an operator remotely operates a heavy machine while looking at a photographed image taken by the camera, the storage taken by a plurality of storage facility cameras is used to obtain a necessary image according to the position of the heavy machine and the work content. It is necessary to perform operations such as selecting some of the facility images for display and setting the camera angle and zooming.

  It is very difficult for an operator who remotely operates a heavy machine to simultaneously perform such operations while remotely operating the heavy machine. For this reason, if an operator who remotely operates heavy machinery performs such operations while remotely operating heavy machinery, the remote operation of heavy machinery is significantly hindered, resulting in a significant reduction in the work efficiency of bulk material discharge work by heavy machinery. To do. Therefore, in order to improve working efficiency, a dedicated person for performing such an operation may be required in addition to an operator who remotely operates a heavy machine.

  The present invention has been made to solve the above-described problems. An image display operation for displaying a storage facility image suitable for remotely operating a heavy machine on a display unit while suppressing an obstacle to the remote operation of the heavy machine. An object of the present invention is to provide a wireless heavy equipment remote operation system that can be performed by an operator who remotely operates heavy equipment.

The wireless heavy equipment remote control system according to claim 1 is installed in a storage facility in which bulk materials are stored, and a plurality of storage facility cameras for photographing the storage facility, and a heavy machine that performs work in the storage facility. Based on the work information input from the input unit, an input unit that inputs work information including at least one of the work area of the heavy machine and information on the work content performed by the heavy machine , A control unit that selects one or a plurality of storage facility images photographed by the storage facility camera and displays them on a display unit .

In the wireless heavy equipment remote operation system according to claim 1, one or a plurality of storage facility images taken by the storage facility camera by the control unit based on work information input from an input unit by an operator who remotely operates heavy machinery. Table Shimesuru on the display unit is selected. That is, one or a plurality of storage facility images suitable for remotely operating heavy equipment are automatically displayed on the display unit only by an operator who remotely operates heavy equipment inputting work information.

  Therefore, an operator can perform an image display operation for displaying a captured image suitable for remotely operating the heavy machine on the display unit while suppressing the hindrance to the remote operation of the heavy machine. As a result, even if the operator performs both the image display operation and the heavy machinery operation, a decrease in the work efficiency of the heavy machinery in the storage facility can be suppressed.

In addition, since the work information input by the operator to the input unit includes at least one of the information on the work area of the heavy machinery and the work content performed by the heavy machinery, the storage facility image suitable for remotely operating the heavy machinery is provided. It is accurately selected and displayed on the display.

The wireless heavy equipment remote control system according to claim 2, wherein the storage facility camera that images the storage facility displayed on the display unit based on the work information is based on the work information. At least one of the angle setting and the zoom setting is set.

3. The wireless heavy equipment remote control system according to claim 2 , wherein the storage facility camera for photographing the storage facility displayed on the display unit based on the work information is configured to perform angle setting and zoom setting of the storage facility camera based on the work information. At least one of these is set.

  Therefore, a storage facility image that is more suitable for remotely operating the heavy machinery is displayed on the display unit.

The wireless heavy equipment remote control system according to claim 3 , wherein at least one of the storage facility cameras for photographing the inside of the storage facility displayed on the display unit based on the work information is accompanied by movement of the heavy equipment. Track the heavy machinery.

In the wireless heavy equipment remote control system according to claim 3 , at least one of the storage facility cameras that capture the inside of the storage facility displayed on the display unit based on the work information tracks the heavy equipment as the heavy equipment moves. Therefore, the operability of remote operation of heavy machinery is improved, and as a result, the work efficiency of heavy machinery is improved.

Heavy machinery remote control system according to a radio of claim 4, the input unit is provided with a foot input unit for an operator to enter the work sector information foot.

In the wireless heavy machinery remote operation system according to claim 4 , since the operator can input work information from the foot input unit with his / her foot, hindrance to remote operation of the heavy machinery performed by hand is effectively suppressed, As a result, work efficiency is improved.

Heavy machinery remote control system according to a radio of claim 5, the input unit is provided with an audio input unit for an operator to enter the work sector information by voice.

In the wireless heavy equipment remote operation system according to claim 5 , since the operator can input work information by voice from the voice input unit, it is possible to effectively suppress the hindrance to the heavy equipment remote operation performed by hands and feet. As a result, the work efficiency is improved.

The wireless heavy equipment remote control system according to claim 6 , wherein one or more on-vehicle cameras are mounted on the heavy equipment, and the display unit is an on-vehicle camera photographed by the on-vehicle camera in addition to the storage facility image. Images can also be displayed.

In the wireless heavy-duty remote control system according to claim 6 , since the display unit can display the vehicle-mounted camera image taken by the vehicle-mounted camera in addition to the storage facility image, the operability of remote operation of heavy machinery is improved. As a result, the work efficiency is improved.

The wireless heavy machinery remote control system according to claim 7 , wherein the heavy machinery includes a plurality of the in-vehicle cameras and an arm provided with a work tool at a distal end portion, and is based on a position of the work tool. Then, the vehicle camera is switched, and one or a plurality of vehicle camera images are displayed on the display unit.

In the wireless heavy equipment remote control system according to claim 7 , the in-vehicle camera is switched based on the position of the work tool, and one or a plurality of in-vehicle camera images are selected and displayed on the display unit.

  Therefore, since an appropriate on-vehicle camera image is automatically displayed on the display unit in order to perform the work performed using the work tool, the work efficiency of the work performed using the work tool is improved.

9. The wireless heavy machine remote control system according to claim 8 , wherein the heavy machine is provided with an arm having a work tool at a tip, and the angle setting and zooming of the in-vehicle camera is performed based on the position of the work tool. At least one of the settings is set

In the wireless heavy-duty remote control system according to the eighth aspect , at least one of the angle setting and the zoom setting of the in-vehicle camera is set based on the position of the work tool.

  Therefore, since the on-vehicle camera image is suitable for automatically performing the work performed using the work tool, the work efficiency of the work performed using the work tool is improved.

  As described above, according to the wireless heavy machinery remote operation system of claim 1, the image display operation for displaying the photographed image suitable for remotely operating the heavy machinery on the display unit is performed by the remote operation of the heavy machinery. It has an excellent effect of being able to be performed by the operator while suppressing the hindrance.

According to the wireless heavy machinery remote operation system of claim 2, there is an excellent effect that the storage facility image suitable for remotely operating the heavy machinery is displayed on the display unit.

According to the wireless heavy machinery remote operation system of claim 3 , the operability of the remote operation of the heavy machinery is improved, and as a result, the work efficiency of the heavy machinery can be improved.

According to the wireless heavy equipment remote operation system according to claim 4 , it is possible to effectively prevent the remote operation of the heavy equipment performed by hand effectively, and as a result, the work efficiency can be improved. .

According to the wireless heavy-duty remote control system according to claim 5 , it is possible to effectively suppress the remote operation of the heavy machinery performed with hands and feet, and as a result, it is possible to improve work efficiency. Have

According to the wireless heavy machinery remote operation system of the sixth aspect , the operability of remote operation of heavy machinery is improved, and as a result, there is an excellent effect that work efficiency can be improved.

According to the wireless heavy equipment remote control system according to claim 7 , since the vehicle-mounted camera image suitable for performing work using the work tool is automatically displayed on the display unit, the work tool is used. It has an excellent effect that the work efficiency of the work to be performed can be improved.

According to the wireless heavy machinery remote control system of the eighth aspect , there is an excellent effect that the work efficiency of work performed using the work tool can be improved.

  Hereinafter, an example of an embodiment of a wireless heavy machine remote control system according to the present invention will be described in detail.

  FIG. 1 is a schematic configuration diagram schematically showing an outline of a radio heavy equipment remote control system according to the present invention. As shown in FIG. 1, the storage facility 10 is a silo that stores a bulk material Y such as coal in a storage facility 11. The storage facility 10 includes a housing portion 14 in which steel frames 12 are assembled in a substantially triangular shape. A bulk material charging portion 16 is provided at an upper end portion of the casing portion 14. In addition, a supply conveyor 18 is connected to the input unit 16. On the other hand, a discharge device (hopper) 22 is provided at a substantially central portion of the floor surface 20 of the storage facility 10. In addition, a discharge conveyor 24 is connected to the discharge device 22.

  FIG. 2 is an explanatory diagram illustrating the bulk material storage work and discharge work in the storage facility 10 in order of (A) to (C). In FIG. 2, a storage facility camera to be described later is not shown.

  As shown in FIG. 2A, the bulk material Y such as coal is conveyed by the supply conveyor 18, and the bulk material Y is supplied from the input unit 16. Thereby, the pile of the bulk material Y is formed and stored in the storage facility 11.

  As shown in FIG. 2 (B), the pile of the bulk material Y is discharged by gravity through a discharge device 22 installed at a substantially central portion of the floor surface 20. The discharged bulk material Y is conveyed to the loading position by the discharge conveyor 24.

  As shown in FIG. 2C, the bulk material Y that remains without being discharged by the gravity action remains in a ring shape around the discharge device 22. The bulk material Y remaining in the ring shape is collected (accumulated) to the discharge device 22 by a heavy machine, in this embodiment, the bulldozer 80 and the shovel car 90, and discharged forcibly discharged from the discharge device 22. Work is performed (see also FIG. 1).

  As shown in FIG. 1, the bulldozer 80 and the excavator 90 that perform the payout operation in the storage facility 11 are not manned operations that the operator gets on and operate, but an operation room installed outside the storage facility 10. The remote control is performed by the operator from 50 (in this embodiment, wireless operation).

  In the storage facility 11, a photographed image of the storage facility 11 viewed by the operator when the bulldozer 80 and the excavator 90 are remotely operated from outside the storage facility 10, that is, a storage facility image (see FIG. 7, details will be described later). A number of storage facility cameras are installed to take pictures.

  In this embodiment, a total of ten storage facility cameras are installed in the following locations (see FIGS. 1 and 3). This is merely an example, and the number and location of storage facility cameras installed in the storage facility 11 are not limited to the following. FIG. 3 is a plan view schematically showing the installation location of the storage facility camera.

(1) Storage facility camera 102 fixed to the lower surface of the insertion portion 16 in the ceiling portion (top).
(2) Storage facility cameras 112 and 114 fixed to the steel frame 12 having a height of about 25 m.
(3) Storage facility cameras 122, 124, 126, 128 fixed to the steel frame 12 near a height of about 10 m to 15
(4) Storage facility cameras 132, 134, 136 fixed to the steel frame 12 with a height of about 5 m.

  In addition, all the storage facility cameras 102 to 136 described above can be rotated up and down (tilt) and rotated left and right (pan), that is, have an angle setting function and can shoot in an arbitrary direction. It is said that. Further, all the storage facility cameras 102 to 136 have a zoom function (zoom up and zoom down).

  4A is a side view showing the excavator 90, and FIG. 4B is a top view. The arrow FR indicates the vehicle front side, the arrow UP indicates the vehicle upper side, and the arrow OUT indicates the vehicle width direction outer side.

As shown in FIG. 4, the excavator 90 has an in-vehicle camera image that the operator sees when remotely operating the excavator 90 from outside the storage facility 10 (see screen C in FIG. 7A, details will be described later). In-vehicle cameras 92 and 94 for taking pictures are mounted.

  The in-vehicle cameras 92 and 94 are mounted on the upper part of the vehicle interior 91 of the upper swing body 97 of the excavator 90. Further, an arm 95 composed of an arm 95A and an arm 95B is provided at the vehicle front portion of the upper swing body 97 of the excavator 90, and a bucket 96 for scooping bulk material is provided at the tip of the arm 95B. ing. Moreover, the part turning body can turn 360 degrees.

  The upper vehicle-mounted camera 92 captures the front side (see S1) of the excavator car 90, and can be rotated up and down (tilt) and rotated left and right (pan). In other words, it has an angle setting function, and is optional. It is possible to take a picture in the direction of, and further has a zoom function (zoom up and zoom down). In addition, a normal lens (W1 in the figure) and a wide-angle lens (W2 in the figure) can be switched.

  On the other hand, the in-vehicle camera 94 on the lower side performs shooting in order to always visually recognize the lower side of the excavator car 90 (see the feet, S2). Therefore, in this embodiment, this vehicle-mounted camera 94 does not have an angle setting function and a zoom function.

  In the present embodiment, the in-vehicle camera is not mounted on the bulldozer 80 (see FIGS. 1 and 2C). This is because the bulldozer 80 is provided with a movable large blade (soil removal board) 86 on the front surface, and even if an in-vehicle camera is mounted, the photographed image (in-vehicle camera image) on the front side is abbreviated as the blade 86. This is because it hides. In the present embodiment, the bulldozer 80 is not equipped with an in-vehicle camera, but may be devised so as not to hide the captured image (in-vehicle camera image) on the front side with the blade 86.

  As shown in FIG. 1, an operation room 50 is installed outside the storage facility 10. In the operation room 50, a large display screen 202 (display) that can display the storage facility image captured by the storage facility cameras 102 to 136 and the in-vehicle camera images captured by the in-vehicle cameras 92 and 94. Display device 200 is installed (see also FIGS. 5 and 7). In the present embodiment, four screens A to D are displayed on the display screen 202 (see also FIG. 7). On the front side (display screen 202 side) of the display device 200, a heavy machine operating unit that operates heavy machines, a bulldozer operating unit 180 that remotely operates the bulldozer 80 in this embodiment, and a shovel car that remotely operates the excavator 90. An operation unit 190 (see also FIG. 5) is provided.

  The storage facility cameras 102 to 136 installed in the storage facility 11 are connected to the control unit 60 installed in the operation room 50 by wire via the image signal converter 40 and the distributor 42. The control unit 60 is connected to the display device 200, the input device 250 (described later), the bulldozer operation unit 180, and the shovel car operation unit 190.

  The bulldozer 80 is provided with a transmitter / receiver 88, and the excavator 90 is provided with a transmitter / receiver 98. In the storage facility 11, a transceiver 44 that is wirelessly communicated with these transceivers 88 and 98 is installed. The transceiver 44 is connected to the control unit 60 via a distributor 42 via a wired LAN. In order to enable good wireless communication in the entire area of the storage facility 11 and to enable good wireless communication without depending on the orientation of the bulldozer 80 and the excavator 90, the transceivers 44, 88, 89 A diversity antenna is used.

  In the present embodiment, the control unit 60 is connected by wire and wireless, but is not limited to this. Any connection method may be used. For example, all may be connected by wire, or all may be connected by radio.

  In addition, the control unit 60 controls the entire heavy-duty remote operation system by wireless according to the present embodiment. The control unit 60 includes a control circuit including a CPU, a RAM, a ROM, and the like, for example. Various programs and various information (such as preset data described later) are stored in advance in the ROM.

  Next, the excavator operation unit 190 for remotely operating the excavator 90 will be described.

  FIG. 5 is a perspective view showing the excavator operation unit 190 and the display device 200. As shown in FIG. 5, operation levers 194R and 194L are arranged on the left and right front sides of a seat 192 on which an operator is seated, and operation pedals (not shown) such as a brake and an accelerator are arranged at the feet. Then, the operator operates the operation levers 194R and 194L and an operation pedal (not shown) mainly while viewing the captured image displayed on the display screen 202 of the display device 200, thereby remotely operating the excavator 90 by radio. It is a system. In addition, an operation panel 196 provided with various buttons for performing various operations and a monitor for displaying various information sent from the excavator 90 and the like is disposed forward and diagonally to the right.

  Further, an input device 250 as an input unit for inputting work information (details will be described later) is installed at the foot. The input device 250 is provided with a plurality of input pedals 252 that an operator steps on with his / her foot.

  The basic configuration of the bulldozer operation unit 180 (see FIG. 1) for remotely operating the bulldozer 80 is the same as that of the excavator operation unit 190, and thus detailed description thereof is omitted.

  Now, as shown in FIG. 1 and FIG. 2 (C), the pile of the bulk material Y that is not discharged by the gravitational action and remains in the shape of a ring around the discharge device 22 is removed by the bulldozer 80 and the shovel car 90. The discharging operation for forcibly discharging (accumulating) the bulk material Y collected (accumulated) on the discharge device 22 from the discharge device 22 is the same operation every time.

  Specifically, in the storage facility 10 of the present embodiment, the following six operations shown in FIG. 6 are summarized. In addition, FIG. 6 is explanatory drawing explaining six work to (A)-(F) in order.

(1) Approach road construction work performed by bulldozer 80 shown in FIG. 6 (A) (2) Summit excavation work performed by excavator 90 shown in FIG. 6 (B) (3) FIG. 6 (C) The top dosing work performed by the bulldozer 80 shown in FIG. 6 (4) The slope digging work performed by the shovel car 90 shown in FIG. 6D. (5) The method performed by the bulldozer 80 shown in FIG. Surface dosing work (6) Scooping work performed by an excavator 90 shown in FIG. 6 (F)

  In FIG. 6, only the payout work of only the substantially right half in the figure of the pile of the bulk material Y remaining in the ring shape is illustrated, but the same work is performed in the same order in the left half. 6 (A) to 6 (F) are only examples of operations to be summarized in the present embodiment, and are not limited to these operations.

  As described above, in the storage facility 10 of the present embodiment, since the following six operations shown in FIG. 6 are combined, an image suitable for remotely controlling the bulldozer 80 and the excavator 90 (display screen of the display device 200) The image to be displayed on 202 can be determined if the work area and work contents where the bulldozer 80 and the excavator 90 work are determined.

  Therefore, in the wireless heavy machinery remote control system of this embodiment, when the operator inputs work information (work area and work content) by stepping on the input pedal 252 (FIG. 5) from the input device 250, the work information is included in the work information. Based on this, the control unit 60 (see FIG. 1) selects some of the plurality of storage facility images captured by the plurality of storage facility cameras 102 to 136, and displays screens A to D (FIG. 1) of the display screen 202 of the display device 200. 5)).

  6A to 6F, the black circles (●) indicate the selected storage facility cameras 102 to 136 in each work (the white circles (◯) indicate the storage facility cameras that were not selected). Shown).

  Furthermore, the control unit 60 (see FIG. 1) stores the storage facility cameras 102 to 136 that capture the selected storage facility image based on the work information input by the operator (the storage facility cameras of the black circles (●) in FIG. 6). ) Angle setting and zoom setting. More specifically, the bulldozer 80 or the excavator 90 is set to an appropriate angle by rotating the storage facility cameras 102 to 136 up and down and left and right so that it appears in the approximate center of the screen, and appears in an appropriate size. Zoom up or down. The appropriate angle and zoom are determined based on preset data (details will be described later) stored in advance in this embodiment.

  Since the camera settings (angle setting and zoom setting) are made in this way, the displayed storage facility images (screen A to screen D, see FIG. 1) can be used to remotely control the bulldozer 80 or the shovel car 90. A suitable storage facility image.

  Furthermore, when working with the shovel car 90, the in-vehicle camera images taken by the in-vehicle cameras 92 and 94 are added to the storage facility image and displayed on any of the screens A to D of the display screen 202 of the display device 200. (In this embodiment, screen C in FIG. 7).

  Here, FIG. 7A shows an example of the display screen 202 when the excavator 90 is remotely operated. FIG. 7B shows an example of the display screen 202 when the bulldozer 80 is remotely operated.

  Specifically, screen A in FIG. 7A displays a necessary work area in an enlarged manner. This storage facility image is a captured image that can be viewed by enlarging the movable excavator 90 (15 times or more of screen B to be described later), and observes the unevenness of the bulk material Y in detail. In particular, in a storage facility image (screen D to be described later in this example) of a storage facility camera that is photographed from another side such as an excavation hole, it is possible to visually recognize a place (part) that cannot be viewed and obtain information. The image (storage facility camera) is rotated and zoomed up or down by inputting work information.

  Screen B is a storage facility image taken by the ceiling storage facility camera 102 (see FIG. 1), and displays an overall plan view image. Since the image A (storage facility camera) described above is rotated, zoomed up, or zoomed down based on the work information, it may be difficult for the operator to grasp the entire work position (the operator may be confused). ). The main purpose of this screen B is to eliminate this. Basically, by always shooting at the same angle and the same size, other heavy equipment (in this embodiment, bulldozer 80), walls, etc. Figure out the distance. Further, the distribution of the entire bulk material can be grasped quantitatively.

  Screen C displays the in-vehicle camera video. The movement of the excavator 90, the amount of the bulk material Y inserted by the bucket 96, and the like are visually confirmed at a short distance by the image taken by the upper vehicle-mounted camera 92 (see FIG. 4). Further, during traveling, the traveling road surface is confirmed by switching to the lower in-vehicle camera 94 (see FIG. 4). This switching may be switched by the operator depressing the corresponding input pedal 252, or may be switched automatically when the accelerator (not shown) is started to advance.

  Further, the upper in-vehicle camera 92 and the in-vehicle camera 94 are switched according to the position of the bucket 96. Furthermore, in the case of the upper in-vehicle camera 92, the angle setting and the zoom setting are performed according to the position of the bucket 96. That is, for example, the bucket 96 is always displayed at a predetermined size in the center portion of the screen (the bucket 96 is optimally displayed) so that the bucket 96 can be easily squeezed with the bucket 96.

  Note that any method may be used to detect the position of the bucket 96. As an example, as shown in FIG. 4, the angle θ1 between the arm 95A and the upper swing body 97 and the angle θ2 between the arm 95A and the arm 95B are measured, and the position of the bucket 96 is obtained from each angle. Can do.

  Further, when the upper turning body 97 turns, it is possible to grasp the turning destination more reliably by automatically switching the upper in-vehicle camera 92 to the wide-angle lens (W2) simultaneously with turning. Alternatively, an in-vehicle camera (illustrated) that captures the installed lateral direction (direction along the vehicle width direction) in a place other than the upper turning body 97 (a place where the upper turning body 97 does not turn even if it turns). When turning, it automatically switches to the in-vehicle camera image of the in-vehicle camera (not shown) facing the turning direction, and automatically returns to the in-vehicle camera image of the in-vehicle camera 92 when the turning is completed. Also good. Alternatively, the vehicle-mounted camera 92 may be controlled to always take a fixed point image of a predetermined position of the turning destination after the vehicle-mounted camera 92 is rotated by a predetermined angle in the turning direction simultaneously with the turning.

  Note that the operator can manually switch between the in-vehicle camera 92 and the in-vehicle camera 94, zoom and angle adjustment, or switch between the normal lens (W1) and the wide-angle lens (W2).

  Screen D displays an image of the optimal siege. For example, in the shovel car 90 of this example, since the operation from the 45 ° azimuth direction at the front is the most efficient, an image from this azimuth is displayed. This image (storage facility camera) is rotated and zoomed up or down by inputting work information.

  A screen A in FIG. 7B is a storage facility image taken by the storage facility camera 102 (see FIG. 1) on the same ceiling as the screen B in FIG. 7A, and displays an overall plan view image. Further, the screen B is the same as the image A in FIG.

  Screen C displays an image from the front side of bulldozer 80. The situation on the front side of the blade 86 at the start of forward movement is displayed.

  The screen D displays an optimal image from the rear or side of the bulldozer 80. For example, when moving forward, the image is taken from the side where the excavation depth of the blade 86 can be visually recognized, and when moving backward such as when scooping up, the image from the rear is provided.

  In the present embodiment, the large display screen 202 is divided into four, and four storage facility images (and in-vehicle camera images) of the screens A to D are displayed. However, it is possible to display five or more storage facility images (and in-vehicle camera images) by dividing into five or more, or three or less, or one. Alternatively, instead of dividing the large display screen 202 and displaying a plurality of images, a display device having a plurality of display screens may be used. In other words, the display unit may be composed of a plurality of display screens.

  Next, an example of a work procedure of a payout operation performed by remotely operating the bulldozer 80 or the excavator 90 shown in FIGS. 1, 2C, and 6A to 6F is shown in a flowchart 500 of FIG. This will be described in detail.

  As shown in the flowchart 500, the work is first started in step 502, and the work area and the work content are input in step 504. At this time, for example, in the case of FIG. 6A, the operator inputs the work area by stepping on the input pedal 252 (see FIG. 5) corresponding to “near entrance”, and corresponds to “entrance road construction work”. The work content is input by stepping on the input pedal 252 (see FIG. 5).

  Based on the work information (work area and work content) input in step 506, storage facility image selection (photographing camera selection) and camera settings are performed and displayed. For example, as shown in FIG. 7, screens A to D are displayed on the display screen 202.

  In step 508, the heavy equipment, in this case, the bulldozer 80, is operated remotely according to a predetermined work procedure, and in step 510, the completion of the approach road construction work is confirmed.

  If it is determined in step 510 that the approach road construction work has not been completed, the process proceeds to step 514. In step 514, it is confirmed whether or not the heavy machine, in this case, the bulldozer 80 is likely to be out of frame from the screen. Otherwise, the process returns to step 508 to continue the operation. If the frame is likely to be out, the process proceeds to step 516.

  In step 516, it is confirmed whether or not the movement is “return to the original location” (details will be described later). If it is not “return to the original location”, the process proceeds to step 518, and the “progress” input pedal 252 (see FIG. 5) is depressed. Then, the process returns to step 506, and the storage facility image and camera settings (rotation, etc.) that are not out of frame are performed. That is, the storage facility image (storage facility camera) displayed on the screen B or the screen D is switched or the storage facility camera is set (angle setting and zoom setting) so as not to be out of the frame. Then, the process proceeds to step 508 to perform work.

  If the movement is “return to original location” in step 516, the process proceeds to step 522. Here, “return to the original location” means a case in which “forward” is selected in step 518 and the heavy equipment (in this case, the bulldozer 80) moves and then returns to the original location (position) for work. Sure. For example, there is a case where the bulk material Y is moved forward by the bulldozer 80 and then moved backward to return to the original place (position).

  In step 520, the "return" input pedal 252 (see FIG. 5) is depressed. As a result, the process returns to step 506 to switch to the original storage facility camera (storage facility image) and perform camera settings (angle setting and zoom setting). Then, the process proceeds to step 508 to perform work.

  If it is determined in step 510 that the approach road construction work has not been completed, the process proceeds to step 514 again. On the other hand, if the approach road construction work is completed, the process proceeds from step 510 to step 512 to finish the work, and in the next work, in this example, the excavation work of the summit portion performed by the shovel car 90 shown in FIG. move on. Similarly, the work area and the work content are input.

  Here, at least one of the selected storage facility cameras may automatically track the moving bulldozer 80 or excavator 90 as the bulldozer 80 or excavator 90 moves. Here, the storage facility camera that captures the screen C and the screen D may automatically track the bulldozer 80 or the excavator 90.

  Specifically, as shown in FIG. 9A, the control unit 60 (see FIG. 1) tracks the bulldozer 80 or the excavator 90 on the screen by image processing and reaches the set limit line G. As shown in FIG. 9B, the vertical and horizontal angles of the storage facility camera are automatically adjusted so that the position is substantially the center of the screen. Since the plane position in the screen is always detected by image processing, the angle adjustment value of the storage facility camera is calculated from the position data, and the vertical and horizontal angles of the storage facility camera are adjusted based on the adjustment value. It is possible.

  Note that the above-described automatic tracking method using image processing is an example, and the present invention is not limited to this. Automatic tracking may be performed by other methods. For example, a GPS receiver may be mounted on the bulldozer 80 and the excavator 90 to grasp the current position, and the angle of the storage camera may be automatically adjusted based on the current position data.

  Then, by performing such automatic tracking, the operations in steps 514 to 522 in the flowchart 500 of FIG. 8 can be omitted or the number of operations can be reduced.

  The work in the bulldozer 80 has a longer transport distance of the bulk material Y than the shovel car 90 and frequently moves (reciprocates). Therefore, since the operation becomes complicated, such automatic tracking is particularly effective.

  Note that the storage facility image selection (camera selection) and camera setting operation (angle setting and zoom setting) can also be performed manually by the operation panel 196 (see FIG. 5), for example.

  In addition, the storage unit image selection (photographing camera selection) and camera settings (angle setting and zoom setting) to be displayed are stored in advance in the control unit 60 as preset data, and work information is input as described above. Then, the control unit 60 performs selection of the storage facility image to be displayed (selection of the photographing camera) and camera setting (angle setting and zoom setting) based on the preset data.

  Therefore, an example of a method for creating preset data to be stored in advance will be described next.

  First, a standard preset data is created by selecting a storage facility image to be displayed manually while actually performing the operation (selecting a photographing camera) and setting a camera. The preset data is stored and used.

  Furthermore, more accurate and highly efficient preset data may be created by finely adjusting camera settings and the like while performing operations using the standard preset data. Further, standard preset data may be customized for each operator.

  The preset data may be stored in the control unit 60 or, for example, preset data customized for each operator may be stored in a storage medium, for example, a USB memory, and before the work starts. You may make it connect and use to the control part 60. FIG.

  Next, the operation of this embodiment will be described.

  As explained so far, with a simple operation of inputting work information (work area and work content), selection of storage facility images to be displayed (selection of shooting camera) and camera settings (angle setting and zoom setting) The operator can easily carry out almost simultaneously in parallel. In other words, even if the operator performs both the image display operation and the remote operation of the bulldozer 80 or the shovel car 90, the payout work by the bulldozer 80 and the shovel car 90 in the storage facility 11 (FIGS. 1 and 2) C) and FIG. 6) can be prevented from lowering the work efficiency.

  Further, since both the work area and the work content are inputted as work information input by the operator, a storage facility image suitable for remotely operating the bulldozer 80 or the shovel car 90 is accurately selected and displayed. Is displayed.

  Further, the angle setting and zoom setting of the storage facility camera are automatically set based on the input work information. That is, a storage facility image for photographing the storage facility 10 is automatically selected and displayed only by an operator who remotely operates the bulldozer 80 or the shovel car 90, and the angle setting of the storage facility camera is performed. The zoom setting is set automatically.

  Accordingly, the selected storage facility image becomes a storage facility image more suitable for remotely operating the bulldozer 80 or the excavator 90.

  In addition, since at least one of the storage facility cameras automatically tracks the bulldozer 80 or the excavator 90 as the bulldozer 80 or the excavator 90 moves, the operability of the remote operation of the bulldozer 80 or the excavator 90 is improved. As a result, the work efficiency is improved.

  Further, since work information is input by the operator depressing the input pedal 252, in this embodiment, which is performed by hand, remote control of the bulldozer 80 and the excavator 90 using the operation levers 194R and 194 (see FIG. 5) is performed. The hindrance is effectively suppressed, and as a result, work efficiency is improved.

  Further, the upper in-vehicle camera 92 and the in-vehicle camera 94 are switched according to the position of the bucket 96 of the excavator 90. Further, in the case of the upper vehicle-mounted camera 92, the angle setting and zoom setting of the vehicle-mounted camera are further made according to the position of the bucket 96. That is, for example, the bucket 96 is always displayed at a predetermined size at the center of the screen so that the bucket 96 can be easily squeezed with the bucket 96.

  Therefore, since the vehicle-mounted camera image suitable for carrying out the work of picking up the bulk material Y with the bucket 96 of the excavator 90 is automatically selected and displayed, the work efficiency of the work of picking up the bulk material is improved.

  Further, when the upper swing body 97 of the excavator car 90 rotates, the upper vehicle-mounted camera 92 is automatically switched to the wide-angle lens (W2), so that the turn destination can be grasped more reliably. 90 remote operations can be performed smoothly (operability is improved).

  Next, a modification of the input device of this embodiment will be described.

  As shown in FIG. 10, in the modification of the present embodiment, the input device is provided with a microphone 350 for voice input. The microphone 350 is provided at the tip of a flexible arm 352 extending from the back side of the seat back 193. The flexible arm 352 can be bent and deformed so that the operator can place the microphone 350 at his / her mouth.

  The operator inputs a voice toward the microphone 350 by, for example, “entrance” and “entrance road construction work”. The control unit 60 (see FIG. 1) converts the input voice into character information by analyzing the input voice using a voice recognition program and converting it into character data. Based on this work information, image selection and camera setting are performed in the same manner.

  In addition, by inputting work information by voice in this way, the hindrance to remote operation of heavy machinery performed by an operator with hands and feet is effectively suppressed, and as a result, work efficiency is further improved.

  Further, the operator may manually input work information from the operation panel 196 (see FIG. 3).

  As an input unit for the operator to input work information, a microphone (speech input unit) for inputting by voice, an input pendal (foot input unit) for inputting by foot, or manual input from operation panel 196, either Not only one but any two or all three may be provided.

  Here, the operator remotely controls the excavator 90 and the bulldozer 80 while looking at the captured image displayed on the display screen 202 of the display device 200. However, there are cases where the remote operation cannot be performed sufficiently efficiently just by looking at the captured image displayed on the display screen 202 of the display device 200. Therefore, in order to operate the excavator 90 and the bulldozer 80 more effectively remotely, an auxiliary system and apparatus will be described.

  The operator confirms the postures (tilts) of the excavator 90 and the bulldozer 80 from the captured image displayed on the display screen 202 of the display device 200. However, unlike the case where the operator is riding and operating on the excavator 90 and the bulldozer 80, the operator cannot grasp the posture by the sense of parallelism. Therefore, first, an embodiment in which an operator is provided with a system for easily and reliably recognizing the postures of the excavator 90 and the bulldozer 80 will be described. Since the configuration is the same except for a system in which the operator easily and surely recognizes the posture of the excavator 90 and the bulldozer 80, other description is omitted.

  The excavator 90 is equipped with a measuring instrument 99 (see FIG. 4B) that can measure the attitude of the vehicle. A similar measuring instrument 99 is mounted on the bulldozer 80 as well. The measuring instrument 99 of this embodiment is an inertial measuring device with high responsiveness, measures the behavior of the XYZ three axes of the excavator 90 and the bulldozer 80, and the acceleration, angular velocity, and XY axes of the XYZ three axes (roll, pitch, yaw). Measure the angle of (roll, pitch).

  Then, the measurement results of the measuring instrument 99 mounted on the excavator 90 and the bulldozer 80 are transmitted from the transceivers 88 and 98, and numerical values, graphs, or image diagrams (see FIG. 15) are displayed on the operation panel 196 (see FIG. 5). ), The operator recognizes the postures of the excavator 90 and the bulldozer 80. That is, the operator can easily and accurately recognize the posture (tilt) of the excavator 90 and the bulldozer 80 as compared with the case where the operator recognizes by looking only at the captured image displayed on the display screen 202 of the display device 200. it can. As a result, the excavator 90 and the bulldozer 80 can be remotely operated more efficiently.

Since the posture (inclination) of the excavator 90 and the bulldozer 80 can be accurately grasped, the excavator 90 and the bulldozer 80 can be prevented from falling over due to excessive inclination. In addition, when the preset angle or angular velocity is reached (when the inclination is too high), it is possible to further reliably prevent the excavator 90 and the bulldozer 80 from falling over by sounding an alarm or the like.

  The measurement result of the measuring instrument may be displayed on a screen other than the operation panel 196. For example, a dedicated display panel (not shown) may be provided on the excavator operation unit 190 and the bulldozer operation unit 180 for display. Or you may display on the display screen 202 of the display apparatus 200, and you may provide and display the display panel 200 by providing a display panel (not shown) for exclusive use.

  When there is an entry prohibition area where entry of the excavator 90 and the bulldozer 80 is prohibited, it is necessary for the operator to confirm the entry prohibition area with certainty. However, there are cases where it is difficult to recognize the entry prohibition area in the captured image displayed on the display screen 202 of the display device 200. Therefore, next, an embodiment provided with an entry prevention device for preventing the excavator 90 and the bulldozer 80 from entering the entry prohibited area will be described. In addition, since it is the same structure except an intrusion prevention apparatus, description other than an intrusion prevention apparatus is abbreviate | omitted.

  FIG. 11 is a schematic diagram schematically showing an outline of the illumination device 300 as the first entry preventing device. As shown in FIG. 11, an illumination device 300 that emits the light beam LB downward is fixed to the lower surface of the input portion 16 of the ceiling portion (top portion). In the present embodiment, the illumination device 300 is an explosion-proof type, and the emitted light beam LB is narrowed by a Fresnel lens. Then, the light beam LB emitted from the lighting device 300 irradiates the surface of the bulk material Y on the discharge device 22 provided at the substantially central portion of the floor surface 20 of the storage facility 10.

  Thereby, the operator can easily recognize the entry prohibition area in which the discharge device 22 is embedded, and as a result, the shovel car 90 and the bulldozer 80 can prevent the entry into the discharge device 22.

  In addition, in FIG. 11, although it irradiated with one light beam LB, it is not limited to this. For example, when the embedded object is large, irradiation may be performed with a plurality of light beams. Moreover, although demonstrated by the discharge apparatus 22 as an example as an embedment apparatus embed | buried under the bulk material Y, it is not limited to this. The surface of the bulk material Y on another embedding device may be irradiated with the light beam LB.

  The color of the light beam LB is not particularly limited, but it is desirable that the light in the air is easy to see and the irradiation surface of the bulk material is easy to see.

  FIG. 12 is a schematic view schematically showing an outline of a suspension device 350 as a second intrusion prevention device. As shown in FIG. 12, it is installed on the boundary of the vicinity area 21 (entrance prohibition area) of the outer periphery (steel frame 12) of the storage facility 11. The suspension device 350 is configured such that suspension members 354, 356, and 358 are suspended from the steel frame 12 by a chain 352. The suspension device 350 is installed at a predetermined interval on the outer peripheral edge of the storage facility 11.

  Therefore, the operator can easily recognize the boundary portion of the vicinity area 21 (the entry prohibition area) of the outer peripheral edge of the storage facility 11. Further, when the shovel car 90 (not shown in FIG. 12) and the bulldozer 80 try to enter the end region 21 of the storage facility 11, the shovel car 90 hits the suspended suspension members 354, 356, and 358, and the suspension member 354 356 and 358 are shaken so that the operator can easily recognize them on the display screen 202 of the display device 200. As a result, the shovel car 90 and the bulldozer 80 are prevented from colliding with the steel frame 12.

  In addition, the surface of the suspension members 354, 356, and 358 is used as a mirror surface, or a lighting device such as a light emitting diode is provided on the suspension members 354, 356, and 358. The swinging of the portions and the suspension members 354, 356, 358 may be more easily recognized.

  FIG. 13 is a schematic diagram schematically showing an outline of a laser irradiator 452 as a third intrusion prevention device. As shown in FIG. 13, the laser irradiator 452 is fixed to the steel frame 12 and irradiates a laser beam (visible light) LC downward. Therefore, the operator can easily recognize the boundary portion of the end region 21 (entrance prohibited region) in the storage facility 11. As a result, the shovel car 90 and the bulldozer 80 are prevented from colliding with the steel frame 12.

  In addition, by using the laser irradiator 452 as a photoelectric sensor, when the excavator 90 (not shown in FIG. 12) and the bulldozer 80 try to enter the region 21 near the outer peripheral edge of the storage facility 11, they contact the light beam LC. By detecting and sending the detection result to the operation room 50 so that an alarm is generated, the operator can recognize more reliably.

  Moreover, although illustration is abbreviate | omitted, a wire may be stretched and an alarm may be given when it contacts a wire.

  The bulldozer 80 pushes out the bulk material Y in the traveling direction by a movable blade (soil removal plate) 86. At this time, the bulk material Y is leveled uniformly (substantially flat) to a predetermined height, and attention is paid to excessive digging of the bulk material Y (care is taken not to scrape the floor 20). However, in the captured image displayed on the display screen 202 of the display device 200, the height of the blade 86 and the like may be difficult to understand accurately. Therefore, next, an embodiment provided with a leveling device that accurately grasps the height of the blade 86 of the bulldozer 80 and automatically adjusts the height will be described. Since the configuration other than the leveling device is the same, the description other than the leveling device is omitted.

  FIG. 14A is a schematic diagram schematically showing an outline of the leveling device, and FIG. 14B is an enlarged view of the main part of FIG. As shown in FIG. 14, the leveling device 500 includes a laser device 500 and a light receiving sensor 504 as main components. A laser device 502 is fixed to the steel frame 12. A laser beam LD is emitted from the laser device 502 substantially horizontally. That is, the laser beam LD irradiates a predetermined height from the floor surface 20.

  A column 506 is erected on the blade 86 of the bulldozer 80. On the column 506, a light receiving sensor 504 is attached. The position of the light receiving sensor 504 is detected when the laser beam LD hits the light receiving sensor 504, and the position of the blade 86 is detected by detecting the position of the light receiving sensor 504. Thereby, the distance D from the laser beam LD to the lower end portion 86A of the blade 86 is detected. In other words, the height of the lower end portion 86A of the blade 86 (the distance between the lower end portion 86A of the blade 86 and the floor surface 22) is detected.

  The detection result is sent to the bulldozer operation unit 180 (see FIG. 1) in the operation room 50. Then, when the operator operates the operation panel of the operation unit 180 and sets the height of the lower end portion 86A of the blade 86, a blade control unit (not shown) provided separately controls the blade 86 and controls the bulldozer 80. The height of the blade 86 is automatically adjusted.

  As a result, the level of the bulk material Y is automatically leveled to a predetermined height uniformly (substantially flat), and excessive digging of the bulk material Y is prevented.

  In addition, by providing a plurality of light receiving sensors 504, specifically, by providing a plurality of light receiving sensors 504 at intervals in the vehicle width direction of the blade 86 or at intervals in the vehicle front-rear direction, In addition to the height of the blade 86, the angle of the blade 86 (inclination in the vehicle width direction / inclination in the direction after the vehicle war) is also detected. Further, by controlling the blade 86 using the detection result of the angle of the blade 86 in addition to the detection result of the height of the blade 86, leveling can be performed more accurately, and the bulk material Y is more reliably dug. To be prevented.

  The blade controller (not shown) does not automatically operate the blade 86, but the operator may operate the blade 86 based on the height information of the blade 86 or the like.

  In addition, this invention is not limited to the said embodiment.

  For example, in the above embodiment, the heavy machinery working in the storage facility 11 is the bulldozer 80 and the excavator 90, but is not limited thereto. When other heavy equipment is used according to the type of bulk material or the structure of the storage facility, the present invention can be applied to remote operation of the heavy equipment, for example, a dozer shovel or a dump truck.

  For example, in the above embodiment, both the work area and the work content are input as the work information, but the present invention is not limited to this. Either one may be used. Or you may input only the order of work. For example, it may be an operation in which the procedure 1 is set in FIG.

  For example, in the said embodiment, as shown in FIG. 1, although the operation room 50 was installed outside the storage facility 10, it is not limited to this. You may install the operation room in which the dust-proof process was performed in the place which does not prevent the operation | work of a heavy machine in the storage facility 11, for example.

  For example, in the said embodiment, the storage facility 10 which stores a bulk material is described on the assumption that the structure (for example, coal silo) which is not basically opened is closed. In other words, the heavy machinery works in a structure (indoors) where the bagle material is stored indoors. However, the storage facility for storing the bulk material may be an open facility. For example, even when bulk materials are piled up and stored in a site surrounded by a fence or a fence, the storage facility is applicable to the present invention. In other words, the present invention is also applicable to a heavy equipment remote operation system by radio of heavy equipment (bulldozer 80 and excavator 90) that is substantially working outdoors (outdoors) even in a facility.

  Further, for example, in the above embodiment, one pile of bulk material is illustrated in the storage facility, but the present invention is not limited to this. There may be a plurality of piles of bulk material in the storage facility. Moreover, it is not always necessary to store the bagle material in a mountain shape.

It is a schematic block diagram which shows typically the outline | summary of the heavy equipment remote control system by radio | wireless which concerns on this invention. It is explanatory drawing which demonstrated the storage operation | work and discharge operation | work of the bulk material in a storage facility in order to (A)-(C). It is a top view which shows typically the installation place of a storage facility camera. (A) is a side view showing a shovel car, (B) is a top view. It is a perspective view which shows an input device, the shovel car operation part, and a display apparatus. It is explanatory drawing explaining six work performed with a bulldozer and a shovel car to (A)-(F) in order. (A) shows an example of a display screen when the shovel car is remotely operated, and (B) shows an example of a display screen when the bulldozer is remotely operated. It is a flowchart which shows the work procedure of the payout work performed by operating a bulldozer and a shovel car remotely. It is explanatory drawing explaining the automatic tracking of a storage facility camera, (A) is a figure which shows the screen which reached the limit line which the bulldozer or shovel car set on the screen, (B) is the upper, lower, right and left of the storage facility camera It is a figure which shows the screen which adjusted the angle and displayed the bulldozer or the shovel car in the approximate center of the screen. It is a perspective view corresponding to FIG. 5 which shows the modification of an input device. It is a schematic diagram which shows typically the outline | summary of the illuminating device as a 1st approach prevention apparatus. It is a schematic diagram which shows typically the outline | summary of the suspension apparatus as a 2nd approach prevention apparatus. It is a schematic diagram which shows typically the outline | summary of the laser irradiator as a 3rd approach prevention apparatus. (A) is a schematic diagram which shows the outline | summary of a leveling apparatus typically, (B) is the enlarged view to which the principal part of (A) was expanded. It is a schematic diagram which shows the example of the image figure showing the inclination of a heavy machine.

Explanation of symbols

10 Storage Facility 11 Storage Facility 50 Operation Room 60 Control Unit 80 Bulldozer (Heavy Equipment)
90 Excavator car (heavy equipment)
92 In-vehicle camera 94 In-vehicle camera 95 Arm 96 Bucket (work implement)
102 Storage Facility Camera 112 Storage Facility Camera 114 Storage Facility Camera 122 Storage Facility Camera 124 Storage Facility Camera 126 Storage Facility Camera 128 Storage Facility Camera 132 Storage Facility Camera 134 Storage Facility Camera 136 Storage Facility Camera 180 Bulldozer Operation Unit 190 Excavator Operation Unit 200 Display device 202 Display screen (display unit)
250 Input device (input unit)
252 Input pedal (foot input part)
350 Microphone (voice input unit)
Y bulk material

Claims (8)

A plurality of storage facility cameras installed in a storage facility where the bulk material is stored and photographing the storage facility;
An operator that remotely operates a heavy machine that performs work in the storage facility, an input unit that inputs work information including at least one of a work area of the heavy machine and information on a work content performed by the heavy machine ;
Based on the work information input from the input unit, a control unit for selecting one or a plurality of storage facility images photographed by the storage facility camera and displaying them on a display unit;
Wireless heavy equipment remote control system. The storage facility camera for photographing the storage facility to be displayed on the display unit based on the work information,
The wireless heavy equipment remote control system according to claim 1 , wherein at least one of an angle setting and a zoom setting of the storage facility camera is set based on the work information . At least one of the storage facility cameras that images the storage facility displayed on the display unit based on the work information,
The wireless heavy equipment remote operation system according to claim 1 or 2 , wherein the heavy equipment is tracked as the heavy equipment moves . The wireless heavy machinery remote control system according to any one of claims 1 to 3 , wherein the input unit includes a foot input unit through which an operator inputs the work information with a foot . The wireless heavy equipment remote operation system according to any one of claims 1 to 4 , wherein the input unit includes a voice input unit through which an operator inputs the work information by voice . One or more in-vehicle cameras are mounted on the heavy machinery, and the display unit can display an in-vehicle camera image taken by the in-vehicle camera in addition to the storage facility image. 6. A radio heavy equipment remote control system according to any one of claims 5 to 6. The heavy machine is equipped with a plurality of the on-vehicle cameras, and an arm provided with a work tool at the tip part is provided,
The wireless heavy equipment remote control system according to claim 6, wherein the vehicle-mounted camera is switched based on the position of the work tool, and one or a plurality of vehicle-mounted camera images are displayed on the display unit . The heavy machine is provided with an arm provided with a work tool at a tip portion,
The wireless heavy equipment remote control system according to claim 6, wherein at least one of an angle setting and a zoom setting of the in-vehicle camera is set based on a position of the work tool .

Images