JP6202670B2 - Remote control system for work machines - Google Patents

Description

  The present invention relates to a remote control system for a work machine that can remotely control a work machine such as a crane using a touch panel type portable information terminal device.

  2. Description of the Related Art Conventionally, a remote control system is known in which a camera is provided on a robot cart with an arm, a work space is photographed by this camera, and an image photographed by this camera is displayed on a touch panel screen.

In this system, a CG image (computer graphic image) of a robot is synthesized and displayed on an image captured by the camera, and the robot is remotely operated by moving a finger on the screen (see, for example, Patent Document 1). ).

JP 2012-171024 A

  By the way, in work using a work machine, for example, work using a crane, there are operators who operate the crane and so-called slingers who hang luggage on the hooks, and it is convenient if the crane can be remotely operated even on the sling side. It is. Moreover, if the state of a crane can also be confirmed on the side of the rigger, the rigger side can contribute to safety precautions.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a remote control system for a work machine that can remotely control the work machine using a touch panel type portable information terminal device. By the way.

A remote control system for a work machine according to the present invention includes a control unit that controls a control target, a control target information generation unit that generates control target information related to a state of the control target by the control unit, and the control target information transmitted And a work machine main body having a communication unit for receiving remote operation information related to the remote operation of the control target,
A touch panel type operation display screen, a communication unit that receives the control target information and transmits the remote control information, and displays the control target information on the operation display screen and touches the operation display screen. And a control unit that generates the remote operation information by operating the touch panel type portable information terminal device, and the control target information is graphically displayed on the operation display screen. .

According to the present invention, since the control target of the work machine can be remotely operated using a portable information terminal device having a touch panel type operation display screen, the convenience of operation of the work machine is improved.
In particular, according to the invention described in claim 3, since a person other than the operator at the driver's seat, for example, a slinger, can check the control target information related to the control target, it can contribute to the safety of the operator.

  According to the fourth aspect of the present invention, since the work range by the boom can be limited by a remote operation by a person other than the operator at the driver's seat, for example, a slinger, it can contribute to further improvement of the safety of the worker. .

  According to the fifth aspect of the present invention, since the operation lever for remote operation of the boom and winch is graphically displayed on the operation display screen, the complicated control requiring the combined operation of the boom and winch is remotely performed. It can be carried out simply by operation.

  According to the invention described in claim 6, since the control target can be performed by remote operation without touching the operation display screen of the touch panel type portable information terminal device, for example, the slinger raises and lowers the hook. When performing remote operation, it can be performed with one hand, which is convenient.

FIG. 1 is a side view of a mobile crane work vehicle according to a first embodiment of the present invention. FIG. 2 is a block diagram for explaining the work machine remote control system according to the first embodiment of the present invention. FIG. 3 is an explanatory diagram when the control target is remotely operated in the single operation mode using the control target information displayed on the operation display screen of the portable information terminal device shown in FIG. FIG. 4 is an explanatory diagram when the operation range is limited to the control target using the work area line displayed on the operation display screen of FIG. FIG. 5 is an explanatory diagram when the control target is remotely operated in the composite operation mode using the control target information displayed on the operation display screen of the portable information terminal device shown in FIG. FIG. 6 is a diagram for explaining a modification in the case where the control object is remotely operated in the composite operation mode using the control object information displayed on the operation display screen of the portable information terminal device shown in FIG. FIG. 7 is an explanatory diagram of a display screen for operation of the portable information terminal device used in the work machine remote control system according to the second embodiment of the present invention. FIG. 8 is an enlarged view showing a display state in the single operation mode of the operation lever displayed on the operation display screen shown in FIG. FIG. 9 is an explanatory view showing, in an enlarged manner, a display state in the composite operation mode of the operation lever displayed on the operation display screen shown in FIG. FIG. 10 is an explanatory diagram of a display screen for operation of the portable information terminal device used in Example 3 according to the remote control system for work machines of the present invention. FIG. 11 is a diagram for explaining an example of controlling the control target by swinging the portable information terminal device shown in FIG. 10 to the left. FIG. 12 is a diagram for explaining an example when the control target is controlled by swinging the portable information terminal device shown in FIG. 10 to the right. FIG. 13 is a diagram for explaining an example in which the control target information is changed in response to the change of the control target.

Example 1
A working machine remote control system according to a first embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a side view of a mobile crane work vehicle according to a first embodiment of the present invention.

  FIG. 1 and reference numeral 10 indicate a mobile crane work vehicle (hereinafter referred to as a crane) as a work machine. The crane 10 includes a carrier 11 as a work machine body, outriggers 12 and 13, a swivel base 14, a cabin 20, a bracket 15, a telescopic boom 16, and other components. The cabin 20 is provided with a driver's seat.

  The telescopic boom 16 has a base end portion rotatably provided on the bracket 15 via a support shaft 17. The telescopic boom 16 can stand up and down using a cylinder 18 with the support shaft 17 as a pivot point.

  The telescopic boom 16 includes a base boom 16A, an intermediate boom 16B, and a tip boom 16C. The base boom 16A, the intermediate boom 16B, and the tip boom 16C are configured to be nested. The telescopic boom 16 can be expanded and contracted using a cylinder (not shown).

  The tip boom 16C is provided with a sheave (not shown). A wire W is hung on the sheave, and a hook block 19 is suspended from the tip of the wire W. A hook 21 is attached to the hook block 19.

  The wire W can be wound and fed out by a known winch (not shown). An operator (not shown) can operate control targets such as the outriggers 12 and 13, the swivel base 14, the telescopic boom 16, the winch (not shown), the cylinder 18 and the like in the cabin 20 from the driver's seat.

  Below the hook 21, for example, a suspended load Wg is located. An operator or a slinger WM can remotely operate a control target by operating a portable information terminal device SMF described later.

  For example, the slinger WM operates the portable information terminal device SMF, remotely controls the winch, lifts and lowers the hook 21, and thereby hangs a suspended load Wg on the hook 21 or hangs from the hook 21. The work of hanging the load Wg can be performed.

Hereinafter, a remote control system using the portable information terminal device SMF will be described with reference to FIG.
As shown in FIG. 2, the cabin 20 constituting a part of the work machine main body (crane main body) includes a control unit 30 that controls a control target, and control target information related to the state of the control target by the control unit 30. A control target information generation unit 31 that generates S1 and a communication unit 32 that transmits the control target information S1 and receives remote operation information S2 related to the operation of the control target are provided.

  For example, a smartphone or a tablet is used as the portable information terminal device SMF. The portable information terminal device SMF includes an operation display screen 33 as a touch panel type input / output unit shown in FIG. 3, a communication unit 34 that receives control target information S1 and transmits remote operation information S2, and a control target. A control unit 35 that displays the information S1 on the operation display screen 33 and generates the remote operation information S2 by touching and operating the operation display screen 33 is provided.

The control target information generating unit 31 generates control target information S1 related to the state of the control target such as the length of the telescopic boom 16 and the undulation angle of the telescopic boom 16.
The control target information S1 is transmitted from the communication unit 32 to the communication unit 34. The communication unit 34 receives the control target information S1 and transmits it to the control unit 35. The control unit 35 generates CG video data using the control target information S1 by computer graphic means.

And the control part 35 displays control object information S1 on the operation display screen 33 as a graphic image | video with the CG image | video data.
The graphic image includes, for example, a carrier image 11 ′ corresponding to the carrier 11, an outrigger image 13 ′ corresponding to the outrigger 13, a swivel base image 14 ′ corresponding to the swivel base 14, and a boom image 16 ′ corresponding to the telescopic boom 16. A work area line image SG corresponding to the work area line, a wire image W ′ corresponding to the wire W, a hook block image 19 ′ corresponding to the hook block 19, and a hook image 21 ′ corresponding to the hook 21 are included.

On the operation display screen 33, a mode switching button 33B for switching between the single operation mode and the composite operation mode is also displayed.
Here, the single operation mode is a remote operation mode for causing the control target to perform a single operation. For example, the single operation mode such as expansion / contraction of the telescopic boom 16, undulation, turning, hoisting / lowering of the hook 21 is performed. The remote operation mode to be performed.

The composite operation mode is a remote operation mode in which a single control target performs a plurality of operations simultaneously, or a plurality of control targets perform a single operation simultaneously.
For example, in order to move the hook 21 horizontally, the telescopic boom 16 is telescopically extended and the winch is wound up and lowered simultaneously. In the remote operation mode, the tip of the telescopic boom 16 and the hook 21 are horizontally expanded Remote operation mode in which expansion and contraction of the boom 16, hoisting and lowering of the winch, and undulation of the telescopic boom 16 are simultaneously performed. Say the operation mode.

In the single operation mode, on the operation display screen 33, as shown in FIG. 3, the arrows P 1, P 2, P 3, and P 4 are overlapped with the portions corresponding to the images to be controlled together with the images to be controlled or It is displayed beside it.
For example, in FIG. 3, when the arrow P1 is touched with a finger (index finger, middle finger, ring finger), a pen or the like (hereinafter referred to as a finger or the like), and the finger is moved in the direction of the arrow P1, the control unit 35 is controlled. Remote operation information S2 for turning the telescopic boom 16 is generated.

  The remote operation information S2 is transmitted from the communication unit 34 to the communication unit 32, and the control unit 30 performs control for turning the telescopic boom 16 in the direction by the remote operation information S2. That is, control for rotating the swivel base 14 in that direction is performed.

When the arrow P2 is touched with a finger or the like and the finger or the like is moved in the direction of the arrow P2, the control unit 35 generates remote operation information S2 for expanding and contracting the telescopic boom 16 as a control target.
The control unit 30 controls a cylinder (not shown) in order to extend and retract the telescopic boom 16 by the remote operation information S2.

Further, when the arrow P3 is touched with a finger or the like and the finger or the like is moved in the direction of the arrow P3, the control unit 35 generates remote operation information S2 for raising and lowering the telescopic boom 16 as a control target.
The control unit 30 controls the cylinder 18 in order to stand up and down the telescopic boom 16 by this remote operation information S2.

  For example, when the arrow P4 displayed near the hook image 21 'is touched and operated, the control unit 35 generates remote operation information S2 for moving the hook 21 as a control target up and down. The control unit 30 controls the winch winding and unwinding based on the remote operation information S2.

  As shown in FIG. 4, when the control unit 35 is compared with a finger or the like so as to cross the work area line image SG on the operation display screen 33, the telescopic boom 16 in the range Re specified by the finger or the like. The turning operation or undulation operation and expansion / contraction operation are restricted.

  Thus, since the work range by the telescopic boom 16 can be limited by remote operation by an operator other than the operator at the driver's seat, for example, a slinger WM, it can contribute to further improvement in safety.

That is, since the crane control target can be remotely operated using the portable information terminal device SMF having the touch panel type operation display screen 33, the convenience of crane operation is improved.
In addition, since a person other than the operator at the driver's seat, for example, the slinger WM, can check the control target information S1 related to the control target, it can contribute to safety.

  When the mode switching button 33B is touched to switch to the composite operation mode as shown in FIG. 5, a black point BP is displayed at a position corresponding to the tip of the boom image 16 ′ on the operation display screen 33. An arrow P5 is displayed near the hook image 21 ′.

  When the black spot BP is touched with a finger or the like, the control unit 35 turns the remote operation information S2 for turning the telescopic boom 16, the remote operation information S2 for raising and lowering the telescopic boom 16, and the remote operation information S2 for hoisting / lowering the winch. And generate

  That is, the control unit 35 generates remote operation information S2 for simultaneously performing cylinder control (not shown), rotation control of the turntable 14, cylinder 18 and winch (not shown).

  For example, when the control unit 35 touches the black point BP with a finger or the like and moves the finger or the like in a direction in which the boom image 16 ′ is expanded or contracted, the control unit 35 performs a remote operation that performs a combined operation of controlling a cylinder (not shown) and a winch (not shown) The information S2 is generated, whereby the telescopic boom 16 is expanded and contracted, and the wire W is wound and unwound, so that the hook 21 extends in the telescopic direction of the telescopic boom 16 as shown by an arrow in FIG. Is translated.

  Further, for example, the control unit 35 touches the black point BP with a finger or the like, and operates the finger or the like in the horizontal direction, for example, remote control information S2 for performing a combined operation for controlling a cylinder (not shown) and a winch (not shown). It is good also as a structure by which it produces | generates and the telescopic boom 16 is expanded-contracted, the wire W is wound up and down, and the control which moves the hook 21 horizontally with respect to the ground is performed.

It is also possible to adopt a configuration in which a composite operation is performed by touching the black point BP with a finger or the like and touching the arrow P5 near the hook image 21 ′ with a finger or the like.
(Modification)
FIG. 6 shows a modified example of the remote operation for performing the combined operation. The hook image 21 ′ is displayed in parallel with the horizontal region line image SG, and the remote operation is performed by touching the black dot BP and the arrow P 5. It can also be set as the structure which performs composite operation by operation.

(Example 2)
FIG. 7 shows a portable information terminal device according to Embodiment 2 of the remote control system for work machines of the present invention. In the second embodiment, the operation display screen 33 includes an operation lever 40 for operating an actuator such as a cylinder as a control target, an operation groove image 40 ′ for restricting the operation range of the operation lever 40, and a mode switching button 33B. An interlock button 33C and a hook image 21 'are displayed.

  When the operation lever 40 is touched with a finger or the like and the operation lever 40 is moved to the right along the operation groove image 40 ′ as indicated by a broken line, the swivel base 14 is remotely moved so that the telescopic boom 16 turns to the right. Remote operation information S2 to be operated is transmitted toward the vehicle main body, whereby the telescopic boom 16 is turned rightward when viewed from the driver's seat.

  Similarly, when the operation lever 40 is moved leftward, the telescopic boom 16 is turned leftward as viewed from the driver's seat. When the hook image 21 ′ is touched with a finger or the like and the finger or the like is moved downward, a winch lowering operation is executed by remote control, and the hook 21 is lowered.

  Conversely, when the hook image 21 ′ is touched with a finger or the like and the finger or the like is moved upward, a winch hoisting operation is executed by remote control, and the hook 21 is raised. In this case, when the interlock button 33C is operated, it is possible to perform the lowering and winding operations without touching with a finger or the like. This will be described later.

  As shown in FIG. 8 in an enlarged manner, the operation lever 40 has a central circular region 40a, concentric annular bands 40b, 40c, 40d, “extension”, “contraction”, “raising”, It is composed of a letter “Fu”, a vertical bar 40e, and a horizontal bar 40f.

  The center circular area 40a corresponds to a remote operation for turning the telescopic boom 16. “Extension” of the vertical bar 40e corresponds to a remote operation for extending the telescopic boom 16.

  The “reduction” of the vertical bar 40 e corresponds to a remote operation for shortening the telescopic boom 16. The “down” of the horizontal bar 40f corresponds to a remote operation in which the tip of the telescopic boom 16 is tilted in a direction approaching the ground.

  The “raising” of the horizontal bar 40f corresponds to a remote operation in which the tip of the telescopic boom 16 is tilted in the direction of rising with respect to the ground. When the ring-shaped bands 40b, 40c, and 40d between the vertical bar 40e and the horizontal bar 40f are touched, the telescopic boom 16 can be remotely extended and retracted at the same time.

  Further, the ring-shaped bands 40b, 40c, and 40d correspond to a remote operation in which the extension speed of the telescopic boom 16 or the angular speed of standing fall increases as it goes from the inner ring-shaped band to the outer ring-shaped band.

  In the combined operation mode, the operation lever 40 is, as shown in an enlarged view in FIG. 9, a central circle area 40a, a horizontal movement extension area ring-shaped band 40g, a horizontal movement reduction area ring-shaped band 40h, and a parallel movement extension area ring-shaped band. 40i and a parallel movement shortening region annular band 40j.

  The central circular area 40a corresponds to a remote operation for turning the telescopic boom 16 as in the single operation mode. The horizontal movement extending region ring-shaped band 40g corresponds to a remote operation of extending the telescopic boom 16 and lowering the winch to move the hook 21 in the horizontal direction with respect to the ground. Thereby, the hook 21 is moved horizontally in the direction away from the carrier 11.

The horizontal movement shortening region ring-shaped band 40h corresponds to a remote operation in which the telescopic boom 16 is shortened and the winch is wound up to move the hook 21 in the horizontal direction with respect to the ground.
Thereby, the hook 21 is moved in the horizontal direction in a direction approaching the carrier 11.

  The parallel extension zone 40i corresponds to a remote operation for extending the telescopic boom 16 and lowering the winch to move the hook 21 parallel to the direction in which the telescopic boom 16 extends. Thereby, the hook 21 is lifted high with the extension of the telescopic boom 16.

  The parallel movement shortening region ring-shaped band 40j corresponds to a remote operation in which the telescopic boom 16 is shortened and the winch is wound up to move the hook 21 in parallel with the direction in which the telescopic boom is contracted. Thereby, the hook 21 descends in a direction approaching the ground without the wire W slackening.

  Each of the ring-shaped belts changes the touch location in the direction from the inner arc to the outer arc so that the extension / reduction speed of the telescopic boom 16 is increased and the winding / lowering speed of the winch is increased. It is configured.

As described above, according to the second embodiment, since the operation lever 40 for remote operation of the telescopic boom 16 and the winch is graphically displayed on the operation display screen 33, the combined operation of the boom 16 and the winch is performed. Necessary complicated control can be easily performed by remote control.

10 to 12 are explanatory views of Embodiment 3 according to the remote control system for work machines of the present invention.
The portable information terminal device SMF has a gyro sensor GS as shown in FIGS. 2 and 9 to 11. The gyro sensor GS functions as a detector that detects an angle (inclination) with respect to a reference posture of the portable information terminal device SMF or an angular velocity of the portable information terminal device SMF.
When the interlock button 33C is operated, the output signal of the gyro sensor GS is input to the control unit 35.

When the interlock button 33C is released, the control unit 35 enters a mode in which the winch hoisting / lowering operation is executed based on the output signal of the gyro sensor GS.
When the portable information terminal device SMF shown in FIG. 10 is held by hand and the portable information terminal device SMF is shaken toward the left as shown in FIG. 11, the control unit 35 is based on the output signal of the gyro sensor GS. Generates remote operation information S2 for lowering a winch as a control target.
On the operation display screen 33, as shown in FIG. 11, an arrow P6 indicating that it is being lowered is displayed near the hook image 21 ′.

  As shown in FIG. 12, when the portable information terminal device SMF is swung to the right, the control unit 35 performs remote operation information S2 for winding up a winch as a control target based on the output signal of the gyro sensor GS. Is generated. On the operation display screen 33, as shown in FIG. 12, an arrow P7 indicating that winding is in progress is displayed near the hook image 21 '.

According to the third embodiment, the hook 21 can be moved up and down by remote operation without touching the operation display screen 33 of the touch panel type portable information terminal device SMF. When lifting and lowering is remotely controlled, it is convenient because it can be performed with one hand.
Note that it is desirable that the light emission color of the interlock button 33C be changed between locked and unlocked in order to make the slinger recognize that it is locked.
Further, the remote operation using the output signal of the gyro sensor GS is not limited to the operation of the winch. For example, the portable terminal device SMF itself such as the raising / lowering operation or the turning operation of the telescopic boom 16 as a control target. It can also be used for remote control adapted to the movement of the.

As mentioned above, although the Example was described, this invention is not restricted to this, The following structures are included.
(1) Although the mobile crane work vehicle has been described in the embodiments, the present invention can also be applied to a cargo crane, a truck crane, a crawler crane, an aerial work vehicle, a vehicle transporter, and the like.

(2) In particular, if the present invention is applied to an aerial work vehicle as a work machine, when a worker who is in a bucket of an aerial work vehicle performs work, the display on the portable information terminal device SMF is viewed. Information on safety such as the work area line SG can be confirmed.

(3) In the embodiment, the case where the portable information terminal device SMF is provided with the gyro sensor GS has been described. However, a satellite positioning device (GPS) or a magnetic sensor is provided in the crane body and the portable information terminal device SMF, and the crane You may make it recognize the relative position in the ground coordinate system of a main body and portable information terminal device SMF.

(4) Further, as shown in FIG. 13, when the telescopic boom 16 is extended, the boom image 16 ′ is extended accordingly as shown by the broken line, and when the rising angle of the telescopic boom 16 is increased, the telescopic boom is accordingly responded. You may make it display boom image 16 'of the front-end | tip part 16C larger compared with 16 base end parts. Similarly, when the hook 21 is at a high position, the hook image 21 ′ can be displayed in a large size.

(5) When the hook 21 is lifted, the hook image 21 ′ may be moved upward on the operation display screen 33 with respect to the ground.
Furthermore, the existing mechanical operation button provided in the portable information terminal device SMF can also be configured to be used for the hoisting and lowering operations.
(6) The operation to be controlled includes a work preparation operation of the work machine, for example, an outriggers 12 and 13 extension / storage operation, and a jib extension / storage operation.
(7) A plurality of portable information terminal devices SMF may be used. In this case, it is desirable that the portable information terminal other than the portable information terminal device used for the operation cannot be operated.

11 ... Carrier (work machine body)
DESCRIPTION OF SYMBOLS 30 ... Control part 31 ... Control object information generation part 33 ... Operation display screen 34 ... Communication part 35 ... Control part S1 ... Control object information S2 ... Remote operation information SMF ... Portable information terminal device

Claims (4)

A control unit that controls the control target; a control target information generation unit that generates control target information related to the state of the control target by the control unit; and the control target information is transmitted and the remote control of the control target is related A work machine body having a communication unit for receiving remote operation information;
A touch panel type operation display screen, a communication unit that receives the control target information and transmits the remote control information, and displays the control target information on the operation display screen and touches the operation display screen. And a touch panel type portable information terminal device having a control unit that generates the remote operation information by operating ,
The control target information before Symbol operation display screen is displayed graphical,
The control object includes a boom and a winch, and a boom image and a hook image are graphically displayed on the operation display screen.
Work machine remote control system, characterized in that the working area line as the control target information on the operation display screen is displayed. The work machine remote control system according to claim 1, wherein a work range of the boom can be limited by touching and operating the operation display screen. And a boom and winch to said controlled object, working according to claim 1 or 2 operating lever for remote control for operating the said boom and said winch on the operation display screen is characterized in that it is displayed Machine remote operation system. Wherein a detector for detecting the angle or angular velocity to the portable information terminal device, said any one of the portable information terminal equipment of the slope or claim 1 capable of operating the controlled object by the movement 3 The remote control system for the work machine described.