JPH06272282A - Remote operation system of excavation device - Google Patents

Abstract

PURPOSE:To carry out the work at a site efficiently in view of personnel and time by eliminating measuring work and finishing-stake installation work that is to be carried out by arranging measuring personnels required at an excavation site. CONSTITUTION:A power shovel 31 is automatically tracked by an automatic measuring unit 5101 at a remote operation point 5 (not shown) for automatically measuring the position thereof, and on the basis of the result, the trench 35 formed in an excavation site 3, the design line 5189 (not shown) of face of slope, and the computer graphic image of the excavation operating system 5190 (not shown) of the power shovel 31 are produced by a remotely operated image producing computer 5169 (not shown). The image is synthesized with the image photographed by a supervisory camera 5153 that has been installed in the vicinity of the excavation site 3, and this is displayed on a monitor television 5171 (not shown).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for remotely controlling an excavating device arranged at a trench or an excavation point on a slope.

[0002]

2. Description of the Related Art Recently, an excavator such as a power shovel has been installed at an excavation site on a ditch or a slope, and the excavator is remotely operated from an on-site office or the like, which is remote from the excavation site. It is being attempted to change. By the way, when working remotely by operating the excavator, surveying is performed at the excavation site in advance and the excavation site on the ditch or slope is stretched, and the excavation machine installed at the excavation site is removed. The excavator was operated remotely so that excavation could be performed along the stake while taking a picture from a location with a TV camera and watching the captured image at a site office or the like.

[0003]

However, in the above-mentioned conventional method, since the excavation site must be surveyed and preliminarily applied, the equipment such as the transit and the optical wave rangefinder must be installed before starting the work. It is necessary to arrange a surveying staff with a staff at the excavation site to perform surveying work and straddle installation work, which is an obstacle to unmanned work at the excavation site.

The present invention has been made in view of the above circumstances, and an object of the present invention is to save the time and effort of arranging surveying staff at the excavation site to carry out surveying work and installation work of bracing.
An object of the present invention is to provide a remote control system for an excavator that can efficiently perform on-site work in terms of personnel and time.

[0005]

In order to achieve the above-mentioned object, the present invention is to remote-control an excavating device disposed at an excavation site on a groove or slope at a remote operation site remote from the excavation site. In the system, a surveying target disposed in the excavator, an automatic tracking means for automatically tracking a location of the excavating device in which the surveying target is disposed from a position whose position coordinates are known, and the automatic tracking Means for measuring the position of the surveying target by pointing to the tracking direction of the automatic tracking means, photographing means for photographing the excavated portion, and holding design value data of the groove or slope. Based on the holding means, the tracking direction of the automatic tracking means, the survey result of the surveying means, and the design value data held by the holding means, the groove or slope viewed from the location of the photographing means. Design line Design line image generating means for generating a computer graphic image, image synthesizing means for synthesizing the computer graphic image generated by the design line image generating means with the image photographed by the photographing means, and arranged at the remote operation location. Display means for displaying an image synthesized by the image synthesizing means, and input means arranged at the remote operation location for inputting an operation pattern of the excavating device,
It is characterized by further comprising drive means provided in the excavator and driving the excavator, and drive control means for operating the drive means according to the operation pattern.

According to the present invention, a sensor is provided in the excavator for detecting relative positions of respective parts of the excavator with respect to the surveying target, a tracking direction of the automatic tracking means, a survey result of the surveying means, and Excavation device image generation means for generating a computer graphic image of the excavation device viewed from the location of the photographing means based on the detection result of the sensor, and the image synthesis means for generating the design line image The computer graphic image generated by the means and the computer graphic image generated by the excavation machine image generating means are combined with the image photographed by the photographing means.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing a schematic configuration of a remote control system for a power shovel to which the method of the present invention is applied. In FIG. 1, 1 is a work site, 3 is an excavation site, and 5 is a remote operation point.

The excavation site 3 (corresponding to the excavation site) is located at a corner of the work site 1. Here, excavation of the ground 33 using the power shovel 31 (corresponding to excavation device) is remotely controlled from the remote control point 5 side. Performed unattended by. As shown in FIGS. 2A to 2C, the power shovel 31 of the excavation site 3 includes a crawler 3101, a swivel base 3103, and a boom 310.
5, a bucket 3107, and a cockpit 3109. As shown in FIG. 2B, in the cockpit 3109, a pair of left and right stereoscopic television cameras 3111 that photograph the work area of the bucket 3107 and a binaural microphone 3113 that stereoscopically collects the sound of the work area. As shown in FIG. 2B, an image captured by the stereoscopic television camera 3111 and a voice signal collected by the binaural microphone 3113 are displayed on the upper part of the cockpit 3109 of the UHF. A transmitter 3115 for transmitting a band radio wave is provided.

As shown in FIG. 2C, the swivel base 3103 has a computer 3117 and a radio control box 311.
9, inclinometer 312 for detecting the inclination of the power shovel 31
1. A swivel angle sensor 3 for detecting the swivel angle of the swivel base 3103
123 and the like, the boom 3105 and the bucket 3107 are provided with a boom angle sensor 3125 and a bucket angle sensor 3127 for detecting respective swing angles, as shown in FIG. 2C. In addition, the bucket 31
As shown in FIG. 2C, an ultrasonic sensor 3129 for measuring the distance to the ground 33 is provided at 07.

Further, the upper part of the swivel base 3103 is shown in FIG.
As shown in FIG. 2C, a wireless modem 3131 and a receiver 3135 are arranged. Further, as shown in FIG. 2B, prisms 3137 and 3139 for measuring the position of the power shovel 31 (measurement target). (Corresponding to) are arranged at intervals in the width direction of the swivel base 3103.
As shown in FIG. 2B, tracking targets 3141 colored in red are arranged on both sides of the prism 3137, and tracking targets colored in green on both sides of the prism 3139. 3143 is provided.

FIG. 3 is a block diagram showing a schematic configuration of a control system of the power shovel 31. As shown in FIG. 3, the computer 3117 includes an inclinometer 3121 and a turning angle sensor 3.
123, boom angle sensor 3125, bucket angle sensor 3
127 and an ultrasonic sensor 3129 are connected,
The states of the respective parts of the power shovel 31 detected by these are output from the wireless modem 3131 to the remote operation point 5 side. A receiver 3135 is connected to the radio control box 3119 as shown in FIG.
Power shovel 31 from the remote control point 5 side via 135
A radio control signal for remote control is input.

Then, the radio control box 3119 operates the power shovel 3 based on the input radio control signal.
Drive control circuit 3153 interposed between the engine 3151 and the crawler 3101 so that each part of the drive unit 1 is driven.
Or a hydraulic power source 3155, a swivel base 3103, and a boom 310.
5 and the hydraulic circuit 3157 interposed between the bucket 3107 and the bucket 3107. In this embodiment, the crawler 31
01, the swivel base 3103, the boom 3105, and the bucket 3107 correspond to each part of the excavator, and the inclinometer 3121,
The turning angle sensor 3123, the boom angle sensor 3125, the bucket angle sensor 3127, and the ultrasonic sensor 3129 constitute a sensor, and the radio control box 3119, the drive control circuit 3153, and the hydraulic circuit 3157 correspond to the drive control means, and the engine. The 3151 and the hydraulic power source 3155 correspond to the driving means.

As shown in FIG. 1, a remote operation point 5 (corresponding to a remote operation location, a location whose position coordinates are known) is at a corner of the work site 1 away from the excavation site 3 and between the excavation site 3 and the excavation site 3. You can overlook the excavation site 3 without obstacles, for example, the work site 1
It is set in the on-site office 51 of. This field office 5
The position coordinates of 1 are known in advance by surveying,
The automatic surveying unit 5101 of the power shovel 31 and the remote operation unit 515 operated by the remote operation personnel 53.
1 and are installed.

As shown in FIG. 4, the automatic surveying unit 5101 includes a surveying instrument 5103 such as a transit equipped with a light wave range finder 5105 and a collimating telescope 5107, and a surveying instrument 51.
03 that supports 03 in a three-dimensional direction so that it can be displaced in the directional direction.
109 and a motor 5111 built in the platform 5109 for displacing the pointing direction of the surveying instrument 5103 on the platform 5109.
And a motor driver 5113 for driving the motor 5111
And survey instrument 5103 and platform 510.
9 is installed on the roof 55 of the field office 51.

Further, as shown in FIG. 4, the automatic surveying unit 5101 is incorporated in the surveying instrument 5103 and the collimating telescope 5 is installed.
An image pickup device 51 such as a CCD arranged at an image forming position of 107
15, an image processing computer 5117 for extracting the images of the tracking targets 3137 and 3139 from the image captured by the image sensor 5115, and a surveying control computer 51.
19 and. Surveying control computer 5119
Is the tracking target 3 imaged by the image sensor 5115.
137 and 3139 detect the orientation of the surveying instrument 5103 located near the center of the image, and set the surveying instrument 5103 to that orientation.
The driving of the motor 5111 of the platform 5109 is controlled so that the head is oriented, and the entire position surveying operation of the power shovel 31 by the automatic surveying unit 5101 is controlled.

Incidentally, the start and end of the position measurement operation of the power shovel 31 by the automatic surveying unit 5101 is instructed by operating the switches on the operation screen (not shown) generated by the surveying control computer 5119. On this operation screen, the progress of the survey by the automatic surveying unit 5101 and the character information such as the position coordinates of the power shovel 31 indicating the survey result are displayed together. Then, the image signal of the operation screen generated by the survey control computer 5119 and the data of the position coordinates of the power shovel 31 representing the survey result by the automatic survey unit 5101 are transmitted from the survey control computer 5119 to the remote control unit 5151.
Is output to the side.

On the other hand, as shown in FIG. 4, the remote control unit 5151 includes a monitoring camera 5153, a host computer 5155, a receiver 5157, and a stereoscopic image generating apparatus 515.
9, image / audio separation device 5161, changeover switch 516
3, speaker 5165, wireless modem 5167, remote control image generation computer 5169, monitor television 5171, radio control box 5173, and transmitter 51.
It is composed of 75.

Monitoring camera 5153 (corresponding to photographing means)
Is for monitoring the operating condition of the power shovel 31, and as shown in FIG. 1, is supported by a tripod head 5177 installed near the power shovel 31 on the excavation site 3. In addition to the surveillance camera 5153, a receiver 5157, a wireless modem 5167, and a transmitter 5175 are supported on the platform 5177.

The host computer 5155 includes a computer main body 5178, a CRT 5179, a keyboard 518.
0, mouse 5181. Computer body 5
An image signal of an operation screen of the automatic surveying unit 5101 is input to the measurement control computer 5119 of the automatic surveying unit 5101, and the operation screen is CR.
Displayed at T5179.

Keyboard 5180 and mouse 5181
Is a CRT generated by the survey control computer 5119.
This is for operating switches on an operation screen (not shown) displayed on 5179, and for instructing switching of the changeover switch 5163 described in detail later. It should be noted that the CRT 5179 is connected by the keyboard 5180 and the mouse 5181.
When the switches on the operation screen displayed on the screen are operated, a signal indicating that is displayed on the computer main body 5178.
From the automatic surveying unit 5101 to the surveying control computer 5119. Further, when an instruction to switch the changeover switch 5163 is input by the keyboard 5180 and the mouse 5181, the connection state of the changeover switch 5163 is changed according to the contents thereof.

The receiver 5157 is an image taken by the stereoscopic television camera 3111 and sent from the transmitter 3115 of the power shovel 31, and a binaural microphone 311.
The radio wave of the voice signal collected in 3 is received. The stereoscopic image generation apparatus 5159 alternately generates and captures two stereoscopic images captured by the pair of left and right stereoscopic television cameras 3111 received by the receiver 5157 and synthesizes them. Image and sound separation device 516
1 is for separating the audio signal component from the signal of the image for stereoscopic vision generated by the stereoscopic vision image generator 5159. The signal of the generated image is output to the changeover switch 5163, and the separated audio signal is output to the speaker 5165. Therefore, the cockpit 3109 of the power shovel 31
The sound collected by the binaural microphone 3113 provided in the above is reproduced by the speaker 5165 in a stereoscopically audible manner.

The wireless modem 5167 is transmitted from the wireless modem 3131 of the power shovel 31,
Data indicating the state of each part of the power shovel 31 detected by the inclinometer 3121, the turning angle sensor 3123, the boom angle sensor 3125, the bucket angle sensor 3127, and the ultrasonic sensor 3129 is received.

Image generation computer 5169 for remote control
Is an NTSC = RGB converter 5182, computer main body 5183, memory 5184, design line image generation device 51.
85, excavator image generating device 5186, image synthesizing device 5
187, and RGB = NTSC converter 5188. An NTSC = RGB converter 5182 receives a signal of an image captured by the surveillance camera 5153 and converts the signal from the NTSC system to the RGB system. Data indicating the state of each part of the power shovel 31 input to the wireless modem 5167 and position coordinate data of the power shovel 31 indicating the measurement result by the automatic surveying unit 5101 are input to the computer main body 5183. The memory 5184 (corresponding to a holding unit) holds the position coordinates of the site office 51 and the design coordinates of the groove 35 formed on the ground surface 33 of the excavation site 3 and the slope.

Design line image generation device 5185 (corresponding to design line image generation means) and excavation device image generation device 5186
(Corresponding to excavation device image generation means), computer body 5
Based on the input data to 183 and the data stored in the memory 5184, the groove 3 seen from the installation position of the platform 5177.
5, the design line of the slope and the computer graphic image of the power shovel 31 are generated, respectively. Image synthesizer 5
In 187 (corresponding to image synthesizing means), NTSC = RGB
Surveillance camera 5 converted to RGB format by converter 5182
An image combining process is performed in which the computer graphic image generated by the design line image generation device 5185 and the excavation device image generation device 5186 is superimposed on the captured image of 153, thereby generating a remote operation image. RGB = NT
In the SC converter 5188, the signal of the image for remote operation synthesized by the image synthesizer 5187 is converted from RGB system to NTSC.
Converted to the method. The signal of the composite image converted to the NTSC system is output to the changeover switch 5163.

Monitor television 5171 (corresponding to display means)
Is a stereoscopic image generated by the stereoscopic image generation device 5159 according to the connection state of the changeover switch 5163,
The image for remote operation synthesized by the image synthesizer 5187 is switched and displayed. Radio control box 51
Reference numeral 73 (corresponding to input means) is for driving the crawler 3101, the swivel base 3103, the boom 3105, and the bucket 3107 by remote control. It is provided with an operation lever (not shown) and the like which can be tilted with time. Transmitter 517
Reference numeral 5 denotes a radio control signal for driving and controlling the power shovel 31, which is generated by operating an operation lever of the radio control box 5173, and a receiver 3135 of the power shovel 31.
To be sent to. In this embodiment, the automatic tracking means and the surveying means are constituted by the automatic surveying unit 5101.

Next, an explanation will be given of the case of performing excavation work using the remote control system of this embodiment having the above-mentioned configuration. Generally, when working remotely by operating the excavator at the excavation site, it is common to conduct surveys at the excavation site in advance and to apply tension to the excavation point on the ditch or slope before starting the work. However, in the remote control system of this embodiment,
Power shovel 31 during operation of power shovel 31
The position of the surveillance camera 51 is measured based on the result.
The groove 35 and the design line of the slope are displayed in an overlapping manner on the screen of the monitor television 5171 displaying the photographed image of 53, and this is used in place of the tension.

Then, a procedure for automatically measuring the position of the power shovel 31 in operation will be described. First, the remote control personnel 5 of the power shovel 31 at the remote control point 5
3 operates the keyboard 5180 and the mouse 5181 of the host computer 5155 of the remote control unit 5151 to display the survey control computer 5 on the CRT 5179.
The operation screen of the automatic surveying unit 5101 generated in 119 is displayed, and the keyboard 5180 and the mouse 518 are displayed.
By the operation of 1, the "tracking start" switch in the operation screen is turned on.

When the "tracking start" switch is turned on, a signal indicating this is sent from the computer main body 5178 to the surveying control computer 5 of the automatic surveying unit 5101.
The control computer for measurement 5119, which is output to 119 and receives this, transmits the collimation telescope 5107 of the surveying instrument 5103.
Target 3141 for power shovel 31
To start the automatic tracking of.

When the tracking target 3141 is automatically tracked, the image processing computer 5117 performs image processing on the image captured by the image pickup device 5115 captured by the collimation telescope 5107 of the surveying instrument 5103 under the control of the surveying control computer 5119. Then, the red part in the image is extracted. And the red part in the extracted image is 2
As one tracking target 3141, the surveying control computer 5119 controls the motor driver 5111 so that the midpoint of the two tracking targets 3141 is located in the center of the image, and the motor 5111 of the platform 5109. Is driven to displace the pointing direction of the collimation telescope 5107 of the surveying instrument 5103.

When the pointing direction of the collimation telescope 5107 is displaced as described above, one prism 3 of the power shovel 31 is located at the center of the image captured by the collimation telescope 5107.
The position of 137 is set, and the character "tracking completed" is displayed on the operation screen of the automatic surveying unit 5101 on the CRT 5179.

Therefore, the remote control personnel 53 of the power shovel 31 uses the keyboard 5180 and mouse 5181 of the host computer 5155 of the remote control unit 5151.
Is operated to turn on the switch of “starting measurement” on the operation screen on the CRT 5179. When the “start surveying” switch is turned on, a signal indicating that fact is output from the computer main body 5178 to the surveying control computer 5119 of the automatic surveying unit 5101, and the surveying control computer 5119 receiving this signal causes the surveying instrument 5103 to operate. Power shovel 31 using the collimation telescope 5107
The automatic measurement of the location where the one prism 3137 is arranged is started.

One prism 31 of the power shovel 31
At the time of automatic surveying of the place where 37 is arranged, the control of the surveying control computer 5119 controls the lightwave rangefinder 51.
Reference numeral 04 is a telescope 510 for collimating a light wave (not shown) for distance measurement.
Output parallel to the optical axis of 7. At this time, the collimation telescope 5
107 is one prism 3137 of the power shovel 31
Since one of the prisms 313 of the power shovel 31 is reflected by the reflected wave, the light wave for distance measurement is surely irradiated to one prism 3137.
The distance to 7 is measured.

The pointing direction of the collimation telescope 5107 at this time can be recognized by the surveying control computer 5119 by detecting it using the encoder (not shown) described above. It is possible to automatically measure the place where one prism 3137 is arranged. When the above-mentioned surveying operation is completed, CR
The character "Survey completed" is displayed on the operation screen of the automatic surveying unit 5101 on T5179.

In this way, when the automatic surveying of the portion of the power shovel 31 where the one prism 3137 is disposed is completed, the remote control personnel 53 of the power shovel 31 is operated.
Repeats the same operation as described above, and this time causes the automatic surveying unit 5101 to perform automatic surveying of the location of the other prism 3139 of the power shovel 31. This survey is performed by the image processing computer 5117 using the surveying instrument 5
The survey control computer 5119, which extracts the green portion of the image captured by the image sensor 5115 of 103 and regards the green portion of the extracted image as the two tracking targets 3143, Target 31
The collimating telescope 5107 of the surveying instrument 5103 is positioned so that the intermediate point of 43 is positioned at the center of the imaged image of the image sensor 5115.
This is done by displacing the pointing direction of.

By the above operation, the power shovel 31
When the location where the two prisms 3137 and 3139 are arranged is automatically measured, the position coordinate and the direction of the power shovel 31 are automatically measured according to the result.
01 is detected by the surveying control computer 5119, and the detection result is the computer main body 518 of the remote operation image generation computer 5169 of the remote operation unit 5151.
3 is transferred.

Image generation computer 5169 for remote control
The computer main body 5183 of the power shovel 31 transmits the survey result, the data indicating the state of each part of the power shovel 31 transmitted from the computer 3117 of the power shovel 31, the position coordinates of the field office 51 stored in the memory 5184, and the excavation. The design coordinates of the groove 35 and the slope formed on the ground 33 of the site 3 are transferred to the design line image generation device 5185 and the excavation device image generation device 5186. In the design line image generation device 5185 and the excavation device image generation device 5186, based on the transferred data, the design line of the groove 35 and the slope and the power shovel 31 as seen from the installation position of the platform 5177 near the power shovel 31 are displayed. Computer graphic images are generated and the computer graphic images are transferred to the image synthesizer 5187.

In the image synthesizing device 5187, the design line of the groove 35 and the slope and the power shovel 31 transferred from the design line image generating device 5185 and the excavation device image generating device 5186.
Computer graphic image of the surveillance camera 515
The image taken in 3 and converted to the RGB format is combined into an image,
The combined remote control image is converted into the NTSC system and output to the changeover switch 5163.

Therefore, the remote control personnel 53 uses the keyboard 5180 and the mouse 518 of the host computer 5155.
1 is operated to input to the computer main body 5178 that the display screen of the monitor TV 5171 is switched from the operation screen of the automatic surveying unit 5101 to the remote operation image.
Accordingly, the connection state of the changeover switch 5163 is changed to RGB.
= Switch to the NTSC converter 5188 side.

Then, on the screen of the monitor television 5171, for example, as shown in FIG. 5, on the actual screen of the excavation site 3 photographed by the monitoring camera 5153, the slope design line 5189 is displayed.
A remote operation image 5191 on which a computer graphic image of the excavation operation system (boom, bucket) 5190 of the power shovel 31 is superimposed is displayed. For this reason,
The remote control personnel 53 looks at the remote control image 5191 and visually recognizes the slope design line 5189 and the excavation operation system 5190 of the power shovel 31 while controlling the radio control box 517.
The power lever 3 is operated to remotely operate the power shovel 31 to excavate the ground 33.

When the operation lever or the like of the radio control box 5173 is operated, a signal for drive control of the power shovel 31 corresponding to the operation content is transmitted to the transmitter 5175 and the receiver 3.
It is sent to the radio control box 3119 of the power shovel 31 via 135. In response to this, the radio control box 3119 controls the drive control circuit 3153 and the hydraulic circuit 3157 of the power shovel 31 according to the operation contents of the operation lever of the radio control box 5173 by the remote operation personnel 53 at the remote operation point 5, and the crawler crawler. 3101, the swivel base 3103, the boom 3105, and the bucket 3107 are driven.

As described above, according to the remote control system for a power shovel according to the present embodiment, the power shovel 31 is automatically tracked by the automatic surveying unit 5101 at the remote control point 5, and its position is automatically measured. Based on the results, computer graphic images of the groove 35 formed on the excavation site 3, the slope design line 5189 and the excavation operation system 5190 of the power shovel 31 are used as the remote operation image generation computer 5.
The image generated by 169 is combined with the image captured by the monitoring camera 5153 installed near the excavation site 3 and displayed on the monitor television 5171. Therefore, even if the topography of the excavation site 3 is not measured in advance, the remote control personnel 53 at the remote control point 5 can monitor the monitor television 5
By observing the display screen of 171 and remotely operating the power shovel 31 with the design line 5189 as a tension, the groove 35 and the slope as designed can be formed on the ground 33, and the surveying personnel can be excavated. It is possible to eliminate the trouble of performing the surveying work and the installation work of the straddle by disposing them in No. 3, and to perform the work at the site efficiently in terms of personnel and time.

In this embodiment, the excavation operation system 51 of the power shovel 31 together with the computer graphic images of the groove 35 formed on the excavation site 3 and the slope design line 5189.
Computer graphics image of 90 surveillance camera 51
Although it is assumed that it is combined with the captured image of 53 and displayed on the monitor television 5171, the computer graphic image of the excavation operation system 5190 may be omitted. Further, in the present embodiment, the signal transmission between the power shovel 31 and the field office 51 is performed via the wireless modems 3131 and 5167. However, the power shovel 31 and the field office 5
Signal transmission to and from 1 is not limited to such means.

[0043]

As described above, according to the present invention, there is provided a system for remotely controlling an excavating device arranged at an excavation site on a ditch or a slope at a remote operation site remote from the excavation site. , A surveying target disposed in the excavator, an automatic tracking means for automatically tracking a location of the excavating device in which the surveying target is disposed from a location whose position coordinates are known, and an automatic tracking means A surveying means for measuring the position of the surveying target by directing the tracking direction of the automatic tracking means, a photographing means for photographing the excavation site, and a holding means for holding the design value data of the groove or the slope. Based on the tracking direction of the automatic tracking means, the survey result of the surveying means, and the design value data held by the holding means, the design line of the groove or slope viewed from the location where the photographing means is arranged. Computer A design line image generating means for generating a rough image, an image synthesizing means for synthesizing the computer graphic image generated by the design line image generating means with the image captured by the image capturing means, and the remote control location. Display means for displaying an image synthesized by the image synthesizing means, input means arranged at the remote operation location for inputting an operation pattern of the excavator, and drive provided in the excavator for driving the excavator. And a drive control means for operating the drive means according to the operation pattern. For this reason, it is possible to save the labor of arranging the surveying staff at the excavation site and performing the surveying work and the installation work of the strut, and it is possible to efficiently perform the work at the site in terms of personnel and time.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a schematic configuration of a remote control system for a power shovel to which the method of the present invention is applied.

2A and 2B show the structure of the power shovel at the excavation site shown in FIG. 1, FIG. 2A being a plan view, FIG. 2B being a front view,
FIG. 2C is a side view.

FIG. 3 is a block diagram showing a schematic configuration of a control system of the power shovel shown in FIG.

4 is a block diagram showing a schematic configuration of an automatic surveying unit and a remote control unit installed in a field office at a remote control point shown in FIG.

5 is an explanatory diagram showing an example of a remote operation image displayed on a monitor television provided in a field office at the remote operation point shown in FIG.

[Explanation of symbols]

3 Excavation site (excavation site) 31 Power shovel (excavation equipment) 3101 Crawler (each part of excavation equipment) 3103 Swivel base (each part of excavation equipment) 3105 Boom (each part of excavation equipment) 3107 Bucket (each part of excavation equipment) 3119 Radio control box (Drive control means) 3121 Inclinometer (sensor) 3123 Swing angle sensor (sensor) 3125 Boom angle sensor (sensor) 3127 Bucket angle sensor (sensor) 3129 Ultrasonic sensor (sensor) 3137, 3139 Prism (surveying target) 3149 Operation Control device (drive control means) 3151 Engine (drive means) 3153 Drive control circuit (drive control means) 3155 Hydraulic source (drive means) 3157 Hydraulic circuit (drive control means) 5 Remote operation point (remote operation location, position coordinates are known) 5101) Dynamic surveying unit (automatic tracking means, surveying means) 5153 Monitoring camera (imaging means) 5171 Monitor television (display means) 5173 Radio control box (input means) 5184 Memory (holding means) 5185 Design line image generation device (design line image generation means) ) 5186 Excavation device image generation device (excavation device image generation means) 5187 Image synthesis device (image synthesis means)

Claims (2)

[Claims] 1. A system for remotely controlling an excavation device installed at a trench or an excavation site on a slope at a remote operation location remote from the excavation site, the surveying system being provided on the excavation device. A target and an automatic tracking means for automatically tracking the location of the excavator where the surveying target is disposed from a location whose position coordinates are known, and an automatic tracking means which is attached to the automatic tracking means and directs the tracking direction of the automatic tracking means. Surveying means for surveying the position of the surveying target, photographing means for photographing the excavation site, holding means for holding design value data of the groove or slope, tracking direction of the automatic tracking means, the surveying means A design line for generating a computer graphic image of the design line of the groove or slope viewed from the location where the photographing means is arranged, based on the survey result and the design value data held in the holding means. Image generating means, image synthesizing means for synthesizing the image photographed by the photographing means with the computer graphic image generated by the design line image generating means, and synthesizing by the image synthesizing means arranged at the remote operation location. Display means for displaying an image, an input means arranged at the remote operation location for inputting an operation pattern of the excavator, a drive means provided in the excavator for driving the excavator, and the operation pattern A remote control system for the excavator, comprising: drive control means for operating the drive means according to the above. 2. A sensor which is provided in the excavator and detects a relative position of each part of the excavator with respect to the survey target, a tracking direction of the automatic tracking means, a survey result of the survey means, and detection of the sensor. And a digging device image generating means for generating a computer graphic image of the digging device viewed from the location of the photographing means based on the result. The image synthesizing means is generated by the design line image generating means. 2. The remote control system for an excavating device according to claim 1, wherein the computer graphic image generated by the excavating device image generating means is combined with the computer graphic image to the image photographed by the photographing means.