JPH0678308A - Method for securing visual field of unattended truck - Google Patents

Abstract

PURPOSE:To obtain the method quickly securing a visual field of a range corresponding to a scope of a path of an unattended truck whose drive and steering are controlled by remote control at a low cost. CONSTITUTION:The selecting state of a selection changeover switch of a video switcher 38 is momentarily switched in interlocking with the operation of an operating lever 28 of a joy stick 27 controlled when the steering of a carrier truck is executed. Then a video image from two sets of television cameras 31, 32, and 32, 33, and 33, 34, and 34, 35 and 35, 36 adjacent to each other picking up a visual field of a range corresponding to a scope of a path of a carrier truck subject to steering through remote control is displayed on a left eye display device 39L and a right eye display device 39R placed before a left eye and a right eye of the operator 40.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of securing a field of view of an unmanned vehicle whose traveling and steering are controlled by remote control, and more specifically, it secures a field of view in a range corresponding to a route of an unmanned guided vehicle. The present invention relates to a method suitable for.

[0002]

2. Description of the Related Art Conventionally, an unmanned vehicle has been provided for unmanned transportation of goods to an arbitrary place in a factory, a construction site, a civil engineering site, or an unmanned work in these places. ing. When such an unmanned vehicle is driven by remote control from a remote location, a TV camera for monitoring is used to monitor the unmanned vehicle in order for the remote control personnel to understand the condition of the travel route along which the unmanned vehicle travels. A monitor television set mounted on the display device for displaying an image captured by the television camera is installed at a remote control point.

When an unmanned vehicle makes a right or left turn,
Since it is preferable to steer the unmanned vehicle after grasping the situation of the traveling route in that direction, conventionally, a TV camera was installed on a platform that can be displaced in the directional direction, and when the unmanned vehicle makes a right or left turn, it is remote. The operating personnel operated a joystick, a trackball, a push switch, etc. to remotely change the pointing direction of the platform to the bending direction of the unmanned vehicle.

[0004]

However, in order to displace the pointing direction of the platform by operating a joystick, a trackball, a pressure switch, etc., the joystick and the trackball are moved until the platform is directed in a desired direction. However, it is necessary to continue to operate the push switch and the like, and there is a problem that the operation becomes complicated when the remote operation of the unmanned vehicle is performed simultaneously with the remote operation of the platform. In addition, if the panning speed of the pan head is slow, there is a problem that the unmanned vehicle cannot point the TV camera in that direction before turning right or left.To solve this problem, use the high-speed pan head. If used, there was a problem that the cost was high.

Further, when a wide-angle lens such as a fish-eye lens is used to increase the angle of view of the television camera, the image at the peripheral portion of the angle of view is distorted and the accurate sense of distance cannot be obtained at that portion, which is safe for unmanned vehicles. There is a problem that it may interfere with various remote operations.

The present invention has been made in view of the above circumstances, and it is necessary to quickly secure a field of view at a low cost corresponding to the range of the route of an unmanned vehicle whose traveling and steering are controlled by remote control. The purpose is to provide a method that can.

[0007]

In order to achieve the above object, the present invention relates to an unmanned vehicle whose traveling and steering are controlled by remote control, and corresponds to a range of a course of the unmanned vehicle which is changed by the steering. A plurality of TV cameras are arranged in different positions in different ranges, and a video image taken by a desired TV camera among the plurality of TV cameras is selected and displayed on the monitor TV at the remote control point. It is characterized by doing so. Further, according to the present invention, the desired television camera for displaying an image on the monitor means is selected in conjunction with a remote operation for steering the unmanned vehicle. Furthermore, in the present invention, at least three TV cameras are provided and the monitor TV is
A table is provided, and the images taken by two adjacent TV cameras are selected and displayed on the two monitor TVs.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. 1A and 1B show an example of a remotely controllable vehicle to which a method for securing the visibility of an unmanned vehicle according to the present invention is applied. FIG. 1A is a plan view and FIG. 1B is a side view. is there. 2 is an explanatory view showing the signal transmission system of the television camera seen from the whole of the carrier shown in FIG. 1 and its remote control system,
3 is an explanatory view showing a support structure of the television camera shown in FIG. 1 to the carrier, FIG. 4 is an explanatory view showing a mechanism of the carrier shown in FIG. 1, and FIG. 5 is a power transmission mechanism in the carrier shown in FIG. It is explanatory drawing which shows the schematic structure of the remote control system by a part block.

1 (b), a vehicle (corresponding to an unmanned vehicle) of the present embodiment, which is designated by the general reference numeral 1, has a base 10 and crawlers 11 provided on the left and right sides of the base 10. , A loading platform 12 provided on a base 10 for loading luggage, an arm 13 standing on the loading platform 12, an operation handle 14 provided on an upper end of the arm 13, and the operation handle 1
4 is provided with a plurality of operation levers 15 for braking, throttle, advancing direction switching, steering, etc., and each operation lever 15 responds to the operation of each operation lever 15 as shown in FIG. A wire 16 that moves forward and backward is connected.

Further, as shown in FIG.
Wire 16 connected to operating lever 15 for throttle
Drive amount 17 such as an engine whose drive amount changes according to the advance and retreat of the vehicle, and an operation lever 15 for switching the traveling direction and steering.
A switching valve 18 for switching the power transmission direction from the drive source 17 to the left and right crawlers 11 and for interrupting the power transmission in accordance with the advance / retreat of the wire 16 connected to the drive source 17;
And a battery 19 which is charged with a predetermined voltage when driven by.

In the transport vehicle 1, the operating direction of each operating lever 15 is changed to switch the power transmission direction from the drive source 17 to the left and right crawlers 11, cut off the power transmission, and drive the drive source 17. By changing the driving amount, each operation of traveling, steering, and stopping is performed.

By the way, as shown in FIG.
Cylinders 21 such as air cylinders for advancing / retreating the wire 16 are respectively provided in the paths of (1) and (3) and are housed in predetermined positions in the arm 13 and the base 10.
The cylinder 21 includes a cylinder tube 21a and a piston rod 21 that can be retracted from the cylinder tube 21a.
a double-acting type, which is generally called a double rod type and has a structure in which the piston rods 21b are exposed from both end surfaces of the cylinder tube 21a, and a wire 16 is connected to both ends of the piston rod 21b. There is. It should be noted that these cylinders 21 are attached to the upper end portion of the arm 13 and the operation handle 1 as shown in FIGS.
4, the operation lever 15 may be directly moved by the piston rod of the cylinder 21.

Further, each cylinder 21 is connected to a cylinder drive source 23 such as an air compressor via a cylinder switching valve unit 22, and is supplied from the cylinder drive source 23 to each cylinder 21. For example, switching or shutting off of the supply direction of power such as compressed air is performed in each switching valve of the cylinder switching valve unit 22. Between the cylinder switching valve unit 22 and the cylinder drive source 23, an accessory device (not shown) such as a pressure control valve for adjusting the pressure of the compressed air from the cylinder drive source 23 is attached. ing.

Further, as shown in FIG. 5, the cylinder switching valve unit 22 is connected to a control device 24 such as a microcomputer for controlling the switching of each switching valve of the cylinder switching valve unit 22. A transceiver 25 is connected to the device 24. The cylinder switching valve unit 22 and the cylinder drive source 2 mounted on the carrier 1.
3, electric devices such as the controller 24 are driven by the battery 19.

Reference numeral 26 in FIG. 5 denotes a wireless operation unit which is provided corresponding to the transmitting / receiving device 25 and is operated at a location away from the transport vehicle 1. The transport vehicle 1 travels, stops, steers, and increases / decreases. A joystick 27 for remote control such as speed control is provided. The joystick 27 is configured so that the operating lever 28 can be tilted in two steps, front, rear, left and right, respectively. When the transport vehicle 1 is moved forward, the operating lever 28 is tilted forward, and when the U-turn is made, the operating lever 28 is moved backward. Tilt to the left when turning left, and to the right when turning right. Then, when the tilting of the operation lever 28 in each direction is up to the first stage, the transport vehicle 1 is operated at a normal traveling speed.
And the operating lever 28 is tilted to the second stage, the traveling speed of the transport vehicle 1 is increased.

In the transport vehicle 1 of the present embodiment configured as described above, the joystick 27 for remote operation of traveling, stopping, steering, acceleration / deceleration, etc. of the wireless operation unit 26 is operated, and the wireless corresponding to this is operated. When the command signal is output from the wireless operation unit 26, the wireless command signal is received by the transceiver 25, and the demodulated command signal is sent to the control device 24.
Entered in. Then, the control device 24 operates the piston rod 21b connected to the wire 16 that controls the operation in response to the command signal.
b to output an operation signal to the switching valve of the cylinder switching valve unit 22 corresponding to the cylinder 21 so that the cylinder drive source 23 supplies power to the cylinder 21 in a predetermined direction. To do.

Then, the piston rod 21b of the cylinder 21 which receives the power supply from the cylinder drive source 23 advances and retreats in accordance with the direction of the power supply, and the wire 16 to which the piston rod 21b is connected accordingly. Also, the operation corresponding to the operation switch operated by the wireless operation unit 26 is performed unattended on the transport vehicle 1 side.

Now, as shown in FIGS. 1 (a) and 1 (b),
On the mounting table 12a provided on the loading platform 12 of the transport vehicle 1,
The six TV cameras 3 are directed toward different positions in a range corresponding to the range of the route of the unmanned vehicle that is changed by operating the joystick 27 of the wireless operation unit 26.
1-36 are arranged and each TV camera 31-36
As shown in FIG. 2, they are arranged at equal intervals on an arc line and are installed in a direction in which the surroundings of the transport vehicle 1 are photographed. Then, as shown in FIG. 3, each of the television cameras 31 to 36 is supported by the mounting table 12a via a joint portion 37 for changing the shooting direction of the television cameras 31 to 36 in the vertical direction.

Further, in FIG. 1 (b), numeral 38 is a video switcher provided in the base 10 of the transport vehicle 1, and as shown in FIG. 2, the photographing signals from the respective television cameras 31 to 36 are inputted. It The video switcher 38 is provided with a selection changeover switch (not shown). By the changeover operation of the selection changeover switch, as shown in FIG. 2, among the video signals inputted from the television cameras 31 to 36, Two adjacent TV cameras 31 and 32, 3
Video signals from 2 and 33, 33 and 34, 34 and 35, and 35 and 36 are output to the transmission / reception device 25.

Further, reference numeral 39 in FIG. 2 denotes a head mount display mounted on the head of an operator 40 who holds the wireless operation unit 26 and operates the operation lever 28 of the joystick 27. Left eye display 39L located in front of you
And a right-eye display 39R located in front of the right eye of the operator 40.

The left-eye display 39L and the right-eye display 39R are connected to the wireless operation unit 26, and are output from the video switcher 38, modulated by the transmitter / receiver 25, and output to the space between two adjacent units. Video signals from the television cameras 31 and 32, 32 and 33, 33 and 34, 34 and 35, 35 and 36 are input after being received and demodulated by the wireless operation unit 26.
For example, from the video switcher 38 to the television camera 31
When the video signals from the display devices 32 and 32 are output, the video image captured by the television camera 31 is displayed on the left-eye display 39L, and the video image captured by the television camera 32 is displayed on the right-eye display 39R. .

In the present embodiment, the selection changeover switch (not shown) of the video switcher 38 is interlocked with the operation of the joystick 27 for remotely controlling the steering of the carrier 1 provided in the wireless operation unit 26. , The television cameras 31 to 36 input to the video switcher 38.
Of the video signals from the two adjacent TV cameras 3
1 and 32, 32 and 33, 33 and 34, 34 and 35, 35
And 36 are selected and output.

For example, when the carrier 1 is moving forward and the selection changeover switch has six TV cameras, the carrier 1
Two TV cameras 33 and 34 in the center for shooting in front of
From the video switcher 38 by selecting the video signal from the left eye display 39L and the right eye display 39
When the operating lever 28 of the joystick 27 is tilted to the left in order to turn the transport vehicle 1 left while outputting to the R, a wireless command signal corresponding to this is output from the wireless operation unit 26 and the transmitter / receiver 25 Will be received at.

The received wireless command signal is input to the control device 24 and also to the video switcher 38. Based on this, the selection changeover state of the selection changeover switch photographs the left side of the transport vehicle 1. TV cameras 33 and 3
Instantly switch from 4 to TV cameras 31 and 32. Therefore, the image displayed on the left-eye display 39L is changed from the image captured by the TV camera 33 to the TV camera 31.
Instantly changes to the image taken by the television camera 34, and the image displayed on the right-eye display 39R instantly changes from the image taken by the television camera 34 to the image taken by the television camera 32.

When the operating lever 28 of the joystick 27 is tilted forward again after the left turn of the transport vehicle 1 is completed, the selection changeover state of the selection changeover switch is instantaneously changed in association with this, and the left eye display 39L and the right eye are displayed. The video captured by the television cameras 33 and 34 for capturing the front of the transport vehicle 1 is instantly displayed again on the display 39R for display. Similarly, when the transport vehicle 1 is turned right, the selection changeover state of the selection changeover switch is instantly changed, and the transport vehicle 1
During the right turn, the images captured by the television cameras 35 and 36 that capture the right side of the transport vehicle 1 are instantly displayed on the left-eye display 39L and the right-eye display 39R.

As described above, in the transport vehicle 1 of the present embodiment, the selection of the selection changeover switch of the video switcher 38 is performed in conjunction with the operation of the operation lever 28 of the joystick 27 that is operated when steering the transport vehicle 1. Two adjacent TV cameras 31 and 32, 32 and 33, 33 and 34, which switch the switching state instantaneously and photograph the field of view corresponding to the range of the path of the vehicle 1 steered by remote control. ,
The images from 34 and 35 and 35 and 36 are displayed by the operator 40.
Left eye display 3 located in front of the left and right eyes of the
9L and the display 39R for the right eye.

Therefore, it is possible to quickly obtain a field of view corresponding to the range of the path of the carrier 1 steered by remote control. Therefore, the operator 40 who remotely controls the carrier 1 can operate the carrier 40 remotely. Carrier 1 after turning left or right when turning 1
You can check in advance that the road is safe. Further, since it is not necessary to use an expensive high-speed pan head in order to improve the followability of switching the shooting range of the television camera with respect to the steering of the transport vehicle 1, the cost is also reduced.

Further, the operator 40 is displayed on the left-eye display 39L and the right-eye display 39R of the head-mounted display 39 mounted on the head.
Two adjacent TV cameras 31 and 32, 32 and 33,
By viewing the images from 33 and 34, 34 and 35, and 35 and 36 with the left and right eyes, it is possible to stereoscopically view the field of view corresponding to the range of the path of the carrier 1. As in the case of using a wide-angle lens for the camera, the image of the peripheral part of the angle of view is not distorted, therefore,
It is possible to always obtain a distortion-free image, obtain an accurate sense of distance, and safely operate the transport vehicle 1 remotely.

In this embodiment, the six TV cameras 3 are used.
Although the configuration in which 1 to 36 are provided has been described, the number of television cameras may be any number as long as it is 2 or more, and the monitor system of the images captured by the television cameras 31 to 36 is not stereo. In the case of monaural, the number of video signals of the television camera selectively output by the video switcher 38 may be one instead of two. In addition to the joystick 27 for remote operation of the carrier 1, a switch for selecting the selection changeover state of the selection changeover switch or the like may be provided. However, as shown in this embodiment, the remote operation of the carrier 1 is performed. Control lever 2 of joystick 27 used for
If the selection changeover state of the selection changeover switch of the video switcher 38 is switched in synchronism with the operation of 8, the television camera 31 to the remote operation of the transport vehicle 1 and a range corresponding to the route of the transport vehicle 1 can be taken. The switch selection of 36 can be performed simultaneously, which is advantageous in operation.

Further, in this embodiment, each television camera 31
.. 36 are supported by the mounting table 12a through the joint portion 37, but the joint portion 37 may be omitted, and the method of the present invention is not limited to the transport vehicle 1 shown in the embodiment, and is remote. It goes without saying that it is also applicable to various construction machines and traveling vehicles that are operated.

[0031]

As described above, according to the present invention, an unmanned vehicle whose traveling and steering are controlled by remote control is provided.
A plurality of TV cameras are arranged toward different positions in a range corresponding to the range of the route of the unmanned vehicle changed by the steering, and a desired TV camera among the plurality of TV cameras is used for shooting. By selecting the image and displaying it on the monitor TV at the remote control point, the visibility in the range corresponding to the range of the route of the unmanned vehicle whose traveling and steering are controlled by remote control can be quickly and at low cost. Can be secured.

[Brief description of drawings]

1A and 1B are views showing an example of a remotely controlled transport vehicle to which a method for securing a field of view of an unmanned vehicle according to the present invention is applied. FIG. 1A is a plan view and FIG. 1B is a side view. Is.

FIG. 2 is an explanatory diagram showing a signal transmission system of the television camera seen from the whole of the carrier shown in FIG. 1 and its remote control system.

FIG. 3 is an explanatory view showing a support structure of the television camera shown in FIG. 1 to a carrier.

FIG. 4 is an explanatory view showing a mechanism of the transport vehicle shown in FIG. 1.

5 is an explanatory diagram showing, in a partial block diagram, a schematic configuration of a power transmission mechanism and its remote operation system in the transport vehicle of FIG. 1. FIG.

[Explanation of symbols]

 1 Carrier (unmanned vehicle) 26 Wireless operation unit 28 Operation lever 31-36 TV camera 38 Video switcher

Claims (3)

[Claims] 1. An unmanned vehicle whose traveling and steering are controlled by remote control, and a plurality of television cameras directed to different points in a range corresponding to the range of the course of the unmanned vehicle changed by the steering. And a video image taken by a desired TV camera among the plurality of TV cameras is selected and displayed on the monitor means at the remote control point. How to secure. 2. The field of view of the unmanned traveling vehicle according to claim 1, wherein the desired television camera for displaying an image on the monitor is selected in conjunction with a remote operation for steering the unmanned traveling vehicle. How to secure. 3. At least three TV cameras are provided, two monitor TVs are provided, and the two monitor TVs select and display images taken by two adjacent TV cameras, respectively. The method for ensuring the visibility of the unmanned vehicle according to claim 1 or 2.