JPH10277970A - Remote control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate a need for modifying a work vehicle, make an existing work vehicle capable of being remotely controlled with ease, and also make remote control simple when the controlled operating part of the work vehicle is held and the like by an operating means. SOLUTION: The respective driving motors 202D, 204 and 202E (202F and 202G) and a driving part are drivingly controlled based on angular data detected by respective angle sensors 403I, 405 and 403J (403K, 403L and 403M) for a multi-joint operating arm 403 by fixing a work robot 20 having a multi-joint arm 202 to the driver's seat of a work vehicle, and operating a rest lever 402 and the like, which are set at an operator's seat 70 for a monitor center 50. Besides, respective sensors 202I, 204A, and 202J (202K and 202L) and a sensor 202M, allow the multi-joint operating arm 403 to be controlled while the quantity of movement detected when the controlled operating part of the multi-joint arm 202 is moved to its disposition place, is being taken as teaching data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control system suitable for remotely controlling a vehicle and a construction machine at a disaster recovery site where workers cannot enter.

[0002]

2. Description of the Related Art Conventionally, when remotely controlling a vehicle such as a crawler dump and a construction machine such as a back hood at a disaster recovery site where workers cannot enter, handles and levers for operating the vehicle and the construction machine are used. By changing the control device of this corresponding device and the control device of the monitoring center by a wireless line, and operating the joy tech for remote control of the monitoring center, etc. The corresponding machine on the slave side is controlled to remotely control the vehicle and the construction machine.

[0003]

However, in the above-described conventional remote control system, the vehicle and the construction machine must be converted into a remote control compatible machine.
The cost of remodeling vehicles and construction machinery rises, and maintenance is cumbersome.Existing vehicles and construction machinery will not be able to carry out excavation or transport of earth and sand at a disaster recovery site where workers cannot enter. It was not possible to respond, and if there were no modified vehicles or construction equipment in the remote control compatible machine, disaster recovery work would not be possible, and there was a problem of lack of urgency.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and makes it unnecessary to modify a work vehicle, makes it possible to easily remotely control an existing work vehicle irrespective of the type of vehicle, and to reduce the work vehicle It is an object of the present invention to provide a remote operation system capable of easily performing an operation on a remote operation side when an operation unit is gripped by operation means.

[0005]

According to the present invention, a work vehicle corresponding to a transport vehicle and a construction machine is operated by an operation command from a monitoring center located at a position away from a work area of the work vehicle. A remote control system for remote control, comprising: at least one operating means installed in a driver's seat of the work vehicle and operating various operated parts such as a running / work lever disposed in a driver's cab of the work vehicle. A work robot having: a driving sensor mounted on the operation means for driving the operation means; a first sensor for detecting an amount of movement of the operation means; Imaging means for taking a telephoto and wide-angle image of a scene outside the work vehicle including the operating condition of the cab and the operation means and the work condition of the work vehicle, and an operation command signal for the operation drive means; A communication unit that transmits the video information captured by the imaging unit and the motion amount information detected by the first sensor to the monitoring center; and a communication unit that is installed in the monitoring center and communicates from the imaging unit via the communication unit. Display means for displaying the photographed image transmitted by the remote control means, remote control means installed at the monitoring center and remotely operating the operation means by operating while viewing the image displayed on the display means; and The first device attached to the operation means and transmitted through the communication means
A remote driving unit controlled to generate a reaction force based on the movement amount information of the sensor, and a second operation unit that detects an amount of movement when the remote operation unit is operated and sends an operation command signal to the operation driving unit. And two sensors.

According to the present invention, the work robot further includes a robot body fixed to a driver's seat of a work vehicle, and the operating means has one end supported by the robot body so as to be capable of turning in a horizontal direction, and the other end provided at the other end. The second sensor is provided at each joint part of the multi-joint arm, a turning support part to the robot body, and a holding part, and the second sensor is provided by an operation command signal of the second sensor. It detects the amount of movement of the remote control means. According to the present invention, the amount of movement detected by the first sensor when the operation means is manually operated to move to the arrangement position of the operated portion is stored as teaching data, and the operation from the remote driving means is performed. The operation means and the history operation means are operated based on the teaching data by a command. According to the present invention, the remote control means further includes an articulated operation arm having one end rotatably supported in a horizontal direction at a fixed portion of the monitoring center and a grip portion at the other end, and the remote drive means and the second drive means. The two sensors are provided at each joint part of the multi-joint operation arm, the turning support part to the fixed part, and the grip part, and the amount of movement detected by the second sensor is used as a driving means for each operation of the multi-joint arm. Is transmitted as an operation command signal. The present invention also relates to a traveling vehicle disposed in the driver's cab of the work vehicle at the monitoring center.
A pseudo operated part corresponding to an operated part such as a working lever is provided, and a position and a height of the pseudo operated part with respect to the multi-joint operation arm can be adjusted corresponding to the operated part of the work vehicle. It is composed. The present invention also provides a rugged pad member for stably gripping the operated portion without slipping on the opposing surfaces of the gripping pieces constituting the gripping portion of the articulated arm so as to be movable in the longitudinal direction of the gripping pieces. It is a thing. The present invention is also capable of moving a pad member with irregularities for stably gripping the pseudo-operated part without slipping on the opposing surfaces of the gripping pieces constituting the gripping part of the articulated operation arm in the longitudinal direction of the gripping pieces. It is provided in. In the present invention, preferably, the operating means includes a frame provided at a tip of an arm fixed to the driver's seat, an X-axis movable body provided on the frame so as to be movable in the X-axis direction, A Y-axis movable body provided on the body so as to be movable in the Y-axis direction and to which the operated portion is connected; and a driving unit provided on the frame body and driving the X-axis movable body and the Y-axis movable body, respectively. It is composed of

According to the present invention, a work robot having at least one operating means consisting of at least one articulated arm or the like for operating a part to be operated such as a running / work lever of a work vehicle is installed in a driver's seat of the work vehicle. The work vehicle is remotely controlled by driving and controlling the robot's operating means with an operation command signal from a remote control means consisting of a multi-joint operation arm, etc., which eliminates the need for modification of the work vehicle and is related to the model and manufacturer of the work vehicle. No existing work vehicle can be used. Further, the motion amount data of the driving means for the operating means detected by the sensor of the operating means is fed back to the driving means of the remote operating means to apply a reaction force to the driving means, thereby giving the remote operating means a real feeling of operation. It becomes possible to do. Further, in the present invention, the amount of movement of each sensor detected when the operation means is manually operated and moved to the position where the operated portion is disposed is stored as teaching data, so that the remote control can be performed using the teaching data. The means can be operated, and the remote control means can be easily operated when the operated part of the work vehicle is gripped by the operation means.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram of a remote operation system to which the method of the present invention is applied, FIG. 2 is a plan view showing a state in which a work robot constituting the remote operation system is set on a driver's seat of a work vehicle, and FIG. 3 is a remote operation system. FIG. 4 is a functional block diagram on the remote operation side in the remote operation system. In FIGS. 1 and 2, reference numeral 10 denotes a transport vehicle such as a crawler dump and a work vehicle corresponding to a construction machine such as a back fork engaged in work such as excavation and transport of earth and sand at a disaster recovery site where workers cannot enter. The driver's seat 102 in the driver's cab 101 of the work vehicle 10 has a driver's cab 10
1, a work robot 20 for operating various work vehicle operated parts such as a pair of work levers 103, a pair of travel levers 104, a keyboard 106 such as an engine key 105, a wiper button and the like is installed. I have. One end of an attachment 107 extending parallel to the driver's seat 102 is fixed to the upper end of each of the traveling levers 104, and the other end of each of the attachments 107 is located in the middle between the working levers 103. ing. Thereby, the operation of each traveling lever 104 by the work robot 20 is facilitated.

As shown in FIGS. 1 and 2, the working robot 20 includes a robot body 201 and a pair of articulated arms 20.
2 is provided. The robot main body 201 includes a board 201A fixed in a crossed state on left and right armrests 102A of the driver's seat 102, and a driver seat 10 from an intermediate portion of the board 201A.
Backrest 1 after extending horizontally to the backrest 102B side of 2
Plate-like support portion 201B raised upward along 02B
The pair of articulated arms 202 are attached to the left and right ends of the board 201A via a turning base 203 so as to be able to turn horizontally. On the upper end portion of the support portion 201B, a first operation that is performed in the elevation direction and the horizontal direction is performed.
A camera head 30A and a second camera head 30B are installed,
On the first camera platform 30A, a first video camera 31 composed of a solid-state image sensor or the like capable of capturing a scene outside the work vehicle including the working room of the work vehicle and the work state of the work vehicle at a telephoto and wide angle is installed. The second camera head 30B includes a solid-state image pickup device capable of performing telephoto and wide-angle imaging, which enables a locally operated stereoscopic view of a work vehicle operated portion and a work condition of the work vehicle in the driver's cab 101. 2, a third video camera 32,
33 are installed.

The articulated arm 202 has a work lever 103.
And the operating lever 104 to operate the upper arm 202A, the lower arm 202B, and the gripper 20 corresponding to human arms.
2C, the upper arm 202A and the turning base 203 are connected in a bendable manner, and a drive motor 202D such as a step motor for driving the upper arm 202A in the vertical direction with respect to the turning base 203 is attached to the bent portion. ing. The turning base 203 is driven by a driving motor 204 such as a step motor provided on the substrate 201A so as to be able to turn in the horizontal direction. Upper arm 202A and lower arm 20
A drive motor 202E such as a step motor for driving the lower arm 202B in the vertical direction with respect to the upper arm 202A is attached to the bent portion between the two arms 2B. In addition, the lower arm 202B and the base of the grip 202C are connected in a bendable manner, and a drive motor 202F such as a step motor for bending the grip 202C is mounted on the bent portion as shown in FIG. In addition, a drive motor 202G such as a step motor for rotating the grip 202C around the axis is mounted on the base of the grip 202C. Further, a drive section 202H such as an actuator for opening and closing the grip section 202C is mounted on the grip section 202C. Further, each of the drive motors 202D, 204,
202E, 202F, and 202G include angle sensors 202I, 204A, and 202 for detecting respective rotation angles.
J, 202K and 202L (corresponding to a first sensor) are mounted, and a sensor 202M (corresponding to a first sensor) for detecting the amount of movement is mounted on the drive unit 202H.

In FIG. 1, reference numeral 35 denotes a board computer mounted on the work vehicle 10 for transmitting and receiving data necessary for remote operation and controlling a work robot. The board computer 35 includes the drive motors 202D and 204 described above. , 2
02E, 202F, 202G, a driving unit 202H, the first video camera 31, the second and third video cameras 32, 33, and a wireless device 36 constituting a communication unit for transmission and reception, and angle sensors 202I, 204A. 202J,
202K, 202L and the sensor 202M are connected to each other.

In FIG. 1, reference numeral 40 denotes a remote control device (remote control means) installed at a monitoring center 50 located at a position distant from the work area of the work vehicle 10, and an operator 60 sits on the remote control device 40. An operation seat 70 is provided. On both left and right sides of the operation seat 70, a pair of support plates 401 extending in parallel to the front from the operation seat 70 is provided so as to be extendable and contractable. From the driver's seat 102 of the work vehicle 10 to the work lever 10
The structure can be adjusted according to the interval up to 3.
On the tip of each support plate 401, a pseudo rest lever 402 similar to the working lever 103 of the work vehicle 10 is provided.
Are provided so as to be tiltable in the front, rear, left and right directions. The height of the rest lever 402 can be adjusted in accordance with the height of the working lever 103. A multi-joint operation arm 403 similar to the multi-joint arm 202 of the work robot 20 is mounted on the left and right armrest portions 701 of the operation seat 70 via a turning base 404 so as to be capable of turning horizontally. A pair of pseudo travel levers 407 corresponding to the pair of travel levers 104 of the work vehicle 10 are supported on the floor positioned between the pair of rest levers 402 so as to be tiltable in the front-rear direction.

The multi-joint operation arm 403 generates an operation command signal for remotely operating the multi-joint arm 202 of the work robot 20, and includes an upper arm 4 corresponding to a human arm.
03A, a lower arm portion 403B and a grip portion 403C, and the upper arm portion 403A and the turning base 404 are flexibly connected to each other.
4, a drive motor 403D such as a step motor for driving in the vertical direction is mounted. In addition, the turning base 40
Reference numeral 4 is configured to be driven to be able to turn in the horizontal direction by a drive motor 404A such as a step motor provided on the support plate 401. The upper arm portion 403A and the lower arm portion 403B are connected so as to be bendable.
A drive motor 403E such as a step motor for driving the upper arm portion 403A in the vertical direction is mounted. The lower arm 403B and the base of the grip 403C are connected so as to be bendable. As shown in FIG.
A drive motor 403F such as a step motor for bending the grip 403C is mounted, and the grip 4
At the base of 03C, a drive motor 403G such as a step motor for rotating the gripper 403C around the axis is mounted. Further, a drive section 403H such as an actuator for opening and closing the grip section 403C is mounted on the grip section 403C.

The drive motor 403D includes an angle sensor 403I (corresponding to a second sensor) for detecting the vertical movement angle of the upper arm 403A with respect to the turning base 404.
And an angle sensor (corresponding to a second sensor) 405 for detecting a turning angle is mounted on the drive motor 404A of the turning base 404. Further, the drive motor 4
At 03E, an angle sensor (corresponding to a second sensor) 403J for detecting a vertical movement angle of the lower arm 403B with respect to the upper arm 403A is mounted, and a drive motor 403F is mounted.
As shown in FIG. 6, an angle sensor (corresponding to a second sensor) 403K for detecting a bending angle of the grip portion 403C is provided.
Is mounted, and an angle sensor (corresponding to a second sensor) 403L for detecting a rotation angle when the gripper 403C is rotated around the axis is mounted on the driving unit 403H. Further, an angle sensor (corresponding to a second sensor) 40 for detecting the opening / closing angle is provided on the grip 403C.
3M is installed.

In FIG. 1, reference numeral 81 denotes a board computer installed in the monitoring center 50 for transmitting and receiving data necessary for remote control and for displaying the data. The board computer 81 includes the drive motors 403D and 404A. ,
403E, 403F, 403G and a driving unit 403H;
Each angle sensor 403I, 405, 403J, 403
K and 403L, the detection sensor 403M, the wireless device 82 and the first video camera 3 which constitute communication means for transmission and reception.
A monitor display device 83 that displays images captured by the first, second, and third video cameras 32, 33 is connected to each other.

Next, the configuration shown in FIGS. 3 and 4 will be described. 3, the board computer 35 of the work vehicle 10 includes a central control device 351 for controlling and managing the entire work robot 20. The central controller 351 includes:
From the remote control device 40 of the monitoring center 50 to the wireless device 82,
An articulated arm motor control circuit 352, a pan head motor control circuit 353, a camera motor control circuit 354, and an AD conversion circuit 358, which are operated based on an operation command signal transmitted through 36, are connected. . The articulated motor control circuit 352 includes drive motors 202D, 204, 202E, 202F, 20
2G and the drive unit 202H are connected, and the head motor control circuit 353 is connected to respective drive units 301 and 302 for driving the camera heads 30A and 30B in the elevation direction and the horizontal direction. Control circuit 35
4, drive motors 31A, 32A and 33A for zooming the first video camera 31 and the second and third video cameras 32 and 33 are connected. Also,
Each of the angle sensors 202I,
204A, 202J, 202K, 202L and sensor 202M are connected respectively.

The central controller 351 has a first video camera 31, a second video camera 32, and a third video camera 32 via an A / D conversion circuit 355 and an image processing circuit 356.
3 are connected. The A / D conversion circuit 355 includes the first video camera 31 and the second and third video cameras 32, 3
3 is converted into a digital signal. Each digital signal output from the A / D conversion circuit 355 is input to an image processing circuit 356, and is subjected to discrete cosine transform or the like. The configuration is such that the data is converted into compressed image data of a data amount and is taken into the central controller 351. further,
The wireless device 36 is connected to the central control device 351 via a communication control circuit 357.

In FIG. 4, the board computer 81 of the monitoring center 50 includes a central controller 811 for controlling and managing the entire remote controller 40. The central control device 811 includes, via a motor control circuit 820, the drive motors 403D and 404 of the articulated operation arm 403.
A, 403E, 403F, 403G and drive unit 403H
Is connected. The central control unit 811 includes A
The articulated operation arm 40 via the D-conversion circuit 812
3 angle sensors 403I, 405, 403J, 40
3K, 403L and 403M are connected respectively. Further, the central controller 811 and the input interface 8
13, a camera head operation switch 814, a camera selection switch 815 for selecting one of the first video camera 31 or one of the second and third video cameras 32, 33, and a zoom operation for performing a zoom operation on the selected video camera. An operation switch 816 and a pan head operation switch 819 are connected to each other. Each of these operation switches is provided on an operation panel 7 provided near the operation seat 70 as shown in FIG.
00 are arranged. Further, a wireless device 82 is connected to the central control device 811 via a communication control circuit 817. After the received image data is subjected to inverse discrete cosine transform by the central control device 811, the image data is converted to an NTSC signal. And a display control circuit 818 for performing image synthesis, and a monitor display device 83 is connected to the display control circuit 818.

Next, the operation of the remote control system according to the present embodiment configured as described above will be described.
When remotely controlling the work vehicle 10 such as a back fork at a disaster recovery site where workers cannot enter, first, the work robot 20 is shown in FIG. 2 in the driver's seat 102 in the cab 101 of the work vehicle 10. The work robot 20, the video cameras 31 to 33, and the board computer 35 including the wireless device 36 are set to the initial state by turning on the power supply (not shown). Similarly, the power supply (not shown) of the monitoring center 50 is turned on, and the board computer 81 including the remote control device 40 and the monitor display device 83 is set to an initial state. In this state, each video signal captured by each of the video cameras 31 to 33 is converted into a digital signal by the A / D conversion circuit 355, and then compressed into image data for transmission by the image processing circuit 356 frame by frame. Then, it is taken into a frame memory or the like in the central control device 351. Central controller 351
Then, the compressed image data of each of the video cameras 31 to 33 is multiplexed, transmitted from the communication control circuit 357 to the wireless device 36, and wirelessly transmitted from the wireless device 36 to the monitoring center 59.

In the monitoring center 50, after the image data transmitted from the work vehicle 10 is received and demodulated by the wireless device 82, the central control device 81 passes through the communication control circuit 817.
1 and decompressed to the original image data by inverse discrete cosine transform.
It is converted into a C signal and displayed on the monitor display device 83. Here, when the image captured by the video camera 31 is wide-angle, the image is displayed on the entire screen of the monitor display device 83. When the video images captured by the video cameras 32 and 33 are telephoto, the images are combined to form a monitor display device 83.
At the center 83A. Therefore, the operator 60 sitting on the operation seat 70 operates the articulated operation arm 403 by hand while looking at the display screen of the monitor display device 83, and thereby the work robot 10 of the work vehicle 10
The remote control command required for the operation of the vehicle is given.

For example, the engine key 105 of the work vehicle 10
Is operated, the user operates the camera selection switch 815 while watching the display screen of the monitor display device 83 to select the video cameras 32 and 33 so that the zoom operation can be performed.
In addition, the central control unit 811 and the communication control circuit 817 transmit a command signal for operating the camera platform 30 in the elevation direction and the horizontal direction by manually operating the platform control switch 819.
Is transmitted from the wireless device 82 to the work vehicle 10 via In the work vehicle 10, the command signal is received by the wireless device 36, and the received command signal is transmitted to the camera platform control circuit 353 through the communication control circuit 367 and the central controller 351, and the driving means 302 of the camera camera platform 30 </ b> B is driven. To control the camera head 30
By operating B in the elevation direction and the horizontal direction, the video cameras 32 and 33 are pointed in the shooting direction desired by the operator 60, that is, the direction in which the engine key 105 is projected. By operating the zooming operation switch 816 to transmit a zooming command signal from the wireless device 82 to the work vehicle 10 and supplying the zooming command signal received by the wireless device 36 to the camera motor control circuit 354,
The video cameras 32 and 33 are zoomed in the telephoto direction to capture an image of the engine key 105. The images captured by the video cameras 32 and 33 are enlarged and displayed on the central portion 83A of the monitor display device 83. Here, while watching the display screen of the monitor display device 83, one of the multi-joint operation arms 4
03 is operated by the operator 60, the angle sensors 403I, 4
05, 403J, 403K, and 403L detect the respective movement angles, and these angle signals are converted into digital signals by an A / D conversion circuit 812, and then transmitted through a central control device 811 and a communication control circuit 817.
2 to the wireless device 3 of the work vehicle 10, and the wireless device 3
By supplying the angle signal received at 6 to the motor control circuit 352 through the central controller 351, each drive motor 202 D, 204 of the multi-joint arm 202 of the work robot 20 corresponding to the one multi-joint operation arm 403 is provided.
202E, 202F, and 202G are driven, and the multi-joint arm 202 is remotely operated so that the engine key 105 can be operated. Thus, when the engine key 105 is operated, the engine of the work vehicle 10 is started.

On the other hand, when the articulated arm 202 operates, each of the angle sensors 202I, 204A, 202
The angle data detected at J, 202K and 202L is A-
After being converted into a digital signal by the D conversion circuit 358, the digital signal is transmitted through the central control unit 531 and the communication control circuit.
To the monitoring center 50. Monitoring center 50
Angle data received by the wireless device 82 of the central controller 8
11 to the motor control circuit 820 to perform feedback control, whereby each drive motor 403D, 4
04A, 403E, 403F, 403G and drive unit 40
A reaction force is applied to H. Thus, the operator 60 feels that the engine key 105 has been operated.

When excavation work or the like is performed by the work vehicle (back four) 10, the operator's left and right hands are held on the gripping portions 403 C of the left and right articulated operation arms 403 while viewing the display screen of the monitor display device 83. The left and right articulated operation arms 403 are moved with the
The left and right rest levers 402 are gripped by 03C. At this time, each angle sensor 40 of each articulated operation arm 403
3I, 405, 403J, 403K, 403L and 40
3M detects the respective movement angles, and these angle signals are transmitted from the wireless device 82 to the wireless device 3 of the work vehicle 10,
The angle signal received by the wireless device 36 is transmitted to the motor control circuit 3
52, drive motors 202D, 204, 202 of the articulated arm 202 of the work robot 20.
E, 202F, 202G and the drive unit 202H are drive-controlled, the multi-joint arm 202 is moved to the work lever 103 side following the multi-joint operation arm 403, and the work lever 103 is grasped by the grasping unit 202C. Then, by operating the rest lever 402 forward, backward, left and right with the multi-joint operation arm 403 while looking at the work screen displayed on the monitor display device 83, each angle sensor 403I, 405 of the multi-joint operation arm 403 that operates in accordance with this operation. ,
403J, 403K, and 403L detect the respective movement angles, and these angle signals are converted into digital signals by an A / D conversion circuit 812, and then transmitted from the wireless device 82 through the central control device 811 and the communication control circuit 817. 10
The angle signal transmitted to the wireless device 36 and received by the wireless device 36 is transmitted through the central control device 351 to the motor control circuit 3.
52, drive motors 202D, 204, 202 of the articulated arm 202 of the work robot 20.
E, 202F, and 202G are driven and controlled. As a result, the multi-joint arm 202 operates the work lever 103 in accordance with the operation of the multi-joint operation arm 403, and thereby the work vehicle 1
0 can be remotely controlled.

When traveling on the work vehicle 10, the operator 60 attaches the left and right hands of the operator 60 to the grip portions 403C of the left and right articulated operation arms 403 while watching the display screen of the monitor display device 83 in the same manner as described above. In this state, the left and right articulated operation arms 403 are moved, and the left and right pseudo running levers 407 are gripped by the gripping portions 403C. At this time, each angle sensor 403I, 405, 4 of each articulated operation arm 403
03J, 403K, 403L, and 403M detect the respective motion angles, and these angle signals are converted into digital signals by an A / D conversion circuit 812, and then transmitted from the wireless device 82 through a central control device 811 and a communication control circuit 817. The angle signal transmitted to the wireless device 36 of the work vehicle 10 and received by the wireless device 36 is supplied to the motor control circuit 352 through the central control device 351, so that the work robot 2
0 of each drive motor 202D, 20 of the multi-joint arm 202
4, 202E, 202F, 202G and drive unit 202H
And the multi-joint arm 202 follows the multi-joint operation arm 403 to attach the attachment 1 of the traveling lever 104.
07 and the attachment 107 is gripped by the grip portion 202C. When the pseudo running lever 407 is operated forward with the multi-joint operation arm 403 while looking at the screen outside the vehicle displayed on the monitor display device 83, the multi-joint operation arm 403 that operates according to this operation is operated.
Angle sensors 403I, 405, 403J, 403
K and 403L detect the respective movement angles, and these angle signals are converted into digital signals by an A / D conversion circuit 812, and then the central control unit 811 and the communication control circuit 81
7, the angle signal transmitted from the wireless device 82 to the wireless device 36 of the work vehicle 10 and received by the wireless device 36 is supplied to the motor control circuit 352 through the central control device 351. Drive motors 202D, 204, 202E, 202F, 2
02G, the articulated arm 202 can move the work vehicle 10 forward by tilting the traveling lever 104 forward in accordance with the operation of the articulated operation arm 403. When the pseudo traveling lever 407 is tilted toward the operator 60 by the multi-joint operation arm 403, the multi-joint arm 202 tilts the traveling lever 104 toward the front to move the work vehicle 10 backward according to this operation. Can be done. If the left pseudo-running lever 407 is tilted forward by the multi-joint operation arm 403 and the right pseudo-running lever 407 is tilted forward, the work vehicle 10 is turned right. With the pseudo travel lever 407 in front, the right pseudo travel lever 407
Is tilted forward, the work vehicle 10 is turned to the left.

Next, when the work robot 20 is set in the work vehicle 10, the work lever 103 and the travel lever 10
A description will be given of a case where teaching is performed on the work step of the multi-joint arm 202 that grasps the engine key 105, the work step of the multi-joint arm 202 that grasps and turns the engine key 105, and the work step of the multi-joint arm 202 that presses a wiper button or the like. In this case, the articulated arm 202 is moved to the working lever 10 while the grip portion 202C of the articulated arm 202 of the work robot 20 set on the work vehicle 10 is gripped by hand.
3. Move according to work steps such as engine key 105 or wiper button. Along with this, articulated arm 2
02 angle sensors 202I, 204A, 202J,
The angle data detected by 202K, 202L, and 202M is converted into a digital signal by an A / D conversion circuit 358, and then transmitted from the wireless device 36 to the monitoring center 50 through the central control device 531 and the communication control circuit. The angle data received by the wireless device 82 of the monitoring center 50 is stored as the teaching data of the multi-joint operation arm 403 in the storage unit 811A built in the central control device 811 through the central control device 811.

In this state, when a work command to the multi-joint operation arm 403 is issued to the central control unit 811, the motor control circuit 820 is operated based on the teaching data stored in the storage unit 811 A, and thereby each drive motor 402 D , 404A, 402E, 402F, 40
The drive of the 2G and the drive unit 402H is controlled. This allows
By operating the multi-joint operation arm 403 in accordance with the teaching data, the multi-joint operation arm 403 is automatically operated so as to grip the rest lever 402 and the pseudo travel lever 407 or operate an engine key or the like displayed on the monitor display device 83. At the same time, the teaching data stored in the storage unit 811A is transmitted to the work robot 20 by the wireless device 83, and the teaching data is received by the wireless device 36. Then, the motor control circuit 3 is transmitted through the central control device 351.
52, the drive motors 202D, 2D
04, 202E, 202F, 202G and drive unit 202
H is driven and controlled, and the multi-joint arm 202 is operated according to the teaching data to grasp the working lever 103,
The engine key 105 or the wiper button is automatically operated. Thereby, remote operation when the multi-joint operation arm 403 is operated to grasp the work lever 103 of the work vehicle 10 or operate the engine key 105 or the wiper button is simplified, and the operation time can be shortened. The teaching data obtained by manually operating the multi-joint arm 202 is stored in a storage unit built in the central control device 351 of the work vehicle 10, and is provided by a command from the monitoring center 50 at the start of the work. The articulated arm 202 may be operated based on the teaching data.

As described above, according to the present embodiment, the work robot 20 having the articulated arm 202 corresponding to both arms of a human is fixed to the driver's seat 102 of the work vehicle 10, and the operation seat 70 of the monitoring center 50 is fixed. A multi-joint operation arm 403 corresponding to both arms of a human is installed on both armrests 701 of
While displaying the images captured by the video cameras 31 to 33 on the display screen of the monitor display device 83, the multi-joint operation arm 403 uses the rest lever 402 and the pseudo travel lever 407.
By operating the like, each angle sensor 403I, 405, 403J, 403K of the articulated operation arm 403,
The angle data detected by 403L and 403M is transmitted in real time through the wireless devices 82 and 36, and based on the angle data, each drive motor 202D, 204, 202E, 202F,
Since the multi-joint arm 202 is operated by controlling the driving of the 202G and the drive unit 202H, the work lever 103 or the travel lever 104 of the work vehicle 10 is operated to remotely control the work vehicle 10. Modification of the work vehicle is not required unlike the related art, and remote control can be easily performed using an existing work vehicle regardless of the type and manufacturer of the work vehicle. For this reason, even when excavating or transporting earth and sand at a disaster recovery site where workers etc. cannot enter, it is possible to immediately respond with existing vehicles and construction machinery, as well as vehicles and construction machinery The maintenance of the work vehicle can be facilitated, and the cost of the work vehicle remote control system can be reduced.

In the present embodiment, the length of the support plate 401 on which the rest lever 402 similar to the working lever 103 is projected forward is determined by the length of the driver's seat 1 of the working vehicle 10.
02 and the working lever 103, and the height of the rest lever 402 can be adjusted according to the height of the working lever 103. Even if the manufacturers are different, the position and height of the rest lever can be optimally adjusted according to these work vehicles.

FIG. 7 is a plan view showing another embodiment of the grip portion 202C of the articulated arm 202 of the work robot 20. 7, a pad member 212 made of hard rubber or the like having corrugated unevenness 212A formed on opposing surfaces of a pair of gripping pieces 211 attached to the base 210 of the gripping part 202C so as to be openable and closable is arranged in the longitudinal direction of the gripping piece 211. The work lever 103 is gripped by a gripping piece 211 via the pad member 212. In this embodiment, the work lever 103 and the like can be stably gripped by the concave portion of the unevenness 212A without slipping, and the pad member 212 is
By providing the position adjustment in the longitudinal direction, the gripping position of the pad member 212 with respect to the working lever 103 or the like can be adjusted so as to face the concave portion. Although not shown, the grip 403C of the multi-joint operation arm 403 is configured similarly to the grip 202C of the multi-joint arm 202.

FIG. 8 is a plan view showing still another embodiment of the grip portion 202C of the articulated arm 202 of the work robot 20. In FIG. 8, the grip portion 202C
A pair of gripping pieces 21 attached to the base 210 so as to be openable and closable
1 are configured to be able to bend inward each other.
A small motor 215 that bends the gripping piece 211 inward is provided in the bent portion of, and a pad member 216 made of hard rubber or the like is further provided on the opposing surface of the gripping piece 211 and on the inner surface of the base. And the working lever 10 via the pad member 216 by the bending operation of the small motor 215
3 and the like. In this embodiment, the working lever 103 and the like can be more stably and reliably gripped. Although not shown, the grip portion 403C of the multi-joint operation arm 403 is configured substantially in the same manner as the grip portion 202C of the multi-joint arm 202. The difference from the grip portion 202C is that the bending portion of the grip piece has a bending angle. Where there is an angle sensor for detecting The angle data detected by the angle sensor serves as a remote command for driving and controlling the small motor 216 of the gripping piece 211.

In the above embodiment, the working vehicle 10
The case where the multi-joint arm 202 corresponding to a human arm having a motor mounted on each joint and the turning support unit and the like is used as the operating means for operating each operating unit such as the travel lever 103 has been described. The invention is not limited to this. For example, as shown in FIG. 9, an X-axis moving body 91 that moves in the X-axis direction is provided on a rectangular frame 90 provided at the tip of an arm 89 fixed to the robot body. Y
A Y-axis moving body 92 that moves in the axial direction is provided. Further, the frame body 90 and the X-axis moving body 91 are provided with motors 93 and 94 that drive the X-axis moving body 91 and the Y-axis moving body 92, respectively. The rotating shafts of the motors 93 and 94 and the pulleys 9 corresponding thereto
Loop-shaped wire 9 wound between 5 and 96
7, 98 are connected to the X-axis moving body 91 and the Y-axis moving body 92,
By driving and controlling the motors 93 and 94 according to the remote control command to drive the wires 97 and 98, the X-axis moving body 9 is controlled.
The configuration may be such that the 1 and the Y-axis moving body 92 are moved, and the traveling lever 103 and the like connected to the Y-axis moving body 92 are remotely operated. In this case, the remote operation means on the monitoring center 50 side includes a frame, an X-axis moving body, and a Y-axis moving body similar to the operation means on the work vehicle 10 side, and further includes the X-axis moving body and the Y-axis moving body.
It is configured to include a detector such as an encoder that detects the amount of movement of the shaft moving body. Further, the operation means and the remote operation means in the present invention are not limited to those constituted by the articulated arms corresponding to human arms described in the above embodiment, but may be articulated bodies equivalent to human legs. , May be provided in pairs or more. Also, the traveling lever 104 shown in FIG.
Is not limited to the articulated arm, and a hydraulic cylinder can be used. Further, the communication means between the work vehicle 10 and the monitoring center 50 in the present invention is not limited to the wireless system for the wireless devices 36 and 82, and optical communication or satellite communication can be used. Further, in the above-described embodiment, the case has been described in which the images captured from the video cameras 31 to 33 are converted into digital quantities, and then compressed and transmitted to the monitoring center 50. May be transmitted to the monitoring center 50 as an analog signal and displayed on the monitor display device 83.

[0032]

As described above, according to the present invention, a work robot having at least one operating means comprising an articulated arm or the like for operating an operation unit such as a traveling / work lever of a work vehicle is provided on the driver's seat of the work vehicle. The work vehicle is remotely operated by controlling the operation means of this work robot in accordance with an operation command signal from a remote operation means such as an articulated operation arm, so that the work vehicle does not need to be modified. In other words, an existing work vehicle can be used regardless of the type and manufacturer of the work vehicle. As a result, even when excavating or transporting earth and sand at a disaster recovery site where workers etc. cannot enter, the existing work vehicle can be immediately responded and maintenance of the work vehicle becomes easy. This has the effect that the cost of the remote control system for the work vehicle can be reduced.

Further, according to the present invention, the movement amount data of the operating means driving means detected by the sensor of the operating means is fed back to the driving means of the remote operating means to apply a reaction force to the driving means, thereby enabling remote control. It is possible to give the operating means a feeling of operation. Further, according to the present invention, the amount of movement of each sensor detected when the operating means is manually operated to move to the position where the operated portion is disposed is stored as teaching data, so that the remote control can be performed using the teaching data. There is an effect that the operation means can be operated, and the operation of the remote operation means when the operated part of the work vehicle is gripped by the operation means can be easily performed. Further, according to the present invention, the monitoring center is provided with a pseudo operation unit corresponding to an operation unit such as a running / work lever disposed in the driver's cab of the work vehicle, and the pseudo operation unit is provided with a multi-joint operation arm. By configuring the position and height to be adjustable according to the position of the operation unit of the work vehicle, even if the model or manufacturer of the work vehicle is different, the position of the pseudo operation unit can be adjusted according to the operation unit of these work vehicles. And the height can be adjusted optimally.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a remote operation system to which the present invention is applied.

FIG. 2 is a plan view showing a state in which a work robot constituting the remote control system according to the embodiment of the present invention is set on a driver's seat of a work vehicle.

FIG. 3 is a functional block diagram of the working robot according to the embodiment of the present invention.

FIG. 4 is a functional block diagram of a remote operation side according to the embodiment of the present invention.

FIG. 5 is a perspective view of a grip portion of the articulated arm according to the embodiment of the present invention.

FIG. 6 is a perspective view of a grip portion of the articulated operation arm according to the embodiment of the present invention.

FIG. 7 is a plan view showing another embodiment of the gripping part in the articulated arm of the working robot of the present invention.

FIG. 8 is a plan view showing still another embodiment of the gripping part in the articulated arm of the working robot of the present invention.

FIG. 9 is a plan view showing another embodiment of the operation means in the present invention.

[Explanation of symbols]

Reference Signs List 10 work vehicle 101 driver's cab 102 driver's seat 103 working lever (operating unit) 104 traveling lever (operating unit) 20 working robot 201 robot main body 202 articulated arm (operating means) 202C gripping unit 202D, 204, 202E, 202F, 202G drive motor 202I, 204A, 202J, 202K, 202L
Angle sensor 202H Drive unit 202M Sensor 203 Revolving base 30A, 30B Camera platform 301, 302 Platform drive unit 31, 32, 33 Video camera (imaging unit) 31A, 32A, 33A Zooming drive motor 36 Radio (communication unit) Reference Signs List 40 remote operation device (remote operation means) 401 support plate 402 rest lever (pseudo operation unit) 403 articulated operation arm 403C grip unit 403D, 404A, 403E, 403F, 403G
Driving motor 403H Driving unit 403I, 405, 403J, 403K, 403L, 4
03M Angle sensor 404 Turning base 50 Monitoring center 82 Radio (communication means) 83 Monitor display device 211 Gripping piece 213 Pad member 89 Arm 90 Frame 91 X-axis moving body 92 Y-axis moving body 93, 94 Drive motor

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI H04Q 9/00 311 H04Q 9/00 311K 361 361

Claims (8)

[Claims] 1. A remote control system for remotely controlling a work vehicle corresponding to a transport vehicle and a construction machine according to an operation command from a monitoring center located at a position distant from a work area of the work vehicle, comprising: A work robot installed in a seat and having at least one operation means for operating various operated parts such as a running / work lever provided in a driver's cab of the work vehicle; Operating drive means for driving the means, a first sensor for detecting the amount of movement of the operating means, installed in the working robot, the operating room of the working vehicle and the operating condition of the operating means, and the work of the working vehicle Image capturing means for capturing a scene outside the work vehicle including a situation at a telephoto and wide angle; transmitting an operation command signal to the operation drive means to the work vehicle; Communication means for transmitting the motion amount information detected by the first sensor to the monitoring center; and a display installed at the monitoring center for displaying a captured image transmitted from the imaging means via the communication means. Means, remote control means installed at the monitoring center and remotely operating the operation means by operating while viewing an image displayed on the display means; mounted on the remote operation means, via the communication means Remote driving means controlled to generate a reaction force by the movement amount information of the first sensor transmitted by the first sensor; and the operation driving means by detecting a movement amount when the remote operation means is operated. And a second sensor for transmitting an operation command signal to the remote control system. 2. The work robot includes a robot body fixed to a driver's seat of a work vehicle, and the operation means has one end supported by the robot body so as to be able to turn in a horizontal direction,
The second sensor is provided at each joint portion of the articulated arm, a turning support unit to the robot body, and a grip unit, and an operation command of the second sensor is provided. 2. The remote operation system according to claim 1, wherein the amount of movement of the remote operation means is detected by a signal. 3. A movement amount detected by the first sensor when the operation means is manually operated to move to an arrangement position of the operated part is stored as teaching data, and the operation from the remote driving means is performed. 3. The remote operation system according to claim 2, wherein the operation unit and the remote operation unit are operated based on the teaching data by a command. 4. The remote control means includes an articulated operation arm having one end rotatably supported in a horizontal direction at a fixed portion of the monitoring center and a grip portion at the other end, and the remote drive means and the second drive means. The two sensors are provided at each joint part of the multi-joint operation arm, the turning support part to the fixed part, and the grip part, and the amount of movement detected by the second sensor is used as a driving means for each operation of the multi-joint arm. 4. An operation command signal is transmitted as an operation command signal to the device.
The remote control system as described. 5. A pseudo operated part corresponding to an operated part such as a running / work lever disposed in a cab of the work vehicle is provided at the monitoring center, and the multi-joint of the pseudo operated part is provided. 5. The remote control system according to claim 4, wherein a position and a height with respect to the operation arm are adjustable so as to correspond to an operated portion of the work vehicle. 6. A rugged pad member for stably gripping an operated portion without slippage is provided on opposing surfaces of a gripping piece constituting a gripping part of the articulated arm so as to be movable in a longitudinal direction of the gripping piece. The remote control system according to claim 2, wherein: 7. A rugged pad member for stably gripping a pseudo-operated part without slipping can be moved in the longitudinal direction of the gripping piece on opposing surfaces of a gripping piece constituting a gripping part of the multi-joint operation arm. The remote control system according to claim 4, wherein the remote control system is provided in a remote controller. 8. The operating means comprises: a frame provided at the tip of an arm fixed to the driver's seat; an X-axis movable body provided on the frame so as to be movable in the X-axis direction; A Y-axis movable body provided on the body so as to be movable in the Y-axis direction and to which the operated portion is connected; and a driving unit provided on the frame body and driving the X-axis movable body and the Y-axis movable body, respectively. The remote control system according to claim 1, comprising: