JPH11255189A - Underwater back hoe unmanned operation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform a safe operation while confirming the circumferential state by sound in the unmanned operation of an underwater back hoe in turbid water by remote control by loading an omnidirectional hydrophone on the underwater back hoe, and remotely controlling the back hoe while releasing the circumferential sound collected by the hydrophone. SOLUTION: Various control levers are provided on a on-board remote control board 25 in the state simulating the driver's seat of an underwater back hoe 10, and a monitor 28 is provided on the front thereof. The remote control signals by operations of the various control levers are outputted to the control device of the underwater back hoe 10 through an unbilical cable 23 to drive the endless track belt or various cylinders of the underwater back hoe 10 on the basis of them, and stroke values of the various cylinders are fed back to the remote control board 25. The collected sounds of an omnidirectional hydrophone 20 in the water are inputted to the remote control board 25 during the operation and outputted through a speaker 21, so that a remote control with the feeling of being at the site can be performed while listening to the sound of the collision of a bucket within the sea bottom.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned operation system for remotely controlling an underwater backhoe from a support ship, and more particularly to an unmanned underwater unmanned operation system for assisting unmanned operation by using ambient sound in water. is there.

[0002]

2. Description of the Related Art In recent years, water leveling work, such as excavating water bottoms such as the sea floor and river bottoms, and performing rubble and land reclamation, has been carried out.
Research and development of a technology for remotely controlling an underwater backhoe is underway.

[0003] The present applicant has previously filed Japanese Patent Application No. 9-309472.
No. (Title of Invention; Remote control device for underwater work machine)
Multi-narrow beam radiated from near the water surface
A 3D wire mesh image is created, and ULVS (Unused) uses an underwater laser television mounted on an underwater backhoe.
derwater Laser Viewing System), and proposed to remotely control the underwater backhoe while watching the wire mesh image and the monitor screen.

The underwater backhoe operates a lever or the like of a remote control board on board while watching a monitor screen in a support ship to perform operations such as excavation, backfilling and leveling of the seabed.

[0005]

However, the underwater backhoe is located on the seabed, and it is difficult to grasp the surrounding situation by simply looking at the monitor screen. There is a problem that driving cannot be performed.

Accordingly, an object of the present invention is to solve the above-mentioned problems and to provide an underwater backhoe unmanned operation system capable of operating the underwater backhoe unmanned while confirming surrounding conditions with sound.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, an invention of claim 1 is an underwater backhoe unmanned operation system for remotely operating an underwater backhoe remotely from a ship in muddy water. This is an unmanned underwater backhoe unmanned operation system equipped with an azimuth hydrophone so that it can be remotely operated while emitting the ambient sound of the underwater backhoe collected by the omnidirectional hydrophone.

According to a second aspect of the present invention, a three-dimensional wire mesh image of a water bottom is created using a multi-narrow beam, and the cross section of the sea bottom where the underwater backhoe is located and the side shape of the underwater backhoe are displayed on the monitor from the image, and the underwater backhoe is displayed. The underwater backhoe unmanned operation according to claim 1, wherein the sea bottom shape to be worked is switched and displayed on the monitor with a multi-narrow beam radiated from the monitor, and the monitor and the surrounding sound of the collected underwater backhoe are sounded remotely. System.

The invention according to claim 3 is the underwater backhoe unmanned operation system according to claim 1 or 2, wherein the volume of the collected sound is adjusted, and only a specific sound is selected and emitted.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below in detail with reference to the accompanying drawings.

In FIG. 1, reference numeral 10 denotes an underwater backhoe, an endless track zone 11 for traveling on the seabed B, a main body 12 rotatably provided on the endless track zone 11, and a body 12 capable of raising and lowering. A first boom 13, a second boom 14 that is provided at the tip of the first boom 13 so as to be freely bent,
A first boom 13 is made to be able to be raised and lowered by a first cylinder 16, and a second boom 14 is made to be able to bend by a second cylinder 17. Further, the bucket 15 is configured to rotate vertically by the third cylinder 18. Each of the cylinders 16, 17, and 18 has, for example, a built-in stroke sensor so that the length of expansion and contraction can be determined.

A radiator 19 for emitting a multi-narrow beam 21 is provided in front of the main body 12 on the sea floor in front of the main body 12, and an underwater laser television (ULVS) (not shown) is mounted. 21
, The sea bottom shape can be measured and photographed.

An omnidirectional hydrophone 20 for collecting the surrounding sound of the underwater backhoe 10 is supported on the main body 12 by a support 21.
It is attached to and provided.

The cylinders 16, 17, 18, the endless track zone 11, and the main body 12 are driven and controlled by a control device 22 provided in the main body 12, and have a radiator 19, an underwater laser television, an omnidirectional hydrophone 20, and a cylinder 16. , 17,
The information such as the stroke value 18 is also input / output to / from the control device 22. The control device 22 is extended via an umbilical cable 23 to a support ship on the sea (not shown), The operation of the cylinder and the like is controlled by an operation signal.

The cross-sectional shape 31 of the seabed B is obtained from a three-dimensional wire mesh image obtained by a multi-narrow beam from a ship and measured by a multi-narrow beam 19a from a radiator 19 mounted on the underwater backhoe 10. The target sea bottom M on which the underwater backhoe 10 works can also be set based on the cross-sectional shape.

FIG. 2 is a schematic diagram showing a situation in which the underwater backhoe 10 is steered by the onboard remote control board 25 using the omnidirectional hydrophone 20.
The sampling sound of 0 is input to the onboard remote control board 25 via the umbilical cable 23 and the amplifier 26 in the support ship in the air A, and the sampling sound is output from the sound emitter 27. I have.

Although not shown in detail, the onboard remote control panel 25 is provided with various operation levers in a state simulating the driver's seat of the underwater backhoe 10, and a monitor 28 is provided on the front surface thereof. Further, a remote operation signal by operating various operation levers of the remote control panel 25 is transmitted to the control device 22 of the underwater backhoe 10 via the umbilical cable 23.
And the control device 22 drives the endless track belt 11 and the cylinders 16, 17, 18, and the like based on this. The stroke values of the cylinders 16, 17, and 18 are sent to a remote control panel 25. Based on the information, the relative angles of the booms 13, 14 and the bucket 15 are calculated to determine the relative angle of the underwater backhoe 10. The side shape can be displayed together with the cross-sectional shape of the sea bottom on the monitor 28 using CG.

This will be described with reference to FIG.

First, as shown in FIG. 3A, a three-dimensional wire mesh image 30 of the water bottom is created by a multi-narrow beam and displayed on the monitor 28, and based on the image 30 and the position P of the underwater backhoe 10. Seabed cross section 3
3 is displayed on the monitor 28 as shown in FIG. 3 (b), and a wire mesh image 30H on a plane and a plan view of the backhoe 10 are displayed as shown in FIG. 3 (c). As shown in FIG. 3D, the seabed cross-sectional shape 31, the side surface shape of the underwater backhoe 10, and the target sea bottom M are displayed, and as shown in FIG. The cross-sectional shape of the underwater backhoe 10 is displayed.

The remote control panel 25 shown in FIG. 2 switches these images and changes according to the working condition of the underwater backhoe 10 as shown in FIG.
Is displayed on the monitor 28.

The interval between the wire meshes is set to several meters, and the topography and size of the water bottom can be seen on the monitor 28 from the image 30. For example, in order to level the water bottom to the target sea bottom M, the sea bottom B It is possible to determine at a glance whether the portion should be excavated or leveled with the backhoe 10, and at the same time, the movement of each part of the backhoe 10 can be recognized at the same time, and the image from the ULVS can be displayed at the same time. Operation on the seabed is easy.

When unmanned operation is performed by the remote control panel 25, the sound collected by the omnidirectional hydrophone 20 is output from the sound emitting device 27. The driver can perceive information that cannot be obtained with the visual information of the monitor 28 by outputting a sound such as a hitting sound, a sound of the traveling of the endless track zone 11, a sound of the ship approaching on the surface of the water, and maneuvering the underwater backhoe 10 underwater. Remote operation can be performed with a sense of presence.

The remote control panel 25 further includes a sound emitter 27.
The volume of the sound can be adjusted to increase or decrease the volume of the sampled sound, and the frequency of the sound inherent to the work, such as the sound of the bucket 15 hitting the seabed or the sound of the track belt 11 running, is different. To do
Only the sound of a specific frequency can be emphasized and output from the sound emitting device 27 according to the work situation.

As described above, the image is switched and displayed on the monitor 28, and the sound around the underwater backhoe 10 collected by the omnidirectional hydrophone 20 is output by the sound emitting device 27, so that the posture of the underwater backhoe at the bottom of the water and Since the work status can be monitored in real time by the worker's eyes and ears and monitored with a sense of realism, it is possible to operate the booms 13 and 14 and the bucket 15 according to the situation in the course direction on the water bottom and the situation. Become.

[0025]

In summary, according to the present invention, during unmanned operation of the underwater backhoe, the sound around the backhoe is collected, and the sound is emitted on the control side to perform remote control. The underwater backhoe can be driven unmanned in real time while recognizing no information.

[Brief description of the drawings]

FIG. 1 is a schematic view showing a side shape of an underwater backhoe according to the present invention.

FIG. 2 is a diagram showing an embodiment of the present invention.

FIG. 3 is a diagram illustrating an example of an image displayed on a display of a side surface display unit in the present invention.

[Explanation of symbols]

 Reference Signs List 10 underwater backhoe 20 omnidirectional hydrophone 25 onboard remote control panel 27 sound emitter 28 monitor

Claims (3)

[Claims] 1. An unmanned underwater backhoe unmanned operation system in which an underwater backhoe is unmannedly operated remotely from a ship in muddy water by mounting an omnidirectional hydrophone on the underwater backhoe and surrounding the underwater backhoe collected by the omnidirectional hydrophone. Underwater backhoe unmanned operation system characterized by remote control while emitting sound. 2. A three-dimensional wire mesh image of a water bottom is created using a multi-narrow beam, a cross-section of the sea bottom where the underwater backhoe is located and a side shape of the underwater backhoe are displayed on the monitor from the image, and the multi-narrow beam emitted from the underwater backhoe is displayed. The underwater backhoe unmanned operation system according to claim 1, wherein the sea bottom shape to be worked is switched and displayed on the monitor, and the monitor and the collected underwater backhoe are operated remotely while emitting ambient sounds. 3. The underwater backhoe unmanned operation system according to claim 1, wherein a volume of the collected sound is adjusted and a specific sound is selected and emitted.