WO2015155878A1

WO2015155878A1 - Remote-controlled work machine

Info

Publication number: WO2015155878A1
Application number: PCT/JP2014/060449
Authority: WO
Inventors: 貴雅甲斐; 弘幸山田
Original assignee: 株式会社日立製作所
Priority date: 2014-04-11
Filing date: 2014-04-11
Publication date: 2015-10-15

Abstract

The present invention relates to a work vehicle which is controlled by remote operations. In remote operations of the work vehicle, i.e. a construction machine or the like, vehicle-body vibration information is made perceptible to an operator in a remote location. The present invention addresses the problem of reducing the likelihood of the operator suffering from motion sickness by transmitting the vehicle-body vibration information after removing motion-sickness-causing frequencies therefrom, when making the vehicle-body vibration information perceptible to the operator. Accordingly, the present invention is characterized by being configured from: sensors for detecting a construction machine and construction-machine vibration information; a band removal device for removing motion-sickness-causing frequencies from the detected vibration information; a camera for imaging the state of the periphery of the construction machine; a remote cockpit in which an operator sits; and an actuator for driving the remote cockpit. The present invention is further characterized in that the actuator for driving the remote cockpit is driven using the vibration information which has had the motion-sickness-causing frequencies removed therefrom, to reproduce the construction-machine vibration information.

Description

Remote control work machine

The present invention relates to a work machine operated by remote control.

When remotely operating a work machine such as a construction machine, an operator who moves the vehicle from a remote location performs operations such as excavation and loading by looking at images from a camera attached to the vehicle. However, information from a remote location is only a video from the camera, and it is difficult to understand the ground hardness, vehicle tilt, and vibration information. For this reason, unlike the actual operation feeling, the working efficiency is reduced as compared to when the actual machine is boarded. If it is possible to give the operator the information on the hardness of the ground, the inclination of the vehicle, and the vibration information according to the image as if they were actually on board the vehicle, the work efficiency can be improved.

[Non-Patent Document 1] is a conventional technique for transmitting information other than video to an operator. [Non-Patent Document 1] has a 3D monitor, a driver's seat with a sensation device, and a sound information playback device in the work heavy equipment cab as an operator's remote operation environment, and it is close to actually boarding the vehicle Is reproduced in a remote operation environment. The driver's seat with a sensation device acquires vibrations and inclinations of heavy machinery from sensors installed in the heavy machinery, and moves the driver's seat back and forth and left and right based on the information. In addition, since there is a situation where the vehicle is steeply inclined in a working state with an actual heavy machine, there is a possibility that the operation may be hindered. Therefore, a seat inclination adjustment function is provided.

[Patent Document 1] is a document related to sickness, revealing that the left-right vibration of the train affects the incidence of motion sickness, and clarifying its frequency characteristics. In particular, in the case of left-right vibration, it is said that the influence on the incidence of motion sickness is significant at a frequency of 0.2 to 0.315 Hz.

JP2004-286502

In [Non-Patent Document 1], the driver's seat with a sensation device is moved forward, backward, left, and right, and information such as vibration and inclination other than the image is given to the operator to improve work efficiency. On the other hand, according to [Patent Document 1], it is shown that when humans receive left and right vibrations, the incidence of motion sickness increases if a specific frequency is included in the vibrations. In other words, when the driver's seat with the sensation device is driven based on the vibration of the vehicle, if the vibration includes a specific frequency component that affects the incidence of motion sickness, the operator is likely to get motion sickness. That is. The problem to be solved by the present invention is to make it difficult to get sick by moving a seat on which an operator sits when operating a working vehicle such as a construction machine from a remote place.

In order to solve the above-described problems, the present invention provides a vehicle that is operated by an operator from a remote location, a sensor that senses vibration of the aircraft, and a cockpit in which the operator is seated based on vibration information sensed by the sensor. In a remote control working machine that transmits vibration information of the fuselage to the operator by driving the cockpit by the actuator, a frequency band that causes sickness from vibration information sensed by the sensor is provided. A band removing device for removing a component is provided, and vibration information from the sensor is passed through the band removing device to generate driving data for the cockpit.

Further, the present invention is characterized in that in the remote control working machine, the airframe is provided with a camera, and the image from the airframe from the camera and the drive of the actuator that drives the cockpit are synchronized.

Further, the present invention is characterized in that in the remote control working machine, a component in a frequency band of about 0.2 to 0.315 Hz of left and right vibration is cut by a band removing device from vibration information from the sensor.

Further, in the remote control working machine according to the present invention, when the front / rear, top / bottom vibration is removed by the band removing device from the vibration information from the sensor, the frequency band removed by the band removing device is the frequency of the left / right vibration. It is characterized by being set lower than the band. In the remote control working machine according to the present invention, the frequency band to be removed by the band removing device is changed depending on the axis of the vibration direction.

According to the present invention, when remotely operating a work machine, the operator can operate with a feeling close to boarding the actual machine by driving a remote control seat on which the operator is seated based on vibration information of the actual machine, and the operator actually receives it. It is possible to improve work efficiency in remote operation by removing a specific frequency that affects the occurrence rate of motion sickness with respect to vibration and lowering the incidence rate of motion sickness of the operator.

Hydraulic excavator side view Excavator top view Remote control system block diagram Remote pilot seat Remote control system block diagram

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1st Embodiment is described using FIG.1, FIG.2, FIG.3 and FIG.

In the present embodiment, the configuration of a remote control working machine when remotely operating a construction machine hydraulic excavator as an example will be described. FIG. 1 is a side view of a hydraulic excavator 1 that is a target of remote operation.

The excavator 1 includes a lower traveling body 2, an upper swing body 3 attached to the upper portion of the lower traveling body 2, a cab 4 attached to the upper swing body 3, a boom 5 attached to the upper swing body 3, and an arm attached to the tip of the boom 5. 6. It consists of a bucket 7 attached to the tip of the arm 6.
When the hydraulic excavator 1 is remotely controlled, a camera 8 that captures the situation around the hydraulic excavator 1 is required. The camera 8 is attached to the excavator 1. The camera 8 attached to the hydraulic excavator 1 photographs the front and rear and left and right directions of the hydraulic excavator 1, and provides video information to the operator, thereby improving safety and work efficiency.

2 is a top view of the excavator 1. FIG. The acceleration sensor 9 and the transmitter 10 shown in FIG. 2 will be described. By attaching the acceleration sensor 9 to the vehicle body of the hydraulic excavator 1, vibration information 30 acting on the hydraulic excavator 1 is sensed. The acceleration sensor 9 senses six-axis acceleration vibration information. The position where the acceleration sensor 9 is attached does not have to be the position shown in the figure, and can be attached to another location. Vibration information sensed by the camera image 32 sensor 9 from the camera 8 is transmitted to a remote cockpit at a remote location by the transmitter 10 shown in FIGS. Further, the mounting position of the transmitter 10 is an example, and it does not have to be at this position.

Next, with reference to FIG. 3, a method for capturing and processing the camera image 32 from the camera 8 transmitted to the remote cockpit by the transmitter 10 and the vibration information 30 sensed by the acceleration sensor 9 in the band removing device 11 will be described. To do. From the sensed vibration information, the frequency band causing the sickness is cut by the band removing device 11. The vibration information is taken into the band removing device 11 and applied to the band stop filter. Here, since left-right vibration has the most influence on sickness, left-right vibration will be described as an example. In the band stop filter, the edge frequency is set to 0.25 Hz and 0.315 Hz of left and right vibration. The band stop filter cuts frequencies in a certain region and passes frequencies outside that region, and by setting the edge frequency as described above, the frequency causing the sickness is cut and the actuator drive device Drive data for driving 34 can be generated. Since the acceleration sensor 9 senses six-axis acceleration, the edge frequency is similarly determined for the remaining five axes, and the frequency causing the sickness is cut. Since the frequency that causes sickness varies depending on the axis in the vibration direction, processing for cutting the frequency that causes sickness is performed for each piece of vibration information in the left, right, front, back, top, bottom, roll, pitch, and yaw directions.

As described in [Patent Document 1], it is known that low-frequency vibrations are related to sickness in the front-rear and vertical vibrations as compared to the left-right vibrations. Therefore, the frequency at which the longitudinal vibration and the vertical vibration are cut is set lower than that of the lateral vibration. The configuration in the band removing device 11 shown here is an example, and the configuration is not limited to this, and a combination of a low-pass filter and a high-pass filter is also conceivable. In this case, a frequency of 0.2 Hz or less of the left and right vibration is passed by the low pass filter, and a frequency of 0.315 Hz or more of the left and right vibration is passed by the high pass filter. Thereby, the frequency causing the sickness can be cut. Further, it is possible to cut the frequency by the same method for vibrations in other directions.

Next, the remote control seat provided in the remote control room will be described with reference to FIG. The image of the camera 8 attached to the excavator 1 is output to the transmitter 10. Based on the vibration information processed by the band removing device 11, the remote control seat 13 on which the operator is seated is driven. In order to drive the remote cockpit 13, an actuator 14 is attached to the lower part of the remote cockpit 13. Since the actuator 14 is driven by six axes, it can reproduce the vibration from which the frequency causing the vibration sickness of the excavator 1 sensed by the acceleration sensor 9 is removed. That is, the operator sitting on the remote control seat 13 by driving the actuator 14 can experience vibration information of the excavator 1. Further, the actuator 14 is not limited to driving with six axes, and may be driven only with an axis that is important when operating the excavator 1, for example. With the configuration as described above, the vibration information of the main body of the hydraulic excavator 1 can be understood and the ground condition can be grasped, so that the work efficiency is improved as compared with the case of only the image. Further, since the frequency causing the sickness is cut in the band removing device 11, the operator does not get drunk and can work for a long time.

The second embodiment will be described with reference to FIGS.

In the present embodiment, a description will be given of the synchronization processing device 15 that synchronizes the image from the camera 8 and the vibration information sensed by the acceleration sensor 9 with the frequency that causes sickness being cut. In the remote operation system of FIG. 5, the configuration other than the synchronization process is the same as that of the first embodiment. The camera video 32 and the vibration information 30 from the camera 8 are taken into the synchronization processing device 15. In order to synchronize the captured camera image 32 and the vibration information 30, the image is adjusted on the time axis so that the image and the vibration are synchronized. By doing so, the video and the vibration are synchronized, and there is no time difference between the visual information and the bodily sensation information, so that work efficiency is improved.

Moreover, since the frequency causing the sickness is cut, it is possible to work for a long time. The video and vibration synchronization method shown here is an example, and this method is not necessarily required.

DESCRIPTION OF SYMBOLS 1 ... Hydraulic excavator, 2 ... Lower traveling body, 3 ... Upper turning body, 4 ... Cab, 5 ... Boom, 6 ... Arm, 7 ... Bucket, 8 ... Camera, 9 ... Accelerometer, 10 ... Transmitter, 11 ... Band Removal device, 12 ... monitor, 13 ... remote cockpit, 14 ... actuator, 15 ... synchronization processing device

Claims

An aircraft that is operated by an operator from a remote location;
A sensor for sensing vibrations of the airframe;
An actuator for driving a cockpit seated by the operator based on vibration information sensed by the sensor;
In the remote control working machine in which the actuator transmits the vibration information of the aircraft to the operator by driving the cockpit,
A band removing device that removes a frequency band component causing sickness from vibration information sensed by the sensor,
The remote control work machine characterized in that vibration information from the sensor is passed through the band elimination device to generate driving data for the cockpit.
In the remote control work machine of claim 1,
The aircraft is equipped with a camera,
A remote control working machine characterized in that an image from the airframe from the camera is synchronized with driving of an actuator for driving the cockpit.
In the remote control work machine of claim 1,
A remote control work machine characterized in that a component of a frequency band of about 0.2 to 0.315 Hz of left and right vibration is cut by a band removing device from vibration information from the sensor.
In the remote cockpit of claim 1,
The frequency band to be removed by the band removing device is set to be lower than the frequency band of the left and right vibrations when removing the longitudinal and vertical vibrations by the band removing device from the vibration information from the sensor. Remote control work machine.
In the remote control work machine according to claim 1,
A remote control working machine characterized in that a frequency band to be removed by the band removing device is changed depending on an axis in a vibration direction.