WO2020044834A1 - バケット高さ通知装置およびバケット高さ通知方法 - Google Patents
バケット高さ通知装置およびバケット高さ通知方法 Download PDFInfo
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- WO2020044834A1 WO2020044834A1 PCT/JP2019/028250 JP2019028250W WO2020044834A1 WO 2020044834 A1 WO2020044834 A1 WO 2020044834A1 JP 2019028250 W JP2019028250 W JP 2019028250W WO 2020044834 A1 WO2020044834 A1 WO 2020044834A1
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- Prior art keywords
- bucket
- height
- image
- display
- cutting edge
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
- G06F3/1423—Digital output to display device ; Cooperation and interconnection of the display device with other functional units controlling a plurality of local displays, e.g. CRT and flat panel display
- G06F3/1446—Digital output to display device ; Cooperation and interconnection of the display device with other functional units controlling a plurality of local displays, e.g. CRT and flat panel display display composed of modules, e.g. video walls
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
- G06F3/147—Digital output to display device ; Cooperation and interconnection of the display device with other functional units using display panels
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
- G09G5/36—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of a graphic pattern, e.g. using an all-points-addressable [APA] memory
- G09G5/37—Details of the operation on graphic patterns
- G09G5/377—Details of the operation on graphic patterns for mixing or overlaying two or more graphic patterns
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/308—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working outwardly
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G2340/00—Aspects of display data processing
- G09G2340/12—Overlay of images, i.e. displayed pixel being the result of switching between the corresponding input pixels
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G2380/00—Specific applications
- G09G2380/10—Automotive applications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
- G09G2380/00—Specific applications
- G09G2380/12—Avionics applications
Definitions
- the present invention relates to a bucket height notification device and a bucket height notification method for a work vehicle related to remote operation.
- Priority is claimed on Japanese Patent Application No. 2018-163917 filed on August 31, 2018, the content of which is incorporated herein by reference.
- a remotely operated work vehicle includes an imaging device that captures an image of a surrounding situation and a communication device that transmits the captured image to the outside. This allows the operator to perform an operation while visually recognizing the image transmitted from the work vehicle.
- Patent Literature 1 discloses a technique for displaying an inclination and an orientation of a work machine to a display device for an operator.
- An object of the present invention is to provide a bucket height notifying apparatus and a bucket height notifying method that can notify an operator of a height of a bucket of a work machine that is difficult to recognize due to remote operation.
- a bucket height notifying device includes a bucket height specifying unit that specifies a bucket height that is a height from a ground surface to a bucket of a work machine provided in a work vehicle that is remotely operated. And a bucket height notifying unit for notifying the bucket height.
- control device of the remote cab can notify the operator of the height of the bucket of the work implement that is difficult to recognize because the operation is performed by remote control.
- FIG. 1 is a schematic diagram illustrating a configuration of a remote operation system according to a first embodiment.
- FIG. 1 is an external view of a work vehicle according to a first embodiment.
- 4 is an example of an image captured by the imaging device of the work vehicle according to the first embodiment.
- FIG. 2 is a schematic block diagram illustrating a configuration of a remote cab control device according to the first embodiment.
- FIG. 4 is a diagram illustrating an example of an image cut out from an image captured by a front camera. It is a figure showing an example of a bucket height picture.
- FIG. 4 is a diagram illustrating an example of a display image displayed on the display device according to the first embodiment. It is a flowchart which shows the display control method by the control apparatus of the remote operator's cab which concerns on 1st Embodiment.
- FIG. 1 is a schematic diagram illustrating a configuration of a remote operation system according to the first embodiment.
- the remote control system 1 includes a work vehicle 100 that operates by remote control, and a remote cab 500 for performing remote control.
- the work vehicle 100 operates at a work site (for example, a mine or a quarry).
- the remote operator's cab 500 is provided at a point away from the work vehicle 100 (for example, in a city or a work site).
- Work vehicle 100 and remote cab 500 are connected via communication means such as the Internet.
- the remote operation system 1 is a system for operating the work vehicle 100 using the remote driver's cab 500.
- Work vehicle 100 operates according to an operation signal received from remote cab 500. That is, the operator does not board the work vehicle 100.
- Remote operator's cab 500 receives an operation of work vehicle 100 by an operation of an operator, and transmits an operation signal to work vehicle 100.
- the remote driver's cab 500 includes a driver's seat 510, a first display device 520, a second display device 530, an operation device 540, and a control device 550.
- First display device 520 is arranged in front of driver's seat 510.
- First display device 520 is located in front of the operator when the operator is sitting in driver's seat 510.
- the first display device 520 includes a central display 521, a left display 522, a right display 523, an upper display 524, and a lower display 525 arranged as shown in FIG.
- the left display 522 is provided on the left side of the center display 521.
- the right display 523 is provided on the right side of the center display 521.
- the upper display 524 is provided above the central display 521.
- the lower display 525 is provided below the central display 521.
- the number of displays constituting the first display device 520 is not limited to this.
- the first display device 520 may be configured by one display.
- the first display device 520 may project an image onto a curved surface or a spherical surface using a projector or the like.
- the second display device 530 is disposed diagonally forward of the driver's seat 510.
- the second display device 530 displays vehicle body information (fuel remaining amount, engine water temperature) transmitted from the work vehicle 100, a notification of an abnormality of the work vehicle 100, and the like.
- vehicle body information fuel remaining amount, engine water temperature
- the position of the second display device 530 may not be obliquely forward of the driver's seat 510 as long as the position can be visually recognized by the operator.
- the remote cab 500 may not include the second display device.
- the operating device 540 is arranged near the driver's seat 510.
- the operating device 540 is located within the operable range of the operator when the operator sits in the driver's seat 510.
- the operating device 540 includes, for example, an electric lever and an electric pedal. When the operator operates the electric lever and the electric pedal, the operating device 540 outputs an operation signal of the boom 131, the arm 132 and the bucket 133, a turning operation signal of the revolving unit 120, and a traveling operation signal of the traveling unit 110. I do.
- Control device 550 causes first display device 520 to display the image and vehicle body information received from work vehicle 100. That is, the control device 550 is an example of a display control device. Further, control device 550 transmits an operation signal input to operation device 540 to work vehicle 100. The control device 550 is an example of a bucket height notification device.
- FIG. 2 is an external view of the work vehicle according to the first embodiment.
- the work vehicle 100 according to the first embodiment is a hydraulic shovel.
- the work vehicle 100 according to another embodiment may be a work vehicle other than a hydraulic shovel, such as a wheel loader or a bulldozer.
- the work vehicle 100 includes a working machine 130 driven by hydraulic pressure, a revolving unit 120 supporting the working unit 130, and a traveling unit 110 supporting the revolving unit 120.
- Work machine 130 includes boom 131, arm 132, and bucket 133.
- Work implement 130 is driven by the expansion and contraction of boom cylinder 134, arm cylinder 135, and bucket cylinder 136.
- a boom angle sensor 137, an arm angle sensor 138, and a bucket angle sensor 139 are mounted on the boom 131, the arm 132, and the bucket 133, respectively.
- the base end of the boom 131 is attached to the swing body 120 via a pin.
- the arm 132 connects the boom 131 and the bucket 133.
- the proximal end of the arm 132 is attached to the distal end of the boom 131 via a pin.
- the bucket 133 includes a blade for excavating earth and sand and the like and a container for storing the excavated earth and sand.
- the proximal end of the bucket 133 is attached to the distal end of the arm 132 via a pin.
- the boom cylinder 134 is a hydraulic cylinder for driving the boom 131.
- the base end of the boom cylinder 134 is attached to the swing body 120.
- the tip of the boom cylinder 134 is attached to the boom 131.
- the arm cylinder 135 is a hydraulic cylinder for driving the arm 132.
- the base end of the arm cylinder 135 is attached to the boom 131.
- the tip of the arm cylinder 135 is attached to the arm 132.
- the bucket cylinder 136 is a hydraulic cylinder for driving the bucket 133.
- the base end of the bucket cylinder 136 is attached to the boom 131.
- the tip of the bucket cylinder 136 is attached to the bucket 133.
- the boom angle sensor 137 is attached to the boom 131, for example, and detects the inclination angle of the boom 131.
- the arm angle sensor 138 is attached to, for example, the arm 132, and detects an inclination angle of the arm 132.
- the bucket angle sensor 139 is attached to, for example, the bucket 133, and detects the inclination angle of the bucket 133.
- the boom angle sensor 137, the arm angle sensor 138, and the bucket angle sensor 139 according to the first embodiment detect an inclination angle with respect to the ground plane.
- the angle sensor according to another embodiment is not limited to this, and may detect an inclination angle with respect to another reference plane.
- the angle sensor may detect the relative rotation angle by a potentiometer provided at the base end of the boom 131, the arm 132, and the bucket 133, or the boom cylinder 134, the arm cylinder 135,
- the inclination length may be detected by measuring the cylinder length of the bucket cylinder 136 and converting the cylinder length into an angle.
- the revolving unit 120 is provided with a driver's cab 121.
- the cab 121 is provided on the left side of the working machine 130.
- the driver's cab 121 is provided with a front camera 122.
- the front camera 122 is installed at the front and upper part in the cab 121.
- the front camera 122 captures an image of the front of the cab 121 through a windshield in front of the cab 121.
- forward refers to the direction in which the work implement 130 is mounted on the revolving superstructure 120
- “rearward” refers to the opposite direction of “forward”.
- “Side” refers to a direction (left-right direction) crossing the front-back direction.
- Examples of the front camera 122 include, for example, an imaging device using a CCD (Charge Coupled Device) sensor and a CMOS (Complementary Metal Oxide Semiconductor) sensor.
- the work vehicle 100 may not include the driver's cab 121.
- the front camera 122 is installed at a position corresponding to the cab 121 so as to capture an image of the front.
- the front camera 122 may be configured by two or more cameras.
- FIG. 3 is an example of an image captured by the imaging device of the work vehicle according to the first embodiment.
- the front camera 122 captures an image of a range in which a work target in front of the work implement 130 and the cab 121 is captured.
- the image P1 captured by the front camera 122 shows the work object in front of the work implement 130 and the cab 121 as shown in FIG. Further, since the cab 121 is provided on the left side of the work machine 130, a part of the boom 131 is reflected on the right side of the image P1.
- the work vehicle 100 includes a front camera 122, a position and orientation calculator 123, a tilt measuring device 124, a hydraulic device 125, and a control device 126.
- the position and orientation calculator 123 calculates the position of the revolving superstructure 120 and the direction in which the revolving superstructure 120 faces.
- the position and orientation calculator 123 includes two receivers that receive positioning signals from artificial satellites that make up the GNSS. The two receivers are installed at different positions on the revolving superstructure 120, respectively.
- the position and orientation calculator 123 detects the position of the representative point (the origin of the shovel coordinate system) of the revolving body 120 in the on-site coordinate system based on the positioning signal received by the receiver. Using the positioning signals received by the two receivers, the position / azimuth calculator 123 calculates the azimuth of the revolving unit 120 as the relationship between the installation position of one receiver and the installation position of the other receiver.
- the position and orientation calculator 123 may detect the orientation of the revolving superstructure 120 based on the measured value of the rotary encoder or the IMU.
- the work vehicle 100 may not include the position and orientation calculator 123.
- the tilt measuring device 124 measures the acceleration and angular velocity of the revolving unit 120, and detects the attitude (for example, roll angle, pitch angle, yaw angle) of the revolving unit 120 based on the measurement result.
- the inclination measuring device 124 is installed, for example, on the lower surface of the swing body 120.
- an inertial measurement device IMU: Inertial Measurement Unit
- the work vehicle 100 may not include the position and orientation calculator 123.
- the hydraulic device 125 includes a hydraulic oil tank, a hydraulic pump, and a flow control valve.
- the hydraulic pump is driven by the power of an engine or an electric motor (not shown), and supplies hydraulic oil to the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136 via a flow control valve.
- the flow control valve has a rod-shaped spool, and adjusts the flow rate of hydraulic oil supplied to the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136 according to the position of the spool.
- the spool is driven based on a control command received from the control device 126. That is, the amount of hydraulic oil supplied to the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136 is controlled by the control device 126.
- the control device 126 transmits the image captured by the front camera 122, the turning speed, the position, the azimuth and the tilt angle of the revolving unit 120, the boom 131, and the information on the tilt angle of the arm 132 and the bucket 133 to the remote driver's cab 500.
- information measured by various sensors included in work vehicle 100 and transmitted by control device 126 is also referred to as vehicle body information.
- Control device 126 receives an operation signal from remote cab 500.
- the control device 126 drives the work implement 130, the swing body 120, or the traveling body 110 based on the received operation signal.
- FIG. 4 is a schematic block diagram showing the configuration of the remote cab control device according to the first embodiment.
- the control device 550 is a computer including a processor 910, a main memory 930, a storage 950, and an interface 970.
- the storage 950 stores a program.
- the processor 910 reads the program from the storage 950, expands the program in the main memory 930, and executes processing according to the program.
- Examples of the storage 950 include an HDD (Hard Disk Drive), an SSD (Solid State Drive), a magnetic disk, a magneto-optical disk, a CD-ROM (Compact Disc Read Only Memory), and a DVD-ROM (Digital Versatile Disc Read Only Memory). And a semiconductor memory.
- the storage 950 may be an internal medium directly connected to the common communication line of the control device 550, or may be an external medium connected to the control device 550 via the interface 970.
- the storage 950 is a non-transitory tangible storage medium.
- the control device 550 includes a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) or an ASIC (Application Specific Integrated Circuit Circuit). ) May be provided.
- a custom LSI Large Scale Integrated Circuit
- PLD Programmable Logic Device
- ASIC Application Specific Integrated Circuit Circuit
- the PLD include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array).
- some or all of the functions realized by the processor 910 may be realized by the integrated circuit.
- the processor 910 executes the vehicle body information receiving unit 911, the image cutting unit 912, the cutting edge height specifying unit 913, the cutting edge height image generating unit 914, the display image generating unit 915, the display control unit 916, and the operation signal transmission.
- a section 917 is provided.
- the vehicle body information receiving unit 911 receives, from the work vehicle 100, the image captured by the front camera 122, the turning speed, the position, the azimuth, and the inclination angle of the revolving unit 120, and the information on the inclination angles of the boom 131, the arm 132, and the bucket 133. I do. That is, the vehicle body information receiving unit 911 is an example of a captured image acquiring unit.
- FIG. 5 is a diagram illustrating an example of an image cut out from the image P1 captured by the front camera.
- the image cutout unit 912 From the image P1 captured by the front camera 122 and received by the vehicle body information receiving unit 911, the image cutout unit 912 outputs a central image P11 to be displayed on the central display 521, a left image P12 to be displayed on the left display 522, and a right image P12.
- a right image P13 to be displayed on the display 523, an upper image P14 to be displayed on the upper display 524, and a lower image P15 to be displayed on the lower display 525 are cut out.
- the image clipping unit 912 does not need to clip an image.
- the cutting edge height specifying unit 913 is a height from the ground contact surface of the work vehicle 100 to the cutting edge of the bucket 133 based on the information on the inclination angles of the boom 131, the arm 132, and the bucket 133 received by the vehicle body information receiving unit 911. Calculate the cutting edge height. Specifically, the cutting edge height specifying unit 913 calculates the cutting edge height of the bucket 133 in the following procedure.
- the cutting edge height specifying portion 913 is configured to determine the height of the pin at the distal end of the boom 131 based on the known height of the pin at the base end of the boom 131, the inclination angle of the boom 131, and the known length of the boom 131. Is calculated.
- the pin at the tip of the boom 131 is the pin at the base of the arm 132.
- the cutting edge height specifying unit 913 calculates the height of the pin at the distal end of the arm 132 based on the height of the pin at the base end of the arm 132, the inclination angle of the arm 132, and the known length of the arm 132. I do.
- the pin at the distal end of the arm 132 is a pin at the proximal end of the bucket 133.
- the cutting edge height specifying section 913 determines the cutting edge of the bucket 133 based on the height of the pin at the base end of the bucket 133, the inclination angle of the bucket 133, and the known length from the base end of the bucket 133 to the cutting edge. Calculate the height.
- the cutting edge height specifying unit 913 may extract a characteristic point of the cutting edge from the captured image to detect the height of the characteristic point, or attach a laser sensor to the bucket 133, The height of the cutting edge may be detected based on the detection value of the laser sensor.
- the height of the cutting edge according to the first embodiment is the height from the ground contact surface of the work vehicle 100 to the cutting edge of the bucket 133, but is not limited to this in other embodiments.
- the cutting edge height according to another embodiment may be a height from the ground surface immediately below the cutting edge of the bucket 133 to the cutting edge.
- the ground surface immediately below the cutting edge of the bucket 133 may be at a different height from the contact surface of the work vehicle 100.
- the ground surface immediately below the cutting edge of the bucket 133 may be a ground surface higher than the ground contact surface of the work vehicle 100, or may be a ground surface lower than the ground contact surface of the work vehicle 100.
- the ground surface immediately below the cutting edge of the bucket 133 may be a slope.
- the ground surface and the ground surface immediately below the cutting edge of the bucket 133 are both examples of the ground surface.
- the cutting edge height specifying unit 913 is an example of a bucket height specifying unit.
- FIG. 6 is a diagram illustrating an example of a blade edge height image.
- the cutting edge height image generation unit 914 generates a cutting edge height image P2 indicating the cutting edge height of the working machine 130 based on the cutting edge height calculated by the cutting edge height specifying unit 913.
- the cutting edge height image P2 includes a gauge P21 having a scale indicating the height, and an indicator P22 arranged on the gauge P21 and indicating the cutting edge height.
- the operator can estimate the cutting edge height by recognizing the relative positional relationship of the indicator P22 on the gauge P21. Further, the operator can accurately recognize the height of the cutting edge by reading the scale of the gauge P21 where the indicator P22 is located.
- FIG. 7 is a diagram illustrating an example of a display image displayed on the display device according to the first embodiment.
- the display image generation unit 915 generates the display right image P13a by arranging the cutting edge height image P2 in the arrangement region R of the right image P13 cut out by the image cutting unit 912.
- the arrangement area R is, for example, an area in which an operator's line of sight movement is small. Note that the arrangement region R according to another embodiment may be provided in another clipped image. In another embodiment, the blade edge height image P2 may be arranged at a predetermined position.
- the display control unit 916 causes the central display 521 to display the central image P11.
- the left image P12 is displayed on the left display 522.
- the control device 550 causes the right display 523 to display the display right image P13a.
- Control device 550 causes upper display 524 to display upper image P14.
- Control device 550 causes lower display 525 to display lower image P15. That is, the display control unit 916 causes the supplementary image to be displayed in the arrangement area of the first display device 520 separately from the vehicle body information displayed by the second display device 530.
- the display control unit 916 is an example of a cutting edge height notification unit.
- the operation signal transmission unit 917 generates an operation signal based on the operation of the operation device 540 by the operator, and transmits the operation signal to the work vehicle 100.
- FIG. 8 is a flowchart illustrating a display control method by the remote cab control device according to the first embodiment.
- control device 550 executes the following display control at a predetermined cycle.
- the vehicle body information receiving unit 911 receives the vehicle body information from the control device 126 of the work vehicle 100 (Step S11).
- the image cutout unit 912 cuts out the center image P11, the left image P12, the right image P13, the upper image P14, and the lower image P15 from the image P1 captured by the front camera 122 among the received vehicle body information ( Step S12).
- the cutting edge height specifying unit 913 calculates the cutting edge height of the bucket 133 based on the information of the inclination angle of the boom 131, the arm 132, and the bucket 133 in the received vehicle information (step S13).
- the cutting edge height image generation unit 914 generates a cutting edge height image P2 based on the cutting edge height (Step S14).
- the display image generation unit 915 generates the display right image P13a by arranging the blade edge height image P2 in the arrangement region R of the right image P13 (Step S15).
- the display control unit 916 generates a display signal for displaying the center image P11, the left image P12, the display right image P13a, the upper image P14, and the lower image P15 on the first display device 520, and generates the first display device. 520 (step S16).
- the control device 550 of the remote operator's cab 500 specifies the cutting edge height, which is the height from the contact surface of the work implement 130 to the cutting edge, and notifies the operator of the cutting edge height. I do.
- the operator can easily recognize the height of the cutting edge of the working machine, which is difficult to recognize due to the remote operation.
- control device 550 causes the first display device 520 to display a display image in which a blade edge height image is arranged on a captured image captured by the front camera 122 mounted on the work vehicle 100. .
- the operator can recognize the height of the cutting edge by visually recognizing the same display device as the image in which the work target is captured.
- the control device 550 may cause the first display device 520 to simply display a numerical value indicating the height instead of the blade height image.
- the control device 550 may notify the operator of the blade height by a method other than the display.
- control device 550 may notify the operator of the blade height by generating a sound for notifying the blade height from a speaker. Further, the control device 550 according to another embodiment may control the operation device 540 such that the lever operation of the operation device 540 becomes heavier as the cutting edge height decreases. For example, the control device 550 can increase the lever operation by compressing a self-neutral spring (not shown) built in the lever of the operation device 540 with an actuator by an amount corresponding to the blade edge height.
- a self-neutral spring not shown
- the control device 550 calculates the cutting edge height, but is not limited thereto.
- the control device 126 of the work vehicle 100 or an external server device may calculate the cutting edge height, and the control device 550 may receive the information on the cutting edge height.
- the control device 126 of the work vehicle 100 or an external server device may generate a blade height image, and the control device 550 may receive the blade height image.
- the cutting edge height specifying unit 913 can specify the cutting edge height by receiving information on the cutting edge height or receiving the cutting edge height image.
- the control device 550 calculates and notifies the height of the cutting edge of the bucket 133, but is not limited to this in other embodiments.
- the control device 550 may calculate the bucket bottom height, which is the distance from the ground surface to the bucket bottom point, instead of the cutting edge height, and notify the bucket bottom height.
- the bucket bottom point is a point of the bucket 133 closest to the ground surface.
- the control device 550 stores the shape of the bucket 133 based on the base end of the bucket 133 in advance instead of or in addition to the length from the base end of the bucket 133 to the cutting edge, so that the lowermost point of the bucket Can be specified. Both the cutting edge height and the bucket bottom height are examples of the bucket height.
- the bucket height notification device is mounted on the remote operation system 1, but is not limited thereto.
- the bucket height notification device may be applied to a radio control system that operates the work vehicle 100 by wireless communication outside the work vehicle 100 and at a position where the work vehicle 100 can be visually recognized.
- the control device may include a display device.
- control device of the remote cab can notify the operator of the height of the bucket of the work implement which is difficult to recognize because the control is performed by remote control.
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Abstract
Description
本願は、2018年8月31日に日本に出願された特願2018-163917号について優先権を主張し、その内容をここに援用する。
また、特許文献1には、オペレータに作業機械の傾きおよび方位を表示装置に表示する技術が開示されている。
本発明の態様は、遠隔操作であるために認識しがたい作業機のバケットの高さをオペレータに知らせることができるバケット高さ通知装置およびバケット高さ通知方法を提供することを目的とする。
《遠隔操作システム》
図1は、第1の実施形態に係る遠隔操作システムの構成を示す概略図である。
遠隔操作システム1は、遠隔操作により動作する作業車両100と、遠隔操作を行うための遠隔運転室500とを備える。作業車両100は、作業現場(例えば、鉱山、採石場)にて稼動する。遠隔運転室500は、作業車両100から離れた地点(例えば、市街、作業現場内)に設けられる。作業車両100と遠隔運転室500とは、インターネットなどの通信手段を介して接続される。
遠隔操作システム1は、遠隔運転室500を用いて作業車両100を操作するためのシステムである。
遠隔運転室500は、オペレータの操作により、作業車両100の操作を受け付け、操作信号を作業車両100に送信する。
遠隔運転室500は、運転席510、第1表示装置520、第2表示装置530、操作装置540、制御装置550を備える。
第1表示装置520は、運転席510の前方に配置される。第1表示装置520は、オペレータが運転席510に座ったときにオペレータの眼前に位置する。第1表示装置520は、図1に示すように、並べられた中央ディスプレイ521、左ディスプレイ522、右ディスプレイ523、上ディスプレイ524、下ディスプレイ525によって構成される。左ディスプレイ522は中央ディスプレイ521の左側に設けられる。右ディスプレイ523は中央ディスプレイ521の右側に設けられる。上ディスプレイ524は中央ディスプレイ521の上側に設けられる。下ディスプレイ525は中央ディスプレイ521の下側に設けられる。
なお、他の実施形態においては、第1表示装置520を構成するディスプレイの数はこれに限られない。例えば、第1表示装置520は1つのディスプレイによって構成されてもよい。また、第1表示装置520は、プロジェクタ等によって曲面や球面に画像を投影するものであってもよい。
図2は、第1の実施形態に係る作業車両の外観図である。
第1の実施形態に係る作業車両100は、油圧ショベルである。なお、他の実施形態に係る作業車両100は、油圧ショベル以外の例えばホイールローダ、ブルドーザ等の作業車両であってもよい。
作業車両100は、油圧により駆動する作業機130と、作業機130を支持する旋回体120と、旋回体120を支持する走行体110とを備える。
アーム132は、ブーム131とバケット133とを連結する。アーム132の基端部は、ブーム131の先端部にピンを介して取り付けられる。
バケット133は、土砂などを掘削するための刃と掘削した土砂を収容するための容器とを備える。バケット133の基端部は、アーム132の先端部にピンを介して取り付けられる。
アームシリンダ135は、アーム132を駆動するための油圧シリンダである。アームシリンダ135の基端部は、ブーム131に取り付けられる。アームシリンダ135の先端部は、アーム132に取り付けられる。
バケットシリンダ136は、バケット133を駆動するための油圧シリンダである。バケットシリンダ136の基端部は、ブーム131に取り付けられる。バケットシリンダ136の先端部は、バケット133に取り付けられる。
アーム角度センサ138は、例えばアーム132に取り付けられ、アーム132の傾斜角を検出する。
バケット角度センサ139は、例えばバケット133に取り付けられ、バケット133の傾斜角を検出する。
第1の実施形態に係るブーム角度センサ137、アーム角度センサ138、およびバケット角度センサ139は、地平面に対する傾斜角を検出する。なお、他の実施形態に係る角度センサはこれに限られず、他の基準面に対する傾斜角を検出してもよい。例えば、他の実施形態においては、角度センサは、ブーム131、アーム132およびバケット133の基端部に設けられたポテンショメータによって相対回転角を検出してもよいし、ブームシリンダ134、アームシリンダ135およびバケットシリンダ136のシリンダ長さを計測し、シリンダ長さを角度に変換することで傾斜角を検出するものであってもよい。
図3は、第1の実施形態に係る作業車両の撮像装置が撮像する画像の例である。前方カメラ122は、作業機130および運転室121の前方の作業対象が写る範囲を撮像する。つまり、前方カメラ122が撮像する画像P1には、図3に示すように、作業機130および運転室121の前方の作業対象が写る。また、運転室121が作業機130の左側に設けられるため、画像P1の右側部分には、ブーム131の一部が写りこんでいる。
位置方位演算器123は、2つの受信器が受信した各測位信号を用いて、一方の受信器の設置位置に対する他方の受信器の設置位置の関係として、旋回体120の向く方位を演算する。
なお、他の実施形態においては、位置方位演算器123は、ロータリーエンコーダやIMUの計測値に基づいて旋回体120が向く方位を検出してもよい。また他の実施形態に係る作業車両100は位置方位演算器123を備えなくてもよい。
制御装置126は、遠隔運転室500から操作信号を受信する。制御装置126は、受信した操作信号に基づいて、作業機130、旋回体120、または走行体110を駆動させる。
図4は、第1の実施形態に係る遠隔運転室の制御装置の構成を示す概略ブロック図である。
制御装置550は、プロセッサ910、メインメモリ930、ストレージ950、インタフェース970を備えるコンピュータである。ストレージ950は、プログラムを記憶する。プロセッサ910は、プログラムをストレージ950から読み出してメインメモリ930に展開し、プログラムに従った処理を実行する。
画像切出部912は、車体情報受信部911が受信した前方カメラ122が撮像した画像P1から、中央ディスプレイ521に表示させるための中央画像P11、左ディスプレイ522に表示させるための左画像P12、右ディスプレイ523に表示させるための右画像P13、上ディスプレイ524に表示させるための上画像P14、下ディスプレイ525に表示させるための下画像P15をそれぞれ切り出す。なお、第1表示装置520が1つのディスプレイから構成される場合、画像切出部912は画像の切り出しを行わなくてもよい。
刃先高さ特定部913は、ブーム131の基端部のピンの既知の高さと、ブーム131の傾斜角と、ブーム131の既知の長さとに基づいて、ブーム131の先端部のピンの高さを算出する。ブーム131の先端部のピンは、すなわちアーム132の基端部のピンである。刃先高さ特定部913は、アーム132の基端部のピンの高さと、アーム132の傾斜角と、アーム132の既知の長さとに基づいて、アーム132の先端部のピンの高さを算出する。アーム132の先端部のピンは、すなわちバケット133の基端部のピンである。刃先高さ特定部913は、バケット133の基端部のピンの高さと、バケット133の傾斜角と、バケット133の基端部から刃先までの既知の長さとに基づいて、バケット133の刃先の高さを算出する。なお、他の実施形態においては、刃先高さ特定部913は、撮像画像から刃先の特徴点を抽出して当該特徴点の高さを検出してもよいし、バケット133にレーザセンサを取り付け、当該レーザセンサの検出値に基づいて刃先の高さを検出してもよい。なお、第1の実施形態に係る刃先高さは、作業車両100の接地面からバケット133の刃先までの高さであるが、他の実施形態ではこれに限られない。例えば、他の実施形態に係る刃先高さは、バケット133の刃先の直下の地表面から刃先までの高さであってもよい。なお、バケット133の刃先の直下の地表面は、作業車両100の接地面と異なる高さであることがある。すなわちバケット133の刃先の直下の地表面は、作業車両100の接地面より高い地表面であってもよいし、作業車両100の接地面より低い地表面であってもよい。またバケット133の刃先の直下の地表面は、法面であってもよい。接地面およびバケット133の刃先の直下の地表面は、いずれも地表面の一例である。刃先高さ特定部913は、バケット高さ特定部の一例である。
刃先高さ画像生成部914は、刃先高さ特定部913が算出した刃先高さに基づいて、作業機130の刃先高さを表す刃先高さ画像P2を生成する。刃先高さ画像P2は、高さを表す目盛りを有するゲージP21と、ゲージP21上に配置され、刃先高さを表すインジケータP22とを含む。これにより、オペレータは、ゲージP21におけるインジケータP22の相対的な位置関係を認識することで、刃先高さを推測することができる。また、オペレータは、インジケータP22が位置する箇所のゲージP21の目盛りを読むことで、刃先高さを正確に認識することができる。
表示画像生成部915は、刃先高さ画像P2を画像切出部912が切り出した右画像P13の配置領域Rに配置することで、表示用右画像P13aを生成する。配置領域Rは、例えば、オペレータの視線移動が少ない領域である。なお、他の実施形態に係る配置領域Rは他の切り出した画像に設けられたものであってもよい。また他の実施形態では、刃先高さ画像P2は、予め定められた位置に配置されてもよい。
図8は、第1の実施形態に係る遠隔運転室の制御装置による表示制御方法を示すフローチャートである。作業車両100の遠隔操作が開始されると、制御装置550は、以下に示す表示制御を所定の周期で実行する。
車体情報受信部911は、作業車両100の制御装置126から車体情報を受信する(ステップS11)。次に、画像切出部912は、受信した車体情報のうち前方カメラ122が撮像した画像P1から、中央画像P11、左画像P12、右画像P13、上画像P14、および下画像P15をそれぞれ切り出す(ステップS12)。
このように、第1の実施形態に係る遠隔運転室500の制御装置550は、作業機130の接地面から刃先までの高さである刃先高さを特定し、当該刃先高さをオペレータに通知する。これにより、オペレータは、遠隔操作であるために認識しがたい作業機の刃先高さを容易に認識することができる。
以上、図面を参照して一実施形態について詳しく説明してきたが、具体的な構成は上述のものに限られることはなく、様々な設計変更等をすることが可能である。
例えば、上述した実施形態では、制御装置550が刃先高さを算出するが、これに限られない。例えば、他の実施形態においては、作業車両100の制御装置126や、外部のサーバ装置が刃先高さを算出し、制御装置550が当該刃先高さの情報を受信してもよい。また他の実施形態においては、作業車両100の制御装置126や、外部のサーバ装置が刃先高さ画像を生成し、制御装置550が当該刃先高さ画像を受信してもよい。この場合、刃先高さ特定部913は、刃先高さの情報または刃先高さ画像の受信によって刃先高さを特定することができる。
Claims (4)
- 地表面から遠隔操作に係る作業車両が備える作業機のバケットまでの高さであるバケット高さを特定するバケット高さ特定部と、
前記バケット高さを通知するバケット高さ通知部と
を備えるバケット高さ通知装置。 - 前記作業車両に搭載された撮像装置が撮像した撮像画像を取得する撮像画像取得部と、
前記撮像画像に前記バケット高さを表すバケット高さ画像を配置した表示画像を生成する表示画像生成部と、
をさらに備える、
請求項1に記載のバケット高さ通知装置。 - 前記バケット高さ通知部は、前記表示画像を遠隔運転室内の表示装置に出力する
請求項2に記載のバケット高さ通知装置。 - 遠隔操作に係る作業車両の下方の地表面から前記作業車両が備える作業機のバケットまでの高さであるバケット高さを特定するステップと、
前記バケット高さを通知するステップと
を備えるバケット高さ通知方法。
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