JPS59106634A - Drive control system for construction machine - Google Patents
Drive control system for construction machineInfo
- Publication number
- JPS59106634A JPS59106634A JP57217643A JP21764382A JPS59106634A JP S59106634 A JPS59106634 A JP S59106634A JP 57217643 A JP57217643 A JP 57217643A JP 21764382 A JP21764382 A JP 21764382A JP S59106634 A JPS59106634 A JP S59106634A
- Authority
- JP
- Japan
- Prior art keywords
- site
- construction
- control system
- construction machine
- detection means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010276 construction Methods 0.000 title claims abstract description 58
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 2
- 235000011511 Diospyros Nutrition 0.000 description 2
- 241000723267 Diospyros Species 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 239000000383 hazardous chemical Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
Classifications
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
Abstract
Description
【発明の詳細な説明】
この発明は建設機械を施工現、喝の立体画像情報に基づ
いてリモートコントロールまたは無人運転させるだめの
建設機械の運行制御システムに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a construction machine operation control system for remotely controlling or unmanned operation of the construction machine based on three-dimensional image information of the construction machine.
建設機械は極めて作業環境の悪い現場での施工を強要さ
れる場合が多々ある。Construction machinery is often forced to perform construction work at sites with extremely poor working environments.
例えば、灼熱下の砂漠、鉱石や石炭等の強要な粉塵雰囲
気となる荷役船内、潜函工法による高圧下のほか、有害
物質、ノロ処理、ゴミ処理などであるが、これらの現場
で建設機械を人為的に直接操縦したのでは大きな危険性
が伴ない、かつ作業効率の低下を余儀なくされるのみな
らず、建設機械による柿工が不可能になる場合も生じる
。For example, in the desert under scorching heat, inside a cargo ship with a forced dust atmosphere of ore or coal, under high pressure due to the submerged box construction method, as well as processing hazardous materials, slag processing, garbage processing, etc. Directly operating the persimmons with construction machinery is not only dangerous, but also reduces work efficiency, and may even make it impossible to use construction machinery to harvest persimmons.
そこで、かかる事態を未然に防止すべ（、建設機械を現
場状況に応じたリモートコントロールまたは無人運転に
よって安全に且つ的確に運行させ得るシステムが望まれ
ている。Therefore, there is a need for a system that can prevent such situations and allow construction machines to operate safely and accurately by remote control or unmanned operation according to site conditions.
この発明は上記事情に鑑みてなされ、その主たる目的は
、施工現場の立体画像情報を自動的にとられ、該情報χ
基に建設機械χ現場状況に応じて安全かつ的確にリモー
トコントロールまたは無人運転させ得るようにした建設
機械の運行制御システムを提供するにある。This invention was made in view of the above circumstances, and its main purpose is to automatically obtain three-dimensional image information of a construction site,
An object of the present invention is to provide an operation control system for construction machines that can safely and accurately control them remotely or operate them unmanned according to the site conditions.
この発明のまたの目的は、危険な現場にオペレータχ晒
さずに、建設機械による効率的な安全作業を遂行でき、
かつ、従来不可能な施工χも可能にする建設機械の運行
制御システ。ムケ提供するＫある。Another object of the present invention is to enable efficient and safe work to be carried out using construction machinery without exposing operators to dangerous sites;
In addition, this is a construction machinery operation control system that enables construction operations that were previously impossible. There is K who provides Muke.
以下、この発明の好適実施例を図面に基づいて説明する
。Hereinafter, preferred embodiments of the present invention will be described based on the drawings.
この発明のシステムは現場状況検出手段１，２χ備えて
いる。The system of the present invention is equipped with field situation detection means 1 and 2χ.
図示例の該検出手段１，２は、施工現場の適当選定個所
に築いた基礎構造物の上部に設置の２台のテレビカメラ
からなっている。The detection means 1 and 2 in the illustrated example consist of two television cameras installed on top of a foundation structure built at a suitable predetermined location on the construction site.
これらのテレビカメラ１，２は施工現場Ａの立体画像情
報を直角撮影法、偏角撮影法、収れん撮影法等による視
差利用によってとらえるためのもので、それぞれの出力
端は信号変換器３．４Ｆ！−介して演算処理手段５０入
力部に接続されている。These television cameras 1 and 2 are used to capture stereoscopic image information of the construction site A by utilizing parallax using perpendicular photography, declination photography, convergence photography, etc., and the output end of each is connected to a signal converter 3.4F. ! - connected to the arithmetic processing means 50 input section.
この演算処理手段５は建設機械制御室に設置されて前記
テレビカメラ１，２からの立体画像情報信号に基づいた
演算による施工現場への三角測量と、その結果のデータ
に基づいた建設機械Ｂの運行条件ケ算定する。This arithmetic processing means 5 is installed in the construction machine control room, and triangulates the construction site by calculations based on the three-dimensional image information signals from the television cameras 1 and 2, and calculates the triangulation of the construction machine B based on the resulting data. Calculate operating conditions.
かかる演算処理手段５は端末機器としてＣＲＴディスプ
レイ装置６を備えている。The arithmetic processing means 5 includes a CRT display device 6 as a terminal device.
このディスプレイ装置６は、演算処理手段５からの入力
信号により【施工現場Ａの立体画像（等高画像）を映し
出し、かつ建設機械Ｂの位置χ三次元的に表示する。This display device 6 displays a three-dimensional image (contour image) of the construction site A and three-dimensionally displays the position χ of the construction machine B based on an input signal from the arithmetic processing means 5.
従って、ディスプレイ装置乙に映し出された施工現場の
立体画像を見ながら建設機械８ｇ制御室で的確にリモー
トコントロールできる。Therefore, the construction machine 8g can be accurately remotely controlled in the control room while viewing the three-dimensional image of the construction site displayed on the display device B.
このため、小股機械のオペレータχ危険現場に晒すこと
なく、該現場における安全かつ的確な機械作業χ遂行さ
せ得る。Therefore, the operator of the short-legged machine can safely and accurately perform machine work χ at the site without exposing the operator χ to the dangerous site.
以上は施工現場の立体画像ケ基に建設置幾械をリモート
コントロールする場合であるが、この発明では現場状況
に応じた該建設機械の無人運転も可能である。The above is a case where construction machines are remotely controlled based on a three-dimensional image of a construction site, but the present invention also allows unmanned operation of the construction machines according to site conditions.
この場合、演算処理手段５が前記テレビカメラ１．２か
もの立体画像情報信号に基づいて演算した結果の出力信
号で建設機械のトランスミッションやステアリング等の
制御系統を自動制御させればよい。In this case, the control system of the construction machine, such as the transmission and steering, may be automatically controlled using the output signal of the result of calculation by the calculation processing means 5 based on the stereoscopic image information signal of the television camera 1.2.
なお、上記実施例における現場状況検出手段１゜２は、
２台のテレビカメラのほか、ビデオカメラ、赤外線カメ
ラ、長波長のレーダ、超音波探知機、測距儀の何れであ
ってもよい。Incidentally, the field situation detection means 1゜2 in the above embodiment is as follows:
In addition to the two television cameras, any one of a video camera, an infrared camera, a long wavelength radar, an ultrasonic detector, and a rangefinder may be used.
ビデオカメラの場合、施工時に刻々変化する現場の状況
火とらえ、その立体画像情報ケ演算処理手段５に刻々伝
送する。In the case of a video camera, it captures the constantly changing situation at the site during construction, and transmits the three-dimensional image information to the arithmetic processing means 5 every moment.
赤外線カメラ、レーダ、超音波探知機の場合は、塵埃や
濃霧および微粒子散乱等による視界の悪い現場の立体画
像情報を得るのに好適である。Infrared cameras, radars, and ultrasonic detectors are suitable for obtaining stereoscopic image information at sites with poor visibility due to dust, dense fog, scattering of particles, and the like.
測距儀の場合は、遠隔山岳地や集積物等の立体画像ン面
走査して得ることができる。In the case of a rangefinder, it is possible to obtain stereoscopic images of remote mountainous areas, accumulated objects, etc. by scanning the surface.
かかる現場状況検出手段１．２と演算処理手段５は、建
設機械そのものに装備されたものであってもよい。The site situation detection means 1.2 and the calculation processing means 5 may be installed in the construction machine itself.
この場合、建設機械自身が現場の立体画像情報をとらえ
、その情報忙基づいて該機械の進行方向等を該機械口ら
が自動制御し得る。In this case, the construction machine itself captures the three-dimensional image information of the site, and the machine head can automatically control the direction of movement of the machine based on the information.
また、ディスプレイ装置６の画面には、予めコンピュー
タでプログラムした目じるしゃマーク等χ出力すること
により作業員に注意χ促すことも可能である。更には、
前記画面に予め現場解析等で得られた情報やスケジュー
ル表、建設機械の作業状況管χ必要の都度、映し出すと
共に、ホストコンピュータ等を介して管理部門やその他
へも複数出力して総合的に利用することも可能である。Further, it is also possible to alert the worker by outputting a mark or the like on the screen of the display device 6, which is programmed in advance by a computer. Furthermore,
Information obtained through on-site analysis, schedules, and construction machinery work status are displayed on the screen as necessary, and multiple outputs are output to the management department and others via a host computer for comprehensive use. It is also possible to do so.
以上、この発明によれば、施工現場の立体画像情報χ基
に建設機械大リモートコントロールまたは無人運転させ
得る。As described above, according to the present invention, construction machinery can be remotely controlled or operated unmanned based on the three-dimensional image information χ of the construction site.
従って、この種のリモートコントロールまたは無人運転
を的確に遂行させ得ると共に、危険現場での直接的な人
為的関与ケなくすことができるので、この種の現場での
作業性および安全性の向上に大きく寄与する。Therefore, this type of remote control or unmanned operation can be carried out accurately, and direct human involvement at dangerous sites can be eliminated, which greatly improves workability and safety at these types of sites. Contribute.
図面はこの発明の好適実施例に係わるシステムブロック
図である。
１．２は現場状況検出手段として例示したテレビカメラ
、５は演算処理手段、Ａは施工現場、Ｂは建設機械であ
る。The drawing is a system block diagram according to a preferred embodiment of the present invention. Reference numeral 1.2 is a television camera exemplified as a site situation detection means, 5 is an arithmetic processing means, A is a construction site, and B is a construction machine.
Claims (1)
転するための制御システムにして、施工現場ノ実態を立
体的にとらえるための現場状況検出手段と、該手段から
の入力情報を基に現場の立体画像処理または現場状況に
応じた建設機械制御条件の算定等を行なう演算処理手段
とを備え、該演算処理手段からの出力情報を基に建設機
械をリモートコントロールまたは無人運転させるように
したことを特徴とする建設機械の運行制御システム。 （２、特許請求の範囲第１項記載のシステムにおいて、
現場状況検出手段は、現場の立体画像情報を視差利用に
よってとらえるための複数のテレビカメラまたは赤外線
カメラからなっていることを特徴とした建設機械の運行
制御システム。 （３）、特許請求の範囲第１項記載のシステムにおいて
、現場状況検出手段は、長波長のレーダまたは超音波探
知器からなって現場の立体画像情報を得るようになって
いることを特徴とした建設機械の運行制御システム。 （４）、特許請求の範囲第１項記載のシステムにおいて
、現場状況検出手段は現場の立体形状χ計測するための
測距儀からなっていることを特徴とした建設機械の運行
制御システム。 （５）、特許請求の範囲第１項記載のシステムにおいて
、演算処理手段は現場状況検出手段からの入力情報に基
づいて現場の立体画像を映し出し、かつ建設機械の位置
を三次的に表示するためのディスプレイ装置ン備えてい
ることを特徴とした建設機械の運行制御システム。 （６）、特許請求の範囲第１項乃至第４項記載のシステ
ムにおいて、現場状況検出手段は施工現場に設置されて
いることを特徴とした建設機械の運行制御システム。 （７）、特許請求の範囲第１項乃至第４項記載のシステ
ムにおい【、現場状況検出手段は建設機械そのものが備
えていることを特徴とした建設機械の運行制御システム
。 （８）、特許請求の範囲第１項または第５項記４８のシ
ステムにおいて、演算処理手段は演算結果の出力信号で
建設機械のトランスきツションおよびステアリング等の
ｆｂｌＪ Ｈ系統ケ自動制御するようになっていること
ケ特徴とした建設機械の運行Ｉ１１制御システム。[Claims] (1) A control system for remotely controlling or unmanned operation of construction machinery, and a site situation detection means for three-dimensionally understanding the actual condition of the construction site, and input information from the means. and calculation processing means for processing a three-dimensional image of the site or calculating construction machine control conditions according to the site situation based on the information output from the calculation processing means, and for remotely controlling or unmanned operation of the construction machine based on the output information from the calculation processing means. An operation control system for construction machinery, which is characterized by: (2. In the system according to claim 1,
A construction machine operation control system characterized in that the site situation detection means consists of a plurality of television cameras or infrared cameras for capturing three-dimensional image information of the site using parallax. (3) The system according to claim 1, characterized in that the on-site situation detection means comprises a long-wavelength radar or an ultrasonic detector to obtain three-dimensional image information of the on-site. construction machinery operation control system. (4) A construction machine operation control system according to claim 1, wherein the site situation detection means comprises a rangefinder for measuring the three-dimensional shape χ of the site. (5) In the system according to claim 1, the arithmetic processing means projects a three-dimensional image of the site based on the input information from the site situation detection means and displays the position of the construction machine three-dimensionally. A construction machinery operation control system characterized by being equipped with a display device. (6) A construction machine operation control system according to claims 1 to 4, characterized in that the site condition detection means is installed at a construction site. (7) The system according to claims 1 to 4, wherein the construction machine operation control system is characterized in that the construction machine itself is provided with the site situation detection means. (8) In the system according to claim 1 or 5, item 48, the arithmetic processing means automatically controls the fblJH system such as the transmission and steering of the construction machine using the output signal of the arithmetic result. This is a construction machinery operation I11 control system that is characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57217643A JPS59106634A (en) | 1982-12-11 | 1982-12-11 | Drive control system for construction machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57217643A JPS59106634A (en) | 1982-12-11 | 1982-12-11 | Drive control system for construction machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59106634A true JPS59106634A (en) | 1984-06-20 |
Family
ID=16707470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57217643A Pending JPS59106634A (en) | 1982-12-11 | 1982-12-11 | Drive control system for construction machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59106634A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4633383A (en) * | 1983-04-21 | 1986-12-30 | Kabushiki Kaisha Komatsu Seisakusho | Method of supervising operating states of digging machines |
| WO1993007343A1 (en) * | 1991-10-08 | 1993-04-15 | Kabushiki Kaisha Komatsu Seisakusho | Device for controlling working vehicle in material transfer system |
| WO1998011305A1 (en) * | 1996-09-13 | 1998-03-19 | Komatsu Ltd. | Automatic excavator, automatic excavation method and automatic loading method |
| WO2001086077A1 (en) * | 2000-05-05 | 2001-11-15 | Isam-Holding Gmbh | Control system or method for automatically controlling a mobile bucket wheel device |
| WO2002023297A1 (en) * | 2000-09-11 | 2002-03-21 | Kunikatsu Takase | Mobile body movement control system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5023660A (en) * | 1973-06-30 | 1975-03-13 | ||
| JPS5442801A (en) * | 1977-09-09 | 1979-04-05 | Mitsubishi Electric Corp | Control device for detecting arrivals |
-
1982
- 1982-12-11 JP JP57217643A patent/JPS59106634A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5023660A (en) * | 1973-06-30 | 1975-03-13 | ||
| JPS5442801A (en) * | 1977-09-09 | 1979-04-05 | Mitsubishi Electric Corp | Control device for detecting arrivals |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4633383A (en) * | 1983-04-21 | 1986-12-30 | Kabushiki Kaisha Komatsu Seisakusho | Method of supervising operating states of digging machines |
| WO1993007343A1 (en) * | 1991-10-08 | 1993-04-15 | Kabushiki Kaisha Komatsu Seisakusho | Device for controlling working vehicle in material transfer system |
| WO1998011305A1 (en) * | 1996-09-13 | 1998-03-19 | Komatsu Ltd. | Automatic excavator, automatic excavation method and automatic loading method |
| WO2001086077A1 (en) * | 2000-05-05 | 2001-11-15 | Isam-Holding Gmbh | Control system or method for automatically controlling a mobile bucket wheel device |
| WO2002023297A1 (en) * | 2000-09-11 | 2002-03-21 | Kunikatsu Takase | Mobile body movement control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7009698B2 (en) | Inspection system and method | |
| EP0278421B1 (en) | Instruction system of remote-control robot | |
| US10748269B2 (en) | Structure member specification device and structure member specification method | |
| JP2844040B2 (en) | 3D display device | |
| JP2006113858A (en) | Method and system for supporting remote operation for mobile object | |
| US11732439B2 (en) | Remote control system and main control device | |
| JP2015043488A (en) | Remote controller and remote construction method using the same | |
| EP0466348A1 (en) | A method and system for controlling a travelling body so as to move forward along a predetermined route | |
| US7098940B2 (en) | Surveillance system for watching an object through an image | |
| JPS59106634A (en) | Drive control system for construction machine | |
| JPH08123946A (en) | Plant monitoring device | |
| JPH1034570A (en) | Robot remote control system | |
| US9967525B2 (en) | Monitoring camera apparatus with depth information determination | |
| AU2022350996A1 (en) | Method and a control node for controlling a mining rig | |
| KR20220067345A (en) | Safety Management Method of Work Site Using Human Location and Mobile Path Tracking | |
| KR102480986B1 (en) | Multi-User Operation System and the method using Mixed Reality Device | |
| JPH06102029A (en) | Front condition confirming method for shield machine | |
| JP2016201007A (en) | Transportation facility remote maintenance system | |
| JP2637528B2 (en) | Robot remote control device | |
| JPH0389103A (en) | Apparatus for detecting approach of obstacle to overhead power transmission line | |
| JP7077379B2 (en) | Safety scanner | |
| JP7278187B2 (en) | Site management system | |
| US20230150358A1 (en) | Collision avoidance system and method for avoiding collision of work machine with obstacles | |
| JP2968207B2 (en) | Departure monitoring method for heavy equipment for remote construction | |
| Lawson et al. | Augmented reality and stereo vision for remote scene characterization |