JP3082770B2 - Remote control method of drilling rig for pneumatic caisson - Google Patents

Description

The present invention relates to a remote control method for a pneumatic caisson excavator, and more particularly, to a method for suitably setting a surveillance camera installation position so as to obtain video information which can be easily remotely controlled. On how to do it.

(Conventional technology) When the pneumatic caisson is laid down, the work room is unmanned from the viewpoint of burden on workers, prevention of danger, and improvement of workability. Equipment and methods for excavating by remote control have been proposed or provided.

As a prior example of this kind, Japanese Patent Laid-Open No.
No. exists. This prior art is characterized in that a television camera is mounted on a lower surface of a ceiling slab and a television camera is mounted on a turning frame of an excavator. The former surveillance camera focuses on photographing the excavator, and the latter surveillance camera is for photographing the vicinity of the excavation part and obtaining its image information. Monitoring of the work room and loading work for excavation or discharge of excavated earth and sand by the excavator are performed based on the images of.

(Problems to be Solved by the Invention) In the above prior art, when the operator puts excavated earth and sand into the earth and sand bucket, the operation is performed based on image information from the two types of cameras. Due to the improperness or lack of information, this information is extremely lateral, that is, one-dimensional.For example, the depth is left to the operator's feeling, and the operator is somewhat more accustomed to it. And the need for skill.

The present invention has been proposed in view of the above, and it is an object of the present invention for a pneumatic caisson that can appropriately grasp the situation in loading excavated earth and sand, and can easily and accurately perform the operation. An object of the present invention is to provide a remote control method for an excavator.

(Means for Solving the Problems) In the present invention, first, a movable excavator is provided in a work room, and a surveillance camera that reflects the state of the work room is provided. An operator controls the excavator or the like by remote control while watching the projected image, and a surveillance camera for photographing the vicinity of a bucket setting part position in the work room on a surrounding wall of a soil bucket entrance provided above the work room. The above object is attained by fixing the excavator while fixing the excavator while viewing the image of the positional relationship of the earth and sand bucket projected through the monitoring camera.

Secondly, a surveillance camera for photographing the vicinity of the bucket setting portion in the work room is movably attached to the earth and sand bucket entrance / exit wall provided above the work room along the peripheral wall, and is projected through the surveillance camera. The above object is achieved by allowing the operator to remotely control the excavator while viewing the image of the positional relationship between the earth and sand buckets.

Third, a surveillance camera for photographing the vicinity of the bucket setting portion in the work room is fixed or movably mounted along the periphery of the earth / sand bucket entrance / exit wall provided above the work room, and is projected on the surveillance camera. A coordinate setting mechanism is provided so that coordinates are also displayed on the image, and an image receiving facility for displaying the image is provided on the operation room side, a coordinate position is calculated through a calculation circuit by the coordinate signal, coordinates are displayed on a screen, and the excavation is performed. The above object has been achieved by making the machine remotely movable and controlled accordingly.

(Effect) As in the past, for example, when putting earth and sand into the earth and sand bucket, it is difficult to determine the anteroposterior relationship based on the video from the surveillance camera attached to the excavator, as before, for example, when putting earth and sand into the earth and sand bucket. However, even with a surveillance camera attached to the lower surface of the ceiling slab, the image may be indistinguishable due to the positional relationship.

However, in the present invention, the information by the surveillance camera mounted so that the earth and sand bucket setting part is imaged from the entrance and exit of the caisson slab bucket has a clear planar positional relationship and the input position is set as the first configuration. Information is promptly entered into the field of view of the operator, allowing easy and accurate operation.

Also, as in the second configuration, when the surveillance camera immediately above the earth and sand bucket is moved in synchronization with the traveling of the excavator, this image is displayed as if the user is riding on the excavator, and the direction is always constant. Therefore, the image becomes extremely high-density information effective for loading into the earth and sand bucket or accumulation of the earth and sand.

Further, as in the third configuration, when the operator sets the coordinates of the earth and sand bucket position on the image on the image television, the loading operation is automatically performed on the earth and sand bucket by the arithmetic processing on the excavator side. And the most nervous loading operation of a series of operations of the excavator can be automated.

(Embodiment 1) FIG. 1 shows an outline of the entire first embodiment of the present invention, and FIG. 2 shows an image taken by a monitoring camera attached to a peripheral wall of a bucket entrance. In these figures, A is a pneumatic caisson slab, B is a sediment bucket entrance provided substantially in the center of the slab A, C is a work room below the slab A, and the work room C can be operated by remote control. An excavator 1 having a well-known configuration that can freely travel in a work room C via a rail D provided on a ceiling surface is provided, and the excavator 1 is equipped with an excavator bucket 2.

When the excavated earth and sand is discharged, the sediment bucket 3 in the work chamber C is moved in and out by well-known means. In this case, in the present invention, the sediment bucket 3 in the work chamber C is provided on the peripheral wall of the sediment bucket entrance B. It is characterized in that the surveillance camera 4 is attached to the camera. In addition,
A surveillance camera 5 is mounted on the ceiling slab, and a surveillance camera 6 is mounted on the excavator 1.
Thus, the situation in the work room C is transmitted to the operator as an image.

FIG. 2 shows an image from the surveillance camera 4 attached to the bucket entrance B. The whole image is fixed to the peripheral wall of the sediment packet entrance B where the earth and sand bucket 3 enters and exits from almost immediately above the earth and sand bucket 3. Surveillance camera 4
And the surveillance camera 5 attached to the ceiling slab and the surveillance camera 6 attached to the excavator 1. The images of the surveillance camera 4 are clear from FIG. The positional relationship of (2) is very clear, and the injection position can be accurately known based on this image.

Embodiment 2 FIGS. 3 and 4 show a second embodiment of the present invention. According to this embodiment, a surveillance camera 4 ′ is mounted on the peripheral wall of the sediment bucket entrance B, and the surveillance camera 4 ′ is always synchronized with the traveling of the excavator 1 in the same direction as the excavator 1. Is located.

As means for running the surveillance camera 4 ', a member such as a rail is provided on the peripheral wall, and a dolly equipped with a motor, wheels for movement and the like is attached to this member, and the surveillance camera 4' is mounted on the dolly.
Should be mounted. In addition, the surveillance camera 4 ′ mounted on the bogie and the traveling of the excavator 1 may be synchronized by electric control.

The image obtained by the surveillance camera 4 'is characterized in that it is always an image of the earth and sand bucket 3 viewed from the excavator 1 as shown in FIG.

Embodiment 3 FIGS. 5 and 6 show a third embodiment of the present invention. In this embodiment, the monitoring camera 4 in the first and second embodiments,
This discloses a method in which a coordinate axis 11 is provided on the image of 4 ′ and the excavator 8 is automatically controlled and moved according to the displacement position of the earth and sand bucket 3 so that the earth and sand bucket 3 is loaded with the excavated earth and sand. .

That is, the earth and sand bucket 3 descending from above through the earth and sand bucket entrance B may land with a slight displacement from the center of a predetermined landing position.

For this reason, as shown in FIG. 6, the position of the earth and sand bucket is displayed on the television image 9 via the coordinate setting mechanism on the coordinate axis 11 so that the displacement amount with respect to the reference axis 10 can be known. The calculation is performed on the side 8 so that the excavation bucket 2 moves along the coordinate axis 11 according to the calculation result. The excavator 8 is controlled according to the calculation result, and can run on the rail 7 about the reference axis 10 arbitrarily.

(Effects of the Invention) As described above, according to the present invention, the loading operation is performed by judging the positional relationship between the excavator bucket and the discharging sediment bucket with the sense of the operator from the monitoring camera image only from the conventional side. However, by installing the surveillance camera on the surrounding wall of the earth and sand bucket entrance, the image captured by the surveillance camera becomes an image from almost right above the earth and sand bucket, the operator obtains planar information about the earth and sand bucket, and the operator obtains the circular entrance and earth and sand bucket. Can be accurately determined, the loading work is more reliable and the loading speed is faster,
It also contributes to reducing operator fatigue.

In particular, in the case of information from a mobile surveillance camera that is synchronized with the position of the excavator, the information is as if it were on-board operation compared to a fixed image, so the effect is even higher and the loading work is easier. is there.

Furthermore, the excavator sets coordinates on the video of the surveillance camera mounted directly above the earth and sand bucket, and the excavator calculates the signal,
By positioning, the loading operation is automated, excavation by remote operation can be performed in a stable cycle without depending on the skill of the operator, and the work operation of remote operation is reduced by half, and workability is reduced. There is an effect of improving.

[Brief description of the drawings]

FIGS. 1 and 2 show a first embodiment of the present invention. FIG. 1 is an explanatory view showing an outline of the whole of the present invention, and FIG. 2 is shown on a screen of a television set in an operation room on the ground side. Shows the video that was displayed. 3 and 4 show a second embodiment of the present invention, and FIGS. 5 and 6 show a third embodiment of the present invention. 1 ... excavator 2 ... excavator bucket 3 ... earth and sand bucket 4, 4 ', 5, 6 ... surveillance camera 10 ... reference axis 11 ... coordinate axis B ... earth and sand bucket Entrance C ... working room

Continuation of the front page (72) Inventor Tetsuro Shintani 1-24-4 Shinkawa, Chuo-ku, Tokyo Inside Daitoyo Construction Co., Ltd. (72) Inventor Jiro 1-24-4 Shinkawa, Chuo-ku, Tokyo Inside Daitoyo Construction Co., Ltd. (56) References JP-A-1-146025 (JP, A) JP-A-1-165829 (JP, A)

Claims (3)

(57) [Claims] 1. A movable excavator is provided in a work room, and a surveillance camera is provided for projecting the situation in the work room. An operator views the projected image via the surveillance camera and remotely operates the excavator. In a device for controlling an excavator or the like, a surveillance camera for photographing the vicinity of a bucket fixing portion position in a work room is fixed to a sediment bucket entrance wall provided above the work room, and a sediment bucket projected through the surveillance camera. A method of remotely operating an excavator for a pneumatic caisson, wherein an operator can operate the excavator while viewing an image of the positional relationship of the excavator. 2. A movable excavator is provided in the working room, and a surveillance camera is provided for projecting the situation in the working room. An operator looks at the projected image via the surveillance camera and remotely controls the operator. In the apparatus for controlling an excavator, a surveillance camera for photographing the vicinity of a bucket setting portion in a work chamber is movably attached to a surrounding wall of an earth and sand bucket provided above the work chamber, and the surveillance camera A remote control method for an excavator for a pneumatic caisson, wherein an operator can remotely control the excavator while watching an image of the positional relationship of the earth and sand buckets projected through the apparatus. 3. A movable excavator is provided in the working room, and a surveillance camera is provided for projecting the situation in the working room. An operator looks at the projected image via the surveillance camera and remotely controls the operator. In an apparatus for controlling an excavator or the like, a surveillance camera for photographing the vicinity of a bucket fixing portion position in the work room is fixed to a peripheral wall of the earth and sand bucket provided above the work room or movably mounted along the surrounding wall. A coordinate setting mechanism for displaying the coordinates on the image projected on the camera is also provided, and an image receiving facility for displaying the image is provided on the operation room side, the coordinate position is calculated by the coordinate signal via an arithmetic circuit, and the coordinates are displayed on the screen. Characterized in that the excavator is movable by being controlled by remote control in accordance therewith. Law.