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WO2015155878A1 - Machine de travail télécommandée - Google Patents

Machine de travail télécommandée Download PDF

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Publication number
WO2015155878A1
WO2015155878A1 PCT/JP2014/060449 JP2014060449W WO2015155878A1 WO 2015155878 A1 WO2015155878 A1 WO 2015155878A1 JP 2014060449 W JP2014060449 W JP 2014060449W WO 2015155878 A1 WO2015155878 A1 WO 2015155878A1
Authority
WO
WIPO (PCT)
Prior art keywords
vibration information
remote
remote control
vibration
operator
Prior art date
Application number
PCT/JP2014/060449
Other languages
English (en)
Japanese (ja)
Inventor
貴雅 甲斐
弘幸 山田
Original Assignee
株式会社日立製作所
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/JP2014/060449 priority Critical patent/WO2015155878A1/fr
Publication of WO2015155878A1 publication Critical patent/WO2015155878A1/fr

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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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/0224—Non-manual adjustments, e.g. with electrical operation
    • B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
    • B60N2/0278—Non-manual adjustments, e.g. with electrical operation with logic circuits using sensors external to the seat for measurements in relation to the seat adjustment, e.g. for identifying the presence of obstacles or the appropriateness of the occupants position
    • B60N2/0279—Non-manual adjustments, e.g. with electrical operation with logic circuits using sensors external to the seat for measurements in relation to the seat adjustment, e.g. for identifying the presence of obstacles or the appropriateness of the occupants position for detecting objects outside the vehicle, e.g. for user identification
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
    • B60N2/0224—Non-manual adjustments, e.g. with electrical operation
    • B60N2/0244—Non-manual adjustments, e.g. with electrical operation with logic circuits
    • B60N2/0268—Non-manual adjustments, e.g. with electrical operation with logic circuits using sensors or detectors for adapting the seat or seat part, e.g. to the position of an occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/50—Seat suspension devices
    • B60N2/501—Seat suspension devices actively controlled suspension, e.g. electronic control
    • 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
    • E02F9/261—Surveying the work-site to be treated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2210/00—Sensor types, e.g. for passenger detection systems or for controlling seats
    • B60N2210/10—Field detection presence sensors
    • B60N2210/16—Electromagnetic waves
    • B60N2210/22—Optical; Photoelectric; Lidar [Light Detection and Ranging]
    • B60N2210/24—Cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2210/00—Sensor types, e.g. for passenger detection systems or for controlling seats
    • B60N2210/50—Inertial sensors

Definitions

  • the present invention relates to a work machine operated by remote control.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the frequency band to be removed by the band removing device is changed depending on the axis of the vibration direction.
  • the operator 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.
  • 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.
  • 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.
  • FIG. 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.
  • 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.
  • 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.
  • left-right vibration since left-right vibration has the most influence on sickness, left-right vibration will be described as an example.
  • 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.
  • 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.
  • 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.
  • the remote control seat 13 on which the operator is seated is driven.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the video and vibration synchronization method shown here is an example, and this method is not necessarily required.
  • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

La présente invention concerne un véhicule de travail qui est commandé par des opérations à distance. Dans des opérations à distance du véhicule de travail, c'est-à-dire une machine de construction ou analogue, des informations de vibrations de carrosserie de véhicule deviennent perceptibles par un opérateur dans un emplacement à distance. La présente invention aborde le problème de réduction de la probabilité pour l'opérateur de souffrir d'un mal des transports par la transmission des informations de vibrations de carrosserie de véhicule dont les fréquences provoquant le mal des transports ont été éliminées, lorsque les informations de vibrations de carrosserie de véhicule deviennent perceptibles par l'opérateur. En conséquence, la présente invention est caractérisée en ce qu'elle est configurée à partir de ce qui suit : des capteurs pour détecter une machine de construction et des informations de vibrations de machine de construction ; un dispositif d'élimination de bande permettant d'éliminer les fréquences provoquant le mal des transports à partir des informations de vibrations détectées ; une caméra pour visualiser l'état de la périphérie de la machine de construction ; un poste de pilotage à distance dans lequel s'assoit un opérateur ; et un actionneur pour entraîner le poste de pilotage à distance. La présente invention est en outre caractérisée en ce que l'actionneur pour entraîner le poste de pilotage à distance est entraîné à l'aide des informations de vibrations dont les fréquences provoquant le mal des transports ont été éliminées, pour reproduire les informations de vibrations de la machine de construction.
PCT/JP2014/060449 2014-04-11 2014-04-11 Machine de travail télécommandée WO2015155878A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/060449 WO2015155878A1 (fr) 2014-04-11 2014-04-11 Machine de travail télécommandée

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/060449 WO2015155878A1 (fr) 2014-04-11 2014-04-11 Machine de travail télécommandée

Publications (1)

Publication Number Publication Date
WO2015155878A1 true WO2015155878A1 (fr) 2015-10-15

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Family Applications (1)

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PCT/JP2014/060449 WO2015155878A1 (fr) 2014-04-11 2014-04-11 Machine de travail télécommandée

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WO (1) WO2015155878A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017174205A3 (fr) * 2016-01-14 2018-01-25 Liebherr-Components Biberach Gmbh Dispositif de commande à distance d'une grue, d'un engin de chantier et/ou d'un chariot de manutention
WO2019078077A1 (fr) * 2017-10-20 2019-04-25 住友建機株式会社 Pelle
WO2020229095A1 (fr) * 2019-05-16 2020-11-19 Robert Bosch Gmbh Procédé d'analyse de la nature du sol et/ou du degré de dureté du sol
WO2021230093A1 (fr) * 2020-05-15 2021-11-18 コベルコ建機株式会社 Dispositif et procédé de traitement d'image
WO2022245953A1 (fr) * 2021-05-18 2022-11-24 Clark Equipment Company Modulation de l'entrée d'un opérateur pour le fonctionnement d'un actionneur d'élément de travail
WO2025053008A1 (fr) * 2023-09-08 2025-03-13 コベルコ建機株式会社 Dispositif d'actionnement et système d'actionnement

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3608141B2 (ja) * 1997-03-14 2005-01-05 清水建設株式会社 油圧制御機械の遠隔制御装置
JP2005354479A (ja) * 2004-06-11 2005-12-22 Hitachi Constr Mach Co Ltd 作業機械の無線遠隔操縦システム
JP2013116773A (ja) * 2011-12-01 2013-06-13 Shimizu Corp タワークレーンの遠隔操作システム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3608141B2 (ja) * 1997-03-14 2005-01-05 清水建設株式会社 油圧制御機械の遠隔制御装置
JP2005354479A (ja) * 2004-06-11 2005-12-22 Hitachi Constr Mach Co Ltd 作業機械の無線遠隔操縦システム
JP2013116773A (ja) * 2011-12-01 2013-06-13 Shimizu Corp タワークレーンの遠隔操作システム

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017174205A3 (fr) * 2016-01-14 2018-01-25 Liebherr-Components Biberach Gmbh Dispositif de commande à distance d'une grue, d'un engin de chantier et/ou d'un chariot de manutention
US10850949B2 (en) 2016-01-14 2020-12-01 Liebherr-Components Biberach Gmbh Remote control device for a crane, a construction machine and/or for a pallet truck
US11686069B2 (en) 2017-10-20 2023-06-27 Sumitomo Construction Machinery Co., Ltd. Shovel
WO2019078077A1 (fr) * 2017-10-20 2019-04-25 住友建機株式会社 Pelle
CN111201351A (zh) * 2017-10-20 2020-05-26 住友建机株式会社 挖土机
KR20200069292A (ko) * 2017-10-20 2020-06-16 스미토모 겐키 가부시키가이샤 쇼벨
JPWO2019078077A1 (ja) * 2017-10-20 2020-11-05 住友建機株式会社 ショベル
EP3699364A4 (fr) * 2017-10-20 2020-11-18 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Pelle
JP7514077B2 (ja) 2017-10-20 2024-07-10 住友建機株式会社 ショベル
KR102573389B1 (ko) * 2017-10-20 2023-08-30 스미토모 겐키 가부시키가이샤 쇼벨
WO2020229095A1 (fr) * 2019-05-16 2020-11-19 Robert Bosch Gmbh Procédé d'analyse de la nature du sol et/ou du degré de dureté du sol
JP7491046B2 (ja) 2020-05-15 2024-05-28 コベルコ建機株式会社 画像処理装置および画像処理方法
WO2021230093A1 (fr) * 2020-05-15 2021-11-18 コベルコ建機株式会社 Dispositif et procédé de traitement d'image
WO2022245953A1 (fr) * 2021-05-18 2022-11-24 Clark Equipment Company Modulation de l'entrée d'un opérateur pour le fonctionnement d'un actionneur d'élément de travail
WO2025053008A1 (fr) * 2023-09-08 2025-03-13 コベルコ建機株式会社 Dispositif d'actionnement et système d'actionnement

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