Remote control system for construction equipment

Abstract

The present invention relates to a remote control system of construction equipment, remotely controlling construction equipment including a working device equipped with a boom, a stick, a bucket moving according to operation information of a real joystick, and a rotating body loaded on a traveling body and rotating the working device, by a mobile device, and the remote control system can include a receiving part equipped in the construction equipment and communicating with a control part controlling the action of the working device according to the operation information of the real joystick, a virtual joystick interface equipped in the mobile device and outputting a virtual joystick simulating the real joystick on a display as an image, a tactile interface equipped in the mobile and generating a tactile profile when touching and dragging the virtual joystick to perform an operation, and a transmitting part equipped in the mobile device and transmitting the operation information of the virtual joystick to the receiving part to control the action of the working device by the control part.

Description

TECHNICAL FIELD

[0001] The present invention relates to a remote control system for construction equipment. BACKGROUND

[0002] Construction equipment generally refers to civil engineering machinery, and has a mechanical structure and performance suitable for the characteristics of each work such as a road, a river, a harbor, a railway, a complete set of equipment, etc. That is, construction equipment can be classified into excavating equipment, loading equipment, transporting equipment, unloading equipment, ramming equipment, foundation engineering equipment, etc. according to the diversity of work formed in an industrial site, and specifically, is a concept including a considerable number of types such as a bulldozer, an excavator, a loader, a dump truck, a drum, etc.

[0003] In an industrial site, the most basic work performed is excavation. In industrial construction, the work of excavating the ground to a certain depth to provide various structures or to bury a pipeline in the ground, etc. is mainly performed, and in this case, an excavator is most frequently used.

[0004] A joystick provided in the excavator determines the maximum allowable range of 2-axis movement in structure, and a driver can recognize a movement starting point using a device such as a spring, thereby preventing unintended compound movement of a work device and achieving precise control.

[0005] However, when a driver cannot directly manipulate a joystick according to a work environment, for example, when work is performed in an extremely harmful work environment, a remote control system for remotely controlling an excavator has been developed to remotely control the excavator to perform work. SUMMARY

[0006] The present invention has been made to solve the problems of the related art as described above, and an object of the present invention is to provide a remote control system for construction equipment that implements physical feedback that can be felt only when a real joystick is manipulated on a mobile application, thereby enabling precise control of construction equipment (an excavator) using a mobile device.

[0007] A remote control system of construction equipment according to an aspect of the present application is a remote control system for remotely controlling construction equipment including a working device and a rotating body, wherein the working device is equipped with a boom, a stick, and a bucket that move according to operation information of a real joystick, and the rotating body is mounted on a traveling body and rotates the working device, and the remote control system can include a receiving part equipped in the construction equipment and communicating with a control part that controls the movement of the working device according to the operation information of the real joystick; a virtual joystick interface equipped in a mobile device and outputting a virtual joystick that simulates the real joystick on a display as an image; a tactile interface equipped in the mobile device and generating a tactile profile when the virtual joystick is touched and dragged to perform an operation; and a transmitting part equipped in the mobile device and transmitting operation information of the virtual joystick to the receiving part to control the movement of the working device by the control part.

[0008] Specifically, the virtual joystick includes a core having a circular image that moves toward front and back / left and right in a touch and drag manner, and an input restriction area having a quadrangular image that restricts a movement range of the working device, the virtual joystick is composed of a left virtual joystick generated on a left side of the display and a right virtual joystick generated on a right side of the display, and an initial position of the core can be in a center of the input restriction area.

[0009] Specifically, the virtual joystick can be divided into a dead zone section, a movement section, a non-movement section, a first boundary section, and a second boundary section, the dead zone section is a section that does not generate pressure to a cylinder of the working device, the movement section generates pressure to the cylinder of the working device to perform work, the non-movement section exceeds a work performance range of the working device, the first boundary section is between the dead zone section and the movement section, and the second boundary section is between the movement section and the non-movement section.

[0010] Specifically, in the dead zone section, a first tactile profile that informs that the working device is ready for work is generated, in the first boundary section, a second tactile profile that informs that the working device starts work is generated, in the movement section, a third tactile profile that informs that the working device is performing work is generated, in the second boundary section, a fourth tactile profile that informs that the working device exceeds the work performance range is generated, and in the non-movement section, a fifth tactile profile that informs danger because the working device exceeds the work performance range is generated, and the first, second, third, fourth, and fifth tactile profiles can be respectively implemented differently from each other.

[0011] Specifically, it also includes a dynamic initialization interface that dynamically initializes a point where a finger touch starts as a starting point (origin) of the virtual joystick, the dynamic initialization interface being divided on the display into a first generation area in which the left virtual joystick is generated and a second generation area in which the right virtual joystick is generated, and when a finger touches inside the first and second generation areas, the position of the virtual joystick that sets the point where the touch starts as the starting point (origin) can be set.

[0012] Specifically, it can be that when the first and second generation areas are touched inside, respectively, the left virtual joystick and the right virtual joystick are activated to normally execute the action command of the work device, and when only one of the first and second generation areas is touched, the action command of the work device cannot be executed.

[0013] The remote control system for construction equipment according to the present application can improve the operation feeling and work efficiency by applying a haptic interface to a mobile device-based remote control application that does not have a physical feedback system.

[0014] In addition, the remote control system for construction equipment according to the present application can provide additional functions at a lower cost than conventional remote control systems by improving the remote control operation performance based on a mobile application instead of a hardware remote controller (transmitter). BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a configuration diagram for explaining the remote control system for construction equipment according to an embodiment of the present application.

[0016] Figure 2 is a display diagram illustrating a mobile application joystick interface.

[0017] Figure 3 is a display diagram for explaining the operation of a virtual joystick interface.

[0018] Figure 4 is a display diagram for explaining the possibility of a touch operation error of a virtual joystick interface.

[0019] Figure 5 is a display diagram for explaining a haptic profile according to a virtual joystick operation when a haptic interface is applied to a virtual joystick interface.

[0020] Figure 6 is a display diagram for explaining the generation of a virtual joystick using a dynamic initialization interface.

[0021] Figure 7 is a display diagram for explaining a non-normal touch notification haptic profile of a virtual joystick.

[0022] Figure 8 is a diagram of a construction equipment to which a remote control system of the present application is applied. DETAILED DESCRIPTION

[0023] The object of the present application is to make specific advantages and new features more apparent based on the following detailed description and preferred embodiments in relation to the accompanying drawings. It should be noted that when adding reference numerals to the constituent elements of each drawing in the present specification, the same reference numerals are given to the same constituent elements as much as possible even if they are shown in other drawings. Also, when explaining the present application, detailed explanation of related known technology is omitted when it is considered that it can unnecessarily obscure the gist of the present application.

[0024] Hereinafter, preferred embodiments of the present application will be explained in detail with reference to the accompanying drawings.

[0025] Figure 1 is a configuration diagram for explaining a remote control system of a construction equipment according to an embodiment of the present application, Figure 2 is a display diagram illustrating a mobile application joystick interface, Figure 3 is a display diagram for explaining operation of a virtual joystick interface, Figure 4 is a display diagram for explaining a touch operation error possibility of a virtual joystick interface, Figure 5 is a display diagram for explaining a haptic profile according to a virtual joystick operation when a haptic interface is applied to a virtual joystick interface, Figure 6 is a display diagram for explaining a virtual joystick generated by applying a dynamic initialization interface, Figure 7 is a display diagram for explaining an abnormal touch notification haptic profile of a virtual joystick, Figure 8 is a diagram of a construction equipment to which a remote control system of the present application is applied.

[0026] As Figures 1 to 8 shown, a remote control system 300 according to an embodiment of the present application is configured as a system that can implement physical feedback that can be recognized only when a real joystick 140 equipped in a construction equipment 100 is operated on a mobile application, and can precisely control the construction equipment 100 using a mobile device 200.

[0027] As Figure 8 shown, a construction equipment 100 to which a remote control system 300 according to an embodiment is applied can be configured to include a work device 110, a rotating body 120, and a traveling body 130.

[0028] This construction equipment 100 can be an excavator that performs a digging work of excavating earth, a loading work of transporting, a breaking work of demolishing a building, a grading work of arranging a ground, and the like at a construction site. In the present embodiment, a case where the construction equipment 100 to which the remote control system 300 is applied is an excavator is described, but it is previously declared that the construction equipment 100 refers to various equipment that performs a work through a real joystick 140.

[0029] The working device 110 is provided at one side of the construction equipment 100, and includes a boom 111, an arm 113, and a bucket 115, the boom 111 is moved by a boom cylinder 112, the arm 113 is moved by an arm cylinder 114, so that the position of the bucket 115 can be adjusted. The bucket 115 can perform a subdivided work by a bucket cylinder 116.

[0030] The rotating body 120 is connected to the front of the working device 110, and is mounted on the traveling body 130, and the working device 110 can be rotated by 360 degrees by a rotating system, and can be configured to include a vehicle frame 121 constituting a frame structure, and a cab 122, an engine 123 provided on the vehicle frame 121.

[0031] In the above, the working device 110 can perform a work by the operation of the real joystick 140 provided in the cab 122. This real joystick 140 can be connected to the control unit 150 to actuate the working device 110.

[0032] The control unit 150 is connected to the real joystick 140, controls the actuation of the working device 110 according to the operation information of the real joystick 140 and by a stored algorithm, and can be the same as or similar to the existing control unit provided in the construction equipment 100, and thus detailed description is omitted here. Although described below, the control unit 150 of the present embodiment can control the actuation of the working device 110 in the same manner as the real joystick 140 even according to the operation information of the virtual joystick 390 generated by the remote control system 300.

[0033] The real joysticks 140 are provided on the left and right of the driver, respectively, and the working device 110 is manipulated by front / back and left / right two-axis operation, and the manipulation of the working device 110 using the left / right real joysticks 140 has the following characteristics.

[0034] First, the actuation of the working device 110 is distributed by front / back and left / right two-axis operation. That is, the left real joystick 140 can operate the left / right rotation actuation of the rotating body 120 and the in / out actuation of the arm 113, and the right real joystick 140 can operate the in / out actuation of the bucket 115 and the up / down actuation of the boom 111.

[0035] Second, a certain amount of force is required to move the actual joystick 140 from its initial state to a specific direction.

[0036] Third, when performing the corresponding action from the central position of the actual control lever 140 to a specific angle, there is a dead zone in the cylinders 112, 114, and 116 of the working device 110 where no pressure is generated.

[0037] Fourth, due to the structural characteristics of the real joystick 140, the maximum angle that it can move in one direction is limited, and the real joystick 140 will not move no matter how much force the driver applies.

[0038] Fifth, the critical points for movement in the two axes are independent of each other, so the area that the actual joystick 140 can move is usually in the shape of a regular quadrilateral.

[0039] Sixth, if the joystick 140 is released during operation (removal of force), the joystick 140 will move to its initial position by restoring force.

[0040] As described above, the maximum permissible range of two-axis movement of the real joystick 140 equipped with the construction equipment 100 is determined by the structure. By using a device such as a spring, the driver can identify the starting point of the movement (dead zone), thereby preventing unintentional compound movements of the working device 110 and achieving precise control.

[0041] However, depending on the working environment, when the driver cannot directly operate the actual control stick 140, for example, when working in an extremely hazardous working environment, it is necessary to remotely operate the construction equipment 100 to perform the work. The remote control system 300 for remotely operating the construction equipment 100 will be described below.

[0042] like Figure 1 As shown, the remote control system 300 may include a processor 310, a selection unit 320, a display 330, a virtual joystick interface 340, a transmitter 370, and a receiver 380, which are equipped with the mobile unit 200 and the building equipment 100.

[0043] The term "mobile device 200" refers to various communication tools, including smartphones, tablets, and portable computers.

[0044] The processor 310 is built in the mobile 200, and can be configured to execute executable program instructions stored in the memory. For example, the processor 310 can communicate with the display 330, the virtual joystick interface 340, the tactile interface 350, the dynamic initialization interface 360, the transmission section 370, can generate the virtual joystick 390 on the display 330, or run at least one program in the virtual joystick interface 340, the tactile interface 350, the dynamic initialization interface 360, or run a program that transmits operation information of the virtual joystick 390 to the reception section 380 through the transmission section 370.

[0045] The selection section 320 can select a function of remotely operating the construction equipment 100 from various functions of the mobile device 200, and can be implemented in a button manner on the mobile device 200 or in an icon manner on the display 330.

[0046] The selection section 320 can communicate with the processor 310, and can activate the remote control system 300 and generate the virtual joystick 390 on the display 330.

[0047] The display 330 can communicate with the processor 310, and if the remote control system 300 is selected by the selection section 320, the virtual joystick 390, which is visualized through the virtual joystick interface 340, can be visually seen by the driver.

[0048] The virtual joystick interface 340 can communicate with the processor 310, and as shown in Figure 2 , the virtual joystick 390, which simulates the real joystick 140, can be output as an image on the display 330.

[0049] The virtual joystick 390 can be generated on the left and right of the display 330, respectively, to correspond to the real joystick 140. If the virtual joystick 390 is selected by the selection section 320, the core 391 and the input restriction area 392 can be generated as images on the designated positions of the display 330.

[0050] The core 391 can be a circular image, and can be operated by the driver in a touch-and-drag manner to move in the front-back / left-right directions. The working device 110 is operated in response to the movement of the core 391.

[0051] The input restriction area 392 can be a quadrangular image that accommodates the size of the core 391, and can limit the range of operation of the working device 110. The input restriction area 392 is an area that is set differently from the core 391, and has a fixed range.

[0052] The initial position of the core 391 described above can be the center of the input restriction area 392.

[0053] This virtual joystick 390 can be operated in the same manner as the real joystick 140 described above in the 2-axis of front / back and left / right, as shown in Figure 3 The virtual joystick 390 generated on the left side of the display 330 and the virtual joystick 390 generated on the right side of the display 330 can be composed of a left virtual joystick 390 and a right virtual joystick 390, as shown in

[0054] The left virtual joystick 390 can manipulate the left / right rotation of the swing body 120 and the in / out of the boom 113, and the right virtual joystick 390 can manipulate the in / out of the bucket 115 and the up / down of the arm 111. As described above, the virtual joystick 390 can allow the driver to perform the work by remotely manipulating the work device 110 in the work environment where the cab 122 cannot directly manipulate the work device 110 with the real joystick 140.

[0055] The operation information of the virtual joystick 390 is transmitted to the transmission part 370 through the processor 310.

[0056] The transmission part 370 can communicate with the processor 310. The transmission part 370 transmits the operation information of the virtual joystick 390 to the reception part 380 equipped in the construction equipment 100. The transmission part 370 can transmit the operation information of the virtual joystick 390 to the reception part 380 to control the operation of the work device 110 through the control part 150.

[0057] The transmission part 370 can be composed of a mobile application including a smartphone and a tablet device and a remote control graphic interface, but is not limited thereto.

[0058] The reception part 380 can communicate with the control part 150. The reception part 380 transmits the operation information of the virtual joystick 390 transmitted from the transmission part 370 to the control part 150, and makes the work device 110 operate according to the operation of the virtual joystick 390.

[0059] The reception part 380 can be composed of an AP (Access Point) that receives a wireless signal from Wi-Fi / Bluetooth / LTE / 5G, etc., an Ethernet Packet Serialize Device Server, and a CAN message transmitter, but is not limited thereto.

[0060] In the above, the virtual joystick 390 generated by the virtual joystick interface 340 manipulates the work device 110 by a touch and drag method, and thus there is a problem as described below, which will be described with reference to Figure 3 and Figure 4 .

[0061] First, due to the second and third features of the real joystick 140 described above, the operator can manipulate the real joystick 140 by relying on the sense of the hand to effectively perform an instruction for two or more actions (composite action), but for the touch-type virtual joystick 390, there is a problem that the position of the core 391 part must be visually confirmed.

[0062] Second, due to the fourth and fifth features of the real joystick 140 described above, the operator can also effectively accurately control at the maximum speed action point, but the touch-type virtual joystick 390 when touching and dragging the core 391 part in one direction, due to the sliding (slip) between the screen and the finger, the fingertip touch part can exceed the input limit area 392 of the virtual joystick 390, at this time, as shown in the right virtual joystick 390 of FIG. 6, even if the core 391 crosses the edge part of the input limit area 392, but since the fingertip touch part is located outside the input limit area 392, the core 391 cannot be directly dragged, thus there is a problem that the work device 110 cannot be accurately controlled. Figure 4

[0063] Third, due to the sixth feature of the real joystick 140 described above, the operator when starting to operate the real joystick 140, even if the position of the real joystick 140 is not visually confirmed, the real joystick 140 ensures that it always starts from the initial position, but for the touch-type virtual joystick 390, since the position is statically fixed, at the start of operation, the position of the core 391 part must be visually confirmed, even after confirmation, there is a problem that it is difficult to accurately touch the initial starting point (origin).

[0064] Fourth, the second feature of the real joystick 140 described above is difficult to implement on a mobile application touch interface, not only that, due to the limitations of the virtual joystick 390 described above, such as the third problem of the mobile application touch interface, there is a problem that the high-speed action caused by the unintentional touch of the operator can cause an accident.

[0065] As described above, the virtual joystick 390 simulating the real joystick 140 has no mechanical device, so it is difficult to confirm the state of the virtual joystick 390 while looking at the construction equipment 100 in operation, when the virtual joystick 390 has no dead zone section T1, the work device 110 cannot be operated alone (the bucket is stationary when the boom is lifted, etc.), when the state of the virtual joystick 390 cannot be confirmed in real time, there is a problem that it is difficult to accurately control the work device 110.

[0066] Therefore, the remote control system 300 of the present embodiment is to solve the problem when only the virtual joystick interface 340 described above is used, as shown in FIG. 7, the virtual joystick interface 340 is divided into two parts, the virtual joystick interface 340 is divided into a virtual joystick interface 340a and a virtual joystick interface 340b. Figure 1 ​As shown, the haptic interface 350 can be further included on the basis of the virtual joystick interface 340 described above, with reference to Figure 5 The description will be made.

[0067] To solve the first and second problems described above, if the driver wants to recognize and manipulate the dead zone section Tl through the virtual joystick 390, the driver must visually confirm the virtual joystick 390 output through the display 330 while remotely controlling the construction equipment 100, but it is not possible to gaze at the construction equipment 100 while manipulating the virtual joystick 390, and thus in order for the driver to recognize the state (position) of the core 391 of the virtual joystick 390 using the sense of touch and hearing of the hand, the remote control system 300 of the present embodiment constructs the haptic interface 350 on the mobile device 200.

[0068] Due to the construction of the haptic interface 350, the driver can recognize the haptic profile from the starting position of the virtual joystick core 391 (the center of the input limit area 392) to the maximum speed point.

[0069] Hereinafter, in the present embodiment, the haptic profile is described by the intensity and change difference of vibration or sound, but is not limited thereto, and of course various haptic profiles that help the driver recognize the state can be applied.

[0070] The haptic profile can communicate with the processor 310, and can generate a distinguishable profile according to the position of the virtual joystick core 391.

[0071] Specifically, the virtual joystick 390 can be divided into a dead zone section Tl, an action section T2, an inaction section T3, a first boundary section T12, and a second boundary section T23, the dead zone section Tl is a section that does not generate pressure to the oil cylinder 112, 114, 116 of the working device 110, the action section T2 generates pressure to the oil cylinder 112, 114, 116 of the working device 110 to perform work, the inaction section T3 exceeds the work execution range of the working device 110, the first boundary section T12 is between the dead zone section Tl and the action section T2, the second boundary section T23 is between the action section T2 and the inaction section T3, and at this time the haptic profile can be different in each section.

[0072] The haptic profile of the dead zone section Tl is a first haptic profile, which informs that the working device 110 is ready for work, and the intensity of vibration or sound does not change, and can be generated during the period from the moment when the driver touches the virtual joystick core 391 of the initial position to the end of the first boundary section T12 of the dead zone section Tl. Here, the dead zone section Tl can be set to a certain distance from the center of the input limit area 392.

[0073] The haptic profile of the first boundary section T12 is a second haptic profile, which informs the work implement 110 to start work, and the intensity of vibration or sound is momentarily greater than the first haptic profile, and can be momentarily generated when the position of the virtual joystick core 391 is located at the end of the dead zone section T1.

[0074] The haptic profile of the action section T2 is a third haptic profile, which informs the work implement 110 that work is being performed, and the intensity of vibration or sound is gradually increased from the second haptic profile, and can be generated during a second boundary section T23 from the first boundary section T12 to the end of the action section T2. Here, the action section T2 can be set as a distance from the end of the dead zone section T1 to the edge of the input limit area 392. The third haptic profile changes the intensity of vibration or sound in proportion to the action speed when moving in the action section T2.

[0075] The haptic profile of the second boundary section T23 is a fourth haptic profile, which informs the work implement 110 that the work execution range is exceeded, and the intensity of vibration or sound is momentarily greater than the third haptic profile, and can be momentarily generated when the position of the virtual joystick core 391 is located at the end of the action section T2.

[0076] The haptic profile of the non-action section T3 is a fifth haptic profile, which informs the driver of danger because the work implement 110 exceeds the work execution range, and maintains the highest intensity of vibration or sound of the fourth haptic profile, and can be generated during dragging of the position of the virtual joystick core 391 to a portion exceeding the input limit area 392.

[0077] As described above, the first, second, third, fourth, and fifth haptic profiles generated in each section are implemented differently from each other so that the driver can easily recognize.

[0078] The remote control system 300 of the present embodiment, while solving the problems of the virtual joystick interface 340 described above, as shown in FIG. 6, can further include a dynamic initialization interface 360 on the basis of the virtual joystick interface 340 and the haptic interface 350 described above, so that the driver can more easily operate the virtual joystick interface 340 described above, and a description will be made with reference to FIG. 7. Figure 1 Figure 6

[0079] In order to solve the third and fourth problems described above, by applying the dynamic initialization interface 360 which dynamically initializes the point at which the finger touch is started as the starting point (origin) of the virtual joystick 390, with respect to the virtual joystick 390 output through the display 330 of the mobile device 200, even if the driver does not start touch after visually confirming, it is possible to always start action at the initial position (origin) of the virtual joystick 390. ​​

[0080] The dynamic initialization interface 360 can communicate with the processor 310, and the display 330 can be divided into a first generation area S1 in which the left virtual joystick 390 is generated and a second generation area S2 in which the right virtual joystick 390 is generated. When the driver touches a finger inside the first and second generation areas S1, S2, the position of the virtual joystick 390 can be set with the point at which the touch starts as the origin.

[0081] As shown in FIG. 10, in the state in which the left and right virtual joysticks 390 generated in the first and second generation areas S1, S2 are generated as images at the fixed positions set on the display 330, if the driver touches any part of the first and second generation areas S1, S2, respectively, the position moved from the initial position (reference point) to the position touched by the finger is the origin, as shown in FIG. 11. Figure 2 Figure 6 Figure 2

[0082] In addition, in the state in which the left and right virtual joysticks 390 generated in the first and second generation areas S1, S2 are not initially generated as images in the first and second generation areas S1, S2, if the driver touches with a finger, the position can be generated as an image at the touched position, and the generated position is the origin.

[0083] To solve the fourth problem described above, the remote control system 300 of the present embodiment can be configured to activate the left / right virtual joystick 390 only when both hands touch the inside of the first and second generation areas S1, S2, respectively, to normally execute the action command of the work device 110, and to not be able to execute the action command of the work device 110 only when any one hand touches any one of the first and second generation areas S1, S2, as described with reference to FIG. 12. Figure 7

[0084] For any one of the first and second generation areas S1, S2, for example, as shown in FIG. 13, in the case where the finger only touches the first generation area S1 to activate only the left virtual joystick 390, and the finger does not touch the second generation area S2 to not activate the right virtual joystick 390, a sixth haptic profile can be generated in the first generation area S1 to identify the abnormal touch state. Figure 7 The sixth haptic profile that informs of the abnormal touch state can apply a vibration or a sound that is different from the first haptic profile of the dead zone section T1 described above. If the sixth haptic profile is generated, the driver recognizes it, and if the right virtual joystick 390 that is not touched is touched, the sixth haptic profile changes to the first haptic profile to normally execute the action command of the work device 110.

[0085]

[0086] ​​​​​The present application has been described above with reference to embodiments thereof, but the above description is merely illustrative and not restrictive, and it will be understood by those skilled in the art that various combinations or modifications and applications of the embodiments not illustrated above can be made without departing from the essential technical content of the embodiments, as will be understood by those skilled in the art. Therefore, the technical content involved in the modifications and applications that can be easily derived from the embodiments of the present application should be interpreted as being included in the present application.

[0087] Symbol explanation

[0088] 100: construction machine 110: working device

[0089] 111: boom 112: boom cylinder

[0090] 113: arm 114: arm cylinder

[0091] 115: bucket 116: bucket cylinder

[0092] 120: rotary body 121: vehicle frame

[0093] 122: cab 123: engine

[0094] 130: traveling body 140: real joystick

[0095] 150: control section 200: mobile device

[0096] 300: remote control system 310: processor

[0097] 320: selection section 330: display

[0098] 340: virtual joystick interface 350: tactile interface

[0099] 360: dynamic initialization interface 370: transmission section

[0100] 380: reception section 390: virtual joystick

[0101] 391: core 392: input restriction area

[0102] T1: dead zone section T2: action section

[0103] T3: inaction section T12: first boundary section

[0104] T23: second boundary section S1: first generation area

[0105] S2: second generation area

Claims

1. A remote control system of construction equipment that remotely controls construction equipment including a work device and a rotating body by a mobile device, wherein The work device is equipped with a boom, a stick, and a bucket that move according to operation information of a real joystick, the rotating body is loaded on the traveling body and rotates the work device, The remote control system of the construction equipment includes: a receiving part equipped in the construction equipment and communicating with a control part that controls the action of the work device according to the operation information of the real joystick; a virtual joystick interface equipped in the mobile device and outputting a virtual joystick simulating the real joystick on a display in an image; a haptic interface equipped in the mobile device and generating a haptic profile when the virtual joystick is touched and dragged to perform an operation; and a sending part equipped in the mobile device and transmitting the operation information of the virtual joystick to the receiving part to control the action of the work device by the control part, The virtual joystick is divided into a dead zone section, an action section, a non-action section, a first boundary section, and a second boundary section, The dead zone section is a section that does not generate pressure on the oil cylinder of the work device, the action section generates pressure on the oil cylinder of the work device to perform work, the non-action section exceeds the work execution range of the work device, the first boundary section is between the dead zone section and the action section, and the second boundary section is between the action section and the non-action section, In the dead zone section, a first haptic profile is generated to inform the work device to prepare for work, In the first boundary section, a second haptic profile is generated to inform the work device to start work, In the action section, a third haptic profile is generated to inform the work device that work is being performed, In the second boundary section, a fourth haptic profile is generated to inform the work device that it has exceeded the work execution range, In the non-action section, a fifth haptic profile is generated to inform the work device that it has exceeded the work execution range, The first, second, third, fourth, and fifth haptic profiles are respectively different from each other.

2. The remote control system for construction equipment according to claim 1, wherein The virtual joystick includes: a core having a circular image that moves forward and backward / left and right by touch and drag; and an input limiting area having a quadrangular image that limits the action range of the work device, The virtual joystick is composed of a left virtual joystick generated on the left side of the display and a right virtual joystick generated on the right side of the display, The initial position of the core is in the center of the input limiting area.

3. The remote control system for construction equipment according to claim 2, wherein Further includes: a dynamic initialization interface that dynamically initializes the point where the finger touch starts as the starting point of the virtual joystick, The dynamic initialization interface divides the display into a first generation area where the left virtual joystick is generated and a second generation area where the right virtual joystick is generated, and sets the position of the virtual joystick where the touch starts as the starting point when the finger touches inside the first generation area and the second generation area.

4. The remote control system of construction equipment according to claim 3, wherein when the inside of each of the first generated area and the second generated area is touched, the left virtual joystick and the right virtual joystick are activated to normally execute the action command of the work device, when only one of the first generated area and the second generated area is touched, the action command of the work device cannot be executed.

Images