Remote operation device for work machine

Abstract

To provide a remote operation device capable of easily remotely operating a work machine.SOLUTION: A remote operation device (100) generates video images for remote operation from video images captured in a traveling direction of a work machine (V1) and outputs the video images to a monitor (61), and remotely operates the work machine on the basis of an operation command input from a remote operation terminal (63). The remote operation device has two remote operation modes in which, when a reverse command operation is input from the remote operation terminal, either the video image captured in the traveling direction of the work machine displayed on the monitor or a steering direction of the work machine in response to the steering operation input from the remote operation terminal is reversed from left to right.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a remote control device for a work machine such as a wheel loader, and more particularly to a remote control device for a work machine in which an operator controls the work machine from a remote location based on images from a camera installed on the work machine, for example. [Background technology]

[0002] Technology for remotely controlling work machines is used in sites where operators cannot ride on the work machines for safety reasons, such as blast furnaces and tunnel excavation.Remote control technology, which allows one operator to operate multiple work machines from a remote location, has been attracting attention recently, with the aim of improving productivity and safety at sites by reducing the number of workers required.

[0003] For example, Patent Document 1 discloses a "remote control device for remotely controlling an autonomous vehicle, comprising: a control unit configured to accept control from a pilot; a communication unit configured to communicate with the autonomous vehicle via a network; and a display unit, wherein the communication unit receives detection data indicating the surrounding conditions of the autonomous vehicle, the display unit displays an image of the surroundings of the autonomous vehicle generated based on the detection data, the control unit accepts a first control amount provided by the pilot, and the communication unit transmits a control command including a second control amount corrected so that the sensitivity of the behavior of the autonomous vehicle to the first control amount is constant among a plurality of registered autonomous vehicles." [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-037401 A Summary of the Invention [Problem to be solved by the invention]

[0005] The technology of Patent Document 1 aims to eliminate the difficulty in operation caused by differences in the operating feel when switching the target to be remotely operated by unifying the operating sensitivity of multiple work machines.

[0006] However, when remote operation technology, which operates a machine based on image information of the area around the work machine, is applied to a work machine that turns left and right by steering, such as a wheel loader, the direction of steering relative to the image changes depending on the direction of travel, which can make it difficult for people who are unfamiliar with operating work machines to operate it.

[0007] Specifically, for example, the steering operation for turning left relative to the traveling direction is opposite when moving forward and when moving backward. In the case of operation while on board, this problem does not occur because the view when moving backward is provided as a mirror image with the left and right reversed by a mirror or a camera that captures the rear of the work machine.

[0008] On the other hand, in the case of remote operation, it is difficult for the operator to intuitively recognize whether the aircraft is moving forward or backward, so switching between displaying a normal image and a mirrored image of the image information depending on the direction of travel can actually lead to misunderstandings and confusion.

[0009] The present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide a remote control device for a work machine that can easily remotely control a work machine. [Means for solving the problem]

[0010] The remote control device of the present invention which solves the above-mentioned problems is a remote control device for a work machine which generates a remote control image from an image captured of the traveling direction of the work machine, outputs the image to a monitor, and remotely controls the work machine based on an operation command input from a remote control terminal, and is characterized in that it has two remote control modes which, when a reverse command operation is input from the remote control terminal, reverse left and right either the image captured of the traveling direction of the work machine displayed on the monitor or the steering direction of the work machine in response to the steering operation input from the remote control terminal. Effect of the Invention

[0011] According to the present invention, it is possible to provide a remote control device that can easily remotely control a work machine. Further features related to the present invention will become apparent from the description of the present specification and the attached drawings. In addition, problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0012] [Figure 1] 1 is a diagram showing a schematic external view of a wheel loader remotely operated by a remote control device of a first embodiment. FIG. [Diagram 2] FIG. 2 is a control system diagram of the wheel loader and the remote control device in the first embodiment. [Diagram 3] FIG. 2 is a functional block diagram of a remote control device and a user interface in the first embodiment. [Figure 4] 4 is a flowchart showing a calculation process performed by the remote control device. [Diagram 5] FIG. 2 is a diagram showing an example of a remote control terminal of a user interface. [Figure 6] FIG. 2 is a schematic diagram showing the state of a wheel loader and its surrounding environment. [Figure 7] Schematic diagram showing vehicle behavior and images in a steering direction reversal mode and a steering direction normal mode. [Figure 8] FIG. 11 is a functional block diagram of a remote control device and a user interface according to a second embodiment. [Figure 9] 10 is a flowchart showing a calculation process performed by the remote control control device in the second embodiment. [Figure 10] 13 is a flowchart showing a calculation process performed by the remote control control device in the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] [First embodiment] A first embodiment to which a remote control device of the present invention is applied will be described with reference to FIGS.

[0014] FIG. 1 is a diagram showing a schematic external view of a wheel loader remotely operated by a remote control device of this embodiment, and FIG. 2 is a diagram showing a control system for the remote control device and wheel loader of this embodiment.

[0015] In this embodiment, a wheel loader V1 shown in FIG. 1 will be described as an example of a work machine remotely operated by a remote operation device. In Fig. 1, the wheel loader V1 is equipped with a bucket 1, which is a working tool, at a front part V1f of the vehicle body, and a lift arm 2 that rotatably supports the bucket 1. The lift arm 2 is rotatably supported by the wheel loader V1, and the bucket 1 moves up and down as the lift arm 2 rotates. The lift arm 2 also rotatably supports a bell crank 3, and when the bell crank 3 rotates, the bucket 1 also rotates relative to the lift arm 2 via the bucket link 4.

[0016] The wheel loader V1 is equipped with a front right tire 21FR, a front left tire 21FL, a rear right tire 21RR, and a rear left tire 21RL, and by driving these it travels forward or backward (forward or backward), and is equipped with an articulated steering mechanism which enables it to turn by creating an angle difference between the front body V1f and the rear body V1r around the vertical axis of the vehicle body.

[0017] A front camera 52F that captures an image in front of the wheel loader V1 and a rear camera 52R that captures an image in the rear of the wheel loader V1 are attached to the wheel loader V1. The wheel loader V1 is remotely controlled by a remote control device 100.

[0018] FIG. 2 is a control system diagram of the wheel loader and the remote control device in this embodiment.

[0019] The wheel loader V1 has an engine 10 which is an internal combustion engine, a hydraulic pump 14 driven by the engine 10, and a driving force transmission device 22 which transmits the driving force of the engine 10 to each tire 21. The wheel loader V1 also has a pair of left and right steering cylinders 11 which generate an angular difference between the front and rear of the vehicle body, a pair of left and right lift cylinders 12 which rotate the lift arm 2 up and down, and a bucket cylinder 13 which rotates the bell crank 3. It also has a hydraulic circuit which supplies hydraulic pressure to each of these cylinders, and a control valve 15 which controls the hydraulic pressure supplied from the hydraulic pump 14 to the hydraulic circuit.

[0020] The wheel loader V1 has a hydraulic control device 600 that controls the control valve 15, an engine control device 500 that controls the engine 10, and a travel control device 700 that controls the driving force transmission device 22. Each of these control devices is configured as an individual electronic control device ECU, but may also be configured as a single electronic control device ECU.

[0021] The remote operation device 100 comprises a user interface 60 installed at a remote location away from the wheel loader V1, and a remote operation control device 101 mounted on the wheel loader V1. The user interface 60 is operated by an operator or a system user, and the operation signal is input to the remote operation control device 101 via a wireless communication line. In addition, remote operation images are acquired from the remote operation control device 101 via the wireless communication line and displayed.

[0022] The remote control device 101 is configured, for example, with an electronic control unit ECU equipped with a CPU and memory, and realizes various functions by executing dedicated software programs stored in the memory with the CPU. A front camera 52F and a rear camera 52R are connected to the input side of the remote control device 101, and images captured by these front camera 52F and rear camera 52R are acquired. An engine control device 500, a hydraulic control device 600, and a travel control device 700 of the wheel loader V1 are connected to the output side of the remote control device 101 via communication such as a controller area network (CAN).

[0023] The remote operation control device 101 generates an engine control signal, a hydraulic control signal, and a travel control signal in response to an operation signal from the user interface 60, and transmits them to the engine control device 500, the hydraulic control device 600, and the travel control device 700, respectively. In response to these control signals, the engine control device 500 controls the rotation speed of the engine 10, the hydraulic control device 600 controls the opening and closing degree of the control valve 15, and the travel control device 700 controls the speed ratio and rotation direction of the driving force transmission device 22. In addition, the remote operation control device 101 transmits images captured by the front camera 52F and the rear camera 52R to the user interface 60.

[0024] FIG. 3 is a functional block diagram of the remote control device and the user interface in this embodiment.

[0025] The user interface 60 has a monitor 61, a personal computer (hereinafter, PC) 62, and a remote control terminal 63. The monitor 61 is a display device that displays remote control images, and acquires the remote control images from the remote control device 101 and displays them to the operator. The monitor 61 is installed in a position where the operator can check the remote control images while operating the remote control terminal 63.

[0026] Various internal functions are realized in the PC 62 by executing software programs. The PC 62 has a remote operation mode selection unit 621 that selects a remote operation mode as one of the internal functions realized. The PC 62 transmits the remote operation mode selected by the remote operation mode selection unit 621 to the remote operation control device 101.

[0027] The remote operation mode selection unit 621 selects a remote operation mode in response to operation by an operator, a user of the control system, or the like. The remote operation modes include a normal steering direction mode (first mode) and a reverse steering direction mode (second mode) of the wheel loader V1, which are exclusively selected by the remote operation mode selection unit 621. The remote operation mode selection unit 621 is configured by, for example, a mechanical switch or a touch panel of a tablet terminal. The details of the reverse steering direction mode will be described later, but it is assumed that it will be used by an operator who is unfamiliar with remote operation of the wheel loader V1.

[0028] The remote control terminal 63 is operated by an operator, and transmits a remote control signal based on the operation of the operator to the remote operation control device 101. The remote control terminal 63 is a device capable of operating the driving force, braking force, steering, and working equipment of the wheel loader V1 so that the operator can operate the wheel loader V1 from a remote location, and transmits each operation signal to the remote operation control device 101. The remote control terminal 63 is configured by, for example, a game pad or a stick controller.

[0029] The user interface 60 is not limited to being configured with separate hardware such as the monitor 61, PC 62, and remote control terminal 63 described above, but may be configured as an integrated unit, or may be, for example, a tablet terminal or a head-mounted display, and levers, pedals, or handles connected to these for inputting operations.

[0030] The remote control device 101 includes, as internal functions, a remote control image generating unit 110, a vehicle body control command generating unit 120, a steering direction switching unit 121, and a planned driving route calculating unit 130.

[0031] The remote operation image generating unit 110 generates a remote operation image and transmits it to the monitor 61 of the user interface 60. The remote operation image generating unit 110 generates the remote operation image based on the image captured by the front camera 52F or the rear camera 52R, the remote operation mode output from the remote operation mode selection unit 621, the FNR operation signal output from the remote operation terminal 63, and the planned driving route output from the planned driving route calculation unit 130.

[0032] The remote control image generator 110 generates an image of the vehicle body traveling direction in response to an FNR operation signal. The FNR operation signal refers to an operation signal of a selector lever that selects forward F, neutral N, or reverse R of the wheel loader V1.

[0033] The remote control image generating unit 110 generates an image for remote control using an image captured in front of the vehicle body when the FNR operation signal is forward F, and generates an image for remote control using an image captured in rear of the vehicle body when the FNR operation signal is reverse R.

[0034] When the remote operation mode selected by the remote operation mode selection unit 621 of the user interface 60 is a steering direction reversal mode, the remote operation image generation unit 110 generates, as the remote operation image, a normal image in which the left and right positions are consistent in the direction of travel of the vehicle, and when the remote operation mode is a steering direction normal mode, it generates, as the remote operation image, a mirror image in which the left and right positions are reversed in the direction of travel.

[0035] The vehicle control command generating unit 120 generates accelerator instructions, brake instructions, FNR instructions, steering instructions, lift instructions, and bucket instructions based on the remote operation signal of the remote operation terminal 63 and the remote operation mode of the remote operation mode selecting unit 621, and transmits them to the engine control unit 500, the hydraulic control unit 600, and the driving control unit 700.

[0036] The steering direction switching unit 121 selectively switches the steering direction by the steering operation of the remote control terminal 63 between a forward direction and a reverse direction. If the remote control mode received from the remote control mode selection unit 621 is the steering direction reverse mode, the steering direction switching unit 121 reverses the steering operation of the remote control terminal 63 and outputs it as a steering instruction, and if the remote control mode is the steering direction forward mode, the steering direction switching unit 121 outputs it as a steering instruction without reversing the steering operation of the remote control terminal 63. As a result, in the case of the steering direction reverse mode, steering the remote control terminal 63 to the right causes the vehicle body to turn left, and steering the remote control terminal 63 to the left causes the vehicle body to turn right.

[0037] The planned travel route calculation unit 130 calculates the planned travel route based on the vehicle speed and curvature angle of the wheel loader V1 and transmits it to the remote operation image generation unit 110. The planned travel route calculated at this time is the vehicle width and trajectory required for the wheel loader V1 to pass, and is not the trajectory of the left and right tires 21FR and 21FL (or 21RR and 21RL). The remote operation image generation unit 110 generates a remote operation image with the planned travel route superimposed on it.

[0038] FIG. 4 is a flowchart showing the calculation process performed by the remote control device 101. In FIG. 4, first, in step S1101, the FNR operation signal is acquired from the remote control terminal 63. If a reverse command operation has been input, that is, if reverse R has been selected by the FNR operation, the process proceeds to step S1102; if reverse R has not been selected, the process proceeds to step S1303.

[0039] In step S1102, the selection state of the remote operation mode in the remote operation mode selection unit 621 is obtained, and it is determined whether the remote operation mode is the steering direction reversal mode. If true, the process proceeds to step S1103, and if false, the process proceeds to S1203.

[0040] In step S1103, the remote operation image generating unit 110 generates a remote operation image that displays the image of the rear camera 52R in a normal image and outputs it to the monitor 61, and the process proceeds to step S1104. Similarly, in step S1203, the remote operation image generating unit 110 generates a remote operation image that displays the image of the rear camera 52R in a mirror image that is reversed horizontally, and outputs it to the monitor 61, and the process proceeds to step S1204. In addition, in step S1303, the remote operation image that displays the image of the front camera 52F in a normal image is generated as the remote operation image and outputs it to the monitor 61, and the process proceeds to step S1204.

[0041] In step S1104, the steering direction switching unit 121 reverses the steering direction received from the remote control terminal 63 and outputs it as a steering instruction to the cruise control device 700. For example, when the remote control terminal 63 is steered to the left, a steering instruction to steer to the right is output. Similarly, in step S1204, the steering direction switching unit 121 forwards (does not reverse) the steering direction received from the remote control terminal 63 and outputs it as a steering instruction to the cruise control device 700. For example, when the remote control terminal 63 is steered to the left, a steering instruction to steer to the left is output.

[0042] That is, when the remote operation mode is the normal operation direction mode (NO in S1102), the remote operation image generation unit 110 displays the image in a mirror image by flipping the left and right (S1203), and the steering direction switching unit 121 changes the steering direction to the normal direction (S1204). When the remote operation mode is the inverted operation direction mode (YES in S1102), the remote operation image generation unit 110 displays the image in a normal image (S1103), and the steering direction switching unit 121 changes the steering direction to the inverted direction by flipping the left and right (S1104).

[0043] FIG. 5 is a diagram illustrating an example of an input device. 5, when the remote control terminal 63 is configured as a game pad type device, for example, forward / backward / left / right operation of the left stick 631 corresponds to travel operation, forward / backward operation of the left stick 631 corresponds to accelerator operation and brake operation, and left / right operation of the left stick 631 corresponds to steering operation. And, forward / backward / left / right operation of the right stick 632 corresponds to work machine operation, forward / backward operation corresponds to lift-up operation and lift-down operation, and left / right operation corresponds to bucket tilt operation and dump operation.

[0044] The remote operation terminal 63 is provided with a forward / reverse selector switch 633. The forward / reverse selector switch 633 can select the traveling direction of the wheel loader V1 to either forward or reverse by switching the FNR operation signal between forward F and reverse R. The forward / reverse selector switch 633 transmits to the remote operation control device 101 a forward / reverse switching operation signal indicating forward or reverse selected by the switching operation.

[0045] When forward is selected by the forward / reverse switch 633, the remote operation image generating unit 110 generates an instruction to display the image of the front camera 52F in a normal image. Then, in the vehicle body control command generating unit 120, an accelerator instruction is generated in response to an operation of moving the left stick 631 of the remote operation terminal 63 forward, and a brake instruction is generated in response to an operation of moving the left stick 631 rearward. Also, a steering instruction is generated to turn the vehicle body front part V1f and the vehicle body rear part V1r to the left in response to an operation of moving the left stick 631 to the left, and a steering instruction is generated to turn the vehicle body front part V1f and the vehicle body rear part V1r to the right in response to an operation of moving the left stick 631 to the right.

[0046] When the forward / reverse switch 633 of the remote control terminal 63 selects reverse and the remote control mode is set to the steering direction reversal mode by the remote control mode selection unit 621 of the user interface 60, the remote control image generation unit 110 generates an instruction to display the image of the rear camera 52R in a normal image. Then, the vehicle body control command generation unit 120 generates an accelerator command in response to an operation of moving the left stick 631 of the remote control terminal 63 forward, and generates a brake command in response to an operation of moving the left stick 631 rearward. Also, the steering direction switching unit 121 performs a process of reversing the steering direction, and generates a steering command to turn the vehicle front part V1f and the vehicle rear part V1r to the right in response to an operation of moving the left stick 631 to the left, and generates a steering command to turn the vehicle front part V1f and the vehicle rear part V1r to the left in response to an operation of moving the left stick 631 to the right.

[0047] On the other hand, when the forward / reverse switch 633 selects reverse and the remote operation mode is set to the steering direction normal mode by the remote operation mode selection unit 621 of the user interface 60, the remote operation image generation unit 110 generates an instruction to display the image of the rear camera 52R as a mirror image. Then, the vehicle body control command generation unit 120 performs a process to reverse the forward / reverse direction, generates a brake command in response to an operation of moving the left stick 631 of the remote operation terminal 63 forward, and generates an accelerator command in response to an operation of moving the left stick 631 rearward. Also, a steering command to turn the vehicle front part V1f and the vehicle rear part V1r to the left is generated in response to an operation of moving the left stick 631 to the left, and a steering command to turn the vehicle front part V1f and the vehicle rear part V1r to the right is generated in response to an operation of moving the left stick 631 to the right.

[0048] FIG. 6 is a schematic diagram showing the state of a wheel loader and its surrounding environment, and FIG. 7 is a schematic diagram explaining the vehicle body behavior in the steering direction reversal mode and normal rotation mode, and the remote operation images displayed on the monitor.

[0049] 6 and 7 show a state in which an obstacle B1 is present to the left front of the wheel loader V1, and an obstacle B2 is present to the left rear of the wheel loader V1. The obstacle B1 is present in the imaging area Af of the front camera 52F, and the obstacle B2 is present in the imaging area Ar of the rear camera 52R.

[0050] FIG. 7 shows remote control images generated by the remote control image generating unit 110 in accordance with the operating state of the remote control terminal 63 and the vehicle behavior of the wheel loader V1 (the direction of travel is indicated by the arrows in the figure) for each remote control mode.

[0051] When moving forward, there is no difference in operability between the reverse steering direction mode and the normal steering direction mode. In the vehicle body control command generating unit 120, an accelerator command to move the vehicle forward is generated in response to an operation of moving the left stick 631 of the remote control terminal 63 forward, and a brake command is generated in response to an operation of moving the left stick 631 of the remote control terminal 63 rearward. Also, a steering command to turn the vehicle body left is generated in response to an operation of moving the left stick 631 to the left, and a steering command to turn the vehicle body right is generated in response to an operation of moving the left stick 631 to the right.

[0052] In the case of forward movement, the image of the front camera 52F is displayed as a remote control image on the monitor 61 in either the steering direction reversal mode or the steering direction normal mode as shown in Fig. 7 (Mfn). Then, for example, in response to an operation of moving the left stick 631 of the remote control terminal 63 diagonally forward and left, the vehicle body control command generating unit 120 generates an accelerator command to move the vehicle forward and a steering command to turn the vehicle body left, resulting in a vehicle body behavior FL in which the vehicle moves forward while curving to the left.

[0053] When the vehicle is moving backward, the remote control image and vehicle body behavior differ between the reverse steering direction mode and the normal steering direction mode.

[0054] In the case of a steering direction normal mode during reverse driving, an accelerator command to drive the vehicle backward is generated in response to an operation of moving the left stick 631 of the remote control terminal 63 rearward, and a brake command is generated in response to an operation of moving the left stick 631 of the remote control terminal 63 forward. Also, a steering command to turn the vehicle body left is generated in response to an operation of moving the left stick 631 to the left, and a steering command to turn the vehicle body right is generated in response to an operation of moving the left stick 631 to the right.

[0055] In the case of the reverse drive and normal steering mode, as shown in Fig. 7, the image from the rear camera 52R is displayed as a mirror image (Mbm) as the remote control image, and in response to the operation of moving the left stick 631 of the remote control terminal 63 rearward to the left, an accelerator command to reverse the vehicle and a steering command to turn the vehicle body left are output, resulting in a vehicle body behavior BL in which the vehicle reverses while curving to the left. Therefore, the operator can be given the same operational feeling as when riding in the vehicle, reversely driving and steering while looking at the rearview mirror.

[0056] On the other hand, in the case of the steering direction reversal mode during reverse driving, an accelerator command to move the vehicle backward is generated in response to an operation of moving the left stick 631 of the remote control terminal 63 forward, and a brake command is generated in response to an operation of moving the left stick 631 of the remote control terminal 63 backward. Also, a steering command to turn the vehicle body right is generated in response to an operation of moving the left stick 631 to the left, and a steering command to turn the vehicle body left is generated in response to an operation of moving the left stick 631 to the right.

[0057] In the case of the reverse drive and steering direction reversal mode, as shown in Fig. 7, the image from the rear camera 52R is displayed as a normal image (Mbn) as the remote control image, and in response to the operation of moving the left stick 631 of the remote control terminal 63 forward to the left, an accelerator command to reverse the vehicle and a steering command to turn the vehicle body to the right are output, resulting in a vehicle body behavior BR in which the vehicle reverses while curving to the right. That is, in the steering direction reversal mode, a steering command is generated so that the left and right direction of the image in the traveling direction matches the steering direction of the remote control terminal 63. Therefore, the operator feels as if he or she is sitting backwards in the driver's seat of the wheel loader V1 and operating the steering wheel while moving toward the rear of the vehicle, that is, it is possible to give the operator the same operating sensation as if the vehicle were moving forward, even though the traveling direction of the vehicle is reverse.

[0058] Note that the operation direction and movement direction of the work machine are fixed regardless of the remote operation mode or the traveling direction, so a description thereof will be omitted. Also, the display mode and operation mode when the vehicle is stopped, i.e., when neutral N of the FNR operation signal is selected, may be the display mode and operation mode when moving forward, or may correspond to the display mode and operation immediately before neutral N of the FNR operation signal is selected.

[0059] In this manner, according to the remote operation control device 101 of this embodiment, the remote operation mode selection unit 621 can exclusively select either the steering direction reversal mode or the steering direction operation mode as the remote operation mode.

[0060] When the steering direction reversal mode is selected as the remote operation mode, the operation direction of the remote operation terminal 63 of the user interface 60 always matches the image in the traveling direction, regardless of the forward or backward direction of the vehicle. Therefore, even if the traveling direction of the vehicle is reverse, the wheel loader V1 can be remotely operated with the same operating feel as if it were forward, making it easy to operate even for unskilled persons who are not accustomed to driving a wheel loader V1.

[0061] Furthermore, by configuring the remote operation mode to be switchable between a steering direction reversal mode and a steering direction normal mode, an experienced person accustomed to conventional operation methods can select the steering direction normal mode and operate the vehicle with the same sensation as when riding in the vehicle, reversing and steering while looking at the rearview mirror.

[0062] [Second embodiment] Next, a second embodiment of the present invention will be described with reference to Figures 8 and 9. Note that components similar to those in the first embodiment are given the same reference numerals and detailed description thereof will be omitted.

[0063] 8 is a functional block diagram of the remote control device and the user interface in the second embodiment. The characteristic feature of this embodiment is that a steering control mode switching unit 122 is added to the vehicle body control command generating unit 120, and a steering control mode selecting unit 622 is added to the user interface 60.

[0064] There are two types of steering control for the wheel loader V1: speed control mode and position control mode. In the position control mode, the bending angle changes according to the steering operation amount, and in the speed control mode, the bending angular velocity changes according to the steering operation amount.

[0065] In remote operation, it is difficult to grasp the bent state of the wheel loader V1, and when the steering control is in speed control mode, it is difficult to return the bent state to a straight line. On the other hand, when the steering control is in position control mode, the bent state returns to a straight line when the remote control device is released, which makes it difficult to perform tasks such as aligning the bucket. The decision as to whether to use the speed control mode or the position control mode varies depending on the manufacturer's idea and the model of the wheel loader V1. The lack of a standardized control method for steering control in the wheel loader V1 is also one of the reasons that remote operation is difficult.

[0066] In this embodiment, the steering control mode selection unit 622 can arbitrarily select the steering control method to be either the speed control mode or the position control mode.

[0067] The steering control mode selection unit 622 selects whether the steering control of the wheel loader V1 will be a speed control mode or a position control mode. The steering control mode switching unit 122 performs processing for switching to the steering control mode selected by the steering control mode selection unit 622. The operator can select either the speed control mode or the position control mode by operating the PC 62, and can customize the mode to his or her liking.

[0068] FIG. 9 is a flowchart showing the calculation process performed by the remote control device in the second embodiment.

[0069] In the flowchart shown in FIG. 9, the processes from step S1105 onwards are added after the flow shown in FIG. 4 of the first embodiment.

[0070] In step S1105, it is determined whether the operation control mode selected by the steering control mode selection unit 622 is the position control mode, and if it is true, the process proceeds to step S1106, where the position control mode is applied as the steering control mode, and if it is false, the process proceeds to step S1206, where the speed control mode is applied as the steering control mode.

[0071] In this way, by allowing the operator to select the steering control method according to preference and the type of work being performed, operability during remote operation can be improved.

[0072] [Third embodiment] Next, a third embodiment of the present invention will be described with reference to Fig. 10. Note that components similar to those in the first and second embodiments are given the same reference numerals and detailed description thereof will be omitted.

[0073] Fig. 10 is a flowchart showing the calculation process performed by the remote operation control device in the third embodiment. The characteristic feature of this embodiment is that, instead of S1105 in Fig. 9 of the second embodiment, a process of S1105A is provided to determine whether the remote operation mode is the steering direction reversal mode.

[0074] In step S1105A, like step S1102, it is determined whether the remote operation mode is the steering direction reversal mode. If true, the process proceeds to step S1106 where the steering control is set to the position control mode, and if false, the process proceeds to step S1206 where the steering control is set to the speed control mode.

[0075] According to this embodiment, the steering angle corresponding to the operation direction and operation amount of the remote control terminal always matches with the image in the traveling direction, so even unskilled persons who are not accustomed to driving a wheel loader V1 can easily operate it. Also, for skilled persons who are required to perform work that requires precision, such as bucket positioning, it is possible to provide an operation method that combines the steering direction forward rotation mode, which is a conventional operation method, with a speed control mode that is excellent for fine operability when performing delicate work.

[0076] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various design modifications can be made without departing from the spirit of the present invention as described in the claims. [Explanation of symbols]

[0077] 52F···Front camera, 52R···Rear camera, 60···User interface, 61···Monitor, 62···Personal computer (PC), 621···Remote operation mode selection section, 622···Steering control mode selection section, 63···Remote operation terminal, 633···Forward / reverse changeover switch, 100···Remote operation device, 101···Remote operation control device, 110···Remote operation image generation section, 120···Vehicle control command generation section, 121···Steering direction changeover section, B1, B2···Obstacle, Mbn···Normal image, Mbm··Mirror image, R···Reverse, V1···Wheel loader (working machine), V1f···Front of vehicle body, V1r···Rear of vehicle body

Claims

1. A remote control device for a work machine, which generates a remote control image from an image captured in a traveling direction of the work machine, outputs the image to a monitor, and remotely controls the work machine based on an operation command input from a remote control terminal, A remote control device for a work machine, comprising: two remote control modes in which, when a reverse command operation is input from the remote control terminal, either the image captured in the traveling direction of the work machine and displayed on the monitor, or the steering direction of the work machine in response to the steering operation input from the remote control terminal are reversed left to right.

2. The two remote control modes are: a first mode in which the steering direction is a forward direction and an image captured in the traveling direction of the work machine is a mirror image obtained by flipping the left and right of the image to be used as the remote control image; 2. A remote control device for a work machine as described in claim 1, characterized in that a second mode is adopted in which the steering direction is reversed left and right and the remote control image is an image of a normal image captured in the direction of travel of the work machine.

3. a remote control image generating unit for generating the remote control image; a steering direction switching unit that selectively switches the steering direction of the work machine between a forward direction and a reverse direction; having In the first mode, the remote operation image generating unit generates the remote operation image which is a mirror image, and the steering direction switching unit selects a forward direction as the steering direction, 3. The remote control device for a work machine according to claim 2, characterized in that, in the second mode, the remote control image generating unit generates the remote control image that is a positive image, and the steering direction switching unit selects an inverted direction as the steering direction.

4. 4. The remote control device for a work machine according to claim 3, wherein the remote control image generating unit generates an image for superimposing a planned travel route on the monitor.

5. the work machine is equipped with an articulated steering mechanism in which a front portion and a rear portion of the vehicle body are bent left and right in response to the steering operation, 3. The remote control device for a work machine according to claim 2, characterized in that the steering control modes for the work machine include two steering control modes: a position control mode in which a bending angle changes in response to a steering operation amount input from the remote control terminal, and a speed control mode in which a bending angular velocity changes in response to the steering operation amount.

6. a steering control mode switching unit for switching between the position control mode and the speed control mode, 6. The remote control device for a work machine according to claim 5, wherein the steering control mode switching unit selects the position control mode when the remote operation mode is the second mode, and selects the speed control mode when the remote operation mode is the first mode.

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