Remote control system for pneumatic caisson

Abstract

To provide a remote control system for a pneumatic caisson that can be operated without being aware of the time lag between operating equipment and an excavator.SOLUTION: A remote control system S for pneumatic caisson includes an excavator measuring device 81 that measures the position and posture of an excavator 50, a ground measuring device 82 for measuring ground conditions, a calculator 70 that calculates a simulation image based on the measured position and posture of the excavator 50 and the measured ground conditions, a monitor 71 that is placed at a remote location, and displays simulation images calculated by the calculator 70, an operation device 61 that is placed at a remote location and operated by an operator who operates a virtual excavator 50X in the simulation video, and a controller 60 that drives and controls the excavator 50, and drives and controls the excavator 50 in accordance with the operation of the operation device 61 operated by the operator.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a remote operation system for a pneumatic caisson. [Background technology]

[0002] Conventionally, in the pneumatic caisson method, excavation work in a work chamber where high pressure work is performed has been carried out by remote control using an unmanned excavator. Even in ground construction, technology to operate an excavator by remote control is known (for example, a series of operations at Mount Unzen Fugen).

[0003] In unmanned excavation of pneumatic caissons, the excavator can be operated from an operation room on the ground while watching the video from inside the work room, but when operating from a remote location, the time lag becomes an issue. In particular, when wireless is used to connect the operation device and the excavator, eliminating the time lag becomes a major problem.

[0004] In this regard, Patent Document 1 discloses a remote-operated construction method and system that enables an operator who remotely operates a construction tool to perform construction without directly visually checking the construction status by visual inspection or photographing an image. Patent Document 2 discloses an excavation management device that instructs an operator who remotely operates the construction tool on the amount of excavation. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2003-278159 A [Patent Document 2] Patent Publication No. 2021-25231 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the system described in Patent Document 1 is intended to be operated (remotely) without relying only on visual information. Therefore, no consideration was given to the time lag between the operating device and the excavator. Furthermore, the excavation management device described in Patent Document 2 displays information about excavation by overlaying it on the image from a camera attached to the excavator, so there were limitations on the angle and range of the image.

[0007] Therefore, the present invention aims to provide a remote control system for a pneumatic caisson that can be operated without being aware of the time lag between the operating device and the excavator, and that can add information about excavation regardless of the position of the camera or the ground conditions inside the caisson. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, the remote operation system for a pneumatic caisson of the present invention comprises an excavator measuring instrument for measuring the position and posture of the excavator, a ground measuring instrument for measuring the condition of the ground, a calculator for calculating a simulation image based on the measured position and posture of the excavator and the measured condition of the ground, a display device located at a remote location for displaying the simulation image calculated by the calculator, an operating device located at a remote location operated by an operator to operate a virtual excavator in the simulation image, and a controller for driving and controlling the excavator, which drives and controls the excavator in response to operation of the operating device by the operator. Effect of the Invention

[0009] In this way, the pneumatic caisson remote operation system of the present invention comprises an excavator measuring instrument, a ground measuring instrument, a calculator that calculates a simulation image, a display that displays the simulation image, an operation device located at a remote location that is operated by an operator to operate the virtual excavator in the simulation image, and a controller that drives and controls the excavator in response to the operator's operation of the operation device. This configuration results in a pneumatic caisson remote operation system that can be operated without being aware of the time lag between the operation device and the excavator, and that can add information about excavation regardless of the position of the camera or the ground conditions inside the caisson. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is an explanatory diagram illustrating an overall configuration of a remote control system. [Diagram 2] FIG. 2 is an explanatory diagram of the configuration of a pneumatic caisson. [Diagram 3] FIG. 2 is an explanatory diagram of the configuration inside the operation room. [Figure 4] FIG. 1 is a block diagram of a remote control system. [Diagram 5] FIG. 2 is an explanatory diagram illustrating types of monitors. [Figure 6] 13 is an example of a simulation video. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the components described in the following examples are merely examples, and are not intended to limit the technical scope of the present invention to these alone. In the following examples, one pneumatic caisson (10) will be described, but a similar configuration can also be used for multiple pneumatic caissons (10). In this case, it is also possible to provide only one operation room (30) for multiple pneumatic caissons (10). EXAMPLES

[0012] (Overall composition) First, the overall configuration including the pneumatic caisson remote control system S of the embodiment will be described with reference to Fig. 1. As shown in the figure, the pneumatic caisson remote control system S is mainly distributed and configured with a pneumatic caisson 10 having excavators 50, 50, a central monitoring room 20 arranged at the site, an operation room 30 arranged at a remote location where an operator is located, and an instructor room 40 arranged at a remote location where an instructor (skilled operator) is located. Of these, the operation room 30 and the instructor room 40 can actually be the same room. Each element will be described in detail below.

[0013] As shown in Fig. 2, the pneumatic caisson 10 has a cutting edge 11 with a tapered tip, and a work chamber 13 is formed by being surrounded by the inner surface of the cutting edge 11 and the underside of the work chamber slab 12. At least one excavator 50 (50a, 50b) is disposed in the work chamber 13, and the pneumatic caisson 10 is lowered by excavating the ground (natural bedrock) using the remotely operated excavators 50 (50a, 50b).

[0014] A material shaft 14 extends from the work room 13 toward the ground, and a material lock 15 is installed at the top. Similarly, at least one man shaft 16 extends from the work room 13 toward the ground, and a man lock 17 is installed at the top.

[0015] The soil excavated by the excavator 50 is dumped into the soil bucket 18 and discharged to the outside through the material shaft 14 and the material lock 15. In addition, although not shown, compressed air equipment is provided for feeding and discharging compressed air into the work room 13, the manlock 17, etc.

[0016] Meanwhile, a central monitoring room 20 is installed on the ground near the pneumatic caisson 10. In the central monitoring room 20, overall monitoring and management are performed, such as the aforementioned excavators 50 (50a, 50b), the delivery of materials via the material shaft 14 and material lock 15 and the removal of excavated soil and sand, the entry and exit of workers via the man shaft 16 and man lock 17, pressure management such as pressurization and depressurization within the man lock 17, and display of the caisson's sinking amount, inclination, and other posture indications.

[0017] Furthermore, in the central monitoring room 20 of this embodiment, communication equipment (repeater 80; see FIG. 4) is also provided for transmitting (sending and receiving) data to the operation room 30 and the instructor room 40. As this communication equipment (repeater 80), a router for connecting to the so-called Internet network can be used.

[0018] In this embodiment, one or more operation rooms 30 are installed in a remote location away from the pneumatic caisson 10 and the central monitoring room 20. As described below, the operation room 30 is a room where an operator operates the excavator 50 (50a, 50b) while watching a simulation image. The operation room 30 can be arranged, for example, in a part of the head office, branch office, work site (field office), etc. of the construction company.

[0019] Various devices are arranged in the operation room 30, as shown in Fig. 3. That is, the operation room 30 is provided with an operation device 61 operated by an operator to operate the virtual excavator (50X) while viewing a simulation image (71B), a calculator 70 that calculates the simulation image as described below, and three monitors 71A, 71B, and 71C as displays.

[0020] Specifically, the operation device 61 can be two joysticks arranged on both sides of the operator's chair. LCD displays or LED displays can be used as the monitors 71A, 71B, and 71C. The instructor's room 40 has a configuration similar to that of the operation room 30 described here, and therefore a description thereof will be omitted.

[0021] (Configuration of remote control system) Next, the configuration of the remote operation system S of this embodiment will be described with reference to the block diagram of Fig. 4. As shown in Fig. 4, the pneumatic caisson 10 is provided with, as an input side (measurement means), an excavator measuring instrument 81 for measuring the position and attitude of the excavator 50, a ground measuring instrument 82 for measuring the condition of the ground, an excavator camera 83 mounted on the excavator 50, an in-cabin camera 84 that is rotatable 360° and installed on the working chamber slab 12, and a weight sensor 85 disposed under the soil bucket 18, and, as an output side, the excavator 50 is provided, which is drive-controlled in response to the operation of an operating device 63 (described later) by an operator.

[0022] A controller 60 for controlling the driving of the excavator 50 is installed in the excavator 50 of the pneumatic caisson 10 or in the central monitoring room 20. As will be described later, the controller 60 receives an operation signal from the operating device 61 via a repeater 80 and converts it into a drive signal for the excavator 50.

[0023] Furthermore, the excavator measuring instrument 81 measures the position and attitude of the excavator 50 and transmits the measured results to the calculator 70 via the repeater 80. Similarly, the ground measuring instrument 82 measures the condition of the ground in the work room 13 (surface shape and water level line) and transmits the measured results to the calculator 70 via the repeater 80. Specifically, the ground measuring instrument 82 is a laser scanner (Lidar) installed near the ceiling of the work room 13, which measures the actual ground shape after excavation.

[0024] Furthermore, the work chamber 13 of the pneumatic caisson 10 is equipped with, as input means (imaging means), an excavator camera 83 from the viewpoint of an operator (assumed to be on board the excavator 50), and an in-cabin camera 84 that is installed on the work chamber slab 12 and takes pictures of the inside of the work chamber 13 (inside the caisson). Images (videos) taken by the excavator camera 83 and the in-cabin camera 84 are transmitted to the calculator 70 via the repeater 80. Furthermore, although not shown, it is also preferable to have a sediment bucket camera that can take pictures of the content of the sediment bucket 18, as will be described later. The in-cabin camera 84 can also be used as the sediment bucket camera.

[0025] In this embodiment, a calculator 70 is installed as a calculation device (a PC for simulation) in either the central monitoring room 20 or the operation room 30, which calculates a simulation image based on the measured position and attitude of the excavator 50 and the measured state of the ground. In the following, a description will be given assuming that the calculator 70 is installed in the operation room 30. The calculator 70 performs calculations of a simulation image based on measured values, and correction calculations of the simulation image by comparison with actual measured values. For example, a personal computer can be used as the calculator 70.

[0026] The operation room 30 is provided with an operation device 61, which is operated by an operator to operate the virtual excavator 50X in the simulation image, as an input side, and a monitor 71, which serves as a display device, for displaying the simulation image calculated by the calculator 70, as an output side. Thus, in this embodiment, the operator operates the operation device 61 to operate the virtual excavator 50X depicted in the simulation image, and after a time lag, the excavator 50, which is a real machine, is actually driven and controlled.

[0027] As shown in Figures 3 to 5, there are preferably three monitors 71. More specifically, the monitors 71 are made up of a monitor 71A for displaying an image inside the box (from the viewpoint of the excavator), a monitor 71B for displaying a simulation image, and a monitor 71C for displaying an image inside the box (whole). In other words, a real-time simulation image is displayed on monitor 71B, and an actual camera image with a time lag is displayed on monitor 71A.

[0028] Of these, the monitor 71B displaying the simulation image is the main monitor, and the operator operates the operation device 61 while watching the monitor 71B. Note that as the simulation image on the monitor 71B, in addition to the conventional operator's viewpoint, it is also possible to display an image of the virtual excavator 50X viewed from the side.

[0029] Furthermore, by taking advantage of the characteristics of the simulated image, it is possible to display the lines of the ground underwater that cannot be seen in actual camera images. Furthermore, it is also possible to use AI to identify larger pebbles and rocks from the image and change the display color.

[0030] It is possible to display the image inside the box (from the excavator's point of view) and the simulation image on one monitor. For example, as shown in Fig. 6, most of the monitor 71 can be used for the simulation image, and the actual image inside the box (from the excavator's point of view) can be displayed in the area showing the player's own machine (virtual excavator X) at the bottom center.

[0031] (About the calculation of simulation images using a calculator) As described above, the calculator 70 is adapted to calculate the simulation image based on the measured position and attitude of the excavator 50 and the measured ground condition. Here, the calculator 70 is adapted to acquire the position and attitude of the excavator 50 and the ground condition at respective predetermined timings and recalculate (correct) the simulation image. In other words, this recalculation (correction) is not performed in real time (continuously) but after a slight delay.

[0032] Regarding the timing of recalculation (correction) in the calculator 70, in order to level out the amount of data transmission, it is preferable to obtain the ground condition and recalculate the simulation image while the excavator 50 is moving or while the excavator 50 is dumping excavated soil into the soil bucket 18.

[0033] (Regarding recalculation (correction)) Next, examples of individual recalculation (correction) of a simulation image will be listed and explained.

[0034] (1) Correction for excavator operation ·assignment: Due to a malfunction of the excavator 50 or an unexpected load, the actual excavator 50 may not operate in accordance with the operation (the same applies to the movement) of the virtual excavator 50X. ·Solution: The excavator 50 is equipped with a sensor (excavator measuring instrument 81) that detects the position and attitude of the excavator 50, and checks whether there are any differences between the actual movement and the movement in the reproduced image. The check is performed periodically (at a predetermined timing) or at an arbitrary timing as necessary. If a difference of a predetermined amount or more occurs, the reproduced image is immediately corrected. The reproduced image is merely a virtual reproduction by the calculator 70 installed on the operator's side, and is not drawn after receiving data from the sensor (because there is a time lag in the data from the sensor). Used to correct errors in the operation of the excavator 50 caused by differences in load strength. - If a malfunction (such as damage to the boom or bucket) is detected, notify immediately.

[0035] (2) Corrections regarding ground conditions ·assignment: The ground conditions are different from what was expected (soil strength, viscosity, grain size, etc.). -You can't dig as much as expected, or you can dig more than expected, etc. When water-filled excavation is being carried out, the water level rises and the excavated soil becomes wet. ·Solution: At least one rotatable camera (inside the box camera 84) is installed inside the box (inside the workroom 13), and the manager checks the situation inside the box periodically (at a specified time) or at any time. In cases where harder ground appears earlier than expected, the reconstructed image will be adjusted. If the reproduced image cannot be corrected, notifications such as "Rock has appeared" or "Rock has appeared" will be displayed. The boom stroke and jack thrust of the actual machine (excavator 50) are measured using a pressure sensor and a displacement meter, and if the values ​​during excavation differ significantly from the values ​​in the simulator, they are corrected to match the actual values.

[0036] (3) Correction in case of unexpected buried objects ·assignment: Notification and action are required. ·Solution: At "1.", a load is placed on the excavator 50, causing the excavator 50 to stop moving, resulting in a difference in movement from the reproduced image. When this occurs, the operator and manager are notified that there is an obstruction and operation of the excavator 50 is stopped. The administrator immediately checks the image of the area where the problem occurred using a rotatable camera (in-cabin camera 84; preferably with a zoom function) and notifies the operator of what has happened.

[0037] (4) Amendments regarding soil disposal ·assignment: The loading situation into the soil bucket 18 is different from what was expected. The soil bucket 18 is out of position. - The properties of the waste soil may differ from those expected, resulting in more or less loading than expected. ·Solution: A weight sensor 85 is attached to the dirt bucket 18 to detect when it is full. · Pressure sensors as weight sensors 85 are attached at multiple points on the top to detect the weight. The position of the soil bucket 18 is corrected using data from a scanner (ground measuring instrument 82) or the like. It is also possible to install a dirt bucket camera capable of photographing the inside of the dirt bucket 18 on the work chamber slab 12, and to have the calculator 70 recognize and determine whether the dirt bucket 18 is full or not by image recognition.

[0038] (5) Corrections for the operation of other excavators ·assignment: If there is only one excavator in the box, you can basically check the operation of your own machine, but if there are multiple machines, you need to check the operation of the other machines as well. Since it is operated by a human, it may move to a different place than planned. ·Solution: Operation information or position / attitude information of other virtual excavators 50X is transmitted and received, and reflected in the reproduced image. -The positions and turning ranges of other virtual excavators 50X are colored and displayed as cylindrical ranges in the reproduced image (only for the affected virtual excavators 50X). If another excavator 50X approaches, a warning is displayed by the Patlite (registered trademark) (green → yellow → red).

[0039] (6) Compensation due to disasters and accidents ·assignment: There may be cases where on-site machinery will not function due to natural disasters such as earthquakes or power outages. ·Solution: In the event of a disaster or accident, the administrator will promptly issue a warning.

[0040] (7) What to do if someone enters the box during work ·assignment: Measures must be taken to prevent contact with the excavator 50. ·Solution: If someone enters the mailbox, the operator is notified in advance and the movement range and an image of the person entering the mailbox are displayed on the playback video to draw attention to the situation. The location of the person who puts the package in the mailbox will be detected and displayed using IC tags, etc.

[0041] (8) Responses to other unexpected events ·assignment: There is a risk of unforeseen circumstances occurring. ·Solution: In the event of an unforeseen event, an alarm will be issued to notify the user.

[0042] (Drilling Procedure) Here, the excavation procedure using the pneumatic caisson remote control system S will be described. 1) The operator operates the excavator using the operating device 61 while viewing the reproduced image on a monitor or a head-mounted display. 2) The excavator 50 operates in accordance with an operation signal sent from the operation device 61. The same operation as that of the actual excavator 50 is reproduced as a reproduced image. 3) When the excavator 50 excavates the natural ground, the reproduced image reproduces the load and movement of the natural ground according to the strength, type, and nature of the soil. The load applied to the excavator 50 is also simulated and reproduced in the reproduced image of the excavator 50.

[0043] (Loading Procedure) Next, the loading procedure using the pneumatic caisson remote control system S will be explained. 1) The operator operates the machine while viewing the reproduced image, and loads excavated soil into the soil bucket 18. 2) The position of the soil bucket 18 is confirmed by a sensor (not shown) or the like, and is reflected in the reproduced image. 3) When the excavator 50 loads the soil bucket 18 with soil, the reproduced image reproduces the movement of the soil according to the type and nature of the soil. The weight applied to the excavator 50 is also simulated and reproduced in the reproduced image of the soil bucket 18. 4) Then, when the weight sensor 85 in the dirt bucket 18 detects that the dirt bucket 18 is nearly full, information is displayed on the monitor.

[0044] (Instruction from a remote instructor) The reproduced image can be shared, and instructions from an instructor in an instructor's room 40 at a remote location can be visually displayed on the reproduced image and shared. This allows accurate instruction to be received from an instructor at a remote location. Furthermore, an instructor can provide instruction at multiple sites.

[0045] (Check the monitor image) The operator basically performs excavation while looking at the reproduced image (simulated image), but can switch to the monitor image (image from the actual camera 83) for confirmation, or display the monitor image and reproduced image side by side for comparison (see Figure 6). If the manager detects an abnormality in the monitor image or from the signal from the sensor, he will immediately stop excavation and work to eliminate the cause.

[0046] (Visualization of drilling position) In controlling the posture of the pneumatic caisson 10 during excavation and sinking, such as the inclination and eccentricity, the excavation position, depth, and remaining excavation positions are important. At this time, the operator can easily excavate by clearly illustrating the excavation position on the reproduction screen (simulation image) by marking, shading, or surrounding it with a diagram. This display disappears when excavation is completed, making it easier to check the remaining excavation positions.

[0047] Specifically, the calculator 70 uses a predetermined calculation method including AI to predict the behavior (inclination amount, eccentricity amount) of the pneumatic caisson 10 based on the assumed digging position and depth, and the remaining digging position. In other words, it calculates backwards the "digging position and depth" and "undigged position" required to control the pneumatic caisson 10 to the appropriate posture. The calculator 70 then displays the digging position and depth, and the remaining digging position calculated backwards on the monitor 71 as a display.

[0048] (effect) Next, the effects achieved by the pneumatic caisson remote control system S of this embodiment will be listed and explained.

[0049] (1) As described above, the pneumatic caisson remote control system S of this embodiment includes an excavator measuring instrument 81 that measures the position and attitude of the excavator 50, a ground measuring instrument 82 that measures the ground condition, a calculator 70 that calculates a simulation image based on the measured position and attitude of the excavator 50 and the measured ground condition, a monitor 71 as a display device located at a remote location that displays the simulation image calculated by the calculator 70, an operation device 61 located at a remote location that is operated by an operator to operate the virtual excavator 50X in the simulation image, and a controller 60 that drives and controls the excavator 50 and drives and controls the excavator 50 in response to the operation of the operation device 61 by the operator. With this configuration, the pneumatic caisson remote control system S can be operated without being aware of the time lag between the operation device 61 and the excavator 50, and can add information about excavation regardless of the position of the camera or the ground condition inside the box. Furthermore, while excavation work in the pneumatic caisson 10 requires high-pressure work, the pneumatic caisson remote control system S of the present invention makes it possible to avoid high-pressure work. In addition, since the simulation video is not an actual camera video but a reproduced video, it is possible to view video from positions and angles that would be difficult to install with the actual excavator 50, regardless of the camera position or ground conditions inside the box.

[0050] (2) Moreover, it is preferable that the calculator 70 acquires the position and attitude of the excavator 50 and the ground condition at a predetermined timing, and recalculates the simulation image. In other words, by acquiring data for recalculation (correction) not continuously (in real time) but sequentially, the amount of data transmission can be reduced.

[0051] (3) Furthermore, it is preferable that the calculator 70 acquires the ground condition and recalculates the simulation image while the excavator 50 is moving or while the excavator 50 is dumping excavated soil into the soil bucket 18. In this way, the amount of data transmitted to the calculator 70 can be leveled out.

[0052] (4) In addition, it is preferable that the calculator 70 is configured to reproduce the load from the ground and the movement of excavated soil and sand according to the strength and type of the ground that have been acquired in advance when calculating the simulation image. In this way, the results of the pre-construction survey can be used to improve the reproducibility of the ground condition.

[0053] (5) Furthermore, a weight sensor 85 is installed under the soil bucket 18, and the calculator 70 determines whether the soil bucket 18 is full or not based on the detected weight, and notifies the operator via the monitor 71. With this configuration, the timing of lifting the soil bucket 18 can be accurately controlled based on the actual measured value in addition to the simulated value.

[0054] (6) Furthermore, the calculator 70 is configured to recalculate the position and attitude of the excavator (virtual excavator 50X) in the simulation image when the position and attitude of the excavator (virtual excavator 50X) in the simulation image differs from the acquired position and attitude of the actual excavator 50 by more than a predetermined amount. By correcting the image in this way, the behavior of the actual excavator 50 can be reproduced more accurately, enabling more accurate excavation and loading operations.

[0055] (7) Furthermore, when a plurality of excavators 50, ... are provided, operation information is shared between the respective computing devices 70, ..., and a simulation image obtained by calculating the position and attitude of another excavator (virtual excavator 50X) is displayed on the monitor 71. By configuring and displaying in this manner, the positions of the plurality of excavators 50 do not overlap, allowing efficient excavation, and preventing the excavators 50 from contacting each other.

[0056] (8) The excavator 50 also has load measuring devices (pressure sensors and displacement meters for measuring boom stroke and jack thrust) that measure the load from the ground during excavation, and the calculator 70 is configured to correct and reproduce the strength and type of the ground when the load from the ground estimated in advance differs from the actual measured value by exceeding a threshold value. By making such corrections midway, a more accurate condition, i.e., a condition closer to reality, can be reproduced and virtual excavation work can be performed in the simulation video.

[0057] (9) It is also preferable that the calculator 70 is configured to display the excavation position, depth, and remaining excavation positions on the ground in the simulation image. This configuration allows the operator to easily understand the optimal excavation position, depth, and remaining excavation positions for posture control, allowing him to concentrate on the excavation work. Furthermore, it is possible to prevent the pneumatic caisson 10 from being excavated in the wrong position, resulting in the pneumatic caisson 10 tilting more than expected or the amount of eccentricity becoming too large.

[0058] (10) Furthermore, a dirt bucket camera (not shown) that takes pictures of the inside of the dirt bucket 18 is further provided, and the calculator 70 can determine whether the dirt bucket 18 is full or not by image recognition of an image of the inside of the dirt bucket 18 that is actually taken. With this configuration, the amount of content in the dirt bucket 18, where it is difficult to install various measuring devices (sensors), can be quantitatively measured by image recognition using a camera. In addition, if the amount of content is displayed in the simulation image, the operator can know the timing of lifting the dirt bucket 18.

[0059] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the present invention are included in the present invention. [Explanation of symbols]

[0060] S Pneumatic caisson remote control system 10 Pneumatic caisson 11 Blade mouth 12 Working room slab 13 Work Room 14 Material Shaft 15 Material Rock 16 Manschaft 17 Manrock 18 Soil bucket 20 Central monitoring room 30 Control room 40 Instructor's Room 50 Excavator 50X Virtual Excavator 60 Controller 61 Operating equipment 70 Arithmetic unit 71 Monitor (display) 71A Inside the box (from the excavator's point of view) 71B Simulation video 71C Box interior video (whole) 80 Repeater 81 Excavator Measuring Instrument 82 Soil Measuring Instrument 83 Excavator Camera 84 Camera inside the box 85 Weight Sensor

Claims

1. A remote operation system for a pneumatic caisson, comprising: an excavator measuring device for measuring the position and attitude of an actual excavator; A ground measuring instrument for measuring the condition of the ground; a computing unit that computes a simulation image based on the measured position and attitude of the excavator, which is an actual machine, and the measured state of the ground; a display device disposed at a remote location, the display device displaying only the simulation image calculated by the calculator; an operation device disposed at a remote location, the operation device being operated by an operator while watching the simulation image in order to operate a virtual excavator in the simulation image; a controller for controlling the driving of the excavator, the controller controlling the driving of the excavator, which is an actual machine, after a time lag has elapsed in response to an operation of the operating device by an operator; A remote control system for pneumatic caisson.

2. A remote control system for a pneumatic caisson as described in claim 1, wherein the computing unit is configured to acquire the position and posture of the excavator and the condition of the ground at predetermined times and recalculate the simulation image.

3. A remote control system for a pneumatic caisson as described in claim 1 or claim 2, wherein the computing unit is configured to acquire the condition of the ground and recalculate the simulation image while the excavator is moving or while the excavator is dumping excavated soil into a soil bucket.

4. A remote control system for a pneumatic caisson as described in claim 1 or claim 2, wherein the calculator is configured to reproduce the load from the ground and the movement of excavated soil according to the strength and type of ground obtained in advance when calculating the simulation image.

5. A remote control system for a pneumatic caisson as described in claim 1 or claim 2, wherein a weight sensor is installed at the bottom of the soil bucket, and the computing unit determines whether the soil bucket is full or not based on the detected weight and notifies the operator via the display.

6. A remote control system for a pneumatic caisson as described in claim 1 or claim 2, wherein the calculator is configured to recalculate the position and attitude of the excavator in the simulation image when the position and attitude of the excavator in the simulation image differ from the actual position and attitude of the excavator acquired by more than a predetermined amount.

7. A remote control system for a pneumatic caisson as described in claim 1 or claim 2, wherein when a plurality of the excavators are provided, operation information is shared between each of the computing devices, and a simulation image calculated to determine the positions and attitudes of the other excavators is displayed on the display device.

8. A remote control system for a pneumatic caisson as described in claim 4, wherein the excavator has a load measuring device that measures the load from the ground during excavation, and the calculator is configured to modify and reproduce the strength and type of the ground when the previously estimated load from the ground differs from the actual measured value by more than a threshold value.

9. 3. A remote control system for a pneumatic caisson as described in claim 1 or claim 2, wherein the computing unit is configured to display the excavation position and depth, and the remaining excavation positions on the ground in the simulation image.

10. Further provided with a sand bucket camera for photographing the inside of the sand bucket, 3. A remote control system for a pneumatic caisson as described in claim 1 or claim 2, wherein the computing unit is configured to determine whether the soil bucket is full or not by image recognition of an internal image of the soil bucket that has been photographed.

Images