Work Monitoring System

Abstract

To provide a work monitoring system capable of improving a work environment of a worker who operates a work machine while confirming a work portion.SOLUTION: A work monitoring system 20 includes a monitoring mobile body 21 and a remote instruction device 22 that can communicate with each other. The monitoring mobile body 21 includes a traveling device 25, a work camera 28 configured to be able to change an imaging range and imaging a work portion, and a mobile transmitter 29 for transmitting work image data captured by the work camera 28 to the remote instruction device 22. The remote instruction device 22 has an instruction device transmitter for receiving work image data, a monitor for displaying a work image based on the work image data, and a controller and a voice instruction unit for inputting operator's instructions. When an instruction signal indicating the input instruction is transmitted from the remote instruction device 22 to the monitoring vehicle 21, the traveling device 25 is driven or the imaging range of the work camera 28 is changed according to the instruction signal.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work monitoring system that monitors work performed by a work machine. [Background technology]

[0002] For example, as in Patent Document 1, at tunnel construction sites, concrete is sprayed onto the tunnel face by a spraying operation. This spraying operation is performed by a spraying machine remotely controlled by a worker. The worker remotely controls the machine near the machine to visually check the sprayed area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-006870 Summary of the Invention [Problem to be solved by the invention]

[0004] However, at tunnel construction sites, dust is scattered during spraying work, and workers are sometimes placed in a dusty environment. In addition, workers may approach the face to visually check the sprayed areas. For these reasons, further improvements to the worker's working environment are desired from the perspective of worker hygiene and safety. This is not limited to tunnel construction sites, but is also common to other construction sites where workers operate work equipment while checking the work area. [Means for solving the problem]

[0005] A work monitoring system that solves the above problem includes a monitoring mobile body and a remote instruction device. The monitoring mobile body and the remote instruction device are configured to be able to communicate with each other via a mobile communication device mounted on the monitoring mobile body and an instruction device communication device mounted on the remote instruction device. The monitoring mobile body includes a traveling device, a work camera configured to be able to change its imaging range and capturing images of the area being worked on by a work machine, and a transmitter that transmits work image data captured by the work camera to the remote instruction device. The remote instruction device includes a receiver that receives the work image data, a work image monitor that displays images based on the work image data received by the receiver, and an instruction input unit into which an operator inputs instructions to the monitoring mobile body. When an instruction signal indicating an instruction input to the instruction input unit is transmitted from the instruction device communication device to the mobile communication device, the monitoring mobile body drives the traveling device or changes the imaging range of the work camera in accordance with the instruction signal received by the mobile communication device. [Effects of the Invention]

[0006] According to the present invention, it is possible to improve the working environment for a worker who operates a work machine while checking the work area. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of an embodiment of a work monitoring system. [Figure 2] FIG. 2 is a block diagram showing a schematic configuration of a remote instruction device. [Figure 3] FIG. 2 is a top view schematically showing an example of the arrangement of various monitors. DETAILED DESCRIPTION OF THE INVENTION

[0008] An embodiment of a work monitoring system will be described with reference to FIGS. 1 to 3. FIG. As shown in Figure 1, the work monitoring system is a system that allows an operator who remotely controls a work machine to monitor and check the working part of the work machine.

[0009] The work monitoring system 20 of this embodiment is a system that allows an operator remotely operating a spraying machine 15 using a remote control device 14 installed in an operation yard 13 to monitor and confirm the spraying status of concrete being sprayed from a nozzle 16 onto the face 12 during the work of spraying concrete onto the face 12 inside a tunnel, which serves as a work yard 11.

[0010] The operation yard 13 does not necessarily have to be limited to a specific location, but it is preferable that it be installed at a location at least 100 m away from the work yard 11, for example, in consideration of blasting work on the face 12. The operation yard 13 may also be installed on a vehicle that can move inside the tunnel.

[0011] (Work monitoring system) The work monitoring system 20 includes a monitoring mobile body 21 and a remote instruction device 22 . The monitoring mobile body 21 moves and takes images (or photographs) of the work area in the work yard 11 according to the instructions of the operator who remotely operates the spraying machine 15, and transmits the captured images (hereinafter referred to as captured images) to a remote instruction device 22 installed in the operation yard 13.

[0012] The remote instruction device 22 displays the captured images transmitted by the monitoring mobile object 21 and transmits instructions from the operator to the monitoring mobile object 21. The remote instruction device 22 may be incorporated into the remote control device .

[0013] (Mobile surveillance vehicle) The monitoring vehicle 21 includes a traveling device 25 and a mount 26 . The traveling device 25 is a device that allows the monitoring mobile body 21 to travel. The traveling device 25 is, for example, a crawler-type traveling device. Because the traveling device 25 is a crawler-type traveling device, it can travel smoothly even on uneven ground with bumps. Furthermore, it is preferable that the width of the traveling device 25 is about 80 cm. This makes it possible to stabilize the posture of the monitoring mobile body 21, for example, even if the monitoring mobile body 21 is tilted forward. Furthermore, even when the spraying machine 15 is parked inside the tunnel, it can travel between the side wall and the tunnel, allowing for smooth machine replacement.

[0014] The platform 26 is fixed to the traveling device 25. The platform 26 is formed by connecting, for example, straight steel pipes or the like with connecting fittings or by welding. A work camera 28 is attached to the upper front part of the platform 26. The work camera 28 captures images of the work area of the spraying machine 15. The work camera 28 is configured so that its imaging range can be changed by zooming, panning, tilting, etc. The work camera 28 outputs work image data showing the captured work image (captured image) to a mobile transmitter 29. It is preferable that the work camera 28 is positioned at a height of approximately 130 cm. At such a height, it is possible to realize a line of sight similar to that of an actual worker visually observing the work area. Furthermore, since the overall height of the monitoring mobile body 21 can be reduced, the monitoring mobile body 21 can be easily moved within the work yard 11.

[0015] The mobile transmitter 29 is attached to the left side of the mount 26. The mobile transmitter 29 is configured to be able to communicate with the remote instruction device 22 via a wireless connection. The mobile transmitter 29 is a dedicated device for transmitting work image data from the monitoring mobile 21 to the remote instruction device 22. It is particularly desirable to use a device as the mobile transmitter 29 that can transmit work image data from the work camera 28 to the remote instruction device 22 with almost no delay.

[0016] A measurement camera 30 is attached to the upper front part of the mount 26. The measurement camera 30 captures an image in front of the monitoring mobile object 21. The measurement camera 30 is used to measure the distance to an object in front of the monitoring mobile object 21. The measurement camera 30 outputs measurement image data indicating the captured measurement image (captured image) to the mobile communication device 32.

[0017] A peripheral camera 31 is attached to the upper rear part of the mount 26. The peripheral camera 31 outputs peripheral image data indicating a peripheral image (captured image) captured around the monitoring mobile object 21 to the mobile communication device 32.

[0018] The mobile communication device 32 is attached to the upper rear part of the stand 26. The mobile communication device 32 is configured to be able to communicate with the remote instruction device 22 via a wireless connection. The mobile communication device 32 has multiple interfaces. The mobile communication device 32 is connected to the work camera 28, the measurement camera 30, the peripheral camera 31, and the traveling device 25.

[0019] When the mobile communication device 32 receives an imaging range instruction signal from the remote instruction device 22 to the work camera 28, it inputs the received imaging range instruction signal to the work camera 28. The work camera 28 changes its imaging range based on the imaging range instruction signal.

[0020] The mobile communication device 32 transmits the measurement image from the measurement camera 30 and the peripheral image from the peripheral camera 31 to the remote instruction device 22. When the mobile communication device 32 receives a driving instruction signal from the remote instruction device 22 to the traveling device 25, it inputs the driving instruction signal to the traveling device 25. The traveling device 25 causes the monitoring mobile object 21 to travel based on the input driving instruction signal.

[0021] The monitoring vehicle 21 also has a battery 33 that supplies power to various devices. The battery 33 is mounted on the base of the traveling device 25 and attached to the stand 26. It is preferable that the battery 33 be placed near the center of the traveling device 25, taking into consideration the weight balance of the monitoring vehicle 21.

[0022] (Remote control device) As shown in FIG. 2, the remote instruction device 22 includes an instruction device transmitter 35, an instruction device communication device 36, a controller 37, an audio instruction unit 38, monitors 39, 40, and 41, and an information processing unit .

[0023] The instruction device transmitter 35 receives the work image data transmitted by the mobile transmitter 29 as a receiver and inputs the data to the information processing unit 42. The instruction device transmitter 35 is a dedicated device for receiving the work image data from the mobile transmitter 29.

[0024] The instruction device communication device 36 receives the measurement image data and surrounding image data transmitted by the mobile communication device 32 and inputs them to the information processing unit 42. The instruction device communication device 36 also transmits various instruction signals to the mobile communication device 32 for the monitoring mobile object 21.

[0025] The controller 37 and the voice instruction unit 38 constitute an instruction input unit that can input various instructions to the monitoring mobile object 21 . The controller 37 is composed of an operation lever that can be operated by an operator, etc. The controller 37 inputs an operation signal based on the operation of the operator to the information processing unit 42.

[0026] The voice instruction unit 38 is composed of a microphone, a sound generator, etc. The voice instruction unit 38 inputs a voice signal based on the voice of the operator to the information processing unit 42, and also generates sounds based on various signals from the information processing unit 42 from the sound generator. As shown in FIG. 3, the monitor 39 is disposed in front of an operator 43 who remotely controls the spraying machine 15 in the operation yard 13. No. 1 The monitor 40 is located in front of the operator 43 on the right side. No. 2 The monitor 41 is located in front of the operator 43 on the left side. ThirdEach of these monitors 39, 40, and 41 can be set by the operator to function as a work image monitor, a measurement image monitor, and a peripheral image monitor.

[0027] The information processing unit 42 performs various processes. The information processing unit 42 can be realized, for example, by circuitry, i.e., one or more dedicated hardware circuits such as an ASIC, one or more processing circuits that operate according to a computer program (software), or a combination of both. The processing circuit has a CPU and memory (such as ROM and RAM) that stores programs executed by the CPU. Memory, i.e., computer-readable media, includes any available media that can be accessed by a general-purpose or special-purpose computer.

[0028] The information processing unit 42 includes a work image processing unit 45 , a measurement image processing unit 46 , a surrounding image processing unit 47 , an operation processing unit 48 , and a sound processing unit 49 . The work image processing unit 45 displays the work image (captured image) captured by the work camera 28 on the monitor set as the work image monitor, based on the work image data. For example, the work image processing unit 45 displays the work image on the monitor 39.

[0029] The measurement image processing unit 46 displays the measurement image (captured image) captured by the measurement camera 30 on a monitor set as the measurement image monitor based on the measurement image data. For example, the measurement image processing unit 46 displays the measurement image on the monitor 39. The measurement image processing unit 46 also measures the distance to each object included in the measurement image by performing image processing on the measurement image data. The measurement image processing unit 46 displays the measured distance on the monitor in accordance with each object in the measurement image. At this time, it is preferable that the measurement image processing unit 46 displays the measured distance on the monitor in a different color according to the measured distance.

[0030] The peripheral image processing unit 47 displays the peripheral image (captured image) captured by the peripheral camera 31 on a monitor set as the peripheral image monitor based on the peripheral image data. For example, the peripheral image processing unit 47 displays the front of the monitoring mobile object 21 on the monitor 39, the right side of the monitoring mobile object 21 on the monitor 40, and the left side of the monitoring mobile object 21 on the monitor 41. The above-mentioned work image and measurement image may be displayed on the peripheral image displayed on the monitor 39.

[0031] The operation processing unit 48 is an instruction processing unit that transmits various instruction signals based on an operation signal from the controller 37 from the instruction device communication unit 36 to the monitoring vehicle 21. For example, when an operation signal related to driving the traveling device 25 is input from the controller 37 to the operation processing unit 48, the operation processing unit 48 transmits a traveling instruction signal based on the operation signal to the monitoring vehicle 21. When an operation signal related to the imaging range of the work camera 28 is input from the controller 37 to the operation processing unit 48, the operation processing unit 48 transmits an imaging range instruction signal based on the operation signal to the monitoring vehicle 21.

[0032] The voice processing unit 49 is an instruction processing unit that analyzes the voice signal from the voice instruction unit 38 and transmits various instruction signals based on the instructions from the operator from the instruction device communication device 36 to the monitoring mobile unit 21. For example, the voice processing unit 49 stores sample waveforms of voice signals indicating various instructions in advance. The voice processing unit 49 understands the operator's instructions by comparing the waveform of the voice signal from the voice instruction unit 38 with the pre-stored sample waveforms of the voice signal. Furthermore, for example, the voice processing unit 49 understands the operator's instructions through voice recognition. If the understood instruction relates to the movement of the monitoring mobile unit 21, the voice processing unit 49 transmits a travel instruction signal indicating the instruction to the monitoring mobile unit 21. If the understood instruction relates to the imaging range of the work camera 28, the voice processing unit 49 transmits a range instruction signal indicating the instruction to the monitoring mobile unit 21.

[0033] The voice processing unit 49 may directly understand the operator's instruction regarding the voice signal indicating the stop of the monitoring mobile object 21. This allows the monitoring mobile object 21 to be brought to an emergency stop by voice when an unexpected situation occurs. The voice processing unit 49 may also understand the instruction based on the voice signal. Audio instruction unit 38 Alternatively, the monitoring mobile object 21 may transmit a confirmation signal to the monitoring mobile object 21 and wait for a response to the confirmation signal to understand the contents of the operator's instructions. This makes it possible to avoid malfunctions of the monitoring mobile object 21 due to voice.

[0034] (action) An operator in the operation yard 13 remotely controls the spraying machine 15 using the remote control device 14 while monitoring the area being worked on by the spraying machine 15 based on the work image displayed on the monitor. When the operator changes the area being worked on by the spraying machine 15 using the remote control device 14, he or she continues to monitor the area being worked on by the spraying machine 15 by specifying the position of the monitoring mobile body 21 and the imaging range of the work camera 28 using the remote instruction device 22.

[0035] The effects of this embodiment will be described. (1) The work monitoring system 20 includes a monitoring mobile body 21 and a remote instruction device 22. The monitoring mobile body 21 and the remote instruction device 22 are configured to be able to communicate with each other via a mobile body communication device 32 mounted on the monitoring mobile body 21 and an instruction device communication device 36 mounted on the remote instruction device 22. The monitoring mobile body 21 has a traveling device 25, a work camera 28 configured to be able to change its imaging range and that captures images of the area being worked on by the spraying machine 15, and a mobile body transmitter 29 that transmits work image data captured by the work camera 28 to the remote instruction device 22. The remote instruction device 22 has a instruction device transmitter 35 that receives the work image data, a monitor 39 that can display a work image based on the work image data received by the instruction device transmitter 35, and a controller 37 and audio instruction unit 38 into which the operator inputs instructions to the monitoring mobile body 21. Then, when an instruction signal indicating the input instruction is transmitted from the instruction device communication device 36 to the mobile communication device 32 in the remote instruction device 22, the traveling device 25 is driven or the imaging range of the work camera 28 is changed in the monitoring mobile body 21 in accordance with the instruction signal received by the mobile communication device 32.

[0036] This allows the operator to check the area being worked on by the spraying machine 15 based on the work image displayed on the monitor 39 in the operation yard 13. In addition, the operator can instruct the monitoring vehicle 21 to move or the work camera 28 to change the imaging range so that the area being worked on can be easily checked in the operation yard 13. As a result, the working environment for workers who perform work using the spraying machine 15 can be improved.

[0037] (2) Furthermore, dedicated equipment for transmitting work image data is installed in the monitoring vehicle 21 and the remote instruction device 22. This allows for the use of transmission equipment with a higher transmission speed for transmitting work image data. As a result, work images can be displayed on the monitor 39 with less delay.

[0038] (3) The monitoring mobile object 21 has a peripheral camera 31 that captures images of the surroundings of the monitoring mobile object 21. Peripheral image data showing the peripheral image captured by the peripheral camera 31 is transmitted from the mobile object communication device 32 to the instruction device communication device 36. The remote instruction device 22 has monitors 39, 40, and 41 that display the peripheral image data received by the instruction device communication device 36.

[0039] This allows the operator to move the monitoring mobile object 21 while checking the surrounding conditions of the monitoring mobile object 21 using the surrounding images displayed on the monitors 39, 40, and 41. As a result, the monitoring mobile object 21 can be moved smoothly.

[0040] (4) The remote instruction device 22 has a voice instruction unit 38, which is an instruction input unit that inputs a voice signal obtained by converting the operator's voice into an electrical signal, and a voice processing unit 49 that receives the voice signal and transmits an instruction signal indicating the operator's instruction based on the voice signal from the instruction device communication device 36 to the mobile communication device 32.

[0041] This allows the operator to give voice instructions to the monitoring vehicle 21. As a result, even an operator who is currently operating the remote control device 14 can easily move the monitoring vehicle 21 or change the imaging range of the work camera 28.

[0042] (5) The monitoring mobile body 21 has a measurement camera 30 for measuring the distance to an object located in front of the monitoring mobile body 21, and transmits measurement image data showing the measurement image captured by the measurement camera 30 from the mobile communication device 32 to the instruction device communication device 36. The remote instruction device 22 measures the distance to the object based on the measurement image data received by the instruction device communication device 36 and has a monitor 39 that displays the measurement results.

[0043] This allows the operator to see the distance to an object located in front of the monitoring vehicle 21 through the monitor 39, and therefore allows the operator to move the monitoring vehicle 21 so as to avoid contact with an obstacle in front of it.

[0044] Although one embodiment of the work monitoring system has been described above, the present invention is not limited to the above embodiment and can be modified as appropriate without departing from the spirit of the present invention. For example, this embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0045] In the work monitoring system 20, the measurement image for measuring the distance to an object located in front of the monitoring mobile body 21 may be captured by the work camera 28. In the work monitoring system 20, the surroundings of the monitoring mobile body 21 may be photographed by the work camera 28 when the work of the spraying machine 15 is suspended, for example.

[0046] In the work monitoring system 20, instructions to the monitoring vehicle 21 may be given only by the controller 37 or only by the voice instruction unit 38. The monitoring vehicle 21 may be provided with a blade on the front of the traveling device 25. This allows the monitoring vehicle 21 to move by pushing aside the dumped earth in front of it.

[0047] The remote instruction device 22 may transmit a driving instruction signal or an imaging range instruction signal to the monitoring vehicle 21 according to the position of the nozzle 16. For example, the remote instruction device 22 tracks the position of the nozzle 16 based on the operation of the remote control device 14 or image processing of the surrounding image. The remote instruction device 22 then transmits to the monitoring vehicle 21 a driving instruction signal or an imaging range instruction signal according to the position of the tracked nozzle 16 and the surrounding conditions of the monitoring vehicle 21.

[0048] The traveling device 25 is not limited to a crawler type. For example, the traveling device 25 may be configured such that a plurality of wheels (for example, a plurality of drive wheels, a plurality of drive wheels and a driven wheel) are arranged in the front-rear direction of the monitoring mobile body 21 and are provided in the width direction of the monitoring mobile body 21. In other words, the traveling device 25 may be a wheel type rather than a crawler type.

[0049] The work camera 28 may be supported by, for example, an articulated arm with an extendable arm, so that its position can be changed based on the surrounding images. This configuration increases the degree of freedom in determining the position of the work area that can be imaged by the work camera 28.

[0050] The work machine is not limited to the spraying work machine 15. The work machine may be any work machine that performs work by remote control by an operator, and may be, for example, a crane that transports materials to a predetermined position. [Explanation of symbols]

[0051] 11...work yard, 12...face, 13...operation yard, 14...remote control device, 15...spraying machine, 16...nozzle, 20...work monitoring system, 21...monitoring mobile body, 22...remote control device, 25...traveling device, 26...mounting, 28...work camera, 29...mobile body transmitter, 30...measurement camera, 31...peripheral camera, 32...mobile body communication device, 33...battery, 35...indication device transmitter, 36...indication device communication device, 37...controller, 38...audio instruction unit, 39, 40, 41...monitor, 42...information processing unit, 43...operator, 45...work image processing unit, 46...measurement image processing unit, 47...peripheral image processing unit, 48...operation processing unit, 49...audio processing unit.

Claims

1. A work monitoring system including a monitoring mobile body and a remote instruction device, the monitoring mobile body and the remote instruction device are configured to be able to communicate with each other by a mobile communication device mounted on the monitoring mobile body and an instruction device communication device mounted on the remote instruction device, The monitoring mobile body is Running gear and a work camera configured to change its imaging range and capturing an image of a part being worked on by a work machine; a peripheral camera that captures an image of the periphery of the monitoring mobile body, the peripheral camera transmitting peripheral image data representing the captured peripheral image from the mobile communication device to the mobile communication device; a transmitter that transmits work image data captured by the work camera to the remote instruction device, The remote instruction device a receiver that receives the work image data; a plurality of monitors for displaying images; an instruction input unit into which an operator's instruction to the monitoring mobile body is input, In the remote instruction device, when an instruction signal indicating an instruction input to the instruction input unit is transmitted from the instruction device communication device to the mobile communication device, In the monitoring mobile body, the driving of the traveling device or the change of the imaging range of the work camera is performed in accordance with the instruction signal received by the mobile body communication device, The plurality of monitors include: The indicator device communication device is configured to be able to display the peripheral image based on the peripheral image data received, a first monitor disposed in front of the operator and displaying an image of the surroundings in front of the monitoring vehicle; a second monitor disposed in front of the operator on the right side thereof and displaying an image of the surroundings on the right side of the monitoring vehicle; a third monitor disposed on the left front side of the operator and displaying an image of the surroundings on the left side of the monitoring vehicle; The remote instruction device The receiver displays a work image based on the received work image data on one of the plurality of monitors, superimposed on the peripheral image. Work monitoring system.

2. The remote instruction device a voice instruction unit which is the instruction input unit that inputs a voice signal obtained by converting the voice of the operator into an electrical signal; a voice processing unit that receives the voice signal and transmits an instruction signal indicating an instruction from the operator based on the voice signal from the instruction device communication unit to the mobile communication unit; The work monitoring system according to claim 1 .

3. The monitoring mobile body is a measuring camera for measuring the distance to an object located in front of the monitoring mobile body, and measuring image data representing a measuring image captured by the measuring camera is transmitted from the mobile communication device to the instruction device communication device; The remote instruction device The indicator communication device measures the distance to the object based on the received measurement image data and has a measurement image monitor that displays the measurement result. The work monitoring system according to claim 1 or 2.

Images