Remote operation device, work vehicle system including same, and felling work vehicle system

Abstract

Provided are: a remote operation device with which the surrounding situation can be easily grasped and an operator can easily perform work remotely; a work vehicle system including the remote operation device; and a felling work vehicle system. The present invention is characterized in that a remote operation device (2) includes: an image display unit (6) that is attached to the head; a vehicle operation unit (8) that performs an operation for operating a work vehicle (4); an image information reception unit (10) that receives main image information captured by a pair of cameras (32a, 32b) attached to the work vehicle; an operation acquisition unit (12) that acquires information about movements of an operator; a stereoscopic image generation unit (14) that, on the basis of the information about the operator movements acquired by the operation acquisition unit, processes the main image information received by the image information reception unit, and generates a main stereoscopic image to be displayed on the image display unit; and an operation information transmission unit (18) that transmits, to the work vehicle, information about an operation performed by the operator on the vehicle operation unit.

Description

Remote control device, and work vehicle system and felling vehicle system equipped with the same

[0001] The present invention relates to a remote control device, and more particularly to a remote control device for remotely controlling a vehicle, and a work vehicle system and a felling vehicle system equipped with the same.

[0002] Japanese Patent Laid-Open Publication No. 2020-84703 (Patent Document 1) describes a remote control device for construction machinery. In this remote control device, a camera attached to the driver's cab of the hydraulic excavator captures an image of the hydraulic excavator's work area. The image captured by the camera is displayed on a display located at a remote location from the hydraulic excavator. An operator sits in the driver's seat installed in front of the display and operates remote control levers and the like while viewing the image on the display to operate the hydraulic excavator located at a remote location and perform work.

[0003] Japanese Patent Application Laid-Open No. 2020-84703

[0004] However, with the remote control device described in Patent Document 1, the operator must operate the hydraulic excavator while viewing an image captured by a camera attached to the cab of the hydraulic excavator and displayed on a display. This makes it difficult to grasp the surrounding situation outside the camera's field of view, which makes it difficult to operate construction machinery such as hydraulic excavators. In particular, when construction machinery is operating while moving, the surrounding situation changes from moment to moment, making it difficult to perform work that adapts to the situation. Furthermore, since the operator must operate while viewing a two-dimensional image displayed on a display, he or she is unable to grasp the depth of the work area, which makes it difficult to perform precise work.

[0005] Therefore, the present invention aims to provide a remote control device that makes it easy for an operator to grasp the surrounding situation and to easily perform work remotely, as well as a work vehicle system and a felling vehicle system that are equipped with the same.

[0006] In order to solve the above-mentioned problems, the present invention provides a remote control device for remotely operating a work vehicle, which comprises an image display unit worn on the operator's head, a vehicle operation unit operated by the operator to operate the work vehicle, an image information receiving unit that receives main image information captured by a pair of cameras attached to the work vehicle, a motion acquisition unit that acquires information on the movements of the operator wearing the image display unit, a stereoscopic image generation unit that processes the main image information received by the image information receiving unit based on the information on the operator's movements acquired by the motion acquisition unit, and generates a main stereoscopic image to be displayed on the image display unit, and an operation information transmission unit that transmits information on the operator's operations on the vehicle operation unit to the work vehicle.

[0007] According to the present invention configured as described above, the stereoscopic image generating unit processes the main image information received by the image information receiving unit based on the information on the operator's movement acquired by the action acquiring unit, generates a main stereoscopic image, and displays it on the image display unit worn on the operator's head. Therefore, for example, in response to the operator's head movement, an image in the direction the operator is facing can be displayed on the image display unit. As a result, the operator can easily grasp the situation around the work vehicle and easily perform work. Furthermore, because a stereoscopic image is displayed on the image display unit, the operator can accurately grasp the working status of the work vehicle and easily perform work.

[0008] In the present invention, the stereoscopic image generating section is preferably configured to add a direction indicating marker indicating the direction ahead of the work vehicle to the main stereoscopic image.

[0009] According to the present invention configured in this manner, a direction indicating marker indicating the direction ahead of the work vehicle is added to the main stereoscopic image, so that the operator can easily grasp the direction in which the work vehicle is facing from the image displayed on the image display unit, and can easily move the work vehicle in the desired direction.

[0010] In the present invention, the image information receiving unit is preferably configured to receive, in addition to the main image information captured by the pair of cameras, auxiliary image information captured by an auxiliary camera attached to the work vehicle, and the stereoscopic image generating unit causes the image display unit to display the auxiliary image generated based on the auxiliary image information within the main stereoscopic image.

[0011] According to the present invention configured in this manner, an auxiliary image generated based on auxiliary image information is displayed within the main stereoscopic image, so that when working with a work vehicle, areas that the operator particularly wants to focus on can be displayed as auxiliary images, allowing the operator to work efficiently.

[0012] In the present invention, the stereoscopic image generation unit is preferably configured to change the position and / or size of the auxiliary image displayed within the main stereoscopic image based on information about the operator's movements acquired by the action acquisition unit.

[0013] According to the present invention configured in this manner, the position and / or size of the auxiliary image displayed within the main stereoscopic image is changed based on information about the operator's movements, so that the auxiliary image can be displayed appropriately according to the work situation, allowing the operator to perform the work smoothly.

[0014] Furthermore, the present invention provides a felling vehicle system capable of remotely controlling a felling vehicle, the system comprising: a vehicle body, a pivoting frame rotatably attached to the vehicle body, a grapple device connected to the pivoting frame for grasping the tree to be felled from the side, and a cutting device for cutting the tree held by the grapple device; a pair of cameras attached to the pivoting frame or the grapple device; an image display unit worn on the operator's head; a vehicle operation unit operated by the operator to operate the felling vehicle; an image information receiving unit that receives main image information captured by the pair of cameras; an action acquisition unit that acquires information on the movement of the operator wearing the image display unit; a three-dimensional image generation unit that processes the main image information received by the image information receiving unit based on the information on the operator's movement acquired by the action acquisition unit, and generates a main three-dimensional image to be displayed on the image display unit; and an operation information transmission unit that transmits information on operations performed by the operator on the vehicle operation unit to the work vehicle.

[0015] According to the present invention configured as described above, main image information captured by a pair of cameras attached to the rotating frame or grapple device of the felling vehicle is processed based on information about the operator's movement acquired by the motion acquisition unit to generate a main stereoscopic image. This main stereoscopic image is then displayed on an image display unit attached to the operator's head. Therefore, for example, an image in the direction the operator is facing can be displayed on the image display unit in response to the operator's head movement. As a result, the operator can easily grasp the locations of trees and other objects around the felling vehicle, allowing the felling vehicle to travel easily and safely. Furthermore, because a stereoscopic image is displayed on the image display unit, the operator can easily grasp the conditions around the tree to be felled, making it easy to hold and cut the tree with the grapple device.

[0016] In the present invention, it is preferable that the felling vehicle further has an auxiliary camera attached to the vehicle body lower than the pair of cameras, the image information receiving unit is configured to receive the main image information and the auxiliary image information captured by the auxiliary camera, and the stereoscopic image generating unit displays the auxiliary image generated based on the auxiliary image information within the main stereoscopic image displayed on the image display unit.

[0017] According to the present invention configured in this manner, an auxiliary image generated based on auxiliary image information is displayed within the main three-dimensional image displayed on the image display unit. Therefore, for example, a greatly enlarged image of the part of a standing tree to be felled can be displayed as an auxiliary image, allowing the operator to easily perform felling work.

[0018] In the present invention, the stereoscopic image generating unit is preferably configured to extend the auxiliary image displayed within the main stereoscopic image when the action acquiring unit detects that the operator is looking downward.

[0019] According to the present invention configured in this manner, when it is detected that the operator is looking downward, the auxiliary image displayed within the main stereoscopic image is expanded, so that the operator can enlarge and display the part that he or she particularly wants to view during felling work without using his or her fingers, making the felling work even easier.

[0020] The present invention also provides a remote control device for remotely operating a work machine, the remote control device comprising: an image display unit worn on the operator's head; an operation unit used by the operator to operate the work machine; an image information receiving unit that receives main image information captured by a pair of cameras attached to the work machine and auxiliary image information captured by an auxiliary camera attached to the work machine; a motion acquisition unit that acquires information about the movements of the operator wearing the image display unit; a three-dimensional image generation unit that processes the main image information and auxiliary image information based on the information about the operator's movements acquired by the motion acquisition unit to generate a three-dimensional image to be displayed on the image display unit; and an operation information transmission unit that transmits information about operations performed by the operator on the operation unit to the work machine, wherein the three-dimensional image generation unit is configured to display the auxiliary image generated based on the auxiliary image information within the main three-dimensional image based on the main image information, and to change the position and / or size of the auxiliary image displayed within the main three-dimensional image based on the information about the operator's movements acquired by the action acquisition unit.

[0021] Furthermore, the present invention is a remote control device for remotely operating a work vehicle, comprising: an image display unit worn on the operator's head; a vehicle operation unit operated by the operator to operate the work vehicle; an image information receiving unit that receives main image information captured by a pair of cameras that capture images of the work site using the work vehicle and auxiliary image information captured by an auxiliary camera that captures images of the interior of the driver's seat of the work vehicle; a motion acquisition unit that acquires information on the movements of the operator wearing the image display unit; a stereoscopic image generation unit that processes the main image information received by the image information receiving unit based on the information on the operator's movements acquired by the motion acquisition unit to generate a main stereoscopic image to be displayed on the image display unit, and that generates an auxiliary image to be displayed on the image display unit based on the auxiliary image information received by the image information receiving unit; and an operation information transmission unit that transmits information on operations performed by the operator on the vehicle operation unit to the work vehicle.

[0022] According to the present invention configured as described above, main image information captured by a pair of cameras capturing images of the work site is processed based on information about the operator's movements, and a main stereoscopic image is displayed on the image display unit. This allows the operator to grasp the state of the work site in a stereoscopic image while in a remote location, making it easier to perform work using the work vehicle. Furthermore, according to the present invention configured as described above, an auxiliary image is displayed on the image display unit based on auxiliary image information captured by an auxiliary camera capturing images of the inside of the driver's seat, allowing the operator to grasp information presented in the driver's seat of the work vehicle through the auxiliary image. This allows the operator to operate the work vehicle while in a remote location with a feeling similar to that of being in the driver's seat.

[0023] In the present invention, the auxiliary camera is preferably configured to capture an image of a monitor and / or an instrument provided in the driver's seat of the work vehicle.

[0024] According to the present invention configured in this manner, the auxiliary camera photographs the monitor and / or instruments installed in the driver's seat of the work vehicle, allowing the operator to obtain the same information as if he or she were in the driver's seat, and enabling the operator to easily operate the work vehicle from a remote location.

[0025] In the present invention, preferably, a second camera that captures an image in a different direction from the first camera is attached to the work vehicle, and the stereoscopic image generation unit displays the second image captured by the second camera on the image display unit based on the operator's operation.

[0026] According to the present invention configured in this way, since a second camera that captures images in a different direction from the camera is attached, it is possible to easily grasp the situation ahead of the work vehicle, for example, when the work vehicle is traveling in the opposite direction from the work site, etc. As a result, work can be carried out safely by the work vehicle.

[0027] In the present invention, preferably, the image display unit includes a gesture detection unit that detects a gesture by the operator, and the three-dimensional image generation unit changes the image displayed on the image display unit when a predetermined gesture by the operator is detected by the gesture detection unit.

[0028] According to the present invention configured in this manner, the image displayed on the image display unit is changed when the gesture detection unit detects a gesture, so the operator can easily change the image displayed on the image display unit while the image display unit is still attached to his or her head.

[0029] The present invention also provides a work vehicle system capable of remotely controlling a work vehicle, characterized by comprising a work vehicle equipped with a pair of cameras and the remote control device of the present invention.

[0030] The remote control device of the present invention, and the work vehicle system and felling vehicle system equipped with the same, make it easier for the operator to grasp the surrounding situation and to easily perform work remotely.

[0031] 1 is a block diagram showing a schematic configuration of a work vehicle system according to a first embodiment of the present invention; FIG. 2 is a perspective view showing a state in which an operator is using a remote control device provided in the work vehicle system of the first embodiment of the present invention; FIG. 3 is a side view of a felling work vehicle which is a work vehicle provided in the work vehicle system of the first embodiment of the present invention; FIG. 4 is a top view of a felling work vehicle provided in the work vehicle system of the first embodiment of the present invention; FIG. 5 is a front view of a felling work vehicle provided in the work vehicle system of the first embodiment of the present invention; FIG. 6 is a rear view of a felling work vehicle provided in the work vehicle system of the first embodiment of the present invention; FIG. 7 is a front view of a main camera attached to a felling work vehicle in the work vehicle system of the first embodiment of the present invention; FIG. 8 is a side cross-sectional view of the main camera attached to a felling work vehicle in the work vehicle system of the first embodiment of the present invention; FIG. 9 is a view showing a state in which a standing tree to be felled is held by a felling work vehicle in the work vehicle system of the first embodiment of the present invention; and FIG. 10 is a view showing a state in which the held standing tree is cut by the felling work vehicle and then felled in the work vehicle system of the first embodiment of the present invention. FIG. 1 is a diagram schematically showing an example of an image that an operator wearing goggles can view during tree felling work in the work vehicle system of the first embodiment of the present invention. FIG. 2 is a diagram schematically showing an example of an image that an operator wearing goggles can view during tree felling work in the work vehicle system of the first embodiment of the present invention. FIG. 3 is a diagram schematically showing an example of an image that an operator can view during tree felling work in the work vehicle system of the first embodiment of the present invention. FIG. 4 is a diagram schematically showing an example of an image that an operator can view during tree felling work in the work vehicle system of the first embodiment of the present invention. FIG. 5 is a diagram schematically showing an example of an image that an operator can view during tree felling work in the work vehicle system of the first embodiment of the present invention.FIG. 1 is a diagram schematically showing an example of an image that can be viewed by an operator while felling a standing tree in the work vehicle system of the first embodiment of the present invention. FIG. 2 is a side view showing the entire work vehicle system according to the second embodiment of the present invention. FIG. 3 is a side view showing the entire work vehicle system according to the third embodiment of the present invention. FIG. 4 is a diagram showing an example of an image captured by the main camera in the work vehicle system according to the third embodiment of the present invention. FIG. 5 is a diagram showing an example of an image captured by the auxiliary camera in the work vehicle system according to the third embodiment of the present invention. FIG. 6 is a diagram showing an example of an image displayed on goggles in the work vehicle system according to the third embodiment of the present invention. FIG. 7 is a side view showing the entire work vehicle system according to the fourth embodiment of the present invention. FIG. 8 is a diagram showing an example of an operation by a gesture by the operator in the work vehicle system according to the fourth embodiment of the present invention. FIG. 9 is a diagram showing an example of an operation by a gesture by the operator in the work vehicle system according to the fourth embodiment of the present invention.

[0032] Next, a remote control device according to an embodiment of the present invention and a work vehicle system equipped therewith will be described with reference to the accompanying drawings. Fig. 1 is a block diagram showing the schematic configuration of a work vehicle system according to a first embodiment of the present invention. Fig. 2 is a perspective view showing a remote control device provided in the work vehicle system of the first embodiment of the present invention as used by an operator. Fig. 3 is a side view of a felling work vehicle, which is a work vehicle provided in the work vehicle system of the first embodiment of the present invention. Fig. 4 is a top view of a felling work vehicle provided in the work vehicle system of the first embodiment of the present invention. Fig. 5 is a front view of a felling work vehicle provided in the work vehicle system of the first embodiment of the present invention. Fig. 6 is a rear view of a felling work vehicle provided in the work vehicle system of the first embodiment of the present invention.

[0033] As shown in Figure 1, a work vehicle system 1 according to a first embodiment of the present invention includes a remote control device 2 and a felling work vehicle 4, which is a work vehicle. Also, as shown in Figures 1 and 2, the remote control device 2 includes goggles 6, which are an image display unit worn on the operator's head, and a vehicle operation unit 8, which the operator operates to operate the felling work vehicle 4. In the work vehicle system 1 of the first embodiment of the present invention, images captured by a camera attached to the felling work vehicle 4, which is a work vehicle, are displayed as a stereoscopic image on the goggles 6 of the remote control device 2. While located remotely from the felling work vehicle 4, the operator can view the stereoscopic image displayed on the goggles 6 and operate the vehicle operation unit 8 to operate the felling work vehicle 4 and perform felling work.

[0034] 1 and 2, the goggles 6 of the remote control device 2 are worn on the head of an operator, and the operator can view a stereoscopic image displayed on the goggles 6. Specifically, the goggles 6 incorporate a first display 6a viewed by the operator's right eye and a second display 6b viewed by the operator's left eye. Images from different viewpoints are simultaneously displayed on these displays, allowing the operator to view an object in stereoscopic form.

[0035] Furthermore, the goggles 6 incorporate an image information receiving unit 10 that receives image information captured by a camera attached to the felling vehicle 4, a motion acquiring unit 12 that acquires information on the movement of the operator, and a stereoscopic image generating unit 14 that processes the main image information received by the image information receiving unit 10 based on the information on the movement of the operator to generate a main stereoscopic image to be displayed on the goggles 6. As will be described later, in this embodiment, the felling vehicle 4 is provided with a main camera 32 and an auxiliary camera 34 (FIG. 3) as cameras, and images based on the image information captured by these cameras are displayed on the goggles 6 as stereoscopic images.

[0036] The image information receiving unit 10 is configured to receive image information captured by cameras attached to the felling vehicle 4 and transmitted wirelessly. In this embodiment, a pair of cameras, the main camera 32 and the auxiliary camera 34, are attached to the felling vehicle 4, and the main image information and auxiliary image information captured by these cameras are transmitted wirelessly and received by the image information receiving unit 10. The configurations of the main camera 32 and the auxiliary camera 34 will be described later.

[0037] The motion acquisition unit 12 is provided in the goggles 6 and configured to acquire information about the motion of the operator wearing the goggles 6. In this embodiment, a piezoelectric vibration gyro (not shown) is provided as the motion acquisition unit 12 and is configured to be able to detect left-right and up-down rotation of the head of the operator wearing the goggles 6. As a modified example, an eye tracker (not shown) may be provided as the motion acquisition unit 12, and the direction in which the operator is trying to view may be detected based on the movement of the operator's eyeballs.

[0038] Any sensor capable of detecting the direction in which the operator is looking can be used as the motion acquisition unit 12. Any sensor capable of detecting not only the rotation of the operator's head but also the forward / backward and left / right movement of the operator can also be provided as the motion acquisition unit 12. Preferably, a sensor capable of detecting the direction in which the operator is looking without using his or her fingers is used as the motion acquisition unit 12. This allows the operator to freely use his or her fingers to operate a work vehicle such as the felling vehicle 4.

[0039] The stereoscopic image generating unit 14 is configured to process the main image information and auxiliary image information received by the image information receiving unit 10 based on the information on the operator's movements acquired by the movement acquiring unit 12, and generate a main stereoscopic image and an auxiliary image to be displayed on the first display 6 a and the second display 6 b of the goggles 6. Details of the image processing by the stereoscopic image generating unit 14 will be described later.

[0040] On the other hand, the vehicle operation unit 8 is provided with an operation lever 16a and operation buttons 16b for operating the felling vehicle 4. The vehicle operation unit 8 also has a built-in operation information transmission unit 18 that transmits information about operations performed on the vehicle operation unit 8 by the operator to the felling vehicle 4. That is, information about operations performed on the operation lever 16a and operation buttons 16b by the operator is transmitted to the felling vehicle 4 by the operation information transmission unit 18. The felling vehicle 4 is operated based on control signals transmitted from the operation information transmission unit 18. Specifically, when the operator operates the operation lever 16a and operation button 16b provided on the vehicle operation unit 8, control signals are transmitted, allowing the felling vehicle 4 to move forward, backward, and turn, rotate the rotating frame provided on the felling vehicle 4, hold standing trees with the grapple device, and cut standing trees with the cutting device.

[0041] In this embodiment, the image information receiving unit 10, the action acquisition unit 12, and the three-dimensional image generating unit 14 are built into the goggles 6, and the operation information transmitting unit 18 is built into the vehicle operation unit 8, but these image information receiving unit 10, the action acquisition unit 12, the three-dimensional image generating unit 14, and the operation information transmitting unit 18 may be built into either the goggles 6 or the vehicle operation unit 8.

[0042] Next, a felling work vehicle 4, which is a work vehicle provided in the work vehicle system 1 of the first embodiment of the present invention, will be described using Figures 3 to 6. In the work vehicle system of the first embodiment of the present invention, a felling work vehicle 4 is used as the work vehicle, and this is remotely controlled by a remote control device 2 according to an embodiment of the present invention. However, in addition to the felling work vehicle 4, any vehicle that performs work can be used as the work vehicle to configure the work vehicle system.

[0043] 3 to 6, a felling vehicle 4 according to an embodiment of the present invention comprises a vehicle body 20, a pair of traveling devices 22 provided on both sides of the vehicle body 20 in the width direction, and a rotating frame 24 disposed between the traveling devices 22. A grapple device 26 for holding the tree to be felled is connected to the rotating frame 24 via a rotating arm 24a. A chainsaw 28 (FIG. 5) is also attached to the rotating frame 24 as a cutting device for cutting the tree held by the grapple device 26. An engine 30 is mounted at the rear of the vehicle body 20 as a prime mover for generating power to operate the traveling devices 22 and the like.

[0044] The felling vehicle 4 moves in front of the tree to be felled using the traveling device 22, then rotates the rotating frame 24, holds the tree with the grapple device 26, and cuts the tree in this state using the chainsaw 28. After cutting the tree, the felling vehicle 4 is configured to rotate the rotating frame 24 with the tree still held by the grapple device 26, and fell the tree.

[0045] As shown in Figure 4, the vehicle body 20 is a substantially H-shaped frame in top view, and includes two vertical members 20a extending parallel to the front-to-rear direction of the felling vehicle 4, and a horizontal member 20b extending in the width direction between these vertical members 20a. Furthermore, as shown in Figure 5, two connecting members 20c extend diagonally downward from both ends of the horizontal member 20b in a V-shape, connecting the horizontal member 20b to the vertical members 20a on both sides.

[0046] As shown in Fig. 4, the traveling devices 22 are provided on both sides of the vehicle body 20 in the width direction along each vertical member 20a of the vehicle body 20. That is, as shown in Fig. 3, the traveling devices 22 have front driven wheels 22a rotatably provided at the front end of each vertical member 20a, rear driven wheels 22b rotatably provided at the rear end of each vertical member 20a, and drive sprockets 22c provided at the upper end of each connecting member 2c. Furthermore, the front driven wheels 22a, rear driven wheels 22b, and drive sprockets 22c are arranged in a triangular shape in a side view, and crawlers 22d are wound around them in a triangular shape.

[0047] The traveling device 22 rotates and drives each of the drive sprockets 22c, thereby enabling the felling vehicle 4 to move forward, backward, and turn. In this embodiment, each of the drive sprockets 22c is driven independently, enabling on-the-spot turning using a skid steer system.

[0048] 4, the rotating frame 24 is a member that is arranged between the traveling devices 22 (between the vertical members 20a) and is formed in a generally U-shape when viewed from above, and is provided with a recess 24b that receives a standing tree to be felled from the front side of the felling vehicle 4. This rotating frame 24 is attached to the vehicle body 20 so as to be rotatable about a rotation axis 24c that extends horizontally in the width direction of the vehicle body 20. In other words, the generally U-shaped rotating frame 24 is rotatably supported by support shafts at the front ends of the legs on both sides relative to the vehicle body 20.

[0049] Furthermore, a tilt hydraulic cylinder connected to a link mechanism is connected to the pivoting frame 24, and by extending and contracting the tilt hydraulic cylinder using hydraulic pressure generated by the engine 30, the pivoting frame 24 can be rotated around the pivot axis 24c.

[0050] The grapple device 26 includes a grapple device main body 26a and two openable and closable grapples 26b extending forward from the grapple device main body 26a. These grapples 26b are configured to laterally grasp and hold a tree T to be felled that is received in the recess 24b of the rotating frame 24. That is, each grapple 26b is rotatably attached to the grapple device main body 26a via a support shaft. In addition, each grapple 26b is configured to have a generally arc-like shape that curves inward in a plan view. The tree T can be held by rotating the grapples 26b in a direction such that the tips approach each other from the state shown in FIG. 4 .

[0051] In addition, when the felling vehicle 4 is in the state shown in FIG. 3, the support shafts of the grapple device main body 26a are oriented in a substantially vertical direction, and the grapples 26b rotate in a horizontal plane around these support shafts.

[0052] Next, as shown in Fig. 4, the grapple device 26 is supported via a rotating arm 24a attached to the rotating frame 24. That is, the rotating arm 24a is rotatably attached to the rear end of the rotating frame 24, and extends substantially vertically upward in the state shown in Fig. 3. A grapple device main body 26a of the grapple device 26 is attached to the upper end of the rotating arm 24a. Therefore, the rotating arm 24a supports the grapple device 26 above the rotating frame 24.

[0053] The rotating arm 24a is attached to the rotating frame 24 by a support shaft that extends horizontally in the width direction of the felling vehicle 4, and by rotating the rotating arm 24a relative to the rotating frame 24, the grapple device 26 attached to the rotating arm 24a can be directed in a desired direction. In the state shown in Figure 3, the rotating frame 24 and the rotating arm 24a form a substantially right angle, and the rotating arm 24a extends generally vertically upward. From this state, the rotating arm 24a is rotated toward the rear of the felling vehicle 4 by the dump hydraulic cylinder.

[0054] Next, as shown in Figure 4, the chainsaw 28, which is the cutting device, is attached to the front end portion on one side of the rotating frame 24 and is configured to be rotatable within a substantially horizontal plane. That is, the chainsaw 28 is attached to be rotatable around a support shaft oriented in a substantially vertical direction that is provided at the front end portion on one side of the rotating frame 24. When not in use, the chainsaw 28 is stored in the rotating frame 24, facing rearward of the support shaft so that it extends in the fore-and-aft direction of the felling vehicle 4.

[0055] Furthermore, the chainsaw 28 in the stored state can be rotated in a horizontal plane about the support shaft by extending or retracting the cutting hydraulic cylinder. When cutting a tree with the chainsaw 28, the cutting hydraulic cylinder is retracted and the chainsaw 28 is rotated approximately 90 degrees forward while the tree to be felled is held by the grapple device 26. That is, the chainsaw 28 is rotated approximately 90 degrees forward from the position shown by the dashed line in Figure 4 to the position shown by the two-dot chain line, and the held tree is cut.

[0056] 5, the rotating frame 24 is positioned below the grapple device 26, so the chainsaw 28 cuts the standing tree below each grapple 26b. Although the felling vehicle 4 of this embodiment is equipped with the chainsaw 28 as the cutting device, it may also be equipped with a cutter blade (not shown) for cutting.

[0057] Next, the engine 30, which is the prime mover, is configured to generate power to operate the travel motor of the travel device 22 and each tilt hydraulic cylinder. That is, oil pressure is generated by the engine 30, and this oil pressure is guided to each hydraulic motor and each hydraulic cylinder via control valves (not shown), and these are operated by the supplied oil pressure.

[0058] 3, the engine 30 is supported on the upper rear part of the vehicle body 20 via a pair of brackets 30a extending from the vehicle body 20. Support shafts extending substantially horizontally in the width direction of the felling vehicle 4 are provided at the tips of these brackets 30a, and the engine 30 is supported so as to be rotatable about these support shafts. This allows the engine 30 to be maintained in a nearly horizontal position even when the felling vehicle 4 is traveling on an inclined surface, preventing impairment of the function of the engine 30.

[0059] Next, the main camera 32 and auxiliary camera 34 attached to the felling vehicle 4 will be described with new reference to Figures 7 and 8. Figure 7 is a front view of the main camera 32, and Figure 8 is a side cross-sectional view of the main camera 32. Note that, although the structure of the main camera 32 will be described below with reference to Figures 7 and 8, in this embodiment, the auxiliary camera 34 (Figure 5) and rear camera 36 (Figure 6) are also configured in the same manner as the main camera 32.

[0060] 3 and 5 , the main camera 32 is attached to the top of the grapple device main body 26a facing forward, and is configured to capture images of the area in front of the felling vehicle 4. On the other hand, the auxiliary camera 34 is attached to the bottom of the grapple device main body 26a facing forward, and is configured to capture images of the area in front of the felling vehicle 4. In other words, the auxiliary camera 34 is attached lower than the main camera 32.

[0061] Here, because the main camera 32 is attached to the upper part of the grapple device main body 26a, the position and angle of the main camera 32 relative to the vehicle main body 20 can be changed by rotating the rotating frame 24 and the rotating arm 24a of the felling vehicle 4. On the other hand, the auxiliary camera 34 is fixed to the rotating arm 24a that supports the grapple device main body 26a so as to be located below the grapple device main body 26a. In this embodiment, the main camera 32 is attached to the grapple device main body 26a of the grapple device 26, but as a modified example, the main camera 32 can also be attached to an appropriate position on the rotating frame 24.

[0062] Furthermore, as shown in Figure 6, a rear camera 36 is attached to the rear of the felling vehicle 4, facing towards the rear of the felling vehicle 4, and is designed to capture images of the area behind the felling vehicle 4. This rear camera 36 is attached to the engine 30 provided at the rear of the felling vehicle 4. When the felling vehicle 4 is moved backward, the image displayed on the goggles 6 can be switched to an image captured by the rear camera 36. This allows the operator to grasp the situation ahead of the felling vehicle 4 even when the felling vehicle 4 is traveling backward.

[0063] As shown in Figure 7, the main camera 32 is composed of a pair of cameras 32a, 32b arranged side by side in the horizontal direction. These cameras 32a, 32b are arranged side by side in the width direction of the felling vehicle 4 and are configured to capture images of the area in front of the felling vehicle 4 from two viewpoints spaced a predetermined distance apart in the horizontal direction. An image displayed on the first display 6a (Figure 1) to be viewed by the operator's right eye is generated based on image information captured by the camera 32a arranged on the right side of the felling vehicle 4. Meanwhile, an image displayed on the second display 6b (Figure 1) to be viewed by the operator's left eye is generated based on image information captured by the camera 32b arranged on the left side of the felling vehicle 4. This allows the operator to recognize the situation in front of the felling vehicle 4 through a stereoscopic image.

[0064] Furthermore, as shown in Figures 7 and 8, the cameras 32a and 32b provided on the main camera 32 are housed in a box-shaped protective cover 32c. The protective cover 32c is configured in a rectangular parallelepiped shape with an open front and covers the sides, top, bottom, and back of the cameras 32a and 32b. This prevents light from entering from directions where there is little need to capture images. In particular, the protective cover 32c is configured deep above the cameras 32a and 32b, making it difficult for light to enter from above. This prevents strong light from entering from above, which is less necessary to view during felling work, and obscuring the images below, which are more necessary to view.

[0065] The protective cover 32c is rotatably supported on the grapple device main body 26a via a box-shaped bracket 32d. The bracket 32d is box-shaped with an open front and top, and its bottom is fixed to the grapple device main body 26a. The protective cover 32c, which houses the cameras 32a and 32b, is suspended inside the bracket 32d via a hinge 32e. That is, the protective cover 32c is supported on the bracket 32d so as to be rotatable around the support shaft of the hinge 32e, which is oriented horizontally.

[0066] Therefore, when the grapple device 26 is oriented horizontally, the protective cover 32c is positioned as shown by the solid lines in FIG. 8 . When the grapple device 26 is tilted, the protective cover 32c is rotated relative to the bracket 32d by its own weight so that the cameras 32a and 32b are oriented generally horizontally. In this embodiment, as shown by the imaginary lines in FIG. 8 , the protective cover 32c is supported relative to the bracket 32d so as to be rotatable approximately 90 degrees forward and approximately 10 degrees rearward. Furthermore, a damper (not shown) is provided to suppress rotation of the protective cover 32c around the support shaft of the hinge 32e so that the cameras 32a and 32b do not wobble when the grapple device 26 is tilted due to rotation of the rotating frame 24 or the rotating arm 24a. Note that the protective covers of the auxiliary camera 34 and the rear camera 36 are directly fixed without brackets. That is, the auxiliary camera 34 has a protective cover fixed to the pivot arm 24a (FIG. 3), and the rear camera 36 has a protective cover fixed to the engine 30 (FIG. 6).

[0067] Furthermore, the cameras 32a, 32b each have an ultra-wide-angle lens, enabling them to capture the entire, nearly hemispherical space in front of each camera 32a, 32b. The main image information captured by these cameras 32a, 32b is transmitted from the main camera 32 to an image information receiving unit 10 ( FIG. 1 ) built into the goggles 6. The main image information received by the image information receiving unit 10 is processed by a 3D image generating unit 14 built into the goggles 6 to generate a main 3D image. Here, the 3D image generating unit 14 processes the main image information based on information about the operator's movements acquired by a motion acquiring unit 12 ( FIG. 1 ) built into the goggles 6, and images to be displayed on the first and second displays 6a, 6b built into the goggles 6 are generated.

[0068] For example, when the motion acquisition unit 12 detects that the operator is facing forward, the stereoscopic image generation unit 14 cuts out an image at the center of the main image information acquired by each of the cameras 32 a and 32 b, applies a predetermined correction to the image, and displays it on the goggles 6. When the motion acquisition unit 12 detects that the operator is facing downward, the stereoscopic image generation unit 14 cuts out an image at the bottom of the main image information, applies a predetermined correction to the image, and displays it on the goggles 6. As a result, an image with a natural angle of view and little distortion is displayed on the goggles 6.

[0069] Furthermore, in this embodiment, images corresponding to the direction of the operator's head movement are displayed on the goggles 6. This allows the operator to see images in the direction his or her head is pointing, as if he or she were looking around from the felling vehicle 4. In this way, in this embodiment, image information captured by the main camera 32 is transmitted to the remote control device 2, processed by the stereoscopic image generator 14, and displayed on the goggles 6, and the time delay between capturing an image by the main camera 32 and displaying it on the goggles 6 is kept to approximately 100 to 150 msec or less. This allows the operator to operate the felling vehicle 4 while viewing the image displayed on the goggles 6, making it easy to perform felling work.

[0070] If the main camera 32 vibrates when the felling vehicle 4 is traveling, the image captured by the main camera 32 will also be shaken. However, the 3D image generator 14 provided in the remote control device 2 is configured to suppress the shaking of the 3D image displayed on the goggles 6 through image processing, thereby preventing the operator from becoming "seasick" due to continuing to view a severely shaky image.

[0071] Next, the tree felling operation by the felling vehicle 4 provided in the work vehicle system 1 of this embodiment will be described with reference to Figures 9 and 10. Figure 9 is a diagram showing the state in which the tree to be felled is held by the felling vehicle 4. Figure 10 is a diagram showing the state in which the held tree is cut by the felling vehicle 4 and then felled.

[0072] First, when felling a tree T using the felling vehicle 4, the grapples 26b of the grapple device 26 provided on the felling vehicle 4 are opened and the felling vehicle 4 is driven toward the tree T to be felled. The felling vehicle 4 is then stopped at a position where the tree T has been received in the recess 24b (FIG. 4) of the rotating frame 24 provided on the felling vehicle 4. In this state, when the grapples 26b of the grapple device 26 are closed, the tree T is sandwiched and held between the grapple device main body 26a and the two grapples 26b.

[0073] With the tree T held in this manner, the chainsaw 28 is operated and rotated 90 degrees from the position indicated by the dashed line in Figure 4 to the position indicated by the dashed line. This causes the tree T to be cut below each grapple 26b. Because the tree T is held by the pair of grapples 26b, it remains upright even after being cut. Next, as shown in Figure 10, the rotating frame 24 is rotated forward while the grapple device 26 holds the tree T, causing the tree T to fall forward, thereby safely felling the tree T.

[0074] Next, tree felling work by an operator using the work vehicle system 1 according to the first embodiment of the present invention will be described with reference to Figures 11 to 16. Figures 11 to 16 are diagrams that schematically show an example of an image that an operator wearing goggles 6 can view while felling a tree.

[0075] First, the operator performing the felling operation puts on the goggles 6, faces a predetermined direction, and performs the forward setting operation. The remote control device 2 corresponds the direction the operator is facing at the time the forward setting operation is performed to the front of the felling vehicle 4, and displays a stereoscopic image on the goggles 6 based on the image information acquired by the main camera 32 and the auxiliary camera 34. In other words, when the operator turns his head in the direction he was facing at the time the forward setting operation was performed, an image of the area directly in front of the felling vehicle 4 is displayed on the goggles 6 worn by the operator. If the operator then turns his head left from this direction, an image of the left side of the felling vehicle 4 is displayed on the goggles 6, and if he turns his head right, an image of the right side is displayed on the goggles 6.

[0076] Next, the operator selects a standing tree T to be felled while viewing the stereoscopic image displayed on the goggles 6. The main camera 32 transmits main image information captured by the pair of cameras 32a, 32b to the goggles 6. The image information receiving unit 10 built into the goggles 6 receives the main image information, and the stereoscopic image generating unit 14 generates a main stereoscopic image based on this information. As shown in Figure 11, the goggles 6 display a large screen G1 that is the main stereoscopic image.

[0077] Similarly, auxiliary image information captured by a pair of cameras 34a, 34b (FIG. 5) provided in the auxiliary camera 34 is transmitted to the goggles 6 and received by the image information receiving unit 10. The stereoscopic image generating unit 14 generates an auxiliary image based on the received auxiliary image information. As shown in FIG. 11, the goggles 6 displays a small screen G2 as an auxiliary image within the large screen G1.

[0078] Here, because the auxiliary camera 34 is disposed below the grapple device main body 26a of the felling vehicle 4, the underside of the grapple device main body 26a is displayed on the upper side of the small screen G2, and the tip of the rotating frame 24 is displayed on the lower side. The chainsaw 28 stored in the rotating frame 24 can also be seen on the small screen G2. In this embodiment, the auxiliary camera 34 also has a pair of cameras 34a, 34b, just like the main camera 32, and therefore the auxiliary image is also displayed as a stereoscopic image. However, the auxiliary image based on the auxiliary camera 34 does not have to be a stereoscopic image.

[0079] Furthermore, the 3D image generator 14 of the remote control device 2 adds a direction marker to the large screen G1, which is the main 3D image. That is, as shown in FIG. 11 , a direction marker M is displayed as a straight line extending up and down on the large screen G1. This direction marker M indicates the forward direction of the felling vehicle 4, and when the operator faces the direction that the operator was facing when performing the "forward setting operation," the direction marker M is displayed approximately in the center of the large screen G1. Then, when the operator drives the felling vehicle 4 forward using the operation lever 16a of the vehicle operation unit 8, the felling vehicle 4 drives in the direction of the direction marker M on the large screen G1. By displaying the direction marker M in this way, the operator can easily determine the direction in which the felling vehicle 4 is facing and can drive the felling vehicle 4 in the desired direction.

[0080] Next, Figure 12 shows an image displayed on the goggles 6 when the felling vehicle 4 is approaching the tree T that is to be felled by the operator. In Figure 12, the felling vehicle 4 is approaching the tree T that is to be felled, so the tree T is displayed large on the large screen G1. In addition, in the state of Figure 12, the front of the felling vehicle 4 is facing slightly to the right of the tree T that is to be felled, so the direction indicator M is displayed to the right on the large screen G1. Furthermore, the small screen G2 displayed within the large screen G1 has also been moved to the right together with the direction indicator M. Note that in the state shown in Figure 12, the tree T that is to be felled is not directly in front of the felling vehicle 4, so the tree T is not displayed on the small screen G2.

[0081] Furthermore, when the operator positions the felling vehicle 4 directly in front of the tree T to be felled, the tree T is displayed in the center of the large screen G1, as shown in FIG. 13 . Furthermore, when the operator tilts his / her head downward to check the base of the tree T, the small screen G2 is expanded and displayed larger within the large screen G1. In this manner, the 3D image generator 14 changes the position and size of the small screen G2 displayed within the large screen G1 based on the information about the operator's movements acquired by the motion acquisition unit 12. In particular, in this embodiment, when the motion acquisition unit 12 detects that the operator is looking downward, the 3D image generator 14 expands the small screen G2 displayed within the large screen G1. This allows the operator to check the condition of the base of the tree T to be felled in a close-up view. Furthermore, the operator can easily move the felling vehicle 4 so that the tree T is received within the recess 24b of the rotating frame 24.

[0082] On the other hand, as shown in Figure 14, when the operator tilts his head upward to check the condition of the top of the tree T to be felled, the top of the tree T is displayed on the large screen G1, allowing the operator to check whether there are any branches or other obstacles that may hinder the felling operation. This allows the operator to easily check the situation around the tree T to be felled. Note that if the operator tilts his head upward by more than a predetermined angle from the horizontal, the small screen G2 will no longer be displayed on the large screen G1.

[0083] 15, the felling work vehicle 4 is moved forward so that the tree T to be felled comes into contact with the grapple device main body 26a of the grapple device 26. In this state, the operator operates the vehicle operation unit 8 to close the grapple 26b, thereby allowing the tree T to be held by the grapple device 26. In this state, the operator can visually see the grapple device 26 holding the tree T from below on the small screen G2, and can visually see the grapple device 26 holding the tree T from above on the large screen G1.

[0084] With the tree T held by the grapple device 26 in this manner, the operator operates the vehicle operation unit 8 to activate the chainsaw 28. As a result, the chainsaw 28 is automatically rotated forward by 90 degrees from the stored position shown by the dashed line in Figure 4 to the extended position shown by the two-dot chain line, and the tree T held by the grapple device 26 is cut. The operator can also check the status of the chainsaw 28 cutting the tree T on the small screen G2, allowing the operator to safely cut the tree T.

[0085] Once the tree T has been cut, the operator operates the vehicle operating unit 8 to rotate the rotating frame 24 of the felling vehicle 4 forward, and the cut tree T is felled forward while held by the grapple device 26. As shown in Figure 16, after the tree T has been felled, the felling vehicle 4 is moved backward while the tree T is still held by the grapple device 26, and the felled timber is transported to a work road or the like. When the felling vehicle 4 is moved backward, the large screen G1 of the goggles 6 is switched to an image based on image information captured by the rear camera 36. This allows the operator to drive the felling vehicle 4 while checking the condition of the area ahead, even when moving the felling vehicle 4 backward, and to avoid obstacles such as cut roots and discarded timber.

[0086] As mentioned above, the rear camera 36 is also made up of a pair of cameras 36a, 36b (FIG. 6), so a stereoscopic image is displayed on the large screen G1 of the goggles 6 even when switched to the rear camera 36. Furthermore, even when the felling vehicle 4 is reversed and the large screen G1 is switched to display the image from the rear camera 36, ​​the image captured by the auxiliary camera 34 is displayed on the small screen G2, so the operator can also check the situation in front of the felling vehicle 4 (the opposite side of the direction of travel of the felling vehicle 4).

[0087] According to the work vehicle system 1 of the first embodiment of the present invention, the stereoscopic image generator 14 processes the main image information received by the image information receiver 10 based on the operator's movement information acquired by the motion acquirer 12 to generate a large screen G1, which is a main stereoscopic image, and displays it on the goggles 6, which are image display units worn on the operator's head. Therefore, for example, an image of the direction the operator is facing can be displayed on the goggles 6 in response to the operator's head movement. As a result, the operator can easily grasp the situation around the felling vehicle 4, which is a work vehicle, and can easily carry out work. Furthermore, because a stereoscopic image is displayed on the goggles 6, the operator can accurately grasp the working status of the felling vehicle 4 and can easily carry out work.

[0088] Furthermore, according to the work vehicle system 1 of this embodiment, a direction indicating marker M indicating the direction ahead of the felling work vehicle 4 is added to the large screen G1, so that the operator can easily grasp the direction in which the felling work vehicle 4 is facing from the image displayed on the goggles 6, and can easily move the felling work vehicle 4 in the desired direction.

[0089] Furthermore, according to the work vehicle system 1 of this embodiment, a small screen G2, which is an auxiliary image generated based on auxiliary image information, is displayed on the large screen G1, so that when working with the felling work vehicle 4, areas that the operator wants to pay particular attention to can be displayed on the small screen G2, allowing the operator to work efficiently.

[0090] Furthermore, according to the work vehicle system 1 of this embodiment, the position and / or size of the small screen G2 displayed within the large screen G1 is changed based on information on the operator's movements, so that the small screen G2 can be displayed appropriately according to the work situation, allowing the operator to perform work smoothly.

[0091] Furthermore, according to the work vehicle system 1 of this embodiment, the main image information captured by the pair of cameras 32a, 32b attached to the grapple device 26 of the felling vehicle 4 is processed based on the operator's movement information acquired by the motion acquisition unit 12 to generate the large screen G1. This large screen G1 is then displayed on the goggles 6 worn on the operator's head. Therefore, for example, an image of the direction the operator is facing can be displayed on the goggles 6 in response to the operator's head movement. As a result, the operator can easily grasp the location of trees and other objects around the felling vehicle 4, allowing the felling vehicle 4 to travel easily and safely. Furthermore, because a stereoscopic image is displayed on the goggles 6, the operator can easily grasp the condition of the area around the tree to be felled, facilitating the holding and cutting of the tree with the grapple device 26.

[0092] Furthermore, according to the work vehicle system 1 of this embodiment, a small screen G2 generated based on auxiliary image information is displayed within the large screen G1 displayed on the goggles 6, so that, for example, a greatly enlarged image of the part of the standing tree T to be felled can be displayed as the small screen G2, allowing the operator to easily perform felling work.

[0093] Furthermore, according to the work vehicle system 1 of this embodiment, when it is detected that the operator is looking downward, the small screen G2 displayed within the large screen G1 is expanded, so that the operator can enlarge and display the part that he or she particularly wants to view during felling work without using his or her fingers, making the felling work even easier.

[0094] Next, a work vehicle system according to a second embodiment of the present invention will be described with reference to Figure 17. Figure 17 is a side view showing the entire work vehicle system according to the second embodiment of the present invention. The work vehicle system of this embodiment is an example in which the remote control device 2 of the first embodiment of the present invention is applied to the remote control of a work vehicle equipped with a mobile crane. Below, only the differences between the second embodiment of the present invention and the first embodiment will be described, and a description of the same configurations, operations, and effects will be omitted.

[0095] 17, a work vehicle system 100 according to the second embodiment of the present invention includes a remote control device 102 and a mobile crane 104, which is a work vehicle. The remote control device 102 is made up of goggles 106, which are an image display unit, and a vehicle operation unit 108, and functions in the same way as the remote control device 2 according to the first embodiment of the present invention, so detailed description thereof will be omitted.

[0096] Mobile crane 104 has a vehicle body 120 for mounting the crane, and a crane unit 124 attached to the rear of the loading platform of vehicle body 120. An attachment 126 for tree felling work is attached to the tip of crane unit 124. The work vehicle system 100 of this embodiment is configured so that an operator can remotely control crane unit 124 and attachment 126 using remote control device 102 to fell standing trees in the vicinity of mobile crane 104.

[0097] The vehicle main body 120 is a truck for transporting the crane unit 124, and is configured to be able to travel using front wheels 122 a and rear wheels 122 b. In this embodiment, the vehicle main body 120 travels from the driver's seat, as in a normal truck, and is not controlled by the remote control device 102.

[0098] The crane unit 124 is attached to the rear end of the loading platform of the vehicle main body 120. The crane unit 124 has a base 124a fixed to the vehicle main body 120, a column 124b, a first boom 124c rotatably attached to the upper end of the column 124b, and a second boom 124d rotatably attached to the tip of the first boom 124c.

[0099] The column portion 124b is configured to be rotatable about a vertical axis relative to the base portion 124a. Furthermore, the base end of a first boom 124c is rotatably connected to the upper end of the column portion 124b. The first boom 124c is attached to the column portion 124b so as to be rotatable about a horizontal axis (an axis perpendicular to the plane of the paper in FIG. 17 ). The first boom 124c is rotated relative to the column portion 124b by the extension and contraction of a first hydraulic cylinder 130a, which is attached generally parallel to the column portion 124b.

[0100] The second boom 124d is attached to the tip of the first boom 124c and is rotatable relative to the first boom 124c about a horizontal axis (an axis perpendicular to the plane of the paper in Figure 17) The second boom 124d is rotated relative to the first boom 124c by the extension and contraction of a second hydraulic cylinder 130b attached generally parallel to the first boom 124c.

[0101] An attachment 126 is attached to the tip of the second boom 124d and is configured to be rotatable about a horizontal axis (an axis perpendicular to the plane of the paper in Figure 17) relative to the second boom 124d. The attachment 126 is rotated relative to the second boom 124d by the extension and contraction of a third hydraulic cylinder 130c attached to the tip of the second boom 124d.

[0102] The attachment 126 further includes a main body 126a connected to the tip of the second boom 124d, a bucket 126b rotatably attached to the main body 126a, and a grapple 126c rotatably attached to the bucket 126b so as to face the bucket 126b. The grapple 126c is rotatably attached to the bucket 126b about a predetermined axis (an axis perpendicular to the plane of the paper in the state shown in FIG. 17). By rotating the grapple 126c relative to the bucket 126b, standing trees or felled timber can be held between the bucket 126b and the grapple 126c. The bucket 126b is rotatable relative to the main body 126a about an axis extending parallel to the second boom 124d in the state shown in FIG. 17.

[0103] The attachment 126 also has a cutter blade 128 for cutting a held tree or other object. The cutter blade 128 is attached to one side of the bucket portion 126b so as to face the bucket portion 126b. The cutter blade 128 is configured to be rotatable relative to the bucket portion 126b about the same axis as the central axis about which the grapple 126c rotates. With this configuration, the cutter blade 128 can be rotated to cut a tree or felled lumber while the tree or felled lumber is held between the bucket portion 126b and the grapple 126c. In this embodiment, the cutter blade 128 is provided as a cutting device, but as a modification, a chainsaw (not shown) can also be provided as the cutting device.

[0104] Furthermore, a main camera 132 and an auxiliary camera 134 are attached to the crane unit 124. The main camera 132 is attached to the base end of the first boom 124c, facing the tip of the first boom 124c. The auxiliary camera 134 is attached to the tip of the second boom 124d, facing the attachment 126. In this embodiment, the main camera 132 and the auxiliary camera 134 are each configured as a pair of cameras (not shown in FIG. 17 ) and are configured to transmit captured image information to an image information receiving unit (not shown in FIG. 17 ) of the remote control device 102. That is, the main camera 132 transmits main image information captured by the pair of cameras, and this main image information is received by the image information receiving unit of the remote control device 102. Similarly, the auxiliary camera 134 transmits auxiliary image information captured by the pair of cameras, and this auxiliary image information is received by the image information receiving unit of the remote control device 102.

[0105] The main camera 132 is composed of a pair of cameras, and a stereoscopic image generator (not shown in FIG. 17 ) provided in the remote control device 102 generates a main stereoscopic image based on main image information transmitted from the main camera 132. The generated main stereoscopic image is displayed as a large screen on the goggles 106, which are the image display unit of the remote control device 102. Similarly, the auxiliary camera 134 is also composed of a pair of cameras, and a stereoscopic image generator (not shown in FIG. 17 ) provided in the remote control device 102 generates an auxiliary image based on auxiliary image information transmitted from the main camera 132. The generated auxiliary image is displayed as a small screen on the goggles 106 of the remote control device 102. In this embodiment, the auxiliary image is also displayed as a stereoscopic image on the goggles 106.

[0106] Next, the operation of the work vehicle system 100 according to the second embodiment of the present invention will be described. First, an operator wearing goggles 106 operates the vehicle operation unit 108 to move the attachment 126 to a desired position while primarily checking the large screen displayed on the goggles 106. That is, by operating the vehicle operation unit 108, the column unit 124b, first boom 124c, second boom 124d, and attachment 126 can be rotated as appropriate to move the attachment 126 to a desired position.

[0107] Next, the operator operates the vehicle operation unit 108 to rotate the grapple 126c, thereby grasping a standing tree or felled timber (not shown) between the bucket unit 126b and the grapple 126c. The bucket unit 126b of the attachment 126 can be oriented in various directions by rotating each part, so that it can grasp both standing trees (not shown) and timber (not shown) lying on the ground. At this time, an auxiliary image based on auxiliary image information captured by the auxiliary camera 134 is displayed as a small screen on the goggles 106 of the remote control device 102, and the operator grasps the standing tree or the like while mainly checking the small screen. In other words, the auxiliary camera 134, which is attached near the attachment 126, captures an image of the area around the bucket unit 126b, so the operator can easily grasp the standing tree or the like while referring to the small screen.

[0108] Furthermore, the operator rotates the cutter blade 128 while holding the tree or the like between the bucket portion 126b and the grapple 126c, and cuts the tree or the like. After cutting the tree or the like, the operator rotates the column portion 124b, the first boom 124c, the second boom 124d, etc. while still holding the tree or the like, and moves the cut tree or the like to a desired position.

[0109] Next, a work vehicle system according to a third embodiment of the present invention will be described with reference to Figures 18 to 22. Figure 18 is a side view showing the entire work vehicle system according to the third embodiment of the present invention. The work vehicle system of this embodiment is an example in which the remote control device 2 of the first embodiment of the present invention is applied to the remote control of a work vehicle equipped with a harvester. Below, only the differences between the third embodiment of the present invention and the first embodiment will be described, and a description of similar configurations, operations, and effects will be omitted.

[0110] 18, a work vehicle system 200 according to the third embodiment of the present invention includes a remote control device 202 and a work vehicle 204 equipped with a harvester 204a. The remote control device 202 is made up of goggles 206, which are an image display unit, and a vehicle operation unit 208, and functions in the same way as the remote control device 2 according to the first embodiment of the present invention, so detailed description thereof will be omitted.

[0111] The work vehicle 204 has a lower traveling body 220 equipped with traveling crawlers 220a, and an upper rotating body 222 rotatably mounted on the lower traveling body 220. A boom 224 is provided on the upper rotating body 222, and a harvester 204a is attached as an attachment to the tip of the boom 224. The work vehicle system 200 of this embodiment is configured so that an operator can remotely control the boom 224 and the harvester 204a using a remote control device 202 to perform tasks such as felling standing trees in the vicinity of the work vehicle 204, cutting felled trees, and cutting and piling twigs.

[0112] The lower traveling body 220 is equipped with traveling crawlers 220a, and is configured to travel by operating the traveling crawlers 220a. The upper rotating body 222 is attached to the upper traveling body 220 so as to be able to rotate about a vertical axis. A cabin 222a, which serves as a driver's seat for an operator, is provided at the front of the upper rotating body 222. When using the work vehicle system 200, the operator performs work remotely using the remote control device 202, without being inside the cabin 222a. When remote operation is not performed, the operator inside the cabin 222a operates operating levers and the like (not shown in FIG. 18 ) inside the cabin 222a while viewing the monitor and instruments (not shown in FIG. 18 ) provided inside the cabin 222a, to perform work with the harvester 204a.

[0113] The boom 224 is attached to one side of the upper rotating body 222. The boom 224 has a first boom 224a rotatably attached to the upper rotating body 222 and a second boom 224b rotatably attached to the tip of the first boom 224a. An arm 225 is rotatably attached to the tip of the second boom 224b, and the harvester 204a is suspended from the tip of the arm 225.

[0114] The base end of the first boom 224a is connected to the upper rotating body 222 so as to be rotatable about a horizontal axis (an axis perpendicular to the plane of the paper in FIG. 18 ). The first boom 224a is rotated relative to the upper rotating body 222 by extension and contraction of a first hydraulic cylinder 226a that connects the upper rotating body 222 and an intermediate portion of the first boom 224a.

[0115] The second boom 224b is attached to the tip of the first boom 224a and is rotatable relative to the first boom 224a about a horizontal axis (an axis perpendicular to the plane of the paper in Figure 18) The second boom 224b is rotated relative to the first boom 224a by the extension and contraction of a second hydraulic cylinder 226b attached generally parallel to the first boom 224a.

[0116] An arm 225 attached to the tip of the second boom 224b is configured to be rotatable relative to the second boom 224b about a horizontal axis (an axis perpendicular to the plane of the paper in FIG. 18 ). The arm 225 is rotated relative to the second boom 224b by extension and contraction of a third hydraulic cylinder 226c attached generally parallel to the second boom 224b. The harvester 204a, which is an attachment, is rotatably suspended from the tip of the arm 225.

[0117] The harvester 204a has a main body 228a connected to the tip of the arm 225 and two sets of grapples 228b rotatably attached to the main body 228a. The main body 228a can be rotated to a desired angle by extending or retracting the fourth hydraulic cylinder 226d. That is, by extending or retracting the fourth hydraulic cylinder 226d, the grapples 228b can be directed downward (as shown in FIG. 18 ) or forward.

[0118] The grapples 228b are attached so as to be rotatable about a predetermined axis (a horizontal axis in the state shown in FIG. 18 ). By rotating these grapples 228b, standing trees or felled timber can be clamped and held.

[0119] In addition, a pair of rotating blades 228c (only one of which is shown in FIG. 18) is provided between the two sets of grapples 228b to cut off branches of the tree held by the grapples 228b. These rotating blades 228c are configured to cut small branches of the tree by rotating them while pressing them against the tree while the tree is held by the grapples 228b.

[0120] Furthermore, a chainsaw 228d for cutting the tree held by the grapple 228b is provided on one side of the harvester 204a. This chainsaw 228d is attached so as to be rotatable about a predetermined axis (a horizontal axis in the state shown in FIG. 18), and by rotating the chainsaw 228d in operation while holding the tree, the tree can be cut.

[0121] The main body 228a of the harvester 204a is also provided with a feed roller (not shown) for feeding the tree it is holding. By rotating the feed roller while the tree is held by the grapple 228b, the tree can be fed longitudinally. After feeding the held tree a predetermined distance, the tree can be cut to the desired length by cutting it with the chainsaw 228d.

[0122] Furthermore, a main camera 232 is attached to the upper front part of the cabin 222a of the work vehicle 204, and the work site where the harvester 204a is being used is photographed by this main camera 232. Also, an auxiliary camera 234 for photographing the interior of the cabin 222a is attached inside the cabin 222a, and this auxiliary camera 234 photographs the monitors and instruments provided inside the cabin 222a.

[0123] In this embodiment, the main camera 232 and the auxiliary camera 234 are each configured as a pair of cameras (not shown in FIG. 18 ) and are configured to transmit captured image information to an image information receiving unit (not shown in FIG. 18 ) of the remote control device 202. That is, the main camera 232 transmits main image information captured by the pair of cameras, and this main image information is received by the image information receiving unit of the remote control device 202. Similarly, the auxiliary camera 234 transmits auxiliary image information captured by the pair of cameras, and this auxiliary image information is received by the image information receiving unit of the remote control device 202.

[0124] The main camera 232 is composed of a pair of cameras, and a stereoscopic image generator (not shown in FIG. 18 ) provided in the remote control device 202 generates a main stereoscopic image based on main image information transmitted from the main camera 232. The generated main stereoscopic image is displayed as a large screen on the goggles 206, which are the image display unit of the remote control device 202. Similarly, the auxiliary camera 234 is also composed of a pair of cameras, and a stereoscopic image generator (not shown in FIG. 18 ) provided in the remote control device 202 generates an auxiliary image based on auxiliary image information transmitted from the main camera 232. The generated auxiliary image is displayed as a small screen within the large screen on the goggles 206 of the remote control device 202. In this embodiment, the auxiliary image is also displayed as a stereoscopic image on the goggles 206.

[0125] Next, the operation of the work vehicle system 200 according to the third embodiment of the present invention will be described with reference to Figures 19 to 22. Figure 19 is a diagram showing an example of an image captured by the main camera 232. Figure 20 is a diagram showing an example of an image captured by the auxiliary camera 234. Figures 21 and 22 are diagrams showing an example of an image displayed on the goggles 206.

[0126] First, the main camera 232 captures an image of the work site situation in front of the cabin 222a of the work vehicle 204, and a main stereoscopic image such as the example shown in Fig. 19 is generated based on the main image information captured by the main camera 232. In the example shown in Fig. 19, an image is captured of a felled tree being grasped and lifted by the grapple 228b of the harvester 204a in front of the cabin 222a.

[0127] Meanwhile, the interior of the cabin 222a of the work vehicle 204 is photographed by the auxiliary camera 234, and an auxiliary image such as the one shown in Fig. 20 is generated based on the auxiliary image information photographed by the auxiliary camera 234. In the example shown in Fig. 20, the image captured shows levers 222b, a monitor 222c, and instruments (not shown) provided inside the cabin 222a. The monitor 222c displays various data about the work vehicle 204 and the attachment (harvester 204a) attached thereto, as well as an image from the rear camera (not shown) of the work vehicle 204. The data about the work vehicle 204 and the attachment includes the oil pressure, flow rate, and set values ​​supplied to each hydraulic cylinder, hydraulic motor (not shown), etc.

[0128] As shown in Figure 21, the goggles 206 worn by the operator display a main stereoscopic image based on main image information captured by the main camera 232 as a large screen G1, and an auxiliary image based on auxiliary image information captured by the auxiliary camera 234 as a small screen G2 within the large screen G1.

[0129] The operator wearing the goggles 206 operates the vehicle operation unit 208 to move the harvester 204a to a desired position while primarily checking the large screen G1 displayed on the goggles 206. That is, by operating the vehicle operation unit 208, the upper rotating body 222, the first boom 224a, the second boom 224b, and the arm 225 can be rotated as appropriate to move the harvester 204a to a desired position. Next, the operator operates the vehicle operation unit 208 to rotate the grapple 228b of the harvester 204a to grasp a felled tree or the like. Note that the main body 228a of the harvester 204a can be oriented in various directions by rotating each part, so that it can grasp both standing trees and wood lying on the ground.

[0130] At this time, as the operator moves his or her head, the large screen G1 of the goggles 206 displays the state of the work site in front of the cabin 222a in the direction the operator is facing. In addition, because the image displayed on the large screen G1 of the goggles 206 is a three-dimensional image, the operator can easily grasp the situation at the work site. In this way, the operator can accurately grasp the situation around the work vehicle 204 while being located at a distance from the work vehicle 204, and can proceed with work safely.

[0131] Furthermore, the operator can operate the vehicle operation unit 208 to activate the harvester 204a, clear away branches from the felled tree held by the grapple 228b, and cut the tree to a desired length with the chainsaw 228d. If, for example, the operator feels that the tree is not being cut at the speed intended by the operator, the operator can tilt his head downward, and as shown in Figure 22, a small screen G2 within the large screen G1 displayed on the goggles 206 will be enlarged.

[0132] As a result, the monitor 222c provided inside the cabin 222a is displayed on the small screen G2 in a large size, allowing the operator to check the display content of the monitor 222c. In this embodiment, the monitor 222c displays various data about the work vehicle 204 and the harvester 204a, as well as images from a backup camera (not shown) of the work vehicle 204. The operator can understand the display content of the monitor 222c via the small screen G2 displayed on the goggles 206. In other words, the operator can check whether the work vehicle 204 and the harvester 204a are set up properly, whether they are operating normally, etc.

[0133] In this way, the operator can grasp information in the same way as if he were inside the cabin 222a of the work vehicle 204, while being outside the cabin 222a, and can easily check whether the harvester 204a is operating as intended. Therefore, the operator can perform work using the work vehicle 204 while being located away from the work vehicle 204, with a feeling similar to that of being inside the cabin 222a.

[0134] According to the work vehicle system 200 of the third embodiment of the present invention, main image information captured by a pair of main cameras 232 capturing images of the work site is processed based on information about the operator's movements, and a main stereoscopic image is displayed on the goggles 206, which serve as an image display unit. This allows the operator to grasp the state of the work site in a stereoscopic image while in a remote location, making it easier to perform work using the work vehicle 204. Furthermore, according to this embodiment, an auxiliary image is displayed on the goggles 206 based on auxiliary image information captured by the auxiliary camera 234 capturing images of the interior of the cabin 222a, which serves as the driver's seat. This allows the operator to grasp information presented inside the cabin 222a of the work vehicle 204 through the auxiliary image. This allows the operator to operate the work vehicle 204 while in a remote location, with a feeling similar to that of being inside the cabin 222a.

[0135] Furthermore, according to the work vehicle system 200 of this embodiment, the auxiliary camera 234 photographs the monitor 222c and the like installed inside the cabin 222a of the work vehicle 204, so the operator can obtain the same information as if he or she were inside the cabin 222a, and can easily operate the work vehicle 204 while in a remote location.

[0136] Next, a work vehicle system according to a fourth embodiment of the present invention will be described with reference to Figures 23 to 26. Figure 23 is a side view showing the entire work vehicle system according to the fourth embodiment of the present invention. Figures 24 to 26 are diagrams showing an example of operation by operator gestures.

[0137] The work vehicle system of this embodiment is an example in which the remote control device 2 of the first embodiment of the present invention is applied to the remote control of a timber transport vehicle equipped with a loader crane. Below, only the differences between the fourth embodiment of the present invention and the first embodiment will be described, and a description of the same configurations, operations, and effects will be omitted.

[0138] As shown in Figure 23, a work vehicle system 300 according to the fourth embodiment of the present invention includes a remote control device 302 and a timber transport vehicle 304, which is a work vehicle. The remote control device 302 is made up of goggles 306, which are an image display unit, and a vehicle operation unit 308. In this embodiment, the goggles 306 are equipped with a gesture detection unit 306a that detects gestures made by the operator. Note that, except for the fact that the goggles 306 are equipped with the gesture detection unit 306a, the goggles 306 and the vehicle operation unit 308 in this embodiment function in the same way as the remote control device 2 in the first embodiment of the present invention, and therefore detailed description of similar parts will be omitted.

[0139] The gesture detection unit 306a provided in the goggles 306 is configured to detect a gesture made by an operator wearing the goggles 306 with his or her fingers held in front of the goggles 306. In this embodiment, when a predetermined gesture of the operator is detected by the gesture detection unit 306a, a three-dimensional image generation unit (not shown) provided in the goggles 306 is configured to change the image displayed on the goggles 306. Details of gesture-based operations will be described later.

[0140] The timber transport vehicle 304 has a vehicle body 320, a cabin 322 serving as a driver's seat located at the front of the vehicle body 320, a loading platform 324 located at the rear, and a loader crane 326 located at the rear of the cabin 322. An attachment 328 for gripping timber is attached to the tip of the loader crane 326. The work vehicle system 300 of this embodiment is configured so that an operator uses a remote control device 302 to drive the timber transport vehicle 304 to a work site where timber is to be loaded and unloaded. At the work site, the operator uses the remote control device 302 to operate the loader crane 326 and load timber from the work site onto the loading platform 324, or unload timber from the loading platform 324 to the work site.

[0141] The vehicle main body 320 is a transport vehicle equipped with a loading platform 324 and configured to be able to travel on eight wheels 320a. In this embodiment, the vehicle main body 320 can be traveled by boarding a cabin 322 as in a normal vehicle, or can be traveled remotely using a remote control device 302.

[0142] The loader crane 326 is attached to the rear side of the cabin 322 of the vehicle main body 320. The loader crane 326 also has a base 326a attached to the vehicle main body 320, a swivel 326b, a first boom 326c rotatably attached to the swivel 326b, and a second boom 326d rotatably attached to the tip of the first boom 326c.

[0143] The swivel unit 326b is configured to be rotatable about a vertical axis relative to the base unit 326a. A base end of a first boom 326c is rotatably connected to the swivel unit 326b. The first boom 326c is configured by a link mechanism and is attached to the swivel unit 326b so as to be rotatable about a horizontal axis (an axis perpendicular to the plane of the paper in FIG. 23 ). The first boom 326c is rotated relative to the swivel unit 326b by the extension and contraction of a first hydraulic cylinder 330a attached to connect the swivel unit 326b and the first boom 326c.

[0144] The second boom 326d is attached to the tip of the first boom 326c and is configured to be rotatable relative to the first boom 326c about a horizontal axis (an axis perpendicular to the plane of the paper in Figure 23) The second boom 326d is rotated relative to the first boom 326c by the extension and contraction of a second hydraulic cylinder 330b attached to a link mechanism that constitutes the first boom 326c.

[0145] In addition, attachment 328 is attached to the tip of second boom 326d and is configured to be rotatable relative to second boom 326d about a horizontal axis (an axis perpendicular to the plane of the paper in Figure 23) This attachment 328 is rotated relative to second boom 326d by a hydraulic cylinder (not shown) attached to the tip of second boom 326d.

[0146] Furthermore, the attachment 328 has a main body 328a connected to the tip of the second boom 326d and a pair of grapples 328b rotatably attached to the main body 328a. Each grapple 328b is rotatably attached around a predetermined axis (a vertical axis in the state shown in FIG. 23). Wood can be held by opening and closing the pair of grapples 328b. With wood held by the grapples 328b, the first boom 326c and the second boom 326d can be operated to load and unload the wood.

[0147] Furthermore, a main camera 332 is attached to the swivel section 326b of the loader crane 326. The main camera 332 is attached to the lower part of the swivel section 326b, and in the state shown in Figure 23, it photographs the area behind the timber transport vehicle 304. Because the main camera 332 is attached to the swivel section 326b, it can be rotated about an axis oriented in the vertical direction, and is oriented so as to photograph the area around the attachment 328 attached to the tip of the loader crane 326.

[0148] Furthermore, an auxiliary camera 334 is attached inside the cabin 322 so as to capture images of the interior of the cabin 322. This auxiliary camera 334 is configured to capture images of levers, monitors, and instruments (all not shown) provided inside the cabin 322. Note that in this embodiment as well, the monitor (not shown) displays various data on the timber transport vehicle 304 and the attachment 328 attached thereto.

[0149] Furthermore, a second camera 336 is attached to the front of the cabin 322, facing the front of the timber transport vehicle 304. This second camera 336 is attached so as to capture an image in a different direction from the main camera 332, and captures an image in front of the timber transport vehicle 304. As will be described later, a stereoscopic image generator provided in the goggles 306 displays a second image captured by the second camera 336 on the goggles 306 based on an operation by the operator.

[0150] In this embodiment, the main camera 332, the auxiliary camera 334, and the second camera 336 are each composed of a pair of cameras (not shown in Figure 23), and are configured to transmit the captured image information to an image information receiving unit (not shown in Figure 23) of the remote control device 302.

[0151] That is, the main camera 332 transmits main image information captured by the pair of cameras, and this main image information is received by the image information receiving unit of the remote control device 302. The auxiliary camera 334 transmits auxiliary image information captured by the pair of cameras, and this auxiliary image information is received by the image information receiving unit of the remote control device 302. Furthermore, the second camera 336 transmits second image information captured by the pair of cameras, and this second image information is received by the image information receiving unit of the remote control device 302.

[0152] The main camera 332 is composed of a pair of cameras, and a stereoscopic image generator (not shown in FIG. 23 ) provided in the remote control device 302 generates a main stereoscopic image based on main image information transmitted from the main camera 332. The generated main stereoscopic image is primarily displayed as a large screen on the goggles 306, which are the image display unit of the remote control device 302. Similarly, the auxiliary camera 334 is also composed of a pair of cameras, and a stereoscopic image generator (not shown in FIG. 23 ) provided in the remote control device 302 generates an auxiliary image based on auxiliary image information transmitted from the main camera 332. The generated auxiliary image is displayed as a small screen on the goggles 306 of the remote control device 302. Furthermore, the second camera 336 is composed of a pair of cameras, and a stereoscopic image generator (not shown in FIG. 23 ) provided in the remote control device 302 generates a second image based on second image information transmitted from the second camera 336. In this embodiment, the second image is a stereoscopic image and is displayed as a large screen or a small screen on the goggles 306. The switching between the main stereoscopic image and the second image displayed on the goggles 306 will be described later.

[0153] 25 and 26 , the operation of the work vehicle system 300 according to the fourth embodiment of the present invention will be described. First, an operator wearing goggles 306 operates the vehicle operation unit 308 to move the attachment 328 attached to the tip of the second boom 326d to a desired position while primarily checking the large screen displayed on the goggles 306. That is, while referring to an image of the area around the attachment 328 captured by the main camera 332 and displayed on the large screen, the operator appropriately rotates the swivel unit 326b, first boom 326c, second boom 326d, and attachment 328 to move the attachment 328 to the desired position.

[0154] Next, the operator operates the vehicle operation unit 308 to rotate the grapples 328b of the attachment 328, and grasp a standing tree or felled timber (not shown) between the pair of grapples 328b. Note that the grapples 328b of the attachment 328 can be directed in various directions by rotating each part, so that they can grasp both standing trees (not shown) and timber (not shown) lying on the ground.

[0155] Furthermore, an auxiliary image based on auxiliary image information captured by an auxiliary camera 334 arranged inside the cabin 322 is displayed as a small screen on the goggles 306 of the remote control device 302, as in the third embodiment described above. As described above, the auxiliary camera 334 captures images of levers, monitors, and the like (not shown) provided inside the cabin 322, and the operator can check whether the attachment 328 is operating normally by looking at the various data displayed on the monitor displayed inside the small screen. Furthermore, when the operator tilts his head down, the small screen within the large screen is enlarged, and the monitor, etc. is displayed larger.

[0156] Furthermore, the operator operates the vehicle operation unit 308 to lift the piece of wood gripped by the grapple 328b and load the piece of wood onto the loading platform 324 of the vehicle body 320. By repeating this operation, a desired number of pieces of wood can be loaded onto the loading platform 324.

[0157] After the timber has been loaded onto the loading platform 324, the operator operates the vehicle operation unit 308 to drive the timber transport vehicle 304 and transport the timber to the desired location. When driving the timber transport vehicle 304 forward (to the left in FIG. 23 ), the operator changes the image displayed on the goggles 306. That is, the operator switches the image displayed on the large screen of the goggles 306 from the image captured by the main camera 332 to the image captured by the second camera 336. As described above, the second camera 336 is attached to the cabin 322 of the timber transport vehicle 304 so as to capture images of the forward direction (to the left in FIG. 23 ).

[0158] To change the image displayed on the goggles 306, the operator holds his or her fingers in front of the goggles 306 he or she is wearing and performs a predetermined gesture. In this embodiment, as shown in Fig. 24, the operator places his or her thumb, index finger, and middle finger together in front of the goggles 306. When the operator performs such a gesture, a gesture detection unit 306a provided in the goggles 306 detects it and displays a keypad 338 within the field of view of the goggles 306. Note that a gesture detection unit that enables operation by the operator's gestures can also be incorporated into the remote control devices in the first to third embodiments described above.

[0159] In this embodiment, as shown in Fig. 25 , a keypad 338 arranged in a cross shape is displayed within the field of view of the goggles 306. This keypad 338 is displayed within the field of view of the goggles 306 so as to overlap with the large screen and small screen displayed on the goggles 306. As shown in Fig. 26 , the operator can perform various operations while wearing the goggles 306 by operating the imaginary keypad 338 displayed within the field of view with their fingers (performing gestures). That is, when the operator performs an action (gesture) of pressing the keypad 338 displayed within the field of view with their index finger, the gesture detection unit 306a detects this and activates various functions.

[0160] In this embodiment, by operating the keypad 338, it is possible to change the image displayed on the large screen of the goggles 306, to display or hide a small screen within the large screen, to switch between pass-through display, and to adjust the brightness of the displayed image. As a modified example, the present invention can be configured so that, together with the keypad 338, explanations (not shown) of the functions assigned to each key are displayed within the field of view of the goggles 306. Note that the keypad 338 is hidden when the operator again brings their thumb, index finger, and middle finger together.

[0161] In this manner, in this embodiment, by operating the keypad 338, the image displayed on the large screen of the goggles 306 can be switched between the image captured by the main camera 332 and the image captured by the auxiliary camera 334. Furthermore, by operating the keypad 338, it is possible to switch between the images captured by the cameras attached to the timber transport vehicle 304 and the pass-through display. In the pass-through display, the image that can be seen by the operator with the goggles 306 removed is displayed on the goggles 306.

[0162] The operator operates the keypad 338 to switch the image displayed on the large screen of the goggles 306 to the image captured by the second camera 336, and then operates the vehicle operation unit 308 to drive the timber transport vehicle 304 forward. At this time, the image captured by the main camera 332 is displayed on the small screen of the goggles 306. This allows the operator to drive the timber transport vehicle 304 while checking the situation behind the timber transport vehicle 304. When driving the timber transport vehicle 304 backward (to the right in FIG. 23 ), the operator can operate the keypad 338 to switch the display so that the image captured by the main camera 332 is displayed on the large screen of the goggles 306 and the image captured by the second camera 336 is displayed on the small screen.

[0163] According to the work vehicle system 300 of the fourth embodiment of the present invention, main image information captured by the main camera 332 capturing images of the work site where timber is being loaded and unloaded is processed based on information about the operator's movements, and a main stereoscopic image is displayed on the goggles 306, which are the image display unit. This allows the operator to grasp the state of the work site through a stereoscopic image, even while in a remote location, and facilitates the loading and unloading of timber. Furthermore, according to this embodiment, an auxiliary image is displayed on the goggles 306 based on auxiliary image information captured by the auxiliary camera 334 capturing images of the interior of the cabin 322, allowing the operator to grasp information presented inside the cabin 322 of the timber transport vehicle 304, which is a work vehicle, through the auxiliary image. This allows the operator, even while in a remote location, to operate the work vehicle with a feeling similar to that of being inside the cabin 322.

[0164] Furthermore, according to the work vehicle system 300 of this embodiment, the auxiliary camera 334 photographs the monitors and / or instruments installed inside the cabin 322 of the timber transport vehicle 304, allowing the operator to obtain the same information as if he or she were inside the cabin 322, and enabling the operator to easily operate the timber transport vehicle 304 from a remote location.

[0165] Furthermore, according to the work vehicle system 300 of this embodiment, the second camera 336 is attached, which takes images in a different direction from the main camera 332, so that when the timber transport vehicle 304 is traveling in the opposite direction from the work site, the situation ahead of the timber transport vehicle 304 can be easily grasped. As a result, work by the timber transport vehicle 304 can be carried out safely.

[0166] Furthermore, according to the work vehicle system 300 of this embodiment, when the gesture detection unit 306a detects a gesture, the image displayed on the goggles 306, which are the image display unit, is changed, so the operator can easily change the image displayed on the goggles 306 while still wearing the goggles 306 on his or her head.

[0167] Although the embodiments of the present invention have been described above, various modifications can be made to the above-described embodiments. In particular, in the first to fourth embodiments described above, a work vehicle was remotely controlled by a remote control device. However, as a modification, the remote control device of the present invention can also be applied to the remote control of a work machine for performing a predetermined task. An example of such a work machine is one in which the crane unit of the second embodiment described above is installed on the floor. In addition to such a crane, the remote control device of the present invention can be applied to the remote control of any work machine for performing various tasks.

[0168] REFERENCE SIGNS LIST 1 Work vehicle system 2 Remote control device 4 Felling work vehicle (work vehicle) 6 Goggles (image display unit) 6a First display 6b Second display 8 Vehicle operation unit 10 Image information receiving unit 12 Action acquisition unit 14 Stereo image generation unit 16a Operation lever 16b Operation button 18 Operation information transmitting unit 20 Vehicle body 20a Vertical member 20b Horizontal member 20c Connecting member 22 Traveling device 22a Front driven wheel 22b Rear driven wheel 22c Drive sprocket 22d Crawler 24 Rotating frame 24a Rotating arm 24b Recess 24c Rotation axis 26 Grapple device 26a Grapple device body 26b Grapple 28 Chainsaw (cutting device) 30 Engine 30a Bracket 32 ​​Main camera 32a, 32b Camera 32c Protective cover 32d Bracket 32e Hinge 34 Auxiliary camera 34a, 34b Camera 36 Rear camera 100 Work vehicle system 102 Remote control device 104 Mobile crane (work vehicle) 106 Goggles (image display unit) 108 Vehicle operation unit 120 Vehicle main body 122a Front wheel 122b Rear wheel 124 Crane unit 124a Base unit 124b Column unit 124c First boom 124d Second boom 126 Attachment 126a Main body 126b Bucket unit 126c Grapple 128 Cutter blade (cutting device) 130a First hydraulic cylinder 130b Second hydraulic cylinder 130c Third hydraulic cylinder 132 Main camera 134 Auxiliary camera 200 Work vehicle system 202 Remote control device 204 Work vehicle 204a Harvester (attachment) 206 Goggles (image display unit) 208 Vehicle operation unit 220 Lower traveling body 220a Traveling crawler 222 Upper rotating body 222a Cabin (driver's seat) 222b Lever 222c Monitor 224 Boom 224a First boom 224b Second boom 225 Arm 226a First hydraulic cylinder 226b Second hydraulic cylinder 226c Third hydraulic cylinder226d Fourth hydraulic cylinder 228a Main body 228b Grapple 228c Rotating blade 228d Chainsaw 232 Main camera 234 Auxiliary camera 300 Work vehicle system 302 Remote control device 304 Timber transport vehicle (work vehicle) 306 Goggles (image display unit) 306a Gesture detection unit 308 Vehicle operation unit 320 Vehicle main body 320a Wheels 322 Cabin (driver's seat) 324 Loading platform 326 Loader crane 326a Base 326b Swivel unit 326c First boom 326d Second boom 328 Attachment 328a Main body 328b Grapple 330a First hydraulic cylinder 330b Second hydraulic cylinder 332 Main camera 334 Auxiliary camera 336 Second camera 338 Keypad

Claims

1. A remote control device for remotely operating a work vehicle, comprising: an image display unit worn on the operator's head; a vehicle operation unit operated by the operator to operate the work vehicle; an image information receiving unit that receives main image information captured by a pair of cameras attached to the work vehicle; a motion acquisition unit that acquires information on the movements of the operator wearing the image display unit; a stereoscopic image generation unit that processes the main image information received by the image information receiving unit based on the information on the operator's movements acquired by the motion acquisition unit, and generates a main stereoscopic image to be displayed on the image display unit; and an operation information transmission unit that transmits information on operations of the operator on the vehicle operation unit to the work vehicle.

2. A remote control device according to claim 1, wherein said stereoscopic image generating unit is configured to add a direction indicating marker indicating the direction ahead of the work vehicle to said main stereoscopic image.

3. A remote control device as described in claim 1, wherein the image information receiving unit is configured to receive auxiliary image information taken by an auxiliary camera attached to the work vehicle in addition to the main image information taken by the pair of cameras, and the stereoscopic image generating unit displays an auxiliary image generated based on the auxiliary image information within the main stereoscopic image on the image display unit.

4. A remote control device as described in claim 3, wherein the stereoscopic image generating unit is configured to change the position and / or size of the auxiliary image displayed within the main stereoscopic image based on information about the operator's movements acquired by the action acquisition unit.

5. A felling vehicle system capable of remotely controlling a felling vehicle, comprising: a vehicle body, a rotating frame rotatably attached to the vehicle body, a grapple device connected to the rotating frame for grasping the tree to be felled from the side, and a cutting device for cutting the tree held by the grapple device; a pair of cameras attached to the rotating frame or the grapple device; an image display unit worn on the operator's head; a vehicle operation unit operated by the operator to operate the felling vehicle; an image information receiving unit that receives main image information captured by the pair of cameras; a motion acquisition unit that acquires information on the movement of the operator wearing the image display unit; a stereoscopic image generation unit that processes the main image information received by the image information receiving unit based on the information on the operator's movement acquired by the motion acquisition unit, and generates a main stereoscopic image to be displayed on the image display unit; and an operation information transmission unit that transmits information on operations of the vehicle operation unit by the operator to the working vehicle.

6. A felling vehicle system as set forth in claim 5, further comprising an auxiliary camera attached to the vehicle body of the felling vehicle below the pair of cameras, wherein the image information receiving unit is configured to receive the main image information and auxiliary image information captured by the auxiliary camera, and the stereoscopic image generating unit displays an auxiliary image generated based on the auxiliary image information within the main stereoscopic image displayed on the image display unit.

7. A felling work vehicle system as described in claim 6, wherein the stereoscopic image generating unit is configured to expand the auxiliary image displayed within the main stereoscopic image when the motion acquisition unit detects that the operator is looking downward.

8. A remote control device for remotely operating a work machine, comprising: an image display unit worn on the operator's head; an operation unit used by the operator to operate the work machine; an image information receiving unit that receives main image information captured by a pair of cameras attached to the work machine and auxiliary image information captured by an auxiliary camera attached to the work machine; a motion acquisition unit that acquires information on the movements of the operator wearing the image display unit; a three-dimensional image generation unit that processes the main image information and the auxiliary image information based on the information on the operator's movement acquired by the motion acquisition unit to generate a three-dimensional image to be displayed on the image display unit; and an operation information transmission unit that transmits information on operations performed by the operator on the operation unit to the work machine, wherein the three-dimensional image generation unit displays the auxiliary image generated based on the auxiliary image information within a main three-dimensional image based on the main image information, and is configured to change the position and / or size of the auxiliary image displayed within the main three-dimensional image based on information on the operator's movement acquired by the motion acquisition unit.

9. A remote control device for remotely operating a work vehicle, comprising: an image display unit worn on the operator's head; a vehicle operation unit operated by the operator to operate the work vehicle; an image information receiving unit that receives main image information captured by a pair of cameras that capture images of the work site where the work vehicle is being used and auxiliary image information captured by an auxiliary camera that captures images of the interior of the driver's seat of the work vehicle; a motion acquisition unit that acquires information on the movements of the operator wearing the image display unit; a stereoscopic image generation unit that processes the main image information received by the image information receiving unit based on the information on the operator's movements acquired by the motion acquisition unit to generate a main stereoscopic image to be displayed on the image display unit, and that generates an auxiliary image to be displayed on the image display unit based on the auxiliary image information received by the image information receiving unit; and an operation information transmission unit that transmits information on operations of the operator on the vehicle operation unit to the work vehicle.

10. A remote control device according to claim 9, wherein the auxiliary camera is configured to photograph a monitor and / or instruments provided in the driver's seat of the work vehicle.

11. A remote control device as described in claim 9, wherein a second camera that captures images in a different direction from the camera is attached to the work vehicle, and the stereoscopic image generation unit displays the second image captured by the second camera on the image display unit based on the operator's operation.

12. A remote control device as described in claim 9, wherein the image display unit includes a gesture detection unit that detects gestures by the operator, and the three-dimensional image generation unit changes the image displayed on the image display unit when a predetermined gesture by the operator is detected by the gesture detection unit.

13. A work vehicle system capable of remotely controlling a work vehicle, comprising: a work vehicle equipped with a pair of cameras; and a remote control device according to any one of claims 1 to 4 and 9 to 12.

Images