JP2642298B2 - Remote control system using virtual reality - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the excavation, mortar spraying, drilling work, etc. in a poor environment such as a tunnel construction work site while maintaining the sense of presence as if a remote operator is at the work site. The present invention relates to a remote operation system using virtual reality (VR) that can perform work.

[0002]

2. Description of the Related Art Conventionally, for example, when performing a mortar spraying operation in a tunnel, an operator directly operates a spraying nozzle to perform the spraying operation. The first reason is that the mortar spraying operation in tunnel construction is performed after excavation by blasting, but the shape of the rock surface to be sprayed is complicated, and it is necessary to move the nozzle according to the shape. Second, once the spraying operation starts, the visibility is greatly reduced due to the generation of dust, the surface to be sprayed becomes invisible, and a camera or the like cannot be used. For this reason, as described above, the worker approaches the surface to be sprayed in a large amount of dust, and operates the spray nozzle with a certain intuition.

[0003]

However, when the worker himself performs the spraying work on site, there are cases where the work involves dangers and health hazards due to dust or the like occur.

[0004] The present invention has been made in view of such a problem, and a purpose thereof is to allow an operator to be present in an operation room remote from a work site and to work as if the operator were working at the work site. While having a sense of presence
It is an object of the present invention to provide a remote control system using virtual reality for remotely controlling a work machine arranged at a work site according to an instruction of the operator.

[0005]

According to the present invention, there is provided a remote control for operating a spraying machine from an operation room.
In the operation system, the spraying machine is paired with a camera.
A spray nozzle for blowing an elephant;
Is equipped with a processing device, and the spraying machine is installed inside the tunnel.
And the tunnel is sprayed by the camera.
Image of the surface, and process the image of the imaged surface to be sprayed.
And store it in the internal memory of the
If so, measure the data on the position of the spray nozzle
And blowing from the data on the position of the blowing nozzle.
Estimate the amount of spraying and apply the target based on the estimated amount of spraying
The spray thickness of the object is calculated, and the spray thickness stored in the memory is calculated.
An image of the surface to be applied and an image of an object having a sprayed thickness
Are displayed on top of each other, and the spraying machine is
Remote operation using virtual reality characterized by performing remote operation
It is an operation system.

[0006]

According to the present invention , spraying is performed by the spraying machine.
Measure the data about the position of the spray nozzle,
Spraying from data on the position of the spray nozzle
Of the target object based on the estimated spray amount
The spray thickness is calculated and the spray thickness stored in the memory is calculated.
The image of the target surface and the image of the target with
The spraying machine is remotely operated from the operation room side.
Do the work.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings, taking a case where mortar is sprayed in a tunnel as an example. FIG. 1 is a perspective view of a spraying machine 1 that performs a spraying operation in a tunnel. The spraying machine 1 can travel in a tunnel, and has a spraying nozzle 3 and left and right cameras 5.
a and 5b. The position and direction of the spray nozzle 3 are freely controlled. The spraying machine 1 is operated according to an instruction of an operator who is present in the operation room 7, and the position and direction of the spraying nozzle 3, the amount of spraying, and the like are controlled by the instruction of the operator. An encoder and a potentiometer (not shown) for measuring the position, direction and the like of the spray nozzle 3 are mounted on the spray machine 1. Two cameras 5a and 5b are provided to obtain a stereoscopic image.

FIG. 2 is a functional block diagram of the remote control system according to the present embodiment. 5a and 5b are a left camera and a right camera provided in the spraying machine 1. The digital conversion unit 11 digitizes images captured by the left camera 5a and the right camera 5b. The memory 13 stores an image. The spray amount estimating unit 15 estimates the spray amount and the spray thickness on the surface to be sprayed based on the position data and the direction data of the spray nozzle 3. Image synthesis unit 17
Combines the image of the spray nozzle 3 sent from the digital conversion unit 11 at the time of work, the spray target surface sent from the memory 13, and the mortar image on the spray target surface. The stereoscopic image display unit 19 is a projector, stereoscopic glasses, or the like, and causes an operator to stereoscopically display an image sent from the image synthesizing unit 17. The computer (not shown) in the operation room 7 performs the functions of the digital conversion unit 11, the memory 13, the spray amount estimation unit 15, and the image synthesis unit 17. Further, the stereoscopic image display unit 19 is also arranged in the operation room 7.

Next, the operation procedure in the present embodiment is shown in FIG.
This will be described according to the flowchart shown in FIG. First, before performing the spraying operation, the left camera 5a and the right camera 5b of the spraying machine 1 in the tunnel capture an image of the surface to be sprayed of the tunnel (step 301). That is, the spraying machine 1 is run in the tunnel, and the left and right cameras 1a, 1
At b, an image of the surface to be sprayed in the tunnel is captured. Next, the captured image of the surface to be sprayed is digitized by the digital converter 11 and stored in the memory 13 (step 302).

Next, the spraying operation is actually started by the spraying machine 1 (step 303). That is, the spraying machine 1 in the tunnel is remotely operated according to an instruction from the operator in the operation room 7 (step 304). This operation includes control operations such as running / stopping the spraying machine 1 and the position and direction of the spraying nozzle 3.

The position and direction of the spray nozzle 3 are measured by an encoder and a potentiometer (not shown) in the spray machine 1 (step 305), and the position data, direction data and the like are stored in the operation room 7. Send to computer. In the operation room 7, the spray amount estimation unit 15
Estimates the spray amount and spray thickness for each small area on the spray target surface based on the position data, direction data, spray angle data, and the like of the spray nozzle 3 (step 306). Then, an image of the mortar to be sprayed on the surface to be sprayed is created and written in the memory 13 (step 307). In the memory 13, data is written so that the color of the image of the surface to be sprayed is different from the color of the image of the mortar.

Then, it is determined whether the spray thickness is appropriate (step 308). If the thickness is not appropriate, the image of the spray nozzle 3 captured by the left camera 5a and the right camera 5 during the spraying operation is sent from the memory 13. The image and the image are combined by the image combining unit 17 (step 309). After the operation is started, the images captured by the left camera 5a and the right camera 5b are only the images of the spray nozzle 3 due to the dust.

Then, the surface to be sprayed and the image of the mortar to be sprayed are stereoscopically displayed in different colors by the projector in the operation room 7, and the image of the spraying nozzle 3 is also stereoscopically displayed (step 310). The operator
While seeing this stereoscopic display, the spraying machine 1 is remotely operated as if one were at a work site (step 304). That is, the operator controls the position and direction of the spray nozzle 3 and
Control the stop. Then, in step 308, the above procedure is repeated until the sprayed thickness becomes appropriate on the entire surface in the tunnel.

As described above, in the present embodiment, while the operator is present in the operation room 7, the operator has a realistic feeling as if he were at the work site, and does not leave the spray target surface uniformly, but follows the shape of the target surface. A spraying operation is performed.

In this embodiment, during the spraying operation, the spray nozzle 3 is imaged by the cameras 5a and 5b and displayed. However, the image of the spray nozzle 3 is also obtained from the data such as the position and angle of the spray nozzle 3. You may make it create with a computer.

Further, in the above-described embodiment, the mortar spraying in the tunnel is taken as an example. However, the present invention is not limited to this, and the cutting in the tunnel is not limited to this.
It can be applied to hole work and other various works. Figure
4 is a perspective view of the drilling machine 31.
A camera 33, a left camera 35a, and a right camera 35b.
Reference numeral 37 denotes an operation room. In the case of the drilling machine 31,
Similar processing is performed. The drilling machine 31 has a drilling bit 3
The position of No. 3 was measured, the drilling length was calculated, and the
The image of the hole to be drilled is superimposed on the image of the tunnel.
The operator remotely controls the drilling machine 31 while viewing this image.
Perform

[0017]

As described above in detail, according to the present invention, an operator is present in an operation room remote from a work site, and has a sense of presence as if the operator were working at the work site. At the same time, the operator can remotely operate the work machine arranged at the work site according to the instruction of the operator.

[Brief description of the drawings]

FIG. 1 is a perspective view of a spraying machine 1.

FIG. 2 is a functional block diagram of an embodiment.

FIG. 3 is a flowchart showing a procedure of the embodiment.

FIG. 4 is a perspective view of a drilling machine 31.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Blowing machine 3 ... Blowing nozzle 5a ... Left camera 5b ... Right camera 7 ... Operation room 11 ... Digital conversion part 13 ... Memory 15 ... Blowing amount estimation part 17 ... Image synthesis part 19 ... … 3D image display

Claims (4)

(57) [Claims] 1. A remote control system for operating a spraying machine from an operation room, wherein the spraying machine has a camera and a spraying nozzle for spraying an object, the operation room includes a processing device, and the spraying machine. Is run inside the tunnel, the camera shoots an image of the surface to be sprayed on the tunnel by the camera, and stores the image of the image of the surface to be sprayed in a memory inside the processing device. The data relating to the position of the spray nozzle is measured, the spray amount is estimated, the spray thickness of the object is calculated based on the estimated spray amount, and the image of the spray target surface stored in the memory. It is possible to superimpose and display an image of an object having a sprayed thickness and to remotely control the spraying machine from the operation room side. Remote control system using a virtual reality characterized by. 2. The remote operation system using virtual reality according to claim 1, wherein the image of the spray target surface and the image of the target having the spray thickness are displayed in three dimensions. 3. A remote control system for operating the drilling machine from the operation room, the drilling machine and the camera, and a drilling bit, to the operating chamber is provided with a processing device, the drilling machine was run inside the tunnel, and images the target surface of the tunnel by the camera, and stores the image of the imaged object surface treatment apparatus in an internal memory, when performing drilling in the drilling machine, the drilling bit data relating to the position determined, the estimate of the drilling length from the data relating to the position of the drilling bit, based on the estimated drilling length, the image of the object plane of the tunnel which is stored in the memory, drilling A remote operation system using virtual reality, wherein an image of a hole to be drilled is superimposed and displayed, and the drilling machine is remotely operated from the operation room side. 4. The remote operation system according to claim 3, wherein the image of the target surface of the tunnel and the image of the hole to be drilled are displayed in three dimensions.