JPH0684634B2 - Excavator monitoring system for pneumatic caisson - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention provides a pneumatic caisson excavator capable of obtaining the same visual field information as when an operator is on the excavator when remotely operating the excavator. Monitoring system.

(Prior Art) When a pneumatic caisson excavator is moved by remote control to perform excavation work, as shown in, for example, Japanese Examined Patent Publication No. 60-499, a see-through window and a control device for operation are provided on the ceiling of the work chamber. An atmospheric pressure capsule having is rotatably provided,
It has been proposed that the excavator in the work chamber can be operated while monitoring from the see-through window (hereinafter referred to as "the former conventional technique").

Further, as another conventional technique, according to Japanese Patent Application No. 1-187228, one camera captures an image of a working room and the other camera captures an image of an excavation portion, and the cameras monitor the images. There is disclosed a technique for remotely operating an excavator on the ground while looking at a monitor screen for use (hereinafter referred to as "latter conventional technique").

(Problems to be Solved by the Invention) However, in the former prior art, since the operation is performed while monitoring the excavator through the see-through window of the capsule, there is a reasonable distance between the operator's eyes and the excavation part. However, there is a problem that it requires a great deal of skill to operate the excavator accurately, and that it causes a great deal of fatigue. In particular, at the position where the excavator is shown on the back, it is extremely difficult to grasp its state.

Further, in the latter prior art, the range is narrow in the image taken by one camera, and the boom is turned to load, for example, earth and sand during the excavation work in order to load the earth and sand, but the narrow screen turns. There was a problem that we had to always pay attention to the direction. Further, performing the excavation work while looking at both the monitor screen for monitoring the excavation section and the monitor screen for monitoring the work room is inefficient because the visual nerve cannot be concentrated.

The present invention has been made to solve such a problem, and an object thereof is to obtain the same visual field information as when an operator is on an excavator when remotely operating the excavator. It is to provide a monitoring system of a pneumatic caisson excavator capable of.

(Means for Solving the Problem) In order to achieve the above-mentioned object, the present invention is provided with a movable excavator provided in a work chamber, and based on image information displayed via a monitoring camera, In a monitoring system for a pneumatic caisson excavating device that is operated remotely, at least two of the excavators are arranged substantially in a row.
Of the surveillance cameras, an electronic shutter circuit that captures image information from each of these surveillance cameras, transmits the synthesized image information, and can divide the synthesized image information into the original image information, and the image information from the electronic shutter circuit. An image memory circuit for temporarily storing the image information is provided so that the image information from each surveillance camera can be continuously imaged in a row as one continuous image.

(Operation) According to the present invention, with the above configuration, the image information from at least two surveillance cameras is taken into the electronic shutter circuit in the working chamber, and the taken-in image information is, for example, time-divisionally alternately grouped and combined. In this state, it is transmitted to the ground with a one-line cable, and the information sent from this work room is divided into original image information by an electronic shutter circuit separate from the above,
Since the image information from each surveillance camera can be simultaneously imaged via the image memory circuit, the imaging range is wide by using multiple surveillance cameras, and when the images are captured, no boundary line between the respective images occurs. It has the advantage that it can also be done.

(Examples) Hereinafter, preferred examples of the present invention will be described with reference to the drawings.

FIG. 1 shows the overall configuration of the monitoring system according to the present invention, and FIG. 2 shows a state of the working chamber viewed from above.

In FIG. 2, the excavator A includes a traveling frame 3 with wheels 2, a hydraulic device 4 provided on a revolving structure, a boom 6 having a driver's seat 5 and a camera stand 8, and at the tip of the boom 6. The excavation bucket 7 is provided, and the excavated earth and sand is put into the earth removal bucket 11 by the boom 6 turning in the arrow direction. The excavator A is movable along the rail 1 attached to the ceiling in the working room. or,
The excavator A is designed to be remotely operated by an operator, for example, based on an image displayed via a surveillance camera described later.

Here, a characteristic of the present invention is that at least two surveillance cameras arranged in a row in the excavator and image information from each of these surveillance cameras are captured, transmitted in a composite manner, and a composite image is obtained. An electronic shutter circuit capable of dividing information into original image information and an image memory circuit for temporarily storing the image information from the electronic shutter circuit are provided, and the image information from each surveillance camera is continuously arranged in a row. That is to say, it is possible to create a series of images.

That is, in this embodiment, as shown in FIG.
Two TV cameras 9 and 10 for mainly monitoring the movement of the boom 6 and the excavation bucket 7 are attached to the camera base 8 of the excavator A, and another TV camera for monitoring the work room is installed on the ceiling of the work room. 23 (not limited to one) is provided. Further, the excavator A is provided with an electronic shutter circuit 12 for taking in the image information picked up by the television cameras 9 and 10. It should be noted that, in the figure, “a” indicates the image pickup range of the television camera 9, and “b” indicates the image pickup range of the television camera 10.

The electronic shutter circuit 12 is provided from the TV cameras 9 and 10.
It has a function of taking in one image information, time-divisionally grouping these alternately, making them composite, and converting them into information which can be transmitted to the ground by the optical cable 13 of one line.

The optical cable 13 is connected to an electronic shutter circuit 14 provided on the ground via an optical rotary joint 22. The optical rotary joint 22 is a movable excavator A.
This is for connecting the optical cable on the side and the optical cable connecting the working room C and the ground via the slab B without any trouble.

The electronic shutter circuit 14 has a function of taking in the composited image information sent by the optical cable 13 and dividing it into the original two image information. The divided image information is stored in the image memory circuit 15. Is entered. The image memory circuit 15 temporarily stores the image information from the electronic shutter circuit 14 and inserts the image from the electronic shutter circuit 14 in the no signal time, thereby forming a continuous image.

The screen change-over switch 16 displays images from the image memory circuit 15 or a plurality of other TV cameras 23 or the like in the working room on the screen 19 individually or in combination via the projectors 17 and 18. The image projected at this time is
By adjusting the overlapping parts of the imaging ranges of the two TV cameras 9 and 10 etc., the boundary line does not appear in each image.
It can be grasped as one cohesive image.

FIG. 3 shows an embodiment in which two monitors are arranged adjacent to each other, and in this case, the images can be directly displayed on the monitors 20 and 21 from the image memory circuit 15.

(Effects of the Invention) As described above, the present invention is for a pneumatic caisson that is equipped with a movable excavator provided in a work chamber and that remotely operates the excavator based on image information displayed via a surveillance camera. In an excavator monitoring system, at least two monitoring cameras arranged in a row in the excavator and image information from each of these monitoring cameras are captured and transmitted in a composite manner, and the combined image information is used as an original. An electronic shutter circuit that can be divided into image information and an image memory circuit that temporarily stores the image information from the electronic shutter circuit are provided, and the image information from each surveillance camera is continuously and horizontally arranged as one continuous image. By enabling the image, the operator can obtain the same visual field information as if he / she was on the excavator and operating on one screen. Therefore, the operator's fatigue is reduced and the workability is significantly improved.

Further, by inserting the image information from the other monitoring cameras arranged in the working chamber into the screen, it is possible to monitor the working chamber while excavating.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a monitoring system according to the present invention, FIG. 2 is a diagram showing a state in which a working chamber is viewed from above, and FIG.
The figure shows an embodiment in which two monitors are arranged adjacent to each other. 9, 10, 23 …… TV camera 12, 14 …… Electronic shutter circuit 13 …… Optical cable 15 …… Image memory circuit 19 …… Screen A …… Excavator C …… Working room

Claims (1)

[Claims] 1. A monitoring system for a pneumatic caisson excavator, which comprises a movable excavator provided in a work chamber and remotely controls the excavator based on image information displayed via a surveillance camera, At least two surveillance cameras arranged in a row in the excavator, and an electronic shutter capable of capturing image information from each of these surveillance cameras, transmitting the composite information, and dividing the composite image information into original image information. A circuit and an image memory circuit for temporarily storing image information from the electronic shutter circuit are provided, and the image information from each surveillance camera can be continuously imaged in a row as one continuous image. Excavator monitoring system for pneumatic caisson.