JPH04209013A - Monitor and control equipment for moving body - Google Patents

Abstract

PURPOSE:To enable two-way monitoring and monitor the moving body exactly and easily with a real feeling by providing a monitor camera and a monitor device on the moving body side and a monitor center side. CONSTITUTION:A central control circuit 6 generates a command for retrieving an audio-visual AV data base 18 according to position information from a sensor 4 and speed information from a sensor 3 which is inputted sequentially from a counter circuit 5. This command is sent to a monitor-side central control circuit 16 through an integrated service digital network user network interface 14 which is linked. The circuit 16 decodes the command and refers to a data directory of a data base 18 to calculate the address of a record on a storage medium. Consequently, the data in the commanded address on the medium are read out in storage units and outputted to a monitor device 19 through a multiplexer 17. The state of the track vehicle 2 can be monitored by an image and a sound with the same feeling as that in the actual site.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention provides a monitoring and control device for a moving object, and in particular, a monitoring and control device for a moving object, which is capable of remotely controlling the direction, speed, etc. of a moving object while detecting and monitoring the position of the moving object. The present invention relates to a monitoring and control device for a mobile object.

(Prior art) Conventionally, when controlling the movement of a mobile object such as a rail car or robot operating at a remote work site, a control computer is mounted on the mobile object, and this computer is loaded with position information of the mobile object. This was done by incorporating information such as speed and speed.

In addition, when monitoring moving objects, speed sensors,
Sensor information detected by various sensors such as position sensors is sent to the monitoring center, and the monitoring center receives this sensor information and displays the position of the moving object on a work site drawing displayed on a display such as a CRT based on the sensor information. This was done by displaying the status of the moving object on the screen, or by displaying the status of the moving object using text, voice, etc., and remote commands to the moving object were performed by operating operation buttons installed in the monitoring center.

(Problem to be Solved by the Invention) However, with such conventional control methods for moving objects, if the movement of the moving object is to be controlled more completely automatically, the processing of the onboard computer becomes complicated, and the computer In addition to the problem of increasing the burden on the computer and increasing its size, there was also the problem that maintenance and management of the control system including the computer became troublesome and lacked practicality.

In addition, since monitoring of mobile objects is based on abstract information such as text, audio, or still images, experts who are familiar with the structure and systems of mobile objects are required, and maintenance requires specialized personnel. There was a problem in that maintenance was time-consuming because workers had to be dispatched directly to the site.

The present invention was made in view of the above points, and an object of the present invention is to provide a monitoring and control device for a movable body that can easily monitor a movable body accurately and realistically, and also facilitates maintenance of the movable body. do.

(Means for Solving the Problems) To achieve the above object, the present invention provides a sensor that detects the movement and position of a moving object, at least one first monitoring camera that photographs the moving object, and a monitoring center. a first microphone for interaction with the mobile object; a first monitor device that is provided on the moving object side and displays audio/visual information from the first monitoring camera, the first microphone, and the monitoring center; a first control means that remotely controls the movable object, vertically and horizontally controls the monitoring camera, controls zooming, and processes the sensor signal; a first encoding/decoding means for encoding audio information from one microphone and decoding audio/visual information from the monitoring center; and a communication system for the first encoding/decoding means. a second encoding/decoding means for decoding data transmitted from the mobile body and encoding data from the monitoring sensor; A second monitoring camera for taking images, etc., a second microphone for interacting with the mobile object, and provided in the monitoring center, audio/visual information from the mobile object and audio/visual information on the monitoring center side. a second monitor device that displays a second monitor device; a remote controller that provides a remote control command to the mobile object and the first monitoring camera via the second encoding/decoding circuit; and the first control means. a second control means that receives the processed sensor signal and outputs a command for the mobile object monitor and controls the entire system; and an audio system for the mobile object monitor based on the command signal output from the second control means. - A monitor information transmitter that generates visual and position data and outputs the second monitor device.

(Function) Bidirectional monitoring becomes possible by providing a monitoring camera and a monitoring device on the moving object side and the monitoring center side.

Then, based on the sensor information from the moving object, the position information and audio/visual information of the moving object are output from the monitor information output stage and displayed on a second monitor device to display the situation of the moving object in an artificial reality state. to monitor.

Therefore, the movable body can be accurately and easily monitored, and maintenance of the movable body is facilitated.

(Example) An embodiment of the present invention will be described below with reference to FIG.

Fig. 1 shows an example of the case where the monitoring and control device of the present invention is applied to a rail car, where 1 shows a track laid at a work site such as a factory, and 2 shows a rail car that automatically runs on the track 1, such as a railway car. It is an orbital car.

A speed sensor 3 is attached to the rail car 2 to detect its running speed. Further, a plurality of position sensors 4 for detecting the running position of the rail car 2 are arranged along the track 1.

A signal (pulse signal) generated from the speed sensor 3 according to the running speed of the railcar 2 is supplied to the counter circuit 5 via a power supply line or a signal line (both not shown) laid along the track l. The counted value is successively taken into a central control circuit 6 consisting of a microprocessor or the like. Further, the signals detected by each position sensor 4 are input to the central control circuit 6 via the sensor input circuit 7.

The central control circuit 6 inputs the speed information taken in from the counter circuit 5 and the sensor input circuit 7 to each position sensor 4.
This central control circuit 6 is designed to calculate database search commands based on device information consisting of A relay circuit for remote control 8 that is open-connected by a command code from the encoder/decoder circuit (hereinafter referred to as C0DEC) 9
, a control mechanism 11 that vertically and horizontally operates a monitor camera lO for photographing the rail car 2, and also zooms.
are connected to each other.

Power is supplied to the relay circuit 8 from a commercial power source (not shown), and when the relay is connected, the voltage of this supplied power is transformed and supplied to the power supply circuit P, and the power supply circuit P monitors the voltage level at a monitoring center. A power source that is changed based on the command code from the side is supplied to the track 1.

Also connected to the CODEC 9 are a monitoring camera 10°, a microphone 12 for communicating with the monitoring center side, and a monitoring device 13 equipped with a CRT and a speaker.

14 is an ISDN (Integrated Services Digital Network) user network interface for data communication between the railcar 2 side and the monitoring center side, and the network termination device 14a on the railcar 2 side, IS
DN exchange 14b and network termination device 14 on the monitoring center side
c, and these are interconnected by a digital subscriber line 14d.

A central control circuit 16 consisting of a GODEC 15 and a microprocessor for controlling the entire system is connected to the network termination device 14c on the monitoring center side. The audio/visual signal (hereinafter referred to as AV signal) from the rail car 2 side decoded by C0DEC15 is sent to multiplexer 1.
7 is output.

The audio-visual database (hereinafter referred to as AV data pace) 18 includes video information representing the surrounding scene as seen from the railcar 2 running along the track and the railcar 2.
The AV data in this AV database 18 is stored in such a way that the running sound of the rail car 2 can be displayed with real sensation. The AV data that is accessed in real time and read out by the access is output to the multiplexer 17.

The multiplexer 17 is controlled by a central control circuit 16, and each AV data inputted to the multiplexer 17 is sent to a monitor device 19 consisting of a CRT, a speaker, etc. according to a control signal from the central control circuit 16.
is output to.

The multiplexer 17 also includes a monitor camera 20 for capturing images of railcar design drawings, etc. A microphone 21 for interacting with the rail car 2 side, a remote controller 22, and a graphic generation device 23 for generating figures and characters for displaying the position of the track 1 and the rail car 2 running on the track 1 are connected. , these video information of the monitor camera 20, audio information of the microphone 21, and information of the graphic generation device 23 are displayed on the monitor device 19, and
The AV data output from the multiplexer 17 and the control signal from the remote controller 22 are C0DEC1.
5 and the ISDN user/network interface 14 to the rail vehicle 2 side.

The monitor camera 20 is operated by a control mechanism 24 in the vertical and horizontal directions and is also zoomed.

Next, the operation will be explained.

When the rail car 2 starts running in a state where the rail car 2 side and the monitoring center side are linked by the ISDN user/network interface 14, the corresponding signal S1 from the speed sensor 3 is counted by the counter circuit 5. .

Further, a position signal S2 outputted every time each position sensor 4 detects a rail car 2 is converted into a digital signal by a sensor input circuit 7 and inputted by a central control circuit 6.

The central control circuit 6 generates a command for searching the AV database based on the device information constituted by the sensor input circuit and the speed information successively fetched from the counter circuit 5.

This search command is transmitted through the linked ISDN user/network interface 14 to the central control circuit 16 at the monitoring center.

Upon receiving the search command, the central control circuit 16 decodes the command and refers to the data directory of the AV data space 18 to calculate the address of the record on the storage medium (for example, a laser disc). As a result, the data at the designated address on the storage medium is read out for each storage unit and outputted to the monitor device 19 via the multiplexer 17. As a result, the situation of the railcar 2 is displayed in a pseudo manner using images and sounds, creating a state of realism equivalent to being at the railcar installation site.

In addition, by outputting the position and speed information taken into the central control circuit 6 to the graphic generation device 23,
The graphic generation device 23 generates image data that displays the position of the track and the rail car, and this image data is output to the monitor device 19 through the multiplexer 17 for graphic display.

Furthermore, the monitoring camera 10 on the rail car side can be controlled manually or remotely by interacting with field workers through the microphone 12 on the rail car side and the microphone 21 on the monitoring center side, or by operating the remote controller 22 of the monitoring center. It operates to photograph the rail car 2, and transmits the video information along with the audio to the monitoring center side through the CODEC 9 and the ISDN user/network interface 14.

On the monitoring center side that received this, it is decoded by C0DEC15 and sent from multiplexer 17 to monitor device 19.
The running status of the railcar 2 is displayed on the monitor screen.

Then, while looking at the monitor screen, it is determined whether the running status and position of the railcar 2 are normal or not, and if necessary, by sending remote commands from the remote controller 22, the trajectory change, speed control, and direction of the railcar are controlled. Make changes etc.

If a failure or abnormality is found in the railcar 2 during monitoring, spread out the design drawings of the railcar 2 on a desk in the monitoring center, and use the monitoring camera 20 to locate the part where the failure or abnormality is occurring. Shadow this image C0DEC15
and is transmitted to the rail car 2 side through the ISDN user/network interface 14 and displayed on the monitor device 13.

Therefore, on the railcar 2 side, the on-site worker monitors the monitor device 13.
Inspect and repair any failures or abnormalities in the rail car 2 while observing and following the voice instructions of the supervisor at the monitoring center.

In such an embodiment, the situation of the railcar 2 is displayed in a simulated manner with images and sounds using the position information and speed information of the railcar 2, so that the situation of the railcar 2 can be viewed in a realistic manner. The position, speed, and direction of travel of the rail car can be accurately monitored by graphically displaying the position, speed, and direction of travel.

In addition, monitoring cameras and monitoring devices are installed on both the railcar side and the monitoring center side, allowing for bidirectional monitoring and making railcar maintenance easier.

Furthermore, since the ISDN user/network interface is used for data transmission between the railcar side and the monitoring center side,
Data communication between the two parties can be performed in real time without being subject to temporal or spatial constraints.

Note that the present invention is not limited to the monitoring and control of railcars, but can also be applied to manipulators, mobile robots, etc., and is not limited to the configurations of the above embodiments.

(Effects of the Invention) As explained above, according to the present invention, it is possible to detect the position of a moving object, bidirectional monitoring, and remote control by using a sensor that detects the movement, position, etc. of a moving object and a monitoring camera. Therefore, the movable body can be easily monitored accurately and realistically, and the movable body can be easily maintained.

[Brief explanation of the drawing]

FIG. 1 is an overall configuration diagram showing one embodiment of the present invention. 15 is a track, 2 is a rail car, 3 is a speed sensor, 4 is a position sensor, 6 is a central control circuit, 8 is a relay circuit, 9 is C0D
EC110 is a monitor camera, 12 is a microphone, 13 is a monitor device, 14 is an ISDN user/network interface, 15 is a CODEC, 16 is a central control circuit, 17 is a multiplexer, 18 is an AV database, 19 is a monitor device, 20 is a monitor camera, 21 is a microphone, 22 is a remote controller, and 23 is a graphic generation device.

Claims (3)

[Claims] (1) A sensor that detects the movement and position of a moving body, at least one first monitoring camera that photographs the moving body, and a first microphone for interaction with a monitoring center, provided on the side of the moving body. a first monitor device configured to remotely control the moving object and display the first monitor camera, first microphone, and audio/visual information from the monitoring center; a first control means for controlling and zooming control and processing the sensor signal; and a first control means for encoding video information from the first monitoring camera and audio information from the first microphone and transmitting information from the monitoring center side. a first encoding/decoding means for decoding audio/visual information of the mobile body; and a first encoding/decoding means connected to the first encoding/decoding means via a communication system to decode data transmitted from the mobile body side. interaction between a second encoding/decoding means that encodes the data from the monitoring sensor and a second monitoring camera provided in the monitoring center that takes images for maintenance, and the mobile body side; a second microphone for use in the monitoring center; a second monitor device that is provided at the monitoring center and displays audio/visual information from the mobile object and audio/visual information from the monitoring center; a remote controller that provides a remote control command to the monitoring camera of the camera via the second encoding/decoding circuit; and a remote controller that receives the sensor signal processed by the first control means and outputs a command for monitoring the mobile object. and a second control means for controlling the entire system, and generating audio/visual and position data for the mobile object monitor based on the command signal output from the second control means and outputting it to the second monitor device. 1. A monitoring and control device for a mobile object, comprising: monitor information sending means for transmitting monitor information; (2) The communication system between the mobile side and the monitoring center side is IS
2. The mobile body monitoring and control device according to claim 1, comprising a DN user/network interface. (3) The monitoring and control device for a mobile object according to claim 1, wherein the monitor information sending means comprises an audio/visual database and a graphic generation device.