JP7282644B2 - control system - Google Patents

Description

The present invention relates to control systems.

In recent years, in the civil engineering and construction industry, there is concern about a decrease in the number of skilled operators, and technologies related to automation of work machines have been developed for the purpose of reducing construction accuracy and labor costs associated with this.

As a technology related to the automation of such a work machine, for example, Patent Document 1 discloses a manual operating means, a hydraulic actuator connected to a hydraulic source, and a solenoid mounted in a supply/discharge passage to the hydraulic actuator. A control valve that opens and closes the supply/discharge passage by means of electromagnetic drive means such as a mechanism, a valve controller that outputs a drive signal to the control valve in proportion to the operation signal of the manual operation means, and a signal from the manual operation means. an automatic work controller having a memory section for taking in and storing operation signals and an arithmetic output section capable of outputting drive signals to the valve controller based on the signals stored in the memory section; and an output from the manual operation signals. A work automation apparatus for a hydraulically driven machine is disclosed, which comprises switching means for selecting an output from the automatic work controller and outputting it to the valve controller.

JP-A-2-167933

In the above conventional technology, the work machine is caused to automatically perform the work by automatically repeating the first operation from the second time onward. However, since an operator on the work machine or an observer such as a remote operator cannot accurately grasp the next movement of the work machine during automatic work, inappropriate movement of the work machine is not possible. It is difficult to grasp and control in advance.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a control system capable of accurately grasping the next operation of a work machine during automatic work.

The present application includes a plurality of means for solving the above problems. To give an example, an automatic operation switch that enables automatic operation of the work machine, and a case where the automatic operation is enabled by the automatic operation switch and an automatic operation control device for automatically controlling the operation of the work machine, and a motion transmission device for transmitting the operation information of the work machine to an observer by tactile sense, and the motion transmission device communicates the current motion and the next motion. is different, the action information regarding the content of the next action shall be communicated to the observer before performing the next action.

ADVANTAGE OF THE INVENTION According to this invention, the next operation|movement of the working machine in automatic operation can be correctly grasped|ascertained, and the inappropriate operation|movement of the working machine can be suppressed in advance.

1 is a diagram schematically showing the appearance of a hydraulic excavator, which is an example of a working machine; FIG. 1 is a diagram schematically showing the appearance of a hydraulic excavator, which is an example of a working machine; FIG. 1 is a functional block diagram of a control system according to a first embodiment; FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows typically the structure of the motion transmission apparatus which concerns on 1st Embodiment. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows typically the structure of the motion transmission apparatus which concerns on 1st Embodiment. FIG. 4 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer with respect to the motion of the hydraulic excavator according to the first embodiment; FIG. 4 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer with respect to the motion of the hydraulic excavator according to the first embodiment; FIG. 4 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer with respect to the motion of the hydraulic excavator according to the first embodiment; FIG. 4 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer with respect to the motion of the hydraulic excavator according to the first embodiment; FIG. 4 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer with respect to the motion of the hydraulic excavator according to the first embodiment; It is a figure which shows typically the structure of the motion transmission apparatus which concerns on 2nd Embodiment. FIG. 10 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer regarding the motion of the hydraulic excavator according to the second embodiment; FIG. 10 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer regarding the motion of the hydraulic excavator according to the second embodiment; FIG. 10 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer regarding the motion of the hydraulic excavator according to the second embodiment; FIG. 10 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer regarding the motion of the hydraulic excavator according to the second embodiment; FIG. 11 is a functional block diagram of a control system according to a third embodiment; FIG. FIG. 11 is a diagram showing an example of a transmission pattern of motion information of a motion transmission unit to an observer with respect to the motion of the hydraulic excavator according to the third embodiment; It is a figure which shows typically the structure of the motion transmission apparatus which concerns on 4th Embodiment. It is a figure which shows typically the structure of the motion transmission apparatus which concerns on 4th Embodiment. It is a figure which shows typically the structure of the motion transmission apparatus which concerns on 4th Embodiment. It is a figure which shows typically the structure of the motion transmission apparatus which concerns on 4th Embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In the present embodiment, a hydraulic excavator equipped with a working device (front working machine) will be described as an example of a working machine. It is possible to apply the invention.

Further, in the drawings related to the description of the present embodiment, when a plurality of components are in the vicinity, the lead line and reference numerals of one component are attached representatively, and the reference numerals of the other components are in parentheses. may be indicated by

<First embodiment>
A first embodiment of the present invention will be described with reference to FIGS. 1 to 7. FIG.

1 and 2 are diagrams schematically showing the appearance of a hydraulic excavator, which is an example of a working machine according to the present embodiment.

As shown in FIGS. 1 and 2, in the present embodiment, the positive direction is the z-axis along the center axis 18 of the upper rotating body 16, and the forward direction perpendicular to the z-axis is positive. A vehicle body coordinate system is set up having an x-axis that is perpendicular to the z-axis and the x-axis and a y-axis that is positive on the left side along the left-right direction perpendicular to the z-axis and the x-axis.

1 and 2, the hydraulic excavator 1 is constructed by mounting an upper revolving body 16 on a lower traveling body 14 via a revolving mechanism 15 . The turning mechanism 15 includes a hydraulic motor 41 that causes the upper turning body 16 to turn clockwise or counterclockwise with respect to the lower traveling body 14 . The turning mechanism 15 is provided with a turning angle detection device 13, which detects the turning angle and its variation, and transmits them to the control device 43 and the automatic operation control device 23, which will be described later.

A working device 17 including a boom 8, an arm 9, and a bucket 10, which is a working tool, is provided in front of the upper swing body 16. As shown in FIG. A cab 2 on which an operator rides is mounted on the upper revolving body 16 . The boom 8 is attached to the upper rotating body 16 so as to be vertically rotatable. The boom 8 is vertically swung around a swing center axis 19 with respect to the upper revolving body 16 by a hydraulically driven boom cylinder 5 . One end of an arm 9 is attached to the tip of the boom 8 so as to be vertically rotatable. The arm 9 swings in the front-rear direction with respect to the boom 8 by an arm cylinder 6 that is hydraulically driven. A bucket 10 is attached to the tip of the arm 9 so as to be vertically rotatable. The bucket 10 is vertically swung with respect to the arm 9 by a hydraulically driven bucket cylinder 7 . The work device 17 revolves around a revolving central axis 18 together with the upper revolving body 16 .

In this embodiment, the swing center axis 19 of the work device 17 (that is, the boom 8) is arranged so as to be twisted with respect to the swing center axis 18 of the upper rotating body 16. The arrangement may be such that the shaft 18 and the swing center shaft 19 intersect.

Attitude sensors 36A, 36B, and 36C are attached to the base of the boom 8, the connecting portion between the boom 8 and the arm 9, and the connecting portion between the arm 9 and the bucket 10, respectively. The attitude sensor 36A measures an angle β1 between the longitudinal direction of the boom 8 and the xy plane, and transmits the angle β1 to the control device 43 . The attitude sensor 36B measures an angle β2 between the longitudinal direction of the boom 8 and the longitudinal direction of the arm 9 and transmits the angle β2 to the control device 43 . The attitude sensor 36</b>C measures an angle β<b>3 between the longitudinal direction of the arm 9 and the longitudinal direction of the bucket 10 and transmits the angle β<b>3 to the control device 43 . In the present embodiment, the attitude sensors 36A, 36B, 36C and the turning angle detection device 13 may be collectively referred to as a vehicle body attitude detection device 42.

FIG. 3 is a functional block diagram of the control system according to this embodiment.

In FIG. 3 , the control system includes a motion transmission device 22 , an automatic driving control device 23 , a vehicle body information integrated processing device, a control device 43 , an automatic driving switch 20 and a work device 17 . The automatic driving control device 23 also includes a route generation unit 32 , an operation start determination unit 33 , and a transmission method determination unit 34 . In the following description, an operator who works on the excavator 1 and an operator who remotely operates the excavator 1 (remote operator) are referred to as supervisors.

The vehicle body information integrated processing device 30 outputs the vehicle body attitude, initial position, and target position to the control device 43 and the route generation section 32 in the automatic driving control device 23 .

The control device 43 outputs each actuator speed to the working device 17 based on the information obtained from the vehicle body information integrated processing device 30 .

The work device 17 includes a control valve for controlling the direction and flow rate of pressure oil discharged from a hydraulic motor (not shown) and supplied to each actuator, and a mechanism for driving the control valve. The operation of the working device 17 is controlled based on the signal.

The automatic operation switch 20 selectively switches the drive signal input to the work device 17 between the drive signal output from the control device 43 and the drive signal output from the path generator 32 . When the drive signal output from the control device 43 is input to the work device 17, the drive signal based on the operation signal from the operation device operated by the operator of the cab 2 or the remote operator is input to the work device 17. , semi-automatic control is implemented. Further, when the drive signal output from the path generation unit 32 is input to the work device 17, the drive signal based on the automatic operation control by the automatic operation control device 23 is input to the work device 17, and automatic control is performed. be.

The route generation unit 32 of the automatic driving control device 23 generates a work route based on the information obtained from the vehicle body information integrated processing device 30, and calculates the speed of each actuator for operating on the generated work route. A drive signal is generated and output to the work device 17 and the operation start determination unit 33 .

Based on the information obtained from the path generation unit 32, the motion start determination unit 33 outputs a motion start/end flag and motion information to the transmission method determination unit 34 before starting a motion such as a turning motion.

The transmission method determination unit 34 determines the transmission method based on the motion start/end flag and the motion information output by the motion start determination unit 33 and outputs the transmission method according to the motion to the motion transmission unit 21 .

The motion transmission device 22 operates transmission devices (motion transmission units 21a to 21j, which will be described later) configured by, for example, vibrating devices according to the output of the transmission method determination unit 34 to transmit motion information to the observer.

4A and 4B are diagrams schematically showing the configuration of the motion transmission device.

The motion transmission device 22 transmits motion information of the hydraulic excavator 1 to the observer by tactile sensation, and is located inside the cab 2 on which the operator of the hydraulic excavator 1 rides, or at the operation position of the hydraulic excavator 1 by the remote operator ( For example, it is arranged on an automatic operation control device 23 arranged in a remote control room in a management office. An automatic operation switch 20 is arranged on the automatic operation control device 23 .

The motion transmission device 22 is arranged in a position that can be reached by both hands on the left and right front of the observer who is positioned at a predetermined place for operating or observing the hydraulic excavator 1 . The motion transmission device 22 is provided with a plurality of motion transmission units 21a to 21j for transmitting motion information to the observer by touch. The motion transmitting portions 21a to 21j are arranged so that fingers 40a to 40j of the left and right hands of the observer, which are held over the motion transmitting device 22, touch the motion transmitting portions 21a to 21j, respectively. The motion transmission units 21a to 21j transmit motion information by stimulating the sense of touch of the observer by, for example, vibration, temperature change, electric shock, or the like.

The observer first presses the automatic operation switch 20 to shift the hydraulic excavator 1 to an automatic operation mode for automatic operation. In the present embodiment, the automatic operation switch 20 and the motion transmission unit 21 are arranged at separate positions, but the automatic operation switch 20 and the motion transmission units 21a to 21j are integrated. and the automatic operation switch 20 is activated only when the fingers 40a to 40j are in contact with all of the motion transmitting portions 21a to 21j. good.

Next, the observer puts the hand 39 (both hands in this case) on the motion transmitting device 22 and arranges the fingers 40a to 40j to touch the motion transmitting portions 21a to 21j, respectively. Although the motion transmitting units 21a to 21j are arranged as many as the fingers 40a to 40j of the observer, at least two or more may be arranged. Either the left or right hand or both hands may be used to transmit the motion.

The motion transmission units 21a to 21j transmit motion information to the observer according to motions such as turning motions, for example. The timing of transmitting the operation information to the observer is n seconds before the hydraulic excavator 1 starts operation. The time n seconds is the time added with margins such as the operator's reaction time and hydraulic response delay time, or the time added with margins such as the remote operator's reaction time, communication delay time, and hydraulic response delay.

FIGS. 5A to 5E are diagrams respectively showing examples of transmission patterns of motion information of the motion transmission unit to the observer with respect to the motion of the hydraulic excavator. Here, a case where the hydraulic excavator 1 performs a right turning operation will be described as an example. In FIGS. 5A to 5E, the vertical axis indicates the transmission levels Aa to Aj of the motion transmission portions 21a to 21j, and the horizontal axis indicates the transmission time t of the motion transmission portions 21a to 21j.

For example, as shown in FIG. 5A, when transmitting the motion information related to the right turning motion of the hydraulic excavator 1 to the observer, the motion transmitting units 21a to 21j are operated singly and sequentially from the left side to the right side. can be considered. In this case, the fingers 40a to 40a of the observer are tactilely stimulated from left to right, and the observer can intuitively understand that the hydraulic excavator 1 will perform a clockwise turning motion.

Further, as shown in FIG. 5B, even when the motion transmission units 21a to 21j are sequentially started to transmit from the left side to the right and the motion is continuously transmitted, the fingers of the observer who receive the tactile stimulation 40a to 40a increase in order from left to right, and it can be intuitively understood that the hydraulic excavator 1 performs a right turning operation.

Further, as shown in FIG. 5C, the operator's finger 40a is moved so as to flow sequentially from the left side to the right side of the motion transmitting sections 21a to 21j and by overlapping the motion times of the adjacent motion transmitting sections 21a to 21j at the same time. . . . 40a receive tactile stimulation in order from left to right, and it can be intuitively understood that the hydraulic excavator 1 performs a right turning motion.

Further, as shown in FIG. 5D, by changing the operation intervals of the motion transmission units 21a to 21j according to the swing speed of the hydraulic excavator 1, the observer can intuitively understand the swing speed. FIG. 5D illustrates a case where the hydraulic excavator 1 rotates at a high speed and turns to the right. can be transmitted. For example, the transmission time tx is represented by tx = t x (v/vx), where t is the transmission time when turning at the standard turning speed, v is the standard turning speed, and vx is the target turning speed. be.

Also, as shown in FIG. 5E, by increasing or decreasing the transmission level according to the speed, it is possible to transmit the operating speed to the observer. Here, the transmission level Ax is represented by Ax=A×(vx/v), where A is the standard transmission level, v is the standard turning speed, and vx is the target turning speed.

Effects of the present embodiment configured as above will be described.

In the prior art, an operator on board a working machine or an observer such as a remote operator cannot accurately grasp the next operation of the working machine during automatic work. However, it was difficult to grasp such movements in advance and suppress them.

On the other hand, in the present embodiment, the operation of the hydraulic excavator 1 is automatically controlled by the automatic operation switch for enabling the automatic operation of the work machine and the automatic operation switch 20 when the automatic operation is enabled. An automatic operation control device 23 and a motion transmission device 22 for transmitting motion information of the hydraulic excavator 1 to an observer by tactile sensation. Since it is configured to transmit the operation information about the next operation to the observer before the operation is performed, the next operation of the work machine during automatic operation can be accurately grasped, and the inappropriate operation of the work machine can be prevented. can be detected and controlled in advance.

<Second Embodiment>
A second embodiment of the present invention will now be described with reference to FIGS. 6 and 7A-7D.

This embodiment shows another arrangement example of the motion transmitting portions 21a to 21j of the motion transmitting device 22 in the first embodiment.

FIG. 6 is a diagram schematically showing the configuration of the motion transmission device according to this embodiment. In the figure, the same reference numerals are assigned to the same processing as in the first embodiment, and the description thereof is omitted. In this embodiment, only the right hand (hand 39) will be described for the sake of simplicity of illustration.

In FIG. 2, the motion transmission device 22A has at least 2×2 (5×5 in this embodiment) arrangement of the motion transmission units 21 to transmit not only the turning motion in the lateral direction but also the working motion in the longitudinal direction. It is possible to

Since the motion transmission device 22A can cover an area wider than the area of the palm of the observer by the motion transmission part 21, the hydraulic excavator 1 can be operated even if there is some deviation in the place where the hand is placed. Direction can be conveyed. It should be noted that it is not necessary for the number of motion transmitting portions 21 in the longitudinal direction and the number in the lateral direction to be the same.

FIGS. 7A to 7D respectively show examples of transmission patterns of motion information of the motion transmission unit to the observer regarding the motion of the hydraulic excavator. FIG. 7A illustrates a case where the hydraulic excavator 1 extends the working device 17 while rotating to the right. In FIG. 7A, a group of vertically arranged motion transmitting portions are referred to as motion transmitting portion groups 21A to 21E in order from the left, and a group of motion transmitting portions aligned horizontally are referred to as motion transmitting portion groups 21J to 21F in order from the bottom. Any of the horizontal axes indicates the transmission level A and the transmission time t of each of the motion transmission unit groups 21A to 21J.

For example, as shown in FIG. 7A, when the hydraulic excavator 1 extends the working device 17 while rotating to the right, and the motion information is transmitted to the observer, the motion transmitting unit groups 21A to 21E are moved from the right side. The motion transmitting portion groups 21F to 21J are sequentially operated so as to flow leftward, and the motion transmitting portion groups 21F to 21J are operated sequentially so as to flow from the near side to the far side. In this case, the hand 39 of the observer receives a tactile sensation sequentially from the lower left to the upper right, and it is intuitive that the work device 17 is extended forward while the hydraulic excavator 1 is rotating to the right. can be understood.

FIGS. 7B to 7D illustrate the case where the excavator 1 travels by crawlers. In FIGS. 7B to 7D, the group of motion transmitting portions on the left side is referred to as motion transmitting portion group 21K, and the group of motion transmitting portions on the right side is referred to as motion transmitting portion group 21L. In addition, in the action transmitting section group 21K, a group of action transmitting sections arranged in the horizontal direction are referred to as action transmitting section groups 21M to 21Q in order from the bottom, and in the action transmitting section group 21L, a group of action transmitting sections arranged in the horizontal direction are referred to in order from the top. These are referred to as motion transmission unit groups 21R to 21V. Also, either the vertical axis or the horizontal axis indicates the transmission level A and the transmission time t of each of the motion transmission unit groups 21M to 21V.

As shown in FIGS. 7B to 7D , when transmitting motion information about the traveling motion of the hydraulic excavator 1 by the crawler to the observer, for example, when transmitting the vehicle body turning motion and the front telescopic motion on the right hand side, the left hand side It is possible to transmit crawler motion with

For example, as shown in FIG. 7B, in the case where the crawler moves forward, the left crawler moving direction 37 and the right crawler moving direction 38 are the same, and the motion transmitting unit groups 21K and 21L transmit in accordance with the moving forward motion. . In this case, the motion transmitting portion groups 21M to 21Q of the motion transmitting portion group 21K operate sequentially, the motion transmitting portion group 21V for the motion transmitting portion group 21M, the motion transmitting portion group 21U for the motion transmitting portion group 21N, and the motion transmitting portion group 21T. , the motion transmitting portion group 21O, the motion transmitting portion group 21S, the motion transmitting portion group 21P, and the motion transmitting portion group 21R operate in synchronism with the motion transmitting portion group 21Q, respectively.

Further, as shown in FIG. 7C, in the case of transmitting the vehicle body turning motion to the right by the crawler operation, the left crawler advancing direction 37 and the right crawler advancing direction 38 are the same, but the right crawler speed is lower than the left crawler speed. is. Therefore, for example, when the left crawler speed is twice as fast as the right crawler speed, the transmission period of the motion transmission section group 21K is double the transmission period of the motion transmission section group 21L. That is, the motion transmitting portion groups 21M, 21N, 21O, 21P, and 21Q of the motion transmitting portion group 21K and the motion transmitting portion groups 21V, 21U, 21T, 21S, and 21R of the motion transmitting portion group 21L operate sequentially. The portion group 21K operates twice while the motion transmission portion group 21L operates once, and the transmission period changes depending on the speed difference. The ratio of the transmission cycles of the left and right crawlers is (VL/VR):1, where VR is the right crawler speed and VL is the left crawler speed, and VR>VL. Also, when VL>VR, the ratio of the transmission cycles of the left and right crawlers is 1:(VR/VL).

In addition, as shown in FIG. 7D, in the case where the left and right crawlers transmit motions in different directions such that the excavator 1 performs a pivot turn, the motion transmission unit group 21M, the motion transmission unit group 21R, and the motion transmission unit group 21N and the motion transmitting section group 21S, the motion transmitting section group 21T and the motion transmitting section group 21O, the motion transmitting section group 21U and the motion transmitting section group 21P, and the motion transmitting section group 21V and the motion transmitting section group 21Q operate in synchronization with each other. do. In this way, in addition to the turning motion, by transmitting the motion information of the front part and the crawler to the observer by tactile sensation, the observer can grasp the next motion of the hydraulic excavator 1 which operates automatically, and the inappropriateness It is possible to suppress the motion before the active motion is started. In addition, by conveying the operation information by touch, the observer can grasp the operation of the excavator 1 without looking away from the surroundings of the excavator 1 .

When the present invention is applied to a wheel-type work machine such as a wheel loader, for example, the motion transmission unit groups 21A to 21J are operated according to the traveling direction of the vehicle, and when the front operation is performed, the motion transmission unit groups 21A to 21J are operated. By vibrating the entire 21J, the observer can grasp the operation of the hydraulic excavator 1 without looking away from the surroundings of the hydraulic excavator 1. - 特許庁

<Third Embodiment>
A second embodiment of the present invention will be described with reference to FIGS. 8 and 9. FIG.

This embodiment is the case where the function of the working state monitoring unit 31 that outputs a vehicle body abnormality flag according to vehicle body abnormality information such as unstable control is added to the automatic driving control device 23 in the first and second embodiments. is shown.

FIG. 8 is a functional block diagram of the control system according to this embodiment. In the figure, the same reference numerals are assigned to the same processing as in the first embodiment, and the description thereof is omitted.

In FIG. 8, the control system includes a motion transmission device 22, an automatic driving control device 23A, a vehicle body information integrated processing device, a control device 43, an automatic driving switch 20, and a working device 17. The automatic operation control device 23A also includes a work state monitoring unit 31, a route generation unit 32, an operation start determination unit 33, and a transmission method determination unit .

The vehicle body information integration processing device 30 outputs vehicle body abnormality information such as control instability to the work state monitoring unit 31 in the automatic operation control device 23, and the work state monitoring unit 31 responds to the output of the vehicle body information integration processing device 30 Then, the vehicle body abnormality flag is output to the transmission method determination unit 34 . The transmission method determination unit 34 determines the motion transmission unit 21 to be activated according to the vehicle body abnormality flag.

FIG. 9 shows an example of a transmission pattern of the motion information of the motion transmission unit to the observer regarding the motion of the hydraulic excavator. FIG. 9 illustrates a case where the work state monitoring unit 31 transmits vehicle body abnormality information such as unstable control. In FIG. 9, a group of vertically arranged motion transmitting portions are referred to as motion transmitting portion groups 21A to 21E in order from the left. are shown respectively.

For example, as shown in FIG. 9, when the work state monitoring unit 31 transmits vehicle body abnormality information such as control instability, all the operation transmission unit groups 21A to 21E are operated periodically to detect the occurrence of an abnormality. It can be communicated to an observer.

Other configurations are the same as those of the first and second embodiments.

The same effects as those of the first and second embodiments can be obtained in this embodiment configured as described above.

In addition, the observer can grasp the abnormality of the hydraulic excavator 1, and can immediately suppress the operation when an inappropriate operation is likely to occur.

<Fourth Embodiment>
A fourth embodiment of the present invention will be described with reference to FIGS. 10A-10D.

In the second embodiment, the second embodiment is further provided with a function of changing the transmission level and the transmission location according to the lever operation amount of the operating device for operating the hydraulic excavator 1 .

10A to 10D are diagrams schematically showing the configuration of the motion transmission device according to the present embodiment. In the figure, the same reference numerals are assigned to the same processes as in the second embodiment, and the description thereof is omitted.

As shown in FIGS. 10A and 10B, the motion transmission device 22B that transmits the crawler running motion is integrated with the foot pedal 44, and the foot pedal 44 has motion transmission portions 21k to 21p. When the left crawler moves forward, the motion transmitting portion 21m is operated in order from 21l to 21k. Further, when the right crawler moves forward, the motion transmitting portion 21p is followed by 21o and 21n in order. When moving backward, transmission is performed in the reverse order to when moving forward.

Further, as shown in FIGS. 10C and 10D, action transmission portions 21s to 21z for transmitting lever operations are arranged. The motion transmitting portions 21s to 21z are divided into at least four left and right portions, and the motion transmitting portions 21s, 21t, 21u, 21v, 21w, 21x, 21y, and 21z are respectively left turning motion, arm extending motion, right turning motion, and arm scratching motion. Operation, bucket raking operation, boom lowering operation, bucket dumping operation, and boom raising operation are transmitted. In addition, when a vehicle body abnormality such as unstable control occurs, it is possible to notify an observer of the actuator in which the abnormality has occurred.

Other configurations are the same as those of the second embodiment.

The same effects as those of the second embodiment can be obtained in this embodiment configured as described above.

In addition, the amount of operation of each actuator can be sensuously transmitted to the observer, and the trouble of teaching the movement transmission pattern to the observer can be reduced.

When the present invention is applied to a wheel-type work machine such as a wheel loader, for example, the motion transmission units 21s, 21t, 21u, 21v, 21w, 21x, and 21y respectively perform left turning motion of the vehicle body and lowering of the lift arm. By transmitting the motion, vehicle body right turning motion, bucket dumping motion, bucket raking motion, lift arm raising motion, and bucket tilting motion, the observer can operate the hydraulic excavator 1 without looking away from the surroundings of the hydraulic excavator 1. can be grasped. In addition, the brake operation is transmitted by operating the operation transmission portions 21k to 21m on the foot pedal 44 at the same time. Furthermore, in the case of forward travel, the motion transmission units 21p to 21n are sequentially operated, and in the case of reverse travel, the motion transmission units 21n to 21p are sequentially operated, so that the observer can grasp the traveling direction of the work machine. can be done.

Next, features of each of the above embodiments will be described.

(1) In the above embodiment, the automatic operation switch 20 that activates the automatic operation of the work machine (for example, the hydraulic excavator 1) and the operation of the work machine when the automatic operation is activated by the automatic operation switch and a motion transmission device 22; 22A; , the action information regarding the content of the next action shall be transmitted to the observer before the next action is performed.

As a result, the next motion of the work machine during automatic work can be accurately grasped, and inappropriate motions of the work machine can be grasped in advance and suppressed.

(2) In the above embodiment, in the control system of (1), the automatic driving control device 23 outputs a vehicle body abnormality flag when a vehicle body abnormality including control instability occurs, and the operation transmission The devices 22; 22A ; 22B, when the vehicle body abnormality flag is input from the automatic driving control device, notify the observer of the occurrence of abnormality by tactile sensation .

(3) In the above embodiment, in the control system of (1) , the work machine (for example, the hydraulic excavator 1) includes a work device 17 driven by an actuator, and the motion transmission device 22; 22B shall transmit the operation of the actuator as the operation information to the observer.
(4) In the above embodiment, in the control system of (1), the motion transmission devices 22; 22A; I decided to change the location.

(5) In the above embodiment, in the control system of (1) , the motion transmitting devices 22; 22A ; 22B can change the timing of transmitting the motion information to the observer. and

(6) In the above embodiment, in the control system of (1), the motion transmission devices 22; 22A ; 22B are arranged so as to touch at least two fingers of the observer. bottom.

<Appendix>
It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the invention. Moreover, the present invention is not limited to those having all the configurations described in the above embodiments, and includes those having some of the configurations omitted. Further, each of the above configurations, functions, etc. may be realized by designing a part or all of them, for example, with an integrated circuit. Moreover, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.

REFERENCE SIGNS LIST 1 hydraulic excavator 2 cab 5 boom cylinder 6 arm cylinder 7 bucket cylinder 8 boom 9 arm 10 bucket 13 turning angle detector 14 undercarriage 15 Revolving mechanism 16 Upper revolving body 17 Work device 18 Revolving central axis 19 Swing central axis 20 Automatic operation switch 21 Operation transmission unit 21a to 21p, 21s to 21z Operation transmission 21A to 21V... Motion transmission unit group 22, 22A, 22B... Motion transmission device 23, 23A... Automatic operation control device 25... Working device 30... Vehicle body information integrated processing device 31... Work state monitoring unit, 32... Path generation unit 33... Motion start determination unit 34... Transmission method determination unit 36A to 36C... Attitude sensor 37... Left crawler traveling direction 38... Right crawler traveling direction 39... Hand 40a to 40j... Finger , 41...Hydraulic motor, 42...Vehicle attitude detector, 43...Control device, 44...Foot pedal

Claims (6)

an automatic operation switch for enabling automatic operation of the work machine;
an automatic operation control device that automatically controls the operation of the work machine when automatic operation is enabled by the automatic operation switch;
a motion transmission device for transmitting motion information of the working machine to the supervisor by tactile sensation;
The control system, wherein the motion transmission device transmits motion information regarding the content of the next motion to the observer before performing the next motion when the current motion and the next motion are different. The control system of claim 1, wherein
The automatic driving control device outputs a vehicle body abnormality flag when a vehicle body abnormality including control instability occurs,
The control system according to claim 1, wherein the motion transmission device notifies the observer of the occurrence of the abnormality by tactile sensation when the vehicle body abnormality flag is input from the automatic driving control device . The control system of claim 1 , wherein
The working machine includes a working device driven by an actuator,
The control system, wherein the motion transmission device transmits the motion of the actuator as the motion information to the observer. The control system of claim 1, wherein
The control system according to claim 1, wherein the motion transmission device changes a tactile transmission level and a tactile transmission location according to a lever operation amount of an operating device of the working machine. The control system of claim 1 , wherein
The control system, wherein the motion transmission device can change the timing of transmitting the motion information to the observer. The control system of claim 1, wherein
A control device for a working machine, wherein the motion transmission device is arranged so as to touch at least two fingers of the supervisor.

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