EP4636173A1

EP4636173A1 - Remote operation-type work machine system and work machine

Info

Publication number: EP4636173A1
Application number: EP24760083.6A
Authority: EP
Inventors: Kei Satou; Hideaki Ito
Original assignee: Hitachi Construction Machinery Co Ltd
Current assignee: Hitachi Construction Machinery Co Ltd
Priority date: 2023-02-20
Filing date: 2024-02-02
Publication date: 2025-10-22
Also published as: JP7530463B1; CN120513337A; JP2024118366A; WO2024176776A1

Abstract

A remote-operation-type work machine system including a remotely operable hydraulic excavator and a remote operation device for remotely operating the hydraulic excavator has a remote operation signal processor as a system controller that executes action control for the hydraulic excavator based on a remote operation signal from the remote operation device. The system controller captures surroundings information sensed by a surroundings detector of the hydraulic excavator and posture information sensed by a posture sensor, and determines whether or not a prime mover is allowed to be started or stopped when the remote operation signal is a remote activation operation signal for activating the hydraulic excavator or a remote shutdown operation signal for shutting down the hydraulic excavator.

Description

Technical Field

The present invention relates to a remote-operation-type work machine system that can execute activation and shutdown of a work machine by remote operation and a work machine that can be activated and shut down by remote operation.

Background Art

Among work machines such as hydraulic excavators and bulldozers, there are work machines that can be remotely operated. Among the remotely operable work machines, there are work machines configured such that a worker rides in the machine to execute operations for activation of this machine and for shutdown after the end of work. The work machine with such a configuration cannot be used at a danger place for a person entering the place, such as a place where a harmful gas is being generated or a disaster place. However, there are requests to use the work machine at such a place.
For such requests, there has been proposed a technology for remotely conducting all manipulations relating to a work machine from engine start at the beginning to machine shutdown after the end of work (for example, refer to Patent Document 1). In a remote control system for a construction machine described in Patent Document 1, a receiver that receives a command that is transmitted from a transmitter for remote manipulation and is to control action of the construction machine is always provided with power and is kept in an active state, and this receiver is configured to turn on/off a switch for power activation when receiving an activation command or a shutdown command.

Prior Art Document

Patent Document

Patent Document 1: JP-1998-219748-A

Summary of the Invention

Problem to be Solved by the Invention

In the work machine which a worker rides in to execute operation for activation and shutdown of this machine among the remotely operable work machines, the worker riding in the work machine can visually check a situation of surroundings of this machine and a state (posture and the like) of this machine itself. On the other hand, the technology described in Patent Document 1 can activate and shut down a work machine by remote control without a worker approaching this machine. However, Patent Document 1 does not describe a procedure of checking a situation of surroundings of the work machine and a state of this machine itself during the activation and the shutdown by the remote control.
If a work machine is shut down by remote control without a situation of surroundings of the work machine and a state of this machine itself being checked, it is sometimes difficult for the work machine to move when this machine is subsequently activated, depending on the situation of the surroundings or the state of the machine at the time when this machine has been shut down. In this case, the work efficiency lowers in some cases because a long time is required from the activation of the work machine to the start of work. Further, in a case of attempting to activate a work machine by remote control, it is sometimes preferable that the activation of the work machine not be executed in a state in which work by the work machine is difficult, depending on a situation of surroundings or a state of the machine itself. There is a possibility that, if the work machine is activated in such a case, eventually only useless operation occurs and the work efficiency lowers. Thus, it is preferable to check a situation of surroundings of a work machine and a state of the machine itself when executing remote control of activation and shutdown of this machine.
The present invention has been made based on the above-described matter, and an object thereof is to provide a remote-operation-type work machine system and a work machine that allow activation and shutdown of a work machine by remote control after checking a situation of surroundings of the work machine and a state of this machine itself.

Means for Solving the Problem

The present application includes a plurality of means to solve the above-described problem. An example thereof is a remote-operation-type work machine system including a work machine that has a prime mover and is remotely operable by reception of a remote operation signal and a remote operation device that transmits the remote operation signal to the work machine to operate the work machine remotely. The work machine includes a surroundings detector that detects surroundings information that is information relating to a surroundings situation of the work machine and a posture sensor that senses posture information that is information relating to a posture of the work machine. The work machine or the remote operation device has a system controller that executes action control for the work machine based on the remote operation signal. Further, the system controller is configured to, when the remote operation signal transmitted from the remote operation device is a remote activation operation signal for activating the work machine or a remote shutdown operation signal for shutting down the work machine, take in the surroundings information and the posture information sensed by the surroundings detector and the posture sensor and determine whether or not the prime mover is allowed to be started or stopped based on the surroundings information and the posture information.

Advantages of the Invention

According to the present invention, in response to the remote operation signal of activation/shutdown from the remote operation device, it is determined, based on the surroundings information detected by the surroundings detector and the posture information sensed by the posture sensor, whether or not the prime mover is allowed to be started/stopped before execution of start/stop of the prime mover. Thus, it is possible to execute activation/shutdown of the work machine by remote control after checking a situation of surroundings of the work machine and a state of this machine itself.
Problems, configurations, and effects other than those described above are made clear by description of the following embodiments.

Brief Description of the Drawings

[Fig. 1] FIG. 1 is a schematic diagram depicting a remote operation device and a hydraulic excavator as an example of a work machine configuring a remote-operation-type work machine system according to a first embodiment of the present invention.
[Fig. 2] FIG. 2 is a block diagram depicting a configuration of the remote operation device and the work machine in the remote-operation-type work machine system according to the first embodiment.
[Fig. 3] FIG. 3 is a flowchart depicting an example of a control procedure of remote activation of the work machine in the remote-operation-type work machine system according to the first embodiment depicted in FIG. 2.
[Fig. 4] FIG. 4 is a diagram depicting a display screen of an activation prohibition determination in the control procedure of the remote activation, which procedure is depicted in FIG. 3 and is executed by the remote-operation-type work machine system according to the first embodiment.
[Fig. 5] FIG. 5 is a diagram depicting the display screen of an activation permission determination in the control procedure of the remote activation, which procedure is depicted in FIG. 3 and is executed by the remote-operation-type work machine system according to the first embodiment.
[Fig. 6] FIG. 6 is a diagram depicting the display screen of a start confirmation of a prime mover in the control procedure of the remote activation, which procedure is depicted in FIG. 3 and is executed by the remote-operation-type work machine system according to the first embodiment.
[Fig. 7] FIG. 7 is a flowchart depicting an example of a control procedure of remote shutdown of the work machine in the remote-operation-type work machine system according to the first embodiment depicted in FIG. 2.
[Fig. 8] FIG. 8 is a diagram depicting the display screen of an instruction to ensure a parking space through determination of a surroundings situation in the control procedure of the remote shutdown, which procedure is depicted in FIG. 7 and is executed by the remote-operation-type work machine system according to the first embodiment.
[Fig. 9] FIG. 9 is a diagram depicting the display screen of the instruction to ensure a parking space through determination of a machine body state in the control procedure of the remote shutdown, which procedure is depicted in FIG. 7 and is executed by the remote-operation-type work machine system according to the first embodiment.
[Fig. 10] FIG. 10 is a diagram depicting the display screen of a stop confirmation of the prime mover in the control procedure of the remote shutdown, which procedure is depicted in FIG. 7 and is executed by the remote-operation-type work machine system according to the first embodiment.
[Fig. 11] FIG. 11 is a flowchart depicting an example of a detailed control procedure of automatic parking in the control procedure of the remote shutdown, which procedure is depicted in FIG. 7 and is executed by the remote-operation-type work machine system according to the first embodiment.
[Fig. 12] FIG. 12 is a block diagram depicting a configuration of a remote operation device and a work machine in a remote-operation-type work machine system according to a second embodiment of the present invention.
[Fig. 13] FIG. 13 is a flowchart depicting an example of a control procedure of remote activation of the work machine in the remote-operation-type work machine system according to the second embodiment depicted in FIG. 12.
[Fig. 14] FIG. 14 is a flowchart depicting an example of a control procedure of remote shutdown of the work machine in the remote-operation-type work machine system according to the second embodiment depicted in FIG. 12.

Modes for Carrying Out the Invention

Embodiments of the remote-operation-type work machine system and the work machine of the present invention are described below with use of the drawings. In the present embodiments, the description is given by taking a hydraulic excavator as an example of a work machine configuring the remote-operation-type work machine system.

[First Embodiment]

First, a schematic configuration of a remote-operation-type work machine system according to a first embodiment is described with use of FIG. 1. FIG. 1 is a schematic diagram depicting a remote operation device and the hydraulic excavator as the example of the work machine configuring the remote-operation-type work machine system according to the first embodiment. Here, the description is given with use of directions as viewed from a worker who sits on an operation seat.
In FIG. 1, a remote-operation-type work machine system 1 is a system including a hydraulic excavator 10 as a work machine and a remote operation device 70 that transmits a remote operation signal to the hydraulic excavator 10 and remotely operates the hydraulic excavator 10. The hydraulic excavator 10 is configured to be allowed to be remotely operated through reception of the remote operation signal from the remote operation device 70 located at a place remote from the hydraulic excavator 10. A configuration of the remote operation device 70 is described later.
The hydraulic excavator 10 includes a front work device 11 for executing excavation work and the like and a machine body 12 to which the front work device 11 is pivotally attached. The machine body 12 includes a lower track structure 13 capable of self-travelling and an upper swing structure 14 swingably mounted on the lower track structure 13.
The front work device 11 is an articulated work device configured by joining a plurality of driven members for executing excavation work and the like such that the driven members can pivot in the vertical direction. The plurality of driven members include, for example, a boom 21, an arm 22, and a bucket 23 as a work tool. A base end portion of the boom 21 is pivotally supported by a front portion of the upper swing structure 14. A base end portion of the arm 22 is pivotally supported by a tip portion of the boom 21. The bucket 23 is pivotally supported by a tip portion of the arm 22. The boom 21, the arm 22, and the bucket 23 are driven by a boom cylinder 25, an arm cylinder 26, and a bucket cylinder 27, respectively, that are hydraulic actuators.
The lower track structure 13 includes, for example, track devices 29 of a crawler type on the left and right (only the left side is depicted). The track devices 29 are driven by travelling hydraulic motors 29a that are hydraulic actuators.
For example, the upper swing structure 14 is configured to be driven to swing relative to the lower track structure 13 by a swing hydraulic motor (not depicted) as a hydraulic actuator. The upper swing structure 14 includes a cab 31 in which a worker rides, a housing 32 that houses various kinds of equipment, and a counterweight 33 attached to a rear end of the housing 32. In the cab 31, an operation seat on which the worker sits and an operation device for operating the hydraulic excavator 10 (neither is depicted) and the like are disposed. The housing 32 houses various kinds of hydraulic equipment 35 for causing the front work device 11 and the machine body 12 (lower track structure 13 and upper swing structure 14) to operate, a prime mover 36, various kinds of electrical equipment 37
(for all, see FIG. 2 to be described later), and the like. The counterweight 33 is a component for maintaining the weight balance with the front work device 11.
Next, a configuration of the work machine and the remote operation device in the remote-operation-type work machine system according to the first embodiment is described with use of FIG. 2. FIG. 2 is a block diagram depicting the configuration of the remote operation device and the work machine in the remote-operation-type work machine system according to the first embodiment.
In FIG. 2, the remote operation device 70 of the remote-operation-type work machine system 1 includes a remote operation input device 71 for inputting an instruction on the hydraulic excavator 10 for remote operation, a communication device 72 capable of bidirectional communication with the hydraulic excavator 10, and a display 73 that displays information relating to the remote operation of the hydraulic excavator 10. The remote operation input device 71 is, for example, a device similar to the operation device (not depicted) in the cab 31 of the hydraulic excavator 10. The communication device 72 transmits, to the hydraulic excavator 10, the remote operation signal in response to the instruction for remote operation input to the remote operation input device 71, and receives information relating to the hydraulic excavator 10 transmitted from the hydraulic excavator 10. The display 73 is a device that displays, on a display screen, the information relating to the hydraulic excavator 10 received by the communication device 72, and has a function as an output device that presents the information relating to the hydraulic excavator 10 to an operator of remote operation. Further, the display 73 includes a touch panel, and functions also as an input device to input an instruction for remote operation on the hydraulic excavator 10 in response to operation to the touch panel.
The hydraulic excavator 10 of the remote-operation-type work machine system 1 includes the various kinds of hydraulic equipment 35 configuring a hydraulic system for causing the hydraulic excavator 10 to operate, the prime mover 36 for driving the hydraulic system, the various kinds of electrical equipment 37 for causing the hydraulic excavator 10 to operate, and a main power supply 38 that provides electric power to the various kinds of electrical equipment 37. The various kinds of hydraulic equipment 35 include, for example, a hydraulic pump (not depicted) that delivers hydraulic fluid, a plurality of hydraulic actuators such as the boom cylinder 25, the arm cylinder 26, the bucket cylinder 27, and the travelling hydraulic motors 29a, and a control value (not depicted) that controls a flow of the hydraulic fluid supplied from the hydraulic pump to each hydraulic actuator. Some of the pieces of hydraulic equipment 35 are powered from the main power supply 38. The prime mover 36 is a component that drives the hydraulic pump (not depicted) and the like as the hydraulic equipment 35, and is, for example, an engine or an electric motor. Moreover, it is also possible to use a power source other than the engine or the electric motor as the prime mover 36. The various kinds of electrical equipment 37 include, for example, a machine controller that controls action of the hydraulic excavator 10 according to operations of the operation device (not depicted) in the cab 31, various kinds of electrically driven auxiliary equipment, and the like. The machine controller controls, for example, the pieces of hydraulic equipment 35 such as the hydraulic pump and the control valves to control the action of the hydraulic excavator 10. The main power supply 38 is, for example, a battery. For example, an electric generator (not depicted) is mechanically connected to the prime mover 36, and the battery as the main power supply 38 is charged by electric power of the electric generator driven by the prime mover 36.
The hydraulic excavator 10 is equipped with a communication device 41 capable of bidirectional communication with the communication device 72 of the remote operation device 70 and a remote operation signal processor 42 as a system controller that executes action control for the hydraulic excavator 10 based on the remote operation signal. The main power supply 38 and a standby power supply 43 are connected to the communication device 41 and the remote operation signal processor 42 in such a manner as to be electrically switchable. The communication device 41 and the remote operation signal processor 42 are configured to be connected to the standby power supply 43 during stopping of the prime mover 36 and be connected to the main power supply 38 during driving of the prime mover 36. That is, the communication device 41 and the remote operation signal processor 42 are configured to be always kept in a powered state to be in a working state. The remote operation signal processor 42 is configured as a device separate from the machine controller. However, the remote operation signal processor 42 may also be implemented in the machine controller as part of its functions. Details of the functions of the remote operation signal processor 42 (system controller) are described later.
The hydraulic excavator 10 is provided with a posture sensor 45 that senses posture information that is information relating to the posture of the hydraulic excavator 10 and a surroundings detector 46 that detects surroundings information that is information relating to a situation of surroundings of the hydraulic excavator 10. The posture sensor 45 includes a front posture sensor (not depicted) that senses a physical quantity relating to the posture of the front work device 11 (for example, relative angle among the respective constituent members 21, 21, and 23, or the like), a machine body posture sensor (not depicted) that senses a physical quantity relating to the posture of the machine body 12 (inclination with respect to the horizontal plane, swing angle from a reference line, or the like), or the like. The front posture sensor can be formed of, for example, an angle sensor, a stroke sensor, a gyro sensor, or the like. The machine body posture sensor can be formed of, for example, an angle sensor, a gyro sensor, or the like. The posture information on the hydraulic excavator 10 may include information on the position of the hydraulic excavator 10. The surroundings detector 46 is a detector that detects a terrain profile of surroundings of the hydraulic excavator 10 and another work machine, a worker, an obstacle, and the like located around the hydraulic excavator 10. The surroundings detector 46 can be formed of a camera sensor, a LiDAR, or the like. The posture sensor 45 and the surroundings detector 46 are connected to the main power supply 38 and the standby power supply 43 in such a manner as to be electrically switchable. The posture sensor 45 and the surroundings detector 46 are configured to be always kept in a power-provided state by being connected to the standby power supply 43, for example, even during stop of the prime mover 36. The posture sensor 45 and the surroundings detector 46 may be also configured to be connected to the standby power supply 43 after the remote operation signal of an activation instruction from the remote operation device 70 is received by the communication device 41. That is, The posture sensor 45 and the surroundings detector 46 may be also configured to be isolated from the standby power supply 43 before the reception of the remote operation of the activation instruction.
Further, the hydraulic excavator 10 is provided with a load sensor 47 that senses load information that is information relating to a load applied to the front work device 11. The load sensor 47 is formed of, for example, a pressure sensor that senses a pressure in each hydraulic chamber of the boom cylinder 25, the arm cylinder 26, and the bucket cylinder 27, which are hydraulic actuators that cause the front work device 11 to work. The load sensor 47 is electrically connected to the main power supply 38, but not to the standby power supply 43. This is, the load sensor 47 is configured to become a state in which no electrical power is supplied thereto during stop of the prime mover 36.
In the remote-operation-type work machine system 1 of the present embodiment, the remote operation signal processor 42 as the system controller executes remote control of activation and shutdown of the hydraulic excavator 10 based on information sensed by the posture sensor 45, the surroundings detector 46, and the load sensor 47 when the remote operation signal transmitted from the remote operation device 70 is a remote activation operation signal for activating the hydraulic excavator 10 or a remote shutdown operation signal for shutting down the hydraulic excavator 10. As a hardware configuration, for example, the remote operation signal processor 42 is configured by a microcomputer including a storage 51 composed of a RAM, a ROM, and the like and a processor 52 composed of a CPU, an MPU, and the like. The storage 51 stores programs and various kinds of information required for the remote control of activation and shutdown of the hydraulic excavator 10 in advance. The processor 52 implements various functions to be described later by reading the program and the various kinds of information from the storage 51 as appropriate and executing processing in accordance with this program. The remote operation signal processor 42 has the respective functional sections of a posture information processing section 61, a surroundings information processing section 62, a load information processing section 63, a machine state determination section 64, a surroundings situation determination section 65, a burden state determination section 66, and an activation/shutdown control section 67.
The posture information processing section 61 takes in the posture information sensed by the posture sensor 45, when the remote activation operation signal or the remote shutdown operation signal of the remote operation device 70 is received. The taken-in posture information is output to the machine state determination section 64.
The surroundings information processing section 62 takes in the surroundings information detected by the surroundings detector 46, when the remote activation operation signal or the remote shutdown operation signal of the remote operation device 70 is received. The taken-in surroundings information is output to the surroundings situation determination section 65.
The load information processing section 63 takes in the load information on the front work device 11 sensed by the load sensor 47, when the remote shutdown operation signal of the remote operation device 70 is received. The taken-in load information is output to the burden state determination section 66.
The machine state determination section 64 computes, in a case where the remote activation operation signal of the remote operation device 70 has been received, an activation posture that is the posture of the hydraulic excavator 10 (front work device 11 and machine body 12) when the remote activation operation signal has been taken in, on the basis of the posture information from the posture information processing section 61. Further, the machine state determination section 64 takes in information that is part of the posture information sensed by the posture sensor 45 and relates to a stop posture that is the posture of the hydraulic excavator 10 at the time of latest stop of the prime mover 36. The latest stop posture of the hydraulic excavator 10 is one stored, in the storage 51, the posture of the hydraulic excavator 10 computed based on the posture information sensed by the posture sensor 45 at the time of shutdown operation of the hydraulic excavator 10 closest to the relevant remote activation operation signal. Moreover, the activation posture of the hydraulic excavator 10 as the computation result is compared with the taken-in latest stop posture of the hydraulic excavator 10. That is, it is determined whether or not the difference between the activation posture and the latest stop posture of the hydraulic excavator 10 falls within an allowable range. This determination is referred to as second determination to determine whether or not activation of the hydraulic excavator 10 (start of the prime mover 36) is allowed based on the posture information. This determination is, for example, to check whether the hydraulic excavator 10 has not been caused to fall down or move due to the occurrence of a contingency such as a landslide and prevent execution of an unnecessary activation flow. On the other hand, in a case where the remote shutdown operation signal of the remote operation device 70 has been received, the machine state determination section 64 determines whether or not the inclination of the machine body 12 of the hydraulic excavator 10 with respect to the horizontal plane, obtained on the basis of the posture information from the posture information processing section 61, falls within an allowable range. This determination is referred to as second determination to determine whether or not shutdown of the hydraulic excavator 10 (stop of prime mover 36) is allowed based on the posture information. This determination is to check a state of the hydraulic excavator 10 (machine body 12) to thereby assess whether surroundings of the hydraulic excavator 10 are a space appropriate for parking and avoid parking at a space with a steep gradient. The determination result made by the machine state determination section 64 (permission determination to permit activation/shutdown or prohibition determination to prohibit activation/shutdown) is output to the activation/shutdown control section 67.
The surroundings situation determination section 65 determines, in a case where the remote activation operation signal of the remote operation device 70 has been received, whether or not an activation inhibition factor, which is a factor interfering with activation of the hydraulic excavator 10, is present in a predetermined range around the hydraulic excavator 10 on the basis of the surroundings information from the surroundings information processing section 62. The activation inhibition factor is a worker, another work machine, an obstacle, or the like present within the predetermined range around the hydraulic excavator 10. This determination is referred to as first determination to determine whether or not activation of the hydraulic excavator 10 (start of the prime mover 36) is allowed based on the surroundings information. Further, in a case where the remote shutdown operation signal of the remote operation device 70 has been received, the surroundings situation determination section 65 determines whether or not a parking inhibition factor, which is a factor interfering with parking of the hydraulic excavator 10, is present in a predetermined range around the hydraulic excavator 10 on the basis of the surroundings information from the surroundings information processing section 62. The parking inhibition factor includes a case where a worker, another work machine, an obstacle, or the like is present within the predetermined range around the hydraulic excavator 10, a case of a situation in which the hydraulic excavator 10 is incapable of changing its posture to a parking posture, or the like. This determination is referred to as first determination to determine whether or not shutdown of the hydraulic excavator 10 (stop of the prime mover 36) is allowed on the basis of the surroundings information. This determination is to assess whether there is an available parking space within the predetermined range around the hydraulic excavator 10. The determination result made by the surroundings situation determination section 65 (permission determination to permit activation/shutdown or prohibition determination to prohibit activation/shutdown) is output to the activation/shutdown control section 67.
The burden state determination section 66 determines whether or not the bucket 23 as work tool of the front work device 11 is holding a burden such as earth and sand as a work target, on the basis of at least one piece of information among the load information from the load information processing section 63, the surroundings information from the surroundings information processing section 62, and the posture information from the posture information processing section 61 in a case where the above-described first determination based on the surroundings information is the permission determination to permit shutdown of the hydraulic excavator 10 and a case where the above-described second determination based on the posture information is the permission determination to permit shutdown of the hydraulic excavator 10. The determination result made by the burden state determination section 66 is output to the activation/shutdown control section 67.
The activation/shutdown control section 67 executes, in a case where the remote activation operation signal of the remote operation device 70 has been received, activation control according to the determination result made by the machine state determination section 64 (second determination) and the determination result made by the surroundings situation determination section 65 (first determination). Specifically, when the determination result made by the machine state determination section 64 is the permission determination and the determination result made by the surroundings situation determination section 65 is the permission determination, the activation/shutdown control section 67 outputs a start command to start the prime mover 36 to the prime mover 36, and outputs a start confirmation of the prime mover 36 to the communication device 41. Moreover, the activation/shutdown control section 67 executes controls to connect the main power supply 38 of the hydraulic excavator 10 and interrupt the standby power supply 43. On the other hand, when the determination result made by the machine state determination section 64 (second determination) is the prohibition determination or the determination result made by the surroundings situation determination section 65 (first determination) is the prohibition determination, the activation/shutdown control section 67 outputs an activation prohibition determination for the hydraulic excavator 10 to the communication device 41.
The activation/shutdown control section 67 executes, in a case where the remote shutdown operation signal of the remote operation device 70 has been received, remote shutdown control according to the determination result made by the machine state determination section 64 (second determination) and the determination result made by the surroundings situation determination section 65 (first determination). When the determination result made by the machine state determination section 64 (second determination) is the prohibition determination or the determination result made by the surroundings situation determination section 65 (first determination) is the prohibition determination, a request to ensure a parking space for the hydraulic excavator 10 is output to the communication device 41. The request to ensure a parking space for the hydraulic excavator 10 is transmitted to the remote operation device 70 through the communication device 41. On the other hand, when the determination result made by the machine state determination section 64 (second determination) is the permission determination and the determination result made by the surroundings situation determination section 65 (first determination) is the permission determination, an automatic parking flow of the hydraulic excavator 10 is executed. The automatic parking flow is a flow to change a posture of the front work device 11 of the hydraulic excavator 10 to a predetermined parking posture. Details of the automatic parking flow are described later. Moreover, after the end of this automatic parking flow, a stop command to stop the prime mover 36 is output to the prime mover 36, and a stop confirmation of the prime mover 36 is output to the communication device 41.
Next, a description is given of a procedure of the remote control of activation and shutdown of the hydraulic excavator in the remote-operation-type work machine system according to the first embodiment. First, a control procedure of remote activation of the hydraulic excavator in this remote-operation-type work machine system is described with use of FIGs. 2 to 6. FIG. 3 is a flowchart depicting an example of the control procedure of the remote activation of the work machine in the remote-operation-type work machine system according to the first embodiment depicted in FIG. 2.
In FIG. 3, in the remote-operation-type work machine system 1 depicted in FIG. 2, when an instruction of "system activation" on the hydraulic excavator 10 is input from the remote operation input device 71 or the display 73 of the remote operation device 70 through operation by an operator, the communication device 72 transmits the remote activation operation signal that is an activation instruction on the system (step S10).
The communication device 41 on the side of the hydraulic excavator 10 receives the remote activation operation signal from the remote operation device 70 (step S210). The communication device 41 is connected to the standby power supply 43 during stop of the prime mover 36, and is kept in such a state as to be capable of always receiving the remote operation signal from the remote operation device 70.
Upon the reception of the remote activation operation signal by the communication device 41, the posture information processing section 61 of the remote operation signal processor 42 takes in the posture information on the hydraulic excavator 10 from the posture sensor 45, and takes in the latest stop posture of the hydraulic excavator 10 stored in the storage 51 (step S220). The remote operation signal processor 42 is connected to the standby power supply 43 during stop of the prime mover 36, and is kept in such a state as to be always capable of processing the remote operation signal from the remote operation device 70. The posture sensor 45 is also connected to the standby power supply 43 during stop of the prime mover 36. The posture sensor 45 may be connected to the standby power supply 43 by a command from the remote operation signal processor 42 after reception of the remote activation operation signal.
Next, the machine state determination section 64 of the remote operation signal processor 42 computes the posture of the front work device 11 and the machine body 12 on the basis of the posture information taken in by the posture information processing section 61, and executes the second determination of whether or not the posture of the computation result falls within a predetermined allowable range (step S230). Specifically, it is determined whether or not the difference between the activation posture of the hydraulic excavator 10 as the computation result and the latest stop posture of the hydraulic excavator 10 stored in the storage 51 falls within the allowable range. The control procedure is advanced to a step S240 in a case of YES in the step S230, whereas the control procedure is advanced to a step S260 in a case of NO.
In the case of YES in the step S230, that is, in a case of the permission determination made through determining that an abnormality is absent in the posture and position of activation of the hydraulic excavator 10, the surroundings information processing section 62 of the remote operation signal processor 42 takes in the surroundings information on the hydraulic excavator 10 from the surroundings detector 46 (step S240). The surroundings detector 46 is connected to the standby power supply 43 during stop of the prime mover 36. The surroundings detector 46 may be connected to the standby power supply 43 by a command from the remote operation signal processor 42 after reception of the remote activation operation signal.
Subsequently, the surroundings situation determination section 65 of the remote operation signal processor 42 determines whether the activation inhibition factor (worker, another hydraulic excavator, or obstacle), which is a factor interfering with activation of the hydraulic excavator 10, is absent in a predetermined range around the hydraulic excavator 10 on the basis of the surroundings information taken in by the surroundings information processing section 62 (step S250). The control procedure is advanced to a step S270 in a case of YES in the step S250, whereas the control procedure is advanced to the step S260 in a case of NO.
In the case of NO in the step S230 or in the case of NO in the step S250, that is, in a case of the prohibition determination made through determining that there is a possibility that an abnormality has occurred in the posture or position of the hydraulic excavator 10 or in a case of the prohibition determination made through determining that the activation inhibition factor is present around the hydraulic excavator 10, the communication device 41 transmits the activation prohibition determination to the remote operation device 70 (step S260).
The activation prohibition determination from the hydraulic excavator 10 (communication device 41) is received by the communication device 72 of the remote operation device 70 (step S20). Upon the reception of the activation prohibition determination by the communication device 72, the display 73 of the remote operation device 70 displays information indicating the activation prohibition determination on the display screen of the display 73 (step S30). For example, in a case where an obstacle (activation inhibition factor) is present within the predetermined range around the hydraulic excavator 10 (in the case of NO in the step S250), a display screen depicted in FIG. 4 is displayed on the display 73. FIG. 4 is a diagram depicting the display screen of the activation prohibition determination in the control procedure of the remote activation, which procedure is depicted in FIG. 3 and is executed by the remote-operation-type work machine system according to the first embodiment. The remote-operation-type work machine system 1 ends the control flow of the remote activation after displaying, on the display 73, the information indicating the activation prohibition determination like that depicted in FIG. 4.
On the other hand, in the case of YES in the step S230 and the case of YES in the step S250, that is, in a case of the permission determination made through determining that an abnormality is absent in the posture and position of activation of the hydraulic excavator 10 and a case of the permission determination made through determining that the activation inhibition factor is absent around the hydraulic excavator 10, the communication device 41 transmits an activation permission determination (step S270).
The activation permission determination from the hydraulic excavator 10 (communication device 41) is received by the communication device 72 of the remote operation device 70 (step S40). Upon the reception of the activation permission determination by the communication device 72, the display 73 of the remote operation device 70 displays information indicating the activation permission determination on the display screen of the display 73 (step S50). For example, a display screen depicted in FIG. 5 is displayed on the display 73. FIG. 5 is a diagram depicting the display screen of the activation permission determination in the control procedure of the remote activation, which procedure is depicted in FIG. 3 and is executed by the remote-operation-type work machine system according to the first embodiment. When the information indicating the activation permission determination is displayed on the display 73, the operator of the remote operation device 70 is allowed to input the start instruction on the prime mover 36 of the hydraulic excavator 10. When the start instruction on the prime mover 36 is input from the remote operation input device 71 or the display 73 through operation by the operator, the communication device 72 transmits the remote operation signal of the start instruction on the prime mover 36 (step S110).
The remote operation signal of the start instruction from the remote operation device 70 is received by the communication device 41 on the side of the hydraulic excavator 10 (step S310). Upon the reception of the remote operation signal of the start instruction, the activation/shutdown control section 67 of the remote operation signal processor 42 switches the main power supply 38 to a connected state, and interrupts connection of the standby power supply 43 (step S320). Thereby, electric power is supplied from the main power supply 38 to the communication device 41, the remote operation signal processor 42, the posture sensor 45, the surroundings detector 46, the load sensor 47, and the various kinds of electrical equipment 37.
Next, the activation/shutdown control section 67 starts the prime mover 36 (step S330). Upon the start of the prime mover 36, the activation/shutdown control section 67 receives a signal indicating the start confirmation of the prime mover 36 and transmits the start confirmation of the prime mover 36 through the communication device 41 (step S340).
The signal of the start confirmation of the prime mover 36 from the hydraulic excavator 10 (communication device 41) is received by the communication device 72 of the remote operation device 70 (step S120). Upon the reception of the start confirmation of the prime mover 36, the display 73 of the remote operation device 70 displays information indicating the start confirmation of the prime mover 36 on the display screen of the display 73 (step S130). For example, information depicted in FIG. 6 is displayed on the display screen of the display 73. FIG. 6 is a diagram depicting the display screen of the start confirmation of the prime mover in the control procedure of the remote activation, which procedure is depicted in FIG. 3 and is executed by the remote-operation-type work machine system according to the first embodiment. The remote-operation-type work machine system 1 ends the control flow of the remote activation after displaying the information indicating the start confirmation of the prime mover like that depicted in FIG. 6 on the display 73.
Next, a control procedure of remote shutdown of the hydraulic excavator in the remote-operation-type work machine system according to the first embodiment is described with use of FIGs. 2 and 7 to 10. FIG. 7 is a flowchart depicting an example of the control procedure of the remote shutdown of the work machine in the remote-operation-type work machine system according to the first embodiment depicted in FIG. 2.
In FIG. 7, in the remote-operation-type work machine system 1 depicted in FIG. 2, when an instruction of "system shutdown" on the hydraulic excavator 10 is input from the remote operation input device 71 or the display 73 of the remote operation device 70 through operation by an operator, the communication device 72 transmits the remote shutdown operation signal that is a shutdown instruction on the system (step S410).
The communication device 41 on the side of the hydraulic excavator 10 receives the remote shutdown operation signal from the remote operation device 70 (step S610). Upon the reception of the remote shutdown operation signal by the communication device 41, the surroundings information processing section 62 of the remote operation signal processor 42 takes in the surroundings information on the hydraulic excavator 10 from the surroundings detector 46 (step S620).
Next, the surroundings situation determination section 65 determines whether or not there is an available parking space within a predetermined range around the hydraulic excavator based on the surroundings information taken in by the surroundings information processing section 62 (step S630). Specifically, it is determined whether the parking inhibition factor (obstacle, another work machine, worker, or situation in which the hydraulic excavator 10 is incapable of changing its posture to a parking posture) is absent in the predetermined range around the hydraulic excavator 10 on the basis of the surroundings information from the surroundings information processing section 62. The control procedure is advanced to a step S640 in a case of YES in the step S630, whereas the control procedure is advanced to a step S660 in a case of NO.
In the case of YES in the step S630, that is, in a case where it is determined that there is an available parking space within the predetermined range around the hydraulic excavator 10, the posture information processing section 61 takes in the posture information on the hydraulic excavator 10 from the posture sensor 45 (step S640).
Subsequently, the machine state determination section 64 determines whether or not the posture (inclination with respect to the horizontal plane) of the machine body 12 of the hydraulic excavator 10 falls within an allowable range on the basis of the posture information taken in by the posture information processing section 61 (step S650). The control procedure is advanced to a step S670 in a case of YES in the step S650, whereas the control procedure is advanced to the step S660 in a case of NO.
In the case of NO in the step S630 or in the case of NO in the step S650, that is, in a case of the prohibition determination made through determining that the parking inhibition factor is present around the hydraulic excavator and parking is inappropriate or in a case of the prohibition determination made through determining that the posture (inclination) of the machine body 12 of the hydraulic excavator 10 is out of the allowable range and parking is inappropriate, the communication device 41 transmits a request to ensure a parking space (step S660).
The request to ensure a parking space from the hydraulic excavator 10 (communication device 41) is received by the communication device 72 of the remote operation device 70 (step S420). Upon the reception of the request to ensure a parking space by the communication device 72, the display 73 of the remote operation device 70 displays information indicating the request to ensure a parking space on the display screen (step S430). For example, in a case where an obstacle (parking inhibition factor) is present around the hydraulic excavator 10 (in the case of NO in the step S630), a display screen depicted in FIG. 8 is displayed on the display 73. FIG. 8 is a diagram depicting the display screen of an instruction to ensure a parking space through determination of a surroundings situation in the control procedure of the remote shutdown, which procedure is depicted in FIG. 7 and is executed by the remote-operation-type work machine system. Further, when the inclination of the machine body 12 of the hydraulic excavator 10 is out of the allowable range (in the case of NO in the step S650), a display screen depicted in FIG. 9 is displayed on the display 73. FIG. 9 is a diagram depicting the display screen of an instruction to ensure a parking space through determination of a machine body state in the control procedure of the remote shutdown, which procedure is depicted in FIG. 7 and is executed by the remote-operation-type work machine system.
When the request to ensure a parking space is displayed on the display 73, the operator of the remote operation device 70 inputs, by operation of the remote operation input device 71, an action instruction to execute movement of the hydraulic excavator 10, removal of an obstacle by the hydraulic excavator 10, or ground leveling of surroundings by the hydraulic excavator 10. The action instruction on the hydraulic excavator 10 from the remote operation input device 71 made through the operation by the operator is transmitted as the remote operation signal by the communication device 72 (step S440).
The communication device 41 on the side of the hydraulic excavator 10 receives the remote operation signal of the action instruction on the hydraulic excavator 10 from the remote operation device 70. The activation/shutdown control section 67 causes the hydraulic excavator 10 to work in response to the received remote operation signal of the action instruction, and finally the communication device 41 transmits information on a parking space (step S665).
The information on the parking space from the hydraulic excavator 10 is received by the communication device 72 of the remote operation device 70 and is displayed on the display 73 (step S440). The information on the parking space displayed on the display 73 is, for example, the surroundings information on the hydraulic excavator 10 detected by the surroundings detector 46. When an instruction on system shutdown is input again through operation by the operator who has determined that this parking space enables parking on the basis of the information of the display 73, the remote operation device 70 transmits the remote shutdown operation signal of the shutdown instruction input again.
When the remote shutdown operation signal from the remote operation device 70 is received by the communication device 41 on the side of the hydraulic excavator 10 again, the remote operation signal processor 42 and the like repeat the above-described steps S610 to S650. In the case of YES in the step S630 and the case of YES in the step S650, that is, in a case of the permission determination made through determining that the parking inhibition factor is absent around the hydraulic excavator 10 and the area is appropriate as a parking space or in a case of the permission determination made through determining that the posture (inclination) of the machine body 12 of the hydraulic excavator 10 falls within the allowable range and the area is appropriate as the parking space, the communication device 41 transmits a shutdown permission determination (step S670).
The shutdown permission determination from the hydraulic excavator 10 (communication device 41) is received by the communication device 72 of the remote operation device 70 (step S450). Upon the reception of the shutdown permission determination by the communication device 72, the display 73 displays information indicating the shutdown permission determination on the display screen of the display 73 (step S460).
When the information indicating the shutdown permission determination is displayed on the display 73, the operator of the remote operation device 70 is allowed to input a stop instruction on the prime mover 36 of the hydraulic excavator 10. When the stop instruction on the prime mover 36 is input from the remote operation input device 71 or the display 73 through operation by the operator, the communication device 72 transmits the remote operation signal of the stop instruction on the prime mover 36 (step S510).
The remote operation signal of the stop instruction from the remote operation device 70 is received by the communication device 41 on the side of the hydraulic excavator 10 (step S710). Upon the reception of the remote operation signal of the stop instruction, the activation/shutdown control section 67 of the remote operation signal processor 42 executes the automatic parking flow of the hydraulic excavator 10 (step S720). Details of this automatic parking flow are described later.
When the automatic parking flow has been executed and the hydraulic excavator 10 has become a predetermined parking posture, the activation/shutdown control section 67 switches the communication device 41 and the remote operation signal processor 42 to a state in which they are connected to the standby power supply 43 (step S730), and stops the prime mover 36 (step S740). Subsequently, the activation/shutdown control section 67 interrupts connection of the main power supply 38 (step S750). This prevents discharge of the main power supply 38 to prevent the battery from going up. Upon the stop of the prime mover 36, the activation/shutdown control section 67 receives a signal of the stop confirmation of the prime mover 36 and transmits the signal through the communication device 41 (step S760).
The signal of the stop confirmation of the prime mover 36 from the hydraulic excavator 10 (communication device 41) is received by the communication device 72 of the remote operation device 70 (step S520). Upon the reception of the stop confirmation of the prime mover 36, the display 73 of the remote operation device 70 displays information indicating the stop confirmation of the prime mover 36 on the display screen of the display 73 (step S530). For example, information depicted in FIG. 10 is displayed on the display 73. FIG. 10 is a diagram depicting the display screen of the stop confirmation of the prime mover in the control procedure of the remote shutdown, which procedure is depicted in FIG. 7 and is executed by the remote-operation-type work machine system. The remote-operation-type work machine system 1 ends the control flow of the remote shutdown of the hydraulic excavator 10, for example, through touch operation of "logout" indicated in FIG. 10.
Next, a procedure of remote control of automatic parking of the hydraulic excavator in the remote-operation-type work machine system according to the first embodiment is described with use of FIGs. 2 and 11. FIG. 11 is a flowchart depicting an example of a detailed control procedure of the automatic parking in the control procedure of the remote shutdown, which procedure is depicted in FIG. 7 and is executed by the remote-operation-type work machine system according to the first embodiment.
The remote operation signal processor 42 executes the automatic parking flow depicted in FIG. 11. First, the load information processing section 63 takes in the load information on the front work device 11 from the load sensor 47, and the posture information processing section 61 takes in the posture information on the hydraulic excavator 10 from the posture sensor 45, and the surroundings information processing section 62 takes in the surroundings information on the hydraulic excavator 10 from the surroundings detector 46 (step S721).
Next, the burden state determination section 66 determines whether or not a burden such as earth and sand as a work target is being held in the bucket 23 (step S722). The control procedure is advanced to a step S724 in a case of NO in the step S722, whereas the control procedure is advanced to a step S723 in a case of YES.
For example, the burden state determination section 66 computes a load applied to the front work device 11 on the basis of the load information (pressure of hydraulic chambers of the hydraulic cylinders 25, 26, and 27 for the front work device 11) taken in by the load information processing section 63, and determines whether or not a burden (earth and sand) is being held in the bucket 23 on the basis of the load as the computation result. Further, the burden state determination section 66 determines whether or not a burden (earth and sand) is being held in the bucket 23 on the basis of image information as the surroundings information taken in by the surroundings information processing section 62. Moreover, the burden state determination section 66 computes the posture of the front work device 11 on the basis of the posture information taken in by the posture information processing section 61, and determines whether or not a burden (earth and sand) is being held in the bucket 23 on the basis of the posture of the front work device 11 as the computation result. In addition, it is also possible to have a configuration in which the determination of whether or not a burden (earth and sand) is being held in the bucket 23 is made by combining these pieces of information.
In the case of YES in the step S722, that is, in a case where the remote operation signal processor 42 has determined that a burden is being held in the bucket 23, the activation/shutdown control section 67 causes the bucket 23 to perform dumping action, thereby dumping (step S723), and executes the processing of the steps S721 and S722 again. Until the determination of NO is made in the step S722, the processing of the steps S721 and S722 is repeated.
In the case of NO in the step S722, that is, in a case where the remote operation signal processor 42 has determined that a burden (earth and sand) is not being held in the bucket 23, the activation/shutdown control section 67 changes the posture of the front work device 11 to a predetermined parking posture. Specifically, first, execution of boom raising action to raise the boom 21 to a predetermined position is caused (step S724). Second, execution of arm action to make the arm 22 pivot to a predetermined position is caused (step S725). Third, execution of bucket action to make the bucket 23 pivot to a predetermined position is caused (step S726). Fourth, execution of boom lowering action to lower the boom 21 at a predetermined speed is caused (step S727).
Moreover, the activation/shutdown control section 67 determines whether or not the bucket 23 has landed (step S728). Specifically, for example, the load information processing section 63 takes in the rod pressure of the boom cylinder 25 from the load sensor 47, and determines whether or not this taken-in rod pressure is equal to or higher than a pressure threshold set in advance. For example, the pressure threshold is stored in the storage 51 in advance. When the rod pressure of the boom cylinder 25 is equal to or higher than the pressure threshold, it is determined that the bucket 23 has landed. In the other case, it is determined that the bucket 23 has not landed. In the case of NO in the step S728, the steps S727 and S728 are repeated until YES is made in the step S728. That is, the lowering action of the boom 21 is continued.
When a determination of YES is made in the step S728, the position of the hydraulic excavator 10 and the posture of the front work device 11 and the machine body 12 at this parking timing are stored in the storage 51 (step S729).
The remote operation signal processor 42 ends the automatic parking flow after the processing of the step S729.
The remote operation signal processor 42 can be either a configuration that directly outputs action commands of the boom 21, the arm 22, and the bucket 23 to the hydraulic system or a configuration that outputs them to the hydraulic system through the machine controller.
As described above, the remote-operation-type work machine system 1 according to the first embodiment includes the hydraulic excavator 10 (work machine) that has the prime mover 36 and is remotely operable by reception of the remote operation signal and the remote operation device 70 that transmits the remote operation signal to the hydraulic excavator 10 (work machine) to remotely operate the hydraulic excavator 10 (work machine). The hydraulic excavator 10 (work machine) includes the surroundings detector 46 that detects the surroundings information that is information relating to a surroundings situation of the hydraulic excavator 10 (work machine) and the posture sensor 45 that senses the posture information that is information relating to the posture of the hydraulic excavator 10 (work machine). The hydraulic excavator 10 (work machine) has the remote operation signal processor 42 as the system controller that executes action control for the hydraulic excavator 10 (work machine) based on the remote operation signal. The remote operation signal processor 42 (system controller) is configured to, when the remote operation signal transmitted from the remote operation device 70 is the remote activation operation signal for activating the hydraulic excavator 10 (work machine) or the remote shutdown operation signal for shutting down the hydraulic excavator 10 (work machine), take in the surroundings information and the posture information detected by the surroundings detector 46 and the posture sensor 45, and determine whether or not the prime mover 36 is allowed to be started or stopped based on the surroundings information and the posture information.
According to this configuration, in response to the remote operation signal of activation/shutdown from the remote operation device 70, it is determined, based on the surroundings information detected by the surroundings detector 46 and the posture information sensed by the posture sensor 45, whether or not the prime mover 36 is allowed to be started/stopped before execution of start/stop of the prime mover 36. Thus, it is possible to execute activation/shutdown of the hydraulic excavator 10 (work machine) by the remote control after checking a situation of surroundings of the hydraulic excavator 10 (work machine) and a state of this machine itself.
Moreover, the remote operation signal processor 42 (system controller) of the remote-operation-type work machine system 1 according to the present embodiment is configured to, when the remote operation signal transmitted from the remote operation device 70 is the remote activation operation signal, take in information that is part of the posture information sensed by the posture sensor 45 and relates to the stop posture as the posture of the hydraulic excavator 10 (work machine) at the time of the latest stop of the prime mover 36, determine whether or not the activation inhibition factor that is a factor interfering with activation of the hydraulic excavator 10 (work machine) is present around the hydraulic excavator 10 (work machine) on the basis of the surroundings information sensed by the surroundings detector 46, and determine whether or not the prime mover 36 is allowed to be started based on presence or absence of the activation inhibition factor, the activation posture that is the posture of the hydraulic excavator 10 (work machine) when the remote activation operation signal is taken in, and the latest stop posture of the hydraulic excavator 10 (work machine).
According to this configuration, the remote operation signal processor 42 (system controller) itself determines whether or not the prime mover 36 is allowed to be started in response to the remote activation operation signal from the remote operation device 70. Thus, the operator of the remote operation device 70 is not required to check the surroundings situation of the hydraulic excavator 10 (work machine) and the state of this machine itself and to determine whether or not activation of the hydraulic excavator 10 (work machine) is allowed. This can reduce the burden of operation on the operator.
Further, the remote operation signal processor 42 (system controller) of the remote-operation-type work machine system 1 according to the present embodiment is configured to, when the remote operation signal transmitted from the remote operation device 70 is the remote shutdown operation signal, determine whether or not the parking inhibition factor (worker, another work machine, obstacle, or the like) that is a factor interfering with parking of the hydraulic excavator 10 (work machine) is present around the hydraulic excavator 10 (work machine) on the basis of the surroundings information, and determine whether or not the prime mover 36 is allowed to be stopped based on presence or absence of the parking inhibition factor and the inclination of the hydraulic excavator 10 (work machine) with respect to the horizontal plane, which inclination is obtained based on the posture information.
According to this configuration, the remote operation signal processor 42 (system controller) itself determines whether or not the prime mover 36 is allowed to be stopped in response to the remote shutdown operation signal from the remote operation device 70. Thus, the operator of the remote operation device 70 is not required to check the surroundings situation of the hydraulic excavator 10 (work machine) and the state of this machine itself and determine whether or not shutdown of the hydraulic excavator 10 (work machine) is allowed. This can reduce the burden of operation on the operator.
Moreover, in the present embodiment, the hydraulic excavator 10 (work machine) includes the articulated front work device 11 (work device) and the load sensor 47 that senses the load information that is information relating to a load applied to the front work device 11 (work device). Further, the remote operation signal processor 42 (system controller) is configured to, before executing stop of the prime mover 36, take in the load information, the surroundings information, and the posture information, determine whether or not the front work device 11 (work device) is holding a work target (earth and sand or the like) based on the load information, the surroundings information, and the posture information that have been taken in, and change a posture of the front work device 11 (work device) to a predetermined parking posture before executing stop of the prime mover 36 when determining that the front work device 11 (work device) is not holding the work target.
According to this configuration, the remote operation signal processor 42 (system controller) executes change control for the front work device 11 (work device) to the predetermined parking posture. Thus, the operator of the remote operation device 70 is not required to execute changing operation for the front work device 11 (work device) to the predetermined parking posture, and the burden of operation on the operator can be reduced.
Moreover, in the present embodiment, the hydraulic excavator 10 (work machine) is equipped with the main power supply 38 and the standby power supply 43. The hydraulic excavator 10 (work machine) is configured to receive the remote operation signal with use of the standby power supply 43 as a power source during stop of the prime mover 36 and receive the remote operation signal with use of the main power supply 38 as the power source during driving of the prime mover 36.
According to this configuration, the remote operation signal is received through power supply from not the main power supply 38 but the standby power supply 43 during stop of the prime mover 36. Thus, the main power supply 38 can be prevented from discharging during system shutdown (standby state) of the hydraulic excavator.
Further, as described above, the hydraulic excavator 10 (work machine) according to the present embodiment has the prime mover 36 and is remotely operable by reception of the remote operation signal from the remote operation device 70. The hydraulic excavator 10 (work machine) includes the surroundings detector 46 that detects the surroundings information that is information relating to a surroundings situation of the hydraulic excavator 10 (work machine) and the posture sensor 45 that senses the posture information that is information relating to the posture of the hydraulic excavator 10 (work machine). The hydraulic excavator 10 (work machine) has the remote operation signal processor 42 as the controller that executes action control for the hydraulic excavator 10 (work machine) based on the remote operation signal. The remote operation signal processor 42 (controller) is configured to, when receiving, from the remote operation device 70, the remote activation operation signal for activating the hydraulic excavator 10 (work machine) or the remote shutdown operation signal for shutting down the hydraulic excavator 10 (work machine) as the remote operation signal, determine whether or not the prime mover 36 is allowed to be started or stopped on the basis of the surroundings information and the posture information, and transmit the result of the determination of whether or not to allow the prime mover 36 to be started or stopped to the remote operation device 70.
According to this configuration, in response to the remote operation signal of activation/shutdown from the remote operation device 70, it is determined whether or not the prime mover 36 is allowed to be started/stopped based on the surroundings information and the posture information before execution of start/stop of the prime mover 36. Thus, it is possible to execute activation/shutdown of the hydraulic excavator 10 (work machine) by the remote control after checking a situation of surroundings of the hydraulic excavator 10 (work machine) and a state of this machine itself.

[Second Embodiment]

Next, a remote-operation-type work machine system according to a second embodiment of the present invention is described with use of FIGs. 12 to 14. In FIGs. 12 to 14, a part with the same numeral as the numeral depicted in FIGs. 1 to 11 is a similar part, and thus detailed description thereof is omitted. FIG. 12 is a block diagram depicting a configuration of a remote operation device and a work machine in the remote-operation-type work machine system according to the second embodiment.
A difference of a remote-operation-type work machine system 1A according to the second embodiment depicted in FIG. 12 from the first embodiment is that functions of three determination sections, i.e., the machine state determination section 64, the surroundings situation determination section 65, and the burden state determination section 66, in the remote operation signal processor 42 as the system controller according to the first embodiment are implemented in a second remote operation signal processor 75 (second controller) incorporated in a remote operation device 70A and, in association with this, a procedure of remote control for a hydraulic excavator 10A is changed.
Specifically, a system controller in the remote-operation-type work machine system 1A according to the present embodiment is composed of a first remote operation signal processor 42A (first controller) mounted in the hydraulic excavator 10 and the second remote operation signal processor 75 (second controller) incorporated in the remote operation device 70A. The first remote operation signal processor 42A has the respective functional sections, i.e., the posture information processing section 61, the surroundings information processing section 62, the load information processing section 63, and the activation/shutdown control section 67, other than the machine state determination section 64, the surroundings situation determination section 65, and the burden state determination section 66 that the remote operation signal processor 42 of the first embodiment has. The other configuration mounted in the hydraulic excavator 10A is similar to that in the case of the first embodiment.
The remote operation device 70A of the present embodiment includes the second remote operation signal processor 75 with functions similar to those of the three determination sections of the remote operation signal processor 42 of the first embodiment in addition to the remote operation input device 71, the communication device 72, and the display 73 in the case of the first embodiment. The second remote operation signal processor 75 is a device configured such that determinations to be executed on the basis of various kinds of information can be executed not by the first remote operation signal processor 42A on the side of the hydraulic excavator 10A but on the side of the remote operation device 70A. Specifically, the second remote operation signal processor 75 has a machine state determination section 64A with functions similar to those of the machine state determination section 64 of the first embodiment, a surroundings situation determination section 65A with functions similar to those of the surroundings situation determination section 65 of the first embodiment, and a burden state determination section 66A with functions similar to those of the burden state determination section 66 of the first embodiment. As a hardware configuration, for example, the second remote operation signal processor 75 is configured by a microcomputer including a storage 76 composed of a RAM, a ROM, and the like and a processor 77 composed of a CPU, an MPU, and the like. Programs and various kinds of information required for remote control of activation and shutdown of the hydraulic excavator 10A are stored in the storage 76 in advance. The processor 77 implements the above-described various functions by reading the program and the various kinds of information from the storage 76 as appropriate and executing processing in accordance with this program.
Next, a description is given of a procedure of the remote control of activation and shutdown of the hydraulic excavator in the remote-operation-type work machine system according to the second embodiment. First, a control procedure of remote activation of the hydraulic excavator in this remote-operation-type work machine system is described with use of FIGs. 12 and 13. FIG. 13 is a flowchart depicting an example of the control procedure of the remote activation of the work machine in the remote-operation-type work machine system according to the second embodiment depicted in FIG. 12.
In FIG. 13, in the remote-operation-type work machine system 1A depicted in FIG. 12, when an instruction of "system activation" on the hydraulic excavator 10A is input from the remote operation input device 71 or the display 73 of the remote operation device 70A through operation by an operator, the communication device 72 transmits the remote activation operation signal (step S10). The remote activation operation signal from the remote operation device 70A is received by the communication device 41 on the side of the hydraulic excavator 10A (step S210). These steps are similar to those in the case of the first embodiment.
Upon the reception of the remote activation operation signal by the communication device 41, the posture information processing section 61 of the first remote operation signal processor 42A takes in the posture information on the hydraulic excavator 10A from the posture sensor 45 (step S220), and the surroundings information processing section 62 takes in the surroundings information on the hydraulic excavator 10A from the surroundings detector 46 (step S240). The communication device 41 transmits the posture information and the surroundings information on the hydraulic excavator 10A captured by the first remote operation signal processor 42A (step S280). Differently from the first embodiment, the first remote operation signal processor 42A of the present embodiment has a configuration that does not determine whether or not the posture or position of the hydraulic excavator 10A is abnormal (step S230 in the flowchart depicted in FIG. 3) and determine whether or not the activation inhibition factor around the hydraulic excavator is present (step S250 in the flowchart depicted in FIG. 3).
The remote operation device 70A receives the posture information and the surroundings information on the hydraulic excavator 10A from the communication device 41 on the side of the hydraulic excavator 10A (step S12). The machine state determination section 64A of the second remote operation signal processor 75 of the remote operation device 70A computes the posture of the front work device 11 and the machine body 12 based on the received posture information, and executes the second determination of whether or not the activation posture of the computation result falls within a predetermined allowable range (step S14). The control procedure is advanced to a step S16 in a case of YES in the step S14, whereas the control procedure is advanced to the step S30 in a case of NO. This step S14 is a step similar to the determination processing of the step S230 depicted in FIG. 3 by the machine state determination section 64 of the remote operation signal processor 42 of the first embodiment, and thus detailed description thereof is omitted.
In the case of YES in the step S14, the surroundings situation determination section 65A of the second remote operation signal processor 75 determines whether or not the activation inhibition factor is absent in a predetermined range around the hydraulic excavator 10A based on the received surroundings information (step S16). The control procedure is advanced to the step S50 in a case of YES in the step S16, whereas the control procedure is advanced to the step S30 in a case of NO. This step S16 is a step similar to the determination processing of the step S250 depicted in FIG. 3 by the surroundings situation determination section 65 of the remote operation signal processor 42 of the first embodiment, and thus detailed description thereof is omitted.
In the case of NO in the step S14 or in the case of NO in the step S16, that is, in a case where the first determination based on the surroundings information is the prohibition determination or in a case where the second determination based on the posture information is the prohibition determination, information indicating the activation prohibition determination is displayed on a display screen of the display 73 (step S30), and the control flow of the remote activation is ended. On the other hand, in the case of YES in the step S14 and the case of YES in the step S16, that is, in a case where the first determination based on the surroundings information is the permission determination and a case where the second determination based on the posture information is the permission determination, information indicating the activation permission determination is displayed on the display screen of the display 73 (step S50).
In the case where the information indicating the activation permission determination is displayed on the display 73, when the start instruction on the prime mover 36 is input from the remote operation input device 71 or the display 73 through operation by the operator, the communication device 72 transmits the remote operation signal of the start instruction on the prime mover 36 (step S110). After the transmission of the remote operation signal of the start instruction on the prime mover 36, a series of steps for start of the prime mover 36 on the side of the hydraulic excavator 10A (steps S310 to S340) and a series of steps for the start of the prime mover 36 on the side of the remote operation device 70A (steps SS120 and S130) are similar to those in the case of the first embodiment.
Next, a control procedure of remote shutdown of the hydraulic excavator in the remote-operation-type work machine system is described with use of FIGs. 12 and 14. FIG. 14 is a flowchart depicting an example of the control procedure of the remote shutdown of the work machine in the remote-operation-type work machine system according to the second embodiment depicted in FIG. 12.
In FIG. 14, in the remote-operation-type work machine system 1A depicted in FIG. 12, when an instruction of "system shutdown" on the hydraulic excavator 10A is input from the remote operation input device 71 or the display 73 of the remote operation device 70A through operation by an operator, the communication device 72 transmits the remote shutdown operation signal (step S410). The remote shutdown operation signal from the remote operation device 70A is received by the communication device 41 on the side of the hydraulic excavator 10A (step S610). These steps are similar to those in the case of the first embodiment.
Upon the reception of the remote shutdown operation signal, the surroundings information processing section 62 of the first remote operation signal processor 42A takes in the surroundings information on the hydraulic excavator 10A from the surroundings detector 46 (step S620), and the posture information processing section 61 takes in the posture information on the hydraulic excavator 10A from the posture sensor 45 (step S640). The communication device 41 transmits the surroundings information and the posture information on the hydraulic excavator 10A captured by the first remote operation signal processor 42A (step S680). Differently from the remote operation signal processor 42 of the first embodiment, the first remote operation signal processor 42A of the present embodiment has a configuration that does not determine whether or not the parking inhibition factor is present around the hydraulic excavator 10A (step S630 in the flowchart depicted in FIG. 7) and determine whether or not the posture (inclination) of the machine body 12 is abnormal (step S650 in the flowchart depicted in FIG. 7).
The remote operation device 70A receives the surroundings information and the posture information on the hydraulic excavator 10A from the communication device 41 on the side of the hydraulic excavator 10A (step S412). The surroundings situation determination section 65A of the second remote operation signal processor 75 of the remote operation device 70A determines whether or not there is an available parking space within a predetermined range around the hydraulic excavator 10A based on the received surroundings information (step S414). The control procedure is advanced to a step S416 in a case of YES in the step S414, whereas the control procedure is advanced to the step S430 in a case of NO. This step S414 is a step similar to the determination processing of the step S630 depicted in FIG. 7, executed by the surroundings situation determination section 65 of the remote operation signal processor 42 of the first embodiment, and thus detailed description thereof is omitted.
In the case of YES in the step S414, the machine state determination section 64A of the second remote operation signal processor 75 determines whether or not the posture (inclination with respect to the horizontal plane) of the machine body 12 of the hydraulic excavator 10A falls within an allowable range on the basis of the received posture information (step S416). The control procedure is advanced to the step S460 in a case of YES in the step S416, whereas the control procedure is advanced to the step S430 in a case of NO. This step S416 is a step similar to the determination processing of the step S650 depicted in FIG. 7 by the machine state determination section 64 of the remote operation signal processor 42 of the first embodiment, and thus detailed description thereof is omitted.
In the case of NO in the step S414 or the step S416, that is, in a case where the first determination based on the surroundings information is the prohibition determination or in a case where the second determination based on the posture information is the prohibition determination, information indicating a request to ensure a parking space for the hydraulic excavator 10A is displayed on the display screen of the display 73 (step S430).
In the case where the request to ensure a parking space is displayed, when an action instruction on the hydraulic excavator 10A is input from the remote operation input device 71 by the operator of the remote operation device 70, the remote operation signal of the action instruction on the hydraulic excavator 10A is transmitted from the communication device 72 (step S440). The communication device 41 on the side of the hydraulic excavator 10A receives this remote operation signal, and the activation/shutdown control section 67 causes the hydraulic excavator 10A to work in response to the received remote operation signal of the action instruction, and finally the communication device 41 transmits information on a parking space (step S665). The information on the parking space from the hydraulic excavator 10A is received by the remote operation device 70 and is displayed (step S440). The series of steps S430, S440, and S665 is similar to that in the first embodiment, and thus detailed description thereof is omitted.
When the shutdown instruction on the system is input again by the operator of the remote operation device 70, the above-described steps S610, S620, S640, S680, S412, S414, and S416 are repeated. In the case of YES in the step S414 and the case of YES in the step S416, that is, in a case where the first determination based on the surroundings information is the permission determination and a case where the second determination based on the posture information is the permission determination, information indicating the shutdown permission determination is displayed on the display screen of the display 73 (step S460).
In the case where the information indicating the shutdown permission determination is displayed on the display 73, when the stop instruction on the prime mover 36 is input from the remote operation input device 71 or the display 73 through operation by the operator, a series of steps on the side of the hydraulic excavator 10A (steps S710 to S760) and a series of steps on the side of the remote operation device 70A (steps SS520 and S530) that are similar to those in the case of the first embodiment are executed, and the control flow of the remote shutdown of the hydraulic excavator 10A is ended.
According to the remote-operation-type work machine system 1A according to the above-described second embodiment, similarly to the above-described first embodiment, in response to the remote operation signal of activation/shutdown from the remote operation device 70A, it is determined whether or not the prime mover 36 is allowed to be started/stopped based on the surroundings information detected by the surroundings detector 46 and the posture information sensed by the posture sensor 45 before execution of start/stop of the prime mover 36. Thus, it is possible to execute activation/shutdown of the hydraulic excavator 10A (work machine) by the remote control after checking a situation of surroundings of the hydraulic excavator 10A (work machine) and a state of this machine itself.

[Other Embodiments]

In the above-described embodiments, the examples in which the present invention is applied to the remotely operable hydraulic excavators 10 and 10A have been depicted. However, the present invention can be widely applied to various work machines that can be remotely operated other than the hydraulic excavator.
Further, the present invention is not limited to the present embodiments and various modifications are included therein. The above-described embodiments have been explained in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to that including all configurations explained. It is possible to replace part of a configuration of a certain embodiment by a configuration of another embodiment. Further, it is also possible to add a configuration of a certain embodiment to a configuration of another embodiment. Moreover, it is also possible to add, delete, or replace another configuration concerning part of a configuration of each embodiment.
For example, in the second embodiment, the configuration is made such that the second remote operation signal processor 75 on the side of the remote operation device 70A configuring part of the system controller executes, by itself, the first determination to determine whether or not activation and shutdown of the hydraulic excavator 10A (start and stop of the prime mover 36) are allowed on the basis of the surroundings information taken in by the first remote operation signal processor 42A on the side of the hydraulic excavator 10A and the second determination to determine whether or not activation and shutdown of the hydraulic excavator 10A (start and stop of the prime mover 36) are allowed on the basis of the posture information taken in by the first remote operation signal processor 42A. Moreover, the second remote operation signal processor 75 transmits the start instruction or the stop instruction for executing start or stop of the prime mover 36 when both determinations of these first determination and second determination are the permission determinations to permit activation or shutdown of the hydraulic excavator 10A (start and stop of the prime mover 36). In contrast, it is also possible to employ a configuration in which the second remote operation signal processor on the side of the remote operation device 70A is confined to processing to make a state in which it is possible to execute the first determination based on the surroundings information and the second determination based on the posture information without executing the first determination based on the surroundings information and the second determination based on the posture information. That is, the second remote operation signal processor on the side of the remote operation device 70A is configured to present, on the display 73 as an output device of the remote operation device 70A, information that enables the first determination based on the surroundings information and information that enables the second determination based on the posture information.
In a case of such a configuration, for example, the following points are different from the control procedure of the remote activation of the hydraulic excavator in the remote-operation-type work machine system 1A according to the second embodiment.
In the step S14 of the control flow according to the second embodiment depicted in FIG. 13, the second remote operation signal processor 75 computes the posture of the front work device 11 and the machine body 12 on the basis of the received posture information, and determines whether or not the activation posture of the hydraulic excavator 10A as the computation result falls within the predetermined allowable range. In contrast, a second remote operation signal processor of a modification of the second embodiment computes the posture of the front work device 11 and the machine body 12 on the basis of the received posture information, and displays, on the display 73 as the output device, information on the activation posture of the hydraulic excavator 10A as the computation result and information for the second determination to determine whether or not activation of the hydraulic excavator 10A (start of the prime mover 36) is allowed concerning the activation posture to present these pieces of information to the operator of the remote operation device 70A. Moreover, the second remote operation signal processor of the modification receives operation input of this second determination (whether or not activation of the hydraulic excavator 10A is allowed) by the operator of the remote operation device 70A. In a case in which the received operation input of the second determination is YES (permission determination to permit activation of the hydraulic excavator 10A), the control procedure is advanced to the step S16 depicted in FIG. 13. On the other hand, in a case where the received operation input of the second determination is NO (prohibition determination to prohibit activation of the hydraulic excavator 10A), the control procedure is advanced to the step S30 depicted in FIG. 13.
Further, in the step S16 of the control flow according to the second embodiment depicted in FIG. 13, the second remote operation signal processor 75 determines whether or not the activation inhibition factor is absent in the predetermined range around the hydraulic excavator 10A on the basis of the received surroundings information. In contrast, the second remote operation signal processor of the modification of the second embodiment displays, on the display 73 as the output device, information on whether or not the activation inhibition factor around the hydraulic excavator 10A is present (information that enables the first determination), which information is obtained on the basis of the received surroundings information, to present the information to the operator of the remote operation device 70A. Moreover, the second remote operation signal processor of the modification receives operation input concerning whether or not activation of the hydraulic excavator 10A (start of the prime mover 36) is allowed (first determination), which is executed by the operator of the remote operation device 70A. In a case where the received operation input of the first determination is YES (permission determination to permit activation of the hydraulic excavator 10A), the control procedure is advanced to the step S50 depicted in FIG. 13. On the other hand, in a case in which the received operation input of the first determination is NO (prohibition determination to prohibit activation of the hydraulic excavator 10A), the control procedure is advanced to the step S30 depicted in FIG. 13.
In this modification, the second remote operation signal processor displaying, on the display 73, the information on the activation posture of the hydraulic excavator 10A obtained on the basis of the posture information and the information on whether or not the activation inhibition factor is present around the hydraulic excavator 10A, which information is obtained on the basis of the surroundings information, to present these pieces of information to the operator of the remote operation device 70A, and also receiving the operation input concerning whether or not activation of the hydraulic excavator 10A (start of the prime mover 36) is allowed, which input is executed by the operator of the remote operation device 70A, is defined to correspond to the system controller determining whether or not activation of the hydraulic excavator 10A (start of the prime mover 36) is allowed on the basis of the surroundings information and the posture information.
Further, for example, the following points are different from the control procedure of the remote shutdown of the hydraulic excavator in the remote-operation-type work machine system 1A according to the second embodiment.
In the step S414 of the control flow according to the second embodiment depicted in FIG. 14, the second remote operation signal processor 75 determines whether or not there is an available parking space for the hydraulic excavator 10A based on the received surroundings information. In contrast, the second remote operation signal processor of the modification of the second embodiment displays, on the display 73 as the output device, the information on whether or not the parking inhibition factor is present around the hydraulic excavator 10A (information that enables execution of the first determination to determine whether or not shutdown of the hydraulic excavator 10A (prime mover 36) is allowed), which information is obtained on the basis of the received surroundings information, to present the information to the operator of the remote operation device 70A. Moreover, the second remote operation signal processor of the modification receives operation input concerning whether or not shutdown of the hydraulic excavator 10A (prime mover 36) is allowed (first determination), which is executed by the operator of the remote operation device 70A. In a case in which the received operation input of the first determination is YES (permission determination to permit shutdown of the hydraulic excavator 10A), the control procedure is advanced to the step S416 depicted in FIG. 14. On the other hand, in a case in which the received operation input of the first determination is NO (prohibition determination to prohibit shutdown of the hydraulic excavator 10A), the control procedure is advanced to the step S430 depicted in FIG. 14.
Further, in the step S416 of the control flow according to the second embodiment depicted in FIG. 14, the second remote operation signal processor 75 determines whether or not the posture (inclination with respect to the horizontal plane) of the machine body 12 of the hydraulic excavator 10A falls within the allowable range based on the received posture information. In contrast, the second remote operation signal processor of the modification displays, on the display 73 as the output device, information on whether or not the inclination of the hydraulic excavator 10A with respect to the horizontal plane falls within the allowable range (second determination to determine whether or not shutdown of the hydraulic excavator 10A (prime mover 36) is allowed), which information is obtained on the basis of the received posture information, to present the information to the operator of the remote operation device 70A. Moreover, the second remote operation signal processor of the modification receives operation input concerning whether or not shutdown of the hydraulic excavator 10A (prime mover 36) is allowed (second determination), which is executed by the operator of the remote operation device 70A. In a case where the received operation input of the second determination is YES (permission determination to permit shutdown of the hydraulic excavator 10A), the control procedure is advanced to the step S460 depicted in FIG. 14. On the other hand, in a case in which the received operation input of the second determination is NO (prohibition determination to prohibit shutdown of the hydraulic excavator 10A), the control procedure is advanced to the step S430 depicted in FIG. 14.
In this modification, the second remote operation signal processor displaying, on the display 73, the information on presence or absence of the parking inhibition factor obtained on the basis of the posture information and the surroundings information on the hydraulic excavator 10A to present the information to the operator of the remote operation device 70A, and also receiving the operation input concerning whether or not shutdown of the hydraulic excavator 10A (prime mover 36) is allowed, which input is executed by the operator of the remote operation device 70A, is defined to correspond to the system controller determining whether or not shutdown of the hydraulic excavator 10A (prime mover 36) is allowed on the basis of the surroundings information and the posture information.
As described above, the system controller according to the modification of the second embodiment has the first remote operation signal processor 42A as the first controller mounted in the hydraulic excavator 10A (work machine) and the second remote operation signal processor as the second controller incorporated in the remote operation device 70A. The first remote operation signal processor 42A (first controller) on the side of the hydraulic excavator 10A (work machine) is configured to take in the surroundings information detected by the surroundings detector 46 and the posture information sensed by the posture sensor 45 and transmits them to the second remote operation signal processor 75. The second remote operation signal processor (second controller) on the side of the remote operation device 70A is configured to present the surroundings information and the posture information, on the display 73 as the output device of the remote operation device 70A, and receive operation input concerning whether or not the prime mover 36 is allowed to be started or stopped. The second remote operation signal processor (second controller) causes the first remote operation signal processor 42A (first controller) to execute start or stop of the prime mover 36 when the received operation input is operation input for allowing the prime mover 36 to be started or stopped.
According to this configuration, similarly to the above-described second embodiment, in response to the remote operation signal of activation/shutdown from the remote operation device 70A, it is determined whether or not the prime mover 36 is allowed to be started/stopped based on the surroundings information detected by the surroundings detector 46 and the posture information sensed by the posture sensor 45 before execution of start/stop of the prime mover 36. Thus, it is possible to execute activation/shutdown of the hydraulic excavator 10A (work machine) by the remote control after checking a situation of surroundings of the hydraulic excavator 10 (work machine) and a state of this machine itself.

Description of Reference Characters

1, 1A: Remote-operation-type work machine system
10, 10A: Hydraulic excavator (work machine)
11: Front work device (work device)
36: Prime mover
38: Main power supply
42: Remote operation signal processor (system controller; controller)
42A: First remote operation signal processor (system controller; first controller)
43: Standby power supply
45: Posture sensor
46: Surroundings detector
47: Load sensor
70, 70A: Remote operation device
73: Display (output device)
75: Second remote operation signal processor (system controller; second controller)

Claims

A remote-operation-type work machine system comprising: a work machine that includes a prime mover and is remotely operable by reception of a remote operation signal; and a remote operation device that transmits the remote operation signal to the work machine to remotely operate the work machine,
the work machine including a surroundings detector that detects surroundings information and a posture sensor that senses posture information, the surroundings information being information relating to a surroundings situation of the work machine, the posture information being information relating to a posture of the work machine, wherein

the work machine or the remote operation device includes a system controller that executes action control for the work machine based on the remote operation signal, and

the system controller is configured to,

when the remote operation signal transmitted from the remote operation device is a remote activation operation signal for activating the work machine or a remote shutdown operation signal for shutting down the work machine,
take in the surroundings information and the posture information sensed by the surroundings detector and the posture sensor, and

determine whether or not the prime mover is allowed to be started or stopped based on the surroundings information and the posture information.
The remote-operation-type work machine system according to claim 1, wherein
the system controller is configured to,

when the remote operation signal transmitted from the remote operation device is the remote activation operation signal,
take in information that is part of the posture information sensed by the posture sensor and relates to a stop posture as a posture of the work machine at a time of latest stop of the prime mover,

determine whether or not an activation inhibition factor is present around the work machine based on the surroundings information sensed by the surroundings detector, the activation inhibition factor being a factor interfering with activation of the work machine, and

determine whether or not the prime mover is allowed to be started based on presence or absence of the activation inhibition factor, an activation posture that is a posture of the work machine when the remote activation operation signal is taken in, and the latest stop posture of the work machine.
The remote-operation-type work machine system according to claim 1, wherein
the system controller is configured to,

when the remote operation signal transmitted from the remote operation device is the remote shutdown operation signal,
determine whether or not a parking inhibition factor is present around the work machine based on the surroundings information, the parking inhibition factor being a factor interfering with parking of the work machine, and

determine whether or not the prime mover is allowed to be stopped based on presence or absence of the parking inhibition factor and an inclination of the work machine with respect to a horizontal plane, the inclination being obtained based on the posture information.
The remote-operation-type work machine system according to claim 1, wherein
the system controller has a first controller mounted in the work machine and a second controller incorporated in the remote operation device,

the first controller is configured to
take in the surroundings information detected by the surroundings detector and the posture information sensed by the posture sensor, and

transmit the surroundings information and the posture information to the second controller, and

the second controller is configured to
present the surroundings information and the posture information on an output device of the remote operation device,

receive an operation input concerning whether or not the prime mover is allowed to be started or stopped, and

cause the first controller to execute start or stop of the prime mover when the received operation input is an operation input for allowing the prime mover to be started or stopped.
The remote-operation-type work machine system according to claim 1, wherein
the work machine includes an articulated work device and a load sensor that senses load information that is information relating to a load applied to the work device, and

the system controller is configured to, before executing stop of the prime mover,
take in the load information, the surroundings information, and the posture information,

determine whether or not the work device is holding a work target based on the load information, the surroundings information, and the posture information that have been taken in, and

change a posture of the work device to a predetermined parking posture before executing stop of the prime mover when determining that the work device is not holding the work target.
The remote-operation-type work machine system according to claim 1, wherein
the work machine is equipped with a main power supply and a standby power supply, and

the work machine receives the remote operation signal with use of the standby power supply as a power source during stop of the prime mover, and receives the remote operation signal with use of the main power supply as the power source during driving of the prime mover.
A work machine that includes a prime mover and is remotely operable by reception of a remote operation signal from a remote operation device,
the work machine comprising a surroundings detector that detects surroundings information and a posture sensor that senses posture information, the surroundings information being information relating to a surroundings situation of the work machine, the posture information being information relating to a posture of the work machine, wherein

the work machine includes a controller that executes action control for the work machine based on the remote operation signal, and

the controller is configured to,

when receiving, from the remote operation device, a remote activation operation signal for activating the work machine or a remote shutdown operation signal for shutting down the work machine, as the remote operation signal,
determine whether or not the prime mover is allowed to be started or stopped based on the surroundings information and the posture information, and

transmit, to the remote operation device, a result of the determination of whether or not the prime mover is allowed to be started or stopped.