JP2017218015A - Control system for construction machine and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide a construction machine to the safe side by facilitating function addition both in an on-board operation method and a remote control operation method and by properly corresponding even when a wrong operation or malfunction occurs.SOLUTION: A control system 10 for construction machine controls a construction machine by a controlling device 20 which remotely controls the construction machine which is a control object vehicle and a vehicle side control device 50 provided on the construction machine to make bridge connection with each other using a wireless communication machine. The control system includes: a controlling device side central computer 22 provided in the controlling device 20 and for integrally controlling the construction machine 2; and a vehicle side central computer 52 provided in the vehicle side control device 50 and for integrally controlling the construction machine 2 in cooperation with the controlling device 20. The controlling device side central computer 22 and the vehicle side central computer 52 have a fail-safe function for guiding the construction machine 2 to the safe side by cooperating with each other.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a construction machine control system and a control program that are compatible with both a boarding operation method and a remote operation method.

  Construction machines used at civil engineering construction sites and the like are generally based on a boarding operation method in which a driver gets on and operates, and a remote operation method in which a piloting device (remote manipulator) is used to perform radio operation.

  The remote operation method is mainly used in a dangerous place where humans cannot approach. Various conventional techniques using a remote control method have been proposed (for example, Patent Documents 1-4).

JP 2002-002505 A JP2015-192163A Japanese Utility Model Publication No. 6-48139 JP 2007-2429 A

  However, the prior art has a problem that it has only a function of switching and using both the boarding operation method and the remote operation method, and lacks flexibility. In particular, the remote control method has a problem that the control device cannot sufficiently grasp the driving state of the vehicle and cannot respond appropriately even if an erroneous operation or malfunction occurs.

  In view of the above problems, the present invention is a construction machine control system capable of appropriately handling even if an erroneous operation or malfunction occurs in both the boarding operation method and the remote operation method, and leading the construction machine to the safe side, And to provide a control program.

  In an embodiment for achieving the above object, the construction device is configured such that a control device that remotely controls a construction machine that is a control target vehicle and a vehicle-side control device provided in the construction machine are bridge-connected to each other by a wireless communication device. A construction machine control system for controlling a machine, which is provided in the control device, and is provided in the control device side control computer for overall control of the construction machine, and in the vehicle control device, and cooperates with the control device. A vehicle-side overall computer for overall control of the construction machine, and the control device-side overall computer and the vehicle-side overall computer have a fail-safe function for guiding the construction machine to the safe side in cooperation with each other. .

  According to the present invention, even if an erroneous operation or malfunction occurs in both the boarding operation method and the remote operation method, it is possible to respond appropriately, and the construction machine can be guided to the safe side.

It is a block diagram which shows the structure of the control system of the construction machine in embodiment. It is a perspective view which shows the external appearance structure of the construction machine used as a control object. It is a block diagram explaining the effect | action of the control system of a construction machine. It is a block diagram explaining the effect | action of the control system of a construction machine. It is a block diagram explaining the effect | action of the control system of a construction machine. It is a block diagram which shows each function structure of the control apparatus side control PC and the vehicle side control PC. It is explanatory drawing which shows the data flow of a serial communication bridge module group. It is explanatory drawing which shows the data flow of a CAN communication bridge module group. It is explanatory drawing which shows the data flow of a general purpose communication bridge module group. It is a flowchart which shows the process sequence at the time of the temperature rise of the engine oil, cooling water, and hydraulic oil tank as one of the fail safe functions. It is a flowchart which shows the process sequence at the time of communication interruption as one of the fail safe functions. It is explanatory drawing in the case of the static stability in the rollover avoidance process as one of the fail safe functions. It is explanatory drawing in the case of the dynamic stability in the rollover avoidance process as one of the fail safe functions. It is a flowchart which shows the procedure of the rollover avoidance process shown in FIG.

  Below, the control system of the construction machine which concerns on embodiment of this invention is demonstrated. In the present embodiment, an example in which the construction machine is an uneven terrain vehicle 2 as shown in FIG. 2 is shown.

<System configuration>
FIG. 1 is a block diagram illustrating a configuration of a construction machine control system according to the embodiment, and FIG. 2 is a perspective view illustrating an external configuration of a construction machine to be controlled.

  As shown in FIG. 1, the construction machine control system 10 according to the embodiment includes a control device 20 and a vehicle-side control device 50.

  As shown in FIG. 2, the rough terrain vehicle 2 as a construction machine according to the present embodiment includes, for example, a crawler type lower traveling body 4 as a lower traveling body.

  The rough terrain vehicle 2 to be controlled is a vehicle that moves on rough terrain by the left and right crawler belts 4L and 4R, as shown in FIG. In normal times, the transported object loaded on the loading platform 8 is carried by the operation of the driver in the driver's seat 6. However, in the rough terrain vehicle 2 of the present embodiment, the operation by the driver and the maneuvering with the control device 20 are carried out. It is configured to be able to switch between operation by wireless remote control by a person. In FIG. 2, 3 is a GPS antenna, 5 is a remote emergency stop switch antenna, and 7 is a GPS radio antenna. 62L and 62R are encoders (described later) for detecting the speed and acceleration of the rough terrain vehicle 2, and 66 is Patlite (registered trademark).

  The control device 20 is comprehensively controlled by the control device-side overall PC 22, and includes a joystick (also referred to as a control stick) 24, a display 26, an AC adapter 28, an LED / switch 30, and a sensor 32. The control device side control PC 22, joystick (control stick) 24, display 26, AC adapter 28, LED / switch 30 and sensor 32 are accommodated in a remote control BOX 34. In addition to the remote control BOX 34, a wireless LAN hub (HUB) 36, an RTK reference station 38, a monitor 40, and a remote stop switch (transmission side) 44 are provided.

  The vehicle-side control device 50 is comprehensively controlled by the vehicle-side overall PC 52, and an existing vehicle-side device 54 is connected to the vehicle-side overall PC 52.

  The existing vehicle side device 54 includes an existing joystick (control stick) 54a used for vehicle operation, a remote / boarding operation changeover switch 54b for disconnecting the existing joystick (existing control stick) 54a from the signal line (CAN2) during remote control, An existing display 54c that displays the state of the vehicle and an existing controller 54d that is a CPU for electronically controlling the vehicle are provided, and these devices are connected to CAN2. The existing vehicle side device 54 includes a parallel circuit 54e and an emergency stop button 54f. The parallel circuit 54e connects an emergency stop button 54f and a remote stop switch 74 described later in parallel. That is, when the remote stop switch 44 of the control device 20 on the transmission side is operated, when the remote stop switch 74 receives the signal, the operation of the vehicle is stopped in the same manner as the operation of the emergency stop button 54f.

  The vehicle-side control device 50 includes a wireless LAN hub 56, a GPS (GNSS) / IMU device 58, an LED / switch 60, an encoder 62 (62L, 62R, see FIG. 2), an additional IO CPU 64, A Patlite (registered trademark) 66 (see FIG. 2), a keyboard / mouse 68, a 24V on-vehicle battery 70, an uninterruptible device 72, and the above-described remote stop switch (receiving side) 74 are provided.

  In this system, in order to remotely operate the rough terrain vehicle 2, the control device 20 and the vehicle-side control device 50 are bridge-connected to each other by a wireless LAN, and the control device-side control PC 22 and the vehicle-side control PC 52 are connected to each other. Necessary communication mediation is performed to switch between remote control and boarding control. Further, in this system, the control device side overall PC 22 and the vehicle side overall PC 52 have a fail-safe function for guiding the rough terrain vehicle to the safe side in cooperation with each other. As an interface for operating the rough terrain vehicle 2 on the control device 20 side (the outside of the aircraft), there is a joystick (control stick) 24 and a display 26, which are the same as the equipment on the vehicle side that is already installed. is there. Moreover, these are made into a BOX (remote control box 34) so that they can be used while being carried outside the aircraft. The signal format of these CAN buses (CAN1, CAN2 (existing), CAN3) is generally CAN-J1939, which corresponds to the signal format used in general rough terrain vehicles. Among these, CAN1 and existing CAN2 are made to function as one CAN network. CAN3 is operated in an independent state.

  The construction machine control system 10 according to the present embodiment has the following functions (1) to (7).

  (1) A CAN-connected existing joystick (control stick) 54a and an existing display 54c, which have been used in-vehicle to remotely control a vehicle, are connected to a joystick (control stick) 24 on the control device 20 side via wireless communication. The display 26 can be operated remotely. That is, the CAN communication between the control device 20 and the vehicle-side control device 50 can be communicated as the same bus via wireless communication (wireless LAN or the like). For example, as shown in FIG. 3, if a CAN bus (hereinafter abbreviated as CAN) 1 is a remote side and CAN 2 is an electronic control vehicle for rough terrain vehicle 2, an existing joystick (control stick) 54a is used. Are directly connected to CAN2, while the joystick (control stick) 24 has a function of mediating communication using a wireless LAN even when connected to CAN1.

  (2) Also, as shown in FIG. 4, when communication between the remote PCs 22 and 52 on the vehicle side is exchanged via the wireless LAN, messages that do not need to be sent to the wireless LAN can be cut or new In order to add a message or grasp the communication contents with the controller module, it has a filtering, bypassing, and injection function of a CAN message with a specified ID. In order to perform communication between the newly added LAN and CAN at the top, it is possible to extract a message flowing from the CAN and arrange and send the packet format to the LAN side or the control unit. Conversely, a command value in a packet flowing from the LAN side or the control unit can be converted to CAN and sent to the bus.

  (3) As shown in FIG. 5, in order to measure the position and orientation of the vehicle, the RTK-GPS correction data from the RTK reference station 38 connected to the remote side by RS232C is transmitted to the vehicle side via wireless communication. The same contents can be output to GNSS / IMU 58 with RS232C. The transmission and reception of RTK-GPS correction data is normally performed via a specific low-power radio provided exclusively, but the correction data is necessary because the position data of RTK-GPS must be passed from the vehicle side to the remote side via a wireless LAN. Is also implemented in the form of sharing with a remote control wireless LAN.

  (4) When the vehicle is remotely controlled using the control device 20, boarding (valid) and remote control (invalid) using the remote / boarding operation switch 54b of the existing joystick 54a on the vehicle side Can be switched. Further, the switching is detected by the DI of the vehicle-side overall PC 52, and the information is transmitted to the control device-side overall PC 22. At the same time as transmission, the remote control / boarding changeover switch (not shown) is switched between remote control (ON) and boarding control (OFF) in the DI of the control device side overall PC 22 to enable remote control.

  (5) It has a function of communicating general-purpose data other than CAN and RS232C communication so that the function of monitoring the state of the vehicle and the operating state of the software on the control device 20 side and predicting the danger of the vehicle can be added. .

  (6) It has an API that can control software having the functions (1) to (5).

  (7) Preventing malfunction due to power failure of all or part of equipment, fail-safe against falling of remote control equipment, function to operate remote emergency stop button (emergency stop function by remote stop switches 44, 74) ).

  FIG. 6 is a block diagram showing the software (functional module) configuration of the control device side overall PC 22 and the vehicle side overall PC 52 according to the embodiment.

  As shown in FIG. 6, the control device side control PC 22 includes a control device side controller module 22 a, a serial-LAN conversion module 22 b, a CAN-LAN conversion module 22 c, a LAN module 22 d, a general-purpose communication module 22 e, and a logging. A module 22f, a three-axis acceleration sensor module 22g, and a screen display module 22h are provided. One vehicle-side overall PC 52 includes a vehicle device-side controller module 52a, a serial-LAN conversion module 52b, a CAN-LAN conversion module 52c, a LAN module 52d, a general-purpose communication module 52e, and a logging module 52f. Yes.

  The controller modules 22a and 52a specify communication adjustment. It also controls each module and controls communication / logging / display data. Also, control is performed to generate a CAN message and inject it into the bus.

  The serial-LAN conversion modules 22b and 52b perform bridging and bypassing via the RS232C communication LAN. Communication adjustment is specified from the controller module.

  The CAN-LAN conversion modules 22c and 52c perform bridge via CAN communication LAN, bypass / filtering of a specified ID, and injection of an arbitrary message. Communication adjustment is specified from the controller module. The lighting command to the Patrite (registered trademark) and the encoder count value are transmitted and received using a CAN message to the additional IO CPU 64.

  The LAN modules 22d and 52d perform transmission and reception between the control device-side overall PC 22 and the vehicle-side overall PC 52.

  FIG. 7 shows a data flow of the serial-LAN conversion module 22b, the LAN module 22d, the serial-LAN conversion module 52b, and the LAN module 52d as the serial communication bridge module group.

  FIG. 8 shows a data flow of the CAN communication bridge module group. The CAN communication bridge module group includes CAN-LAN conversion modules 22c and 52c having a function of transmitting / receiving CAN communication and transmitting to another module in the PC, and LAN modules 22d and 52d that perform communication with other PCs. .

  The general-purpose communication modules 22e and 52e perform transmission / reception between the control device-side overall PC 22 and the vehicle-side overall PC 52 with respect to information other than the communication, such as control, status, and debugging.

  FIG. 9 shows a data flow of the general-purpose communication bridge module group. In addition to the CAN / RS232C, the general-purpose communication bridge module is a communication between the general-purpose communication modules 22e and 52e for communicating data that the controller modules 22a and 52a want to transmit and receive between the control device-side overall PC 22 and the vehicle-side overall PC 52, and other PCs. The LAN modules 22d and 52d that perform communication are configured.

  The logging modules 22f and 52f output the log data output from the controller modules 22a and 52a to a file and record them.

  The screen display module 22h presents statuses such as the communication status of the remote control system and the vehicle status on the remote side.

  The 3-axis acceleration sensor module 22g is used for the operation of the fail-safe function by detecting the fall of the remote control BOX 34. Data is read from the USB-connected acceleration sensor 32 at a cycle of 100 ms, and the read data is transmitted to the controller module 22a. This function will be described later.

<Fail-safe function>
Hereinafter, the fail-safe function of the embodiment will be described. The control device side overall PC 22 and the vehicle side overall PC 52 have a fail-safe function for guiding the rough terrain vehicle to the safe side in cooperation with each other.

<Treatment during vehicle runaway>
In the case of vehicle runaway, an illegal command continues to be issued from the control device 20, and the control device side control PC 22 enters an illegal state (hangs up or freezes), outputs an invalid value, and cannot be commanded through the control device 20. Say. In this case, the construction machine to be controlled is prevented from continuing traveling in a state of deviating from the normal traveling instruction.

[Countermeasure 1]
Contact information (ON) of the remote stop switch 44 pressed outside the vehicle using a system (specific low-power radio) that separates the remote stop switch 44 from a system different from the control device 20, that is, a system different from the wireless LAN. / OFF) is transmitted to the vehicle side. On the vehicle side, the remote stop is operated by enabling the contact of the remote stop switch 74 connected in parallel via the parallel circuit 54e to the emergency stop button 54f already installed in the vehicle. Can do.

  In addition, by allowing another contact point to operate the reset switch of the control device side control PC 22 via the same remote emergency stop system, the control device side control PC 22 is reset and an illegal output that causes the vehicle to run away is generated. Can be stopped.

[Countermeasure 2]
There is also a method of taking a countermeasure in software using a watchdog timer (WDT). The value of a specific register of the control device side overall PC 22 is regularly monitored by WDT, and when it has not been rewritten for a certain time or more, an abnormal situation is determined, an emergency stop is turned ON, and the PC 22 is reset.

<Treatment when temperature rises>
The vehicle-side supervising PC 52 monitors the state of the engine of the rough terrain vehicle 2 with a sensor, and when the state becomes a specified value or more, inputs from the joystick (control stick) 24 provided in the control device 20. Command to cut and stop running to cool, and when the temperature exceeds the dangerous temperature, output command to stop and cool engine, and also output alert to the controller computer It has a fail-safe function. Here, the temperature rise refers to a state where the engine of the vehicle has continued to run and the temperature of the engine coolant has risen.

[Countermeasures]
In order to suppress the temperature rise, it is necessary to keep the cooling fan running while it is stationary and idling. As a method for measuring the temperature of the engine, there is a method using the temperature of the cooling water. A predetermined CAN message is output from the engine ECU, and a value from −40 ° C. to 210 ° C. is stored in a predetermined bit of the message field. For this reason, when the following conditions are satisfied, the joystick (control stick) input is always set to “0” (inoperable). The temperature threshold is a value near the temperature at which the alert is presented.

FIG. 10 is a flowchart showing a process when the temperature rises. The engine oil temperature, the coolant temperature, and the hydraulic oil tank temperature are measured (steps S2, S4, and S6). When the measured engine oil temperature exceeds the predetermined temperature T1 (step S8 YES), or when the cooling water temperature exceeds the predetermined temperature T2 (step S10 YES), or the hydraulic oil tank temperature is the predetermined temperature. When the state exceeds T3 (step S12 YES), an alert is output (step S14), and the vehicle is stopped and shifted to the idling state (step S16).
Thus, in the construction machine control system 10 of the present embodiment, it is possible to avoid a situation where the engine is overheated to a predetermined temperature or more as a fail-safe function.

<Processing when communication is interrupted>
The control system of the present embodiment uses a wireless LAN, not a radio control radio, in order to transmit and receive a large amount of control data. For this reason, when the wireless LAN is disconnected or the bandwidth is compressed by a large amount of communication, the control signal does not reach and the intended operation cannot be performed. This is defined as a “communication interruption” state.

[Countermeasure 1]
Utilize the functions of the LAN. In parallel with the data communication, the application confirms the existence with the other party by TCP communication from another thread.

FIG. 10 is a flowchart showing a processing procedure when communication is interrupted.
The vehicle-side control device 50 transmits a ping command at a predetermined cycle, for example, 100 ms, while receiving a signal from the control device 20 (step S22). If a ping command cannot be received from the connection partner within 100 ms + 10 ms from the previous reception, an error occurs (YES in step S24). However, 10 ms is a margin for absorbing fluctuations in communication and processing. A ping command is transmitted in 100 ms, and when it becomes an error state five times in succession, it is determined that communication is interrupted (steps S26 and S28). If it is determined that the communication has been interrupted, the data is supplemented based on the past data stored in the memory on the vehicle side, and control is continued (step S30).

[Countermeasure 2]
In parallel with the data communication, the application performs socket communication of data having an arbitrary ID by UDP communication from another thread to the other party. If it is assumed that this communication is performed every 100 ms, and if it cannot be received continuously 5 times (500 ms to 600 ms or more cannot be received), the communication interruption determination is set to TRUE as an error state.

Here, the data complementing function will be described.
<When wireless communication is interrupted>
Although it is the same as when the power supply is interrupted, the wireless LAN-AP and various communication modules continue to retry successive connections. In the meantime, the data is stored in the communication module, but if it exceeds a certain amount, it is deleted from the old data.

  Even if the CAN data related to the remote control is lost on the way, it is possible to resume the operation safely after the joystick (control stick) starts from the neutral state after the communication is restored. As for GPS data, there is no information from the time when communication is interrupted until it is restarted. During that time, the vehicle decreases its speed and heads to stop, so there is no significant change and no problem. For general-purpose communication data, it is possible to obtain necessary information by performing local logging on the vehicle side and the remote side, and collecting the data after the communication is restored. The general-purpose communication data required in real time is to temporarily stop the function (stop the vehicle) when wireless communication is interrupted, and not to use the communication data during that time.

  The CAN message of the joystick (control stick) 24 is input with 0 as a communication disconnection when an interval of 100 ms or more is opened on the vehicle CPU side. There is no problem as long as the delay is constant, but 0 may be input when the communication becomes unstable and the delay jitter exceeds 100 ms. As a matter of degree, it depends on how often the CAN message is lost and 0 is input, but the operability may be affected. In that case, the controller module in the vehicle PC monitors the CAN message of the joystick (control stick) 24 (bypass), and if there is an interval of a certain time or longer, the input is injected. To improve performance. However, if the injection is performed too much, the safety system is affected, and therefore, a threshold for intermittent message-free time (for example, ~ 500 ms) and a long-time threshold for message-free time (for example, ~ 1000 ms) are determined. A method of measuring these two times and injecting the input if the former is used, and setting the input to 0 again if the latter is conceivable.

  In this way, in the construction machine control system 10 of the present embodiment, as a fail-safe function, data can be injected when a communication interruption occurs, so that the control of the rough terrain vehicle 2 is not interrupted. It becomes possible to continue.

  The vehicle-side overall OC 52 and the control device-side overall PC 22 monitor the communication strength (RSSI voltage) of the specific low-power radio to determine the presence or absence of communication interruption, and the vehicle-side overall PC 52 determines that the communication strength has decreased. Alternatively, the traveling of the vehicle may be stopped. In other words, the vehicle-side supervisory PC 52 not only monitors the remote emergency stop contact point (remote stop switch 44) but also periodically monitors the RSSI voltage of the specific low-power radio from the remote stop switch 44 to determine the voltage. Judge whether the communication is possible or not according to the magnitude of the value. In the case of communication interruption, the vehicle is stopped for safety.

《Overturn avoidance processing》
The overturn of the vehicle is caused by a situation where the inclination of the vehicle becomes too large, or a situation where the vehicle operates in a more unstable direction. In order to avoid rollover, measure 1 when the vehicle shown in FIG. 12 is stopped (static stability) and measure 2 when the vehicle shown in FIG. 13 is running (dynamic stability) are taken. There is a need.

[Countermeasure 1: Static stability]
Judgment is made by calculating whether the point where the center of gravity is projected on the ground is within the support area from the crawler belt range, the position of the center of gravity of the rough terrain vehicle 2 (x, y, z) and the attitude of the rough terrain vehicle 2. To do. When the center of gravity approaches the outside of the support area, an alert is output from the mounting side to the operation side. In FIG. 12, the approximate center-of-gravity position g and the gravity direction mg on the frontal face (FIG. (A)) and the sagittal plane (FIG. (B)) of the rough terrain vehicle 2 are represented by arrows. When the arrow does not point directly below, the road surface is tilted. At this time, whether the arrow is inside or outside the support area (w, d) under the rough terrain vehicle 2 is calculated using the posture angle (pitch angle φ of the vehicle body, roll angle θ of the vehicle body). However, since the center-of-gravity position g varies depending on the machine weight, the fuel amount, and the cargo amount, the extreme conditions are evaluated when the fuel is full + empty and when there is no fuel + full load.

  FIG. 14 is a flowchart showing the procedure of rollover avoidance processing. As shown in the figure, the crawler belt range, the gravity center position, and the posture are detected (step S40), and the gravity direction is obtained from the gravity center position and the posture (step S42). Then, it is determined whether or not the determined direction of gravity is within the support area. If it is outside the support area (YES in step S44), an alert is output (step S46).

  When the relationship between the support region and the center of gravity g is in the state shown in FIG. 12, the following conditional expression needs to be satisfied in order to be stable. However, when the center of gravity position g is on the opposite side across the center line, the values of the distances a and b from the center line of the vehicle to the center of gravity g are negative and are substituted into the following conditional expression. However, ε is an arbitrary constant of 1 or less, and indicates a margin.

In the case of FIG. 12A:
−ε tan ⁻¹ {(w + a) / c} <φ <−ε tan ⁻¹ {(w−a) / c} (1)
In the case of FIG. 12B:
−ε tan ⁻¹ {(d + b) / c} <φ <−ε tan ⁻¹ {(d−b) / c} (2)
Where c: distance from the ground (support surface) to the center of gravity g,

[Countermeasure 2: Dynamic stability]
The center point ZMP (Zero Moment Point) of the floor reaction force in the system in which the center of gravity and inertial force are applied using the crawler belt range and the center of gravity position (x, y, z), posture and acceleration of the rough terrain vehicle 2 Determine if it is within the support area. However, the following situations are considered in the frontal plane and the sagittal plane, respectively.

The moment when the front face suddenly shifts to belief turning when traveling at a maximum of 3 km / h (0.83 m / s). The turning radius is the distance between the position of the center of gravity and the center of the crawler belt.
When the sagittal plane moves forward at a maximum of 3 km / h (0.83 m / s), the moment when the input suddenly becomes neutral, or when the input suddenly becomes neutral while traveling at the maximum reverse speed.

  FIG. 13A shows the gravitational direction and the support area at the time of acceleration / deceleration at the moment of transition from straight running to belief turning.

  When the relationship between the support area and the center of gravity is in the state as shown in FIG. 13, the following conditional expression must be satisfied in order to be stable. However, when the position of the center of gravity is on the opposite side across the center line, the values of a and b become negative and are substituted into the following conditional expression. Here, the mass is m and the acceleration / deceleration acceleration s is forward / backward. Since the acceleration value includes noise, it is necessary to widen the margin or perform online filtering. ε is an arbitrary constant of 1 or less, and indicates a margin.

In the state shown in FIG. 13A, when the right bend is turned (the right crawler is at speed 0), f = mv ² / (w−t + a), so the following equation is evaluated.

−εtan ⁻¹ {(w + a) / c} <A <−εtan ⁻¹ {(w−a) / c}
A = {gsinφ + v ² / (w−t + a)} / gcosφ

In the state shown in FIG. 13A, when the left bend turns (the left crawler is at speed 0), f = mv ² / (wta), so the following equation is evaluated.
−εtan ⁻¹ {(w + a) / c} <B <−εtan ⁻¹ {(w−a) / c}
B = {gsinφ−v ² / (wta)} / gcosφ

In the case of FIG. 13B, the following equation is evaluated with f = ms.
−ε tan ⁻¹ {(d + b) / c} <C <ε tan ⁻¹ {(d−b) / c}
C = (gsinθ + s) / gcosθ
As described above, the construction machine control system 10 according to the present embodiment has a rollover avoidance function as a fail-safe function, so that it is possible to avoid the rollover of the rough terrain vehicle 2 in advance even in the case of remote control by the control device 20. It becomes possible.

"slip"
Slip means a state where slippage between the crawler belt and the ground is large. The slip ratio is measured, and if the slip ratio increases, the operator is instructed to reduce the speed. For example, the higher the slip ratio, the faster the blinking speed of the lamp, and the smaller the slip ratio, the slower the blinking speed. If the slip ratio is equal to or greater than a certain value, it is determined that a stack has occurred in which the vehicle is caught in something and does not move in the commanded direction.

  Specifically, the vehicle-side overall PC 52 detects speed and acceleration from encoders 62L and 62R provided on the rough terrain vehicle 2, and detects the posture state of the rough terrain vehicle 2 from the GNSS / IMU device 58. If there is a possibility that the vehicle is difficult to move, the fact is transmitted to the control device-side overall PC 22.

  As described above, the construction machine control system 10 according to the present embodiment can detect the occurrence of slip of the rough terrain vehicle 2 as a fail-safe function.

<Incorrect operation>
[Cause]
An erroneous operation means a state in which an incorrect command value is output when the remote control BOX 34 is dropped or when it is tilted down.

[Countermeasures]
The acceleration sensor 32 is mounted on the remote control BOX 34. When the norm of acceleration is below a certain value or when an impact is detected when it collides with the ground, input from the joystick 24 or button is cut. Further, the direction of gravitational acceleration is measured, it is determined whether the remote control BOX 34 is in the correct direction, and input from the joystick 24 or buttons is cut.

  As described above, in the construction machine control system 10 according to the present embodiment, the acceleration sensor 32 is provided in the control device 20 as a fail-safe function, and the control device-side overall PC 22 inputs a signal from the acceleration sensor 32 and inputs the control device 20. The steering function was stopped when a fall of the car was detected. For this reason, it is possible to prevent malfunctions due to dropping.

<Other fail-safe functions>
《Power supply consumption》
The consumption of the power supply voltage means a state in which an electronic device driven by a battery is used excessively without starting the engine.

  As the power supply voltage decreases, the vehicle-side control PC 52 and other sensors do not function correctly, and as a result, the control device-side control PC 22 may behave unexpectedly. For this reason, when the voltage falls below a certain level, an alarm is presented to the operator with a display or alarm, and the engine is urged to be turned on. However, from the viewpoint of safety, the engine is not automatically turned on.

<Low fuel consumption>
If the amount of fuel decreases due to excessive use of fuel, it becomes impossible to travel, so a fuel level value is acquired, and when the fuel level falls below a certain level, an operator is warned with a screen display or an alarm.

  In addition, each function of embodiment described above is realizable by installing the control program which has each function in the vehicle side control PC52 or the control apparatus side control PC22.

As mentioned above, although this invention was demonstrated in detail using each embodiment, this invention is not limited to embodiment described in this specification. The scope of the present invention is determined by the description of the claims and the scope equivalent to the description of the claims.
Moreover, it is realizable by installing the control program which has each function of embodiment in the vehicle side control PC52 or the control apparatus side control PC22.

  2 ... Rough terrain vehicle, 4 (4L, 4R) ... Undercarriage (crawler), 6 ... Driver's seat, 8 ... Loading platform, 10 ... Construction machine control system, 20 ... Control device, 22 ... Control device side control PC , 22a ... Controller device side controller module, 22b ... Serial-LAN conversion module, 22c ... CAN-LAN conversion module, 22d ... LAN module, 22e ... General-purpose communication module, 22f ... Logging module, 22g ... 3-axis acceleration sensor module, 22h ... screen display module, 24 ... joystick (control stick), 26 ... display, 32 ... sensor (acceleration sensor), 36 ... wireless LAN hub, 38 ... reference station for RTK, 40 ... monitor, 44 ... remote stop switch (transmission side) , 50 ... Vehicle side control device, 52 ... Vehicle side control PC, 52a ... Vehicle device side controller , 52b ... serial-LAN conversion module, 52c ... CAN-LAN conversion module, 52d ... LAN module, 52e ... general-purpose communication module, 52f ... logging module, 54 ... existing vehicle side device, 54a ... existing joystick (existing control stick) 54b ... Remote / boarding operation changeover switch, 54c ... Existing display, 54d ... Existing controller, 54e ... Parallel circuit, 54f ... Emergency stop button, 56 ... Wireless LAN hub, 58 ... GNSS / IMU device, 62 (62L, 62R) ) ... Encoder, 64 ... CPU for additional IO, 74 ... Remote stop switch (reception side).

Claims (10)

A control system for a construction machine that controls a construction machine by remotely connecting a control device that remotely controls a construction machine that is a control target vehicle and a vehicle-side control unit provided in the construction machine by a wireless communication device. And
A control device side general computer provided in the control device, for comprehensively controlling the construction machine;
A vehicle-side overall computer provided in the vehicle-side control device, for overall control of the construction machine in cooperation with the control device,
The control system for a construction machine having a fail-safe function in which the control device side general computer and the vehicle side general computer cooperate with each other to guide the construction machine to the safe side.   A remote stop switch is provided in the control device, and when the construction machine to be controlled is traveling in a state deviating from a normal travel instruction, a radio other than the wireless communication device is operated by operating the remote stop switch. The construction machine control system according to claim 1, wherein the construction machine control system has a fail-safe function of stopping the vehicle by a communication route.   The vehicle-side computer monitors the state of the engine of the construction machine with a sensor, and when the state exceeds a specified value, the vehicle side computer cuts off an input from a control stick provided on the control device and travels. A fail-safe function that outputs a command to stop and cool the engine, outputs a command to stop and cool the engine when the temperature exceeds a dangerous temperature, and outputs an alert to the control device side control computer. The construction machine control system according to claim 1 or 2.   The vehicle control computer and the control device control computer mutually check the existence of a communication partner to determine whether communication is interrupted, and the vehicle control computer communicates with the control device control computer. The construction machine according to any one of claims 1 to 3, which has a fail-safe function for supplementing data based on past data stored in a vehicle-side memory and continuing control in the event of interruption. Control system.   The vehicle-side computer and the control device-side computer monitor the communication strength of wireless communication to determine the presence or absence of communication interruption, and when the communication strength decreases, The construction machine control system according to any one of claims 1 to 4, which has a fail-safe function for stopping traveling.   The vehicle-side computer detects speed and acceleration from a sensor provided in the drive unit of the construction machine, and detects the posture state of the construction machine from a sensor that measures a position and a posture to detect the possibility of rollover. The construction machine according to any one of claims 1 to 5, wherein, when there is a possibility of overturning, the fact is transmitted to the control computer side general computer and the operation of the construction machine is stopped. Control system.   The vehicle-side overall computer detects speed and acceleration from a sensor provided in the drive unit of the construction machine, calculates a slip state by detecting a posture state of the construction machine from a sensor that measures a position and a posture, The construction machine control system according to any one of claims 1 to 6, wherein when there is a possibility that the vehicle is difficult to move, a message to that effect is transmitted to the overall control computer. A sensor for measuring the state of the control device is provided in the control device,
When the control device side computer inputs a signal from a sensor for measuring the state of the control device and a fall of the self-control device is detected, the control device stops the control function and prevents malfunction due to the drop. The construction machine control system according to any one of claims 1 to 7, which has a fail-safe function.   A control program for a construction machine that causes the vehicle-side computer to realize the function according to any one of claims 1 to 7.   A control program for a construction machine that causes the control device side overall computer to realize the function according to any one of claims 1, 4, 5, and 8.