JP2021025240A - Work machine and work machine support server - Google Patents

Abstract

To provide work machines, etc. that can reduce the possibility of contact with unmanned aircraft flying in the vicinity.SOLUTION: When a work machine 10 is aware that an unmanned airplane 40 has taken off, the work machine generates a regulation signal to an operation interface 210 of the work machine 10 to regulate the operation of at least one of the lower traveling body 110, the upper turning body 120, the work mechanism 140, for a predetermined period of time while the unmanned airplane 40 is taking off, thereby reducing possibility of contact.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work machine such as a building demolition machine.

A technique has been proposed in which a space that cannot be imaged by a camera attached to an upper swing body of an excavator is imaged by a camera attached to an autonomous flying object (see, for example, Patent Document 1).

International Publication No. 2017/131194

However, if the excavator operates independently of the position of the air vehicle, there is an increased possibility that the excavator and the air vehicle will come into contact with each other.

Therefore, an object of the present invention is to provide a work machine or the like capable of reducing the possibility of contact with an unmanned aerial vehicle flying around.

The present invention describes the operation modes of the lower traveling body, the upper rotating body capable of turning with respect to the lower traveling body, the working mechanism extending from the upper rotating body, and the lower traveling body, the upper turning body, and the working mechanism. It relates to a work machine equipped with a control device for controlling. The present invention also relates to a work machine support server having a communication function with each of a work machine and an unmanned aerial vehicle.

The work machine of the present invention is characterized in that the control device includes a takeoff recognition element and an operation regulation control element.

According to the work machine of the above configuration, when the takeoff recognition element recognizes that the unmanned airplane is in the takeoff state, the unmanned airplane travels downward with respect to the operation interface of the work machine for a predetermined period of time when the unmanned airplane is taking off. A regulation signal is generated to regulate the movement of at least one of the body, the upper swing body, and the working mechanism.

As a result, control is performed to regulate that at least one of the lower traveling body, the upper turning body, and the working mechanism is operated in a direction approaching the unmanned aerial vehicle during a predetermined period during which the unmanned aerial vehicle is taking off. As a result, the possibility of contact between the work machine and the unmanned aerial vehicle can be reduced.

"Takeoff" is a concept that includes determining, designating, or predicting that an unmanned aerial vehicle is away from the ground plane in contact with the unmanned aerial vehicle, and receiving or reading the determination result from a storage device. Is. For example, the airflow generated by rotating a plurality of blades of an unmanned aerial vehicle causes the unmanned aerial vehicle to rise or fly from the spot or stay in the air.

"Recognition" means determining, designating or predicting that an unmanned aerial vehicle is taking off based on the relative position of the unmanned aerial vehicle with respect to the ground plane, and receiving the determination result or from a storage device. It is a concept that includes reading.

"Regulation" means that at least one of the lower traveling body, the upper turning body, and the working mechanism is controlled to slow down or stop the movement when moving in a direction approaching the unmanned aerial vehicle. It is a concept to be called. For example, from the time an unmanned airplane takes off from the ground surface to the time it lands, the supply of hydraulic oil to the hydraulic actuator for driving the work mechanism is reduced or the supply of hydraulic oil is stopped, and the operating speed of the work mechanism is stopped. Is reduced or operation is stopped.

In the work machine of the present invention, it is preferable that each of the start and end of a predetermined period is a takeoff time point and a landing time point in each flight period performed by the unmanned aerial vehicle.

"Each flight performed by an unmanned aerial vehicle" is a concept in which an unmanned aerial vehicle moves in the air from one takeoff of an unmanned aerial vehicle to one landing corresponding to the takeoff.

"Landing" is a concept that includes the unmanned aerial vehicle touching the ground plane and the unmanned aerial vehicle being placed on a basement provided for the unmanned aerial vehicle. The basement may have a function of charging an unmanned aerial vehicle.

According to the work machine of this configuration, when it is recognized that the unmanned airplane is in a takeoff state, the unmanned airplane of the work machine until one landing corresponding to the takeoff of one takeoff is performed. The possibility of contact is reduced by generating a regulation signal for restricting the operation of at least one of the lower traveling body, the upper swing body, and the working mechanism with respect to the operation interface.

In the work machine of the present invention, the beginning and the end of each of the predetermined periods are set at the first predetermined time after the takeoff time and after the first predetermined time and before the landing time in each flight period of the unmanned aerial vehicle. It is preferable to set each of the second predetermined time points.

According to the work machine of this configuration, when it is recognized that the unmanned airplane has taken off, the lower traveling body, the upper turning body, and the work are performed with respect to the operation interface of the work machine for a predetermined period in each flight period performed by the airplane. The contact possibility is reduced by generating a regulation signal for regulating the operation of at least one of the mechanisms.

For example, when the first predetermined time point is the time point designated by the operator of the work machine and the second predetermined time point is the time point designated by the operator, while the unmanned aerial vehicle is flying from the base end of the arm to the tip of the arm, The movement of the arm can be kept stopped. As a result, when the arm is maintained while viewing the captured image captured by the imaging device mounted on the unmanned aerial vehicle, the possibility that the arm and the unmanned aerial vehicle come into contact with each other can be reduced. The concept of "stop (stop position)" will be described later.

Further, for example, when the first predetermined time point is a time point designated by the operator of the work machine and the second predetermined time point is a time point 30 seconds after the first predetermined time point, the unmanned airplane stops near the base end of the arm. The movement of the arm can be kept stopped for 30 seconds from that point. As a result, when an unmanned aerial vehicle flies from the base end of the arm to the tip of the arm along the arm for 30 seconds, the arm can be maintained while viewing the image captured by the image pickup device mounted on the unmanned aerial vehicle. Therefore, the possibility of contact between the arm and the unmanned aerial vehicle can be reduced.

Further, for example, the start of a predetermined period is set to a time point 60 seconds after the takeoff time of the unmanned aerial vehicle (first predetermined time point), and the operator sets the end of the predetermined period to 30 meters from the tip of the arm 143 of the unmanned aerial vehicle. It may be specified as the time when it arrives in the sky (second predetermined time).
As a result, the possibility of contact between the arm and the unmanned aerial vehicle can be reduced from the time 60 seconds after the unmanned aerial vehicle takes off until the unmanned aerial vehicle arrives 30 meters above the tip of the arm 143.

Further, for example, when the first predetermined time is the time when the unmanned aerial vehicle takes off from the ground plane and the second predetermined time is the time when the remaining battery level of the unmanned aerial vehicle is 60%, the time when the unmanned aerial vehicle takes off The boom can be left inactive until the unmanned aerial vehicle has 50 percent remaining battery power. As a result, the possibility of contact between the boom and the unmanned aerial vehicle can be reduced from the time when the unmanned aerial vehicle takes off until the remaining battery level of the unmanned aerial vehicle reaches 60% to 50%. ..

"Stopping" is a concept that controls the flight of an unmanned aerial vehicle so that it stays at a certain position in the air. Moreover, the position is called "stop position". Note that "stopping" means that the flight of the unmanned aerial vehicle may be controlled so that the unmanned aerial vehicle stays at a predetermined position in the air, from the position where the unmanned aerial vehicle intends to stop due to disturbance such as wind. It is a concept that includes moving.

The work machine support server of the present invention has a takeoff recognition element that recognizes that the unmanned airplane is in a takeoff state based on communication with at least one of the work machine and the unmanned airplane, and the unmanned airplane has taken off by the takeoff recognition element. When it is recognized that the condition is recognized, the operation of at least one of the lower traveling body, the upper turning body, and the working mechanism is restricted to the operation interface of the working machine for a predetermined period of time when the unmanned airplane is taking off. It is characterized by having an operation regulation control element for generating a regulation signal for the purpose.

According to the work machine support server having the configuration, when it is recognized that the unmanned aerial vehicle is in a takeoff state based on communication with at least one of the work machine and the unmanned aerial vehicle, the unmanned aerial vehicle is taking off. By restricting the operation of the work mechanism during the above period, the possibility that the work mechanism will come into contact with the unmanned aerial vehicle can be reduced.

In addition, it is preferable that the beginning and the end of the predetermined period are the takeoff time and the landing time in each flight period of the unmanned aerial vehicle.

According to the work machine support server of the configuration, the operation of the work mechanism is performed from the takeoff in each flight period performed by the unmanned airplane to the landing in the flight period (landing corresponding to the takeoff). By being regulated, the possibility that the working mechanism will come into contact with an unmanned airplane will be reduced.

In addition, the beginning and the end of each of the predetermined periods are set at the first predetermined time point after the takeoff time point and the second predetermined time point after the first predetermined time point and before the landing time point in each flight period of the unmanned aerial vehicle. It is preferable to use each.

According to the work machine support server having this configuration, the operation of the work mechanism is regulated during the period from the first predetermined time to the second predetermined time, so that the possibility that the work mechanism comes into contact with the unmanned airplane can be reduced. ..

Explanatory drawing about the structure of the work machine and the unmanned aerial vehicle as one Embodiment of this invention. Explanatory drawing about the structure of the operation mechanism of a work machine. The explanatory view about the function of the work machine as one Embodiment of this invention. Explanatory drawing about image output mode in image output apparatus. Explanatory drawing about the recognition method of high and low possibility of contact between a work machine and an unmanned aerial vehicle. Explanatory drawing which concerns on the 1st control mode of the work mechanism and the like according to the high degree of contact possibility with an unmanned aerial vehicle. Explanatory drawing which concerns on the 2nd control mode of the work mechanism, etc. according to the high degree of contact possibility with an unmanned aerial vehicle. Explanatory drawing about the structure of the unmanned aerial vehicle as one Embodiment of this invention. The explanatory view about the structure of the work machine support server as one Embodiment of this invention.

(Constitution)
The work machine 10 as an embodiment of the present invention shown in FIG. 1 carries out a predetermined work in cooperation with the unmanned aerial vehicle 40. The work machine 10 is, for example, a crawler excavator (construction machine), and includes a crawler-type lower traveling body 110 and an upper turning body 120 that is mounted on the lower traveling body 110 so as to be able to turn via a turning mechanism 130. ing. A cab (driver's cab) 122 is provided on the front left side of the upper swing body 120. A work attachment as a work mechanism 140 is provided in the front central portion of the upper swing body 120.

The work mechanism 140 is rotatably connected to the boom 141 undulatingly mounted on the upper swing body 120, the arm 143 rotatably connected to the tip of the boom 141, and the tip of the arm 143. It is equipped with a bucket 145 and. The work mechanism 140 is equipped with a boom cylinder 142, an arm cylinder 144, and a bucket cylinder 146, which are composed of a telescopic hydraulic cylinder. Instead of the bucket 145, another attachment such as a nibbler may be attached to the tip of the arm 143.

The boom cylinder 142 is interposed between the boom 141 and the upper swing body 120 so as to expand and contract by receiving the supply of hydraulic oil and rotate the boom 141 in the undulating direction. The arm cylinder 144 expands and contracts by receiving the supply of hydraulic oil, and is interposed between the arm 143 and the boom 141 so as to rotate the arm 143 about a horizontal axis with respect to the boom 141. The bucket cylinder 146 expands and contracts by receiving the supply of hydraulic oil and is interposed between the bucket 145 and the arm 143 so as to rotate the bucket 145 about the horizontal axis with respect to the arm 143.

The work machine 10 includes a work machine control device 20, a wireless communication device 202, an input interface 210, an output interface 220, and a notification device 230. The work machine control device 20 is composed of an arithmetic processing unit (single-core processor or multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and targets the data. Executes the arithmetic processing according to.

The work machine control device 20 includes a takeoff recognition element 21 and an operation regulation control element 22. The takeoff recognition element 21 recognizes that the unmanned aerial vehicle 40 is taking off. The takeoff recognition element 21 may be anything as long as it can recognize that the unmanned aerial vehicle 40 is taking off. For example, the wireless communication device 402 of the unmanned airplane 40 transmits takeoff information including information that the unmanned airplane 40 is taking off to the work machine 10, so that the unmanned airplane 40 takes off with respect to the takeoff recognition element 21. You may recognize that you are doing it.

Further, the takeoff recognition element 21 may recognize that the unmanned aerial vehicle 40 is taking off by imaging the mode in which the unmanned aerial vehicle 40 is taking off by the imaging device 110 included in the work machine 10. ..

When the operation regulation control element 22 recognizes that the unmanned airplane 40 is in a takeoff state by the takeoff recognition element 21, and determines that there is a high possibility that the work machine 10 and the unmanned airplane 40 come into contact with each other, the unmanned airplane 40 A regulation signal for restricting the operation of at least one of the lower traveling body 110, the upper turning body 120, and the working mechanism 140 is generated for the input interface 210 of the work machine 10 during a predetermined period during which the 40 is taking off. To do.

Further, the beginning of the predetermined period may be the takeoff time of the unmanned aerial vehicle 40, and the end of the predetermined period may be the landing time of the unmanned aerial vehicle 40.

In addition, the start and end of the first predetermined time point and the second predetermined time point are set after the first predetermined time point and the first predetermined time point after the takeoff time point and the landing time point in each flight period of the unmanned aerial vehicle 40. There are the following four patterns as the patterns to be set at each of the previous second predetermined time points.

As the first pattern (pattern 1), both the start and end of a predetermined period are determined according to the operation mode of the unmanned aerial vehicle 40 through the remote control device 50 by the operator, or the flight of the unmanned aerial vehicle 40. It is a pattern determined according to the operation mode.

For example, the operator sets the start of a predetermined period as the time when the unmanned aerial vehicle 40 finishes stopping at the base end of the arm 143 (first predetermined time), and the end of the predetermined period as the end of the predetermined period as the end of the predetermined period at the tip of the arm 143. It may be specified as a time point (second predetermined time point) when the stoppage of is started.

In this case, when the unmanned aerial vehicle 40 determines that the arm 143 and the unmanned aerial vehicle 40 are likely to come into contact with each other while the unmanned aerial vehicle 40 is flying from the base end of the arm 143 to the tip of the arm 143. , The supply amount of hydraulic oil to the hydraulic actuator for driving the arm 143 is reduced or the supply of hydraulic oil is stopped, and the operating speed of the arm 143 is reduced or the operation is stopped.

As a result, when the arm 143 is maintained while viewing the captured image captured by the imaging device 410 mounted on the unmanned aerial vehicle 40, the possibility that the arm 143 and the unmanned aerial vehicle 40 come into contact with each other can be reduced.

As the second pattern (pattern 2), the start of a predetermined period is determined according to the operation mode of the unmanned aerial vehicle 40 through the remote control device 50 by the operator, or according to the flight operation mode of the unmanned aerial vehicle 40. The end of a predetermined period is a predetermined pattern regardless of the operation mode of the unmanned aerial vehicle 40 and the flight operation mode of the unmanned aerial vehicle 40 through the remote control device 50 by the operator.

For example, the operator designates the beginning of the predetermined period as the time when the unmanned aerial vehicle 40 finishes stopping at the base end of the arm 143 (first predetermined time), and the end of the predetermined period is 30 seconds after that time. It may be a time point (second predetermined time point).

In this case, it is determined that there is a high possibility that the arm 143 and the unmanned aerial vehicle 40 will come into contact with each other while the unmanned aerial vehicle 40 flies over the tip of the arm 143 over 30 seconds from the time when the unmanned aerial vehicle 40 finishes stopping at the base end of the arm 143. If this is done, the amount of hydraulic oil supplied to the hydraulic actuator for driving the arm 143 is reduced or the supply of hydraulic oil is stopped, and the operating speed of the arm 143 is reduced or the operation is stopped.

As a result, when performing maintenance on the arm 143 while viewing the captured image captured by the image pickup device 410 mounted on the unmanned airplane 40, the arm 143 is performed from the time when the maintenance of the arm 143 is completed until the unmanned airplane 40 lands. The possibility of contact between the unmanned airplane 40 and the unmanned airplane 40 is reduced.

As the third pattern (pattern 3), the end of a predetermined period is predetermined regardless of the operation mode of the unmanned aerial vehicle 40 and the flight operation mode of the unmanned aerial vehicle 40 through the remote control device 50 by the operator. It is a pattern in which the start of a predetermined period is determined according to the operation mode of the unmanned aerial vehicle 40 through the remote control device 50 by the operator, or is determined according to the flight operation mode of the unmanned aerial vehicle 40.

For example, the start of a predetermined period is set to a time point 60 seconds after the takeoff time of the unmanned aerial vehicle 40 (first predetermined time point), and the operator sets the end of the predetermined period to 30 meters from the tip of the arm 143 of the unmanned aerial vehicle 40. It may be specified as the time when it arrives in the sky (second predetermined time).

In this case, there is a high possibility that the arm 143 and the unmanned airplane 40 will come into contact with each other from the time 60 seconds after the unmanned airplane 40 takes off until the unmanned airplane 40 arrives 30 meters above the tip of the arm 143. If it is determined, the supply amount of hydraulic oil to the hydraulic actuator for driving the arm 143 is reduced or the supply of hydraulic oil is stopped, and the operating speed of the arm 143 is reduced or the operation is stopped.

As a result, if it is within 60 seconds from the takeoff time of the unmanned airplane 40, it is not necessary to regulate the operation of the work machine 10 because the distance between the unmanned airplane 40 and the work machine 10 is long, but the wind is blowing. So, just in case, if you want to regulate the movement of the arm 143 when the unmanned airplane 40 arrives 30 meters above the tip of the arm 143, the unmanned airplane 40 will start 60 seconds after the takeoff of the unmanned airplane 40. The possibility of contact between the arm 143 and the unmanned airplane 40 is reduced from the tip of the arm 143 until it reaches 30 meters above the ground.

As a fourth pattern (pattern 4), both the beginning and the end of a predetermined period are independent of the operation mode of the unmanned aerial vehicle 40 and the flight operation mode of the unmanned aerial vehicle 40 through the remote control device 50 by the operator. It is a predetermined pattern.

For example, the beginning of a predetermined period is when the remaining battery level of the unmanned aerial vehicle 40 is 60% (first predetermined time point), and the end of the predetermined period is the time when the remaining battery level of the unmanned aerial vehicle 40 is 50%. It may be the time point (second predetermined time point).

When the remaining battery level of the unmanned aerial vehicle 40 is 50% or less, the unmanned aerial vehicle 40 automatically flies toward a basement having a charging function for charging the battery of the unmanned aerial vehicle 40. You may go.

In this case, even if the remaining battery level of the unmanned aerial vehicle 40 suddenly becomes 60% to 50%, both the beginning and the end of the predetermined period are unmanned through the remote control device 50 by the operator. Since it is predetermined regardless of the operation mode of the airplane 40 and the flight operation mode of the unmanned aerial vehicle 40, the supply amount of the hydraulic oil to the hydraulic actuator for driving the work machine 10 is reduced or the supply of the hydraulic oil is stopped. The operation speed of the work machine 10 is reduced or the operation is stopped.

As a result, when the maintenance of the work machine 10 is performed while the remaining battery level of the unmanned airplane 40 is 60% and the remaining battery level of the unmanned airplane 40 is 50%, the unmanned airplane 40 is the base. Since the operation of the work machine is regulated while leaving the remaining battery level until returning to the ment, the possibility of contact between the work machine 10 and the unmanned airplane 40 can be reduced.

The operation mechanism 211 constituting the input interface 210 includes a traveling operation device, a turning operation device, a boom operation device, an arm operation device, and a bucket operation device. Each operating device has an operating lever that receives a rotation operation. The operation lever (travel lever) of the travel operation device is operated to move the lower traveling body 110. The travel lever may also serve as a travel pedal. For example, a traveling pedal fixed to the base or the lower end of the traveling lever may be provided. The operation lever (swivel lever) of the swivel operation device is operated to move the hydraulic swivel motor constituting the swivel mechanism 130. The operating lever (boom lever) of the boom operating device is operated to move the boom cylinder 142. The operating lever (arm lever) of the arm operating device is operated to move the arm cylinder 144. The operating lever (bucket lever) of the bucket operating device is operated to move the bucket cylinder 146.

Each operating lever constituting the operating mechanism 211 is arranged around the seat S for the operator to sit on, for example, as shown in FIG. The seat S is in the form of a high back chair with armrests, but may be in any form in which the operator can sit, such as a low back chair without a headrest or a chair without a backrest.

A pair of left and right traveling levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat S. One operating lever may also serve as a plurality of operating levers. For example, when the right operating lever 2111 provided in front of the right frame of the seat S shown in FIG. 2 functions as a boom lever when operated in the front-rear direction and is operated in the left-right direction. May function as a bucket lever. Similarly, the left side operating lever 2112 provided in front of the left side frame of the seat S shown in FIG. 2 functions as an arm lever when operated in the front-rear direction and is operated in the left-right direction. In some cases, it may function as a swivel lever. The lever pattern may be arbitrarily changed according to the operation instruction of the operator.

The image output device 222 constituting the output interface 220 is arranged in front of the sheet S, for example, as shown in FIG. The image output device 222 may further include a speaker (audio output device).

The notification device 230 is arranged in front of the seat S, for example. The notifying device 230 can notify the operator that the operation of at least one of the lower traveling body 110, the upper swivel body 120, and the working mechanism 140 is restricted. Good. For example, by displaying a text message on the image output device to notify, by playing a voice guidance from the speaker, by playing a warning sound from the speaker, or by turning on or blinking the warning light. , The notification may be given.

When the lever operation by the operator and the operation of the work machine do not match, the notification device 230 notifies the operator that the operation of the work machine is restricted. Then, the operator is made to recognize that the reason why the lever operation by the operator and the operation of the work machine do not match is not due to the failure of the work machine.

The unmanned aerial vehicle 40 includes an airplane control device 400, a wireless communication device 402, and an image pickup device 410. The unmanned aerial vehicle 40 is a rotary wing machine, and includes a plurality of (for example, 4, 6 or 8) blades, an electric motor (actuator) for rotating the plurality of blades, a battery for supplying electric power to the motor, and the like. ing. The unmanned aerial vehicle 40 can be operated through the remote control device 50. For example, the remote control device 50 of the unmanned aerial vehicle 40 may be configured by the input interface 210. Further, the unmanned aerial vehicle 40 may include the notification device 230.

(function)
In the unmanned aerial vehicle 40, the airplane control device 400 receives the flight command signal transmitted from the remote control device 50 through the wireless communication device 402 (FIG. 3 / STEP402). The airplane control device 400 controls the rotational operation of the actuator (electric motor) and thus the plurality of blades powered by the actuator according to the flight command signal (FIG. 3 / STEP404). As a result, the unmanned aerial vehicle 40 can fly by the airflow generated by rotating the plurality of blades, and can rise or fall in place or stay in the air. That is, the unmanned aerial vehicle 40 can take off, stop, and land.

In the unmanned aerial vehicle 40, the image pickup device 410 acquires a captured image including a specific part of the work mechanism 140, such as a bucket 145 as an attachment tip portion.

Further, based on the analysis of the captured image, the unmanned aerial vehicle 40 acquires takeoff information which is information including the state of taking off. (Fig. 3 / STEP406). As a result, for example, as shown on the left side of FIG. 4, when the work machine 10 is destroying the building, the bucket 145 is imaged from diagonally above by the image pickup device 410 mounted on the unmanned aerial vehicle 40. To. The airplane control device 400 transmits the captured image data representing the captured image and the takeoff information including the information that the unmanned airplane 40 is in a takeoff state to the work machine 10 through the wireless communication device 402 ( FIG. 3 / STEP408).

In the work machine 10, the work machine control device 20 receives the captured image data and the takeoff information through the wireless communication device 202 (FIG. 3 / STEP202). The work machine control device 20 displays an environment image (all or part of the captured image itself or a simulated environment image generated based on the captured image) on the image output device 222 (FIG. 3). / STEP204). As a result, for example, as shown on the right side of FIG. 4, an environmental image including the bucket 145 when the work machine 10 is destroying the building is displayed on the image output device 222.

The work machine control device 20 recognizes the relative position of the unmanned aerial vehicle 40 with respect to the work mechanism 140 (FIG. 3 / STEP206). For example, an unmanned airplane 40 based on each designated location of the bucket 145, arm 143, and boom 141 by querying an image database based on the shape and size of the bucket 145, arm 143, and boom 141 in the captured image. The relative position of is estimated. A marker having a predetermined shape is attached to each designated portion of the bucket 145, the arm 143, and the boom 141, and the bucket 145, the arm 143, and the boom 141 are displayed by querying the image database based on the shape and size of the marker in the captured image. The relative position of the unmanned airplane 40 may be estimated based on each of the designated points of. A range-finding image sensor or TOF sensor is mounted on the unmanned aerial vehicle 40, and based on the range-finding data acquired through the sensor, the relative position of the unmanned aerial vehicle 40 with respect to the designated locations of the bucket 145, the arm 143, and the boom 141. May be estimated.

The work machine control device 20 recognizes the operation mode of each operation lever constituting the operation mechanism 211 by the operator (FIG. 3 / STEP208).

In the work machine control device 20, the takeoff recognition element 21 determines the relative position of the unmanned aerial vehicle 40 with respect to one or more designated points of the work mechanism 140, and the operation mode of each operation lever constituting the operation mechanism 211 by the operator. Based on the above, it is determined whether or not the possibility of contact between the working mechanism 140 and the unmanned aerial vehicle 40 is low (FIG. 3 / STEP210). For example, the operation mode of the work mechanism 140 or the like as a work mechanism or the like corresponding to the operation mode of the operation mechanism 211 is such that the distance between the designated place of the work mechanism 140 and the unmanned aerial vehicle 40 is equal to or less than a predetermined value. When the operation mode is such that the aircraft approaches the unmanned aerial vehicle 40, it is determined that there is a high possibility of contact between the working mechanism 140 and the unmanned aerial vehicle 40.

The high or low possibility of contact between the work mechanism 140 and the unmanned aerial vehicle 40 is recognized depending on whether or not the reference space determined based on the overall posture of the work mechanism 140 includes the actual space position of the unmanned aerial vehicle 40. You may. The "reference space" is defined to include a space occupied or passed by the working mechanism 140 or a part thereof in a designated period when the upper rotating body 120 rotates with respect to the lower traveling body 110. For example, as shown in FIG. 5, in the reference space Ar, when the upper swing body 120 rotates clockwise or counterclockwise with respect to the lower traveling body 110, the working mechanism 140 or a part thereof It is defined to include the space it occupies or passes through. The overall posture of the working mechanism 140, and thus the extension mode in the vertical direction and the anteroposterior direction, describes the connecting mechanism (or joint mechanism) of the upper swing body 120 and the boom 141, the connecting mechanism of the boom 141 and the arm 143, and the arm. It can be estimated based on the measurement results of the respective angles of the connecting mechanism of the 143 and the bucket 145.

The central angle of the reference space Ar having a substantially fan-shaped cross section corresponds to an angle at which the upper swivel body 120 can rotate with respect to the lower traveling body 110 during a designated period. In a situation where the upper swing body 120 is turning counterclockwise with respect to the lower traveling body 110, the angle in the counterclockwise direction is larger than the angle in the clockwise direction, that is, with reference to the work mechanism 140. The reference space Ar may be defined asymmetrically.

When it is recognized that there is a high possibility of contact between the working mechanism 140 and the unmanned aerial vehicle 40 (FIG. 3 / STEP210 ... YES), the operation regulation control element 22 generates a regulation signal (FIG. 3 / STEP212). The "regulation signal" is a signal for restricting the operation of the work machine 10, and is a signal indicating only that there is a high possibility of contact with the unmanned airplane 40, or a lower traveling body 110, an upper turning body 120, and the like. Each of the working mechanism 140, the lower traveling body 110, the upper turning body 120, and the working mechanism 140 controls to stop the operation of approaching the unmanned airplane 40, and decelerates the operation of approaching the unmanned airplane 40. A regulatory signal for control may be included.

In the work machine 10, a regulation signal is generated by the operation regulation control element 22 (FIG. 3 / STEP212). As a result, for example, even when the operation mechanism 211 is operated in the direction in which the work mechanism 140 approaches the unmanned aerial vehicle 40, the operation of the work mechanism 140 is performed so that the work mechanism 140 does not approach the unmanned aerial vehicle 40. Be controlled. If the operation mechanism 211 is operated in the direction in which the work mechanism 140 moves away from the unmanned aerial vehicle 40, the operation of the work mechanism 140 away from the unmanned aerial vehicle 40 may not be regulated.

When the regulation signal is generated, the operator is informed that the regulation signal has been generated or that the operation mechanism 140 is effective for moving the work mechanism 140 away from the unmanned aerial vehicle 40 on the output interface constituting the input interface 210. You may be guided. Further, the operator may be notified that the regulation signal is generated and the operation of the work machine 10 is restricted. For example, the notification is performed by the voice guidance flowing from the speaker which is the notification device 230.

On the other hand, when it is recognized that the possibility of contact between the working mechanism 140 and the unmanned aerial vehicle 40 is low (FIG. 3 / STEP210 ... NO), the series of processes is completed, and the series of processes is repeated again. In this case, the operation regulation control element 22 may transmit a signal to the unmanned aerial vehicle 40 or the remote control device 50 that the operation regulation is unnecessary.

For example, as shown in the upper part of FIG. 6, the distance between the designated location of the work mechanism 140 and the unmanned aerial vehicle 40 is equal to or less than a predetermined value in each of _{the periods t = t 10 to t 13} and t = t _{15 to t 16.} And, as shown in the middle part of FIG. 6, the operation mode of the working mechanism 140 and the like is the period t = t _{11 to t 12} (t ₁₀ <t ₁₁ , t ₁₂ <t ₁₃ ) and t = t ₁₄ Consider the case where the distance between the designated location and the unmanned aerial vehicle 40 is small in each of ~ _{t 17} (t ₁₄ <t ₁₅ , t ₁₆ <t _17). In this case, as shown in the lower part of FIG. 6, the distance between the designated portion of the work mechanism 140 and the unmanned aerial vehicle 40 is not more than a predetermined value, and the operation mode of the work mechanism 140 or the like approaches the unmanned aerial vehicle 40. In each of the periods t = t _{11 to t 12} and t = t _{15 to t 16} , which are the operation modes, the operation mode of the work machine 10 is changed from the operation mode up to that point (the operation mode according to the operation mode of the operation mechanism 211). Be regulated.

For example, as shown in the upper part of FIG. 7, the distances between the designated location of the work mechanism 140 and the unmanned airplane 40 are the periods t = t _{21 to t 22} , t = t _{23 to t 24} , and t = t _26. Each of ~ _{t 29} is equal to or less than a predetermined value, and as shown in the middle part of FIG. 7, the operation mode of the working mechanism 140 or the like is a period t = t _{20 to t 25} (t ₂₀ <t ₂₁ , t _24). Consider the case where the distance between the designated location and the unmanned airplane 40 is small in each of <t ₂₅ ) and t = t _{27 to t 28} (t ₂₆ <t ₂₇ , t ₂₈ <t _29). To do. In this case, as shown in the lower part of FIG. 7, the distance between the designated portion of the work mechanism 140 and the unmanned aerial vehicle 40 is not more than a predetermined value, and the operation mode of the work mechanism 140 or the like approaches the unmanned aerial vehicle 40. In each of the periods t = t _{21 to t 22} and t = t _{27 to t 28} , which are the operation modes, the operation of the work machine 10 is regulated from the operation up to that point (the operation mode according to the operation mode of the operation mechanism 211). To.

(effect)
When it is recognized that there is a high possibility of contact between the work mechanism 140 constituting the work machine 10 having the above configuration and the unmanned airplane 40, the lower traveling body 110, the upper turning body 120, and the upper turning body 120 are referred to the operation interface 210. By generating a regulation signal for restricting the operation of at least one of the work mechanisms 140, the possibility of contact between the work machine 10 and the unmanned airplane 40 is reduced (see FIGS. 6 and 7). ..

(Other Embodiments of the present invention)
The unmanned aerial vehicle 40 as an embodiment of the present invention shown in FIG. 8 has a communication function with each of the work machine 10 and the remote control device 50. The unmanned aerial vehicle 40 includes a takeoff recognition element 41 and an operation regulation control element 42. In this case, the work machine control device 20 does not have to have the functions of the takeoff recognition element 21 and the operation regulation control element 22.

According to the unmanned aerial vehicle 40 having the configuration, when the takeoff recognition element 41 recognizes that the work mechanism 140 and the unmanned aerial vehicle 40 are highly likely to come into contact with each other, the operation regulation control element 42 sends a regulation signal to the work machine 10. Will be sent. Accordingly, the work machine control device 20 controls the operation of the operation mechanism 211 so that the contact possibility is reduced. As a result, when it is recognized that there is a high possibility of contact between the work mechanism 140 of the work machine 10 and the unmanned airplane 40, the lower traveling body 110, the upper swivel body 120, and the upper turning body 120 with respect to the operation interface 210 of the work machine The contact possibility is reduced by controlling each of the working mechanism 140, the lower traveling body 110, the upper turning body 120, and the working mechanism 140 to regulate the movement of approaching the unmanned airplane (FIG. FIG. 3. See FIGS. 6 and 7).

Even if the unmanned aerial vehicle 40 is provided with a notification device that notifies the operator that the operation of the unmanned aerial vehicle 40 is restricted when the operation of the remote control device 50 by the operator and the operation of the unmanned aerial vehicle do not match. Good. As a result, the operator is made aware that the reason why the operation of the remote control device 50 by the operator and the operation of the unmanned aerial vehicle 40 do not match is not due to the failure of the unmanned aerial vehicle 40.

The work machine support server 30 as an embodiment of the present invention shown in FIG. 9 has a communication function with each of the work machine 10, the unmanned aerial vehicle 40, and the remote control device 50. The work machine support server 30 includes a takeoff recognition element 31 and an operation regulation control element 32. In this case, the work machine control device 20 does not have to have the functions of the takeoff recognition element 21 and the operation regulation control element 22. Further, the airplane control device 400 does not have to have the functions of the takeoff recognition element 41 and the operation regulation control element 42.

According to the work machine support server 30 having the configuration, when the takeoff recognition element 31 recognizes that the work mechanism 140 and the unmanned aerial vehicle 40 are likely to come into contact with each other, the operation regulation control element 32 regulates the work machine 10. A signal is transmitted. In response to this, the work machine control device 20 controls the operation mode of the operation mechanism 211 so that the contact possibility is reduced. As a result, when it is recognized that there is a high possibility of contact between the work mechanism 140 of the work machine 10 and the unmanned airplane 40, the lower traveling body 110 and the lower upper swivel body 120 are referred to the operation mechanism 211 of the work machine. The contact possibility can be reduced by controlling the work mechanism 140, the lower traveling body 110, the upper turning body 120, and the working mechanism 140 to regulate the movement of approaching the unmanned airplane 40 (. See FIGS. 3, 6 and 7).

Further, according to the work machine support server 30 having the configuration, when the takeoff recognition element 21 recognizes that the work mechanism 140 and the unmanned aerial vehicle 40 are highly likely to come into contact with each other, the operation regulation control element 22 causes the remote control device 50 to operate. A regulation signal is transmitted to it. Correspondingly, the airplane control device 400 controls the operation mode of the remote control device 50 so that the contact possibility is low. As a result, when it is recognized that there is a high possibility of contact between the work mechanism 140 of the work machine 10 and the unmanned aerial vehicle 40, the unmanned aerial vehicle 40 or the remote control device 50 or the unmanned aerial vehicle 40 and the remote control device 50 are respectively. The contact possibility is reduced by transmitting a regulation signal for restricting the flight of the unmanned aerial vehicle 40 to approach the work machine 10 (see FIGS. 3, 6 and 7).

The work machine support server 30 includes a notification device 33 that notifies the operator that the operation of the work machine 10 is restricted when the operation of the operation mechanism 211 by the operator and the operation of the work machine 10 do not match. You may. As a result, the operator is made aware that the reason why the operation of the operation lever by the operator and the operation of the work machine 10 do not match is not due to the failure of the work machine 10. In this case, the machine control device 20 does not have to have the functions of the takeoff recognition element 21 and the operation regulation control element 22.

If the operation of the remote control device 50 by the operator and the operation of the unmanned aerial vehicle 40 do not match, the work machine support server 30 uses the notification device 33 to regulate the operation of the unmanned aerial vehicle 40 by the operator. You may let me know. As a result, the operator is made aware that the reason why the operation of the remote control device 50 by the operator and the operation of the unmanned aerial vehicle 40 do not match is not due to the failure of the unmanned aerial vehicle 40.

10 ... work machine, 20 ... work machine control device, 21 ... takeoff recognition element, 22 ... operation regulation control element, 30 ... work machine support server, 40 ... unmanned airplane, 202 ... wireless communication equipment, 210 ... input interface, 211 ... Operation mechanism, 220 output interface, 222 image output device, 230 notification device, 140 work mechanism (work attachment), 400 airplane control device, 402 wireless communication device, 410 image pickup device.

Claims (6)

Each operation mode of the lower traveling body, the upper rotating body capable of turning with respect to the lower traveling body, the working mechanism extending from the upper rotating body, the lower traveling body, the upper turning body, and the working mechanism. It is a work machine equipped with a control device that controls
The control device
A takeoff recognition element that recognizes that an unmanned aerial vehicle is in a takeoff state,
When the takeoff recognition element recognizes that the unmanned airplane is in a takeoff state, the lower traveling body and the upper portion with respect to the operation interface of the work machine during a predetermined period during which the unmanned airplane is taking off. An operation regulation control element that generates a regulation signal for restricting the operation of at least one of the swivel body and the work mechanism, and
A work machine characterized by being equipped with. In the work machine according to claim 1,
A work machine characterized in that each of the beginning and the end of the predetermined period is a takeoff time point and a landing time point in each flight period performed by the unmanned aerial vehicle. In the work machine according to claim 1,
Each of the beginning and the end of the predetermined period is at the first predetermined time point after the takeoff time point and the second predetermined time point after the first predetermined time point and before the landing time point in each flight period of the unmanned aerial vehicle. A work machine characterized by each. Each operation mode of the lower traveling body, the upper rotating body capable of turning with respect to the lower traveling body, the working mechanism extending from the upper rotating body, the lower traveling body, the upper turning body, and the working mechanism. It is a work machine support server having a communication function with each of a work machine equipped with a control device for controlling the body and an unmanned airplane.
A takeoff recognition element that recognizes that the unmanned aerial vehicle is in a takeoff state based on communication with the work machine and at least one of the unmanned aerial vehicles.
When the takeoff recognition element recognizes that the unmanned airplane is in a takeoff state, the lower traveling body, the lower traveling body, with respect to the operation interface of the work machine for a predetermined period during which the unmanned airplane is taking off. An operation regulation control element that generates a regulation signal for restricting the operation of at least one of the upper swing body and the work mechanism, and
A work machine support server characterized by being equipped with. In the work machine support server according to claim 4,
A work machine support server characterized in that each of the start and end of the predetermined period is a takeoff time point and a landing time point in each flight period performed by the unmanned aerial vehicle. In the work machine support server according to claim 4,
Each of the beginning and the end of the predetermined period is at the first predetermined time point after the takeoff time point and the second predetermined time point after the first predetermined time point and before the landing time point in each flight period of the unmanned aerial vehicle. A work machine support server characterized by each.

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