JP2021050575A - Control system - Google Patents

Abstract

To provide a control system capable of correctly grasping the following operation of a work machine under an automatic operation.SOLUTION: A control system comprises: an automatic operation switch validating an automatic operation of a work machine; an automatic operation control device 23 automatically controlling an operation of a hydraulic shovel 1 when an automatic operation is validated by the automatic operation switch 20; and an operation transmission device 22 visually transmitting operation information of the hydraulic shovel 1 to a monitoring person. The operation transmission device 22 transmits operation information regarding a following operation content to the monitoring person before performing the following operation when a present operation is different from the following operation.SELECTED DRAWING: Figure 3

Description

The present invention relates to a control system.

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

As a technique related to the automation of such a work machine, for example, in Patent Document 1, a manual operation means, a hydraulic actuator connected to a hydraulic source, and a solenoid are interposed in a supply / discharge passage to the hydraulic actuator. From a control valve that opens and closes the air supply / discharge passage by an electromagnetic drive means such as a mechanism, a valve controller that outputs a drive signal proportional to the operation signal of the manual operation means to the control valve, and the manual operation means. An automatic work controller having a memory unit that captures and stores an operation signal and an arithmetic output unit that can output a drive signal to the valve controller based on the storage signal in the memory unit, and an output from the manual operation signal. A work automation device for a hydraulic drive machine including a switching means for selecting an output from the automatic work controller and outputting the output to the valve controller is disclosed.

Japanese Unexamined Patent Publication No. 2-167933

In the above-mentioned prior art, the work machine is made to perform the work automatically by automatically repeating the first operation from the second time onward. However, since the operator on the work machine or the observer such as the remote operator cannot accurately grasp the next operation of the work machine during automatic work, the work machine may be improperly operated. It is difficult to grasp in advance and suppress it.

The present invention has been made in view of the above, and an object of the present invention is to provide a control system capable of accurately grasping the next operation of a work machine during automatic work.

The present application includes a plurality of means for solving the above problems. For example, an automatic operation switch for enabling automatic operation of a work machine and a case where automatic operation is enabled by the automatic operation switch. It is equipped with an automatic operation control device that automatically controls the operation of the work machine and an operation transmission device that transmits the operation information of the work machine to the observer by tactile sensation. If they are different, the operation information regarding the next operation content shall be transmitted to the observer before performing the next operation.

According to the present invention, it is possible to accurately grasp the next operation of the work machine during automatic work, and it is possible to grasp and suppress an inappropriate operation of the work machine in advance.

It is a figure which shows schematic appearance of the hydraulic excavator which is an example of a work machine. It is a figure which shows schematic appearance of the hydraulic excavator which is an example of a work machine. It is a functional block diagram of the control system which concerns on 1st Embodiment. It is a figure which shows typically the structure of the motion transmission device which concerns on 1st Embodiment. It is a figure which shows typically the structure of the motion transmission device which concerns on 1st Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 1st Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 1st Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 1st Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 1st Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 1st Embodiment. It is a figure which shows typically the structure of the motion transmission device which concerns on 2nd Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 2nd Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 2nd Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 2nd Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 2nd Embodiment. It is a functional block diagram of the control system which concerns on 3rd Embodiment. It is a figure which shows an example of the transmission pattern of the operation information to the observer of the operation transmission part with respect to the operation of the hydraulic excavator which concerns on 3rd Embodiment. It is a figure which shows typically the structure of the motion transmission device which concerns on 4th Embodiment. It is a figure which shows typically the structure of the motion transmission device which concerns on 4th Embodiment. It is a figure which shows typically the structure of the motion transmission device which concerns on 4th Embodiment. It is a figure which shows typically the structure of the motion transmission device which concerns on 4th Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

In the present embodiment, as an example of the work machine, a hydraulic excavator provided with a work device (front work machine) will be described as an example, but the present invention will also be applied to other work machines such as a wheel loader and a bulldozer. The invention can be applied.

Further, in the drawings according to the description of the present embodiment, when a plurality of components are in the vicinity, the leader lines and symbols of one component are attached as representatives, and the symbols of the other components are written in parentheses. May be indicated by.

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

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

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

In FIGS. 1 and 2, the hydraulic excavator 1 is configured by mounting the upper swivel body 16 on the lower traveling body 14 via the swivel mechanism 15. The swivel mechanism 15 includes a hydraulic motor 41, and the hydraulic motor 41 swivels the upper swivel body 16 clockwise or counterclockwise with respect to the lower traveling body 14. The swivel mechanism 15 is provided with a swivel angle detection device 13, which detects the swivel angle and its fluctuation and transmits the swivel angle and its fluctuation to the control device 43 and the automatic operation control device 23, which will be described later.

A work device 17 composed of a boom 8, an arm 9, and a bucket 10 as a work tool is provided in front of the upper swing body 16. Further, the upper swivel body 16 is equipped with a cab 2 on which the operator is boarded. The boom 8 is attached to the upper swing body 16 so as to be rotatable in the vertical direction. The boom 8 swings in the vertical direction with respect to the upper swing body 16 about the swing center axis 19 by the boom cylinder 5 driven by the flood control. One end of the arm 9 is rotatably attached to the tip of the boom 8 in the vertical direction. The arm 9 swings in the front-rear direction with respect to the boom 8 by a hydraulically driven arm cylinder 6. A bucket 10 is rotatably attached to the tip of the arm 9 in the vertical direction. The bucket 10 swings in the vertical direction with respect to the arm 9 by the flood-driven bucket cylinder 7. The working device 17 swivels around the swivel center axis 18 together with the upper swivel body 16.

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

Posture sensors 36A, 36B, and 36C are attached to the base of the boom 8, the connection between the boom 8 and the arm 9, and the connection between the arm 9 and the bucket 10, respectively. The posture sensor 36A measures the angle β1 formed by the longitudinal direction of the boom 8 and the xy surface, and transmits the angle β1 to the control device 43. The posture sensor 36B measures the angle β2 formed by the longitudinal direction of the boom 8 and the longitudinal direction of the arm 9, and transmits the angle β2 to the control device 43. The posture sensor 36C measures the angle β3 formed by the longitudinal direction of the arm 9 and the longitudinal direction of the bucket 10, and transmits the angle β3 to the control device 43. In the present embodiment, the posture sensors 36A, 36B, 36C and the turning angle detection device 13 may be collectively referred to as a vehicle body posture detection device 42.

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

In FIG. 3, the control system includes an operation transmission device 22, an automatic driving control device 23, a vehicle body information integrated processing device, a control device 43, an automatic driving switch 20, and a working device 17. Further, the automatic operation control device 23 includes a route generation unit 32, an operation start determination unit 33, and a transmission method determination unit 34. In the following, an operator who carries out work on the hydraulic excavator 1 and an operator (remote operator) who performs work by remotely controlling the hydraulic excavator 1 will be referred to as a monitor.

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

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

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

The automatic operation switch 20 selectively switches the drive signal input to the work device 17 to either the drive signal output from the control device 43 or the drive signal output from the route generation unit 32. When the drive signal output from the control device 43 is input to the work device 17, a drive signal based on the operation signal from the operation device operated by the operator of the cab 2 or the remote operator is input to the work device 17. , Semi-automatic control is implemented. When the drive signal output from the route generation unit 32 is input to the work device 17, the drive signal based on the automatic operation control by the automatic operation control device 23 is input to the work device 17, and the automatic control is executed. To.

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

Based on the information obtained from the route generation unit 32, the operation start determination unit 33 outputs the operation start / end flag and the operation information to the transmission method determination unit 34 before the start of the operation such as the turning operation.

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

The motion transmission device 22 operates a transmission device (motion transmission units 21a to 21j described later) composed of, for example, a vibration device, in response to the output of the transmission method determination unit 34, to transmit motion information to the monitor.

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

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

The motion transmission device 22 is arranged at a position within reach of both left and right front of the observer located at a predetermined position for operating or monitoring the hydraulic excavator 1. The motion transmission device 22 is provided with a plurality of motion transmission units 21a to 21j for transmitting motion information to the observer by tactile sensation. The motion transmission units 21a to 21j are arranged so that the fingers 40a to 40j of the left and right hands of the observer held over the motion transmission device 22 touch the motion transmission units 21a to 21j, respectively. The motion transmission units 21a to 21j transmit motion information by stimulating the tactile sensation of the observer by, for example, vibration, temperature change, electric shock, or the like.

By first pressing the automatic operation switch 20, the observer shifts to the automatic operation mode in which the hydraulic excavator 1 is automatically operated. In the present embodiment, the case where the automatic operation switch 20 and the operation transmission unit 21 are arranged at separate positions is illustrated, but the automatic operation switch 20 and the operation transmission units 21a to 21j are integrated. Even if the structure is configured so that the automatic operation switch 20 is activated only when the fingers 40a to 40j are in contact with all of the motion transmission units 21a to 21j, a momentary type operation is performed. Good.

Next, the observer places the hands 39 (here, both hands) on the motion transmission device 22 so that the fingers 40a to 40j touch the motion transmission units 21a to 21j, respectively. Although the case where the motion transmission units 21a to 21j are arranged by the number of the observer's fingers 40a to 40j is illustrated, at least two or more of them may be arranged. In addition, the hand that transmits the movement may be either left or right, or both.

The motion transmission units 21a to 21j transmit motion information to the observer in response to an motion such as a turning motion. The timing of transmitting the operation information to the observer is performed n seconds before the operation of the hydraulic excavator 1 starts. The time n seconds is the time obtained by adding the margins such as the operator's reaction time and the hydraulic response delay time, or the time obtained by adding the margins such as the remote operator's reaction time, the communication delay time and the hydraulic response delay.

5A to 5E are diagrams showing examples of transmission patterns of operation information to the monitor of the operation transmission unit for the operation of the hydraulic excavator. Here, a case where the hydraulic excavator 1 performs a right-handed turning operation will be described as an example. In FIGS. 5A to 5E, the vertical axis represents the transmission levels Aa to Aj of the motion transmission units 21a to 21j, and the horizontal axis represents the transmission time t of the motion transmission units 21a to 21j.

For example, as shown in FIG. 5A, when transmitting the operation information related to the right turning operation of the hydraulic excavator 1 to the observer, the operation transmission units 21a to 21j are operated so as to flow sequentially from the left side to the right side. Can be considered. In this case, the observer's fingers 40a to 40a receive tactile stimuli in order from left to right, and it is possible to intuitively understand that the hydraulic excavator 1 performs a right-handed turning motion.

Further, as shown in FIG. 5B, even when the motion transmission units 21a to 21j are sequentially started to flow from the left side to the right and the motion is continuously transmitted, the finger of the observer who receives the stimulation to the sense of touch. Since 40a to 40a increase in order from left to right, it is possible to intuitively understand that the hydraulic excavator 1 performs a right turning operation.

Further, as shown in FIG. 5C, the motion transmitting units 21a to 21j flow sequentially from the left side to the right, and at the same time, by overlapping the operating times of the adjacent motion transmitting units 21a to 21j, the observer's finger 40a ~ 40a receives tactile stimuli in order from left to right, and it is possible to intuitively understand that the hydraulic excavator 1 performs a right-handed turning motion.

Further, as shown in FIG. 5D, the observer can intuitively understand the turning speed by changing the operation interval of the motion transmitting units 21a to 21j according to the turning speed of the hydraulic excavator 1. FIG. 5D illustrates a case where the turning speed of the hydraulic excavator 1 is high and the right turning is performed. By shortening the transmission time as the turning speed increases, the operating speed can be increased to the observer. Can be communicated. For example, the transmission time tx is represented by tx = t × (v / vx) when the time to be transmitted when turning at a standard turning speed is t, the standard turning speed is v, and the target turning speed is vx. To.

Further, as shown in FIG. 5E, the operating speed can be transmitted to the observer by increasing or decreasing the transmission level according to the speed. Here, the transmission level Ax is represented by Ax = Ax (vx / v) when the standard transmission level is A, the standard turning speed is v, and the target turning speed is vx.

The effects of the present embodiment configured as described above will be described.

In the prior art, an operator on board a work machine or a monitor such as a remote operator cannot accurately grasp the next operation of the work machine during automatic work, and thus the work machine is inappropriate. It was difficult to grasp and suppress such movements in advance.

On the other hand, in the present embodiment, the operation of the hydraulic excavator 1 is automatically controlled by the automatic operation switch for enabling the automatic operation of the work machine and the automatic operation switch 20 when the automatic operation is in the enabled state. The automatic operation control device 23 and the motion transmission device 22 for transmitting the motion information of the hydraulic excavator 1 to the observer by tactile sensation are provided, and the motion transmission device 22 is described as follows when the current motion and the next motion are different. Since it is configured to convey the operation information about the next operation content to the observer before performing the operation, it is possible to accurately grasp the next operation of the work machine during automatic work, and the improper operation of the work machine. Can be grasped in advance and suppressed.

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

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

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

In FIG. 2, the motion transmission device 22A arranges at least 2 × 2 motion transmission units 21 (5 × 5 in the present embodiment) to transmit not only the turning motion in the lateral direction but also the work motion in the longitudinal direction. It is possible to do.

Since the motion transmission device 22A can cover a wider area than the area of the observer's palm by the motion transmission unit 21, the operation of the hydraulic excavator 1 is performed even if the place where the hand is placed is slightly displaced. Can convey direction. It should be noted that the arrangement of the motion transmission units 21 does not have to be the same in the longitudinal direction and the lateral hand direction.

7A to 7D show examples of transmission patterns of operation information to the monitor of the operation transmission unit for the operation of the hydraulic excavator. FIG. 7A illustrates a case where the hydraulic excavator 1 extends the work device 17 while performing a right-handed turning operation. In FIG. 7A, a group of vertically arranged motion transmission units is referred to as motion transmission unit groups 21A to 21E in order from the left, and a group of motion transmission units arranged side by side is referred to as motion transmission unit groups 21J to 21F in order from the bottom. The transmission level A and the transmission time t of each of the motion transmission unit groups 21A to 21J are shown on any of the horizontal axes.

For example, as shown in FIG. 7A, when the operation information is transmitted to the observer when the hydraulic excavator 1 extends the work device 17 while turning to the right, the operation transmission units 21A to 21E are transmitted from the right. The motion transmission units 21F to 21J are sequentially operated so as to flow to the left, and the motion transmission units 21F to 21J are sequentially operated so as to flow from the front side to the back side. In this case, the observer's hand 39 receives tactile stimuli in order from the lower left to the upper right, and it is intuitive that the hydraulic excavator 1 performs the work of extending the work device 17 forward while performing the right turning operation. Can be understood.

7B to 7D illustrate the case where the hydraulic excavator 1 is driven by a crawler. In FIGS. 7B to 7D, a group of motion transmission units on the left side is referred to as a motion transmission unit group 21K, and a group of motion transmission units on the right side is referred to as a motion transmission unit group 21L. Further, in the motion transmission unit group 21K, a group of motion transmission units arranged in the left-right direction are referred to as motion transmission unit groups 21M to 21Q in order from the bottom, and in the motion transmission unit group 21L, a group of motion transmission units arranged in the left-right direction are in order from the top. It is referred to as a motion transmission unit group 21R to 21V. Further, the transmission level A and the transmission time t of each motion transmission unit group 21M to 21V are shown on either the vertical axis or the horizontal axis, respectively.

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

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

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

Further, as shown in FIG. 7D, in the case where the hydraulic excavator 1 transmits the motions in which the left and right crawlers travel in different directions so as to execute the turning, the motion transmission group 21M, the motion transmission group 21R, and the motion transmission group 21N and motion transmission group 21S, motion transmission group 21T and motion transmission group 21O, motion transmission group 21U and motion transmission group 21P, motion transmission group 21V and motion transmission group 21Q operate in synchronization with each other. To do. In this way, by transmitting the operation information of the front part and the crawler to the observer by tactile sensation in addition to the turning operation, the observer can grasp the next operation of the automatically operating hydraulic excavator 1, which is inappropriate. The operation can be suppressed before the operation is started. Further, by transmitting the operation information by touch, the observer can grasp the operation of the hydraulic excavator 1 without diverting the line of sight from the surroundings of the hydraulic excavator 1.

When applying the present invention to a wheel type work machine such as a wheel loader, for example, the motion transmission units 21A to 21J are operated according to the traveling direction of the vehicle, and the motion transmission units 21A to 21A to 21A to operate at the front operation. By vibrating the entire 21J, the observer can grasp the operation of the hydraulic excavator 1 without diverting the line of sight from the surroundings of the hydraulic excavator 1.

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

In the first and second embodiments, the present embodiment adds a function of a work state monitoring unit 31 that outputs a vehicle body abnormality flag in response to vehicle body abnormality information such as control instability to the automatic driving control device 23. Is shown.

FIG. 8 is a functional block diagram of the control system according to the present embodiment. In the figure, the same processing as in the first embodiment is designated by the same reference numerals, and the description thereof will be omitted.

In FIG. 8, the control system includes an operation transmission device 22, an automatic driving control device 23A, a vehicle body information integrated processing device, a control device 43, an automatic driving switch 20, and a working device 17. Further, the automatic operation control device 23A includes a work state monitoring unit 31, a route generation unit 32, an operation start determination unit 33, and a transmission method determination unit 34.

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

FIG. 9 shows an example of an operation information transmission pattern to the monitor of the operation transmission unit for the operation of the hydraulic excavator. FIG. 9 illustrates a case where the work condition monitoring unit 31 transmits vehicle body abnormality information such as control instability. In FIG. 9, a group of vertically arranged motion transmission units is referred to as motion transmission unit groups 21A to 21E in order from the left, the vertical axis represents the transmission time t of each motion transmission unit group 21A to 21E, and the horizontal axis represents the transmission level A. Are shown respectively.

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

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

Even in the present embodiment configured as described above, the same effects as those in the first and second embodiments can be obtained.

In addition, the observer can grasp the abnormality of the hydraulic excavator 1, and when an inappropriate operation may occur, the operation can be immediately suppressed.

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

In the second embodiment, the present embodiment further provides a function of changing the transmission level and the transmission location according to the lever operation amount of the operation device that operates the hydraulic excavator 1.

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

As shown in FIGS. 10A and 10B, the motion transmission device 22B for transmitting the crawler running motion is integrated with the foot pedal 44, and the motion transmission units 21k to 21p are configured on the foot pedal 44. When the left crawler advances, it operates with 21l and 21k in order from the motion transmission unit 21m. Further, when the right crawler advances, it operates 21o and 21n in order from the motion transmission unit 21p. It should be noted that when moving backward, transmission is performed in the reverse order of when moving forward.

Further, as shown in FIGS. 10C and 10D, motion transmission units 21s to 21z for transmitting the lever operation are arranged. The motion transmission units 21s to 21z are divided into at least four left and right, and the motion transmission units 21s, 21t, 21u, 21v, 21w, 21x, 21y, and 21z are left-turning operation, arm extending operation, right-turning operation, and arm scraping, respectively. It transmits movements, bucket scraping movements, boom lowering movements, bucket dumping movements, and boom raising movements. Further, when a vehicle body abnormality such as control instability occurs, it is possible to transmit the actuator in which the abnormality has occurred to the observer.

Other configurations are the same as in the second embodiment.

The same effect as that of the second embodiment can be obtained in the present embodiment configured as described above.

In addition, the operation amount of each actuator can be sensuously transmitted to the monitor, and the time and effort for teaching the motion transmission pattern to the monitor can be reduced.

When the present invention is applied to a wheel type work machine such as a wheel loader, for example, the motion transmission units 21s, 21t, 21u, 21v, 21w, 21x, and 21y each have a vehicle body left turning operation and a lift arm lowering. By transmitting the operation, the vehicle body right turning operation, the bucket dump operation, the bucket scraping operation, the lift arm raising operation, and the bucket tilt operation, the observer can operate the hydraulic excavator 1 without diverting the line of sight from the surroundings of the hydraulic excavator 1. Can be grasped. Further, the brake operation is transmitted by simultaneously operating the operation transmission units 21k to 21m on the foot pedal 44. Further, in the case of the forward traveling operation, the motion transmitting units 21p to 21n are sequentially operated, and in the case of the reverse traveling operation, the motion transmitting units 21n to 21p are sequentially operated so that the observer can grasp the traveling direction of the work machine. Can be done.

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

(1) In the above embodiment, the automatic operation switch 20 for enabling the automatic operation of the work machine (for example, the hydraulic excavator 1) and the operation of the work machine when the automatic operation is enabled by the automatic operation switch. The operation transmission device 23 includes an automatic operation control device 23 that automatically controls the operation, and an operation transmission device 22; 22A; 22B that transmits the operation information of the work machine to the observer by tactile sensation. If the above is different, the operation information regarding the next operation content is transmitted to the observer before the next operation is performed.

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

(2) Further, in the above-described embodiment, in the control system of (1), a work state monitoring device (for example, a work state monitoring unit 31) that monitors the work state of the work machine (for example, the hydraulic excavator 1) is provided. The motion transmission device 22; 22A; 22B transmits the work state of the work machine to the observer according to the monitoring result of the work state monitoring device.

(3) Further, in the above-described embodiment, in the control system of (2), the work machine (for example, the hydraulic excavator 1) includes a work device 17 driven by an actuator, and the motion transmission device 22; 22A. 22B is intended to convey the operating state of the actuator to the observer.

(4) Further, in the above-described embodiment, in the control system of (3), the monitoring result of the work state monitoring device (for example, the work state monitoring unit 31) is the operation direction and the operation direction related to the work of the work device 17. The motion transmission device 22; 22A; 22B includes the work state, and changes the transmission place and the transmission timing in the observer according to the monitoring result of the work state monitoring device.

(5) Further, in the above embodiment, in the control system of (4), the observer who is the transmission target of the motion transmission devices 22; 22A; 22B gets on the work machine (for example, the hydraulic excavator 1). In the case of the operator, the timing at which the motion transmission device transmits the motion to the observer is set to a margin in which at least the reaction time of the operator and the hydraulic response delay time are taken into consideration.

(6) Further, in the above embodiment, in the control system of (4), the observer who is the transmission target of the motion transmission devices 22; 22A; 22B remotely remotes the work machine (for example, the hydraulic excavator 1). In the case of an operator to operate, the timing at which the motion transmission device transmits the motion to the observer shall set a margin in consideration of at least the operator's reaction time, communication delay time, and hydraulic response delay time. did.

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

<Additional notes>
The present invention is not limited to the above-described embodiment, and includes various modifications and combinations within a range that does not deviate from the gist thereof. Further, the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted. Further, each of the above configurations, functions and the like may be realized by designing a part or all of them by, for example, an integrated circuit. Further, each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function.

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

Claims (7)

An automatic operation switch that enables automatic operation of work machines and
An automatic operation control device that automatically controls the operation of the work machine when automatic operation is enabled by the automatic operation switch, and
Equipped with an operation transmission device that transmits the operation information of the work machine to the observer by tactile sensation.
The motion transmission device is a control system characterized in that when the current motion and the next motion are different, motion information regarding the next motion content is transmitted to the observer before performing the next motion. In the control system according to claim 1,
A work condition monitoring device for monitoring the work condition of the work machine is provided.
The operation transmission device is a control system characterized in that the work state of the work machine is transmitted to the observer according to the monitoring result of the work state monitoring device. In the control system according to claim 2,
The work machine includes a work device driven by an actuator.
The motion transmission device is a control system characterized in that the motion transmission state of the actuator is transmitted to the observer. In the control system according to claim 3,
The monitoring result of the work state monitoring device includes the operation direction and the work state related to the work of the work device.
The motion transmission device is a control system characterized in that the transmission location and transmission timing of the observer are changed according to the monitoring result of the work state monitoring device. In the control system according to claim 4,
When the observer to be transmitted by the motion transmission device is an operator on board the work machine, the timing at which the motion transmission device transmits the motion to the observer is at least the reaction time of the operator and the hydraulic response. A control system characterized by setting a margin that takes into account the delay time. In the control system according to claim 4,
When the observer to be transmitted by the motion transmission device is an operator who remotely operates the work machine, the timing at which the motion transmission device transmits the motion to the observer is at least the reaction time of the operator and communication. A control system characterized in that a margin is set in consideration of a delay time and a hydraulic response delay time. In the control system according to claim 1,
The motion transmission device is a control device for a work machine, characterized in that the motion transmission device is arranged so as to touch at least two or more fingers of the observer.

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