JP2021111154A - Work machine - Google Patents

Abstract

To reduce communication costs.SOLUTION: A work machine includes a control device that controls a device mounted on a self-work machine and a first communication device that communicates with a server via a wireless base station. The work machine further includes a second communication device that directly communicates with another work machine other than the self-work machine. When a version of program information possessed by the other work machine is newer than a version of program information possessed by the self-work machine, the control device acquires the program information from the other work machine via the second communication device, and updates the program information of the self-work machine by the acquired program information.SELECTED DRAWING: Figure 9

Description

The present invention relates to a working machine.

Patent Document 1 describes a vehicle controller that stores a currently used program and executes a rewriting process that rewrites the program with an update program, and a server having the update program that can communicate with each other via a mobile phone communication network. A work machine having a communication controller that stores the update program received from the server is described.

Japanese Unexamined Patent Publication No. 2017-41114

The work machine described in Patent Document 1 has a problem that communication costs are high because it has a configuration in which an update program is acquired from a server via a mobile phone communication network and a wireless base station developed by a mobile phone operator. In particular, when multiple work machines are operating at the work site, it is necessary for the multiple work machines to communicate with the server and acquire the update program. Therefore, the larger the number of work machines, the higher the communication cost. Will increase.

An object of the present invention is to reduce communication costs.

The work machine according to one aspect of the present invention includes a control device for controlling equipment mounted on the own work machine, and a first communication device for communicating with a server via a radio base station. The work machine further includes a second communication device that directly communicates with another work machine other than the self-work machine, and the control device is a program in which the version of the program information possessed by the other work machine is a program possessed by the self-work machine. When the version of the information is newer than the version of the information, the program information is acquired from the other working machine via the second communication device, and the program information of the own working machine is updated by the acquired program information.

According to the present invention, it is possible to reduce the communication cost.

The figure which shows the structure of the management system of a work machine. It is a figure which shows the hydraulic system and the control device mounted on a work machine. The figure which shows the structure of the non-volatile memory of each controller. The figure which shows the program version table. The figure which shows the owner information. The figure which shows the record before and after rewriting. Functional block diagram of the information controller. A flowchart showing the contents of the program selection process executed by the information controller. A flowchart showing the contents of the program update process executed by the information controller. A flowchart showing the contents of the program recovery process executed by the information controller. A flowchart showing the contents of transmission processing of various information executed by the information controller. The figure which shows the example which updates the normal program of a self-working machine by the normal program acquired from another work machine. The figure which shows the example which restores the normal program of a self-working machine by the normal program acquired from another work machine.

The work machine 100 and the management system 10 thereof according to the embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a management system 10 of a work machine 100. As shown in FIG. 1, the management system 10 includes a management server 41 installed in the management center 40 and a work machine 100 such as a hydraulic excavator that performs work at a work site. The management center 40 owns, for example, facilities such as the head office, branch offices, and factories of the manufacturer (manufacturer) of the work machine 100, a rental company of the work machine 100, a data center that specializes in server operation, and the work machine 100. It will be installed at the owner's facility. The management server 41 is installed at a position away from the work machine 100 and transmits / receives information (data) to / from the work machine 100. The management server 41 functions as a management device that remotely manages (grasps, monitors) the state of the work machine 100.

The work machine 100 is shipped from the factory of the manufacturer and operates at the work site (construction site). The work machine 100 performs various operations such as civil engineering work, construction work, demolition work, and dredging work at the work site. The plurality of work machines 100 operating at the work site share the work for the purpose of improving the work efficiency of the entire work site.

The management system 10 is configured so that bidirectional communication can be performed between the work machine 100 and the management server 41 via the communication line 70 of the wide area network. That is, the work machine 100 and the management server 41 can transmit and receive information (data) via the communication line 70. The communication line 70 is a mobile phone communication network (mobile communication network) developed by a mobile phone operator or the like, the Internet, or the like. For example, as shown in the figure, when the work machine 100 and the radio base station 71 are connected by a mobile phone communication network (mobile communication network), when the radio base station 71 receives predetermined information from the work machine 100, the radio base station 71 receives a predetermined information. The received information is transmitted to the management server 41 via the Internet.

The management server 41 can grasp the state of the work machine 100 by receiving vehicle body information such as operation information and warning information received from the work machine 100. Further, the storage device 42 of the management server 41 stores program information (for example, the latest version of the normal program) for updating the normal program 128 (see FIG. 3) executed by the control device 110 of the work machine 100. Has been done. Further, in the storage device 42 of the management server 41, not only the latest version of the normal program but also the normal program 128 of the work machine 100 may fail in the process of updating the normal program 128 to the latest version in the work machine 100. The program information for recovering (for example, the normal program of the old version older than the latest version) is stored. The management server 41 transmits program information to the work machine 100 via the communication line 70 and the radio base station 71 in response to a request command from the work machine 100. Therefore, the work machine 100 can update or restore the normal program 128 by rewriting the normal program 128 with the program information acquired from the management server 41.

The management server 41 is connected to the in-house computer 44 and the owner computer 45 via the communication line 70. The in-house computer 44 is a computer installed in a facility such as a manufacturer's head office, branch office, or factory, and used by the manufacturer. The in-house computer 44 normally transmits the program 128 to the management server 41 via the communication line 70, and stores the program 128 in the storage device 42 of the management server 41. When a new version of the normal program 128 is created, the manufacturer transmits the created normal program 128 to the management server 41 using the in-house computer 44. As a result, the storage device 42 of the management server 41 stores the normal program 128 from the first version (original version) to the latest version.

The owner computer 45 is a computer installed in the facility of the owner who owns the work machine 100 and used by the owner. The owner can check the operating status of the plurality of work machines 100 operating at the work site and manage the work machines 100 by communicating with the management server 41 by the owner computer 45.

The work machine 100 includes a vehicle body 9 and a work device 13 attached to the vehicle body 9. The vehicle body 9 includes a traveling body 11 and a rotating body 12 provided on the traveling body 11 so as to be able to turn. A working device 13 is attached to the front portion of the swivel body 12.

The work device 13 is an articulated work device having a plurality of front members rotatably connected to each other. In the present embodiment, the boom 14, the arm 15, and the bucket 16 are connected in series as the three front members. The base end of the boom 14 is rotatably connected to the front of the frame 12b of the swivel body 12. The base end of the arm 15 is rotatably connected to the tip of the boom 14. The bucket 16 is rotatably connected to the tip of the arm 15. The boom 14 rotates with respect to the swivel body 12 by expanding and contracting the boom cylinder 14a. The arm 15 rotates with respect to the boom 14 by expanding and contracting the arm cylinder 15a. The bucket 16 rotates with respect to the arm 15 by expanding and contracting the bucket cylinder 16a.

The traveling body 11 travels by driving a pair of left and right crawlers by a traveling hydraulic motor 11a. The swivel body 12 swivels by driving the swivel hydraulic motor 12a. A driver's cab 17 is provided on the left side of the front portion of the swivel body 12, and an engine chamber 18 in which the engine 80 (see FIG. 2) is housed is provided on the rear side of the driver's cab 17. A counterweight 19 for balancing the machine body during work is attached to the rear part of the engine chamber 18.

In the driver's cab 17, an operating device 34 (see FIG. 2) for operating the traveling body 11, the turning body 12, and the working device 13 and an engine control dial 62 for setting the engine rotation speed (see FIG. 2). A control device 110 for controlling the equipment mounted on the work machine 100, an input device 180 (see FIG. 2), and a display device 190 (see FIG. 2) are provided.

FIG. 2 is a diagram showing a hydraulic system 30 and a control device 110 mounted on the work machine 100. In the following, a traveling motor (hydraulic motor), a swivel motor (hydraulic motor), a boom cylinder (hydraulic cylinder) 14a, an arm cylinder (hydraulic cylinder) 15a, a bucket cylinder (hydraulic cylinder) 16a, etc. mounted on the work machine 100, etc. Are collectively referred to as a hydraulic actuator 37. The hydraulic system 30 is provided with a plurality of hydraulic actuators 37, and FIG. 2 shows one hydraulic actuator 37 as a representative. Further, an operating device 34 for operating the hydraulic actuator 37 and a control valve 35 driven in response to the operation of the operating device 34 are provided for each of the plurality of hydraulic actuators 37, but in FIG. 2, one operating device is represented. 34 and the control valve 35 are illustrated.

The hydraulic system 30 controls the flow of the hydraulic oil from the main pump 31 and the pilot pump 32, the hydraulic actuator 37 driven by the hydraulic oil as the hydraulic fluid discharged from the main pump 31, and the hydraulic actuator 37 from the main pump 31. A control valve 35 and a control valve 35 are provided. The main pump 31 and the pilot pump 32 are connected to the engine 80 and are driven by the engine 80 to discharge hydraulic oil (pressure oil). The main pump 31 is a variable displacement hydraulic pump, and the pilot pump 32 is a fixed displacement hydraulic pump. The engine 80 is a power source for the work machine 100, and is composed of, for example, an internal combustion engine such as a diesel engine.

The hydraulic oil discharged from the pilot pump 32 is supplied to the operating device 34. The operating device 34 includes an operating lever 34a operated by an operator and a pair of hydraulic pilot type pressure reducing valves. The operating device 34 uses the discharge pressure of the pilot pump 32 as the original pressure to generate a pilot pressure (sometimes referred to as an operating pressure) according to the operating amount and operating direction of the operating lever 34a. The pilot pressure generated in this way is guided to the pressure receiving chambers 35a and 35b of the control valve 35 corresponding to the hydraulic actuator 37, and is used as a control signal for driving the control valve 35.

The pilot line connecting the operation device 34 and the pressure receiving chambers 35a and 35b of the control valve 35 is provided with operation sensors 37a and 37b for detecting the operation pressure (operation amount) generated by the operation of the operation lever 34a by the operator. .. The operation sensors 37a and 37b are connected to the main controller 101, which will be described later, and output information regarding the detected operation amount to the main controller 101.

The hydraulic oil discharged from the main pump 31 is supplied to the hydraulic actuator (hydraulic cylinder, hydraulic motor) 37 through the control valve 35, and each of the working device 13, the swivel body 12, and the traveling body 11 is driven.

The work machine 100 is based on a control device 110 for controlling the work machine 100, an input device 180 that inputs a predetermined signal to the control device 110 by being operated by an operator, and a signal output from the control device 110. The display device 190 for displaying a predetermined image on the display screen, the first communication device 141 for communicating with the management server 41 via the radio base station 71 and the communication line 70, and the relay station such as the radio base station 71. It is provided with a second communication device 142 for directly communicating with another work machine 100 without going through. The control device 110 according to the present embodiment includes a main controller 101 as a first controller, an information controller 102 as a second controller, and an engine controller 103 as a third controller.

The controllers 101, 102, 103 are CPUs (Central Processing Units) 101a, 102a, 103a as operating circuits, EEPROM as a storage device, non-volatile memories 101b, 102b, 103b such as a flash memory, and storage devices. It is composed of a microcomputer provided with volatile memories 101c, 102c, 103c called RAM (Random Access Memory), an input / output interface (I / O interface) (not shown), and other peripheral circuits. Each controller 101, 102, 103 may be configured by one microcomputer or may be configured by a plurality of microcomputers. Further, a part or all of the functions of the controllers 101, 102, and 103 may be provided to another controller. Programs capable of executing various operations are stored in the non-volatile memories 101b, 102b, 103b of the controllers 101, 102, 103. That is, the non-volatile memories 101b, 102b, 103b of the controllers 101, 102, 103 are storage media that can read the program that realizes the function of the present embodiment. The controllers 101, 102, and 103 are connected to each other so as to be able to communicate with each other via, for example, an in-vehicle network 21 called a CAN (Controller Area Network). Although not shown, a power supply device is connected to each of the controllers 101, 102, and 102, and power is supplied from the power supply device by operating the engine key switch.

The main controller 101 includes a GNSS (Global Navigation Satellite System) receiving device 60 for measuring the position of the swivel body 12 in the global coordinate system, a posture detecting device 61 for detecting information on the posture of the working device 13, and an engine 80. The engine control dial 62 for setting the target rotation speed of the above and the operation sensors 37a and 37b for detecting the operation direction and the operation amount (operation pressure) of the operation lever 34a of the operation device 34 are connected.

The attitude detection device 61 is provided on the swivel body 12 and is an angle sensor that detects the tilt angle of the swivel body 12 with respect to a reference surface (for example, a horizontal plane) and an angle sensor that detects the tilt angle (rotation angle) of the boom 14 with respect to the swivel body 12. It has an angle sensor that detects the inclination angle (rotation angle) of the arm 15 with respect to the boom 14, and an angle sensor that detects the inclination angle (rotation angle) of the bucket 16 with respect to the arm 15. Information about the angle detected by each angle sensor of the attitude detection device 61 is output to the main controller 101.

In the present embodiment, the operating pressure generated by the operating device 34 is reduced in response to the control signal from the main controller 101 to the pilot line connecting the operating device 34 and the pressure receiving chambers 35a and 35b of the control valve 35. An electromagnetic proportional valve 36b that outputs to the pressure receiving chamber 35b is provided. For example, when the hydraulic actuator 37 is the boom cylinder 14a, the electromagnetic proportional valve 36b is provided on the pilot line that generates the operating pressure as the boom lowering operation signal, so that when the boom lowering operation is performed, the excavation target surface is used. It is also possible to perform stop control to prevent the bucket from entering below. In the stop control, the main controller 101 controls the electromagnetic proportional valve 36b so that the boom lowering operation is gradually decelerated as the tip of the bucket 16 approaches the excavation target surface during the boom lowering operation.

The main controller 101 manages the information controller 102 and the engine controller 103 in an integrated manner. The fuel injection device 81 of the engine 80 and the rotation speed sensor 82 are connected to the engine controller 103. The fuel injection device 81 is a device that injects fuel into the cylinder of the engine 80, and the fuel injection amount is adjusted by the engine controller 103. The rotation speed sensor 82 detects the rotation speed (rotation speed) of the engine 80 and outputs a detection signal to the engine controller 103.

The engine controller 103 controls the engine speed by adjusting the injection amount of fuel injected into the cylinder of the engine 80 by the fuel injection device 81. That is, the engine 80 is controlled by the engine controller 103 so as to rotate at a predetermined rotation speed.

The command value from the engine control dial 62 is input to the main controller 101. The main controller 101 calculates the target rotation speed based on the command value from the engine control dial 62, and outputs the calculated target rotation speed information (data) to the engine controller 103. The engine controller 103 controls the fuel injection device 81 so that the rotation speed (actual rotation speed) of the engine 80 calculated from the detection signal of the rotation speed sensor 82 matches the target rotation speed acquired from the main controller 101. Therefore, the operator can adjust the target rotation speed of the engine 80 by operating the engine control dial 62.

A first communication device 141, a second communication device 142, an input device 180, and a display device 190 are connected to the information controller 102. The first communication device 141 is a wireless communication device capable of wireless communication with a wireless base station 71 connected to a communication line 70 which is a wide area network, and is a communication antenna having a band such as 2.1 GHz band as a sensitive band. Has a communication interface including. The first communication device 141 exchanges information with the management server 41 and the like via the radio base station 71 and the communication line 70.

The second communication device 142 is a wireless communication device that employs a short-distance communication method capable of suppressing power consumption lower than that of the first communication device 141. The second communication device 142 is a wireless communication device that communicates by a short-range wireless communication method having a narrower communication range than the first communication device 141, and for example, a band such as a 2.4 GHz band or a 5 GHz band is defined as a sensitive band. It has a communication interface including a communication antenna. The second communication device 142 directly exchanges information (data) with other work machines 100 existing in the vicinity of the work machine 100 without going through the radio base station 71. The second communication device 142 communicates with the wireless communication device (corresponding to the second communication device 142) included in the other work machine 100, for example, the IEEE (The Institute of Electrical and Electronics Engineers, Inc.) 802.11 standard. Wireless communication is performed based on Wi-Fi (registered trademark), which is a wireless communication system based on the above. The communication method is not limited to this, and for example, a communication method such as ZigBee (registered trademark) or Bluetooth (registered trademark) can be adopted.

The input device 180 is a device that is operated by an operator and outputs an operation signal corresponding to the operator's operation to the information controller 102. As the input device 180, a keyboard, a mouse, an operation panel having various buttons, a touch panel, and the like can be adopted. The display device 190 is a liquid crystal display or the like, and displays a predetermined display image on the display screen based on the display control signal from the information controller 102. The display device 190 displays, for example, a display image showing a driving state of the engine 80, a running state of the vehicle, a turning state of the turning body 12, the posture of the working device 13, and the like on the display screen.

FIG. 3 is a diagram showing the configuration of the non-volatile memories 101b, 102b, 103b of each of the controllers 101, 102, 103. As shown in FIG. 3, the non-volatile memory 101b of the main controller 101 includes a boot loader program 121a that is executed first when power is supplied to the main controller 101, and a device (electromagnetic proportional) mounted on the work machine 100. The normal program 128a, which is the program information for controlling the valve 36b, the main pump 31, etc.), is stored. The non-volatile memory 103b of the engine controller 103 is used to control the boot loader program 121c, which is executed first when power is supplied to the engine controller 103, and the equipment (engine 80, etc.) mounted on the work machine 100. The normal program 128c, which is the program information, is stored.

The non-volatile memory 102b of the information controller 102 contains a boot loader program 121b that is executed first when power is supplied to the information controller 102, and devices (first communication device 141, second communication) mounted on the work machine 100. The normal program 128b, which is the program information for controlling the device 142, the display device 190, etc., is stored. The non-volatile memory 102b of the information controller 102 further stores mode data 122, update program 123a, recovery program 123b, program version table 124, owner information 125, and pre-rewriting record 126. ..

The mode data 122 is data representing any of an update mode, a recovery mode, and a normal mode. The update program 123a is a rewriting program for performing an update process for rewriting the normal programs 128a, 128b, 128c to a new version of the normal program. The recovery program 123b is a rewriting program for performing a recovery process for restoring the normal programs 128a, 128b, 128c to the state before the update process when the update process fails. Hereinafter, the normal programs 128a, 128b, and 128c are collectively referred to as the normal programs 128.

FIG. 4 is a diagram showing the program version table 124. As shown in FIG. 4, the program version table 124 is a data table representing the versions of the normal programs 128a, 128b, and 128c. In the example shown in FIG. 4, the version of the normal program 128a of the main controller 101 is 1.11, the version of the normal program 128b of the information controller 102 is 2.01, and the version of the normal program 128c of the engine controller 103 is 1. It is .00. The larger the number, the newer the version.

FIG. 5 is a diagram showing the owner information 125. As shown in FIG. 5, the owner information 125 has an ID for identifying the owner and a password associated with the ID.

FIG. 6 is a diagram showing the pre-rewriting record 126. As shown in FIG. 6, the pre-rewrite record 126 represents a controller having a normal program 128 to be rewritten (a controller to be rewritten), a pre-rewrite version of the normal program 128 of the controller to be rewritten, and a post-rewrite version. It is data. In the example of the pre-rewrite record 126 shown in FIG. 6, the controller to be rewritten is the main controller 101, the pre-rewrite version of the normal program 128a of the main controller 101 is 1.11 and the post-rewrite version is 3.10. When the rewrite process (update process) to the new version of the normal program 128 cannot be completed normally due to unintentional interruption, that is, the rewrite process (update process) fails. In some cases, it is used to restore the pre-rewrite version (original version) of the normal program 128.

As shown in FIG. 3, the non-volatile memory 102b of the information controller 102 secures a temporary storage area 127 for temporarily storing the program information acquired from the management server 41 or the other work machine 100B.

In the present embodiment, as described above, the normal program 128 can be rewritten by the program information transmitted from the management server 41. However, when the program information is acquired from the management server 41 via the communication line 70 of the wide area network and the radio base station 71, there is a problem that the communication cost is high. In particular, since a plurality of work machines 100 are operating at the work site, when each work machine 100 performs wireless communication with the management server 41 for rewriting (updating, restoring) the normal program 128, As the number of work machines 100 increases, the communication cost increases.

Therefore, in the present embodiment, when the other working machine 100B existing in the vicinity (near) of the self-working machine 100A has a version of the normal program newer than the version of the normal program 128 of the self-working machine 100A, the other It communicates directly with the work machine 100B to acquire a new version of the normal program, and updates the normal program of the own work machine 100A. In the present embodiment, the information controller 102 of the control device 110 performs update processing and the like. Hereinafter, the function of the information controller 102 will be described in detail.

FIG. 7 is a functional block diagram of the information controller 102. The information controller 102 executes the update program 123a (see FIG. 3), the recovery program 123b (see FIG. 3), the normal program 128b, etc. stored in the non-volatile memory 102b, thereby executing the normal control unit 130, etc. It functions as a work machine existence determination unit 131, an authentication unit 132, a version confirmation unit 133, a rewrite control unit 134, a response confirmation unit 135, a communication control unit 136, and a mode setting unit 137.

The mode setting unit 137 sets the startup mode to one of a normal mode, an update mode, and a recovery mode. When power is supplied to the information controller 102 and the boot loader program 121b is executed, the information controller 102 selects a program according to the startup mode and executes the selected program. The information controller 102 selects and executes the normal program 128b when the boot mode is set to the normal mode, and selects and executes the update program 123a when the boot mode is set to the update mode. Execute, and if the boot mode is set to recovery mode, select and execute the recovery program.

The normal control unit 130 executes normal control of the work machine 100 carried by the information controller 102. The normal control unit 130 displays, for example, information necessary for the operator (driving state of the engine 80, running state of the vehicle, turning state of the turning body 12, posture of the working device 13, etc.) on the display device 190. Output the display control signal. Further, the normal control unit 130 exchanges information with an external computer via the first communication device 141 and the second communication device 142.

When the input device 180 inputs an operation signal for disabling the automatic update mode, the mode setting unit 137 sets the start mode to the normal mode by storing data representing the normal mode as mode data 122. When the operation signal for enabling the automatic update mode is input by the input device 180, the mode setting unit 137 sets the start mode to the update mode by storing the data representing the update mode as the mode data 122.

When the operator wants to update the current program, the operator performs an operation of enabling the automatic update mode by the input device 180. As a result, the start mode is set to the update mode, so that when the work machine 100 is operated, the update process described later is executed, and the normal program 128 is updated. When the operator does not want to update the current program, the input device 180 performs an operation of disabling the automatic update mode. As a result, since the startup mode is set to the normal mode, it is possible to prevent unintended update processing from being performed.

The communication control unit 136 repeatedly transmits a vehicle body presence notification at a predetermined control cycle via the second communication device 142. The vehicle body presence notification is a signal for notifying other working machines 100B in the vicinity (near) of the existence of the self-working machine 100A. The vehicle body presence notification includes unique identification information (for example, serial number) of the self-working machine 100A. Here, the self-working machine 100A refers to a first working machine provided with the information controller 102. Further, the other work machine 100B refers to a second work machine different from the self-working machine 100A and capable of direct communication by the second communication device 142 of the self-working machine 100A. ..

The other working machine existence determination unit 131 determines whether or not the other working machine 100B exists in the vicinity (near) of the own working machine 100A. In this embodiment, the other working machine 100B will be described as having the same configuration as the self-working machine 100A.

When the other work machine existence determination unit 131 receives the vehicle body existence notification transmitted from the second communication device 142 of the other work machine 100B, it determines that the other work machine 100B exists in the vicinity of the own work machine 100A, and determines that the other work machine 100B exists. If the notification is not received, it is determined that there is no other working machine 100B around the self-working machine 100A.

The other working machine presence determination unit 131 stores the identification information included in the vehicle body presence notification in the volatile memory 102c. When the other working machine existence determination unit 131 receives the vehicle body existence notification from the plurality of other working machines 100B, the other working machine existence determination unit 131 stores the identification information of each other working machine 100B in the volatile memory 102c.

When the communication control unit 136 receives the vehicle body existence notification, the communication control unit 136 transmits a request command for acquiring the owner information to the other work machine 100B to which the vehicle body existence notification is transmitted via the second communication device 142. Acquire the owner information transmitted from the other work machine 100B.

The authentication unit 132 compares the owner information acquired from the other work machine 100B with the owner information 125 stored in the non-volatile memory 102b of the own work machine 100A, and compares the owner information 125 with the other work machine 100B and the owner of the own work machine 100A. Is the same or not. When the acquired owner information of the other work machine 100B and the owner information 125 of the own work machine 100A match, the authentication unit 132 determines that the owners of the other work machine 100B and the own work machine 100A are the same. When the acquired owner information of the other work machine 100B and the owner information 125 of the own work machine 100A do not match, the authentication unit 132 determines that the owners of the other work machine 100B and the own work machine 100A are not the same.

When the communication control unit 136 determines by the authentication unit 132 that the owners of the other work machine 100B and the self-working machine 100A are the same, the communication control unit 136 has the same owner as the self-working machine 100A via the second communication device 142. A request command for acquiring the program version table is transmitted to the other working machine 100B determined to be, and the program version table transmitted from the other working machine 100B is acquired.

When the start mode is set to the update mode, the version confirmation unit 133 includes a program version table acquired from the other work machine 100B, a program version table 124 stored in the non-volatile memory 102b of the own work machine 100A, and the program version table 124. To compare. When the start mode is set to the update mode, the version confirmation unit 133 includes a normal program (hereinafter, also referred to as a new program) having a version newer than the current program version of the self-working machine 100A based on the comparison result. It is determined whether or not it exists in the work machine 100B. The current program of the self-working machine 100A refers to the normal program 128 to be updated, that is, the normal program 128 currently used for normal control.

When the communication control unit 136 determines that the new program exists in the other work machine 100B by the version confirmation unit 133, the communication control unit 136 sends a new program (update) to the other work machine 100B having the new program via the second communication device 142. The request command for acquiring the program information for) is transmitted, and the new program (program information for update) transmitted from the other work machine 100B is acquired.

Further, the communication control unit 136 sends a new program (for updating) to the management server 41 having the new program via the first communication device 141 based on the signal output from the input device 180 based on the operation of the operator. The request command for acquiring the program information) is transmitted, and the new program (program information for updating) transmitted from the management server 41 is acquired.

The rewrite control unit 134 saves the acquired new program in the temporary storage area 127 of the non-volatile memory 102b, and updates the pre-rewrite record 126. For example, when rewriting the normal program 128a of the version "1.11" of the main controller 101 to the new program of the version "3.10" stored in the temporary storage area 127, the version before rewriting is as shown in FIG. Is "1.11", and the information (data) that the rewritten version is "3.10" is stored as the pre-rewriting record 126.

The rewrite control unit 134 shown in FIG. 7 executes the first rewrite process of rewriting the current program with the new program stored in the temporary storage area 127. The first rewriting process usually corresponds to an update process for updating the program 128 from the current version to a new version. That is, the rewrite control unit 134 normally functions as an update control unit that updates the version of the program 128.

The response confirmation unit 135 determines whether or not the update process is normally performed after the update process by the rewrite control unit 134 is completed. The response confirmation unit 135 causes the update target controller to execute the response confirmation process by executing the normal program 128 by the update target controller (hereinafter, also referred to as the update target controller). The response confirmation unit 135 determines that the rewrite process (update process) has been performed normally when a normal response is made by the response confirmation process, and the rewrite process (update process) is normal when a normal response is not made. Judge that it was not done. When it is determined that the rewriting process (update process) has been performed normally, the response confirmation unit 135 updates the program version table 124.

For example, the normal program 128 includes a command to output a predetermined signal (for example, its own version) that is predetermined to be executed by the controller to be updated. The response confirmation unit 135 executes a new program by the update target controller, and executes a response confirmation process for outputting the version of the new program from the update target controller. When the version output from the update target controller matches the updated version of the pre-rewrite record 126, the response confirmation unit 135 determines that the rewrite process has been performed normally, assuming that a normal response has been made. The response confirmation unit 135 is normal when the version output from the update target controller does not match the updated version of the rewrite pre- and post-rewrite record 126, or when the version (predetermined signal) is not output from the update target controller within a predetermined time. It is determined that the rewriting process was not performed normally, assuming that no such response was made. As a result, for example, when the acquired normal program is a normal program different from the request command (for example, a normal program of a controller different from the controller to be rewritten, a normal program of a different version, a program different from the normal program). , It can be determined that the rewriting process was not performed normally.

When the start mode is set to the update mode and there is no other work machine 100B having a new program around the self-work machine 100A, the mode setting unit 137 sets the data representing the normal mode to the mode data 122. The start mode is set to the normal mode and the information controller 102 is restarted. For example, the mode setting unit 137 sets the start mode to the normal mode when it is determined that the other work machine 100B does not exist in the vicinity of the self-work machine 100A. Further, as a result of acquiring a new program from the other work machine 100B and updating the mode setting unit 137, a version newer than the version of the normal program 128 of the self-working machine 100A is placed around the self-working machine 100A. Even when the other work machine 100B having the program (new program) no longer exists, the start mode is set to the normal mode.

When the response confirmation unit 135 determines that the update process has not been performed normally, the mode setting unit 137 sets the startup mode to the recovery mode by storing the data indicating the recovery mode as the mode data 122, and sets the startup mode to the recovery mode, and the information controller. Reboot 102.

When the start mode is set to the recovery mode, the version confirmation unit 133 includes a program version table acquired from the other work machine 100B, a rewrite pre- and post-record 126 stored in the non-volatile memory 102b of the self-work machine 100A, and the like. It is determined whether or not the pre-update version of the normal program (hereinafter, also referred to as the pre-update program) exists in the other work machine 100B with reference to.

When the communication control unit 136 determines that the pre-update program exists in the other work machine 100B by the version confirmation unit 133, the communication control unit 136 has not updated the other work machine 100B having the pre-update program via the second communication device 142. A request command for acquiring a program (recovery program information) is transmitted, and a pre-update program (recovery program information) transmitted from another work machine 100B is acquired.

When the start mode is set to the recovery mode and there is no other work machine 100B having the pre-update program around the self-work machine 100A, the communication control unit 136 communicates via the first communication device 141. , Sends a request command for acquiring the pre-update program (recovery program information) to the management server 41 having the pre-update program, and sends the pre-update program (recovery program information) from the management server 41. To get.

The rewrite control unit 134 saves the acquired pre-update program in the temporary storage area 127 of the non-volatile memory 102b, and updates the pre-rewrite record 126. For example, when rewriting the normal program 128a of the version "1.11" of the main controller 101 to the normal program of the same version "1.11" stored in the temporary storage area 127, the version before rewriting is "1.11". The information (data) that the rewritten version is also "1.11" is stored as the pre-rewrite record 126.

The rewrite control unit 134 executes a second rewrite process of rewriting the normal program for which the rewrite process has failed with the pre-update program stored in the temporary storage area 127. The second rewriting process corresponds to a recovery process for restoring a new version of the normal program 128 in which the rewriting process was not normally performed to the version before the update. That is, the rewrite control unit 134 functions as a recovery control unit that normally restores the version of the program 128.

The response confirmation unit 135 determines whether or not the recovery process has been normally performed after the recovery process by the rewrite control unit 134 is completed. The response confirmation unit 135 causes the recovery target controller to execute the response confirmation process by executing the normal program 128 by the recovery target controller (hereinafter, also referred to as a recovery target controller). The response confirmation unit 135 determines that the rewrite process (recovery process) has been performed normally when a normal response is made by the response confirmation process, and the rewrite process (recovery process) is normal when a normal response is not made. Judge that it was not done. When it is determined that the rewriting process (recovery process) has been performed normally, the response confirmation unit 135 updates the program version table 124. The method of determining whether or not the recovery process has been performed normally can be performed in the same manner as the method of determining whether or not the update process has been performed normally.

When the response confirmation unit 135 determines that the recovery process by the pre-update program acquired from the other work machine 100B has not been performed normally, the communication control unit 136 sends the pre-update program to the other work machine 100B. Send a request command to acquire and acquire the pre-update program. When it is determined by the response confirmation unit 135 that all the recovery processing by the pre-update program acquired from the other work machine 100B existing around the own work machine 100A has not been performed normally, the communication control unit 136 uses the first communication device. A request command for acquiring the pre-update program is transmitted to the management server 41 via 141, and the pre-update program transmitted from the management server 41 is acquired.

If it is determined that the recovery process by the pre-update program acquired from the management server 41 has not been performed normally, the response confirmation unit 135 notifies the display device 190 that the recovery process has not been performed normally. Execute notification processing.

When the response confirmation unit 135 determines that the recovery process has been performed normally, the mode setting unit 137 sets the startup mode to the normal mode by storing the data representing the normal mode as the mode data 122, and sets the start mode to the normal mode. Restart.

The communication control unit 136 determines whether or not a request command for acquiring the owner information 125 has been received via the second communication device 142. When it is determined that the communication control unit 136 has received the request command for acquiring the owner information 125, the second communication device 142 requests the owner information 125 stored in the non-volatile memory 102b other than the request command source. It is transmitted to the work machine 100B. The owner information 125 is encrypted and then transmitted to the other work machine 100B.

The communication control unit 136 determines whether or not a request command for acquiring the program version table 124 has been received via the second communication device 142. When it is determined that the communication control unit 136 has received the request command for acquiring the program version table 124, the second communication device 142 transmits the program version table 124 to the other working machine 100B of the request command source.

The communication control unit 136 determines whether or not a request command for acquiring the normal program 128 has been received via the second communication device 142. When the communication control unit 136 determines that the request command for acquiring the normal program 128 has been received, the second communication device 142 sends the normal program 128 in response to the request command to the other work machine 100B of the request command source. Send.

The contents of the rewriting process executed by the information controller 102 will be described with reference to FIGS. 8 to 11. FIG. 8 is a flowchart showing the contents of the program selection process executed by the information controller 102. The processing of the flowchart shown in FIG. 8 is started when power is supplied to the information controller 102 and the boot loader program 121b is executed.

As shown in FIG. 8, in step S103, the information controller 102 reads the mode data 122 and proceeds to step S105.

In step S105, the information controller 102 determines whether or not the activation mode is set to the update mode based on the mode data 122 read in step S103. In step S105, when the mode data 122 read in step S103 is the data representing the update mode, the information controller 102 determines that the start mode is set to the update mode, and proceeds to step S110. In step S110, the information controller 102 executes the update program 123a to end the process shown in the flowchart of FIG. That is, the information controller 102 selects and executes the update program 123a from the update program 123a, the recovery program 123b, and the normal program 128b.

In step S105, if the mode data 122 read in step S103 is not the data representing the update mode, the information controller 102 determines that the start mode is not set to the update mode, and proceeds to step S107.

In step S107, the information controller 102 determines whether or not the activation mode is set to the recovery mode based on the mode data 122 read in step S103. In step S107, when the mode data 122 read in step S103 is the data representing the recovery mode, the information controller 102 determines that the startup mode is set to the recovery mode, and proceeds to step S150. In step S150, the information controller 102 executes the recovery program 123b to end the process shown in the flowchart of FIG. That is, the information controller 102 selects and executes the recovery program 123b from the update program 123a, the recovery program 123b, and the normal program 128b.

In step S107, when the mode data 122 read in step S103 is not the data representing the recovery mode (that is, when the mode data 122 is the data representing the normal mode), the start mode of the information controller 102 is set to the recovery mode. It is determined that there is no such (that is, it is determined that the activation mode is set to the normal mode), and the process proceeds to step S200. In step S200, the information controller 102 executes the normal program 128b to end the process shown in the flowchart of FIG. That is, the information controller 102 selects and executes the normal program 128b from the update program 123a, the recovery program 123b, and the normal program 128b.

FIG. 9 is a flowchart showing the contents of the program update process executed by the information controller 102. The processing of the flowchart shown in FIG. 9 is started by executing the update program 123a.

As shown in FIG. 9, in step S112, the information controller 102 determines whether or not the other working machine 100B exists in the vicinity of the self-working machine 100A.

If it is determined in step S112 that the other working machine 100B does not exist around the self-working machine 100A, the process proceeds to step S147. If it is determined in step S112 that another work machine 100B exists in the vicinity of the own work machine 100A, the process proceeds to step S114, and the information controller 102 executes the first loop process of repeating the processes from step S116 to step S138. (Steps S114 and S140). The first loop processing ends when the processing for all of the other working machines 100B whose existence has been confirmed in step S112 is completed, and proceeds to step S147 when the first loop processing is completed.

When a plurality of other working machines 100B exist in the vicinity, the information controller 102 acquires unique identification information (for example, a serial number) from each of the other working machines 100B. In step S140, when the processing for the other work machine 100B having the predetermined identification information is completed, the information controller 102 returns to step S114 and returns to the other work machine 100B having the identification information different from the identification information for which the processing is completed. The same process (S116 to S138) is executed.

In step S116, the information controller 102 transmits a request command for acquiring the owner information to the other work machine 100B by the second communication device 142, acquires the owner information from the other work machine 100B, and proceeds to step S118.

In step S118, the information controller 102 compares the owner information of the other work machine 100B acquired in step S116 with the owner information 125 of the self-working machine 100A, and the owners of the other work machine 100B and the self-working machine 100A are the same. It is determined whether or not it is. In step S118, when the owner information of the other work machine 100B and the owner information 125 of the self-working machine 100A do not match, the information controller 102 determines that the owners of the other work machine 100B and the self-working machine 100A are not the same, and steps. Proceed to S140. In step S118, when the owner information of the other work machine 100B and the owner information 125 of the self-working machine 100A match, the information controller 102 determines that the owners of the other work machine 100B and the self-working machine 100A are the same. The process proceeds to step S120.

In step S120, the information controller 102 transmits a request command for acquiring the program version table to the other work machine 100B by the second communication device 142, acquires the program version table from the other work machine 100B, and proceeds to step S122. move on.

In step S122, the information controller 102 compares the program version table of the other work machine 100B acquired in step S120 with the program version table 124 of the self-working machine 100A, and compares the program version table 124 of the self-working machine 100A with the normal program of the self-working machine 100A to be updated. (Current program) It is determined whether or not a normal program (new program) having a version newer than 128 exists in the other work machine 100B.

If it is determined in step S122 that the new program does not exist in the other work machine 100B, the process proceeds to step S140. If it is determined in step S122 that the new program exists in the other work machine 100B, the process proceeds to step S124, and the information controller 102 executes a second loop process that repeats the processes from step S126 to step S136 (step S124). , S138). The second loop process ends when the processes for all the new programs confirmed to exist in step S122 (for example, the new program of the main controller 101, the new program of the information controller 102, and the new program of the engine controller 103) are completed. When the second loop processing is completed, the process proceeds to step S140.

In step S126, the information controller 102 transmits a request command for acquiring a new program to the other working machine 100B by the second communication device 142, acquires the new program from the other working machine 100B, and proceeds to step S128. The acquired new program is stored in the temporary storage area 127 of the non-volatile memory 102b. The information controller 102 determines whether or not the acquisition of the new program is completed by executing a checksum for collating the total data value of the new program acquired from the other work machine 100B.

In step S128, the information controller 102 sets the version of the current program as the version before rewriting and the version of the new program as the version after rewriting, generates the pre-rewriting record 126, stores it in the non-volatile memory 102b, and proceeds to step S130.

In step S130, the information controller 102 executes a rewriting process of rewriting the normal program (current program) 128 currently used in the self-working machine 100A with the new program acquired in step S126, and proceeds to step S132.

In step S132, the information controller 102 causes the update target controller whose current program is rewritten to the new program in step S130 among the controllers 101, 102, 103 to execute the response confirmation process, and proceeds to step S134.

In step S134, the information controller 102 determines whether or not the rewriting process (update process) has been normally performed based on the result of the response confirmation process of the update target controller.

When a normal response is made in the response confirmation process (step S132), the information controller 102 determines that the rewrite process (update process) has been performed normally, and proceeds to step S136. If the response confirmation process (step S132) does not result in a normal response, the information controller 102 determines that the rewrite process (update process) has not been performed normally, and proceeds to step S144.

In step S136, the information controller 102 updates the program version table 124 and proceeds to step S138. In step S144, the information controller 102 executes a setting process for setting the startup mode to the recovery mode, and restarts the information controller 102. In the setting process of step S144, the data representing the recovery mode is stored in the non-volatile memory 102b as the mode data 122.

When it is determined in step S112 that the other work machine 100B does not exist around the self-working machine 100A, or when the first loop processing (S114, S140) is completed, the process proceeds to step S147, and the information controller 102 is started. The setting process for setting the mode to the normal mode is executed, and the information controller 102 is restarted. In the setting process of step S147, data representing the normal mode is stored in the non-volatile memory 102b as mode data 122.

FIG. 10 is a flowchart showing the contents of the program recovery process executed by the information controller 102. The processing of the flowchart shown in FIG. 10 is started by executing the recovery program 123b.

As shown in FIG. 10, in step S152, the information controller 102 determines whether or not the other working machine 100B exists in the vicinity of the self-working machine 100A, as in step S112. If it is determined in step S152 that the other working machine 100B does not exist around the self-working machine 100A, the process proceeds to step S186. If it is determined in step S152 that another work machine 100B exists around the own work machine 100A, the process proceeds to step S154, and the information controller 102 executes a loop process that repeats the processes from step S156 to step S174 (). Steps S154 and S180). This loop processing ends when the processing for all of the other working machines 100B whose existence has been confirmed in step S152 is completed, and proceeds to step S186 when the loop processing is completed.

In step S156, the information controller 102 transmits a request command for acquiring owner information to the other work machine 100B by the second communication device 142, and acquires the owner information from the other work machine 100B, as in step S116. The process proceeds to step S158.

In step S158, the information controller 102 compares the owner information of the other work machine 100B acquired in step S156 with the owner information 125 of the self-working machine 100A, and the information controller 102 compares the other work machine 100B and the self-working machine 100A with each other. Determine if the owners of the are the same. In step S158, when the owner information of the other work machine 100B and the owner information 125 of the own work machine 100A do not match, the information controller 102 determines that the owners of the other work machine 100B and the own work machine 100A are not the same, and steps. Proceed to S180. In step S158, when the owner information of the other work machine 100B and the owner information 125 of the own work machine 100A match, the information controller 102 determines that the owners of the other work machine 100B and the own work machine 100A are the same. Proceed to step S160.

In step S160, the information controller 102 transmits a request command for acquiring the program version table to the other work machine 100B by the second communication device 142, and acquires the program version table from the other work machine 100B, as in step S120. Then, the process proceeds to step S162.

In step S162, the information controller 102 refers to the program version table of the other work machine 100B acquired in step S160 and the rewrite pre- and post-rewrite record 126 of the self-work machine 100A, and the update target controller of the self-work machine 100A (rewrite target). It is determined whether or not the same version of the normal program (pre-update program) as the pre-update version (pre-rewrite version) of the normal program 128 of the controller) exists in the other work machine 100B.

In step S162, if the program version table of the other work machine 100B does not store the same version as the pre-rewrite version of the pre-rewrite record 126, the information controller 102 determines that the pre-update program does not exist in the other work machine 100B. Then, the process proceeds to step S180. In step S162, if the program version table of the other work machine 100B stores the same version as the pre-rewrite version of the pre-rewrite record 126, the information controller 102 determines that the pre-update program exists in the other work machine 100B. , Step S166.

In step S166, the information controller 102 transmits a request command for acquiring the pre-update program to the other work machine 100B by the second communication device 142, acquires the pre-update program from the other work machine 100B, and proceeds to step S168. move on. The acquired pre-update program is stored in the temporary storage area 127 of the non-volatile memory 102b. The information controller 102 determines whether or not the acquisition of the pre-update program is completed by executing a checksum for collating the total data value of the pre-update program acquired from the other work machine 100B.

In step S168, the information controller 102 updates the pre-rewriting record 126 and proceeds to step S170.

In step S170, the information controller 102 executes a rewriting process of rewriting the normal program 128, which was not normally updated in the self-working machine 100A, with the pre-update program acquired in step S166, and proceeds to step S172.

In step S172, the information controller 102 causes the recovery target controller, which rewrites the normal program 128 that was not normally updated in step S170 among the controllers 101, 102, and 103 to the pre-update program, to execute the response confirmation process. , Step S174.

In step S174, the information controller 102 determines whether or not the rewriting process (recovery process) has been normally performed based on the result of the response confirmation process of the recovery target controller.

If the response confirmation process (step S172) does not result in a normal response, the information controller 102 determines that the rewrite process (recovery process) has not been performed normally, and proceeds to step S180. When a normal response is made in the response confirmation process (step S172), the information controller 102 determines that the rewrite process (recovery process) has been performed normally, exits the loop process (S154, S180), and proceeds to step S182. move on.

In step S182, the information controller 102 updates the program version table 124 and proceeds to step S184. In step S184, the information controller 102 executes a setting process for setting the start mode to the normal mode, and restarts the information controller 102. In the setting process of step S184, the data representing the normal mode is stored in the non-volatile memory 102b as the mode data 122.

In step S152, when it is determined that the other working machine 100B does not exist around the self-working machine 100A, or when the loop processing (S154, S180) is completed, the process proceeds to step S186.

In step S186, the information controller 102 transmits a request command for acquiring the pre-update program to the management server 41 by the first communication device 141, acquires the pre-update program from the management server 41, and proceeds to step S188.

The processes performed in the order of steps S188, S190, S192, and S194 are the same as the processes performed in the order of steps S168, S170, S172, and S174, and thus the description thereof will be omitted. If it is determined in step S194 that the rewrite process (recovery process) has been performed normally, the process proceeds to step S182, and if it is determined in step S194 that the rewrite process (recovery process) has not been performed normally, the process proceeds to step S182. Proceed to step S196.

In step S196, the information controller 102 notifies the error information indicating that the recovery process has not been normally performed by the display device 190 as the notification device. For example, the information controller 102 causes the display screen of the display device 190 to display an image of a sentence indicating that the recovery process has not been normally performed. When the error information notification process (step S196) is completed, the information controller 102 ends the process shown in the flowchart of FIG.

FIG. 11 is a flowchart showing the contents of the transmission processing of various information executed by the information controller 102. The processing of the flowchart shown in FIG. 11 is usually started by executing the program 128b.

As shown in FIG. 11, when the normal program 128b is started, the information controller 102 receives an output command from the main controller 101 and the engine controller 103, an input signal from the input device 180, and the first communication device 141 and the second communication. Based on the received signal or the like from the device 142, the normal control process (step S230) of the devices such as the display device 190, the first communication device 141, and the second communication device 142 is executed. In the normal control process, the information controller 102 displays, for example, a display image showing the driving state of the engine 80, the running state of the vehicle, the turning state of the turning body 12, the posture of the working device 13, and the like on the display screen of the display device 190. The control process is executed such that the vehicle body information such as the operation information and the warning information of the work machine 100 is transmitted to the management server 41 or the like via the first communication device 141.

The information controller 102 repeats the transmission processing of various information and the mode setting processing in a predetermined cycle in parallel with the normal control processing (step S230). The details will be described below.

In step S202, the information controller 102 transmits a vehicle body presence notification by the second communication device 142, and proceeds to step S205. The vehicle body existence notification is data for notifying other working machines 100B in the vicinity of the existence of the self-working machine 100A, and has unique identification information (for example, a serial number) of the self-working machine 100A.

In step S205, the information controller 102 determines whether or not the request command of the owner information 125 from the other work machine 100B has been received by the second communication device 142. If it is determined in step S205 that the request command for the owner information 125 has been received, the process proceeds to step S208, and if it is determined in step S205 that the request command for the owner information 125 has not been received, the process proceeds to step S211.

In step S208, the information controller 102 transmits the owner information 125 stored in the non-volatile memory 102b to the other work machine 100B of the request command source by the second communication device 142, and proceeds to step S211.

In step S211 the information controller 102 determines whether or not the request command of the program version table 124 from the other work machine 100B has been received by the second communication device 142. If it is determined in step S211 that the request command of the program version table 124 has been received, the process proceeds to step S214. If it is determined in step S211 that the request command of the program version table 124 has not been received, the process proceeds to step S217. move on.

In step S214, the information controller 102 transmits the program version table 124 stored in the non-volatile memory 102b to the other working machine 100B of the request command source by the second communication device 142, and proceeds to step S217.

In step S217, the information controller 102 determines whether or not the second communication device 142 has received the request command of the normal program from the other work machine 100B. If it is determined in step S217 that the request command of the normal program has been received, the process proceeds to step S220, and if it is determined in step S217 that the request command of the normal program has not been received, the process proceeds to step S223.

In step S220, the information controller 102 selects the normal program 128 corresponding to the request command from the plurality of normal programs 128a, 128b, 128c, and transmits the selected normal program 128 to the other work machine 100B of the request command source. , Step S223.

In step S223, the information controller 102 determines whether or not the automatic update mode is valid. If it is determined in step S223 that the automatic update mode is valid, the process proceeds to step S226, and if it is determined in step S223 that the automatic update mode is not valid (that is, invalid), the process proceeds to step S229.

In step S226, the information controller 102 executes a setting process for setting the startup mode to the update mode, and returns to step S202. In the setting process of step S226, data representing the update mode is stored in the non-volatile memory 102b as mode data 122.

In step S229, the information controller 102 executes a setting process for setting the startup mode to the normal mode, and returns to step S202. In the setting process of step S229, the data representing the normal mode is stored in the non-volatile memory 102b as the mode data 122.

A specific example of the operation when updating the normal program 128 will be described with reference to FIG. FIG. 12 is a diagram showing an example in which the normal program 128 of the self-working machine 100A is updated by the normal program acquired from the other working machine 100B. When the engine key switch of the self-working machine 100A is operated to the power-on position and power is supplied to the controllers 101, 102, 103, the controllers 101, 102, 103 execute the boot loader programs 121a, 121b, 121c. When the start mode is set to the update mode, the information controller 102 executes the update program and performs the update process (Y → S110 in steps S103 → S105 of FIG. 8).

In the example shown in FIG. 12, two other working machines 100B are operating around the self-working machine 100A, and a vehicle body existence notification is transmitted (step S202 in FIG. 11). When the self-working machine 100A receives the vehicle body existence notifications of the two other working machines 100B, the self-working machine 100A executes a predetermined process in order from the one having the smallest serial number included in the vehicle body existence notification (Y in step S112 of FIG. 9). → S114, S140).

The self-working machine 100A acquires the owner information 125b1 of the other working machine 100B1 having the smallest serial number, and compares it with the owner information 125 of the self-working machine 100A. As shown in the figure, since the ID and password constituting the owner information 125b1 of the other work machine 100B1 and the ID and password constituting the owner information 125 of the own work machine 100A match, the self-working machine 100A can perform the other work. The program version table 124b1 is acquired from the machine 100B1 and compared with the program version table 124 of the self-working machine 100A (Y → S120 in steps S116 → S118 of FIG. 9).

As shown in the figure, the version of the normal program of the main controller of the other work machine 100B1 is 3.10, which is newer than the version 1.11 of the normal program 128a of the main controller 101 of the self-working machine 100A (step of FIG. 9). In S122, Y → S124, S138). Therefore, the self-working machine 100A acquires the normal program (version 3.10) of the main controller from the other working machine 100B1 (step S126 in the first lap of the second loop processing S124 and S138 in FIG. 9). The acquired new program (version 3.10) of the main controller is saved in the temporary storage area 127.

The information controller 102 outputs a new program (version 3.10) stored in the temporary storage area 127 to the main controller 101, and rewrites the normal program 128a of the non-volatile memory 101b of the main controller 101 (step S130 in FIG. 9). .. When the main controller 101 responds normally after the update process, that is, when the update process of the normal program 128a is completed normally, the version of the normal program 128a of the main controller 101 in the program version table 124 is changed from 1.11 to 3. Rewrite to 10 (Y → S136 in steps S132 → S134 in FIG. 9).

Further, the version of the normal program of the information controller of the other working machine 100B1 is 2.05, which is newer than the version 2.01 of the normal program 128b of the information controller 102 of the self-working machine 100A. Therefore, for the normal program 128b of the information controller 102, a new program (version 2.05) is acquired from the other work machine 100B1 and the normal program 128b is rewritten by this new program (second lap of the second loop processing S124 and S138). Step S126 → S128 → S130). Then, when the update is normally completed, the version of the normal program 128b of the information controller 102 in the program version table 124 is rewritten from 2.01 to 2.05 (Y → S136 in steps S132 → S134 in FIG. 9). That is, in the illustrated example, the information controller 102 acquires a new program which is program information for two updates (for rewriting) from one other work machine 100B1, and the acquired new program is used to obtain a normal self-work machine 100A. Rewrite the programs 128a and 128b.

The version of the normal program of the engine controller of the other working machine 100B1 is 1.00, which is the same as the version 1.00 of the normal program 128c of the engine controller 103 of the self-working machine 100A. Therefore, the normal program 128c of the engine controller 103 of the self-working machine 100A is not updated based on the normal program of the engine controller of the other working machine 100B1. When a series of processing is completed for the normal programs of all the controllers of the other working machine 100B1, the same processing is performed for the other working machine 100B2 having the second largest serial number after the other working machine 100B1 (steps S116 to S138). Is done.

As shown in the figure, the version of the normal program of the engine controller of the other working machine 100B2 is 2.00, which is newer than the version 1.00 of the normal program 128c of the engine controller 103 of the self-working machine 100A (step of FIG. 9). In S122, Y → S124, S138). Therefore, the normal program 128c of the engine controller 103 of the self-working machine 100A is updated by the new program (version 2.00) of the other working machine 100B2 (step S130 in FIG. 9). Then, when the update process is normally completed, the version of the normal program 128c of the engine controller 103 in the program version table 124 is rewritten from 1.00 to 2.00 (Y → S136 in steps S132 → S134).

As described above, in the control device 110 according to the present embodiment, when the version of the program information (normal program) possessed by the other working machine 100B is newer than the version of the program information (normal program 128) possessed by the self-working machine 100A. , The program information for updating (in the present embodiment, the entire new version of the normal program 128) is acquired from the other working machine 100B via the second communication device 142, and the program information of the self-working machine 100A is obtained based on the acquired program information. (Normal program 128) is updated.

That is, the work machine 100 according to the present embodiment directly communicates with other work machines 100B (100B1, 100B2) existing in the vicinity of the self-working machine 100A, acquires program information for updating, and is the self-working machine. The program information of 100A can be updated. Therefore, the communication cost is lower than that in the case of acquiring the update program information by communicating with the management server 41 installed far from the self-working machine 100A via the wireless base station 71 and the communication line 70. It can be suppressed.

Next, with reference to FIG. 13, a specific example of the operation when the update of the normal program 128 fails will be described. FIG. 13 is a diagram showing an example in which the normal program 128 of the self-working machine 100A is restored by the normal program acquired from the other working machine 100B. While the current normal program 128 is being rewritten by the update program (new program) saved in the temporary storage area 127, the power supply to the controllers 101, 102, 103 constituting the control device 110 is cut off due to the battery running out. Then, the rewriting process is interrupted. If the rewriting process is unintentionally interrupted in this way, the normal program 128 cannot be updated normally, and the operation of the work machine 100 is hindered.

In the example shown in FIG. 12, a case where the update of the normal program 128a by the new program (version 3.10) of the main controller acquired from the other work machine 100B1 fails will be described. When the update fails, as shown in FIG. 13, the pre-rewrite version 126 and the post-rewrite version 3.10 are stored in the pre-rewrite record 126, and the startup mode is set to the recovery mode (recovery mode). Step S128 → S130 → S132 → S134 in FIG. 9 N → S144).

When the information controller 102 is restarted and power is supplied to the information controller 102 again, the information controller 102 executes the boot loader program 121b. When the start mode is set to the recovery mode, the information controller 102 executes the recovery program and performs the recovery process (N in steps S103 → S105 in FIG. 8 → Y → S150 in S107).

In the example shown in FIG. 13, two other working machines 100B are operating around the self-working machine 100A, and a vehicle body presence notification is transmitted (step S202 in FIG. 11). When the self-working machine 100A receives the vehicle body existence notifications of the two other working machines 100B, the self-working machine 100A executes a predetermined process in order from the one having the smallest serial number included in the vehicle body existence notification (Y in step S152 of FIG. 10). → S154, S180).

The self-working machine 100A acquires the owner information 125b1 of the other working machine 100B1 having the smallest serial number, and compares it with the owner information 125 of the self-working machine 100A. As shown in the figure, since the ID and password constituting the owner information 125b1 of the other work machine 100B1 and the ID and password constituting the owner information 125 of the own work machine 100A match, the self-working machine 100A can perform the other work. The program version table 124b1 is acquired from the machine 100B1 (Y → S160 in steps S156 → S158 of FIG. 10).

As shown in the figure, the version of the normal program of the main controller of the other working machine 100B1 is 3.10, which is different from the pre-rewriting version 1.11 of the normal program 128a of the main controller 101 of the self-working machine 100A (FIG. 10). N → S180 in step S162). Therefore, the information controller 102 does not restore the normal program 128a of the main controller 101 of the self-working machine 100A based on the normal program of the main controller of the other working machine 100B1. The information controller 102 performs the same processing (steps S156 to S174) on the other work machine 100B2 having the second largest serial number after the other work machine 100B1.

The self-working machine 100A acquires the owner information 125b2 of the other working machine 100B2 and compares it with the owner information 125 of the self-working machine 100A. As shown in the figure, since the owner information 125b2 of the other working machine 100B2 and the owner information 125 of the self-working machine 100A match, the self-working machine 100A acquires the program version table 124b2 from the other working machine 100B1 (FIG. 10 steps S156 → S158, Y → S160).

The information controller 102 refers to the acquired program version table 124b2 and the record before and after rewriting 126, and determines whether or not the pre-update program (normal program of the pre-rewrite version) exists in the other work machine 100B2 (step of FIG. 10). S162).

In the example shown in FIG. 13, the pre-rewriting version of the self-working machine 100A before and after rewriting record 126 is 1.11 which is consistent with the version of the normal program of the main controller of the other working machine 100B2. Therefore, the information controller 102 acquires the normal program of the main controller from the other work machine 100B2, and recovers by the acquired normal program (Y → S166 → S168 → S170 in step S162).

As described above, when the control device 110 according to the present embodiment fails to update the program information (normal program 128a) to the predetermined version (version 3.10) of the main controller acquired from the other work machine 100B1, the control device 110 fails to update the program information (normal program 128a). The program information (normal program) of the pre-update version (version 1.11) different from the above predetermined version (version 3.10) is acquired as the recovery program information from the other work machine 100B2 via the second communication device 142. Then, the program information (normal program 128a) of the self-working machine 100A is restored by the acquired restoration program information.

That is, the work machine 100 according to the present embodiment directly communicates with the other work machines 100B (100B1, 100B2) existing around the self-working machine 100A, acquires the program information for restoration, and obtains the self-working machine. The program information of 100A can be restored to the original state. Therefore, the communication cost is lower than that in the case of acquiring the program information for recovery by communicating with the management server 41 installed far away from the self-working machine 100A via the wireless base station 71 and the communication line 70. It can be suppressed.

As described above, in the present embodiment, among the plurality of work machines 100 existing at the work site, the work machine 100 to be updated first is the latest version from the management server 41 via the radio base station 71 and the communication line 70. The program information can be acquired and the program information can be updated. If the update fails, the program information of the old version can be acquired from the nearby other work machine 100B or the management server 41 and restored. When the update is normally performed in any one of the plurality of work machines 100, the work machine 100 existing near the work machine 100 for which the update has been completed receives the latest version of the program information from the work machine 100 for which the update has been completed. It can be acquired and the program information can be updated. If the update fails, the program information of the old version can be acquired from the nearby other work machine 100B or the management server 41 and restored.

According to the above-described embodiment, the following effects are exhibited.

(1) The work machine 100 is a management server (server) via a control device 110 that controls equipment (main pump 31, engine 80, display device 190, etc.) mounted on the self-work machine 100A, and a radio base station 71. It includes a first communication device 141 that communicates with 41, and a second communication device 142 that directly communicates with another work machine 100B other than the self-working machine 100A. The control device 110 acquires program information (in the present embodiment, the entire normal program) from the other work machine 100B via the second communication device 142, and the program information of the own work machine 100A (normal program 128) is based on the acquired program information. ) Is rewritten. For example, when the version of the program information possessed by the other working machine 100B is newer than the version of the program information possessed by the self-working machine 100A, the control device 110 receives the program information from the other working machine 100B via the second communication device 142. Is acquired, and the program information of the self-working machine 100A is updated by the acquired program information. Since the program information (normal program 128) can be rewritten by directly communicating between the work machines 100, the communication cost is lower than when the program information is acquired from the management server 41 via the wireless base station 71. It can be reduced.

(2) At the work site, a plurality of work machines 100 having the same owner are often operated. In the present embodiment, when it is determined that the owner of the other work machine 100B is the same as the owner of the own work machine 100A, the program information is acquired from the other work machine 100B and the program information is rewritten. Therefore, it is not necessary to input the owner information (for example, a password) by the input device 180 every time the program information is rewritten. Therefore, according to the present embodiment, it is possible to reduce the operational burden on the operator when rewriting the program information while ensuring the information security between the work machines 100 by performing the authentication based on the owner information 125. .. Further, when the owner of the other work machine 100B is different from the owner of the own work machine 100A, the normal program 128 is not acquired from the other work machine 100B having a different owner. Therefore, it is possible to prevent the program information of the own work machine 100A from being rewritten by the program information transmitted from the other work machine 100B having a different owner. That is, since the program information of the self-working machine 100A is prevented from being rewritten to the program information not intended by the operator, the information security can be improved.

(3) When the update of the program information of the self-working machine 100A fails, the program information of the self-working machine 100 can be restored by using the program information of the other working machine 100B. Therefore, it is not necessary to store in advance a copy (backup data) of the program information (normal program 128) of the self-working machine 100A as the recovery program information in the non-volatile memory 102b of the self-working machine 100A. Therefore, according to the present embodiment, the size of the non-volatile memory 102b can be suppressed to a small size, and the cost of the non-volatile memory 102b can be reduced.

The following modifications are also within the scope of the present invention, and it is possible to combine the configurations shown in the modifications with the configurations described in the above-described embodiments, or to combine the configurations described in the following different modifications. Is.

<Modification example 1>
In the above embodiment, when the other working machine 100B having the new program does not exist in the other working machine 100B around the self-working machine 100A, the start mode is set to the normal mode and the normal control is performed. , The present invention is not limited to this. When the start mode is set to the update mode and there is no other work machine 100B having a new program around the self-work machine 100A, the communication control unit 136 communicates with the first communication device 141 via the first communication device 141. Send a request command to acquire the new program (program information for update) to the management server 41 having the new program, and acquire the new program (program information for update) transmitted from the management server 41. You may do it.

<Modification 2>
In the above embodiment, when the recovery mode is set as the start mode and there is no other work machine 100B having the pre-update program around the self-work machine 100A, the management server 41 is operated by the first communication device 141. An example (steps S180 → S186 in FIG. 10) of acquiring a pre-update program (recovery program information) from the above has been described. In this case, communication costs will be incurred due to communication with the management server 41.

Therefore, before updating the program information (normal program 128), the information controller 102 of the control device 110 according to the present modification transfers the program information (normal program 128) of the self-working machine 100A by the second communication device 142. It is transmitted to the work machine 100B and stored in the storage device of the other work machine 100B. In this way, by storing the program information to be updated (normal program 128) in the storage device of the other work machine 100B as the recovery program information in advance, when the update of the program information fails, the second The communication device 142 can acquire the recovery program information from the other work machine 100B. As a result, the opportunity to acquire the recovery program information from the management server 41 can be reduced, and the communication cost can be reduced. The storage device of the other work machine 100B for storing the recovery program information can be, for example, the non-volatile memory 102b of the information controller 102. Since the temporary storage area 127 is secured in the non-volatile memory 102b, it is not necessary to provide an extra storage area in the other work machine 100B. That is, the size of the storage device of the work machine 100 can be kept small, and the cost of the storage device can be reduced.

<Modification example 3>
The program information (normal program 128) to be acquired from the program information (normal program) possessed by the other work machine 100B may be selected by the operator. The information controller 102 of the control device 110 according to this modification is among the program information (normal program) possessed by the plurality of other working machines 100B based on the signal from the input device 180 operated by the operator. One of them is selected, the selected program information is acquired from the other working machine 100B via the second communication device 142, and the program information of the own working machine 100A is rewritten by the acquired program information.

For example, the operator selects one of the normal program (version 2.05) of the information controller of the other work machine 100B1 and the normal program (version 2.02) of the information controller of the other work machine 100B2 shown in FIG. be able to. As a result, for example, when a paid version (version 2.05) of the normal program and a free version (version 2.02) of the normal program exist, the operator can select either one. can. In addition, the operator can select a version of the normal program that can exhibit his / her favorite operability from among a plurality of versions.

<Modification example 4>
When an approval request for obtaining approval for the rewriting process is sent to the owner (owner computer 45) of the self-working machine 100A before executing the rewriting process (step S130 in FIG. 9), and the approval is obtained. The rewriting process may be executed only for the computer. For example, in step S122 of FIG. 9, when it is determined that a new program exists, the communication control unit 136 of the information controller 102 obtains the approval of the rewriting process from the owner computer 45 via the first communication device 141. Send an approval request for. When the owner approves the rewriting process, the owner transmits data indicating that the rewriting process is approved by the owner computer 45 to the requesting work machine 100. When the communication control unit 136 of the information controller 102 receives data indicating approval from the owner computer 45, it proceeds to step S124 of FIG. 9 and requests to acquire a new program via the second communication device 142. The command is transmitted to the other work machine 100B. In this way, by adding a step of obtaining approval for the rewriting process to the owner before executing the rewriting process (step S130 in FIG. 9), it is possible to prevent the rewriting process that is not intended by the owner from being executed. can do.

<Modification 5>
If it is determined in the determination process (step S118 of FIG. 9 and step S158 of FIG. 10) whether or not the owners of the other work machine 100B and the own work machine 100A are the same, it is determined that the owners are not the same. An input request for inputting the owner information of the other working machine 100B may be transmitted to the operator of the machine 100A. In this case, the information controller 102 executes the rewriting process only when the owner information input by the input device 180 matches the owner information 125 of the other work machine 100B.

The information controller 102 of the control device 110 according to this modification compares the owner information of the other work machine 100B with the owner information 125 of the own work machine 100A, and the owner information of the other work machine 100B and the owner information of the own work machine 100A. If it does not match 125, the operator is requested to input the owner information of the other work machine 100B. The input request to the operator is performed, for example, by displaying the identification information of the other work machine 100B and a sentence such as "Please input the owner information" on the display screen of the display device 190.

If the owner information (for example, password) input by the input device 180 does not match the owner information 125 of the other work machine 100B, the information controller 102 does not acquire the program information (normal program) from the other work machine 100B. When the owner information input by the input device 180 matches the owner information of the other work machine 100B, the information controller 102 acquires the program information (normal program) from the other work machine 100B, and uses the acquired program information to itself. The program information (normal program 128) of the work machine 100A is rewritten.

When the owner information of the other work machine 100B and the owner information 125 of the own work machine 100A match, the information controller 102 acquires the program information from the other work machine 100B without requesting the operator to input the owner information. Then, the program information (normal program 128) of the self-working machine 100A is rewritten by the acquired program information.

According to this modification, when it is determined that the owners of the other work machine 100B and the own work machine 100A are the same as in the above embodiment, the operator is not required to input the owner information. The burden of operation can be reduced.

<Modification 6>
In the above embodiment, the program information acquired from the other work machine 100B is a normal program, and an example in which the normal program 128 of the own work machine 100A is rewritten by the acquired program information (the entire normal program 128) has been described. Is not limited to this. For example, as described above, the program information for rewriting the normal program 128 of the self-working machine 100A is not limited to the entire new version of the normal program 128, and is one of the normal programs excluding the common program of the programs before and after rewriting. It may be a department. Further, the program information of the self-working machine 100A to be rewritten (updated and restored) is not limited to the normal program 128. For example, by executing the normal program 128, the control data used when performing the normal control or the user setting data set by the operator by the input device 180 is acquired as program information from the other work machine 100B, and the acquired program information. The program information (control data or user setting data) of the self-working machine 100A may be rewritten by (control data or user setting data).

<Modification 7>
In the above embodiment, the mode data 122, the update program 123a, the recovery program 123b, the program version table 124, the owner information 125, and the pre-rewriting record 126 are stored in the non-volatile memory 102b of the information controller 102, and the non-volatile memory 102b stores the mode data 122, the update program 123a, the recovery program 123b, and the program version table 124. Although an example of securing the temporary storage area 127 has been described, the present invention is not limited thereto. The mode data 122, the update program 123a, the recovery program 123b, the program version table 124, the owner information 125, and the pre-rewriting record 126 are the non-volatile memory 101b of the main controller 101, the non-volatile memory 103b of the engine controller 103, or other controllers. It may be stored in the non-volatile memory of (for example, a battery controller). Similarly, the temporary storage area 127 may be reserved in the non-volatile memory 101b of the main controller 101, the non-volatile memory 103b of the engine controller 103, or the non-volatile memory of another controller. That is, the update process and the recovery process are not limited to those performed by the information controller 102, and may be performed by the main controller 101, the engine controller 103, or another controller.

<Modification 8>
In the above embodiment, the case where the work machine 100 is a crawler type hydraulic excavator has been described as an example, but the present invention is not limited to this. The present invention can be applied to various work machines equipped with a work device such as a wheel type hydraulic excavator, a wheel loader, a crawler crane, and a dump truck.

Although the embodiments of the present invention have been described above, the above embodiments are only a part of the application examples of the present invention, and the technical scope of the present invention is limited to the specific configurations of the above embodiments. do not have.

31 ... Main pump (equipment), 36b ... Electromagnetic proportional valve (equipment), 71 ... Radio base station, 80 ... Engine (equipment), 100 ... Working machine, 100A ... Self-working machine, 100B (100B1, 100B2) ... Other work Machine, 101b, 102b, 103b ... Non-volatile memory (storage device), 110 ... Control device, 125 ... Owner information, 128 ... Normal program (program information), 141 ... First communication device (equipment), 142 ... Second communication Device (equipment), 190 ... Display device (equipment)

Claims (5)

In a work machine including a control device for controlling equipment mounted on the own work machine and a first communication device for communicating with a server via a wireless base station.
Equipped with a second communication device that directly communicates with other work machines other than the self-working machine,
When the version of the program information possessed by the other work machine is newer than the version of the program information possessed by the own work machine, the control device acquires the program information from the other work machine via the second communication device. Then, the program information of the self-working machine is updated by the acquired program information.
A work machine characterized by that. In the work machine according to claim 1,
When the control device fails to update the program information to a predetermined version, the control device acquires the program information of a version different from the predetermined version from the other working machine via the second communication device. The program information of the self-working machine is restored by the acquired program information.
A work machine characterized by that. In the work machine according to claim 2.
Before updating the program information, the control device transmits the program information of the own work machine to the other work machine by the second communication device and stores the program information in the storage device of the other work machine.
A work machine characterized by that. In the work machine according to claim 1,
Equipped with an input device operated by an operator
The control device selects one of the program information possessed by each of the plurality of other working machines based on the signal from the input device, and uses the selected program information as the second communication device. The program information of the own work machine is updated by the program information acquired from the other work machine via
A work machine characterized by that. In the work machine according to claim 1,
The control device is
Comparing the owner information of the other work machine with the owner information of the own work machine,
If the owner information of the other work machine and the owner information of the own work machine do not match, the operator is requested to input the owner information of the other work machine.
If the input owner information does not match the owner information of the other work machine, the program information is not acquired from the other work machine, and the entered owner information matches the owner information of the other work machine. In this case, the program information is acquired from the other working machine, and the program information of the own working machine is updated by the acquired program information.
When the owner information of the other work machine and the owner information of the own work machine match, the program information is acquired from the other work machine without requesting the operator to input the owner information, and the acquired said. Update the program information of the self-working machine by the program information,
A work machine characterized by that.

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