JP2022159749A - Work machine system - Google Patents

Abstract

To appropriately switch the priority of operation commands to actuators in a work machine system in which a plurality of command devices coexist.SOLUTION: A work machine system includes a work device, an actuator that drives the work device, two or more command devices that send command values to the actuator, and a control device. The control device comprises: a priority change determination unit that determines the priority of the command device; and an actuator priority changing unit that sets the command value of the command device having the highest priority among the command devices that are outputting the command value as an actuator command value to be sent to the actuator. The work machine system determines the priority according to the determination of the priority change determination unit.SELECTED DRAWING: Figure 4

Description

The present invention relates to work machine systems.

A system for automating the movement of a working machine has been proposed for labor saving.

For example, Patent Literature 1 discloses a technique related to automatic loading of a hydraulic excavator. The technique of Patent Document 1 is an automation technique for a hydraulic excavator that records the position trajectory of a work part in time series in advance and operates based on the position trajectory with a switch as a trigger.

Further, in recent years, a technology (so-called remote control technology) has been proposed in which an operator operates a control lever from an operating device provided separately from the work machine to operate the work machine.

JP-A-9-25647

A situation in which multiple commands are mixed for one actuator provided in a working machine (for example, in addition to an operating device provided in a conventional working machine, one or more automatic systems of Patent Document 1 are remotely installed work machine), it is necessary to determine which command to give priority to the actuator.

For example, in automatic driving of a car, as an example of Level 2, there is the idea that human driving should always override the automatic system.

However, unlike automatic driving of automobiles for the purpose of transporting people, working machines are not necessarily manned because their purpose is to perform work. Rather, there is also a way of thinking that it should be unmanned from the viewpoint of labor saving. For this reason, operating devices mounted on work machines (hereinafter referred to as "direct operating devices") and operating devices remotely installed separately from the working machines (hereinafter referred to as "remote operating devices") or automatic systems There is no absolute priority between

Under these circumstances, in a system configuration in which the operation of the direct operation device is always overridden by the command of the automatic system or the command of the remote control device, if for some reason a person is not assigned to the direct operation device, When the direct operation device is operated, there is no way to cancel the operation, and an unexpected operation continues, which is undesirable.

In addition, such a situation may occur, for example, in the following cases. One example is vehicle body resonance. In vehicle body resonance, for example, inertia acts on the operating lever as the vehicle body moves, and the operating lever moves relative to the vehicle body. As another example, an obstacle such as a tree branch may catch on the operating lever during operation of the work machine. Another example is failure of the operating lever.

The present invention has been made in view of the above problems. A work machine system that switches is provided.

An example of a work machine system according to the present invention is a work machine that includes a work device, an actuator that drives the work device, two or more command devices that send command values to the actuator, and a control device. In the system, the control device includes a priority order change determination unit that determines the order of priority of the command devices; and an actuator priority change unit for setting the actuator command value to be sent to the work machine system, wherein the work machine system determines the priority according to the determination of the priority change determination unit.

Advantageous Effects of Invention According to the work machine system of the present invention, it is possible to appropriately switch the order of priority of operation commands to actuators in a work machine system in which a plurality of command devices are mixed. Therefore, for example, a safer work machine system can be provided.

Working machine according to Embodiment 1 of the present invention Remote control device according to embodiment 1 of the present invention Automatic system according to embodiment 1 of the present invention Control system diagram according to Embodiment 1 of the present invention Flowchart according to Embodiment 1 of the present invention Flowchart according to Embodiment 1 of the present invention Control system diagram according to Embodiment 2 of the present invention Flowchart according to Embodiment 2 of the present invention Flowchart according to Embodiment 2 of the present invention Control system diagram according to Embodiment 3 of the present invention Flowchart according to Embodiment 3 of the present invention Control system diagram according to Embodiment 4 of the present invention Flowchart according to Embodiment 4 of the present invention List of batch control according to the fourth embodiment of the present invention A working machine according to a fifth embodiment of the present invention A working machine system according to a fifth embodiment of the present invention A display device according to Example 5 of the present invention

Embodiments of the present invention will be described below with reference to the accompanying drawings.

<1. Overall configuration>
FIG. 1 is a side view of a hydraulic excavator which is an example of a working machine according to the present invention. The work machine system includes a work machine 1 .

The work machine 1 includes a lower traveling body 1C equipped with a traveling motor, and an upper revolving body 1B which is provided rotatably with respect to the lower traveling body 1C via a turning device 4 and which can be driven to turn by a turning motor 11. and a working device 1A attached to the upper revolving body 1B.

The work device 1A includes a boom 8 rotatably attached to the upper revolving body 1B, an arm 9 rotatably attached to the boom 8, and a rotatable arm 9 attached to the arm 9. a bucket link 13 rotatably attached to the bucket 10 and the arm 9; and a boom cylinder connected to the boom 8 and the upper swing body 1B and rotating the boom 8 with respect to the upper swing body 1B. 5, an arm cylinder 6 connected to the boom 8 and the arm 9 and rotating the arm 9 with respect to the boom 8, and a bucket connected to the arm 9 and the bucket link 13 and rotating the bucket 10 with respect to the arm 9. a cylinder 7;

Boom cylinder 5 , arm cylinder 6 , bucket cylinder 7 , swing motor 11 and travel motor 3 are actuators that drive work machine 1 .

In this embodiment, the boom 8, the arm 9 and the bucket 10 constitute the working device, but the specific construction of the working device is not limited to this.

The lower traveling body 1C is driven by the traveling motor 3 and allows the work machine 1 to move to any position. The turning device 4 includes a turning motor 11 that arbitrarily changes the turning angles of the lower traveling body 1C and the upper turning body 1B. On the upper slewing body 1B are a controller 22 functioning as a control device, a communication device 21 for communicating between the controller 22 and a remote control device 26 (FIG. 2), and at least one actuator (boom cylinder 5, arm A direct operating device 25 that allows the operator to directly instruct the operation of the cylinder 6, the bucket cylinder 7, the turning motor 11, and the traveling motor 3), a human detection device (direct) 30 that determines the presence or absence of the operator, An automatic system input device (direct) 36a is provided.

The direct operating device 25 and the remote operating device 26 are examples of command devices that send command values to actuators. In particular, the direct operating device 25 is a direct command device provided on the work machine 1 , and the remote control device 26 is a remote command device provided outside the work machine 1 .

The human detection device (direct) 30 is an example of a device that detects the presence or absence of a person in the operator cab of the work machine 1 in the direct operation device 25. Detect by assuming that the person is trying to operate.

Although the controller 22 is arranged on the upper rotating body 1B in this embodiment, it may be arranged on the remote control device 26 side. Further, although the remote control device 26 is installed remotely from the work machine 1, the form of communication is not limited to wireless and may be wired. In the wired case, the communication device 21 would not be necessary, and instead an alternative means of exchanging information between the remote control device 26 and the controller 22 would be provided, such as a wired cable.

FIG. 2 is a side view of the remote control device 26 and the work machine 1. FIG. The remote control device 26 is not integrated with the work machine 1, but is provided remotely from the work machine 1, for example. The remote control device 26 includes a remote control device communication device 27 that communicates with the communication device 21, a remote control device control lever 28 that allows an operator to directly instruct the operation of at least one actuator, and an automatic system input device (remote control device). ) 36b, and a human detection device (remote) 31 for determining the presence or absence of an operator. The remote controller communication device 27 and the remote controller control lever 28 are electrically connected.

A human detection device (remote) 31 is an example of a device that detects the presence or absence of a person operating the remote control device 26 .

In FIG. 2, the remote operation device 26 is described as being of a fixed type. It may be in a portable form such as a game controller or tablet capable of many inputs.

The human detection device (direct) 30 and the human detection device (remote) 31 may not be capable of reliably detecting whether or not a person actually exists. If there is uncertainty, a threshold can be designed and used for the detection reliability.

Specifically, passive sensing devices (e.g., cameras/lidar/millimeter-wave detectors with direct or remote control devices in sight, the load on the seating surface of the seat where a person sits (hereinafter referred to as “seat”) measurement device, sheet thermal measurement device, pyroelectric device, _CO2 measurement device, operation lever contact detection device, RF tag, etc.), and active detection devices (e.g., switches, card keys, tablets, seat belts (direct operating devices only), etc.). In addition, the accuracy may be improved by combining a plurality of these.
In addition, regardless of the state of gripping and operating the control lever, the state of trying to operate the control lever, for example, the state of being seated in the driver's seat near the control lever or the state of getting into the driver's cab.

FIG. 3 is an example of an automated system. Automatic system 35 is an example of a command device that automatically sends command values to actuators. Thus, in this embodiment, since various command devices (the direct operation device 25, the remote operation device 26, and the automatic system 35) are provided, various operation modes can be handled.

The automatic system 35 is arranged in, for example, the controller 22, and based on plan instructions input from an automatic system input device (direct) 36a or an automatic system input device (remote) 36b or both, a motion plan (information representing actuator motion) is generated. ) are automatically calculated, and actions are executed in response to predetermined triggers (action management).

Also, examples of triggers for the automatic system 35 are inputs by switches provided in automatic system input devices, signal inputs to the system, and the like. For example, a signal indicating that the operation of the automated excavation system has been completed can be used as a trigger for starting automatic travel.

FIG. 4 is a control system diagram according to this embodiment. The controller 22 includes a priority change determination section 101 and an actuator priority change section 102 . The priority order change determination unit 101 determines the order of priority of command devices (that is, the order of mutual priority among command devices among a plurality of command devices). In particular, in this embodiment, the priority change determination unit 101 determines the priority based on the detection states of the human detection device (direct) 30 and the human detection device (remote) 31 (described later with reference to FIG. 5). ).

In this manner, the work machine system according to this embodiment determines the order of priority according to the judgment of the priority order change judgment section 101 .

The actuator priority change unit 102 actually controls the actuator by setting the command value of one of the command devices as the command value (actuator command value) sent to the actuator based on the priority order.

For example, the actuator priority changing unit 102 sets, as the actuator command value, the command value of the command device having the highest priority among the command devices that are outputting the command value (in the output state). As a more specific example, if the command device with the first priority does not output a command value and the command device with the second priority outputs a command value, the command value of the second command device is the actuator command value.

<2. Operation>
FIG. 5 is a flowchart relating to the priority order change determination unit 101 of this embodiment. First, the detection state of the human detection device (direct) 30 is determined (S201). When the human detection device (direct) 30 is in the detection state and the human detection device (remote) 31 is in the detection state, the priority of the command device is set to the direct operation device 25 and the remote operation device from the highest one. 26, and the automatic system 35 (S202, S204).

When the human detection device (direct) 30 is in the detection state and the human detection device (remote) 31 is in the non-detection state, the priority of the command device is set to the direct operation device 25, the automatic system, from the highest one. 35, and the remote controller 26 (S202, S205).

When the human detection device (direct) 30 is in a non-detection state and the human detection device (remote) 31 is in a detection state, the priority of the command device is set to the remote control device 26, the automatic system 35, and the direct operation device 25 (S203, S206).

When the human detection device (direct) 30 is in a non-detection state and the human detection device (remote) 31 is in a non-detection state, the priority of the command device is set to the automatic system 35 first, then The direct operating device 25 and the remote operating device 26 are given equal priority (S203, S207).

Thus, when a person is present at the operating device (direct operating device 25 or remote operating device 26), that operating device has priority over the automatic system 35, and the operating device (direct operating device 25 or remote operating device 26) If there is no person present in the system, the automatic system 35 takes precedence over the operating device. If a person is present at both the direct manipulator 25 and the remote manipulator 26 , the direct manipulator 25 has priority over the remote manipulator 26 . If neither the direct manipulator 25 nor the remote manipulator 26 is occupied, the direct manipulator 25 and the remote manipulator 26 are given equal priority (in which case the automated system 35 has the highest priority). , so in practice the priority of the direct manipulator 25 and the remote manipulator 26 does not matter).

As described above, in this embodiment, the priority change determination unit 101 determines the priority based on the detection states of the human detection device (direct) 30 and the human detection device (remote) 31. It is possible to switch more appropriately according to the presence or absence of , and the safety is enhanced.

Note that the flowchart of FIG. 5 is an example, and the specific control operation is not limited to this.

FIG. 6 is a flow chart regarding the actuator priority changing unit 102 of this embodiment. The actuator priority changing unit 102 determines the actuator command value according to the priority and the output state of each command device.

In the example of FIG. 6, determination is first made in S221. In S221, if the direct operating device 25 is in the output state and the command device having priority over the direct operating device 25 is not in the output state, the command value of the direct operating device 25 is set as the actuator command value (S224).

In FIG. 6, "being in an output state" means, for the direct operation device 25 or the remote operation device 26, a command value for operating the actuator in accordance with the lever operation (for example, the actuator is changed from one state to another state). output value for operation) is being output. For the automatic system 35, it means a state in which a command value for operating the actuator is being output. Whether or not to interpret the output value that does not operate the actuator (for example, the output value that holds the actuator in its current state) as the command value can be appropriately designed by those skilled in the art according to the specific embodiment.

In S221, if the direct operation device 25 is not in the output state, or if the command device that has priority over the direct operation device 25 is in the output state (S222), the remote control device 26 is in the output state, and the remote control device 26 If the priority command device is not in the output state, the command value of the remote control device 26 is set as the actuator command value (S225).

In S222, if the remote control device 26 is not in the output state, or if the command device having priority over the remote control device 26 is in the output state (S223), the automatic system 35 is in the output state, and the automatic system 35 If the priority command device is not in the output state, the command value of the automatic system 35 is set as the actuator command value (S226).

In S223, if the automatic system 35 is not in the output state, or if the command device that has priority over the automatic system 35 is in the output state, the process returns to S221.

Note that the flowchart of FIG. 6 is an example, and the specific control operation is not limited to this.

<3. Effect>
According to the control shown in FIGS. 5 and 6, since a command device with a lower priority does not override a command device with a higher priority, safety is further improved.

A work machine system according to a second embodiment will be described below. Descriptions of portions common to the first embodiment may be omitted.

<1. Overall configuration>
FIG. 7 is a control system diagram according to this embodiment. The controller 22 includes an operation state priority change determination unit 121 in addition to or instead of the priority change determination unit 101 of the first embodiment. The operation state priority order change determination section 121 determines the priority order of the command devices, or changes the priority order determined by the priority order change determination section 101 .

<2. Operation>
8A and 8B are flowcharts of the operation state priority order change determination unit 121. FIG. At the location of the star symbol in FIG. 8A, the entire process shown in FIG. 8B is performed.

In this embodiment, the current priority state is S206, the human detection device (direct) 30 and the human detection device (remote) 31 are detecting a person, and the direct operation device 25 is in the output state. An example will be described.

First, at the start of the process (START), according to S206, the order of priority is remote control>automatic system>direct control (the magnitude of the inequality sign indicates the priority). Next, in S201, since the human detection device (direct) 30 has detected a person, the process proceeds to S202. Also in S202, since the human detection device (remote) 31 similarly detects a person, the process proceeds to S241 (FIG. 8). The flow up to this point is the same as in the first embodiment.

Next, in S241, the next process (S204 in this case) is referred to. In S204, the order of priority is direct control device>remote control device>automatic system.

From the current priority and the priority of the next process, there is a possibility that the condition of S241 is satisfied when A=remote control device or A=automatic system and B=direct control device. In particular, when B=direct operating device, the condition of S241 is satisfied because B is in the output state. Therefore, the priority order of the direct control device (B) is not changed (S242), and the priority order is maintained in the state of remote control device>automatic system>direct control device (that is, the priority change in S204 is not done). In this manner, the operation state priority change determination unit 121 prohibits the change of the priority according to the output state of the command device. This state is maintained until the direct manipulator 25 is no longer in the output state.

According to the present embodiment, when a command device with a low priority is in an output state, the command device is prevented from being given the highest priority, so that the actuator can be prevented from suddenly moving, thereby ensuring safety. sexuality increases.

A working machine system according to the third embodiment will be described below. Descriptions of portions common to the first or second embodiment may be omitted.

<1. Overall configuration>
FIG. 9 is a control system diagram according to this embodiment. In this embodiment, the controller 22 further comprises a priority interrupt section 141 . Priority interrupt unit 141 determines an actuator command value based on a specific command value (for example, emergency stop operation or emergency stop signal) from the command device, regardless of the operation of actuator priority change unit 102 .

An emergency stop operation refers to an operation for performing an emergency stop. For example, direct control device 25 or remote control device 26 lock lever operation may be included. Lock lever operation is an operation for stopping the operation of all actuators. Further, the emergency stop operation may include key-off, operation of an engine stop switch, operation of an emergency stop button, and the like.

An emergency stop signal is, for example, a specific signal sent from the automatic system 35 .

<2. Operation>
FIG. 10 is a flow chart of the priority interrupt unit 141. As shown in FIG. Processing begins at S261. In S261, when the priority interrupt unit 141 receives a specific command value, the operation of the actuator is stopped regardless of the operation or state of the actuator priority change unit 102 (S262). On the other hand, in S261, if the priority interrupt unit 141 has not received a specific command value, the priority interrupt unit 141 does not perform a particularly active operation, and the output from the actuator priority change unit 102 is used as the actuator command value as it is. Send to the actuator (S263).

Although all actuators are stopped in S262 in the example of FIG. 10, a predetermined safety operation may be executed without stopping. In that case, the command value for executing the safe operation becomes the actuator command value.

<3. Effect>
According to the present embodiment, safety-related operations such as emergency stop can be executed regardless of the order of priority, thus enhancing safety.

A working machine system according to a fourth embodiment will be described below. Descriptions of portions common to any of the first to third embodiments may be omitted.

<1. Overall configuration>
FIG. 11 is a control system diagram according to this embodiment. In this embodiment, the controller 22 includes an actuator batch priority changer 161 as a modification of the actuator priority changer 102 of the first embodiment. The collective actuator priority change unit 161 collectively changes the priority order for a group of actuators.

<2. Operation>
FIG. 12 is a flowchart according to this embodiment, and FIG. 13 is a list of collective control. The table in FIG. 13 represents the group of actuators controlled for each actuator trigger.

In the example below, the automatic system 35 operates the actuators for turning, boom, arm, bucket, and travel, and the priority order is the state of S204 in FIG. A case where the human detection device (direct) detects a human and the direct operation device 25 outputs a command value for operating the turning motor will be described.

First, the swing motor is determined according to S281 to S283. S281 to S283 are the same as S221 to S223 in FIG. 6, respectively. In this example, since it is determined as YES in S281, the group of actuators to overwrite the command value is calculated based on the table of FIG. 13 (S284). For example, the actuator group (A) consists of a boom cylinder, an arm cylinder and a bucket cylinder, the actuator group (B) consists of a boom cylinder, an arm cylinder, a bucket cylinder and a swing motor, and the actuator group (C) consists of a left travel motor and a right travel motor. It consists of a travel motor.

In the present example, the actuator trigger is the swing motor, so in FIG. 13 the relevant actuator group consists of the boom cylinder, the arm cylinder, the bucket cylinder, and the swing motor. Therefore, the command value for the corresponding actuator group is set as the command value from the direct operation device 25 (S287).

Here, the other actuators (in this example, the boom cylinder, the arm cylinder, and the bucket cylinder) included in the group are directly controlled regardless of whether the direct operation device 25 is outputting the command value. A command value from the operating device 25 becomes an actuator command value. If no output is in progress, the actuator command value is a value representing no output (that is, an output that does not operate, also called 0 output).

The above is an example in which the actuator trigger is a command value from the direct control device. is the command value, S286 and S289 are executed.

In this manner, the collective actuator priority changing unit 161 determines the priority of other actuators included in the same group based on the priority of one actuator.

<3. Effect>
According to this embodiment, the outputs of some actuators can be used as triggers to give appropriate outputs (for example, no output or 0 output) to the corresponding other actuators, and direct operation device 25 and remote operation device 26 can be controlled. The operator can perform more detailed operations. In addition, safety is enhanced.

A working machine system according to a fifth embodiment will be described below. Descriptions of portions common to any of the first to fourth embodiments may be omitted.

<1. Overall configuration>
FIG. 14 shows a working machine according to this embodiment, and FIG. 15 shows a working machine system according to this embodiment.

In the work system according to this embodiment, one or more of the command devices are provided with a display device. For example, a display device (direct) 51 is provided near the direct operation device 25 and can be confirmed by the operator of the direct operation device 25, and a display device (direct) 51 is provided near the remote operation device 26, and the remote operation and a display device (remote) 52 that is visible to the operator of the device 26 .

<2. Operation>
An example of display on the display device 51 is shown in FIG. The display device 51 displays the current priority. The example of FIG. 16 shows that the current priorities are direct manipulator>remote manipulator>automatic system.

The display device 51 also displays information representing the command device that is sending the command value that is the actuator command value. In the example of FIG. 16, it is displayed that the command value from the direct control device is the actuator command value for the boom cylinder, and the command value from the remote control device is the actuator command value for the arm cylinder.

A specific priority display mode may include a list of command devices and display of numerical values representing the priority of each command device.

<3. Effect>
According to this embodiment, the operator of the direct operating device 25 or the remote operating device 26 can confirm the current priority state and command state of the actuators, so that the work machine is less likely to operate unexpectedly.

[Other Examples]
In Examples 1-5, the command device includes all of the direct manipulator 25, the remote manipulator 26, and the automation system 35, although one of these may be omitted. That is, the command device may include two or more of the direct control device 25, the remote control device 26, and the automatic system 35.

In Examples 1 to 5, the human detection device (direct) 30 and the human detection device (remote) 31 are provided, but either one of these may be omitted.

DESCRIPTION OF SYMBOLS 1... Working machine 1A... Working apparatus 3... Traveling motor (actuator)
5 ... Boom cylinder (actuator)
6... Arm cylinder (actuator)
7... Bucket cylinder (actuator)
11... Turning motor (actuator)
22 ... controller (control device)
25... direct operation device (command device)
26 ... Remote control device (command device)
30... Human detection device 31... Human detection device 35... Automatic system (command device)
51 Display device 52 Display device 101 Priority change determination unit 102 Actuator priority change unit 121 Operation state priority change determination unit 141 Priority interrupt unit 161 Actuator collective priority change unit

Claims (8)

a working device;
an actuator that drives the working device;
two or more command devices that send command values to the actuator;
a controller;
In a work machine system with
The control device is
a priority change determination unit that determines the priority of the command device;
an actuator priority changing unit that sets the command value of the command device having the highest priority among the command devices that are outputting the command value to the actuator command value to be sent to the actuator;
A working machine system, wherein the priority order is determined according to the judgment of the priority order change judgment section. The work machine system according to claim 1,
One or more of the command devices, comprising a human detection device that detects the presence or absence of a person trying to operate the command device,
The working machine system, wherein the priority change determination unit determines the priority of the command device based on the detection state of the human detection device. The work machine system according to claim 1,
The control device further comprises an operation state priority change determination unit,
The working machine system according to claim 1, wherein the operation state priority change determination unit prohibits the change of the priority according to the output state of the command device. The work machine system according to claim 1,
The control device further comprises a priority interrupt unit,
The working machine system, wherein the priority interrupt unit determines the actuator command value based on a specific command value from the command device, regardless of the operation of the actuator priority change unit. The work machine system according to claim 1,
The actuator priority change unit is an actuator batch priority change unit that collectively switches the priority order for a group of actuators,
The working machine system according to claim 1, wherein the collective actuator priority changing unit determines the priority of other actuators included in the same group based on the priority of one actuator. The work machine system according to claim 1,
one or more of said command devices comprising a display;
The work machine system, wherein the display device displays the current priority. The work machine system according to claim 6,
The working machine system, wherein the display device displays information representing the command device that is sending the command value to be the actuator command value. The work machine system according to claim 1,
The command device is
a direct command device provided on the working machine;
a remote command device provided outside the working machine;
an automated system for automatically sending command values;
A work machine system comprising two or more of:

Images