JP6938703B2 - Excavator operating device, excavator operating method, excavator, and excavator operating program - Google Patents

Description

The present invention relates to an excavator operating device, an excavator operating method, an excavator, and an excavator operating program.

A conventional excavator is operated by tilting the operation lever back and forth and left and right. Patent Document 1 below discloses a technique of connecting a mobile terminal to an excavator and authenticating that the owner of the mobile terminal is a legitimate operator of the excavator. As a result, high security can be ensured. In the method of authenticating that the operator is a legitimate operator with a password or the like, the operator needs to memorize the password or the like and enter the password or the like at the start of the operation. In the technique disclosed in Patent Document 1, since it is not necessary for the operator to input a password or the like, the burden on the operator is reduced.

Japanese Unexamined Patent Publication No. 2012-232682

Since the operator needs to operate the operating lever within the movable range of the operating lever, the burden on the operator's shoulders and elbows is large. In the technique disclosed in Patent Document 1, a mobile terminal is used for improving security, but the excavator is operated by an operation lever. Therefore, the burden on the operator regarding the operation of the operation lever is not reduced.

An object of the present invention is to provide an excavator operating device capable of reducing the burden on the operator when operating the excavator. Another object of the present invention is to provide a shovel operation method capable of reducing the burden on the operator when operating the excavator. Yet another object of the present invention is to provide an excavator that can be operated by this excavator operating device. Yet another object of the present invention is to provide an excavator operation program that executes this excavator operation method.

According to one aspect of the invention
A communication device that communicates with a shovel having a first actuator and a second actuator,
When touch input is performed on the input surface, an input device that detects the touch position of the touch input and
Based on the movement amount of the touch position obtained by using the detection result of the input device, a command for driving the first actuator and a command for driving the second actuator are generated, and the generated command is generated. a processing unit to be transmitted to the excavator via the communication device,
Excavator operating device with
The processing device generates a command for stopping the drive of the first actuator and a command for stopping the drive of the second actuator based on the touch input to the neutral position, and the generated command is generated. An excavator operating device for transmitting to the excavator via a communication device is provided.

According to another aspect of the invention
When touch input is performed on the input surface where touch input is performed, the input device detects the touch position of the touch input and detects the touch position.
The processing device generates a command for driving the first actuator of the excavator and a command for driving the second actuator based on the movement amount of the touch position obtained by using the detection result of the input device.
It is a shovel operation method that sends the generated command to the excavator to be operated.
The processing device generates a command to stop driving the first actuator and a command to stop driving the second actuator based on a touch input to the neutral position, and the generated command is generated. A method of operating the shovel to send to the shovel is provided.

According to yet another aspect of the invention.
With the lower running body,
An upper swivel body mounted on the lower traveling body so as to be swivel,
With the boom, arm, and attachment connected to the upper swing body,
A swivel motor that swivels the upper swivel body and
A boom cylinder that drives the boom up and down,
An arm cylinder that opens and closes the arm,
The attachment cylinder that drives the attachment,
It has a communication device that communicates with the above-mentioned excavator operation device.
The swing motor, the boom cylinder, the arm cylinder, and one of the attachment cylinder has a first actuator, Ri Oh in one of the other said second actuator,
Excavators are provided that stop driving the first actuator and the second actuator based on a touch input to the neutral position.

According to yet another aspect of the invention.
A program for excavator operation executed by an input surface on which touch input is performed and a processing device mounted on the excavator operation device including a communication device.
When touch input is performed on the input surface, the touch position in the input surface is detected.
Based on the movement amount of the touch position obtained by using the detected touch position, a command for driving the first actuator of the excavator and a command for driving the second actuator are generated.
The generated command is transmitted to the excavator through the communication device, and the generated command is transmitted to the excavator.
Based on the touch input to the neutral position, a command to stop the drive of the first actuator and a command to stop the drive of the second actuator are generated, and the generated command is transmitted to the excavator through the communication device. A program for operating the excavator to be sent to is provided.

The operator can operate the excavator by performing touch input on the input surface and moving the touch position. Therefore, the burden on the operator is reduced as compared with the case of operating the operation lever.

FIG. 1 is a perspective view and a block diagram of an excavator operating device according to an embodiment, and a side view and a block diagram of the excavator. FIG. 2 is a functional block diagram of a processing device mounted on the excavator operating device. 3A and 3B are diagrams showing a correspondence relationship between the moving direction of the touch position in the input surface of the excavator operating device and the operation of the actuator. FIG. 4 is a flowchart of processing executed by the processing device of the excavator operating device. 5A to 5C are plan views of the excavator operating device according to another embodiment. FIG. 6A is a diagram showing a correspondence relationship between the moving direction of the touch position in the input surface of the excavator operating device and the operation of the actuator according to still another embodiment, and FIG. 6B is a plan view of the excavator operating device. .. FIG. 7A is a schematic view of the excavator operating device according to still another embodiment and a management server communicating with the excavator operating device, and FIG. 7B is a plan view of the excavator operating device. FIG. 8 is a plan view of the excavator operating device on which the current position information is displayed.

FIG. 1 shows a perspective view and a block diagram of an excavator operating device according to an embodiment, and a side view and a block diagram of the excavator.

When the operator of the excavator 50 operates the excavator operating device 10, the excavator operating device 10 transmits a command to the excavator 50. Upon receiving this command, the excavator 50 operates in response to the command.

The excavator 50 includes a lower traveling body 51, an upper swivel body 52, a boom 53, an arm 54, and an attachment 55. Examples of the attachment 55 include a bucket, a crusher, a breaker, a lifting magnet and the like. The upper swivel body 52 is mounted on the lower traveling body 51 so as to be swivelable.

The boom 53 is connected to the upper swing body 52, the arm 54 is connected to the tip of the boom 53, and the attachment is attached to the tip of the arm 54. The excavator 50 has a plurality of actuators such as a boom cylinder 57, an arm cylinder 58, an attachment cylinder 59, and a swivel motor 56. The boom cylinder 57 drives the boom 53 up and down. The arm cylinder 58 drives the arm 54 to open and close. The attachment cylinder 59 drives the attachment 55. The swivel motor 56 generates power to swivel the upper swivel body 52 with respect to the lower traveling body 51.

The excavator 50 further has two operating levers 62. The operator operates the excavator 50 by tilting the operation lever 62 back and forth and left and right.

The communication device 61 mounted on the excavator 50 communicates with the excavator operating device 10. The control device 60 controls the operations of the swivel motor 56, the boom cylinder 57, the arm cylinder 58, and the attachment cylinder 59 based on the operation of the operation lever 62 or the command received from the excavator operation device 10 via the communication device 61. do. When these actuators are controlled by the pilot pressure, the control device 60 may generate an electric signal based on the command, and the pilot pressure may be changed by the electric signal. Alternatively, a solenoid valve driven by an electric signal may be used to control the hydraulic pressure.

The excavator operating device 10 includes a processing device 11, an input device 12, a communication device 13, and a storage device 14. The input device 12 includes an input surface 15 for performing touch input. As the excavator operating device 10, a tablet terminal including a touch panel and a touch pad can be used. As an example, a general-purpose smartphone in which a computer program (application program) for excavator operation is installed can be used as the excavator operation device 10.

The communication device 13 communicates with the excavator 50 to be operated. A short-range wireless communication method can be adopted for communication between the excavator operating device 10 and the excavator 50. When a touch input is performed on the input surface 15 by an operator, the input device 12 detects the touch position of the touch input. As the operator, an operator's finger, a touch pen, or the like can be used. When touch input is performed at a plurality of places on the input surface 15, the input device 12 can detect a plurality of touch positions. The detected touch position is input to the processing device 11.

When the touch position moves within the input surface 15, the processing device 11 generates a command for driving the actuator of the excavator 50 based on the movement of the touch position. Further, the generated command is transmitted to the excavator 50 via the communication device 13. The storage device 14 stores an excavator operation program executed by the processing device 11 and various data used in the processing of the processing device 11.

FIG. 2 shows a functional block diagram of the processing device 11 mounted on the excavator operating device 10 (FIG. 1). When a touch input is performed on the input device 12, the touch input detection unit 16 detects that the touch input has occurred. The touch position detection unit 17 detects the touch position in the input surface 15. The command generation unit 18 generates a command to drive the actuator based on the movement of the touch position. The transmission / reception unit 19 transmits the generated command to the excavator 50 (FIG. 1) via the communication device 13.

Next, an example of the relationship between the movement of the touch position and the command of the operation of the excavator 50 with respect to the actuator will be described with reference to FIGS. 3A and 3B.

FIG. 3A shows the correspondence between the moving direction of the touch position in the input surface 15 of the excavator operating device 10 and the operation of the actuator. Touch input is performed by the operator bringing the operator 30 into contact with the input surface 15. As the operator 30, an operator's finger, a touch pen, or the like is used. The operation of moving the touch position up and down (up and down swipe operation) corresponds to the operation of tilting the operation lever 62 (FIG. 1) back and forth, for example, the operation of raising and lowering the boom. The operation of moving the touch position to the left or right (swipe operation in the left-right direction) corresponds to the operation of tilting the operation lever 62 (FIG. 1) to the left or right, for example, the operation of opening and closing the bucket.

As shown in FIG. 3B, the vertical swipe operation may correspond to the operation of opening and closing the arm, and the horizontal swipe operation may correspond to the operation of turning the upper swivel body.

Using the excavator operating device 10 shown in FIG. 3A and the excavator operating device 10 shown in FIG. 3B, operations corresponding to the operations of the two operating levers 62 can be performed. As will be described later, by touching the controls 30 at two places on one input surface, the movement of the touch position on the right side corresponds to the operation of the operation lever 62 on the right side, and the movement of the touch position on the left side is the left side. It may correspond to the operation of the operation lever 62 of. The correspondence between the movement of the touch position and the operation of the excavator 50 (FIG. 1) with respect to the plurality of actuators is not limited to these.

The excavator operation method according to the embodiment will be described with reference to FIG. FIG. 4 shows a flowchart of processing executed by the processing device 11 of the excavator operating device 10 (FIG. 1).

In step S1, the processing device 11 determines whether or not a touch input has occurred. When the touch input occurs, in step S2, the position where the touch input occurs is defined as the neutral position. In step S3, a command for driving the actuator of the excavator 50 (FIG. 1) is generated based on the movement of the touch position from the neutral position. A command for one actuator is generated based on the movement of the touch position from the neutral position to the first direction, and the other actuator is based on the movement of the touch position in the second direction orthogonal to the first direction. Is generated.

In the example shown in FIG. 3A, when the touch position is moved upward from the neutral position, a command for raising the boom is generated, and when the touch position is moved downward from the neutral position, a command for lowering the boom is generated. Is generated. The amount of movement from the neutral position corresponds to the tilt angle of the operating lever 62. When the touch position is moved from the neutral position to the right, a command for opening the bucket is generated, and when the touch position is moved from the neutral position to the left, a command for closing the bucket is generated. When the touch position is moved diagonally upward to the right from the neutral position, a command for opening the bucket is generated at the same time as raising the boom.

After step S3 (FIG. 4), the generated command is transmitted to the excavator 50 in step S4. When the excavator 50 receives this command, the actuator of the excavator 50 is driven based on the command.

In step S5, it is determined whether or not the touch input is continued. If the touch input is continued, the process returns to step S3 to generate a command to drive the actuator based on the movement of the latest touch position. That is, the neutral position remains fixed as long as the touch input continues. If the touch input is not detected, in step S6, a command to stop driving the actuator is generated. That is, the operation of separating the operator 30 (FIG. 3A) from the input surface 15 corresponds to the operation of returning the operation lever 62 to the neutral position. The generated command is transmitted to the excavator 50 in step S7. When the excavator 50 receives the command, the drive of the corresponding actuator is stopped.

After step S7, the process returns to step S1 to execute a process of determining whether or not touch input has occurred. When a new touch input is generated, the position where the touch input is newly generated is redefined as a neutral position in step S2.

Next, the excellent effect of the above embodiment will be described. In the embodiment, the movement of the touch position in the input surface 15 (FIGS. 3A and 3B) corresponds to the tilting operation of the operation lever 62 (FIG. 1). Therefore, an operator who is accustomed to operating the operating lever 62 can operate the excavator operating device 10 without any discomfort. Further, the operator does not need to move his arm and can operate the excavator 50 simply by moving his fingertip. Therefore, the fatigue of the operator can be reduced.

If a fixed neutral position is defined on the input surface, the operator must visually recognize the input surface when starting touch input. In the embodiment, since the position where the touch input is generated is defined as the neutral position, the operator does not need to visually recognize the input surface when starting the touch input, and can concentrate on the work place.

Further, in the embodiment, the amount of movement of the touch position from the neutral position corresponds to the tilt angle of the operation lever 62 (FIG. 1). The correspondence between the movement amount and the tilt angle can be easily changed by changing the data executed by the processing device 11 or the data referred to by the program. Therefore, the correspondence between the movement amount and the tilt angle can be changed for each operator in consideration of the size of the operator's hand, the habit of operation, and the like. Further, the correspondence between the moving direction of the touch position and the attachment can be easily changed. Therefore, it is possible to make settings according to the individual preference of the operator.

Further, it is also possible to change the correspondence between the movement amount of the touch position and the tilt angle of the operation lever 62 according to the work type. For example, this correspondence can be optimized according to the work type such as deep digging work and ground leveling work.

Further, in the embodiment, a general-purpose tablet terminal or smartphone can be used as the excavator operating device 10. Therefore, the cost for introducing the excavator operating device 10 can be reduced.

Depending on the amount of movement from the neutral position to the touch position, the excavator operating device 10 may generate vibration or may generate sound. By changing the vibration strength, the loudness and pitch of the sound according to the amount of movement, the operator can recognize the current amount of operation without moving the line of sight.

Generally, a dead zone is set in the vicinity of the neutral position of the operating lever 62 (FIG. 1). In the excavator operating device 10, a dead zone may be provided in the vicinity of the neutral position. If the touch position is within the dead zone, the actuator to be operated is not driven. As a result, the operation feeling of the excavator operation device 10 can be brought closer to the operation feeling of the actual operation lever 62.

Next, other examples will be described with reference to FIGS. 5A to 5C. Hereinafter, the differences from the examples shown in FIGS. 1 to 4 will be described, and the description of the common configuration will be omitted.

FIG. 5A shows a plan view of the excavator operating device 10. In this embodiment, the input surface 15 has a function of displaying an image in addition to a function of detecting a touch input. When a touch input is performed on the input surface 15 by the operator 30, the processing device 11 displays a cross symbol (cross symbol) 31 on the input surface 15 centering on the position where the touch input occurs.

The two straight lines of the cross symbol 31 are parallel to the moving direction of the touch position for operating each actuator. Specifically, one straight line of the cross symbol 31 extends in the vertical direction, and the other straight line extends in the horizontal direction. The center position of the cross symbol 31 indicates the neutral position defined in step S2 (FIG. 4).

As shown in FIG. 5B, when the operator 30 is separated from the input surface 15, the cross symbol 31 (FIG. 5A) disappears. As shown in FIG. 5C, when the operator 30 newly contacts the input surface 15, the cross symbol 31 is displayed centering on the position where the touch input is newly generated. The position of the newly displayed cross symbol 31 does not always match the position of the previous cross symbol (cross symbol 31 in FIG. 5A) shown by the broken line.

In this embodiment, by displaying the cross symbol 31, the operator can easily recognize the direction in which the touch position should be moved and the current neutral position.

Instead of the cross symbol 31, the moving direction of the touch position for driving one actuator (first direction) and the moving direction of the touch position for driving the other actuator (second direction) around the neutral position. A symbol that can recognize the direction of) may be displayed. For example, a circular symbol may be displayed at the neutral position, and four straight lines extending radially from the neutral position in the first direction and the second direction may be displayed.

Next, still another embodiment will be described with reference to FIGS. 6A and 6B. Hereinafter, the differences from the examples shown in FIGS. 1 to 4 will be described, and the description of the common configuration will be omitted.

FIG. 6A is a diagram showing a correspondence relationship between the moving direction of the touch position in the input surface 15 of the excavator operating device 10 according to the present embodiment and the operation of the actuator. In this embodiment, the input device 12 (FIG. 1) has a function of detecting a second touch position where the touch input is performed when another touch input is performed in addition to the first touch position. .. Of the two touch positions, the movement of the right touch position corresponds to the operation of the right operation lever 62 (FIG. 1), and the movement of the left touch position corresponds to the operation of the left operation lever 62 (FIG. 1). do.

The processing device 11 (FIG. 1) issues a command to drive an actuator different from the actuator driven based on the movement of one touch position (first touch position) to the other touch position (second touch position). Generated based on the movement of. In the example shown in FIG. 6A, the movement of the first touch position (the touch position on the right side in FIG. 6A) corresponds to the operation of raising and lowering the boom and opening / closing the bucket, and the movement of the second touch position (FIG. 6A). The left touch position) corresponds to the opening and closing of the arm and the turning operation of the upper swing body 52 (FIG. 1).

As shown in FIG. 6B, the first cross symbol 31A may be displayed at the first touch position, and the second cross symbol 31B may be displayed at the second touch position.

In the embodiment shown in FIGS. 6A and 6B, one excavator operating device 10 can perform an operation corresponding to the operation of the two operating levers 62.

In this embodiment, when the touch input is detected only at one place, the movement of the touch position cannot be associated with the actuator to be driven. After the touch input is detected at two places, the touch position is moved and the actuator to be driven is associated with the touch input. After the touch input is detected in two places, even if the touch input is not detected in one place, the movement of the touch position in the remaining one place and the association with the actuator to be driven are continued. Can be done. Therefore, it is possible to separate one operator 30 from the input surface 15 and continue the operation with only the other one operator 30.

Next, still another embodiment will be described with reference to FIGS. 7A-8. Hereinafter, the differences from the examples shown in FIGS. 1 to 4 will be described, and the description of the common configuration will be omitted.

FIG. 7A shows a schematic view of the excavator operating device 10 according to the present embodiment and the management server 70 communicating with the excavator operating device 10. The excavator operating device 10 receives various management information from the management server 70. The current position detecting device 20 is mounted on the excavator operating device 10. As the current position detection device 20, for example, a GPS receiver can be used. The processing device 11 calculates the current position of the excavator operating device 10 based on the information from the current position detecting device 20. The calculated current position information is transmitted to the management server 70 (FIG. 7A). A public communication line can be used for communication between the excavator operating device 10 and the management server 70.

The management server 70 stores the current position information received from the plurality of excavator operating devices 10. The management server 70 stores not only the current position information of the excavator operation device 10, but also the current position information of a plurality of other work machines and workers.

FIG. 7B shows a plan view of the excavator operating device 10. An information display area 21 and an operation area 22 are secured on the input surface 15. By moving the touch position within the operation area 22, the excavator 50 (FIG. 1) is operated. The operation method is the same as any one of the plurality of examples shown in FIGS. 1 to 6B. It is not necessary to clearly separate the information display area 21 and the operation area 22, and both may overlap.

Construction information and communication information from the manager are transmitted from the management server 70 (FIG. 7A) to the excavator operating device 10. When the excavator operating device 10 receives these information, the excavator operating device 10 displays the received information in the information display area 21. In the example shown in FIG. 7B, as construction information, it is displayed that "the target point is excavated and the earth and sand equivalent to five trucks are carried out." In addition, as contact information from the administrator, it is displayed that "move to point B by 15:00".

Further, the processing device 11 (FIG. 1) displays the position information display button 23 and the contact button 24 on the input surface 15. When the operator taps the contact button 24 and selects the contact button 24, the operator can talk to the administrator. A dedicated wireless communication line, a public line, or the like can be used for a call with the administrator.

When the operator selects the position information display button 23 by tapping the position information display button 23, the processing device 11 (FIG. 1) is transmitted from the management server 70 (FIG. 7A) to the nearby work machine and the operator. Get the current location information. Further, the current position detected by the current position detecting device 20 and the position specified by the position information acquired from the management server 70 are displayed as an image on the input surface 15.

FIG. 8 shows a plan view of the excavator operating device 10 on which the current position information is displayed. The processing device 11 (FIG. 1) displays a map on the input surface 15, and at the positions of the excavator (this machine), another work machine, and the worker that he / she is operating, the icon 25 for this machine, respectively. Another work machine icon 26 and a worker icon 27 are displayed.

In this embodiment, the operator can pull the excavator operating device 10 toward his / her hand and read the information (FIGS. 7B and 8) displayed on the input surface 15. Therefore, the information can be easily read.

Although the present invention has been described above with reference to Examples, the present invention is not limited thereto. For example, it will be obvious to those skilled in the art that various changes, improvements, combinations, etc. are possible.

10 Excavator operation device 11 Processing device 12 Input device 13 Communication device 14 Storage device 15 Input surface 16 Touch input detection unit 17 Touch position detection unit 18 Command generation unit 19 Transmission / reception unit 20 Current position detection device 21 Information display area 22 Operation area 23 Position Information display button 24 Contact button 25 Icon for this machine 26 Icon for work machine 27 Icon for worker 30 Operator 31 Cross symbol (cross symbol)
31A First cross symbol 31B Second cross symbol 50 Excavator 51 Lower traveling body 52 Upper swivel body 53 Boom 54 Arm 55 Attachment 56 Swing motor 57 Boom cylinder 58 Arm cylinder 59 Attachment cylinder 60 Control device 61 Communication device 62 Operating lever 70 Management server

Claims (8)

A communication device that communicates with a shovel having a first actuator and a second actuator,
When touch input is performed on the input surface, an input device that detects the touch position of the touch input and
Based on the movement amount of the touch position obtained by using the detection result of the input device, a command for driving the first actuator and a command for driving the second actuator are generated, and the generated command is generated. a processing unit to be transmitted to the excavator via the communication device,
Excavator operating device with
The processing device generates a command for stopping the drive of the first actuator and a command for stopping the drive of the second actuator based on the touch input to the neutral position, and the generated command is generated. An excavator operating device that transmits to the excavator via a communication device. The excavator operating device according to claim 1, wherein when the touch position moves, a command for driving the first actuator and a command for driving the second actuator are simultaneously generated. The processing device further defines the position where the touch input of the touch position is generated as the neutral position.
The excavator operating device according to claim 1 or 2, wherein a command for driving the first actuator and the second actuator is generated based on the movement of the touch position from the neutral position. Based on the movement of the touch position from the neutral position to the first direction, a command for the first actuator is generated to move the touch position in a second direction orthogonal to the first direction. The excavator operating device according to claim 3, wherein a command for the second actuator is generated based on the above. The excavator operating device according to any one of claims 1 to 4, wherein the command for driving the first actuator and the command for driving the second actuator change based on the amount of movement of the touch position. .. When touch input is performed on the input surface where touch input is performed, the input device detects the touch position of the touch input and detects the touch position.
The processing device generates a command for driving the first actuator of the excavator and a command for driving the second actuator based on the movement amount of the touch position obtained by using the detection result of the input device.
It is a shovel operation method that sends the generated command to the excavator to be operated.
The processing device generates a command to stop driving the first actuator and a command to stop driving the second actuator based on a touch input to the neutral position, and the generated command is generated. Excavator operation method to send to the excavator. With the lower running body,
An upper swivel body mounted on the lower traveling body so as to be swivel,
With the boom, arm, and attachment connected to the upper swing body,
A swivel motor that swivels the upper swivel body and
A boom cylinder that drives the boom up and down,
An arm cylinder that opens and closes the arm,
The attachment cylinder that drives the attachment,
The excavator operating device according to any one of claims 1 to 5 and a communication device that communicates with the excavator operating device.
The swing motor, the boom cylinder, the arm cylinder, and one of the attachment cylinder has a first actuator, Ri Oh in one of the other said second actuator,
An excavator that stops driving the first actuator and the second actuator based on a touch input to the neutral position. A program for excavator operation executed by an input surface on which touch input is performed and a processing device mounted on the excavator operation device including a communication device.
When touch input is performed on the input surface, the touch position in the input surface is detected.
Based on the movement amount of the touch position obtained by using the detected touch position, a command for driving the first actuator of the excavator and a command for driving the second actuator are generated.
The generated command is transmitted to the excavator through the communication device, and the generated command is transmitted to the excavator.
Based on the touch input to the neutral position, a command to stop the drive of the first actuator and a command to stop the drive of the second actuator are generated, and the generated command is transmitted to the excavator through the communication device. Excavator operation program to send to.

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