JP7443955B2 - Work machines, work support systems - Google Patents

Description

The present invention relates to a working machine equipped with a control lever operated by a worker, and a work support system that supports work performed by the working machine.

2. Description of the Related Art Conventionally, working machines have been known in which a control lever provided in a cab has various functions. For example, the excavator disclosed in Patent Document 1 below is equipped with a control device that limits the movement of the actuator depending on conditions in order to prevent accidents due to erroneous operation.

A controller (control device) uses image recognition technology to determine whether an image captured by an imaging device shows an operator operating an operating device. When the controller determines that the operating device is not being operated by the operator, the controller maintains the restricted state of the operating device (paragraphs 0047 and 0056, FIG. 5).

International Publication No. 2019/039522

Although the function of such a control lever is useful for improving the safety of a working machine, there is a problem in that the number of wirings for the control lever decreases the degree of freedom in the layout inside the cab, and the space becomes narrow.

In addition, there are easy-to-operate lever shapes and operation patterns for work machines depending on the operator and work environment, but the increased amount of wiring makes it difficult to replace the control levers and change the operation patterns. .

The present invention has been made in view of the above-mentioned points, and an object of the present invention is to provide a working machine and a work support system in which the operation lever can be easily replaced and the layout inside the cab can be improved.

A first aspect of the working machine of the first invention includes: an operating lever for a worker to operate the working machine; a convex marker provided on the front side of the tip of the operating lever; The present invention is characterized in that it includes a recognition device that recognizes distance, and a control device that drives the working machine based on recognition information transmitted from the recognition device.

In the present invention, when a worker operates a control lever of a working machine, a recognition device recognizes the distance to the marker provided at a predetermined portion of the control lever. The control device drives the work machine based on the recognition information transmitted from the recognition device at this time.

By predetermining the operation pattern of the work machine according to the recognition information, the operating lever does not require wiring to connect to the control device, which frees up space in the operator's cab and improves layout. can. Furthermore, since there is no wiring, the operating lever can be easily replaced, and the operator can use the operating lever of his/her preference.

A second aspect of the working machine of the first invention includes an operating lever for a worker to operate the working machine, a marker provided at a predetermined portion of the operating lever, and an indicator of the presence or absence of the marker or the distance to the marker. The present invention includes a recognition device that performs recognition, and a control device that drives the working machine based on recognition information transmitted from the recognition device , and the recognition device is a distance measuring sensor .

According to this configuration, the distance sensor measures the distance between the control lever and the marker, and transmits recognition information to the control device. This allows the worker to operate the working machine using the operating lever without the need for wiring.

Moreover, in the working machine of the first aspect, it is preferable that the recognition device is an image sensor, and that at least one image sensor is provided at a position where the marker can be imaged.

According to this configuration, at least one imaging sensor images the marker on the operating lever and transmits recognition information to the control device. This also allows the worker to operate the working machine using the operating lever without the need for wiring.

A third aspect of the working machine of the first invention includes an operating lever for a worker to operate the working machine, a marker provided at a predetermined part of the operating lever, and an indicator of the presence or absence of the marker or the distance to the marker. A safety device comprising: a recognition device for recognition; and a control device for driving the working machine based on recognition information transmitted from the recognition device, and allowing the control device to control the working machine. The safety device determines the presence or absence of a worker's finger in a specific range of the operating lever based on the recognition information, and outputs a predetermined permission signal when the worker's finger is recognized; The present invention is characterized in that the permission signal is not output when the finger of the worker is not recognized.

According to this configuration, even if a physical switch is not provided on the operation lever, if the safety device recognizes that the worker's finger is in a specific range, it will issue a predetermined permission signal corresponding to the operation of the switch. It can be output to a control device. Since the operating function can be assigned to any position of the operating lever, the degree of freedom in the shape of the operating lever can be increased.

Further, in the working machine of the first aspect, the operating lever has a determination marker for determining whether or not the safety device has a finger of the worker at a specific position, and the safety device has a Preferably, the permission signal is output when the determination marker is hidden by the finger, and the permission signal is not output when the determination marker is not hidden by the finger.

The safety device determines whether or not the determination marker is hidden by the worker's finger, and outputs a predetermined permission signal when the determination marker is hidden. This makes it possible to improve the accuracy of determining whether or not an operation has been performed.

Moreover, in the working machine of the first aspect, it is preferable that the operating lever includes a resistance force generating mechanism that generates a resistance force when operated.

Since the resistance force generation mechanism allows the operator to feel a resistance force when operating the operating lever, it becomes easy to hold the operating lever in a predetermined position.

Moreover, in the working machine of the first aspect, it is preferable that the operating lever includes a neutral position return mechanism that returns to the neutral position when the operating lever is not operated.

The operating lever is designed to return to the neutral position when it is not operated by a neutral position return mechanism, which prevents the operating machine from operating due to the operating lever being determined to have been operated unintentionally. can do.

Further, in the working machine of the first invention, when the operating lever has a biaxial structure that moves centering around a base and a connecting portion between both shafts, the operating lever may be attached to a predetermined portion of the shaft held by the operator and the connecting portion, respectively. Preferably, it has a marker.

In the case of a two-shaft operating lever, a marker is provided at a predetermined portion (for example, the tip) of the shaft that is held by an operator and whose position moves during operation, and at a connecting portion between both shafts. Thereby, the working machine can be operated by linking the distance relationship between each marker and the recognition device to the operation of the working machine.

A second invention provides a remote control device that supports work by a plurality of work machines to be operated so that the plurality of work machines to be operated can be selectively remotely controlled in accordance with an operation by a worker, and the remote control device and a server communicably connected to the remote control device, the remote control device being provided at a predetermined portion of the control lever and a control lever for the worker to operate the work machine. a recognition unit that recognizes the presence or absence of the marker or a distance to the marker; a control unit that extracts marker information regarding the marker based on recognition information recognized by the recognition unit; a communication unit that communicates with a machine, the communication unit of the remote control device transmits the marker information to the server, and the server transmits at least the marker information and a predetermined operating axis of the control lever. a storage unit that stores the relationship between the operation amount and the command value and specific function information set to the operation lever; a communication unit that transmits the function information corresponding to the marker information to the remote control device; The control unit of the remote control device issues an operation command corresponding to the operation amount or operation state extracted from the recognition information recognized by the recognition unit, based on the function information transmitted from the server. It is characterized by being transmitted to a working machine.

A work support system according to a second aspect of the invention includes a remote control device that supports work performed by a work machine to be operated, and a server communicably connected to the remote control device. A control lever of the remote control device is provided with a marker at a predetermined portion, and a recognition unit recognizes the presence or absence of the marker or the distance to the marker. Further, the control unit of the remote control device extracts marker information that stores the characteristics of the operating lever in association with the color, shape, etc. of the marker.

When the marker information is transmitted from the communication unit of the remote control device to the server, the communication unit of the server returns function information of the operating lever corresponding to the marker information to the remote control device. Then, the control unit of the remote control device controls the working machine by transmitting an operation command according to the operating amount or operating state extracted from the recognition information based on the functional information to the working machine.

According to the second invention, changing the operating lever does not require calibration, so changing the operating lever becomes easy. Further, since the operating lever can be changed depending on the characteristics of the work machine to be operated, efficiency of the operation can be improved.

FIG. 1 is a diagram illustrating a working machine according to a first embodiment of the present invention. FIG. 3 is a diagram illustrating the configuration of an operating mechanism of a working machine. (a) Enlarged view (marker) of the left operating lever. (b) Enlarged view of the left operating lever. Enlarged view of the travel lever. FIG. 3 is a diagram illustrating an actual hydraulic mechanism of a working machine. FIG. 3 is a diagram illustrating a left operation lever and an image sensor. FIG. 3 is a diagram illustrating a two-axis operating lever and a distance measurement sensor. FIG. 7 is a diagram illustrating a work support system according to a second embodiment of the present invention. A control flowchart executed by a remote control device. List of relationships between marker information and lever characteristics. An enlarged view of the control lever of the remote control device.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a working machine and a work support server of the present invention will be described with reference to the drawings.

[First embodiment]
First, with reference to FIG. 1, a working machine 40 according to a first embodiment of the present invention will be described.

The work machine 40 is, for example, a crawler excavator, and includes a crawler-type lower traveling body 427 and an upper revolving body 435 rotatably mounted on the lower traveling body 427 via a turning mechanism 430. Further, a cab (driver's cab) 425 is provided at the front left side of the upper revolving body 435, and an actuation mechanism 440 is provided at the front central portion of the upper revolving body 435.

This work machine 40 mainly includes a real machine control device 400, a real machine input interface 410, an operating mechanism (work attachment) 440, and a safety device 450.

The actual machine control device 400 (the "control device" of the present invention) is composed of an arithmetic processing device (single-core processor or multi-core processor, or processor cores constituting this), and receives necessary data and software from a storage device such as a memory. Read and perform arithmetic processing on the data according to the software.

The real machine input interface 410 includes a real machine operating mechanism 411 and a recognition device 414. The actual machine operation mechanism 411 is composed of a plurality of operation levers arranged around the seat inside the cab 425. The actual machine operation mechanism 411 specifically includes a travel operation device, a rotation operation device, a boom operation device, an arm operation device, and a bucket operation device, and each operation device has a rotation operation device. It has an operating lever that is operated.

The operating lever (traveling lever) of the traveling operating device is operated to operate the lower traveling body 427 of the work machine 40. The travel lever may also serve as a travel pedal. For example, a travel pedal fixed to the base or lower end of the travel lever may be provided.

The operating lever (swing lever) of the swing operating device is used to operate a hydraulic swing motor that constitutes the swing mechanism 430 of the work machine 40. The operating lever (boom lever) of the boom operating device is used to operate the boom cylinder 442 of the work machine 40.

Further, the operating lever (arm lever) of the arm operating device is used to operate the arm cylinder 444 of the working machine 40, and the operating lever (bucket lever) of the bucket operating device is used to operate the bucket cylinder 446 of the working machine 40. Used to operate.

The recognition device 414 is installed in the cab 425 and is a sensor that can recognize the presence or absence of a marker provided at a predetermined portion of the operating lever or the distance to the marker. The recognition device 414 is, for example, a time-of-flight (TOF) sensor, but may be a proximity sensor or an image sensor such as a stereo camera or a visible light camera as long as it can measure distance without contact. Note that the recognition device 414 is also used to detect whether an operator (worker) is present in the cab 425.

The operating mechanism (work attachment) 440 includes a boom 441 attached to the upper revolving body 435, an arm 443 rotatably connected to the tip of the boom 441, and a boom 443 rotatably connected to the tip of the arm 443. bucket 445. The actuation mechanism 440 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446, each of which is an extendable hydraulic cylinder.

The boom cylinder 442 is interposed between the boom 441 and the upper revolving body 435 so as to extend and contract when supplied with hydraulic oil and rotate the boom 441 in the up-and-down direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so that the arm cylinder 444 expands and contracts when supplied with hydraulic oil and rotates the arm 443 around a horizontal axis with respect to the boom 441 .

Further, the bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to expand and contract when supplied with hydraulic oil and rotate the bucket 445 about the horizontal axis relative to the arm 443.

The safety device 450 is a device that allows the hydraulic mechanisms such as the boom cylinder 442, the arm cylinder 444, and the bucket cylinder 446 to be driven when it is confirmed that the operator is holding the operating lever. The safety device 450 determines whether the operator's finger is present in a specific range of the operating lever based on the recognition information transmitted from the recognition device 414, and outputs a permission signal to the actual machine control device 400 if the operator's finger is present.

For example, when an image sensor is used as the recognition device 414, the safety device 450 analyzes image data as recognition information to determine the presence or absence of an operator's finger, that is, whether or not the operator is operating. Further, the safety device 450 does not output the permission signal when the operator's finger is not present. Since the work machine 40 starts to be driven after the safety device 450 transmits the permission signal to the actual machine control device 400, it is possible to reduce the possibility that the work machine 40 will cause an unintended operation.

Next, with reference to FIGS. 2A to 2C, each operating lever that constitutes the actual machine operating mechanism 411, an example of a seat on which an operator is seated, etc. will be described.

The seat St shown in FIG. 2A is in the form of a high-back chair with an armrest, but it may be in any form on which the operator OP can sit, such as a low-back chair without a headrest, or a chair without a backrest. It may be a form.

A pair of left and right travel levers 4110 corresponding to the left and right crawlers are arranged in front of the seat St. A right-side operating lever (not shown) provided in front of the right-side frame of the seat St functions as a boom lever when operated in the front-back direction, and as a bucket lever when operated in the left-right direction. It's okay.

Similarly, the left operating lever 4112 provided at the front of the left frame of the seat St functions as an arm lever when operated in the front-rear direction, and as a turning lever when operated in the left-right direction. It's okay. Further, the lever pattern may be arbitrarily changed by the operation of the operator OP.

The recognition device 414 is attached to the upper part of the cab 425 at a position where the operating levers (traveling lever 4110, left operating lever 4112, etc.) can be recognized. In the following, a case where the operator OP operates the left operating lever 4112 will be described as an example.

The left operating lever 4112 has a marker M1 at its tip. The recognition device 414 can recognize the presence or absence of the marker M1 or the distance between the recognition device 414 and the marker M1.

When the operator OP is operating the left operating lever 4112, the recognition device 414 captures the movement of the marker M1 (the tilted state of the left operating lever 4112) and measures the distance in the three-dimensional space between the recognition device 414 and the marker M1. Then, the information (recognition information) is transmitted to the actual machine control device 400. Thereby, the movement of the left operating lever 4112 is reflected in the operation of the working machine 40.

The recognition information transmitted from the recognition device 414 is transmitted from the actual machine control device 400 to the actual machine hydraulic mechanism 448 as an operation command. Further, when the safety device 450 confirms that the operator OP is operating the left operating lever 4112, the safety device 450 transmits a permission signal to the actual machine control device 400.

Regarding the operation pattern of the left operation lever 4112, an arbitrary operation pattern can be set by performing calibration. Furthermore, when changing the operating lever itself, the shape and operation pattern of the lever can be changed by attaching a marker to the new operating lever and performing calibration.

By using such an operating lever that does not require wiring, the operating lever can be easily replaced. As a result, it is possible to adopt the most suitable control lever according to the work environment and the operator's operating conditions, leading to improvements in work efficiency and safety. Furthermore, since it is possible to select an appropriate operating lever according to the task and quickly replace it, there is no need to own multiple working machines with different lever shapes and operating patterns.

FIG. 2B shows an enlarged view of the left operating lever 4112. As shown in FIG. 2B(a), a marker M1 and a determination marker N are provided at the tip (upper surface) of the left operating lever 4112. Since the marker M1 has a convex shape and is located at a position where the operator OP's finger does not touch it, the recognition device 414 can always recognize it. On the other hand, the determination marker N is a flat marker for determining whether the operator OP is gripping the operating lever.

As shown in FIG. 2B(b), the determination marker N is placed in a position where it is hidden (not detected by the recognition device 414) when the operator OP places his thumb during operation, that is, in a region on the top surface of the left operating lever 4112, The presence or absence of detection is a substitute for turning on or off a physical switch. If the determination marker N is hidden, the recognition device 414 determines that the operator OP's finger is present and outputs a permission signal to the safety device 450.

On the other hand, if the determination marker N is not hidden (detected by the recognition device 414), the recognition device 414 determines that the operator OP's finger is not present and does not output the permission signal. The determination marker N is not limited to a circular shape, but may have any color or shape as long as it has a size that can be detected by the recognition device 414.

FIG. 2C shows an enlarged view of the travel lever 4110. Regarding the travel lever 4110, a marker M2 is provided at the tip (top surface) of the travel lever 4110 at a position where the finger of the operator OP is not placed. The marker M2 is not limited to a circular shape, but may have any color, shape, and whether or not it is convex as long as it has a size that can be detected by the recognition device 414.

The traveling lever 4110 and the left operating lever 4112 each include a resistance force generation mechanism and a neutral position return mechanism. The resistance force generation mechanism is a mechanism in which the operator OP feels a reaction force (resistance force) by tilting the operating lever, and can be expected to have the effect of making it easier to hold the operating lever in a predetermined position.

In addition, the neutral position return mechanism is a mechanism that returns the operating lever to the neutral position (position with an operating angle of 0°) when the operator OP is not operating the operating lever. This can be expected to have the effect of preventing the work machine 40 from being activated.

Next, with reference to FIG. 3, the equipment and hydraulic circuit that constitute the actual hydraulic mechanism 448 of the work machine 40 will be described.

The actual machine hydraulic mechanism 448 of the work machine 40 includes a hydraulic cylinder 4481, a hydraulic motor 4482, a control valve 4483, a variable displacement pump 4484, an engine 4485, a pilot gear pump 4486, an electromagnetic proportional valve 4487, and an actual machine control device 400. It is made up of.

A hydraulic cylinder 4481, which is one of the hydraulic actuators, includes a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446 for operating the work machine 40. Further, the hydraulic motor 4482, which is also one of the hydraulic actuators, includes a left and right travel motor for traveling and a swing motor for operating the upper rotating body 435.

The control valve 4483 includes a control valve 4483a that controls the hydraulic cylinder 4481 and a control valve 4483b that controls the hydraulic motor 4482. Control valve 4483a and control valve 4483b are arranged in oil passages that connect hydraulic actuators (hydraulic cylinder 4481, hydraulic motor 4482) and variable displacement pump 4484, respectively.

The control valve 4483 controls the supply amount of pressure oil discharged by the variable displacement pump 4484 to the hydraulic actuator and the operating direction of the hydraulic actuator. Further, the control valve 4483 changes the opening degree of the valve and the connected oil passage depending on the pressure output from the electromagnetic proportional valve 4487.

A variable displacement pump 4484 is driven by an engine 4485 and supplies pressure oil for operating the hydraulic actuator. Further, the variable displacement pump 4484 includes a mechanism for varying the displacement of the pump, and the pump displacement is varied according to the pressure output from the electromagnetic proportional valve 4487.

The pilot gear pump 4486 is driven by the engine 4485 and supplies pressure oil that is the source of the pressure output by the electromagnetic proportional valve 4487. The electromagnetic proportional valve 4487 reduces the pressure supplied from the pilot gear pump 4486 according to the current input from the actual machine control device 400 and outputs the reduced pressure.

The actual machine control device 400 controls the variable displacement pump 4484 and the control valve 4483 by outputting current to the electromagnetic proportional valve 4487 based on input signals from the recognition device 414 and the safety device 450, and controls the operation of the hydraulic actuator. do.

Next, a specific example of the marker provided on the operating lever will be described with reference to FIGS. 4 and 5.

FIG. 4 shows an example of the left operating lever 4112 (uniaxial type) and the image sensors 415A and 415B.

The left operating lever 4112 is provided with a marker M1 at its tip. The marker M1 has a planar shape or a three-dimensional shape with a size and color that are easily recognized by the image sensors 415A and 415B. The marker M1 may be placed in any position as long as it can be recognized by the image sensors 415A and 415B during and before and after the operation by the operator OP.

As shown in the figure, in order to prevent the marker M1 from being hidden when the left operation lever 4112 is operated, it is preferable to install a plurality of image sensors 415A and 415B to detect the marker M1. Furthermore, by using the two image sensors 415A and 415B, the three-dimensional distance to the marker M1 can be accurately measured.

According to the recognition information (image data) obtained from the image sensors 415A and 415B, it can be determined whether the operator OP is holding the left operating lever 4112 or not. When the safety device 450 of the work machine 40 determines that the operator OP is holding the left operating lever 4112, it permits the actual machine hydraulic mechanism 448 (see FIG. 2) to be driven. This can reduce the possibility that work machine 40 will cause unintended operation.

Further, FIG. 5 shows an example of a two-axis operating lever 4115 having two axes and a distance measuring sensor 416.

The two-shaft operation lever 4115 includes a first shaft 4115a near the base, a second shaft 4115b having a grip, and a connecting portion 4115c that connects the first shaft 4115a and the second shaft 4115b in a displaceable manner. ing.

Here, the connecting portion 4115c has a marker M3, and the second shaft 4115b has a marker M4. The distance sensor 416 measures the distances to the markers M3 and M4 of the biaxial operating lever 4115, and captures the movement of the biaxial operating lever 4115.

In this case as well, a plurality of distance measuring sensors 416 may be prepared so that one measures the distance to the marker M3 and the other measures the distance to the marker M4. Note that when using an image sensor, it is preferable that the marker M3 and the marker M4 be clearly distinguished by having different colors, shapes, or sizes.

If the working machine 40 can be operated based on the recognition information (distance data) from the distance sensor 416, there will be no need for electrical wiring to connect various operating levers in the cab 425 to other devices. Furthermore, there is no need to connect various operating levers to hydraulic piping or hydraulic hoses. This makes it possible to secure space within the cab 425, resulting in the effect of increasing the degree of freedom in layout.

An electrostatic sensor may be attached to the operating lever to detect whether or not the operator OP is gripping the operating lever. For example, by using the image sensors 415A and 415B shown in FIG. 4 in combination, the safety device 450 can make a determination more reliably. Note that since the position at which the operating lever is held differs depending on the operator OP, it is preferable to attach a plurality of electrostatic sensors.

[Second embodiment]
Next, a work support system according to a second embodiment of the present invention will be described with reference to FIGS. 6 to 9.

FIG. 6 shows the overall configuration of the work support system 100. The work support system 100 includes a work support server 10, a remote control device 20, and work machines 40A and 40B.

The work support system 100 is a system configured such that the operator OP can selectively remotely control the work machines 40A and 40B assigned as operation targets by operating the remote control device 20. Since the remote control device 20 can operate the work machines 40A and 40B located in remote locations, the remote control device 20 is the master and the work machines 40A and 40B are slaves.

The work support server 10, the remote control device 20, and the work machines 40A and 40B are configured to be able to communicate with each other via a network NW including a wireless communication network such as 5G. Note that the work support server 10 switches the captured image output to the image output device (not shown) of the remote control device 20 in accordance with switching, movement, work content, etc. of the work machines 40A and 40B.

The work support server 10 (the "server" of the present invention) is equipped with an arithmetic processing unit (single-core processor or multi-core processor, or processor cores constituting this), reads necessary data and software from a storage device such as memory, Arithmetic processing according to the software is performed on the data. Further, the wireless communication device of the work support server 10 instructs the remote control device 20 to display a captured image and sends and receives various data via the network NW.

Next, the remote control device 20 includes a remote control device (operating side control device) 200, a recognition device 214, a wireless communication device 223, and a safety device 250.

The remote control device 200 (the “control unit” of the present invention) includes a calculation unit 201 and a storage unit 202. The arithmetic unit 201 is configured by a single-core processor, a multi-core processor, or a processor core constituting this, reads necessary data and software from the storage unit 202, and executes arithmetic processing on the data according to the software. .

The calculation unit 201 extracts marker information regarding the marker M included in the operating lever 280 based on recognition information (image data, etc.) by the recognition device 214 (see FIG. 9). The storage unit 202 also stores various marker settings (marker settings). Specifically, this is information regarding the shape and color of the marker, and whether or not it is convex.

The recognition device 214 (the “recognition unit” of the present invention) is an image sensor or a distance measurement sensor, such as a digital camera or a stereo camera, installed in the remote control device 20. Furthermore, the safety device 210 is a device that outputs a permission signal when the operator OP is holding the operating lever 280, and permits driving of the work machines 40A and 40B (actual machine hydraulic mechanism 448).

For example, the safety device 210 analyzes recognition information from the recognition device 214 and determines whether the operator OP is operating. The presence of safety device 210 can reduce the possibility that work machines 40A and 40B will cause unintended operation. The wireless communication device 223 issues operational commands to the work machines 40A and 40B and sends and receives data to and from the work support server 10 via the network NW.

Next, the work machine 40A includes a real machine control device (actual machine side control device) 400, a wireless communication device 420, a real machine hydraulic mechanism 448, and a bucket 445. Further, the working machine 40B includes a real machine control device (actual machine side control device) 400, a wireless communication device 420, a real machine hydraulic mechanism 448, and a lifting magnet 447. Work machines 40A and 40B are both crawler excavators, but each performs different tasks.

The wireless communication device 420 of the work machine 40A receives the operation command from the remote control device 20 and transmits the operation command to the actual machine control device 400. As a result, the bucket 445 comes to operate via the actual hydraulic mechanism 448. Similarly, the wireless communication device 420 of the work machine 40B receives an operation command from the remote control device 20 and transmits the operation command to the actual machine control device 400. As a result, the lifting magnet 447 comes to operate via the actual hydraulic mechanism 448.

The remote control device 20 can be operated by switching between the working machines 40A and 40B one by one, and the operator OP operates the operating lever 280 having the marker M (see FIG. 9). The recognition device 214 generates recognition information that captures the movement of the marker M when the operator OP operates the operating lever 280. Then, the remote control device 200 generates an operation command from the recognition information and transmits it to the work machine 40A or the work machine 40B. Thereby, the working machines 40A and 40B can be operated from the remote control device 20.

Next, a control flowchart executed by the remote control device 20 of the work support system 100 will be described with reference to FIG. This time, an image sensor (visible light camera) is used as the recognition device 214. Note that the explanation will be supplemented with reference to FIGS. 8 and 9 as appropriate.

First, the remote control device 200 of the remote control device 20 reads marker settings from the storage unit 202 (STEP 01). Thereby, preparations are made for recognition information (image data, etc.) that will be acquired later.

Next, the remote control device 200 acquires image data from the recognition device 214 (STEP 02). The image data is an image of the marker M of the operating lever 280 (see FIG. 9).

Next, the remote control device 200 (calculation unit 201) extracts marker information (STEP03). Specifically, the color and shape of the marker M are extracted from the image data acquired in the previous step and used as marker information.

After that, the remote control device 200 determines whether the extracted marker information matches the marker settings (STEP 04). If the marker information extracted in the previous step matches the marker settings, the process returns to STEP 02, and the remote control device 200 causes the recognition device 214 to track the movement of the marker M. On the other hand, if the marker information does not match the marker settings, the process advances to STEP05.

If the marker information does not match the marker settings (“NO” in STEP 04), the remote control device 200 transmits the marker information to the server (work support server 10) (STEP 05).

After that, the remote control device 200 determines whether lever characteristic information corresponding to the marker information has been received from the work support server 10 (STEP06). The work support server 10 stores a list of relationships between marker information and lever characteristic information, as shown in FIG.

For example, if the color and shape of the marker information are "red" and "circular", respectively (the fourth row in FIG. 8), the operating range and amount of operation in the first axis direction of the lever characteristic information, The operating range and operation amount are the angles shown in the table. For example, in the first axis direction, an operating range of "-30°" corresponds to a manipulated variable of "-100", and an operating range of "30°" corresponds to a manipulated variable of "100". Further, in this case, both switches A and B are "enabled".

As shown in FIG. 9, the operating lever 280 has a circular marker M, and operates in two directions, a first axis P and a second axis Q, in different ranges from a neutral position O (operating angle 0°). . Note that switches A and B on the top surface of the operating lever 280 are both markers for determination.

In this manner, various combinations of marker information and lever characteristic information are registered in the list in FIG. 8 in advance. In addition to the color and shape of the marker M itself, the marker information can also include the color, shape, unevenness, etc. of the pattern or figure on the upper surface to increase the number of patterns.

The work support server 10 returns lever characteristic information corresponding to the marker information transmitted from the remote control device 200 in the previous step to the remote control device 200. Then, if the remote control device 200 has received the lever characteristic information, the process advances to STEP 07, and if it has not received it yet, it waits until it receives it.

Finally, when the remote control device 200 receives the lever characteristic information (“YES” in STEP 06), the marker information and lever characteristic information of the marker setting are updated and stored in the storage unit 202 (STEP 07). Thereby, the remote control device 200 causes the recognition device 214 to track the movement of the marker M based on the updated information.

In this way, the work support server 10 provides lever characteristic information in response to a request from the remote control device 20. Therefore, the remote control device 20 allows the operator OP to operate the work machines 40A and 40B at a remote location safely and reliably by operating the control lever 280. Further, even if the operating lever is changed, calibration is not required, so changing the operating lever becomes easy.

Although the embodiments for implementing the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the gist of the present invention.

In the work support system 100 of the second embodiment, the list of marker information and lever characteristic information is stored in the work support server 10, but may be stored in the storage unit 202 of the remote control device 200. In this case, it is possible to easily change to a new control lever without inquiring the work support server 10 from the remote control device 20.

DESCRIPTION OF SYMBOLS 10... Work support server, 20... Remote control device, 40, 40A, 40B... Work machine, 100... Work support system, 200... Remote control device, 214... Recognition device, 223... Wireless communication device, 250... Safety device, 280 ...Operation lever, 400... Actual machine control device, 410... Actual machine input interface, 414... Recognition device, 415A, 415B... Image sensor, 416... Distance sensor, 420... Wireless communication device, 425... Cab, 427... Undercarriage, 435... Upper revolving body, 440... Operating mechanism, 445... Bucket, 447... Lifting magnet, 448... Actual machine hydraulic mechanism, 450... Safety device, 4110... Traveling lever, 4112... Left side operating lever, 4115... Biaxial type operating lever.

Claims (8)

an operating lever for a worker to operate the working machine;
a convex marker provided on the front side of the tip of the operating lever;
a recognition device that recognizes the distance to the marker ;
a control device that drives the work machine based on recognition information transmitted from the recognition device;
A work machine characterized by being equipped with. an operating lever for a worker to operate the working machine;
a marker provided at a predetermined portion of the operating lever;
a recognition device that recognizes the presence or absence of the marker or the distance to the marker;
a control device that drives the work machine based on recognition information transmitted from the recognition device;
It is equipped with
A working machine, wherein the recognition device is a distance measuring sensor. an operating lever for a worker to operate the working machine;
a marker provided at a predetermined portion of the operating lever;
a recognition device that recognizes the presence or absence of the marker or the distance to the marker;
A control device that drives the working machine based on recognition information transmitted from the recognition device ,
comprising a safety device that allows the control device to control the work machine,
The safety device determines the presence or absence of a worker's finger in a specific range of the operating lever based on the recognition information, and outputs a predetermined permission signal when the worker's finger is recognized. , a working machine characterized in that the permission signal is not output when the worker's finger is not recognized. The working machine according to claim 3 ,
The operating lever has a determination marker for determining whether the safety device has a worker's finger at a specific position,
The safety device is characterized in that it outputs the permission signal when the determination marker is hidden by the finger, and does not output the permission signal when the determination marker is not hidden by the finger. working machine. The working machine according to any one of claims 1 to 4 ,
A working machine characterized in that the operating lever includes a resistance force generating mechanism that generates a resistance force when the operating lever is operated. The working machine according to any one of claims 1 to 5 ,
A working machine characterized in that the operating lever is provided with a neutral position return mechanism that returns to a neutral position when the operating lever is not operated. The working machine according to any one of claims 1 to 6 ,
When the operating lever has a biaxial structure that moves around a base and a connecting portion between both shafts, the marker is provided at a predetermined portion of the shaft held by the operator and at the connecting portion, respectively. working machine. A remote control device that supports work by a plurality of work machines to be operated so that the plurality of work machines to be operated can be selectively remotely controlled in response to operations by a worker, and a remote control device communicably connected to the remote control device. A work support system consisting of a server,
The remote control device includes:
an operating lever for the worker to operate the working machine;
a marker provided at a predetermined portion of the operating lever;
a recognition unit that recognizes the presence or absence of the marker or the distance to the marker;
a control unit that extracts marker information regarding the marker based on recognition information recognized by the recognition unit;
a communication unit that communicates with the server and the work machine,
The communication unit of the remote control device transmits the marker information to the server,
The server is
a storage unit that stores at least the marker information, the relationship between the operation amount and command value for a predetermined operating axis of the operating lever, and specific function information set for the operating lever;
a communication unit that transmits the functional information corresponding to the marker information to the remote control device,
The control unit of the remote control device issues an operation command to the work machine according to the operation amount or operation state extracted from the recognition information recognized by the recognition unit, based on the function information transmitted from the server. A work support system characterized by sending.

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