WO2021241141A1 - 作業機械の遠隔操作システム - Google Patents
作業機械の遠隔操作システム Download PDFInfo
- Publication number
- WO2021241141A1 WO2021241141A1 PCT/JP2021/017252 JP2021017252W WO2021241141A1 WO 2021241141 A1 WO2021241141 A1 WO 2021241141A1 JP 2021017252 W JP2021017252 W JP 2021017252W WO 2021241141 A1 WO2021241141 A1 WO 2021241141A1
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- WIPO (PCT)
- Prior art keywords
- work machine
- alarm
- image
- work
- control unit
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/345—Buckets emptying side-ways
Definitions
- This disclosure relates to a remote control system for work machines.
- Patent Document 1 discloses a technique in which an image pickup device is arranged in a driver's cab of a swivel body and an image in front of the driver's cab is captured.
- the work machine carries out the work using the work machine.
- an impact may act on the work machine. It is difficult for a remote operator to recognize the impact on the work equipment. Therefore, the operator at a remote place may perform remote control in which an excessive impact acts on the working machine. Excessive impact on the work equipment may accelerate the deterioration of the work equipment.
- the purpose of this disclosure is to make the operator at a remote location aware that an impact acts on the working machine.
- the sensor data receiving unit that receives the detection data of the posture of the working machine possessed by the working machine operated by the operation signal from a remote place, and the working machine is at the end of the movable range based on the detected data.
- an alarm control unit that outputs an alarm control signal and an alarm that is provided at the remote location and outputs an alarm based on the alarm control signal from the alarm control unit are output.
- a remote control system for the work machine is provided, comprising an alarm device.
- FIG. 1 is a schematic diagram showing a remote control system for a work machine according to an embodiment.
- FIG. 2 is a perspective view showing a work machine according to an embodiment.
- FIG. 3 is a side view showing the work machine according to the embodiment.
- FIG. 4 is a diagram showing a remote control room according to an embodiment.
- FIG. 5 is a schematic view showing a hydraulic system of a work machine according to an embodiment.
- FIG. 6 is a functional block diagram showing a remote control system for a work machine according to an embodiment.
- FIG. 7 is a schematic diagram for explaining the movable range of the working machine element according to the embodiment.
- FIG. 8 is a diagram for explaining the processing of the first image processing unit according to the embodiment.
- FIG. 9 is a diagram for explaining the processing of the display control unit according to the embodiment.
- FIG. 10 is a diagram for explaining the processing of the alarm control unit according to the embodiment.
- FIG. 11 is a flowchart showing a remote control method of the work machine according to the embodiment.
- FIG. 12 is a block diagram showing a computer system according to an embodiment.
- FIG. 13 is a diagram for explaining the operation of the work machine according to the embodiment.
- FIG. 14 is a flowchart showing a remote control method of the work machine according to the embodiment.
- FIG. 1 is a schematic view showing a remote control system 100 of the work machine 1 according to the embodiment.
- the remote control system 100 remotely controls the work machine 1 operating at the work site. Examples of work sites are mines or quarries.
- the remote control system 100 includes a remote control device 40, a display device 50, and a control device 60.
- the remote control device 40 is arranged in the remote control room 200.
- the remote control device 40 is operated by an operator in the remote control room 200.
- the operator can operate the remote control device 40 while sitting on the control seat 45.
- the display device 50 is arranged in the remote control room 200.
- the display device 50 displays an image of the work site.
- the operator of the remote control room 200 cannot directly visually recognize the situation at the work site.
- the operator of the remote control room 200 can visually recognize the situation at the work site via the display device 50.
- the operator operates the remote control device 40 while viewing the image of the work site displayed on the display device 50.
- the work machine 1 is remotely controlled by the remote control device 40.
- the control device 60 is arranged in the remote control room 200.
- the control device 60 includes a computer system.
- the work machine 1 includes a control device 300.
- the control device 300 includes a computer system.
- the control device 60 and the control device 300 communicate with each other via the communication system 400.
- Examples of the communication system 400 include the Internet (internet), a local area network (LAN), a mobile phone communication network, and a satellite communication network.
- the communication system 400 may include a relay station that relays the data to be communicated.
- FIG. 2 is a perspective view showing the work machine 1 according to the embodiment.
- FIG. 3 is a side view showing the work machine 1 according to the embodiment.
- the work machine 1 is a hydraulic excavator which is a kind of loading machine.
- the work machine 1 operates at the work site.
- the work machine 1 operates, for example, at a loading site at a work site.
- the work machine 1 carries out excavation work for the work target. Examples of work targets are earth and sand or ore.
- a dump truck which is a type of transport vehicle, operates at the work site.
- the work machine 1 carries out a loading operation of loading a load onto a dump truck.
- An example of the cargo is an excavated material excavated by excavation work.
- the work machine 1 is a traveling body 2, a swivel body 3 supported by the traveling body 2, a working machine 4 attached to the swivel body 3, and a hydraulic pressure for driving the working machine 4.
- the cylinder 5 the position sensor 71 that detects the position of the work machine 1, the vehicle body posture sensor 72 that detects the posture of the swivel body 3, the work machine posture sensor 73 that detects the posture of the work machine 4, and the image pickup device 30. To prepare for.
- the traveling body 2 travels in a state of supporting the turning body 3.
- the swivel body 3 is a vehicle body of the work machine 1.
- the traveling body 2 is arranged below the swivel body 3.
- the traveling body 2 supports the turning body 3 so as to be able to turn.
- the traveling body 2 has a drive wheel 2A, a driven wheel 2B, and a track 2C supported by the drive wheel 2A and the driven wheel 2B.
- Each of the drive wheel 2A and the driven wheel 2B rotates about the rotation axis DX.
- a pair of drive wheels 2A, driven wheels 2B, and tracks 2C are provided.
- the track 2C rotates due to the rotation of the drive wheel 2A. By rotating the track 2C, the traveling body 2 travels.
- the swivel body 3 can swivel around the swivel shaft RX while being supported by the traveling body 2.
- the swivel shaft RX extends in the vertical direction.
- the swivel body 3 has a driver's cab 3A, a lower deck 3B, a step 3C, and an upper deck 3D.
- the driver's cab 3A is an internal space of the swivel body 3 on which an operator can board.
- the driver's cab 3A is arranged at the front and the upper part of the swivel body 3.
- the lower deck 3B is arranged at the rear and the lower part of the swivel body 3.
- the upper deck 3D is arranged at the front and the upper part of the swivel body 3.
- Step 3C connects the lower deck 3B and the upper deck 3D.
- the upper deck 3D is arranged so as to surround the driver's cab 3A. At least a portion of the upper deck 3D is located in front of the driver's cab 3A.
- a fence-shaped handrail 3E is arranged on each of the lower deck 3B, the step 3C, and the upper deck 3D.
- Each of the lower deck 3B, step 3C, and upper deck 3D includes a passage through which a worker can pass. Workers can board the driver's cab 3A through the lower deck 3B, step 3C, and upper deck 3D.
- the swivel body 3 has a ladder 3F.
- the ladder 3F is connected to the upper deck 3D.
- the work machine 4 is attached to the front part of the swivel body 3.
- the working machine 4 is arranged in front of the turning shaft RX.
- the working machine 4 can operate so as to extend forward.
- the working machine 4 includes a boom 4A connected to the swivel body 3, an arm 4B connected to the boom 4A, and a bucket 4C connected to the arm 4B.
- the base end portion of the boom 4A is connected to the front portion of the swivel body 3 via a pin.
- the base end portion of the arm 4B is connected to the tip end portion of the boom 4A via a pin.
- the base end portion of the bucket 4C is connected to the tip end portion of the arm 4B via a pin.
- the bucket 4C has a tip blade 4D.
- the work target is excavated by the bucket 4C.
- the boom 4A is rotatably connected to the front portion of the swivel body 3 about the boom rotation shaft AX.
- the arm 4B is rotatably connected to the boom 4A about the arm rotation axis BX.
- the bucket 4C is rotatably connected to the arm 4B about the bucket rotation axis CX.
- the boom rotation axis AX, the arm rotation axis BX, and the bucket rotation axis CX are parallel.
- Each of the boom rotation shaft AX, the arm rotation shaft BX, and the bucket rotation shaft CX extends in the vehicle width direction of the swivel body 3.
- the work machine 1 is a loading shovel.
- the loading excavator is a hydraulic excavator in which the bucket 4C is attached to the arm 4B so that the tip blade 4D of the bucket 4C faces forward.
- the hydraulic cylinder 5 includes a boom cylinder 5A for driving the boom 4A, an arm cylinder 5B for driving the arm 4B, and a bucket cylinder 5C for driving the bucket 4C.
- the base end portion of the boom cylinder 5A is connected to the swivel body 3.
- the tip of the boom cylinder 5A is connected to the boom 4A.
- the base end portion of the arm cylinder 5B is connected to the boom 4A.
- the tip of the arm cylinder 5B is connected to the arm 4B.
- the base end portion of the bucket cylinder 5C is connected to the boom 4A.
- the tip of the bucket cylinder 5C is connected to the bucket 4C.
- the position sensor 71 detects the position of the work machine 1.
- the position sensor 71 detects the absolute position of the work machine 1 by using the Global Navigation Satellite System (GNSS).
- GNSS Global Navigation Satellite System
- the position sensor 71 includes a GNSS receiver provided on the swivel body 3.
- the vehicle body posture sensor 72 detects the posture of the swivel body 3.
- the posture of the swivel body 3 includes an inclination angle (roll, pitch) of the swivel body 3 with respect to the horizontal plane.
- the vehicle body posture sensor 72 includes an inertial measurement unit (IMU: Inertial Measurement Unit) provided on the swivel body 3.
- IMU Inertial Measurement Unit
- the work machine posture sensor 73 detects the posture of the work machine 4.
- the posture of the working machine 4 includes the angle of the working machine 4.
- the work equipment posture sensor 73 detects the boom posture sensor 73A that detects the angle of the boom 4A with respect to the swivel body 3, the arm posture sensor 73B that detects the angle of the arm 4B with respect to the boom 4A, and the angle of the bucket 4C with respect to the arm 4B. Includes bucket attitude sensor 73C.
- the work machine attitude sensor 73 is a stroke sensor arranged on the hydraulic cylinder 5.
- the hydraulic cylinder 5 has a cylinder tube, a piston moving inside the cylinder tube, and a rod connected to the piston.
- the stroke sensor detects the stroke length of the hydraulic cylinder 5, which indicates the moving distance of the rod.
- the stroke length refers to the moving distance of the rod from the stroke end of the hydraulic cylinder 5.
- the stroke end is the position of the end of the movable range of the rod. That is, the stroke end means the position of the rod in the state where the hydraulic cylinder 5 is most contracted or the position of the rod in the state where the hydraulic cylinder 5 is in the most extended state.
- the boom posture sensor 73A is a stroke sensor arranged on the boom cylinder 5A.
- the boom posture sensor 73A detects the stroke length of the boom cylinder 5A.
- the arm posture sensor 73B is a stroke sensor arranged on the arm cylinder 5B.
- the arm posture sensor 73B detects the stroke length of the arm cylinder 5B.
- the bucket attitude sensor 73C is a stroke sensor arranged on the bucket cylinder 5C.
- the bucket attitude sensor 73C detects the stroke length of the bucket cylinder 5C.
- the image pickup device 30 takes an image of the work site and acquires an image of the work site.
- the image pickup device 30 is arranged on the swivel body 3.
- the image pickup device 30 is fixed to the swivel body 3.
- the image of the work target of the work machine 1 As the image of the work site acquired by the image pickup apparatus 30, the image of the work target of the work machine 1, the image of at least a part of the work machine 1, the image of the structure existing in the work site, and the work different from the work machine 1.
- An image of a machine and an image of a worker working at a work site are exemplified.
- the image of the work target of the work machine 1 includes the image of the excavation target of the work machine 4.
- the image pickup apparatus 30 has an optical system and an image sensor that receives light that has passed through the optical system.
- the image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor.
- the image pickup apparatus 30 images the image pickup range M.
- the imaging range M is set to include the work target of the work machine 1.
- the vertical direction is a direction parallel to the turning axis RX.
- the left-right direction is a direction parallel to the boom rotation axis AX.
- the front-rear direction is a direction orthogonal to both the boom rotation axis AX and the rotation axis RX.
- the direction in which the swivel body 3 exists is upward with respect to the ground contact surface of the traveling body 2, and the opposite direction upward is downward.
- One of the left-right directions is to the right and the opposite direction to the right is the left with respect to the swivel axis RX.
- the direction in which the working machine 4 is present is the front, and the opposite direction to the front is the rear.
- the image pickup device 30 is arranged in the driver's cab 3A.
- the optical axis OA of the optical system of the image pickup apparatus 30 extends in the front-rear direction.
- the image of the imaging range M captured by the imaging device 30 is appropriately referred to as an image P.
- FIG. 4 is a diagram showing a remote control room 200 according to an embodiment. As shown in FIG. 4, the remote control device 40 and the display device 50 are arranged in the remote control room 200.
- the remote control device 40 is operated by an operator seated on the control seat 45.
- the operator sits on the control seat 45 so as to face the display screen of the display device 50.
- the operator operates the remote control device 40 while looking at the display screen of the display device 50.
- the operation signal generated by operating the remote control device 40 is transmitted to the control device 300 of the work machine 1 via the control device 60 and the communication system 400.
- the control device 300 operates the work machine 1 based on the operation signal acquired via the communication system 400.
- the work machine 1 operates by an operation signal from a remote place of the work machine 1.
- the operation of the work machine 1 includes at least one of the operation of the traveling body 2, the operation of the swivel body 3, and the operation of the working machine 4.
- the movement of the traveling body 2 includes a forward movement and a reverse movement of the traveling body 2.
- the operation of the swivel body 3 includes a left swivel motion and a right swivel motion of the swivel body 3.
- the operation of the working machine 4 includes an operation of raising the boom 4A, an operation of lowering the boom 4A, an operation of dumping the arm 4B, an operation of excavating the arm 4B, an operation of excavating the bucket 4C, and an operation of dumping the bucket 4C.
- the remote control device 40 includes a left work lever 41 and a right work lever 42 operated for the operation of the swivel body 3 and the work machine 4, and a left travel pedal 43 and a right travel operation operated for the operation of the traveling body 2. Includes pedal 44.
- the left work lever 41 is arranged on the left side of the control seat 45.
- the right work lever 42 is arranged on the right side of the control seat 45.
- the arm 4B is dumped or excavated.
- the swivel body 3 makes a left turn operation or a right turn operation.
- the bucket 4C operates in an excavation operation or a dump operation.
- the boom 4A is lowered or raised.
- the swivel body 3 makes a right turn or a left turn operation
- the arm 4B makes a dump operation or an excavation operation. You may.
- the relationship between the operating direction of the left working lever 41 and the operating direction of the right working lever 42 and the operation of the working machine 4 is arbitrary.
- the left travel pedal 43 and the right travel pedal 44 are arranged below the front side of the control seat 45.
- the left traveling pedal 43 is arranged to the left of the right traveling pedal 44.
- the track 2C on the left side of the traveling body 2 moves forward or backward.
- the right traveling pedal 44 By operating the right traveling pedal 44, the track 2C on the right side of the traveling body 2 moves forward or backward.
- the first monitor device 501 that displays the work machine operation data indicating the operation status of the work machine 1 and the operation operated to operate the electric equipment mounted on the work machine 1 are operated.
- the switch 502 and the switch 502 are arranged.
- the first monitor device 501 uses, for example, the remaining amount of fuel of the engine mounted on the work machine 1, the temperature of the coolant of the engine, the temperature of the hydraulic oil for driving the hydraulic cylinder 5, and the temperature of the hydraulic oil for driving the hydraulic cylinder 5, as the work machine operation data.
- the traveling speed of the traveling body 2 is displayed.
- the operation switch 502 operates, for example, a headlight provided in the work machine 1 as an electric device mounted on the work machine 1.
- the display device 50 displays the image P transmitted from the work machine 1.
- the image P is transmitted to the control device 60 of the remote control system 100 via the control device 300 and the communication system 400.
- the control device 60 causes the display device 50 to display the image P acquired via the communication system 400.
- the display device 50 includes a flat panel display such as a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL display (OELD: Organic Electroluminescence Display).
- the display device 50 includes a plurality of flat panel displays arranged adjacent to each other.
- the display device 50 is arranged above the central display 51, the left display 52 arranged on the left side of the central display 51, the right display 53 arranged on the right side of the central display 51, and the central display 51.
- the upper display 54 and the lower display 55 arranged below the central display 51 are included.
- the image P displayed on the display device 50 is an image corresponding to the view of the front space of the operator when it is assumed that the operator is seated on the driver's seat provided in the driver's cab 3A of the work machine 1.
- the operator of the remote control room 200 can get the feeling that he / she is actually seated on the operation seat of the work machine 1.
- the operator of the remote control room 200 operates the remote control device 40 to operate the work machine 4, and excavates the work target.
- the excavated material excavated by the bucket 4C of the working machine 4 is loaded on the dump truck as a load.
- the dump truck is an unmanned dump truck that travels based on a control command transmitted from a control facility at a work site.
- a second monitor device 503 that displays dump truck operation data indicating the operation status of the unmanned dump truck at the work site is arranged.
- a position sensor for detecting the position data of the unmanned dump truck is arranged on the unmanned dump truck.
- the position sensor detects the absolute position of the unmanned dump truck using the Global Navigation Satellite System (GNSS).
- GNSS Global Navigation Satellite System
- the second monitor device 503 displays the position of each of the plurality of unmanned dump trucks operating at the work site as the dump truck operation data. Further, the operator can operate the input device provided in the second monitor device 503 to stop or start the unmanned dump truck.
- a third monitor device 504 that displays the guidance data of the working machine 4 is arranged.
- the guidance data the relative distance between the target design surface of the work target and the work machine 4, the shape of the work target, and the ore distribution of the work target are exemplified.
- FIG. 5 is a schematic view showing the hydraulic system 20 of the work machine 1 according to the embodiment.
- the hydraulic system 20 includes a hydraulic pump 21, a hydraulic cylinder 5 that drives a working machine 4 based on hydraulic oil supplied from the hydraulic pump 21, and a pump flow path connected to the hydraulic pump 21.
- 22 is provided with a flow control valve 23 for adjusting the flow rate of hydraulic oil supplied to the hydraulic cylinder 5 via the pump flow path 22, and a pressure sensor 74 for detecting the pressure of the hydraulic oil in the hydraulic cylinder 5.
- the hydraulic pump 21 is driven by the power transmitted from the power source of the work machine 1.
- a diesel engine or an electric motor is exemplified as the power source of the work machine 1.
- the hydraulic pump 21 discharges hydraulic oil.
- the hydraulic pump 21 is a variable displacement hydraulic pump.
- the hydraulic cylinder 5 operates the working machine 4 based on the hydraulic oil supplied from the hydraulic pump 21.
- the working machine 4 operates within a predetermined movable range.
- the hydraulic cylinder 5 includes a boom cylinder 5A for operating the boom 4A, an arm cylinder 5B for operating the arm 4B, and a bucket cylinder 5C for operating the bucket 4C.
- the hydraulic cylinder 5 has a bottom chamber BR and a rod chamber RR.
- the hydraulic cylinder 5 is extended by supplying hydraulic oil to the bottom chamber BR.
- the flow rate control valve 23 adjusts the flow rate of the hydraulic oil supplied to the hydraulic cylinder 5.
- the flow rate control valve 23 includes a boom flow rate control valve 23A that adjusts the flow rate of hydraulic oil supplied to the boom cylinder 5A, an arm flow rate control valve 23B that adjusts the flow rate of hydraulic oil supplied to the arm cylinder 5B, and a bucket cylinder. It includes a bucket flow rate control valve 23C that adjusts the flow rate of hydraulic oil supplied to 5C.
- the flow rate control valve 23 has a pump port Pa, a bottom port Pb, a rod port Pc, and a tank port Pd.
- the pump port Pa is connected to the hydraulic pump 21 via the supply flow path 24 and the pump flow path 22.
- the bottom port Pb is connected to the bottom chamber BR of the hydraulic cylinder 5 via the bottom flow path 25.
- the rod port Pc is connected to the rod chamber RR of the hydraulic cylinder 5 via the rod flow path 26.
- the tank port Pd is connected to the tank 28 via the discharge flow path 27.
- the hydraulic oil discharged from the hydraulic pump 21 can flow into the flow control valve 23 from the pump port Pa after flowing through the pump flow path 22 and the supply flow path 24.
- the hydraulic oil flowing out from the bottom port Pb can flow into the bottom chamber BR of the hydraulic cylinder 5 after flowing through the bottom flow path 25. Further, the hydraulic oil flowing out from the bottom chamber BR of the hydraulic cylinder 5 can flow into the flow control valve 23 from the bottom port Pb after flowing through the bottom flow path 25.
- the hydraulic oil flowing out from the rod port Pc can flow into the rod chamber RR of the hydraulic cylinder 5 after flowing through the rod flow path 26. Further, the hydraulic oil flowing out from the rod chamber RR of the hydraulic cylinder 5 can flow into the flow rate control valve 23 from the rod port Pc after flowing through the rod flow path 26.
- the hydraulic oil flowing out from the tank port Pd flows through the discharge flow path 27 and then is discharged to the tank 28.
- the flow rate control valve 23 is a slide spool type flow rate control valve that moves a rod-shaped spool to switch the flow rate and direction of the hydraulic oil supplied to the hydraulic cylinder 5. As the spool moves in the axial direction, the supply of the hydraulic oil to the bottom chamber BR and the supply of the hydraulic oil to the rod chamber RR are switched. Further, the flow rate of the hydraulic oil supplied to the hydraulic cylinder 5 is adjusted based on the movement amount of the spool.
- the spool of the flow control valve 23 has a first operating position Q1 for supplying hydraulic oil to the bottom chamber BR of the hydraulic cylinder 5, a second operating position Q2 for supplying hydraulic oil to the rod chamber RR of the hydraulic cylinder 5, and a first. It moves to the stop position Q3, which is arranged between the operating position Q1 and the second operating position Q2 and does not allow the hydraulic oil to flow.
- the hydraulic oil discharged from the hydraulic pump 21 flows through the pump flow path 22 and the supply flow path 24, and then flows from the pump port Pa to the flow rate control valve. It flows into 23 and flows out from the bottom port Pb.
- the hydraulic oil flowing out from the bottom port Pb flows into the bottom chamber BR of the hydraulic cylinder 5 after flowing through the bottom flow path 25.
- the hydraulic cylinder 5 is extended.
- hydraulic oil flowing out of the rod chamber BR of the hydraulic cylinder 5 flows through the rod flow path 26, then flows into the flow control valve 23 from the rod port Pc, and flows out from the tank port Pd.
- the hydraulic oil flowing out from the tank port Pd is discharged to the tank 28 via the discharge flow path 27.
- the hydraulic oil discharged from the hydraulic pump 21 flows through the pump flow path 22 and the supply flow path 24, and then flows from the pump port Pa to the flow rate control valve. It flows into 23 and flows out from the rod port Pc.
- the hydraulic oil flowing out from the rod port Pc flows into the rod chamber RR of the hydraulic cylinder 5 after flowing through the rod flow path 26.
- the hydraulic cylinder 5 shrinks.
- hydraulic oil flowing out of the bottom chamber BR of the hydraulic cylinder 5 flows through the bottom flow path 25, then flows into the flow control valve 23 from the bottom port Pb, and flows out from the tank port Pd.
- the hydraulic oil flowing out from the tank port Pd is discharged to the tank 28 via the discharge flow path 27.
- the pressure sensor 74 detects the pressure of the hydraulic oil of the hydraulic cylinder 5.
- the pressure sensor 74 detects the boom pressure sensor 74A that detects the pressure of the hydraulic oil of the boom cylinder 5A, the arm pressure sensor 74B that detects the pressure of the hydraulic oil of the arm cylinder 5B, and the pressure of the hydraulic oil of the bucket cylinder 5C. Includes a bucket pressure sensor 74C.
- the pressure sensor 74 detects the pressure of the hydraulic oil supplied to the hydraulic cylinder 5.
- the pressure sensor 74 is provided in each of the bottom flow path 25 and the rod flow path 26.
- the pressure sensor 74 provided in the rod flow path 26 detects the pressure of the hydraulic oil supplied to the hydraulic cylinder 5.
- the pressure sensor 74 provided in the bottom flow path 25 detects the pressure of the hydraulic oil supplied to the hydraulic cylinder 5.
- the pressure sensor 74 may be provided in each of the bottom chamber BR and the rod chamber RR.
- FIG. 6 is a functional block diagram showing a remote control system 100 of the work machine 1 according to the embodiment.
- the remote control system 100 controls a communication device 6 arranged in a remote location, a control device 60 connected to the communication device 6, and a remote control device 40 connected to the control device 60. It includes a display device 50 connected to the device 60.
- the remote operation system 100 is connected to the communication device 7 arranged in the work machine 1, the control device 300 connected to the communication device 7, the image pickup device 30 connected to the control device 300, and the control device 300.
- the sensor 70 includes a traveling body 2 controlled by the control device 300, a swivel body 3 controlled by the control device 300, and a hydraulic cylinder 5 controlled by the control device 300.
- the sensor 70 includes a position sensor 71, a vehicle body posture sensor 72, a work equipment posture sensor 73, and a pressure sensor 74.
- the control device 300 includes a traveling body control unit 301, a swivel body control unit 302, a work machine control unit 303, a stroke end determination unit 304, an image data transmission unit 305, and a sensor data transmission unit 306.
- the traveling body control unit 301 receives the operation signal of the remote control device 40 transmitted from the control device 60.
- the traveling body control unit 301 outputs a control signal for controlling the operation of the traveling body 2 based on the operation signal of the remote control device 40.
- the swivel body control unit 302 receives the operation signal of the remote control device 40 transmitted from the control device 60.
- the swivel body control unit 302 outputs a control signal for controlling the operation of the swivel body 3 based on the operation signal of the remote control device 40.
- the work machine control unit 303 receives the operation signal of the remote control device 40 transmitted from the control device 60.
- the work machine control unit 303 outputs a control signal for controlling the operation of the work machine 4 based on the operation signal of the remote control device 40.
- the control signal for controlling the operation of the work machine 4 includes a control signal for controlling the operation of the hydraulic cylinder 5.
- the control signal for controlling the operation of the hydraulic cylinder 5 includes a control signal for controlling the flow rate control valve 23.
- the stroke end determination unit 304 calculates the angle of the work machine 4 based on the detection data of the work machine attitude sensor 73.
- the angle of the working machine 4 and the stroke length of the hydraulic cylinder 5 correlate with each other.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the work machine attitude sensor 73 to calculate the angle of the work machine 4.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the boom posture sensor 73A to calculate the angle of the boom 4A with respect to the swivel body 3.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the arm posture sensor 73B to calculate the angle of the arm 4B with respect to the boom 4A.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the bucket posture sensor 73C to calculate the angle of the bucket 4C with respect to the arm 4B.
- the stroke end determination unit 304 can calculate the cylinder position of the hydraulic cylinder 5 based on the detection data of the work machine attitude sensor 73.
- the cylinder position means the position of the rod relative to the stroke end of the hydraulic cylinder 5.
- the stroke end refers to the end position of the movable range of the rod.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the boom posture sensor 73A to calculate the cylinder position of the boom cylinder 5A.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the arm posture sensor 73B to calculate the cylinder position of the arm cylinder 5B.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the bucket posture sensor 73C to calculate the cylinder position of the bucket cylinder 5C.
- the stroke end determination unit 304 can calculate the stroke length of the hydraulic cylinder 5 based on the detection data of the work machine attitude sensor 73. As described above, the stroke length refers to the moving distance of the rod from the stroke end of the hydraulic cylinder 5.
- the stroke end determination unit 304 can calculate the cylinder speed of the hydraulic cylinder 5 based on the detection data of the work machine attitude sensor 73.
- the cylinder speed means the speed of the rod with respect to the cylinder tube of the hydraulic cylinder 5.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the boom posture sensor 73A to calculate the cylinder speed of the boom cylinder 5A.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the arm posture sensor 73B to calculate the cylinder speed of the arm cylinder 5B.
- the stroke end determination unit 304 can perform arithmetic processing based on the detection data of the bucket attitude sensor 73C to calculate the cylinder speed of the bucket cylinder 5C.
- the work machine attitude sensor 73 functions as at least one of the angle sensor of the work machine 4, the cylinder position sensor of the hydraulic cylinder 5, the stroke length sensor of the hydraulic cylinder 5, and the cylinder speed sensor of the hydraulic cylinder 5. can do.
- the work machine attitude sensor 73 may include an angle sensor such as a potentiometer that can detect the angle of the work machine 4. Further, the work machine attitude sensor 73 may be an inertial measurement unit (IMU: Inertial Measurement Unit) provided in the work machine 4.
- IMU Inertial Measurement Unit
- the stroke end determination unit 304 determines whether or not the work machine 4 is close to the end position of the movable range based on the detection data of the work machine attitude sensor 73.
- FIG. 7 is a schematic diagram for explaining the movable range of the working machine 4 according to the embodiment.
- the work machine 4 includes a plurality of work machine elements that can be moved relative to each other.
- the working machine element of the working machine 4 includes a boom 4A, an arm 4B, and a bucket 4C.
- the movable range of the working machine 4 is assumed to be the movable range of the working machine element.
- the work machine 4 can move within the movable range determined by the stroke of the hydraulic cylinder 5.
- the movable range of the working machine 4 is determined based on the movable range of the rod of the hydraulic cylinder 5.
- the end position of the movable range of the working machine 4 is defined based on the stroke end of the hydraulic cylinder 5. When the hydraulic cylinder 5 reaches the stroke end, the working machine 4 reaches the end position of the movable range.
- the movable range of the working machine 4 is defined as an end section, an alarm section, and an intermediate section.
- the end section means a part of the movable range including the end position.
- the intermediate section means a part of the movable section including the central position of the movable range.
- the alarm section is a part of the movable range between the end section and the center position.
- the alarm section means a section between the end section and the intermediate section.
- the warning section is defined to be adjacent to each of the end section and the intermediate section. As will be described later, when the working machine 4 is approaching the end position in the alarm section, an alarm is output at a remote location.
- the warning section may be included in the end section.
- the alarm section may be omitted.
- the ratio of the length of the end section to the movable range can be set arbitrarily.
- the end section may have an arbitrary ratio of 1 [%] or more and 20 [%] or less of the movable range.
- the ratio of the length of the alarm section to the movable range can be arbitrarily set.
- the alarm section may be any ratio of 1 [%] or more and 20 [%] or less of the movable range.
- the length of the end section is shorter than the length of the middle section.
- the stroke end determination unit 304 determines whether or not the work machine 4 exists in the end section including the end position of the movable range based on the detection data of the work machine posture sensor 73.
- the end position of the movable range of the working machine 4 is defined based on the stroke end of the hydraulic cylinder 5.
- the end section of the movable range of the working machine 4 is defined based on the stroke length of the hydraulic cylinder 5.
- the stroke end determination unit 304 can determine whether or not the work machine 4 exists in the end section of the movable range based on the detection data of the work machine posture sensor 73.
- the stroke end determination unit 304 determines whether or not the work machine 4 exists in the alarm section between the end section and the center position of the movable range based on the detection data of the work machine attitude sensor 73. be able to.
- the stroke end determination unit 304 can determine whether or not the work machine 4 exists in the intermediate section including the central position of the movable range based on the detection data of the work machine attitude sensor 73.
- the work machine control unit 303 implements cushion control.
- Cushion control refers to control for decelerating the rod of the hydraulic cylinder 5 when it approaches the stroke end.
- the work equipment control unit 303 decelerates the rod more than the cylinder speed based on the operation signal generated by the remote control device 40.
- cushion control the shorter the distance between the rod of the hydraulic cylinder 5 and the stroke end, the lower the speed of the rod.
- Cushion control alleviates the impact when the rod of the hydraulic cylinder 5 reaches the stroke end.
- the work machine control unit 303 is a control command for reducing the flow rate of the hydraulic oil supplied to the hydraulic cylinder 5 when the stroke end determination unit 304 determines that the work machine 4 is close to the end position of the movable range. Is output to the flow control valve 23.
- cushion control is performed to reduce the speed of the working machine 4 approaching the end position.
- the speed of the working machine 4 may be gradually decreased as the distance between the working machine 4 and the end position becomes shorter, or may be gradually decreased. In the cushion control, when the working machine 4 reaches the end position, the speed of the working machine 4 may or may not be zero.
- the cushion control is performed when the working machine 4 is arranged in the end section and the working machine 4 operates so as to approach the end position. That is, when the stroke end determination unit 304 determines that the work machine 4 is approaching the end position in the end section, the work machine control unit 303 determines the flow rate of the hydraulic oil supplied to the hydraulic cylinder 5. A control command to be reduced is output to the flow control valve 23. As a result, when the working machine 4 is close to the end position in the end section, cushion control for reducing the speed of the working machine 4 is performed.
- the work machine control unit 303 when the stroke end determination unit 304 determines that the boom 4A is operating so as to approach the end position in the end section of the movable range, the work machine control unit 303 is supplied to the boom cylinder 5A. A control command for reducing the flow rate of the hydraulic oil is output to the boom flow rate control valve 23A.
- the stroke end determination unit 304 determines that the arm 4B is operating so as to approach the end position in the end section of the movable range
- the work machine control unit 303 supplies hydraulic oil to the arm cylinder 5B.
- a control command for reducing the flow rate of the arm flow rate control valve 23B is output.
- the work machine control unit 303 supplies hydraulic oil to the bucket cylinder 5C.
- a control command for reducing the flow rate of the bucket flow rate control valve 23C is output.
- the image data transmission unit 305 transmits the image around the work machine 1 acquired by the image pickup device 30 to the control device 60.
- the image data transmission unit 305 acquires the image P in the image pickup range M from the image pickup device 30.
- the image data transmission unit 305 transmits the image P to the control device 60.
- the sensor data transmission unit 306 transmits the detection data of the sensor 70 mounted on the work machine 1 to the control device 60.
- the sensor 70 includes a position sensor 71 that detects the position of the work machine 1, a vehicle body posture sensor 72 that detects the posture of the swivel body 3, a work machine attitude sensor 73 that detects the posture of the work machine 4, and a hydraulic pressure. Includes a pressure sensor 74 that detects the pressure of the hydraulic fluid in the cylinder 5.
- the communication device 7 communicates with the communication device 6 via the communication system 400.
- the communication device 7 receives the operation signal of the remote control device 40 transmitted from the control device 60 via the communication device 6 and outputs the operation signal to the control device 300.
- the communication device 7 transmits the image P of the imaging range M received from the image data transmission unit 305 to the communication device 6 at a remote location.
- the communication device 7 includes an encoder that compresses the image data of the image P.
- the image P is transmitted from the communication device 7 to the communication device 6 in a compressed state.
- the communication device 7 uses the detection data of the position sensor 71, the detection data of the vehicle body attitude sensor 72, the detection data of the work equipment attitude sensor 73, and the detection data of the pressure sensor 74 received from the sensor data transmission unit 306 as a communication device at a remote location. Send to 6.
- the communication device 6 communicates with the communication device 7 via the communication system 400.
- the communication device 6 transmits an operation signal generated by operating the remote control device 40 to the communication device 7.
- the communication device 6 receives the image P transmitted from the control device 300 via the communication device 7 and outputs the image P to the control device 60.
- the communication device 6 includes a decoder that restores the image data of the compressed image P.
- the image P is output from the communication device 6 to the control device 60 in the restored state.
- the communication device 6 transmits the detection data of the position sensor 71, the detection data of the vehicle body attitude sensor 72, the detection data of the work equipment attitude sensor 73, and the detection data of the pressure sensor 74 transmitted from the control device 300 via the communication device 7. Receive and output to the control device 60.
- the control device 60 includes an operation signal transmission unit 61, an image data reception unit 62, a sensor data reception unit 63, an image processing unit 64, a display control unit 65, and an alarm control unit 66.
- the operation signal transmission unit 61 transmits an operation signal for remotely controlling the work machine 1.
- an operation signal for remotely controlling the work machine 1 is generated.
- the operation signal transmission unit 61 transmits the operation signal of the remote control device 40 to the control device 300.
- the image data receiving unit 62 receives an image of the periphery of the work machine 1.
- the image data receiving unit 62 receives the image P as an image around the work machine 1.
- the image data receiving unit 62 acquires the image P restored by the decoder of the communication device 6.
- the sensor data receiving unit 63 receives the detection data of the sensor 70.
- the detection data of the sensor 70 includes the detection data related to the swivel body 3 and the detection data related to the working machine 4.
- the sensor data receiving unit 63 includes the position detection data of the work machine 1 detected by the position sensor 71, the posture detection data of the swivel body 3 detected by the vehicle body posture sensor 72, and the work detected by the work machine posture sensor 73.
- the attitude detection data of the machine 4 and the pressure detection data of the hydraulic oil of the hydraulic cylinder 5 detected by the pressure sensor 74 are received.
- the image processing unit 64 divides the image P received by the image data receiving unit 62.
- FIG. 8 is a diagram for explaining the processing of the image processing unit 64 according to the embodiment.
- the image P is acquired by the image data receiving unit 62.
- the image P is an image of the front space SP of the swivel body 3.
- Image P shows a part of the working machine 4 including the bucket 4C. Further, the image P shows a work target in front of the swivel body 3. Further, the image P shows the handrail 3E of the upper deck 3D.
- the image processing unit 64 divides the image P into a plurality of images.
- the image processing unit 64 displays the image P on the image P11 for displaying on the central display 51, the image P12 for displaying on the left display 52, the image P13 for displaying on the right display 53, and the upper display 54. It is divided into an image P14 for display and an image P15 for display on the lower display 55.
- the display control unit 65 causes the display device 50 to display an image around the work machine 1.
- the display control unit 65 causes the display device 50 to display the image P as an image of the periphery of the work machine 1.
- FIG. 9 is a diagram for explaining the processing of the display control unit 65 according to the embodiment.
- the display control unit 65 causes the central display 51 to display the image P11 which is a part of the image P.
- the display control unit 65 causes the left display 52 to display the image P12, which is a part of the image P.
- the display control unit 65 causes the right display 53 to display the image P13 which is a part of the image P.
- the display control unit 65 causes the image P14, which is a part of the image P, to be displayed on the upper display 54.
- the display control unit 65 causes the lower display 55 to display the image P15 which is a part of the image P.
- the display control unit 65 has a vehicle body data image P3 showing the posture of the swivel body 3, a work machine data image P4 showing the posture of the work machine 4, and a load data image P5 showing the weight of the load loaded on the dump truck. And the bucket data image P6 showing the position of the tip blade 4D of the bucket 4C is displayed on the display device 50.
- the display control unit 65 calculates the tilt angle of the swivel body 3 with respect to the horizontal plane based on the detection data of the vehicle body posture sensor 72.
- the display control unit 65 causes the display device 50 to display a symbol image showing the tilt angle of the swivel body 3 as the vehicle body data image P3.
- the vehicle body data image P3 is displayed on the upper display 54.
- the display control unit 65 calculates the posture of the work machine 4 based on the detection data of the work machine posture sensor 73.
- the display control unit 65 causes the display device 50 to display an animation image showing the posture of the work machine 4 as the work machine data image P4.
- the working machine data image P4 is displayed on the right display 53.
- the display control unit 65 calculates the weight of the load loaded on the dump truck based on the detection data of the weight sensor (not shown) that detects the weight of the load held in the bucket 4C.
- the display control unit 65 causes the display device 50 to display an indicator image showing the weight of the load as the load data image P5.
- the cargo data image P5 is displayed on the right display 53.
- a weight sensor for detecting the weight of the load loaded on the dump truck may be provided on the dump truck, and the detection data of the weight sensor may be transmitted to the control device 60.
- the display control unit 65 calculates the vertical position of the tip blade 4D of the bucket 4C based on the detection data of the work equipment attitude sensor 73.
- the display control unit 65 causes the display device 50 to display an indicator image indicating the vertical position of the tip blade 4D of the bucket 4C as the bucket data image P6.
- the vertical position of the tip blade 4D means the height position from the ground GR.
- the bucket data image P6 is displayed on the right display 53.
- the alarm control unit 66 determines that the work machine 4 is approaching the end position of the movable range of the work machine 4 based on the posture detection data of the work machine 4 detected by the work machine attitude sensor 73. , Outputs an alarm control signal. That is, when the alarm control unit 66 determines that the piston of the hydraulic cylinder 5 is approaching the stroke end and the working machine 4 is approaching the end position of the movable range, the alarm control unit 66 outputs an alarm control signal.
- the alarm control unit 66 determines that the work machine 4 is operating so as to approach the end position in the warning section based on the posture detection data of the work machine 4 detected by the work machine attitude sensor 73. , Outputs an alarm control signal. In the embodiment, when the alarm control unit 66 determines that the working machine 4 has moved from the intermediate section to the alarm section, the alarm control unit 66 starts outputting the alarm control signal.
- the cushion control is started when the working machine 4 moves from the alarm section to the end section.
- the alarm control unit 66 determines that the work machine 4 has moved from the intermediate section to the alarm section, the alarm control unit 66 starts outputting the alarm control signal before the cushion control is started.
- the alarm control unit 66 operates so that the work machine 4 approaches the end position in the end section based on the posture detection data of the work machine 4 detected by the work machine attitude sensor 73. If it is determined, an alarm control signal is output. In the embodiment, when the alarm control unit 66 determines that the working machine 4 is moving toward the end position in each of the alarm section and the end section, the alarm control unit 66 continues to output the alarm control signal.
- the work machine control unit 303 starts cushion control when it is determined by the stroke end determination unit 304 that the work machine 4 has moved from the alarm section to the end section.
- the alarm control unit 66 outputs an alarm control signal when it is determined that the work machine 4 has reached the end position based on the posture detection data of the work machine 4 detected by the work machine attitude sensor 73. .. That is, in the embodiment, the alarm control unit 66 is used when the working machine 4 is moving toward the end position in each of the warning section and the end section, and when the working machine 4 reaches the end position. In each case, an alarm control signal is output.
- FIG. 10 is a diagram for explaining the processing of the alarm control unit 66 according to the embodiment.
- the alarm control unit 66 outputs an alarm control signal to the display device 50.
- the display device 50 is provided at a remote location of the work machine 1 and outputs an alarm based on an alarm control signal from the alarm control unit 66.
- the display device 50 functions as an alarm device.
- the alarm control unit 66 blinks the work machine data image P4 as an alarm. ..
- the alarm control unit 66 may blink the entire working machine data image P4, or may blink the background image of the working machine data image P4.
- the alarm control unit 66 may change the color of the work machine 4 displayed on the display device 50 or blink the image of the work machine 4 as an alarm.
- the color of the working machine 4 may be changed by changing the color of the entire working machine 4 or changing the color of a part of the working machine 4.
- the alarm control unit 66 may change the color of the arm 4B.
- the blinking of the image of the working machine 4 may be the blinking of the entire image of the working machine 4, or may be the blinking of a part of the image of the working machine 4.
- the alarm control unit 66 may blink the image of the arm 4B.
- the alarm control unit 66 may display computer graphics (CG: Computer Graphics) on the display device 50 as an alarm. For example, when the bucket 4C is close to the end position, the alarm control unit 66 may display the computer graphics showing the position and orientation of the bucket 4C on the display device 50 so as to be superimposed on the image P.
- CG Computer Graphics
- FIG. 11 is a flowchart showing a remote control method of the work machine 1 according to the embodiment.
- step SB1 When the remote control device 40 is operated, an operation signal for remotely controlling the work machine 1 is transmitted from the operation signal transmission unit 61 of the control device 60 to the control device 300 (step SB1).
- the image pickup device 30 takes an image of the image pickup range M.
- the image data transmission unit 305 transmits the image P to the control device 60 via the communication device 7 and the communication system 400 (step SA1).
- the work machine posture sensor 73 detects the posture of the work machine 4.
- the sensor data transmission unit 306 transmits the posture detection data of the work machine 4 detected by the work machine attitude sensor 73 to the control device 60 via the communication device 7 and the communication system 400 (step SA2).
- the sensor data transmission unit 306 performs not only the detection data of the work equipment attitude sensor 73 but also the detection data of the position sensor 71, the detection data of the vehicle body attitude sensor 72, and the detection data of the vehicle body attitude sensor 72 via the communication device 7 and the communication system 400.
- the detection data of the pressure sensor 74 is transmitted to the control device 60.
- step SA2 may be performed before the process of step SA1, or the process of step SA1 and the process of step SA2 may be performed in parallel.
- the image data receiving unit 62 receives the image P transmitted from the work machine 1 via the communication device 6.
- the image processing unit 64 divides the image P into an image P11, an image P12, an image P13, an image P14, and an image P15 (step SB2).
- the display control unit 65 causes the display device 50 to display the image P (step SB3).
- the stroke end determination unit 304 determines whether or not the work machine 4 is close to the end position in the end section of the movable range based on the detection data of the work machine attitude sensor 73 (step SA3).
- step SA3 when it is determined that the working machine 4 is operating away from the end position in the end section, or when it is determined that the working machine 4 is not arranged in the end section (step SA3). : No), the control device 300 returns to the process of step SA1.
- step SA3 When it is determined in step SA3 that the work machine 4 is operating so as to approach the end position in the end section (step SA3: Yes), the work machine control unit 303 performs cushion control (step). SA4).
- the working machine control unit 303 outputs a control command for reducing the flow rate of the hydraulic oil supplied to the hydraulic cylinder 5 to the flow rate control valve 23. As a result, the speed of the working machine 4 operating so as to approach the end position in the end section is reduced.
- the alarm control unit 66 determines whether or not the work machine 4 is approaching the end position in the alarm section of the movable range based on the detection data of the work machine attitude sensor 73 (step SB4).
- step SB4 it is determined that the working machine 4 is operating away from the end position in the warning section, or that the working machine 4 is not arranged in each of the warning section and the end section. In the case (step SB4: No), the control device 60 returns to the process of step SB1.
- step SB4 When it is determined in step SB4 that the working machine 4 is operating so as to approach the end position in the alarm section (step SB4: Yes), the alarm control unit 66 outputs an alarm control signal (step SB5). ).
- step SA3 may be performed by the control device 60 of the remote control room 200.
- the determination in step SB4 may be performed by the control device 300 of the work machine 1.
- the alarm control unit 66 causes the display device 50 to output an alarm.
- the operator at a remote location can recognize that the working machine 4 is operating so as to approach the end position by looking at the alarm output from the display device 50.
- the movable range of the working machine 4 is determined based on the movable range of the rod of the hydraulic cylinder 5. That is, the end position of the movable range of the working machine 4 is defined based on the stroke end of the hydraulic cylinder 5, and when the hydraulic cylinder 5 reaches the stroke end, the working machine 4 reaches the end position of the movable range. And said. Based on the relative angle of the work equipment element consisting of the boom 4A, the arm 4B, and the bucket 4C, the work equipment element has a range of motion due to mechanical constraints of the work equipment 4 before the hydraulic cylinder 5 reaches the stroke end. May reach the end position.
- the end position of the working machine element may be set based on the mechanism of the working machine 4.
- the end section and the alarm section may be set based on the mechanism of the working machine 4.
- the correlation (map data) between the relative angle between the first working machine element (for example, boom 4A) and the second working machine element (for example, arm 4B) and the end position of the third working machine element (for example, bucket 4C).
- the stroke end determination unit 304 can move the third work machine element based on the detection data of the work machine attitude sensor 73 and the correlation obtained in advance. It can be determined whether or not it is close to the end position of the range.
- FIG. 12 is a block diagram showing a computer system 1000 according to an embodiment.
- the computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory). It has a storage 1003 and an interface 1004 including an input / output circuit.
- the functions of the control device 60 and the functions of the control device 300 described above are stored in the storage 1003 as a computer program.
- the processor 1001 reads a computer program from the storage 1003, expands it into the main memory 1002, and executes the above-mentioned processing according to the program.
- the computer program may be distributed to the computer system 1000 via the network.
- a computer program or computer system 1000 located at a remote location receives detection data of the posture of the work machine 4 according to the above-described embodiment, and based on the detection data, the work machine 4 is at the end of the movable range. When it is determined that the position is approaching or reached, the alarm control signal can be output to the alarm device.
- the work machine 1 includes a communication device 6 for transmitting the detection data of the work machine posture sensor 73 to a remote place.
- the operator at a remote location can recognize that an impact may act on the work machine 4 based on the detection data of the work machine attitude sensor 73.
- the detection data of the work machine attitude sensor 73 is transmitted from the work machine 1 to a remote place.
- an alarm is output at a remote place.
- the operator at a remote location can recognize that the working machine 4 is approaching the end position. Therefore, the operator at a remote location can perform remote control so that an excessive impact does not act on the working machine 4.
- An operator at a remote location can operate the remote control device 40, for example, so that the work machine 4 does not reach the end position.
- cushion control is performed when the working machine 4 moves from the alarm section to the end section.
- the impact acting on the working machine 4 is alleviated.
- the working machine 4 may reach the end position against the intention of the operator at a remote place.
- the possibility that the communication delay of the image data acquired by the image pickup apparatus 30 will occur is higher than the possibility that the communication delay of the operation signal of the remote control device 40 will occur. Even if the operator at a remote location operates the remote control device 40 so that the work machine 4 stops immediately before the end position while looking at the image displayed on the display device 50, the communication delay of the image data occurs.
- the work machine 4 may reach the end position against the intention of the operator at a remote location.
- cushion control is performed based on the detection data of the work equipment attitude sensor 73. As a result, even if the communication delay of the image data occurs, the impact on the working machine 4 is suppressed.
- the output of the alarm control signal from the alarm control unit 66 is started, and the output of the alarm from the display device 50 is started. That is, the output of the alarm from the display device 50 is started before the cushion control of the working machine 4 is performed.
- the operator at the remote location can more reliably perform the remote control without causing an excessive impact on the working machine 4.
- the output of the alarm control signal from the alarm control unit 66 is continued, and the output of the alarm from the display device 50 is continued.
- the operator at the remote location can recognize that the working machine 4 is approaching the end position in the end section.
- the output of the alarm control signal from the alarm control unit 66 is continued, and the output of the alarm from the display device 50 is continued.
- the operator at the remote location can recognize that the working machine 4 has reached the end position.
- the stroke end determination unit 304 determines whether or not the work machine 4 exists in the end section of the movable range based on the detection data of the work machine posture sensor 73. ..
- the stroke end determination unit 304 may determine whether or not the work machine 4 exists in the end section of the movable range based on the output of the proximity switch.
- the proximity switch is a switch that operates when the working machine 4 moves to the end position of the movable range.
- the alarm control unit 66 causes the display device 50 to output an alarm.
- the alarm control unit 66 may output an alarm to, for example, at least a part of the first monitor device 501, the second monitor device 503, and the third monitor device 504.
- the first monitor device 501, the second monitor device 503, and the third monitor device 504 "Be careful of lever operation", "Stroke end approaching", etc. Alarm message may be displayed.
- the alarm control unit 66 may output a warning sound from the voice output device or the buzzer as an alarm.
- the alarm control unit 66 may vibrate the control seat 45 as an alarm. That is, the alarm device does not have to be the display device 50, but may be at least one of a first monitor device 501, a second monitor device 503, a third monitor device 504, a voice output device, a buzzer, and a vibration generator.
- the alarm control unit 66 outputs an alarm even before the work machine 4 reaches the end position.
- the alarm control unit 66 may output an alarm when it is determined that the work machine 4 has reached the end position of the movable range based on the detection data of the work machine attitude sensor 73. That is, the alarm control unit 66 may output an alarm after the working machine 4 that operates so as to approach the end position reaches the end position.
- the operator at the remote location can recognize that the work machine 4 has reached the end position and that the work machine 4 may have been impacted based on the alarm.
- the computer program or computer system 1000 located at a remote location described with reference to FIG. 12 receives the detection data of the posture of the work machine 4, and the work machine 4 has a movable range based on the detection data. When it is determined that the end position has been reached, it is possible to output an alarm and execute.
- cushion control may not be implemented in the above-described embodiment. For example, when the operator slowly operates the remote control device 40, the impact acting on the work machine 4 is small. Cushion control may not be performed when the cylinder speed of the rod is equal to or less than the speed threshold value.
- FIG. 13 is a diagram for explaining the operation of the work machine 1 according to the embodiment.
- an impact may act on the work machine 4.
- the work machine 4 excavates the work target or when the work machine 1 lowers the work machine 4 to the work target, an impact may act on the work machine 4.
- the working machine 4 may reach the end position, so that an impact may act on the working machine 4.
- the alarm control unit 66 when the alarm control unit 66 determines that the level of the impact applied to the work machine 4 is equal to or higher than the threshold value based on the detection data related to the work machine 4 received by the sensor data receiving unit 63, the alarm control unit 66 gives an alarm. Output a control signal.
- the threshold value related to the impact level is a predetermined value and is held in the alarm control unit 66.
- the working machine 4 vibrates with an amplitude of a predetermined value or more. That is, when an impact acts on the working machine 4, the posture of the working machine 4 changes so as to reciprocate with an amplitude equal to or higher than the first threshold value.
- the alarm control unit 66 can determine whether or not the impact level is equal to or higher than the threshold value based on the posture detection data of the work machine 4 detected by the work machine posture sensor 73.
- the alarm control unit 66 can determine whether or not the impact level is equal to or higher than the threshold value based on the detection data of the hydraulic oil pressure detected by the pressure sensor 74.
- the swivel body 3 vibrates in the pitch direction with an amplitude or acceleration of a predetermined value or more.
- the alarm control unit 66 can determine whether or not the impact level is equal to or higher than the threshold value based on the detection data of the vehicle body posture sensor 72 including the inertial measurement unit (IMU) provided in the swivel body 3. ..
- the working machine 4 vibrates at an acceleration of a predetermined value or more.
- the alarm control unit 66 can determine whether or not the impact level is equal to or higher than the threshold value based on the detection data of the acceleration sensor.
- FIG. 14 is a flowchart showing a remote control method of the work machine 1 according to the embodiment.
- the alarm control unit 66 determines whether or not the impact level is equal to or higher than the threshold value based on the detection data of the hydraulic oil pressure detected by the pressure sensor 74.
- the alarm control unit 66 has an impact level equal to or higher than the threshold value based on at least one of the detection data of the work equipment attitude sensor 73, the detection data of the vehicle body attitude sensor 72, and the detection data of the acceleration sensor. It is possible to determine whether or not it is.
- an operation signal for remotely controlling the work machine 1 is transmitted from the operation signal transmission unit 61 of the control device 60 to the control device 300 (step SB11).
- the image P is transmitted from the work machine 1 to the control device 60 (step SA11).
- the detection data of the sensor 70 is transmitted from the work machine 1 to the control device 60.
- the sensor data transmission unit 306 transmits at least the detection data of the hydraulic oil pressure of the hydraulic cylinder 5 detected by the pressure sensor 74 to the control device 60 via the communication device 7 and the communication system 400 (step). SA12).
- step SA12 may be performed before the process of step SA11, or the process of step SA11 and the process of step SA12 may be performed in parallel.
- the image data receiving unit 62 receives the image P transmitted from the work machine 1 via the communication device 6.
- the image processing unit 64 divides the image P into an image P11, an image P12, an image P13, an image P14, and an image P15 (step SB12).
- the display control unit 65 causes the display device 50 to display the image P (step SB13).
- the alarm control unit 66 determines whether or not the level of the impact applied to the work machine 4 is equal to or higher than the threshold value based on the detection data of the pressure sensor 74 (step SB14).
- step SB14 When it is determined in step SB14 that the level of the impact acting on the working machine 4 is less than the threshold value (step SB14: No), the control device 60 returns to the process of step SB12.
- step SB14 When it is determined in step SB14 that the level of impact acting on the work equipment 4 is equal to or higher than the threshold value (step SB14: Yes), the alarm control unit 66 outputs an alarm control signal (step SB15).
- step SB14 may be performed by the control device 300 of the work machine 1.
- the computer program or the computer system 1000 located at the remote location described with reference to FIG. 12 receives the detection data related to the work machine 4, and based on the detection data, the work machine 4 receives the detection data.
- the level of the applied impact is equal to or higher than the threshold value, it is possible to output an alarm control signal to the alarm device.
- the control device 60 of the remote control room 200 functions as the alarm control unit 66.
- the control device 300 of the work machine 1 may function as the alarm control unit 66.
- the alarm control signal output from the alarm control unit 66 provided in the work machine 1 is transmitted to the remote control room 200 via the communication system 400, and based on the alarm control signal from the alarm control unit 66, the remote control room
- the alarm device provided in 200 may output an alarm.
- the work machine 1 is a loading shovel.
- the work machine 1 may be a backhoe.
- the work machine 1 may be any work machine having a work machine, and may be a bulldozer or a wheel loader.
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- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
Description
<遠隔操作システム>
図1は、実施形態に係る作業機械1の遠隔操作システム100を示す模式図である。遠隔操作システム100は、作業現場で稼動する作業機械1を遠隔操作する。作業現場として、鉱山又は採石場が例示される。
図2は、実施形態に係る作業機械1を示す斜視図である。図3は、実施形態に係る作業機械1を示す側面図である。実施形態においては、作業機械1が積込機械の一種である油圧ショベルであることとする。作業機械1は、作業現場において稼働する。作業機械1は、例えば作業現場の積込場において稼働する。作業機械1は、作業対象の掘削作業を実施する。作業対象として、土砂又は鉱石が例示される。また、作業現場において、運搬車両の一種であるダンプトラックが稼働する。作業機械1は、ダンプトラックに積荷を積み込む積込作業を実施する。積荷として、掘削作業により掘削された掘削物が例示される。
図4は、実施形態に係る遠隔操作室200を示す図である。図4に示すように、遠隔操作室200に遠隔操作装置40及び表示装置50が配置される。
図5は、実施形態に係る作業機械1の油圧システム20を示す模式図である。図5に示すように、油圧システム20は、油圧ポンプ21と、油圧ポンプ21から供給された作動油に基づいて作業機4を駆動する油圧シリンダ5と、油圧ポンプ21に接続されるポンプ流路22と、ポンプ流路22を介して油圧シリンダ5に供給される作動油の流量を調整する流量制御弁23と、油圧シリンダ5の作動油の圧力を検出する圧力センサ74とを備える。
図6は、実施形態に係る作業機械1の遠隔操作システム100を示す機能ブロック図である。図6に示すように、遠隔操作システム100は、遠隔地に配置される通信装置6と、通信装置6に接続される制御装置60と、制御装置60に接続される遠隔操作装置40と、制御装置60に接続される表示装置50とを備える。また、遠隔操作システム100は、作業機械1に配置される通信装置7と、通信装置7に接続される制御装置300と、制御装置300に接続される撮像装置30と、制御装置300に接続されるセンサ70と、制御装置300により制御される走行体2と、制御装置300により制御される旋回体3と、制御装置300により制御される油圧シリンダ5とを備える。センサ70は、位置センサ71と、車体姿勢センサ72と、作業機姿勢センサ73と、圧力センサ74とを含む。
図11は、実施形態に係る作業機械1の遠隔操作方法を示すフローチャートである。
図12は、実施形態に係るコンピュータシステム1000を示すブロック図である。上述の制御装置60及び制御装置300のそれぞれは、コンピュータシステム1000を含む。コンピュータシステム1000は、CPU(Central Processing Unit)のようなプロセッサ1001と、ROM(Read Only Memory)のような不揮発性メモリ及びRAM(Random Access Memory)のような揮発性メモリを含むメインメモリ1002と、ストレージ1003と、入出力回路を含むインターフェース1004とを有する。上述の制御装置60の機能及び制御装置300の機能は、コンピュータプログラムとしてストレージ1003に記憶されている。プロセッサ1001は、コンピュータプログラムをストレージ1003から読み出してメインメモリ1002に展開し、プログラムに従って上述の処理を実行する。なお、コンピュータプログラムは、ネットワークを介してコンピュータシステム1000に配信されてもよい。
以上説明したように、実施形態によれば、作業機械1は、作業機姿勢センサ73の検出データを遠隔地に送信する通信装置6を備える。これにより、遠隔地の操作者は、作業機姿勢センサ73の検出データに基づいて、作業機4に衝撃が作用する可能性があることを認識することができる。
なお、上述の実施形態においては、ストロークエンド判定部304は、作業機姿勢センサ73の検出データに基づいて、作業機4が可動範囲の端部区間に存在するか否かを判定することとした。ストロークエンド判定部304は、近接スイッチの出力に基づいて、作業機4が可動範囲の端部区間に存在するか否かを判定してもよい。近接スイッチとは、作業機4が可動範囲の端部位置に移動したときに作動するスイッチをいう。
第2実施形態について説明する。以下の説明において、上述の実施形態と同一の又は同等の構成要素については同一の符号を付し、その説明を簡略又は省略する。
上述の実施形態において、遠隔操作室200の制御装置60が警報制御部66として機能することとした。作業機械1の制御装置300が警報制御部66として機能してもよい。作業機械1に設けられている警報制御部66から出力された警報制御信号が通信システム400を介して遠隔操作室200に送信され、警報制御部66からの警報制御信号に基づいて、遠隔操作室200に設けられている警報装置が警報を出力してもよい。
Claims (7)
- 遠隔地からの操作信号により動作する作業機械が有する作業機の姿勢の検出データを受信するセンサデータ受信部と、
前記検出データに基づいて、前記作業機が可動範囲の端部位置に接近している又は到達したと判定した場合、警報制御信号を出力する警報制御部と、
前記遠隔地に設けられ、前記警報制御部からの前記警報制御信号に基づいて、警報を出力する警報装置と、を備える、
作業機械の遠隔操作システム。 - 前記作業機が前記端部位置を含む前記可動範囲の端部区間において前記端部位置に接近している場合、前記作業機の速度が減少され、
前記警報制御部は、前記検出データに基づいて、前記端部区間に隣接する警報区間において前記作業機が前記端部位置に接近していると判定した場合、前記警報制御信号を出力する、
請求項1に記載の作業機械の遠隔操作システム。 - 前記警報制御部は、前記検出データに基づいて、前記作業機が前記端部区間において前記端部位置に接近していると判定した場合、前記警報制御信号を出力する、
請求項2に記載の作業機械の遠隔操作システム。 - 前記警報制御部は、前記検出データに基づいて、前記作業機が前記端部位置に到達したと判定した場合、前記警報制御信号を出力する、
請求項2又は請求項3に記載の作業機械の遠隔操作システム。 - 遠隔地からの操作信号により動作する作業機械が有する作業機に係る検出データを受信するセンサデータ受信部と、
前記検出データに基づいて、前記作業機に作用した衝撃のレベルが閾値以上であると判定した場合、警報制御信号を出力する警報制御部と、
前記作業機械の遠隔地に設けられ、前記警報制御部からの前記警報制御信号に基づいて、警報を出力する警報装置と、を備える、
作業機械の遠隔操作システム。 - 前記作業機械は、前記作業機の姿勢を検出する作業機姿勢センサを備え、
前記警報制御部は、前記作業機姿勢センサの検出データに基づいて、前記衝撃のレベルが閾値以上であるか否かを判定する、
請求項5に記載の作業機械の遠隔操作システム。 - 前記作業機械は、油圧ポンプから供給された作動油に基づいて前記作業機を駆動する油圧シリンダと、前記油圧シリンダの作動油の圧力を検出する圧力センサと、を備え、
前記警報制御部は、前記圧力センサの検出データに基づいて、前記衝撃のレベルが閾値以上であるか否かを判定する、
請求項6に記載の作業機械の遠隔操作システム。
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JPH05196004A (ja) * | 1992-01-20 | 1993-08-06 | Komatsu Ltd | 作業機シリンダの自動クッション制御装置 |
JPH11158930A (ja) * | 1997-11-28 | 1999-06-15 | Hitachi Constr Mach Co Ltd | 多関節建設機械の操作装置 |
JP2004018220A (ja) * | 2002-06-19 | 2004-01-22 | Tadano Ltd | 作業機の安全装置 |
JP2008144378A (ja) * | 2006-12-06 | 2008-06-26 | Shin Caterpillar Mitsubishi Ltd | 遠隔操縦作業機の制御装置 |
JP2020084702A (ja) * | 2018-11-30 | 2020-06-04 | コベルコ建機株式会社 | 建設機械の遠隔操作装置 |
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JPH05196004A (ja) * | 1992-01-20 | 1993-08-06 | Komatsu Ltd | 作業機シリンダの自動クッション制御装置 |
JPH11158930A (ja) * | 1997-11-28 | 1999-06-15 | Hitachi Constr Mach Co Ltd | 多関節建設機械の操作装置 |
JP2004018220A (ja) * | 2002-06-19 | 2004-01-22 | Tadano Ltd | 作業機の安全装置 |
JP2008144378A (ja) * | 2006-12-06 | 2008-06-26 | Shin Caterpillar Mitsubishi Ltd | 遠隔操縦作業機の制御装置 |
JP2020084702A (ja) * | 2018-11-30 | 2020-06-04 | コベルコ建機株式会社 | 建設機械の遠隔操作装置 |
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