WO2022018992A1 - 作業機械を制御するためのシステム及び方法 - Google Patents
作業機械を制御するためのシステム及び方法 Download PDFInfo
- Publication number
- WO2022018992A1 WO2022018992A1 PCT/JP2021/021842 JP2021021842W WO2022018992A1 WO 2022018992 A1 WO2022018992 A1 WO 2022018992A1 JP 2021021842 W JP2021021842 W JP 2021021842W WO 2022018992 A1 WO2022018992 A1 WO 2022018992A1
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- WO
- WIPO (PCT)
- Prior art keywords
- work
- machine
- machines
- working machine
- work machine
- Prior art date
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Classifications
-
- 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
- E02F9/2054—Fleet management
-
- 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
-
- 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
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
- E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
Definitions
- the remote controller 2, the input device 3, the display 4, the operating device 5, and the external communication device 6 are arranged outside the work machines 1a and 1b.
- the remote controller 2, the input device 3, the display 4, the operating device 5, and the external communication device 6 may be arranged, for example, in an external management center of the work machines 1a and 1b.
- the remote controller 2 remotely controls the work machines 1a and 1b.
- the number of work machines remotely controlled by the remote controller 2 is not limited to two, and may be more than two.
- FIG. 2 is a side view of the first work machine 1a.
- FIG. 3 is a block diagram showing the configuration of the first work machine 1a.
- the first working machine 1a includes a vehicle body 11, a traveling device 12, and a working machine 13.
- the vehicle body 11 includes an engine chamber 15.
- the traveling device 12 is attached to the vehicle body 11.
- the traveling device 12 has left and right tracks 16. In FIG. 2, only the track 16 on the left side is shown. The rotation of the track 16 causes the first work machine 1a to travel.
- the control valve 27 is arranged between the hydraulic actuator such as the lift cylinder 19 and the hydraulic pump 23.
- the control valve 27 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 23 to the lift cylinder 19.
- the control valve 27 may be a pressure proportional control valve.
- the control valve 27 may be an electromagnetic proportional control valve.
- the external communication device 6 shown in FIG. 1 wirelessly communicates with the machine communication device 28.
- the external communication device 6 transmits a command signal from the remote controller 2 to the machine communication device 28.
- the machine controller 26a receives a command signal via the machine communication device 28.
- the external communication device 6 receives the position data and the machine tilt data of the first working machine 1a via the machine communication device 28.
- the remote controller 2 remotely controls the work machines 1a and 1b.
- the remote controller 2 receives an operation signal from the input device 3.
- the remote controller 2 outputs an image signal to the display 4.
- the remote controller 2 includes a processor 2a and a storage device 2b.
- the processor 2a is, for example, a CPU (Central Processing Unit). Alternatively, the processor 2a may be a processor different from the CPU.
- the processor 2a executes a process for controlling the work machines 1a and 1b according to the program. In the following description, the description regarding the process executed by the remote controller 2 may be interpreted as the process executed by the processor 2a.
- the first work machine 1a excavates the current terrain 80 in a shape along the target design terrain 84.
- the second work machine 1b is also excavated in the same manner as the first work machine 1a.
- the work machines 1a and 1b excavate the next target design terrain 85 located below the target design terrain 84.
- the work machines 1a and 1b repeat the above work until they reach the final target terrain 81 or its vicinity.
- step S201 the remote controller 2 invalidates the operation of the operating device 5 on the first working machine 1a and the second working machine 1b during the automatic operation mode. Therefore, in the automatic operation mode, even if the operator operates the operating device 5, the first working machine 1a and the second working machine 1b automatically continue to operate.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Operation Control Of Excavators (AREA)
- Selective Calling Equipment (AREA)
Abstract
Description
1b 第2作業機械
2 リモートコントローラ
6 外部通信装置
26a 機械コントローラ
28 機械通信装置
Claims (8)
- 第1作業機械と第2作業機械とを含み、自動で動作可能な複数の作業機械と、
前記複数の作業機械と無線により通信を行う通信装置と、
前記通信装置を介して前記複数の作業機械に操作信号を送信し、前記複数の作業機械を個別に遠隔操作可能な操作装置と、
前記第1作業機械と前記第2作業機械とが自動で動作しているときに、前記操作装置による前記第1作業機械への操作を無効とするコントローラと、
を備えるシステム。 - 前記複数の作業機械のそれぞれは、前記作業機械の状態を検出し、前記作業機械の状態に応じて、前記操作装置に対する介入要求を出力し、
前記コントローラは、前記第1作業機械から前記介入要求を受信したときに、前記操作装置による前記第1作業機械への操作を有効とする、
請求項1に記載のシステム。 - 前記複数の作業機械のそれぞれは、前記作業機械の状態を検出し、前記作業機械の状態に応じて、前記操作装置に対する介入要求を出力し、
前記コントローラは、前記第1作業機械から前記介入要求を受信したときに、前記第1作業機械の自動動作を停止させる、
請求項1に記載のシステム。 - 前記コントローラは、自動動作の停止中の前記第1作業機械が、所定の復帰条件を満たしたときには、前記第1作業機械の自動動作を復帰させる、
請求項3に記載のシステム。 - 第1作業機械と第2作業機械とを含み、自動で動作可能な複数の作業機械を制御するための方法であって、
前記複数の作業機械を遠隔操作可能な操作装置から前記複数の作業機械に操作信号を送信することと、
前記第1作業機械と前記第2作業機械とが自動で動作しているかを判定することと、
前記第1作業機械と前記第2作業機械とが自動で動作しているときには、前記操作装置による前記第1作業機械への操作を無効とすること、
を備える方法。 - 前記第1作業機械から前記操作装置に対する介入要求を受信したかを判定することと、
前記第1作業機械から前記操作装置に対する介入要求を受信したときに、前記操作装置による前記第1作業機械への操作を有効とすること、
をさらに備える請求項5に記載の方法。 - 前記第1作業機械から前記操作装置に対する介入要求を受信したかを判定することと、
前記第1作業機械から前記操作装置に対する介入要求を受信したときに、前記第1作業機械の自動動作を停止させること、
をさらに備える請求項5に記載の方法。 - 自動動作の停止中の前記第1作業機械が、所定の復帰条件を満たしたときには、前記第1作業機械の自動動作を復帰させることをさらに備える、
請求項7に記載の方法。
Priority Applications (3)
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CA3181554A CA3181554A1 (en) | 2020-07-20 | 2021-06-09 | System and method for controlling work machine |
US17/924,034 US20230183943A1 (en) | 2020-07-20 | 2021-06-09 | System and method for controlling work machine |
AU2021311159A AU2021311159B2 (en) | 2020-07-20 | 2021-06-09 | System and method for controlling work machine |
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JP2020-123915 | 2020-07-20 | ||
JP2020123915A JP7404184B2 (ja) | 2020-07-20 | 2020-07-20 | 作業機械を制御するためのシステム及び方法 |
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JP (1) | JP7404184B2 (ja) |
AU (1) | AU2021311159B2 (ja) |
CA (1) | CA3181554A1 (ja) |
WO (1) | WO2022018992A1 (ja) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2013161946A1 (ja) * | 2012-04-27 | 2013-10-31 | 日立建機株式会社 | 作業機管理装置 |
US20170030052A1 (en) * | 2015-07-28 | 2017-02-02 | Caterpillar Inc. | Preventive Automatic Ripping for Hard Material |
JP2018044381A (ja) * | 2016-09-15 | 2018-03-22 | 日立建機株式会社 | ホイール式油圧ショベル |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2001098586A (ja) | 1999-10-01 | 2001-04-10 | Hitachi Constr Mach Co Ltd | 自動運転ショベル |
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- 2020-07-20 JP JP2020123915A patent/JP7404184B2/ja active Active
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- 2021-06-09 AU AU2021311159A patent/AU2021311159B2/en active Active
- 2021-06-09 CA CA3181554A patent/CA3181554A1/en active Pending
- 2021-06-09 US US17/924,034 patent/US20230183943A1/en active Pending
- 2021-06-09 WO PCT/JP2021/021842 patent/WO2022018992A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2013161946A1 (ja) * | 2012-04-27 | 2013-10-31 | 日立建機株式会社 | 作業機管理装置 |
US20170030052A1 (en) * | 2015-07-28 | 2017-02-02 | Caterpillar Inc. | Preventive Automatic Ripping for Hard Material |
JP2018044381A (ja) * | 2016-09-15 | 2018-03-22 | 日立建機株式会社 | ホイール式油圧ショベル |
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JP2022020430A (ja) | 2022-02-01 |
JP7404184B2 (ja) | 2023-12-25 |
CA3181554A1 (en) | 2022-01-27 |
AU2021311159A1 (en) | 2022-12-08 |
AU2021311159B2 (en) | 2024-02-08 |
US20230183943A1 (en) | 2023-06-15 |
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