WO2022113718A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2022113718A1
WO2022113718A1 PCT/JP2021/041044 JP2021041044W WO2022113718A1 WO 2022113718 A1 WO2022113718 A1 WO 2022113718A1 JP 2021041044 W JP2021041044 W JP 2021041044W WO 2022113718 A1 WO2022113718 A1 WO 2022113718A1
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WO
WIPO (PCT)
Prior art keywords
work machine
specific actuator
actuator
restriction
operation restriction
Prior art date
Application number
PCT/JP2021/041044
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English (en)
Japanese (ja)
Inventor
亮 金澤
匡士 西澤
理優 成川
慎二郎 山本
Original Assignee
日立建機株式会社
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Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Publication of WO2022113718A1 publication Critical patent/WO2022113718A1/fr

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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
    • 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
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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

Definitions

  • the present invention relates to a work machine.
  • a safety function that detects the approach of a worker and automatically controls the work machine to be forcibly stopped is becoming widespread. Based on the detected worker's position information and distance information, the worker is detected by a method of detecting the distance to an obstacle such as a worker by an electromagnetic wave or a laser sensor, or a method of identifying a moving object from an image analysis of a camera. By automatically controlling the work machine and decelerating or stopping it, it is possible to prevent the worker from coming into contact with the work machine.
  • Patent Document 1 A technique such as Patent Document 1 is disclosed as a safety function that does not depend on recognition performance or control performance.
  • Patent Document 1 when it is detected that the gate lock lever of the work machine is operated in the released state, a signal is sent to the guide, and the work machine can be operated when the guide permits the operation of the work machine.
  • the safety device is disclosed.
  • a safety device as described in Patent Document 1 can greatly reduce the contact risk of surrounding workers.
  • the judgment as to whether or not the work machine can be operated is left to the surrounding guides, there is a risk that the work desired by the machine operator of the work machine cannot be performed.
  • a multi-flexibility work machine such as a hydraulic excavator
  • it is not always necessary to use all actuators to perform the work so there is a way to limit the operation of all actuators of the work machine with a gate lock. , The workability of the machine operator of the work machine may be significantly reduced.
  • the present invention has been made in view of the above circumstances, and by limiting only the operation of a specific actuator of a work machine while reflecting the intention of the machine operator, productivity and safety are highly compatible.
  • the purpose is to provide a work machine that can be used.
  • the work machine of the present invention changes the operation restricted state of the plurality of actuators for driving the work machine, the operation device in which the operator operates the plurality of actuators, and the plurality of actuators.
  • a work machine including a communication terminal that receives a requested request signal from an external terminal outside the work machine and a control device that controls the operation of the plurality of actuators, wherein the control device is the communication terminal. Identifyes a specific actuator whose operation restriction state is to be changed from the request signal received by the machine, and responds to the approval / disapproval information of the operation restriction of the specific actuator of the work machine and the operation state information of the specific actuator.
  • the operation restriction state of the specific actuator When it is determined whether or not the operation restriction state of the specific actuator can be changed and it is determined that the operation restriction of the specific actuator is possible, the operation of the corresponding specific actuator is restricted and the operation of the specific actuator is restricted. It is characterized in that the operation restriction state is notified to the external terminal via the communication terminal.
  • the machine operator since the machine operator is configured to finally determine whether or not the operation of each actuator can be restricted, it becomes easy for the machine operator to continue the original work scheduled. Therefore, while maintaining the workability of the machine operator, it is possible for the surrounding workers to safely move around the work machine and to safely carry out simple work.
  • FIG. 1 is a diagram showing the configuration of the work machine 100 according to the first embodiment.
  • a general hydraulic excavator is assumed as the work machine 100.
  • the work machine 100 includes an articulated front device (front work machine) 20a and a vehicle body, which are configured by connecting a plurality of rotating driven members (boom 20a1, arm 20a2, bucket (work tool) 20a3).
  • the upper swivel body 20b and the lower traveling body 20c are provided, and the upper swivel body 20b is provided so as to be able to turn with respect to the lower traveling body 20c.
  • each drive unit front device 20a, upper swing body 20b, lower traveling body 20c
  • the front actuator group 3a boost actuator 3a1, arm actuator 3a2, bucket actuator
  • a swivel actuator 3b that drives the upper swivel body 20b
  • a traveling actuator group 3c traveling left actuator 3c1 and traveling right actuator 3c2 that drives the lower traveling body 20c.
  • the machine operator 51 (shown in FIG. 2) boarding the work machine 100 boarded the operation chamber 101 provided in the upper swivel body 20b, and operated the work machine 100 by the operation device 6 provided in the operation room 101.
  • the operation device 6 includes an operation lever device 6a that outputs an operation signal for operating the actuators (3a1, 3a2, 3a3, 3b) and an operation lever device 6b that outputs an operation signal for driving the traveling actuator group 3c. Consists of.
  • the operating lever device 6a is two operating levers that can be tilted back and forth, left and right, and operates the actuators (3a1, 3a2, 3a3, 3b) according to the tilting direction and tilting amount.
  • the operation lever device 6b is two operation levers that can be tilted in the front-rear direction, and operates the traveling actuator group 3c according to the tilt direction and the tilt amount. Further, the operating device 6 includes a measuring device that electrically detects an operating signal corresponding to the tilting amount (lever operating amount) of the operating lever, and the detected lever operating amount (hereinafter, may be simply referred to as an operating amount). Is output to the control device 2 (shown in Fig. 2) via electrical wiring.
  • the operating lever devices 6a and 6b may have a hydraulic pilot system different from the above, and the pilot pressure according to the operating direction and operating amount of the operating lever is directly supplied as a drive signal to a control valve (not shown) to be an actuator. It may be configured to drive (3a1, 3a2, 3a3, 3b, 3c).
  • FIG. 2 is a diagram showing an outline of the information sharing system 200 according to the first embodiment.
  • the information sharing system 200 sends and receives a request signal for changing the restricted state of a specific actuator of the work machine 100 via the external terminal 1 possessed by the surrounding worker 52 who works around the work machine 100 (outside). , It is configured to be processed by the signal processing device 5 provided in the operation room 101 via the communication terminal 8 provided in the work machine 100.
  • the signal processing device 5 is composed of, for example, a touch monitor, a tablet PC, or the like that can display (notify) and input information.
  • the information processed by the signal processing device 5 is output to the drive control device 10 provided in the work machine 100 via electrical wiring, and the external terminal 1 possessed by the surrounding worker 52 via the communication terminal 8.
  • Communication between the external terminal 1 and the communication terminal 8 is via wireless communication between terminals using Bluetooth (registered trademark), etc., or a local network constructed by a work machine 100 or network equipment (not shown) provided in the field environment. It shall be done.
  • the signal processing device 5 and the drive control device 10 constitute the control device 2 of this embodiment.
  • the work machine 100 includes display device groups 4 (front display device 4a, turning display device 4b, traveling display device 4c) corresponding to each of the front device 20a, the upper turning body 20b, and the lower traveling body 20c, which are drive units. It is configured to display and notify the peripheral workers 52 around the work machine 100 of the restricted state of the actuators (3a1, 3a2, 3a3, 3b, 3c) processed by the signal processing device 5. It is assumed that the display device group 4 visually displays using light such as an LED or characters. Further, the display device group 4 is not limited to the configuration directly provided in the work machine 100, and may be configured to be displayed on an external terminal 1 owned by the surrounding worker 52, a display installed in the environment, or the like. Further, it may be configured to notify by voice by a voice device or the like provided in the work machine 100 without going through the display device group 4.
  • display device groups 4 front display device 4a, turning display device 4b, traveling display device 4c
  • FIG. 3 is a functional block diagram showing the processing function of the information sharing system 200 according to the first embodiment.
  • the information sharing system 200 includes an external terminal 1, a work machine 100, a front actuator group 3a, a swivel actuator 3b, a traveling actuator group 3c, a display device group 4, an operation device 6, a communication terminal 8, and a control device provided in the work machine 100. It consists of two.
  • the control device 2 controls the operating state of the work machine 100 (front actuator group 3a, swivel actuator 3b, traveling actuator group 3c, display device group 4), and receives input signals from the operating device 6 and the communication terminal 8.
  • control device 2 (signal processing device 5 and drive control device 10) described above stores a CPU (Central Processing Unit) that performs various calculations and a program for executing calculations by the CPU. It is configured as a microcomputer (microcomputer) including a storage device such as a ROM (ReadOnlyMemory) and an HDD (HardDiskDrive), and a RAM (RandomAccessMemory) which is a work area when the CPU executes a program.
  • microcomputer including a storage device such as a ROM (ReadOnlyMemory) and an HDD (HardDiskDrive), and a RAM (RandomAccessMemory) which is a work area when the CPU executes a program.
  • Each function of the control device 2 is realized by the CPU loading various programs stored in the storage device into the RAM and executing them.
  • the signal processing device 5 includes an interface unit 5a and a restricted state management unit 5b.
  • the interface unit 5a displays (notifies) the restricted state (operation restriction or operation restriction release) output by the restricted state management unit 5b to the machine operator 51, and the peripheral worker 52 transmits it via the external terminal 1. It functions as an interface for inputting whether or not the machine operator 51 approves the request (approval / non-approval) in response to the restriction request or restriction release permission (collectively referred to as a request signal).
  • the restricted state management unit 5b is a request signal transmitted by the surrounding worker 52 via the external terminal 1, an approval / rejection signal (information) input by the machine operator 51 via the interface unit 5a, and an operation acquired from the operation device 6.
  • the restricted state of the actuator (3a, 3b, 3c) is determined and the restricted state held inside is updated (details will be described later), and a signal (information) indicating the updated restricted state is output.
  • the restricted state management unit 5b restricts when it is necessary to confirm with the machine operator 51 whether or not the restricted request (request signal) transmitted by the surrounding worker 52 via the external terminal 1 is approved as described above.
  • the inquiry signal is output to the interface unit 5a.
  • (Request selection processing by surrounding workers 52 using the external terminal 1) 4 (a) to 4 (d) are diagrams showing an example of a request selection process by a peripheral worker 52 using the external terminal 1 according to the first embodiment. Here, an example of confirmation of the restriction state by the peripheral worker 52 via the external terminal 1 and transmission processing of the restriction request and the restriction release permission is shown.
  • FIG. 4A shows an example of operation restriction request processing by a peripheral worker 52 via an external terminal 1.
  • the restricted state D1a1 expressed in a shovel diagram or the like the restricted request selection means D1b1 of each actuator expressed in tabular text, and the request approval status display D1c1 expressed in text or the like are displayed.
  • the restricted state D1a1 is expressed so as to cover the actuator currently restricted on the work machine 100
  • the example of FIG. 4A shows the operation of the lower traveling body 20c which is a traveling device. Indicates that it is restricted.
  • the restriction request selection means D1b1 is configured so that the restriction can be turned ON or OFF for the front device 20a, the upper swivel body 20b, and the lower traveling body 20c, which are the targets of the restriction, respectively.
  • the restriction request selection means D1b1 By selecting (selecting one or more) the desired restricted state on the restriction request selection means D1b1 by touch input, cursor input, or the like, the actuator to be restricted or released is selected.
  • the input interface in the restricted state is not limited to the above, and a mechanical switch, voice recognition, or the like may be used.
  • the request approval status display D1c1 is requested to limit the upper swivel body 20b to the machine operator 51 (in other words, the swivel operation). It is displayed that the approval / disapproval of the restriction status change request) is being inquired. At this time, the operation of the upper swing body 20b is not yet restricted.
  • FIG. 4B shows an example of a display result indicating that the request for operation restriction by the surrounding worker 52 via the external terminal 1 has been approved by the machine operator 51.
  • the external terminal 1 is represented by the restricted state D1a2 represented by the excavator diagram or the like, the restricted request selection means D1b2 of each actuator represented by the tabular text, and the text or the like.
  • Request approval status display D1c2 is displayed.
  • the state after the restriction request of the upper swing body 20b implemented in the example of FIG. 4A is approved by the machine operator 51 is shown (the approval process will be described later).
  • the restricted state D1a2 is displayed so that the upper rotating body 20b is covered in addition to the lower traveling body 20c, indicating that the upper rotating body 20b and the lower traveling body 20c are restricted in operation. ing.
  • the restriction request selection means D1b2 the upper turning body 20b and the lower traveling body 20c are in the restricted ON state.
  • the request approval status display D1c2 displays a text indicating that the restriction request has been approved by the machine operator 51 (in other words, the restricted state of the turning motion has been changed).
  • the turning display device 4b and the traveling display device 4c corresponding to the actuators (3b, 3c) are lit (the lighting process will be described later), and the surroundings.
  • the worker 52 is configured so that both the external terminal 1 and the display device group 4 can confirm that the restriction request has been approved by the machine operator 51.
  • an example for the operation restriction request is shown, but since the same processing procedure is applied to the operation restriction release request, a detailed description is omitted.
  • FIG. 4 (c) shows an example of a display result indicating that the request for operation restriction by the surrounding worker 52 via the external terminal 1 has been rejected by the machine operator 51.
  • the external terminal 1 is represented by the restricted state D1a3 represented by the excavator diagram or the like, the restricted request selection means D1b3 of each actuator represented by the tabular text, and the text or the like.
  • Request approval status display D1c3 is displayed.
  • the state after the restriction request of the upper swing body 20b implemented in the example of FIG. 4A is rejected by the machine operator 51 is shown (the refusal process will be described later).
  • the restricted state D1a3 is displayed so as to cover the lower traveling body 20c, indicating that only the lower traveling body 20c is restricted in operation. Similarly, on the restriction request selection means D1b3, only the lower traveling body 20c is in the restriction ON state. Further, the request approval status display D1c3 displays a text indicating that the restriction request has been rejected by the machine operator 51 (in other words, the restriction state change of the turning motion has not been approved).
  • FIG. 4 (d) the request for operation restriction was rejected because the actuator (here, the swivel actuator 3b) for which the operation restriction was requested by the surrounding worker 52 via the external terminal 1 was in operation.
  • An example of the display result showing is shown. Similar to FIG. 4 (a), the external terminal 1 is represented by the restricted state D1a4 represented by a shovel diagram or the like, the restricted request selection means D1b4 of each actuator represented by tabular text, text or the like. Request approval status display D1c4 is displayed. In this embodiment, the state after the restriction request of the upper swing body 20b implemented in the example of FIG. 4A is rejected according to the actuator operation is shown (the rejection process will be described later).
  • the restricted state D1a4 is displayed so as to cover the lower traveling body 20c, indicating that only the lower traveling body 20c is restricted in operation.
  • the restriction request selection means D1b4 only the lower traveling body 20c is in the restriction ON state.
  • the swivel actuator 3b that was the target of the restriction request was operating on the request approval status display D1c4, the operation of the upper swivel body 20b could not be restricted (in other words, the restricted state of the upper swivel body 20b was changed. A text is displayed indicating that it could not be done).
  • the request approval status display displays (notifies) whether it depends on the judgment of the machine operator 51 or the operating state of the actuator for which the operation restriction is requested. , It can be confirmed that the operation restriction request is rejected (not approved) together with the reason (factor) for the rejection of the operation restriction request.
  • FIG. 5 (a) shows an example of the approval process of the restriction request by the machine operator 51 via the interface unit 5a.
  • the interface unit 5a displays a restricted state D5a1 expressed by a shovel figure or text, and a request detail display D5b1 expressed by text or the like.
  • the restricted state D5a1 is represented by an illustration and tabular text such that the actuator currently restricted on the work machine 100 is covered, and the example of FIG. 5 (a) is running. It shows that the operation of the lower traveling body 20c, which is a device, is restricted.
  • the request details display D5b1 is configured to display the actuator for which the restriction was requested and the selection means for determining whether or not the restriction request is approved when the restriction inquiry signal is input from the restriction status management unit 5b.
  • the machine operator 51 approves or rejects the restriction of the target actuator by selecting (selecting one or more) the desired approval / disapproval on the request detail display D5b1 by touch input, cursor input, or the like.
  • the input interface for approval / disapproval is not limited to the above, and a mechanical switch, voice recognition, or the like may be used.
  • the request detail display D5b1 receives the restriction request of the upper swivel body 20b (in other words, the request to change the restricted state of the swivel operation) to the machine operator 51, and the upper swivel body 20b. It is displayed to select whether to approve the restriction request of. At this time, the operation of the upper swing body 20b is not yet restricted.
  • FIG. 5B shows an example of notification processing of the restriction release request to the machine operator 51 via the interface unit 5a.
  • the interface unit 5a displays a restricted state D5a2 expressed by a shovel figure or text, and a request detail display D5b2 expressed by text or the like.
  • the restricted state D5a2 is represented by an illustration and tabular text such that the actuator currently restricted on the work machine 100 is covered, and all the examples in FIG. 5 (b) are represented. It shows that the operation restriction of the actuator of is released.
  • the request detail display D5b2 is notified of the actuator (here, the traveling actuator group 3c) whose restriction is released by the surrounding worker 52 via the external terminal 1 and the processing result thereof.
  • the restriction release request is automatically approved without the approval operation of the machine operator 51.
  • the machine operator 51 confirms that the restriction on the target actuator is released by selecting the confirmation on the request detail display D5b2 by touch input, cursor input, or the like.
  • the confirmation input interface is not limited to the above, and a mechanical switch, voice recognition, or the like may be used.
  • FIG. 6 is a diagram showing a processing flow of the signal processing apparatus 5 according to the first embodiment, particularly the restricted state management unit 5b thereof.
  • the communication terminal 8 communicating with the external terminal 1 requests the change of the restricted state, that is, the communication terminal 8 requests the change of the restricted state. It starts when a signal is acquired.
  • the specific actuator whose restricted state is to be changed is identified from the request signal received by the communication terminal 8 from the external terminal 1, and the restricted state is changed from the operation amount output by the operating device 6.
  • FC3a it is determined whether or not the reference manipulated variable M is less than the predefined threshold Mth.
  • the threshold value Mth by setting a very small value for the threshold value Mth, it is determined whether or not the actuator to be changed is operating (in other words, whether it is being operated).
  • the reference operation amount M by referring to the reference operation amount M to determine whether the restricted state can be updated, when an operation command is requested when the restricted state is changed, the work machine 100 suddenly starts or stops operating.
  • the determination of whether or not the actuator to be changed is operating (operating) is not limited to the one based on the operation amount output by the operating device 6, but the state measuring device is directly applied to the actuators (3a, 3b, 3c). It may be configured to be determined from the operating speed of each actuator or the like.
  • the operation (restricted) state could not be changed via the communication terminal 8 in the processing FC4a. Is notified to the external terminal 1 owned by the surrounding worker 52 together with the reason. At this time, the external terminal 1 possessed by the surrounding worker 52 is displayed with the reason that the restricted state could not be changed as shown in FIG. 4 (d).
  • it is automatically approved without the approval operation of the machine operator 51, and the operation of the corresponding actuator is released from the restriction.
  • the operation restriction release state of the corresponding actuator is notified to the external terminal 1 owned by the surrounding worker 52 via the machine operator 51 of the work machine 100 and the communication terminal 8 via the interface unit 5a.
  • the interface section 5a displays a change inquiry (restricted inquiry) to the restricted state as shown in Fig. 5 (a) in the process FC9a. Inquire the machine operator 51 to determine whether or not the restriction is possible.
  • FC10a the changeability result answered by the machine operator 51 via the interface unit 5a is confirmed, and if the change to the restricted state is refused, the processing FC11a is in the surroundings via the communication terminal 8.
  • the external terminal 1 owned by the worker 52 is notified with the reason that the change to the restricted state is refused as shown in FIG. 4 (c). At this time, since the change to the restricted state is rejected, the restricted state is not changed.
  • FC10a the changeability result answered by the machine operator 51 via the interface unit 5a is confirmed, and if the change to the restricted state is approved, the operation is restricted to the drive control device 10 in the processing FC12a. Is output, the processing FC13a notifies the machine operator 51 of the transition to the operation restricted state (in other words, the changed restricted state) via the interface unit 5a, and the processing FC14a communicates. Notifies the external terminal 1 possessed by the surrounding worker 52 via the terminal 8 that the transition to the operation restricted state is completed as shown in FIG. 4 (b).
  • the drive control device 10 includes an actuator control unit 10a and a display control unit 10b.
  • the actuator control unit 10a responds to the operation amount input by the machine operator 51 via the operation device 6 and the restriction flag signal (processes Fc6a, FC12a in FIG. 6) indicating the restriction state output by the restriction state management unit 5b. Then, it is determined whether or not the machine operator 51 performs the desired operation for the actuator (3a, 3b, 3c), and the control command finally commanded to the actuator (3a, 3b, 3c) is determined. do.
  • the display control unit 10b of the display device group 4 of the corresponding actuator (3a, 3b, 3c) according to the restriction flag signal (processing FC6a, FC12a in FIG. 6) indicating the restriction state output by the restriction state management unit 5b. Determines the display command that controls the display state.
  • the limit flag signal has the same size as the number of actuators (3a, 3b, 3c) constituting the work machine 100, and the operation limit state of each actuator (3a, 3b, 3c) is expressed by two values. Let it be a vector.
  • FIG. 7A shows a functional block diagram of the actuator control unit 10a.
  • the actuator control unit 10a is composed of a limit selector SLT1, a required speed conversion unit 10a1, a front actuator command calculation unit 10a2, a swivel actuator command calculation unit 10a3, and a traveling actuator command calculation unit 10a4.
  • the operation amount input by the machine operator 51 via the operating device 6 is converted into the required speed of the corresponding actuator (3a, 3b, 3c) by the conversion table preset in the required speed conversion unit 10a1 and corresponds to the corresponding speed.
  • the front actuator responds to the boom request speed V f1req output by the request speed conversion unit 10a1, the arm request speed V f2req , the bucket request speed V f3req , and the front limit flag output by the limit selector SLT1.
  • the final command speed to be output to the boom actuator 3a1, the arm actuator 3a2, and the bucket actuator 3a3 constituting the group 3a is determined.
  • the front limit flag is set to two values represented by 0 and 1, 0 is the limit release state, and 1 is the limit state. When the front limit flag is 0, that is, the limit is released (corresponding to the process FC6a in FIG.
  • the front actuator command calculation unit 10a2 has the boom request speed V f1req and the arm request speed V f2req input from the request speed conversion unit 10a1.
  • the same value as the bucket required speed V f3req is output as the boom command speed V f1ref , the arm command speed V f2ref , and the bucket command speed V f3ref .
  • the front actuator command calculation unit 10a2 has the boom request speed V f1req and the arm request speed input from the request speed conversion unit 10a1.
  • FIG. 7 (b) shows a functional block diagram of the display control unit 10b.
  • the display control unit 10b is composed of a display selector SLT2, a front display control unit 10b1, a swivel actuator display control unit 10b2, and a traveling actuator display control unit 10b3.
  • the limit flag signal output by the limit state management unit 5b is converted into the display flag of the corresponding actuator (3a, 3b, 3c) in the display selector SLT2, and is converted into the display control unit (10b1) of the corresponding actuator (3a, 3b, 3c). , 10b2, 10b3) respectively.
  • the front display control unit 10b1 determines the final front display command current I fref that controls the display state of the front display device 4a constituting the display device group 4 according to the front display flag output by the display selector SLT2 .
  • the front display flag is set to two values represented by 0 and 1, 0 is the restriction release state, and 1 is the restriction state.
  • the front display control unit 10b1 issues a front display command so that the front display device 4a constituting the display device group 4 is turned off.
  • the current I fref is determined.
  • the front restriction flag is 1, that is, in the restricted state (corresponding to the process FC12a in FIG.
  • the front display control unit 10b1 fronts the front display device 4a constituting the display device group 4 so that the front display device 4a is lit.
  • the display command current I fref is determined. Since the same processing is performed for the turning display control unit 10b2 and the traveling display control unit 10b3, detailed explanations will be omitted.
  • FIG. 8 (a), 8 (b), and 8 (c) are diagrams showing the operation and effect according to the first embodiment.
  • FIG. 8 (a) shows a series of work examples including the restriction and approval process of the actuator operation of the work machine 100 by the machine operator 51 and the surrounding workers 52.
  • the machine operator 51 operates the work machine 100 to perform excavation work, and the surrounding worker 52 passes behind the work machine 100 during work.
  • (a1) of FIG. 8A the surrounding worker 52 is approaching the work machine 100, and the request for limiting the actuator operation is transmitted to the machine operator 51 via the external terminal 1.
  • the machine operator 51 approves the restriction request via the signal processing device 5 provided in the operation room 101.
  • (a2) of FIG. 8A the display state of the display device group 4 provided in the work machine 100 is confirmed, and the surrounding workers 52 are moving so as to pass behind the work machine 100.
  • (a3) of FIG. 8A after the surrounding worker 52 passes behind the work machine 100, the machine operator 51 is notified of the permission to release the restriction on the actuator operation via the external terminal 1. There is.
  • FIG. 8 (b) shows the work performed by the machine operator 51 and the surrounding workers 52 when the surrounding worker 52 requests to limit the operation of all the actuators (3a, 3b, 3c) of the work machine 100. Shows the timetable of.
  • the time range Ta1 corresponds to (a1) in FIG. 8 (a), and the surrounding worker 52 transmits a restriction request for actuator operation to the work machine 100 during excavation work, and the restriction request by the machine operator 51. Approval process is carried out.
  • the time range Ta2 corresponds to (a2) in FIG. 8A, and the surrounding worker 52 passes behind the work machine 100, and after the passage, the permission process for releasing the restriction on the actuator operation is performed.
  • the time range Ta3 corresponds to (a3) in FIG. 8 (a), and the operation restriction of the actuators (3a, 3b, 3c) of the work machine 100 is released by the restriction release permission (request) processing by the surrounding workers 52.
  • the machine operator 51 starts the excavation work again.
  • FIG. 8 (c) shows the work performed by the machine operator 51 and the surrounding workers 52 when the surrounding worker 52 requests the operation of a specific actuator (3a, 3b, 3c) of the work machine 100 to be restricted. Shows the timetable of. Here, it is assumed that the swivel actuator 3b and the traveling actuator group 3c of the work machine 100 are restricted (the operation of the front actuator group 3a is not restricted).
  • the time range Ta1 corresponds to (a1) in FIG. 8 (a), and the surrounding worker 52 transmits a restriction request for actuator operation to the work machine 100 during excavation work, and the restriction request by the machine operator 51. Approval process is carried out.
  • the time range Ta2 corresponds to (a2) in FIG.
  • the time range Ta3 corresponds to (a3) in FIG.
  • the restricted state of the actuators (3a, 3b, 3c) is notified to the surrounding workers 52 around the work machine 100 by both the external terminal 1 and the display device group 4.
  • at least one of the external terminal 1 or the display device group 4 may be configured to notify the surrounding workers 52 around the work machine 100.
  • the control device 2 of the work machine 100 of the first embodiment is a specific actuator whose operation restriction state is changed from the request signal (restriction request) received by the communication terminal 8.
  • the specific actuator is identified according to the approval / disapproval information of the operation restriction of the specific actuator determined by the operator 51 of the work machine 100, and the (current) operation state information of the specific actuator.
  • control device 2 determines that the operation restriction of the specific actuator is not possible
  • the control device 2 determines that the operation restriction of the specific actuator is not possible
  • the communication terminal 8 together with the reason that the operation restriction of the specific actuator is not possible. Notify the external terminal 1 via the above.
  • the work machine 100 includes a display device for displaying the operation restriction state of the plurality of actuators around the work machine 100, and the control device 2 determines that the operation restriction of the specific actuator is possible.
  • the operation restriction state of the specific actuator is set to the specific. It is displayed on the display device corresponding to the actuator.
  • the control device 2 releases the operation restriction from the request signal (restriction release request) received by the communication terminal 8.
  • the specific actuator to be targeted is identified, the operation restriction of the specific actuator is released, and the operation restriction release state of the specific actuator is released via the operator 51 of the work machine 100 and the communication terminal 8. Notify the external terminal 1.
  • control device 2 receives a request signal for requesting (permitting) the release of the operation restriction of the specific actuator from the external terminal 1 via the communication terminal 8 in the operation restriction state of the specific actuator. In this case, the operation restriction state of the specific actuator is released.
  • the machine operator 51 since the machine operator 51 is configured to finally determine whether or not the operation of each actuator can be restricted, it is easy for the machine operator 51 to continue the original work scheduled. Become. Therefore, while maintaining the workability of the machine operator 51, the surrounding workers 52 can safely move around the work machine and safely perform simple work.
  • the drive of a specific actuator of the work machine 100 is restricted before the start of operation by using the signal from the external terminal 1 possessed by the surrounding worker 52 as a trigger.
  • the surrounding workers 52 can approach the periphery of the work machine 100 with low risk while performing the original work of the work machine 100, and both productivity and safety can be achieved.
  • FIG. 9 is a functional block diagram showing a processing function of the information sharing system 200 according to the second embodiment.
  • the work machine 100 of this embodiment is composed of a front actuator group 3a, a swivel actuator 3b, a traveling actuator group 3c, a display device group 4, an operating device 6, a communication terminal 8, a control device 2, and a distance measuring device 21. ..
  • the distance measuring device 21 may be provided inside the control device 2.
  • the distance measuring device 21 has a configuration in which a receiver is attached to an external terminal 1 owned by the surrounding worker 52 and the distance of the surrounding worker 52 is measured by a beacon or the like, and the relative distance of the surrounding worker 52 as seen from the work machine 100 is measured. It shall be measurable.
  • the distance measuring device 21 may be configured to mount a laser sensor, a stereo camera, or the like on the upper swivel body 20b, detect surrounding workers 52, and measure the relative distance.
  • the distance measuring device 21 outputs the measured relative distance of the surrounding workers 52 to the signal processing device 5 (restricted state management unit 5b) via electrical wiring.
  • FIG. 10 is a diagram showing a processing flow of the signal processing apparatus 5 according to the second embodiment, particularly the restricted state management unit 5b thereof.
  • the process shown in FIG. 10 is started when the communication terminal 8 communicating with the external terminal 1 requests the change of the restricted state, that is, when the request signal for changing the restricted state is acquired from the communication terminal 8. Is executed in parallel with. This process is started when the relative distance Dr is acquired from the distance measuring device 21 in the process FC1c.
  • the processing FC2c it is determined whether or not the relative distance Dr output by the distance measuring device 21 is equal to or greater than the predetermined threshold (predetermined distance) Dth.
  • the threshold value Dth is set to a value sufficiently larger than the movable area of the work machine 100, it is possible to safely release the operation restriction in a state where the possibility of contact between the work machine 100 and the surrounding workers 52 is sufficiently reduced. secure.
  • the processing FC3c outputs a restriction flag signal requesting the drive control device 10 to release the operation restriction.
  • the processing FC4c as shown in FIG. 5B, the machine operator 51 is notified of the transition to the operation restriction release state via the interface unit 5a.
  • the operation restriction is released by this process, for example, in (a2) or (a3) of FIG. 8A, after the surrounding worker 52 passes behind the work machine 100.
  • the control device 2 of the work machine 100 of the second embodiment measures the relative distance to the worker 52 who possesses the external terminal 1 in the operation restricted state of the specific actuator.
  • the relative distance measured by the distance measuring device 21 becomes a predetermined distance (threshold Dth) or more, the operation restricted state of the specific actuator is released.
  • the operation restriction of the actuator (3a, 3b, 3c) is automatically released by using the relative distance Dr of the work machine 100 and the surrounding worker 52 as a judgment index, so that the surrounding worker While sufficiently ensuring the safety of 52, it is possible to reduce the labor of the machine operator 51 for releasing the restriction, and the workability of the machine operator 51 is improved.
  • FIG. 11 is a diagram showing a processing flow of the signal processing apparatus 5 according to the third embodiment, particularly the restricted state management unit 5b thereof.
  • processing FC15a is newly added to the processing flow shown in FIG.
  • the reference operation amount M is determined in the process FC3a to be equal to or higher than the predefined threshold value Mth (that is, it is determined that the actuator is in operation), and the communication terminal 8 is determined in the process FC4a. It is executed when the peripheral worker 52 notifies the external terminal 1 possessed by the peripheral worker that the restricted state cannot be changed, and the corresponding operation is performed as shown in FIG. 12 described later via the interface unit 5a. Request the machine operator 51 of the work machine 100 to stop the operation (stop operation) of the actuators (3a, 3b, 3c) inside.
  • FIG. 12 is a diagram showing an example of operation stop request processing to the machine operator 51 via the interface unit 5a according to the third embodiment.
  • the interface unit 5a displays a restricted state D5a3 expressed by a shovel figure or text, and a request detail display D5b3 expressed by text or the like.
  • the restricted state D5a3 is represented by an illustration and tabular text that covers the actuator currently restricted on the work machine 100, and the example in FIG. 12 is for all actuators. It indicates that the operation restriction has been released.
  • the operation stop of the corresponding actuator (here, the traveling actuator group 3c) is requested by the text.
  • the means for requesting the stop of operation is not limited to the text format, and voice, an alarm, or the like may be used.
  • the machine operator 51 may select the confirmation on the request details display D5b3 by touch input or cursor input, etc., to confirm only the operation restriction request of the target actuator, or the actual target actuator of the target actuator.
  • the operation may be restricted, and the external terminal 1 owned by the surrounding worker 52 may be notified via the communication terminal 8 that the transition to the operation restricted state has been completed as shown in FIG. 4 (b).
  • control device 2 of the work machine 100 of the third embodiment is described when the specific actuator subject to the operation restriction (limitation request) is operating (operating). It is characterized in that the operation stop (operation stop) of a specific actuator is requested to the operator 51 of the work machine 100.
  • the system side requests that the operation of the actuators (3a, 3b, 3c) subject to the restriction be stopped by using the operation amount output by the operation device 6 as a determination index.
  • Information sharing between the peripheral worker 52 and the machine operator 51 regarding the restriction / approval work is facilitated, and the workability of both the peripheral worker 52 and the machine operator 51 is improved.
  • FIG. 13 is a functional block diagram showing a processing function of the information sharing system 200 according to the fourth embodiment.
  • the interface unit 5a of the signal processing device 5 can input the restriction release request requested by the machine operator 51 to the external terminal 1 possessed by the surrounding worker 52.
  • the restricted state management unit 5b of the signal processing device 5 receives the restriction release request requested by the machine operator 51 via the interface unit 5a, and also receives the request signal requesting the restriction release via the communication terminal 8 to the external terminal. Send to 1.
  • FIG. 14 is a diagram showing an example of restriction release request processing by the machine operator 51 via the interface unit 5a according to the fourth embodiment.
  • the interface unit 5a displays a restricted state D5a4 represented by a shovel diagram or the like, a release request selection means D5b4 represented by tabular text, and a request approval status display D5c4 represented by text or the like. ..
  • the example of FIG. 14 shows that the operation of the lower traveling body 20c, which is a traveling device, is restricted.
  • the release request selection means D5b4 is configured so that the restriction can be turned ON or OFF for the front device 20a, the upper swing body 20b, and the lower traveling body 20c, which are subject to the restriction, respectively, and the machine operator 51 can select the restriction.
  • the actuator to be restricted or released is selected.
  • the input interface in the restricted state is not limited to the above, and a mechanical switch, voice recognition, or the like may be used.
  • the request approval status display D5c4 requests the surrounding workers 52 to release the restriction of the lower traveling body 20c (in other words, traveling). It is displayed that the approval / disapproval of the operation restriction status release request) is being inquired. At this time, the operation of the lower traveling body 20c has not been released yet.
  • FIG. 15 is a diagram showing an example of the restriction release request approval process by the peripheral worker 52 via the external terminal 1 according to the fourth embodiment.
  • the external terminal 1 displays a restricted state D1a5 expressed by a shovel figure or text, and a request detail display D1b5 expressed by text or the like.
  • the example of FIG. 15 shows that the operation of the lower traveling body 20c, which is a traveling device, is restricted.
  • the request detail display D1b5 determines whether or not to approve the actuator for which the restriction release is requested and the restriction release request when the release request (request signal) is input from the restriction state management unit 5b via the communication terminal 8.
  • the selection means is configured to be displayed, and the surrounding worker 52 selects (selects one or more) the desired approval / disapproval on the request detail display D1b5 by touch input, cursor input, or the like. Approve or reject the release of restrictions on the actuator.
  • the input interface for approval / disapproval is not limited to the above, and a mechanical switch, voice recognition, or the like may be used.
  • the request detail display D1b5 receives a request for releasing the restriction of the lower traveling body 20c (in other words, a request for releasing the restricted state of the traveling operation) to the surrounding workers 52, and the lower traveling body. It is displayed to select whether to approve the restriction release request of 20c. At this time, the operation of the lower traveling body 20c has not been released yet.
  • the restriction state D1a5 of the external terminal 1 and the interface unit 5a (restriction state D5a4, release request selection means D5b4, request) are received accordingly.
  • the display of the approval status display D5c4) will be changed, and the operation of the lower traveling body 20c will be lifted.
  • the operation of the lower traveling body 20c may be automatically released from the restriction, or the machine operator 51 who has requested to release the restriction is notified that the operation of the lower traveling body 20c can be released from the restriction.
  • the operation of the lower traveling body 20c may be released from the restriction.
  • the restricted state D1a5 of the external terminal 1 and the interface unit 5a (restricted state D5a4, release request selection means D5b4, request approval status display).
  • the display of D5c4) is not changed, and the operation of the lower traveling body 20c is not lifted.
  • the machine operator 51 who has requested to release the restriction may be notified that the surrounding worker 52 has refused.
  • the operation restriction release request by this process is executed, for example, in (a2) or (a3) of FIG. 8 (a) after the surrounding worker 52 passes behind the work machine 100.
  • the machine operator 51 inputs a restriction release request via the interface unit 5a, that is, the actuator (3a, 3b, 3c) is applied to the surrounding workers 52 at the judgment / request of the machine operator 51.
  • the actuator 3a, 3b, 3c
  • the system side automatically informs the peripheral worker 52 of the actuator (3a, It may be configured to request the release of the operation restriction of 3b and 3c).
  • the control device 2 of the work machine 100 of the fourth embodiment is in the operation restricted state of the specific actuator, for example, at the request of the operator 51 of the work machine 100, or. After a lapse of a predetermined time, a request signal requesting the release of the operation restriction of the specific actuator in the operation restricted state is transmitted (notified) to the external terminal 1 via the communication terminal 8. do.
  • the machine operator 51 requests the surrounding workers 52 to release the operation restrictions of the actuators (3a, 3b, 3c). As a result, it is possible to prevent the machine operator 51 from becoming difficult to continue the work when the surrounding worker 52 forgets to release the operation restriction, and the work continuity of the machine operator 51 is improved.
  • FIG. 16 is a functional block diagram showing the processing function of the front actuator command calculation unit 10a2 according to the fifth embodiment.
  • the front actuator command calculation unit 10a2 of this embodiment responds to the boom request speed V f1req output by the request speed conversion unit 10a1, the arm request speed V f2req , the bucket request speed V f3req , and the front limit flag output by the limit selector SLT1. Then, the final command speed to be output to the boom actuator 3a1, the arm actuator 3a2, and the bucket actuator 3a3 constituting the front actuator group 3a is determined (see also FIG. 7 (a)).
  • the front limit flag is set to two values represented by 0 and 1, 0 is the limit release state, and 1 is the limit state. When the front limit flag is 0, that is, the limit is released (corresponding to the process FC6a in FIG.
  • the front actuator command calculation unit 10a2 has a boom request speed V f1req , an arm request speed V f2req , and a bucket requested by the machine operator 51.
  • the required speed V f3req is output as the boom command speed V f1ref , the arm command speed V f2ref , and the bucket command speed V f3ref (via switches SW1, SW2, SW3).
  • the boom speed limit V f1lim , the arm speed limit V f2lim , and the bucket speed limit V f3lim are the maximum operating speeds preset for each of the actuators (3a, 3b, 3c) of the work machine 100.
  • the safety of the surrounding workers 52 is ensured by setting a small value that suppresses the contact risk in consideration of the size of the work machine 100 and the characteristics of the actuators (3a, 3b, 3c).
  • the front actuator command calculation unit 10a2 has the boom request speed V f1req and the arm request speed input from the request speed conversion unit 10a1.
  • the control device 2 (actuator control unit 10a) of the work machine 100 of the fifth embodiment holds the maximum operating speed preset for each of the plurality of actuators.
  • the operation speed of the specific actuator is limited so that the corresponding specific actuator operates at the maximum operation speed or less.
  • the actuator (3a, 3b, 3c) when the operation of the actuator (3a, 3b, 3c) is restricted, the actuator (3a, 3b, 3c) is controlled to operate at a preset maximum operating speed or less.
  • the work range and the types of work that can be performed by the work machine 100 in the operation restricted state are increased, so that the work continuity of the machine operator 51 is improved while maintaining the safety of the surrounding workers 52.
  • the present invention is not limited to the above-described embodiment, but includes various modified forms.
  • the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations.
  • it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.
  • each of the above configurations, functions, processing units, processing means, etc. may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. Further, each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
  • SSD Solid State Drive
  • control lines and information lines indicate those that are considered necessary for explanation, and do not necessarily indicate all the control lines and information lines in the product. In practice, it can be considered that almost all configurations are interconnected.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

L'invention concerne un engin de chantier au moyen duquel il est possible d'améliorer la sécurité d'un ouvrier environnant tout en empêchant une réduction des performances de travail d'un opérateur de l'engin. Cet engin de chantier est caractérisé en ce qu'un dispositif de commande 2 : identifie un actionneur spécifique à se soumettre à un changement dans un état de restriction de fonctionnement, à partir d'un signal de requête (requête de restriction) reçu par une borne de communication 8 ; effectue une détermination finale quant à savoir si l'état de restriction de fonctionnement de l'actionneur spécifique est autorisé à être changé, conformément à des informations d'approbation/refus sur une restriction de fonctionnement sur l'actionneur spécifique d'un engin de chantier 100 et des informations d'état de fonctionnement (actuelles) sur l'actionneur spécifique ; et, s'il est déterminé que la restriction de fonctionnement sur l'actionneur spécifique est autorisée, limite l'opération correspondante de l'actionneur spécifique, et notifie à une borne externe 1 l'état de restriction de fonctionnement de l'actionneur spécifique par l'intermédiaire de la borne de communication 8.
PCT/JP2021/041044 2020-11-27 2021-11-08 Engin de chantier WO2022113718A1 (fr)

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JP2020197150A JP7091425B2 (ja) 2020-11-27 2020-11-27 作業機械
JP2020-197150 2020-11-27

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000344470A (ja) * 1999-03-31 2000-12-12 Kobelco Contstruction Machinery Ltd 移動式クレーンの安全装置
WO2019172424A1 (fr) * 2018-03-08 2019-09-12 住友重機械工業株式会社 Machine de travail, dispositif de traitement d'informations, procédé de traitement d'informations, et programme
WO2020012911A1 (fr) * 2018-07-12 2020-01-16 コベルコ建機株式会社 Dispositif de sécurité pour engin de chantier de type rotatif
JP2020190145A (ja) * 2019-05-23 2020-11-26 日本車輌製造株式会社 建設機械の安全システム
JP2020190148A (ja) * 2019-05-23 2020-11-26 日本車輌製造株式会社 建設機械の安全システム

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4056766B1 (fr) 2016-12-06 2024-04-10 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Machine de construction
JP7037393B2 (ja) 2018-03-08 2022-03-16 大成建設株式会社 作業車両用旋回制御システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000344470A (ja) * 1999-03-31 2000-12-12 Kobelco Contstruction Machinery Ltd 移動式クレーンの安全装置
WO2019172424A1 (fr) * 2018-03-08 2019-09-12 住友重機械工業株式会社 Machine de travail, dispositif de traitement d'informations, procédé de traitement d'informations, et programme
WO2020012911A1 (fr) * 2018-07-12 2020-01-16 コベルコ建機株式会社 Dispositif de sécurité pour engin de chantier de type rotatif
JP2020190145A (ja) * 2019-05-23 2020-11-26 日本車輌製造株式会社 建設機械の安全システム
JP2020190148A (ja) * 2019-05-23 2020-11-26 日本車輌製造株式会社 建設機械の安全システム

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