WO2022202568A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
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- WO2022202568A1 WO2022202568A1 PCT/JP2022/012052 JP2022012052W WO2022202568A1 WO 2022202568 A1 WO2022202568 A1 WO 2022202568A1 JP 2022012052 W JP2022012052 W JP 2022012052W WO 2022202568 A1 WO2022202568 A1 WO 2022202568A1
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Images
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
-
- 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
- E02F9/20—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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L13/00—Details of the apparatus or circuits covered by groups H04L15/00 or H04L17/00
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/08—Testing, supervising or monitoring using real traffic
Definitions
- the present invention relates to working machines.
- a management system is known that is equipped with a management device that acquires information on work machines via a wireless communication system that is applied to mobile communication such as a mobile phone and manages the work machines (see Patent Document 1).
- the work machine described in Patent Document 1 includes an information generation unit that generates work machine information as information related to the work machine, and a division unit that divides the work machine information into predetermined data amounts and generates divided work machine information.
- an information adding unit that adds attribute information indicating the attribute of the divided work machine information to the divided work machine information; and communication that transmits the work machine information or the divided work machine information with the attribute information added to the outside of the work machine. including the part and
- the division unit processes the work machine information as divided work machine information even when it is not necessary to divide the work machine information, and the information adding unit adds attribute information to the divided work machine information.
- Patent Document 1 does not take into account changes in communication speed due to changes in weather conditions, such as thick clouds covering the working machine. Moreover, the technique described in Patent Document 1 does not take into account changes in communication speed caused by changes in the state of the work machine. Therefore, in the technique described in Patent Document 1, when the communication speed drops, the process of transmitting the divided work machine information to the management device is continued in the same manner as when the communication speed is sufficient. There is a possibility that the work machine information cannot be properly transmitted to the management device.
- An object of the present invention is to appropriately transmit work machine information to an external device.
- a work machine includes a machine body, a work device attached to the machine body, and a control device that executes transmission processing for transmitting data to an external device installed outside the machine body.
- the control device measures a communication speed with the external device, and if the communication speed is less than a predetermined required speed, limits the function of the transmission process. is increased, and when the work machine is in the operating state, the restriction on the function of the transmission processing is set higher than when the work machine is not in the operating state.
- work machine information can be appropriately transmitted to an external device.
- FIG. 4 is a diagram showing remote service request information
- FIG. 4 is a diagram showing a data storage amount table stored in a nonvolatile memory
- 4 is a flowchart showing the contents of transmission processing executed by an information control unit
- FIG. 5 is a diagram showing an example of a screen displayed on the display screen of the display device, showing an example in which boom cylinder pressure is displayed as vehicle body data
- FIG. 10 is a diagram showing an example of a screen displayed on the display screen of the display device, showing an example of displaying a communication log
- FIG. 11 is a diagram showing a selection condition table used in a working machine according to Modification 2; The figure which shows the management system which concerns on the modified example 3.
- FIG. 11 is a diagram showing a selection condition table used in a working machine according to Modification 2; The figure which shows the management system which concerns on the modified example 3.
- FIG. 11 is a diagram showing a
- FIG. 1 is a diagram showing a management system 1 according to an embodiment of the present invention.
- the management system 1 includes a work machine 101 that performs work at a work site, and a management device 105 provided in a management center located away from the work site.
- the working machine 101 is a crawler hydraulic excavator.
- the work machine 101 performs civil engineering work, construction work, demolition work, dredging work, and the like at a work site.
- the work machine 101 executes transmission processing for transmitting data to the machine body 5, the work device 4 attached to the machine body 5, and a management device 105 installed outside the machine body 5, and reception processing for receiving data from the management device 105. and a control device 10 that
- the machine body 5 has a crawler-type running body 2 and a revolving body 3 provided on the running body 2 so as to be able to turn.
- the control device 10 is mounted on the revolving body 3 .
- the work device 4 is a multi-joint type work device attached to the revolving body 3, and includes a boom 11, an arm 12, a bucket 13, and hydraulic cylinders (boom cylinder 11a, arm cylinder 12a, and bucket cylinder 13a) for driving them. have
- the revolving body 3 has an operator's cab 18 provided on the revolving frame and an engine room 17 provided on the rear side of the operator's cab 18 .
- the engine room 17 houses an engine 19 and hydraulic equipment such as a hydraulic pump driven by the engine 19 .
- the engine 19 is a power source of the work machine 101, and is configured by an internal combustion engine such as a diesel engine, for example.
- the management device 105 is an external device that remotely manages (grasp and monitor) the state of the work machine 101 .
- the management device 105 is, for example, a facility such as a head office, a branch office, or a factory of a manufacturer of the working machine 101, a rental company for the working machine 101, a data center that specializes in operating servers, or owns the working machine 101. It is installed in the owner's facility.
- the management system 1 performs two-way communication between a work machine 101 that performs work at a work site and a management device 105 that is installed at a location remote from the work site through a first communication network 109 that is a wide area network. configured to be able to That is, work machine 101 and management device 105 can transmit and receive data via first communication network 109 .
- the first communication network 109 is a mobile phone communication network (mobile communication network) developed by a mobile phone carrier, the Internet, or the like.
- mobile phone communication network mobile communication network
- wireless base station 109a when receiving data from work machine 101, wireless base station 109a transmits the received data via the Internet. and transmits it to the management device 105 .
- the management device 105 displays the vehicle body data acquired from the work machine 101 on the display screen 166 of the display device 165 .
- the management device 105 includes a management server 150, an input device 161 for inputting predetermined information to the management server 150, and information transmitted from the work machine 101 (vehicle data of the work machine 101 that changes in time series, etc.).
- a communication device 162 for receiving data and a display device 165 that is an output device for outputting predetermined information based on a control signal from the management server 150 are provided.
- the input device 161 is, for example, a keyboard, mouse, or the like.
- the display device 165 is, for example, a liquid crystal display device, and displays a display image such as vehicle body data of the working machine 101 on the display screen 166 based on a display control signal from the management server 150 .
- the management server 150 includes a CPU (Central Processing Unit) 151 as an operating circuit, a volatile memory 153 called RAM (Random Access Memory) as a storage device, an EEPROM (Electrically Erasable Programmable Read Only Memory) as a storage device, a flash It is composed of a computer including a non-volatile memory 152 such as a memory, a first communication interface 154, a second communication interface 155, and other peripheral circuits. Note that the management server 150 may be composed of one computer, or may be composed of a plurality of computers.
- the first communication interface 154 is connected to the communication device 162 and exchanges data with the control device 10 of the working machine 101 via the first communication network 109 .
- the second communication interface 155 is connected to the input device 161 and the display device 165 by wire.
- the management server 150 , the input device 161 and the display device 165 may be connected via the first communication network 109 .
- the input device 161 and the display device 165 can be used as remote terminals and installed at a location remote from both the management center and the work site.
- the input device 161 and the display device 165 may be a notebook PC, a tablet PC, or a smart phone that can be carried by the service staff.
- the working machine 101 includes a control device 10 that controls each part of the working machine 101 .
- Control device 10 is connected to communication terminal 127 that communicates with management device 105 via first communication network 109 and second communication network 107 so as to be able to communicate with each other, and controls devices included in work machine 101. It has a plurality of control units (information control unit 100 , engine control unit 121 , work control unit 122 , accessory control unit 123 and display control unit 124 ) and on-vehicle display input device 125 .
- the second communication network 107 is, for example, an in-vehicle network called CAN (Controller Area Network).
- the second communication network 107 includes a first in-vehicle network 107a that interconnects the information control unit 100, the engine control unit 121, and the work control unit 122, the information control unit 100, the accessory control unit 123 and a second in-vehicle network 107b that connects the display control unit 124 to each other.
- the communication terminal 127 is a radio communication device capable of radio communication with the radio base station 109a connected to the first communication network 109, and has a communication interface including a communication antenna whose sensitive band is, for example, the 2.1 GHz band. have. Communication terminal 127 exchanges information (data) with management apparatus 105 and the like via radio base station 109 a and first communication network 109 .
- the information control unit 100 collects (obtains) vehicle body data of the work machine 101 .
- the vehicle body data includes sensor information detected by various sensors of the working machine 101 and control information of a plurality of control units (121-124).
- the information control unit 100 executes a reception process for receiving a remote service execution command, which will be described later, from the management device 105 via the first communication network 109 .
- the information control unit 100 also executes a transmission process of transmitting the collected vehicle body data to the management device 105 via the first communication network 109 based on the received execution command.
- the engine control unit 121 controls the engine speed by adjusting the amount of fuel injected into the cylinders of the engine 19 using a fuel injection device (not shown).
- the work control unit 122 controls the operation of hydraulic equipment (eg, hydraulic pump, electromagnetic proportional valve, electromagnetic switching valve, etc.) mounted on the work machine 101 based on operation commands from the operation device in the operator's cab 18. By controlling, the operation of the working device 4, the revolving body 3, and the running body 2 is controlled. For example, when a boom raising operation command is input, the work control unit 122 controls a boom raising electromagnetic proportional valve to generate pilot pressure by the electromagnetic proportional valve. The generated pilot pressure moves the boom directional control valve to the boom up side.
- hydraulic equipment eg, hydraulic pump, electromagnetic proportional valve, electromagnetic switching valve, etc.
- the working fluid (working oil) discharged from the hydraulic pump is supplied to the bottom side oil chamber of the boom cylinder 11a through the boom directional control valve, and the working fluid is supplied from the rod side oil chamber of the boom cylinder 11a to the tank. is discharged. As a result, the boom 11 moves upward.
- the accessory control unit 123 controls accessories such as wipers and room lights.
- the display control unit 124 is connected to an in-vehicle display input device 125 provided in the cab 18 of the working machine 101 .
- the in-vehicle display input device 125 is a touch panel monitor or the like that functions as both a display unit and an input unit.
- the display control unit 124 causes the display screen 126 of the in-vehicle display/input device 125 to display the predetermined information, for example, when an operation input for displaying predetermined information is performed on the in-vehicle display/input device 125 .
- the information control unit 100 includes a CPU (Central Processing Unit) 111 as an operation circuit, a volatile memory 113 called RAM (Random Access Memory) as a storage device, an EEPROM (Electrically Erasable Programmable Read Only Memory) as a storage device, Non-volatile memory 112 such as flash memory, buffer memory 116 such as DRAM (Dynamic RAM), external communication interface (first communication interface) 114, internal communication interface (second communication interface) 115, and other peripheral circuits. computer.
- the information control unit 100 may be composed of one computer, or may be composed of a plurality of computers.
- the external communication interface 114 is connected to the communication terminal 127 and exchanges data with the management device 105 via the first communication network 109 .
- In-vehicle communication interface 115 exchanges data with a plurality of control units (121-124) connected to information control unit 100 via second communication network 107.
- the non-volatile memory 112 of the information control unit 100 stores programs capable of executing various calculations.
- the nonvolatile memory 112 is a storage medium that can read a program that implements the functions of this embodiment.
- the CPU 111 is a processing device that expands a program stored in the nonvolatile memory 112 into the volatile memory 113 and executes calculations. Predetermined arithmetic processing is performed on the signal received from 113 .
- the engine control unit 121, the work control unit 122, the auxiliary equipment control unit 123, and the display control unit 124 like the information control unit 100, include a CPU, a volatile memory, a nonvolatile memory, an in-vehicle communication interface, and , and a computer with other peripheral circuits.
- the information control unit 100 acquires vehicle body data from the engine control unit 121, the work control unit 122, the accessory control unit 123, and the display control unit 124. For example, the information control unit 100 acquires the rotational speed of the engine 19 (engine speed), the temperature of the engine cooling water, and state information representing the state of the engine 19 from the engine control unit 121 as vehicle body data.
- the engine speed is detected by a speed sensor connected to the engine control unit 121
- the temperature of the engine cooling water is detected by a temperature sensor connected to the engine control unit 121 .
- the information control unit 100 receives from the work control unit 122 the pressure of the hydraulic cylinders (for example, the boom cylinder 11a, the arm cylinder 12a, the bucket cylinder 13a), the discharge pressure of the main pump, the boom angle, the arm angle, the bucket angle, the working fluid (working Oil) temperature and state information representing the state of the work machine 101 are acquired as vehicle body data. These pressure information, angle information and temperature information are detected by a pressure sensor, angle sensor and temperature sensor connected to the work control unit 122 .
- the information control unit 100 acquires status information indicating the status of accessories such as room lights and wipers from the accessory control unit 123 as vehicle body data.
- the information control unit 100 acquires operation information for the in-vehicle display input device 125 from the display control unit 124 .
- FIG. 2 is a functional block diagram of the information control unit 100.
- the information control unit 100 includes an external communication data input/output unit 131, an internal communication data input/output unit 132, a data transmission/reception unit 133, a remote service processing unit 134, a processing method determination unit 135, and a communication performance management unit. 136 and a state management unit 137 .
- the function of the vehicle-external communication data input/output unit 131 is realized by the vehicle-external communication interface 114
- the function of the vehicle-internal communication data input/output unit 132 is realized by the vehicle-internal communication interface 115 .
- the data transmission/reception unit 133 executes reception processing for receiving data from the management device 105 via the first communication network 109 and transmission processing for transmitting data to the management device 105 via the first communication network 109 .
- the data transmission/reception unit 133 executes reception processing for receiving data from the control units (121 to 124) via the second communication network 107, and sends data to the control units (121 to 124) via the second communication network 107. Execute the send process to send the data.
- the remote service processing unit 134 determines whether or not the data transmission/reception unit 133 has received a remote service execution command transmitted from the management device 105 .
- the remote service processing unit 134 starts the remote service when it is determined that the command to execute the remote service has been received.
- the remote service is a remote service that enables monitoring of the state of the work machine 101 from a location (remote location) far away from the work machine 101 by transmitting body data of the work machine 101 to the management device 105 . Monitoring.
- the remote service processing unit 134 selects vehicle body data to be transmitted to the management device 105 from the vehicle body data acquired by the data transmission/reception unit 133 .
- the remote service processing unit 134 controls the data transmission/reception unit 133 to execute transmission processing for transmitting the selected vehicle body data to the management device 105 via the first communication network 109 .
- Management device 105 acquires vehicle body data of work machine 101 and displays the acquired vehicle body data on display screen 166 of display device 165 .
- the manager is presented with the vehicle body data of the work machine 101 that is working at the work site. Therefore, the manager who manages the work machine 101 by the management device 105 can monitor the state of the work machine 101 which is working at a work site far away from him.
- the communication performance management unit 136 measures the communication speed (reception speed and transmission speed) with the management device 105 via the first communication network 109 .
- Communication speed is the amount of data communication per unit time, and is also called communication performance.
- the state management unit 137 manages the state of the work machine 101 based on the state information acquired from the control units (121 to 124) via the second communication network 107.
- the state management unit 137 acquires state information representing the state of the engine 19 from the engine control unit 121 .
- the state management unit 137 acquires state information indicating that the engine 19 is stopped from the engine control unit 121, the engine (power source) 19 of the work machine 101 is in a stopped state. state is not the operating state, and the state of the working machine 101 is set as the "standby state".
- the state management unit 137 acquires state information representing the state of the work device 4 , state information representing the state of the rotating body 3 , and state information representing the state of the traveling body 2 from the work control unit 122 .
- the state management unit 137 determines that the acquired state information of the engine 19 is information indicating that it is in operation, and that all of the acquired state information of the work device 4, the rotating body 3, and the traveling body 2 are stopped. If the information indicates that the engine (power source) 19 of the work machine 101 is operating, it is determined that the work machine 101 is not in an operating state. In this case, the state management unit 137 sets the state of the work machine 101 as "stopped state".
- the state management unit 137 determines that the work machine 101 is in the operating state, and sets the state of the work machine 101 to the "running state.” set. If the acquired status information of work device 4 is information indicating that work device 4 is in operation, state management unit 137 determines that work machine 101 is in the operating state, and sets the state of work machine 101 to “working state”. set. Further, when the acquired state information of the revolving body 3 is information indicating that the work machine 101 is in operation, the state management unit 137 determines that the work machine 101 is in the operating state, and sets the state of the work machine 101 to the "working state.” ”.
- FIG. 3 is a state transition diagram of the work machine 101.
- FIG. 3 As shown in FIG. 3, when the engine 19 of the work machine 101 is started in the standby state S401 (E401), the state of the work machine 101 transitions from the standby state S401 to the stopped state S402.
- the engine 19 of the work machine 101 is stopped in the stop state S402 (E402)
- the state of the work machine 101 transitions from the stop state S402 to the standby state S401.
- the work machine 101 starts running in the stop state S402 (E403) the state of the work machine 101 transitions from the stop state S402 to the run state S403.
- the processing method determination unit 135 transmits vehicle body data based on the result of communication speed measurement by the communication performance management unit 136 and the state of the work machine 101 set by the state management unit 137. Decide what to do.
- the remote service processing unit 134 controls transmission processing of vehicle body data by the data transmission/reception unit 133 based on the transmission processing method determined by the processing method determination unit 135 .
- the data transmitter/receiver 133 acquires the remote service request information 300 from the management device 105 .
- Remote service request information 300 is included in a remote service execution command.
- the remote service request information 300 acquired by the data transmitter/receiver 133 is stored in the nonvolatile memory 112 .
- the processing method determination unit 135 determines the transmission processing method based on the remote service request information 300 stored in the nonvolatile memory 112 .
- FIG. 4 is a diagram showing the remote service request information 300.
- remote service request information 300 includes request speed information 301 , processing profile 302 , selection condition table 303 , and detailed processing content information 304 .
- the requested speed information 301 defines a requested speed (requested amount) Tsr, which is the amount of data transmitted per unit time to the management device 105 required for remote service (remote monitoring).
- the required speed Tsr is a predetermined threshold value for determining whether or not to execute the vehicle body data transmission process using the normal transmission process method without changing the vehicle body data transmission process method.
- the requested speed Tsr is set to 5 [Mbps].
- the processing method determination unit 135 determines whether the communication speed Tsm measured by the communication performance management unit 136 is equal to or higher than the required speed Tsr. When it is determined that the communication speed Tsm is equal to or higher than the requested speed Tsr, the processing method determination unit 135 selects the normal transmission processing method. When it is determined that the communication speed Tsm is less than the required speed Tsr, the processing method determining unit 135 determines whether or not the selection conditions defined in the selection condition table 303 are satisfied, and a transmission processing method (hereinafter referred to as , simply referred to as a processing method) is defined, the processing method is selected based on the processing profile 302 . A detailed description will be given below.
- a plurality of processing methods are defined in the processing profile 302 .
- a first processing method is a processing method for executing buffer processing and data reduction transmission processing.
- a second processing method is a processing method for executing data reduction transmission processing.
- a third processing method is a processing method for executing transmission interruption processing and buffer processing.
- a fourth processing method is a processing method for executing transmission interruption processing and retry request processing.
- the processing profile 302 defines a plurality of processing methods that are combinations of data reduction transmission processing, buffer processing, transmission suspension processing, and retry request processing.
- the transmission interruption process is the process of interrupting the transmission of vehicle body data.
- a retry request is sent to the management device 105 to request resumption of the vehicle body data transmission process. This is the process of sending.
- the buffering process is a process of storing vehicle body data in the buffer memory 116 and transmitting the vehicle body data stored in the buffer memory 116 to the management device 105 when the communication speed exceeds the required speed Tsr.
- the data reduction transmission process is the process of deleting part of the vehicle body data.
- the data reduction transmission process periodically thins out the vehicle body data at predetermined time intervals and transmits the data.
- the remote service processing unit 134 uses the data transmission/reception unit 133 to transmit vehicle body data obtained at predetermined time intervals T0 to the management device 105 in transmission processing according to a normal transmission processing method.
- the remote service processing unit 134 acquires data at a time interval T1 longer than a predetermined time interval T0 (for example, a time interval T1 twice as long as the predetermined time interval T0).
- the vehicle body data is transmitted to the management device 105 by the data transmission/reception unit 133 .
- a selection condition table 303 defines a plurality of selection conditions (first to fifth selection conditions) used for selecting a plurality of processing methods defined in the processing profile 302 .
- Each of the first to fifth selection conditions is composed of a combination of multiple conditions (validity/invalidity condition, data transmission allowance condition, and data storage allowance time condition).
- the data transmission allowance condition is the communication speed of the first communication network 109 measured by the communication performance management unit 136 (in this embodiment, the transmission speed, that is, from the communication terminal 127 to the management device 105 via the first communication network 109). This is one of the conditions that is compared with the amount of data transmitted per unit time) Tsm and used to determine whether the processing method defined in the processing profile 302 can be executed.
- the allowable data storage time condition is one of the conditions that are compared with the data storage time Ta and used to determine whether the processing method defined in the processing profile 302 can be executed.
- the processing method determination unit 135 A data storage time Ta is calculated.
- FIG. 5 is a diagram showing a data storage amount table 500 stored in the nonvolatile memory 112.
- the data storage amount table 500 is a data table in which the data storage amount Da associated with the state of the work machine 101 is stored.
- the data storage amount Da in the standby state S401 and the stop state S402 is 500 [MByte].
- the data storage amount Da in the running state S403 is 100 [MByte]
- the data storage amount Da in the working state S404 is 10 [MByte].
- the control device 10 of the work machine 101 prioritizes the communication of data necessary for controlling the actuators of the work device 4, the revolving body 3, and the traveling body 2 over the communication of data necessary for executing the remote service.
- the amount of data communication through the second communication network 107 is the largest in the work state S404.
- the amount of data communication via the second communication network 107 is the smallest in the standby state S401 and the stop state S402.
- the amount of data communication through the second communication network 107 in the running state S403 is larger than that in the standby state S401 and the stopped state S402, and smaller than that in the working state S404.
- the data storage amount Da when the work machine 101 is in the working state S404 is smaller than the data storage amount Da when the work machine 101 is in the running state S403. Further, the data storage amount Da when the work machine 101 is in the running state S403 is smaller than the data storage amount Da when the work machine 101 is in the standby state S401 and the stop state S402. That is, the data storage amount Da when the work machine 101 is in the operating state (working state S404 and running state S403) is smaller than the data storage amount Da when the work machine 101 is not in the operating state.
- the data storage amount Da is used to calculate the data storage time Ta.
- the larger the data storage amount Da the longer the data storage time Ta, which facilitates execution of buffer processing.
- the smaller the data storage amount Da is, the shorter the time during which the buffer processing is executed. Therefore, it is possible to reduce situations in which buffer processing is executed in the working state S404 and the running state S403. As a result, the communication of data required for controlling the work device 4, the rotating body 3, and the traveling body 2 via the second communication network 107 in the working state S404 and the traveling state S403 is prevented from being hindered by the buffer processing. be.
- the fifth selection condition is satisfied when the valid flag is set and the communication speed Tsm is less than 500 [kbps].
- the fifth selection condition does not hold when the invalid flag is set or when the communication speed Tsm is 500 [kbps] or higher.
- the processing method determination unit 135 shown in FIG. 2 determines the processing method based on whether or not the first to fifth selection conditions must be met.
- the processing method determination unit 135 selects the first processing method when the first selection condition is satisfied, selects the second processing method when the second selection condition is satisfied, and selects the third processing method.
- the third processing method is selected when the selection condition is satisfied, the fourth processing method is selected when the fourth selection condition is satisfied, and the fourth processing method is selected when the fifth selection condition is satisfied.
- the detailed processing content information 304 includes buffer related data 345 associated with buffer processing and data reduction related data 346 associated with data reduction transmission processing.
- the buffer related data 345 includes a buffer target table 341 and a buffer amount table 342
- the data reduction related data 346 includes a data reduction target table 343 and a data reduction amount table 344 .
- the buffer target table 341 defines information specifying data to be buffered when buffering is to be performed.
- the buffer amount table 342 defines the buffer amount of data to be buffered, that is, the amount of data to be stored in the buffer memory 116 per unit time when the buffer process is executed.
- the data reduction target table 343 defines information specifying data to be subjected to the data reduction transmission process when the data reduction transmission process is executed.
- the data reduction amount table 344 defines the data reduction amount of data to be subjected to data reduction transmission processing, that is, the data reduction amount per unit time.
- the buffer related data 345 and data reduction related data 346 are stored in association with the first to fourth processing methods.
- the remote service processing unit 134 refers to the processing details information 304, sets "Data No. xx" as the target of buffer processing, and sets the buffer amount is set to 300 [kbps].
- the remote service processing unit 134 refers to the processing details information 304, sets "Data No. yy" as the target of data reduction transmission processing, Set the data reduction amount to 200 [kbps].
- the remote service processing unit 134 refers to the processing details information 304, sets "Data No. yy" as the target of data reduction transmission processing, Set the data reduction amount to 500 [kbps].
- the remote service processing unit 134 refers to the processing details information 304, sets "Data No. xx" as the target of buffer processing, and sets the buffer amount is set to 500 [kbps].
- Some data in the remote service request information 300 can be changed by operating the input device 161.
- the input device 161 can set the valid flag and invalid flag of the valid/invalid conditions of the remote service request information 300 . Further, the input device 161 can select a buffer processing target and a data reduction transmission processing target of the processing content detailed information 304 .
- the information control unit 100 executes transmission processing according to the normal transmission processing method when the communication speed Tsm is equal to or higher than the predetermined required speed Tsr.
- the information control unit 100 restricts the transmission processing function according to the processing method defined by the remote service request information 300 when the communication speed Tsm is less than the requested speed Tsr. The lower the communication speed Tsm, the greater the restriction on the function of the transmission process. Enlarge.
- the information control unit 100 determines that the communication speed Tsm is less than the required speed Tsr. and if the speed is equal to or greater than a predetermined allowable speed Tsa (1 [Mbps] in the example shown in FIG. 4), the data is regularly thinned out and transmitted according to the first processing method or the second processing method. Execute data reduction transmission processing to If the communication speed Tsm is less than the allowable speed Tsa, the information control unit 100 executes transmission interruption processing for interrupting data transmission according to the third processing method or the fourth processing method.
- the information control unit 100 transmits data to the management device 105 per unit time when the communication speed Tsm is equal to or higher than the allowable speed Tsa, and when the communication speed Tsm is lower than the allowable speed Tsa, the amount of data transmitted per unit time is reduced.
- the amount of data to be transmitted to the management device 105 per hit is reduced. That is, the control device 10 increases the limit of the transmission function when the communication speed Tsm is less than the allowable speed Tsa than when the communication speed Tsm is equal to or higher than the allowable speed Tsa.
- the information control unit 100 executes data reduction transmission processing according to the second processing method so that the data reduction amount of "Data No. yy" is 500 [kbps]. In this way, the information control unit 100 reduces the amount of data transmitted to the management device 105 per unit time of predetermined vehicle body data when the work machine 101 is in the operating state, compared to when the work machine 101 is not in the operating state. do. In other words, when the work machine 101 is in the operating state, the information control unit 100 increases the restrictions on the function of the transmission process compared to when the work machine 101 is not in the operating state.
- the information control unit 100 stores the vehicle body data (Data No. xx) in the buffer memory 116 when the communication speed Tsm is less than the required speed Tsr and the data storage time Ta is equal to or greater than the predetermined data storage allowable time Ta0. Then, when the communication speed Tsm becomes equal to or higher than the required speed Tsr, buffer processing is executed to transmit the data (Data No. xx) stored in the buffer memory 116 to the management device 105 .
- the data storage amount Da when work machine 101 is in the operating state is smaller than the data storage amount Da when work machine 101 is not in the operating state (see FIG. 5). Therefore, it is possible to reduce the frequency with which the buffer processing is executed when the work machine 101 is in the operating state.
- the information control unit 100 executes buffer processing when executing transmission processing according to the first processing method.
- the vehicle body data to be buffered is not transmitted until the communication status is recovered, and the vehicle body data stored in the buffer memory 116 is transmitted after the communication status is recovered.
- the information control unit 100 does not perform buffer processing when performing transmission processing according to the second processing method. Therefore, the total amount of data transmitted from the information control unit 100 to the management device 105 when the second processing method is selected is smaller than when the first processing method is selected. In this way, the information control unit 100 increases the restrictions on the transmission processing function when the work machine 101 is in the operating state, compared to when the work machine 101 is not in the operating state.
- information control unit 100 limits the buffer processing function by reducing the amount of data to be stored in buffer memory 116 compared to when work machine 101 is not in the operating state. It can be said that there is As a result, it is possible to prevent the data communication necessary for the operation control of the work device 4, the revolving body 3, and the traveling body 2 of the work machine 101 from being hindered by the buffer processing, so that the work machine 101 can be operated appropriately. can.
- the information control unit 100 makes the buffer amount (500 [kbps]) in the buffer process executed together with the transmission interruption process larger than the buffer amount (300 [kbps]) in the buffer process executed together with the data reduction transmission process. .
- the buffer amount 500 [kbps]
- the buffer amount 300 [kbps]
- the processing of the flowchart shown in FIG. 6 is started when the ignition switch of work machine 101 is turned on and communication terminal 127 becomes capable of wireless communication with management device 105 via first communication network 109 .
- step S101 when the information control unit 100 receives a remote service execution command (including the remote service request information 300) from the management device 105, the process proceeds to step S105.
- step S105 the information control unit 100 measures the communication speed Tsm of the first communication network 109, and proceeds to step S110.
- the information control unit 100 determines whether the communication speed Tsm of the first communication network 109 measured at step S105 is equal to or higher than the requested speed Tsr. If it is determined in step S110 that the communication speed Tsm is greater than or equal to the requested speed Tsr, the process proceeds to step S113, and if it is determined that the communication speed Tsm is less than the requested speed Tsr, the process proceeds to step S125.
- step S113 the information control unit 100 selects the normal processing method, and proceeds to step S115.
- step S115 the information control unit 100 executes transmission processing for transmitting vehicle body data according to the currently selected processing method, and proceeds to step S120. That is, the information control unit 100 executes remote service (remote monitoring) according to the currently selected processing method.
- remote service remote monitoring
- the information control unit 100 determines whether or not the processing required for the remote service has been completed. If it is determined in step S120 that the processing necessary for the remote service has been completed, the processing shown in the flowchart of FIG. 6 is terminated. For example, when the information control unit 100 receives a remote service end command from the management device 105, it determines that the processing required for the remote service has been completed. Further, when the end time of the remote service is registered in the remote service request information 300, the information control unit 100 determines that the processing required for the remote service has been completed when the current time reaches the end time.
- step S120 If it is determined in step S120 that the processing required for the remote service has not been completed, the information control unit 100 continues to execute the remote service until a predetermined time elapses (that is, the vehicle body data transmission processing is executed). repeatedly), and after a predetermined time elapses, the process returns to step S105.
- step S110 when it is determined that the communication speed Tsm is less than the required speed Tsr, the process proceeds to step S125, and processing method selection processing is executed.
- the processing method selection process step S125
- the information control unit 100 selects a plurality of selection conditions defined in the remote service request information 300 based on the communication speed Tsm of the first communication network 109 and the state of the work machine 101. A determination is made as to whether or not any of the above is established, and a remote service processing method (that is, a processing method for vehicle body data transmission processing) is selected based on the determination result.
- the information control unit 100 determines whether each of the first to fifth selection conditions is satisfied. When it is determined that the first selection condition is satisfied, the information control unit 100 selects the first processing method. When it is determined that the second selection condition is satisfied, the information control unit 100 selects the second processing method. When it is determined that the third selection condition is satisfied, the information control unit 100 selects the third processing method. When it is determined that the fourth selection condition is satisfied, the information control unit 100 selects the fourth processing method. When it is determined that the fifth selection condition is satisfied, the information control unit 100 selects the fourth processing method.
- step S125 the processing method selection process
- step S130 the information control unit 100 transmits information regarding the processing method selected in step S125 to the management device 105, and proceeds to step S135.
- management device 105 causes display screen 166 of display device 165 to display an image representing the processing method selected by work machine 101 .
- step S135 the information control unit 100 determines whether or not the processing method selected in step S125 includes transmission interruption processing. If it is determined in step S125 that the selected processing method does not include transmission interruption processing, the process proceeds to step S115. In step S115, the information control unit 100 executes the vehicle body data transmission process according to the processing method selected in step S125. If it is determined in step S125 that the selected processing method includes transmission interruption processing, the process proceeds to step S140.
- step S140 the information control unit 100 transmits to the management device 105 information indicating that the transmission interruption process will be executed, and proceeds to step S145.
- management device 105 receives the information indicating that the transmission interruption process is to be executed from work machine 101
- management device 105 causes display screen 166 of display device 165 to display an image indicating that the transmission interruption process is to be executed in work machine 101. .
- step S145 the information control unit 100 executes transmission interruption processing, and proceeds to step S150.
- step S150 the information control unit 100 determines whether or not the processing method selected in step S125 includes buffer processing. If it is determined in step S150 that the selected processing method includes buffer processing, the process proceeds to step S153, and if it is determined that the selected processing method does not include buffer processing, the process proceeds to step S170.
- step S153 the information control unit 100 starts saving the vehicle body data "Data No. yy" to the buffer memory 116, and proceeds to step S155.
- step S155 the information control unit 100 measures the communication speed Tsm of the first communication network 109, and proceeds to step S160.
- step S160 the information control unit 100 determines whether or not the communication speed Tsm of the first communication network 109 measured in step S155 is greater than or equal to the requested speed Tsr. If it is determined in step S160 that the communication speed Tsm is greater than or equal to the requested speed Tsr, the process proceeds to step S165, and if it is determined that the communication speed Tsm is less than the requested speed Tsr, the process returns to step S155.
- step S165 the information control unit 100 finishes storing the vehicle body data "Data No. yy" in the buffer memory 116, and sends the vehicle body data "Data No. yy" stored in the buffer memory 116 to the management device 105. It transmits, and it progresses to step S113.
- step S125 when the first processing method is selected in step S125, the same processing as in steps S150 and S153 is performed in step S115. Furthermore, when it is determined in step S120 that the processing required for the remote service has not been completed, the information control unit 100 continuously performs the remote service according to the first processing method until a predetermined time elapses. After executing and a predetermined time has passed, the process returns to step S105. When the communication speed Tsm measured in step S105 becomes equal to or higher than the required speed Tsr, in step S113 the same processing as in step S165 is executed, then the normal processing method is selected, and the process proceeds to step S115.
- step S170 the information control unit 100 measures the communication speed Tsm of the first communication network 109, and proceeds to step S175.
- step S175 the information control unit 100 determines whether or not the communication speed Tsm of the first communication network 109 measured in step S170 is equal to or higher than the requested speed Tsr. If it is determined in step S175 that the communication speed Tsm is greater than or equal to the requested speed Tsr, the process proceeds to step S180, and if it is determined that the communication speed Tsm is less than the requested speed Tsr, the process returns to step S170.
- the information control unit 100 transmits a retry request to the management device 105, and ends the processing shown in the flowchart of FIG.
- the management device 105 causes the display screen 166 of the display device 165 to display an image indicating that the retry request has been received.
- the information control unit 100 receives the remote service request information 300. (Step S101), restart the remote service (remote monitoring).
- FIG. 7A and 7B are diagrams showing examples of screens displayed on the display screen 166 of the display device 165.
- FIG. 7A shows an example in which the boom cylinder pressure is displayed as vehicle body data
- FIG. 7B shows an example in which a communication log is displayed.
- FIG. 8 is a diagram showing an example of a screen displayed on the display screen 126 of the in-vehicle display/input device 125. As shown in FIG.
- a remote service selection area 601 is displayed on the display screen 166 of the display device 165 as shown in FIG. 7A.
- a remote service selection area 601 includes a remote service selection area 611 for selecting one of a plurality of remote services (remote monitoring, remote control, calibration, guidance, etc.), and a remote service selection area 611 for each of the plurality of remote services.
- a function selection area 612 for selecting one of a plurality of functions to be executed, an execution button 613 for executing the selected remote service, and an end button 614 for ending the remote service being executed.
- the administrator operates the input device 161 and selects remote monitoring from a plurality of remote services in the remote service selection area 601. As a result, a function selection area 612 is displayed and either function A or B of remote monitoring can be selected.
- the administrator selects function A from among a plurality of functions in function selection area 612 using input device 161 and operates execute button 613 , whereby a remote monitoring execution command is transmitted from management device 105 .
- Management device 105 transmits remote service request information 300 stored in nonvolatile memory 152 to information control unit 100 of work machine 101 .
- the information control unit 100 receives the remote service request information 300, the information control unit 100 starts measuring the communication speed Tsm of the first communication network 109, and obtains the remote service request information 300, the measured communication speed Tsm, and the operation of the work machine 101. Select a treatment method based on the conditions.
- the information control unit 100 transmits the vehicle body data according to the normal transmission processing method.
- the management device 105 causes the vehicle body data display area 602 of the display screen 166 of the display device 165 to display a vehicle body data image 621 representing the vehicle body data.
- the vehicle body data image 621 has a type display area 621a that displays the vehicle body data type (boom cylinder pressure in the illustrated example), and a graph 621b that shows the temporal change of the vehicle body data.
- a type selection area 622 for selecting the vehicle body data to be displayed and a communication log button 623 for displaying the communication log are displayed.
- the administrator can select vehicle body data to be displayed on the display screen 166 of the display device 165 from a plurality of vehicle body data in the type selection area 622 .
- a communication log display area 603 is displayed on the display screen 166 as shown in FIG. 7B.
- the communication condition of the communication antenna of the work machine 101 deteriorates, and when the communication speed Tsm becomes less than the required speed Tsr, the information control unit 100 changes to the management device.
- the transmission function of vehicle body data to 105 is restricted. Note that the valid/invalid conditions for the first to fifth processing methods are all set to valid, and specific examples will be described below.
- the first or second processing method When the communication speed Tsm drops to 2 [Mbps], as shown in FIG. 4, the first or second processing method is selected, and data reduction transmission processing is executed to thin out and transmit vehicle body data. In other words, the transmission function is restricted.
- the data storage amount Da is 500 [MByte] (see FIG. 5), so the data storage time Ta is 250 [s].
- the information control unit 100 selects the first processing method, executes data reduction transmission processing in which the vehicle body data is thinned and transmitted so that the data reduction amount becomes 200 [kbps], and the buffer amount is 300 [kbps]. Buffer processing is executed to temporarily store the vehicle body data in the buffer memory 116 so that the data becomes [kbps].
- the information control unit 100 selects the second processing method and executes data reduction transmission processing for thinning and transmitting the vehicle body data so that the data reduction amount becomes 500 [kbps].
- the data storage amount Da is 10 [MByte] (see FIG. 5), so the data storage time Ta is 5 [s]. Therefore, the information control unit 100 selects the second processing method and executes data reduction transmission processing for thinning and transmitting the vehicle body data so that the data reduction amount becomes 500 [kbps].
- the data reduction amount is larger than when the work machine 101 is not in the operating state (standby state, stopped state). Processing capabilities are becoming more restricted.
- the first processing method is selected and buffer processing is executed, when the communication situation recovers and the communication speed Tsm becomes equal to or higher than the required speed Tr (5 [Mbps]), the vehicle body data stored in the buffer memory 116 is transmitted to the management device 105, and then the transmission processing is executed by a normal processing method.
- the third or fourth processing method is selected, and the vehicle body data transmission processing is interrupted.
- the information control unit 100 transmits to the management device 105 notification information to the effect that the transmission interruption process will be executed prior to execution of the transmission interruption process.
- the management device 105 displays an image (transmission interruption notification image) 631 representing the notification information in the communication log display area 603 of the display screen 166 of the display device 165 as shown in FIG. 7B.
- the transmission suspension notification image 631 waits until notification of notification time, communication speed and processing method information, a message for notifying that the remote service function has been suspended, and a retry is notified. contains a message prompting you to
- the information control unit 100 selects the third processing method, and buffers the vehicle body data temporarily in the buffer memory 116 so that the buffer amount becomes 500 [kbps]. to run.
- data storage amount Da is 100 [MByte] (see FIG. 5)
- data storage time Ta is 200 [s]. Therefore, the information control unit 100 selects the third processing method, and executes buffer processing for temporarily storing the vehicle body data in the buffer memory 116 so that the buffer amount becomes 500 [kbps].
- the vehicle body data stored in the buffer memory 116 is sent to the management device 105 .
- the information control unit 100 selects the fourth processing method and executes transmission interruption processing without executing buffer processing. After the fourth processing method is selected and the transmission interruption process is executed, the communication status recovers and when the communication speed Tsm becomes equal to or higher than the requested speed Tsr (5 [Mbps]), the information control unit 100 issues a retry request. Send to the management device 105 .
- the management device 105 When receiving the retry request, the management device 105 displays an image (retry notification image) 632 indicating that the retry request has been received in the communication log display area 603 of the display screen 166 of the display device 165, as shown in FIG. 7B. .
- the retry notification image 632 includes information on the notification time, communication speed, and processing method immediately before recovery of the communication status, and a message for notifying that retry is possible.
- a remote service restart command (including the remote service request information 300 ) is sent to the information control unit 100 . As a result, remote service is resumed.
- the display screen 126 of the in-vehicle display input device 125 displays a service content display area 701 that displays information representing the type of remote service, and a communication log display area 702.
- a transmission interruption notification image 731 and a retry notification image 732 are displayed in the communication log display area 702 .
- the transmission interruption notification image 731 includes, like the transmission interruption notification image 631, notification time, communication speed and processing method information, and a message for notifying that the remote service function has been interrupted. Furthermore, a message indicating that the management device 105 has been notified of the interruption of the remote service function is included.
- the retry notification image 732 includes information on the notification time, the communication speed, the processing method immediately before the communication status recovery, and a message for notifying that the retry is possible. , and further includes a message indicating that a retry request has been sent to the management device 105 . This allows the operator who drives the work machine 101 to know what kind of remote service is currently being executed, changes in the communication status, and details of restrictions on remote service functions (currently set) due to changes in the communication status. processing method).
- the work machine 101 includes the machine body 5, the work device 4 attached to the machine body 5, and a control device that executes transmission processing for transmitting vehicle body data to a management device (external device) 105 installed outside the machine body 5. 10 and.
- the control device 10 measures the communication speed Tsm with the management device 105, and if the communication speed Tsm is less than a predetermined required speed Tsr, the control device 10 limits the transmission processing function. is increased, and when the work machine 101 is in the operating state, the restriction on the transmission processing function is increased compared to when the work machine 101 is not in the operating state.
- the control device 10 executes data reduction transmission processing for thinning and transmitting vehicle body data.
- transmission interruption processing for interrupting the transmission of vehicle body data is executed, so that the lower the communication speed Tsm, the greater the restriction on the function of the transmission processing.
- the control device 10 sets the data reduction amount in the data reduction transmission process executed when the state of the work machine 101 is in the operating state to the amount of data executed when the state of the work machine 101 is not in the operating state.
- the transmission processing function is restricted according to the degree of restriction according to the communication status and the status of the work machine 101 . For this reason, for example, when the work machine 101 is in an operating state under bad communication conditions, or when the communication conditions are extremely bad, it is possible to prevent continuation of the transmission process using the normal processing method. be done. If the vehicle body data transmission process is continued by the normal processing method when the work machine 101 is in an operating state with poor communication conditions, or when the communication conditions are remarkably poor, the vehicle body data Data loss or the like may occur, and the vehicle body data to be transmitted may become unstable, making it impossible to appropriately transmit the vehicle body data to the management device 105 .
- the transmission processing function is restricted according to the degree of restriction according to the communication status and the status of the work machine 101. Therefore, the information of the work machine 101 can be properly 105.
- the vehicle body data is regularly thinned out and transmitted according to a predetermined processing method.
- the information control unit 100 according to the present embodiment can stably transmit the vehicle body data to the management device 105 in the data reduction transmission process, so the administrator can continuously monitor the work machine 101. be able to.
- the control device 10 calculates the data storage time Ta based on the communication speed Tsm and the data storage amount Da associated with the state of the working machine 101 .
- the control device 10 stores the vehicle body data in the buffer memory 116, and the communication speed Tsm reaches the requested speed.
- buffer processing is executed to transmit the data stored in the buffer memory 116 to the management device 105 .
- the data storage amount Da when work machine 101 is in the operating state is smaller than the data storage amount Da when work machine 101 is not in the operating state.
- the control device 10 compares the buffer amount (500 [kbps]) in the buffer process executed together with the transmission interruption process to the buffer amount (300 [kbps]) in the buffer process executed together with the data reduction transmission process. Increase (see Figure 4). As a result, it is possible to increase the amount of data to be transmitted when the communication situation recovers after the transmission interruption process and the buffer process have been executed due to the deterioration of the communication situation.
- the operating state includes a standby state in which the engine (power source) 19 of the work machine 101 is stopped, and a state in which the engine (power source) 19 of the work machine 101 is operating but the traveling body 2 and the work device are in operation.
- 4 does not include a stopped state, but includes a traveling state in which the traveling body 2 is operating and a working state in which the working device 4 is operating.
- the data storage amount Da when the work machine 101 is in the working state is smaller than the data storage amount Da when the work machine 101 is in the running state (see FIG. 5).
- the control device 10 After execution of the transmission interruption process, the control device 10 transmits a retry request requesting resumption of the transmission process to the management device 105 when the communication speed Tsm becomes equal to or higher than the requested speed Tsr. To appropriately interrupt the transmission of vehicle body data early when the communication condition deteriorates, and to restart the transmission of the vehicle body data early when the communication condition recovers.
- the control device 10 sets the required speed Tsr, the processing profile 302 defining a plurality of processing methods, and the plurality of selection conditions used for selecting the plurality of processing methods defined in the processing profile 302 to the management device 105 . Get from When the communication speed Tsm is less than the required speed Tsr, the control device 10 determines whether or not a plurality of selection conditions are satisfied, and selects a processing method based on the determination result. The control device 10 executes transmission processing according to the selected processing method.
- the processing profile 302 includes data reduction transmission processing for thinning and transmitting vehicle body data, storage of vehicle body data in the buffer memory 116, and transmission of the data to the buffer memory 116 when the communication speed Tsm exceeds the required speed Tsr.
- the transmission suspension processing for suspending the transmission of the vehicle body data, and the transmission suspension processing are executed, the communication speed Tsm becomes equal to or greater than the required speed Tsr.
- a plurality of processing methods are defined that consist of a combination of retry request processing for transmitting a retry request requesting resumption of transmission processing to the management apparatus 105 .
- the control device 10 acquires data reduction related data 346 associated with data reduction transmission processing and buffer related data 345 associated with buffer processing from the management device 105 .
- the data reduction related data 346 defines information specifying data to be subjected to the data reduction transmission process and the amount of data reduction in the data reduction transmission process (see FIG. 4).
- the buffer-related data 345 defines information specifying data to be buffered and the amount of buffering in the buffering (see FIG. 4).
- control device 10 can transmit the vehicle body data by a processing method according to the administrator's request.
- remote service request information 300 is transmitted from the management device 105 to the work machine 101 and stored in the nonvolatile memory 112 of the work machine 101 in the above embodiment, the present invention is not limited to this. Remote service request information 300 may be pre-stored in non-volatile memory 112 of work machine 101 .
- the control device 10 calculates the data storage time Ta based on the communication speed Tsm and the data storage amount Da associated with the state of the work machine 101, and when the communication speed Tsm is less than the required speed Tsr, although an example has been described in which buffer processing is executed when the data storage time Ta is equal to or greater than the predetermined data storage allowable time Ta0, the present invention is not limited to this.
- the state conditions of the work machine 101 may be defined in the selection condition table 303B.
- the first and third selection conditions include that the work machine 101 is not in the operating state
- the second and fourth selection conditions include that the work machine 101 is in the operating state. It contains something.
- the first processing method is selected when the working machine 101 is not in the operating state.
- the second processing method is selected when the work machine 101 is in the operating state.
- the third processing method is selected when the work machine 101 is not in the operating state.
- the fourth processing method is selected when the state of the work machine 101 is the operating state.
- the remote service may include at least transmission processing for transmitting vehicle body data from the working machine 101 to the management device 105, such as remote control, calibration (adjustment of parameters), and the like.
- FIG. 10 is a diagram showing the management system 1 according to Modification 3.
- the management device 105 has a remote control device 360 connected to the management server 150 .
- the remote control device 360 may exchange information with the management server 150 via the first communication network 109 .
- the remote control device 360 includes a display device 365 for displaying vehicle body data (including image data) transmitted from the work machine 101 on a display screen, and an operation command for outputting operation commands for the work device 4, the traveling body 2, and the revolving body 3. a device 361;
- the work machine 101 is equipped with a plurality of imaging devices 329 connected to the second communication network 107.
- the imaging device 329 is, for example, a wide-angle video camera equipped with an imaging element such as a CCD or CMOS with excellent durability and weather resistance, and a wide-angle lens.
- a plurality of photographing devices 329 are attached to the revolving body 3 and photograph the front, rear, left and right sides of the revolving body 3 respectively.
- the information control unit 100 transmits image data captured by the image capturing device 329 (hereinafter also referred to as captured image data) to the management device 105 via the first communication network 109 as vehicle body data.
- the management device 105 outputs the received captured image data to the display device 365 .
- the display device 365 displays the input photographed image data on the display screen.
- a command for remotely operating the work machine 101 (hereinafter referred to as a remote control command) is input from the operation device 361 to the management server 150 of the management device 105 .
- Management device 105 transmits the input remote control command to information control unit 100 via first communication network 109 .
- information control unit 100 receives a remote control command from management device 105 via first communication network 109
- information control unit 100 outputs the remote control command to work control unit 122 via second communication network 107 .
- the work control unit 122 controls the operations of the work device 4 , the traveling body 2 and the revolving body 3 based on remote control commands input from the information control unit 100 via the second communication network 107 .
- the frame rate of the image data captured by the image capturing device 329 is lowered, that is, the captured image data as vehicle body data is reduced to a predetermined value.
- the data are regularly thinned out at time intervals and transmitted to the management device 105 .
- the control device 10 suspends transmission of captured image data and reception of remote control commands.
- the transmission of the captured image data is not interrupted, the image (moving image) displayed on the display device 365 may be disrupted due to irregular omissions, delays, or the like in the captured image data transmitted to the remote control device 360. It may become unstable. If remote control is continued under such circumstances, appropriate work cannot be performed, and there is a risk that the work will have to be redone after the communication status is restored.
- the transmission of the captured image data is interrupted, and after the communication status is restored, a retry request is transmitted to the management device 105 . Therefore, when the communication condition is extremely poor, it is possible to prevent the operator from continuing the remote operation and from redoing the work.
- the working machine 101 is a crawler hydraulic excavator in the above embodiment, the present invention is not limited to this.
- the working machine 101 may be a wheeled hydraulic excavator, wheel loader, dump truck, working robot, or the like.
- the work machine 101 only has to include a machine body and a work device attached to the machine body.
- SYMBOLS 1 Management system, 2... Running body, 3... Revolving body, 4... Working device, 5... Machine body, 10... Control device, 19... Engine (power source), 100... Information control unit, 101... Working machine, 105... Management device (external device) 107 Second communication network 109 First communication network 114 External communication interface (first communication interface) 115 In-vehicle communication interface (second communication interface) 116 Buffer memory 121... Engine control unit (control unit), 122... Work control unit (control unit), 123... Accessory control unit (control unit), 124... Display control unit (control unit), 127... Communication terminal, 133...
- Data transmission/reception Unit 134 Remote service processing unit 135 Processing method determination unit 136 Communication performance management unit 137 State management unit 150 Management server 161 Input device 162 Communication device 165 Display device 300 Remote service request information 301 Requested speed information 302 Processing profile 303, 303B Selection condition table 304 Processing details information 329 Imaging device 345 Buffer related data 346 Data reduction related data 360 Remote control device 361 Operation device 365 Display device 500 Data storage amount table Da Data storage amount Ta Data storage time Ta0 Allowable data storage time Tsa Allowable speed Tsm Communication Speed, Tsr -- Requested speed
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
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- Computer Security & Cryptography (AREA)
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Abstract
Description
上記実施形態では、遠隔サービス要求情報300が管理装置105から作業機械101へ送信され、作業機械101の不揮発性メモリ112に記憶される例について説明したが、本発明はこれに限定されない。遠隔サービス要求情報300は、作業機械101の不揮発性メモリ112に予め記憶されていてもよい。
上記実施形態では、制御装置10が、通信速度Tsmと、作業機械101の状態に関連付けられたデータ保存量Daとに基づいて、データ保存時間Taを算出し、通信速度Tsmが要求速度Tsr未満であって、データ保存時間Taが予め定められるデータ保存許容時間Ta0以上であるときには、バッファ処理を実行する例について説明したが、本発明はこれに限定されない。図9に示すように、選定条件テーブル303Bに作業機械101の状態条件を定義してもよい。選定条件テーブル303Bには、第1及び第3の選定条件に、作業機械101の状態が動作状態でないことが含まれ、第2及び第4の選定条件に、作業機械101の状態が動作状態であることが含まれている。これにより、例えば、通信速度Tsmが、2[Mbps]であり、有効無効条件に有効フラグが設定されている場合において、作業機械101の状態が動作状態でない場合には第1の処理方法が選択され、作業機械101の状態が動作状態である場合には第2の処理方法が選択される。また、例えば、通信速度Tsmが、1[Mbps]であり、有効無効条件に有効フラグが設定されている場合において、作業機械101の状態が動作状態でない場合には第3の処理方法が選択され、作業機械101の状態が動作状態である場合には第4の処理方法が選択される。これにより、作業機械101の作業装置4、旋回体3及び走行体2の動作制御に必要なデータ通信が、バッファ処理によって妨げられることが防止されるので、作業機械101を適切に動作させることができる。
上記実施形態では、遠隔サービスが遠隔モニタリングである例について説明したが、本発明はこれに限定されない。遠隔サービスは、遠隔操縦、キャリブレーション(パラメータの調整)等、少なくとも作業機械101から車体データを管理装置105に送信する送信処理が実行されるものであればよい。
上記実施形態では、作業機械101がクローラ式の油圧ショベルである例について説明したが、本発明はこれに限定されない。作業機械101は、ホイール式の油圧ショベル、ホイールローダ、ダンプトラック、作業ロボット等であってもよい。つまり、作業機械101は、機体と機体に取り付けられる作業装置とを備えていればよい。
Claims (10)
- 機体と、前記機体に取り付けられる作業装置と、前記機体の外部に設置された外部装置にデータを送信する送信処理を実行する制御装置と、を備えた作業機械において、
前記制御装置は、
前記外部装置との通信速度を測定し、
前記通信速度が予め定められる要求速度未満の場合、前記送信処理の機能を制限し、
前記通信速度が低いほど、前記送信処理の機能の制限を大きくし、
前記作業機械の状態が、動作状態である場合、動作状態でない場合に比べて前記送信処理の機能の制限を大きくする、
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記制御装置は、
前記通信速度が、前記要求速度未満であり、かつ、予め定められる許容速度以上である場合には、前記データを間引いて送信するデータ削減送信処理を実行し、前記通信速度が、前記許容速度未満である場合には、前記データの送信を中断する送信中断処理を実行することにより、前記通信速度が低いほど、前記送信処理の機能の制限を大きくする、
ことを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記制御装置は、
前記作業機械の状態が動作状態であるときに実行される前記データ削減送信処理におけるデータ削減量を、前記作業機械の状態が動作状態でないときに実行される前記データ削減送信処理におけるデータ削減量に比べて大きくすることにより、前記作業機械の状態が、動作状態である場合、動作状態でない場合に比べて前記送信処理の機能の制限を大きくする、
ことを特徴とする作業機械。 - 請求項3に記載の作業機械において、
前記制御装置は、
前記通信速度と、前記作業機械の状態に関連付けられたデータ保存量とに基づいて、データ保存時間を算出し、
前記通信速度が前記要求速度未満であって、前記データ保存時間が予め定められるデータ保存許容時間以上であるときには、前記データをバッファメモリに保存し、
前記通信速度が前記要求速度以上になった場合に、前記バッファメモリに保存されている前記データを前記外部装置に送信するバッファ処理を実行し、
前記作業機械の状態が動作状態であるときのデータ保存量は、前記作業機械の状態が動作状態でないときのデータ保存量に比べて小さい、
ことを特徴とする作業機械。 - 請求項4に記載の作業機械において、
前記機体は、走行体を有し、
前記動作状態には、前記走行体が動作している走行状態、及び、前記作業装置が動作している作業状態が含まれ、
前記作業機械の状態が前記作業状態であるときのデータ保存量は、前記作業機械の状態が前記走行状態であるときのデータ保存量に比べて小さい、
ことを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記制御装置は、
前記送信中断処理が実行された後、前記通信速度が前記要求速度以上になった場合に、前記送信処理の再開を要求するリトライ要求を前記外部装置に送信する、
ことを特徴する作業機械。 - 請求項1に記載の作業機械において、
前記制御装置は、
前記要求速度、複数の処理方法が定義された処理プロファイル、及び、前記処理プロファイルに定義された前記複数の処理方法の選定に用いられる複数の選定条件を前記外部装置から取得し、
前記通信速度が前記要求速度未満の場合、前記複数の選定条件が成立しているか否かを判定し、その判定結果に基づいて前記処理方法を選定し、
選定された前記処理方法にしたがって前記送信処理を実行する、
ことを特徴とする作業機械。 - 請求項7に記載の作業機械において、
前記処理プロファイルには、
前記データを間引いて送信するデータ削減送信処理、前記データをバッファメモリに保存し、前記通信速度が前記要求速度以上になった場合に、前記バッファメモリに保存されている前記データを前記外部装置に送信するバッファ処理、前記データの送信を中断する送信中断処理、及び、前記送信中断処理が実行された後、前記通信速度が前記要求速度以上になった場合に、前記送信処理の再開を要求するリトライ要求を前記外部装置に送信するリトライ要求処理の組み合わせからなる処理方法が複数定義され、
前記制御装置は、前記データ削減送信処理に関連付けられたデータ削減関連データと、前記バッファ処理に関連付けられたバッファ関連データを前記外部装置から取得し、
前記データ削減関連データには、前記データ削減送信処理の対象となるデータを特定する情報、及び、前記データ削減送信処理におけるデータ削減量が定義され、
前記バッファ関連データには、前記バッファ処理の対象となるデータを特定する情報、及び、前記バッファ処理におけるバッファ量が定義されている、
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記制御装置は、
第1通信ネットワークを介して前記外部装置と通信を行う通信端末と、
第2通信ネットワークを介して相互に接続され、前記作業機械が備える機器を制御する複数の制御ユニットと、を有し、
前記複数の制御ユニットには、前記データを前記外部装置に送信する送信処理を実行する情報制御ユニットが含まれ、
前記情報制御ユニットは、前記通信端末に接続され前記第1通信ネットワークを介して前記外部装置とデータの授受を行う第1通信インタフェースと、前記第2通信ネットワークを介して前記情報制御ユニットに接続される前記複数の制御ユニットとデータの授受を行う第2通信インタフェースと、を有し、
前記複数の制御ユニットは、前記作業装置の動作を制御する作業制御ユニットを含み、
前記情報制御ユニットは、前記第2通信インタフェースを介して前記作業制御ユニットから取得した情報に基づいて、前記作業機械の状態を管理する、
ことを特徴とする作業機械。 - 請求項9に記載の作業機械において、
前記第2通信ネットワークに接続される撮影装置をさらに備え、
前記情報制御ユニットは、
前記撮影装置で撮影された画像のデータを前記第1通信ネットワークを介して前記外部装置に送信し、
前記作業機械を遠隔から操作するための指令を前記第1通信ネットワークを介して前記外部装置から受信し、
前記作業制御ユニットは、前記第2通信ネットワークを介して前記情報制御ユニットから入力された前記指令に基づいて、前記作業機械の作業装置の動作を制御する、
ことを特徴とする作業機械。
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JP2009033642A (ja) * | 2007-07-30 | 2009-02-12 | Hitachi Ltd | アドホック端末、アドホック通信システムおよびアドホック通信方法 |
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WO2015029268A1 (ja) | 2013-11-19 | 2015-03-05 | 株式会社小松製作所 | 作業機械及び作業機械の管理システム |
JP2017092908A (ja) * | 2015-11-17 | 2017-05-25 | 日立建機株式会社 | 遠隔操縦用建設機械の映像伝送システム |
JP2018107568A (ja) * | 2016-12-26 | 2018-07-05 | 日本電気株式会社 | 遠隔制御装置、遠隔制御システム、遠隔制御方法及び遠隔制御プログラム |
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JP2003189376A (ja) * | 2001-12-21 | 2003-07-04 | Hitachi Constr Mach Co Ltd | 送信機、受信機、送受信装置、建設機械および建設機械システム |
JP2009033642A (ja) * | 2007-07-30 | 2009-02-12 | Hitachi Ltd | アドホック端末、アドホック通信システムおよびアドホック通信方法 |
US20130262611A1 (en) * | 2010-12-08 | 2013-10-03 | Doosan Infracore Co., Ltd. | Method for transmitting information of heavy equipment vehicle for construction |
WO2015029268A1 (ja) | 2013-11-19 | 2015-03-05 | 株式会社小松製作所 | 作業機械及び作業機械の管理システム |
JP2017092908A (ja) * | 2015-11-17 | 2017-05-25 | 日立建機株式会社 | 遠隔操縦用建設機械の映像伝送システム |
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