WO2022209045A1 - 建設機械 - Google Patents
建設機械 Download PDFInfo
- Publication number
- WO2022209045A1 WO2022209045A1 PCT/JP2021/046636 JP2021046636W WO2022209045A1 WO 2022209045 A1 WO2022209045 A1 WO 2022209045A1 JP 2021046636 W JP2021046636 W JP 2021046636W WO 2022209045 A1 WO2022209045 A1 WO 2022209045A1
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- WO
- WIPO (PCT)
- Prior art keywords
- control device
- vehicle body
- construction machine
- state
- indicator light
- Prior art date
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- 238000010276 construction Methods 0.000 title claims abstract description 69
- 238000004891 communication Methods 0.000 claims abstract description 57
- 230000009471 action Effects 0.000 claims abstract description 54
- 238000013459 approach Methods 0.000 claims abstract description 33
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- 230000007704 transition Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 7
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- 230000005540 biological transmission Effects 0.000 description 2
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- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
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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
- E02F9/24—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
-
- 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
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
- H04Q9/02—Automatically-operated arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
Definitions
- the present invention relates to construction machinery.
- Patent Document 1 discloses a work comprising a lower traveling body, an upper revolving body mounted on the upper part of the lower traveling body so as to be freely swivel and having an operator's cab mounted thereon, and a work machine mounted on the upper revolving body so as to be able to be raised and lowered.
- a work vehicle is disclosed in which a linear light emitter is attached to the outer surface of an upper rotating body.
- Patent Document 2 describes the technology. It has been known. Patent Document 2 discloses a vehicle frame, an engine mounted on the frame, wheels driven by the power of the engine, a traveling operation device, a control device for controlling the traveling operation device, and a vehicle mounted on the vehicle. an indicator lamp mounted on the top of the body; an operation panel with a switch for switching between manual mode for manned operation and auto mode for unmanned operation; A self-driving vehicle is disclosed comprising a controller.
- the present invention has been made in view of the above, and is capable of simply notifying surrounding workers and managers of the operating state of a vehicle body, thereby improving the safety and workability of workers and managers around the vehicle body.
- An object of the present invention is to provide a construction machine that can be compatible with each other.
- the present application includes a plurality of means for solving the above problems.
- a vehicle body control device that controls the operation of the construction machine and a communication terminal
- An external control device generates a control signal according to an operation signal received from the outside, and sends the control signal to the vehicle body control device, thereby controlling unmanned operation that does not require operation by an operator in the cab.
- an operation control device an access permission indicator light that indicates permission for a worker to approach the construction machine, and an action request indicator light that indicates a request for surrounding workers to board the operator's cab and perform a specific action; wherein the external operation control device lights the access permission indicator light when it is determined that the worker can be allowed to approach the construction machine according to the information collected by the vehicle body control device.
- the communication terminal shall control so as to turn on the action request indicator lamp.
- the present invention it is possible to simply notify surrounding workers and managers of the operating state of the vehicle body, and it is possible to achieve both safety and workability for workers and managers around the vehicle body.
- FIG. 1 is a side view schematically showing the appearance of a hydraulic excavator, which is an example of construction machinery;
- FIG. 1 is a functional block diagram showing a hydraulic system and a control system of a construction machine extracted together with related configurations;
- FIG. It is a figure which shows the relationship between the name of each status indicator light, a display color, and a use (lighting condition).
- FIG. 4 is a diagram showing state transition of a control state of a vehicle body in a hydraulic excavator;
- FIG. 10 is a diagram showing the relationship between an on-board operator and whether or not the vehicle can be operated by a remote (external) command in each control state.
- FIG. 4 is a diagram showing how control patterns of status indicator lights are switched in a manned operation state;
- FIG. 4 is a diagram showing a control table in a control pattern (lighting control pattern 1) of a status indicator lamp in a manned operation state
- FIG. 10 is a diagram showing a control table in a control pattern (lighting control pattern 2) of the status indicator lamp in a manned operation state
- FIG. 10 is a diagram showing a control table in a control pattern (lighting control pattern 3) of a status indicator lamp in a manned operation state
- FIG. 1 Embodiments of the present invention will be described below with reference to FIGS. 1 to 10.
- a hydraulic excavator equipped with a front working machine will be described as an example of construction machinery, but the present invention can also be applied to other construction machinery.
- FIG. 1 is a side view schematically showing the appearance of a hydraulic excavator, which is an example of construction machinery according to the present embodiment.
- FIG. 2 is a functional block diagram showing the hydraulic system and control system of the construction machine along with related configurations.
- a hydraulic excavator 100 includes a crawler-type lower traveling body 1, an upper revolving body 2 which is rotatable with respect to the lower traveling body 1, and a vertical rotating body with respect to the upper revolving body 2. and an operator's cab 4 provided for various operations of the hydraulic excavator 100 with an operator on the front upper part of the upper revolving body 2 . .
- the lower traveling body 1 and the upper revolving body 2 constitute the vehicle body of the hydraulic excavator 100 .
- the lower traveling body 1 includes a pair of left and right traveling hydraulic motors 1a, which are hydraulic actuators, and crawlers 1b respectively wound around the traveling hydraulic motors 1a in the front-rear direction.
- the lower traveling body 1 travels forward or backward by independently rotating each crawler 1b by each traveling hydraulic motor 1a via a speed reduction mechanism (not shown) or the like.
- the upper revolving body 2 includes a hydraulic system of the hydraulic excavator 100, such as a prime mover such as an engine 16, a hydraulic pump 18, a revolving hydraulic motor 2a, and related mechanisms (see FIG. 2).
- the upper revolving structure 2 revolves rightward or leftward with respect to the lower traveling structure 1 by a revolving hydraulic motor 2a, which is a hydraulic actuator.
- the front working machine 30 is of a multi-joint type configured by connecting a plurality of front members (a boom 3a, an arm 3b, and a bucket (working implement) 3c) that rotate in the vertical direction.
- a plurality of front members a boom 3a, an arm 3b, and a bucket (working implement) 3c
- One end of the arm 3b is supported vertically rotatably at an end (tip) different from the base end of the boom 3a.
- a bucket 3c as a working tool is supported at the other end of the arm 3b so as to be rotatable in the vertical direction.
- the boom 3a, the arm 3b, and the bucket 3c are rotationally driven by a boom cylinder 3d, an arm cylinder 3e, and a bucket cylinder 3f, which are hydraulic actuators.
- the front working machine 3 includes an angle sensor 6 (boom angle sensor) for detecting the angle of the boom 3a, an angle sensor 7 (arm angle sensor) for detecting the angle of the arm 3b, and an angle sensor for detecting the angle of the bucket 3c. 8 (bucket angle sensor) are provided.
- the angle sensors 6, 7, 8 are, for example, IMUs (Inertial Measurement Units). can be calculated.
- an inclination sensor 9 for detecting the front-rear direction angle (pitch angle) and lateral direction angle (roll angle) of the vehicle body is attached.
- a turning angle sensor 10 for detecting the relative angle (turning angle) of the upper turning body 2 with respect to the lower traveling body 1 is attached to a center joint (not shown) connecting the .
- the tilt sensor 9 is, for example, an acceleration sensor or an IMU.
- a display device 5 such as a liquid crystal monitor that displays various gauges and machine information is provided so that the operator can check the status of the hydraulic excavator 100.
- a vehicle body control device 11 for controlling the overall operation of the hydraulic excavator 100 is mounted inside the cab 4 . It has a signal output function for driving control valves, etc., and a communication function with other in-vehicle control devices such as an engine control device.
- the angle sensors 6, 7, 8, tilt sensor 9, and turning angle sensor 10 are electrically connected to the vehicle body control device 11.
- the vehicle body control device 11 uses information from these various sensors for attitude calculation to determine the attitude of the hydraulic excavator (the ground angles of the boom 3a, the arm 3b, and the bucket 3c, and the relative angle between the lower traveling body 1 and the upper rotating body 2). It is calculated and used for machine control functions, area restriction functions, remote control and automatic driving.
- an external operation control device 60 is provided for transmitting drive requests for pumps, control valves, and the like to the vehicle body control device 11 during unmanned operation such as remote operation and automatic operation. ing.
- the vehicle body control device 11 that receives the drive request signal drives the pump, control valve, etc., so that the hydraulic actuator (boom) of the hydraulic excavator 100 can be operated even if the operating device 15 is not operated by the operator on board.
- cylinder 3d, arm cylinder 3e, bucket cylinder 3f, traveling hydraulic motor 1a, turning hydraulic motor 2a, etc. can be driven.
- a communication terminal 61 is provided for communication with the outside during unmanned operation. It enables mutual communication with a remote control device (not shown) operated by a remote control operator and a control room (not shown) that remotely monitors the state of the vehicle body and remotely controls the operation of the vehicle body.
- the hydraulic excavator 100 is provided with status indicator lights 62a, 62b, 62c, 62d, 62e, and 62f as indicators for notifying the surroundings of the status of the vehicle body.
- the status indicator lights 62a, 62b, 62c, 62d, 62e, and 62f are monochromatic rotating lights. Henceforth, several state indicator lamps 62a, 62b, 62c, 62d, 62e, and 62f may be collectively described as the state indicator lamp 62.
- FIG. 3 is a diagram showing the relationship between the names, display colors, and uses (lighting conditions) of each status indicator lamp.
- the relationship between the name 201, the display color 202, and the usage (lighting condition) 203 of each status indicator lamp is shown in tabular form for each status indicator lamp name 201a to 201f.
- the status indicator lamp 62 provided in the hydraulic excavator 100 is A status indicator light 62a (hereinafter referred to as the work indicator light 62a) with the name "work indicator light” (name 201a); a status indicator light 62b (hereinafter referred to as the warning indicator light 62b) with the name “warning indicator light” (name 201b); a status indicator light 62c (hereinafter referred to as communication indicator light 62c) with the name “communication indicator light” (name 201c); a status indicator light 62d (hereinafter referred to as the operation indicator light 62d) with the name "operation indicator light” (name 201d); a status indicator light 62e (hereinafter referred to as an "approach permission indicator light 62e”) labeled "approach permission indicator light” (name 201e); It is composed of a status indicator light 62f (hereinafter referred to as the action request indicator light 62f) named “action request indicator light” (name 201f).
- the yellow color is used for the work indicator light 62a to notify the surroundings that the vehicle body is in operation and to call attention to it.
- the warning indicator light 62b uses red to notify the occurrence of an abnormality or failure, or an emergency.
- the communication indicator light 62c uses blue as one of the colors that indicate the normal state.
- the operation indicator lamp 62d uses green as a color that indicates a normal state.
- green is used as a color that indicates a safe state in which surrounding workers are permitted to approach the vehicle body.
- the action request indicator light 62f uses blue as the color for requesting (forcing action) the surrounding workers to approach the vehicle body.
- red, yellow, blue, and green which are colors generally used in industrial machines, are used, and the meanings assigned to each color are "normal” and “permitted”. is assigned a green color, and the meaning of an "instruction (approach request)" to surrounding workers is assigned a blue color.
- the mounting positions of the status indicator lamps 62 are also arranged as follows, taking into consideration the suppression of misunderstandings and confusion of meaning.
- the work indicator light 62a is placed on the counterweight near the rear end radius of the upper revolving body so that it can be easily seen from the surroundings during operation.
- the warning indicator light 62b, the communication indicator light 62c, and the operation indicator light 62d are mainly intended for the administrator who monitors remote control and automatic operation, so they are easy to see from a place away from the vehicle body or a place higher than the vehicle body. Place it on top of the driver's cab.
- the access permission indicator light 62e and the action request indicator light 62f mainly target workers who are present around the vehicle body, especially in the vicinity. In addition, it is placed in front left of the driver's cab near the opening/closing handle of the door of the driver's cab 4 .
- the three status indicator lights 62 ie, the warning indicator light 62b, the communication indicator light 62c, and the operation indicator light 62d, are arranged close to each other, that is, arranged in series to form a group.
- the two status indicator lights 62 ie, the access permission indicator light 62e and the action request indicator light 62f are arranged close to each other, that is, arranged so as to form a group.
- the group of warning indicator lights 62b, communication indicator lights 62c, and driving indicator lights 62d are arranged apart from the group of approach permission indicator lights 62e and action request indicator lights 62f.
- the unmanned operation manager and surrounding workers who are subject to notification In order not to confuse the operators, status indicator lights using the same color are placed at a distance, and the status indicator lights for unmanned operation supervisors are placed above the driver's cab.
- the status indicator lamps for notifying surrounding workers are located below the driver's cab so that the status indicator lamps indicating the information required by each notification target are more easily visible.
- the access permission indicator light 62e and the action request indicator light 62f which are intended to notify the surrounding workers, in a continuous position, it is easy to recognize that these two indicate the content of the notification directed to the surrounding workers. is doing.
- the operation indicator light 62d is placed at a position where the operator cannot see it from inside the cab when boarding. It should be placed in a position where it can be visually recognized by the operator.
- the operation indicator lamp 62d and the approach permission indicator lamp 62e which are also green indicator lights, only the approach permission indicator light 62e is visible to the operator in the driver's cab 4. It is possible to improve the easiness of recognizing the state (a state in which there is a high possibility that surrounding workers are approaching), and to improve safety.
- the operator can confirm the lighting of the access permission indicator light 62e while on board, it is possible to confirm whether the access permission indicator light 62e is operating normally while staying in the driver's cabin.
- the access permission indicator light 62e should be installed at a position where the surrounding workers who visually recognize the access permission indicator light 62e are within the field of view of the operator in the driver's cab 4.
- the hydraulic excavator 100 includes a vehicle body control device 11 that controls the operation of the entire vehicle body, a lock switch 12 that is a lever-type switch for switching operation lock means for switching whether or not all operations of the vehicle body are permitted, A display device 5 that displays various instruments and machine information so that the operator can check the status of the hydraulic excavator, and a switch box 13 for manually changing the engine speed and operating the display device 5. , and a monitor control device 14 that receives various switch inputs of the switch box 13 and changes the display contents of the display device 5 .
- the vehicle body control device 11 , the lock switch 12 , the display device 5 , the switch box 13 and the monitor control device 14 are provided inside the driver's cab 4 .
- an operation device 15 for performing various operations of the hydraulic excavator is provided.
- the operating device 15 can perform, for example, a boom raising operation, a boom lowering operation, an arm crowding operation, an arm dumping operation, a bucket crowding operation, a bucket dumping operation, a left turning operation, a right turning operation, a right forward traveling operation, a right backward traveling operation, A plurality of operation levers for left forward traveling operation, left backward traveling operation, and the like.
- the hydraulic excavator 100 is equipped with an engine 16 as a prime mover, and an engine control device 17 electrically connected to the engine 16 grasps the state of the engine 16 from a temperature sensor built into the engine and a signal from a pickup. The number of revolutions and torque are controlled by controlling the valves and the like.
- the vehicle body control device 11, the monitor control device 14, and the engine control device 17 are connected by CAN communication, and each transmits and receives necessary information.
- the vehicle body control device 11 controls the engine target according to the control voltage set and output by the engine control dial, the operation state of the operation device 15, the load state of the hydraulic pump 18, the temperature condition, and the like.
- the rotational speed is calculated, and the calculated engine target rotational speed is transmitted to the engine control device 17 .
- the engine control device 17 controls the engine 16 so as to achieve the target engine speed calculated by the vehicle body control device 11, and calculates the actual engine speed from the signal of the pickup sensor incorporated in the engine 16 to Send to the control device 11 .
- the monitor control device 14 acquires the engine target rotation speed and the actual engine rotation speed on the CAN communication, and displays the acquired information such as the engine target rotation speed and the actual engine rotation speed as one of the status displays of the vehicle body on the display device 5. to display.
- Hydraulic oil discharged from a variable displacement hydraulic pump 18 driven by an engine 16 is supplied to each hydraulic actuator 1a, 2a, 3d, 3e, 3f via a control valve 19 that controls the flow of pressure oil to the hydraulic actuators 1a, 2a, 3d, 3e, 3f. It is supplied to the hydraulic motor 1a, swing hydraulic motor 2a, boom cylinder 3d, arm cylinder 3e, and bucket cylinder 3f.
- a case in which one hydraulic pump 18 is provided is exemplified, but in consideration of situations such as simultaneous operation of a plurality of actuators, a plurality of hydraulic pumps may be mounted. good too.
- the operation device 15 is an electric operation lever, and outputs a PWM output signal (operation signal) according to the amount of operation to the vehicle body control device 11 .
- a pilot pump 20 which is a hydraulic source, is driven by the engine 16, and the discharge pressure from the pilot pump 20 is supplied to a pump regulator 21 and a lock valve 22, which is operation locking means.
- the discharge pressure from the pilot pump 20 is maintained at the pilot primary pressure (eg, 4 MPa) by a pilot relief valve (not shown).
- the pump regulator 21 includes a pump flow rate control electromagnetic valve, which is an electromagnetic proportional valve, for reducing and using the pilot primary pressure from the pilot pump 20 . The pressure is reduced to produce the pump flow control pressure (secondary pressure).
- the pump regulator 21 has a control mechanism for controlling the tilting (displacement volume) of the hydraulic pump 18, and the volume of the hydraulic pump 18, i.e. Controls the discharge flow rate.
- the pump regulator 21 controls the characteristics of the hydraulic pump 18 so that the pump volume is minimized when the pump flow control pressure is minimum (eg, 0 MPa), and the pump volume is maximized when the pump flow control pressure is maximum (eg, 4 MPa).
- the pump flow rate control solenoid valve is in the shutoff position (eg, 0 MPa) in a non-controlled state (eg, 0 mA), and the pump flow rate control pressure increases as the command current from the vehicle body control device 11 increases. controlled by
- the pump regulator 21 is provided with a pump flow control pressure sensor 23 for detecting the pump flow control pressure.
- the pump flow control pressure detected by the pump flow control pressure sensor 23 is input to the vehicle body control device 11 as a detection signal.
- the vehicle body control device 11 uses a previously stored relationship between the pump flow control pressure and the pump volume to estimate the pump volume based on the pump flow control pressure detected by the pump flow control pressure sensor 23.
- the discharge flow rate of the hydraulic pump 18 is calculated by multiplying the volume by the engine speed.
- the lock valve 22 is an operation lock means for switching whether or not all movements of the vehicle body are permitted.
- the lock valve 22 is switched between a blocking position and a communicating position by a solenoid driven by the vehicle body control device 11 .
- the lock switch 12 is in the OFF state (the terminals are open) when the lock lever (not shown) installed in the driver's cab 4 is in the lock position.
- the vehicle body control device 11 monitors the state of the lock switch 12, and when the lock switch 12 is OFF, switches the lock valve 22 to the non-excited shutoff position.
- the lock switch 12 is in the ON state (the terminals are electrically connected) when the lock lever is in the unlocked position.
- the vehicle body control device 11 monitors the state of the lock switch 12, and when the lock switch 12 is ON, applies a control voltage (for example, 24 V) to the lock valve 22 to switch it to the energized communication position.
- a pilot pressure control pressure reducing valve 24 is provided in the pilot circuit between the lock valve 22 and the control valve 19 .
- the vehicle body control device 11 drives the pilot pressure control pressure reducing valve 24 according to the magnitude of the lever operation amount, which is the input signal of the operation device 15 .
- the pilot primary pressure is supplied to the pilot pressure control pressure reducing valve 24, and when the pilot pressure control pressure is generated by the pilot pressure control pressure reducing valve 24, the generated pilot pressure is applied to the control valve.
- the corresponding hydraulic actuators 1a, 2a, 3d, 3e, and 3f can be operated.
- the pilot primary pressure is not supplied to the pilot pressure control pressure reducing valve 24, so the pilot operation pressure is no longer generated (for example, becomes 0 MPa), and the hydraulic actuators 1a, 2a, 3d, 3e, 3f Operation is disabled.
- a pilot circuit between the pilot pressure control pressure reducing valve 24 and the control valve 19 is provided with an operating pressure sensor 25 for detecting the pilot operating pressure.
- a detection signal from the operation pressure sensor 25 is input to the vehicle body control device 11 . Based on the pilot operating pressure detected by the operating pressure sensor 25, the vehicle body control device 11 can grasp the operation status of the hydraulic excavator 100 and whether the pilot pressure control pressure reducing valve 24 is operating normally.
- a delivery circuit between the hydraulic pump 18 and the control valve 19 is provided with a pump discharge pressure sensor 26 for detecting the pump discharge pressure.
- the vehicle body control device 11 can grasp the pump load of the hydraulic pump 18 of the hydraulic excavator 100 based on the pump discharge pressure detected by the pump discharge pressure sensor 26 .
- the vehicle body control device 11 calculates the pump target flow rate by operation according to the engine speed and the input of the operation device 15. In addition, the vehicle body control device 11 calculates the limit horsepower according to the engine speed, operating conditions, and other vehicle body conditions (temperature, etc.), and from the input of the pump discharge pressure sensor 26 and the limit horsepower, the pump upper limit due to the horsepower limit. Calculate the flow rate. The vehicle body control device 11 selects the smaller one of the pump target flow rate by operation and the pump upper limit flow rate by horsepower limitation as the pump target flow rate, and drives the pump flow control electromagnetic valve so that the discharge flow rate of the hydraulic pump 18 becomes the pump target flow rate. do.
- the communication terminal 61 receives command signals for unmanned operation such as remote control and automatic operation from the outside of the vehicle body, and also transmits the posture of the vehicle body and various state information to the outside.
- the communication terminal 61 is connected to the external operation control device 60 by CAN communication.
- the external operation control device 60 and the vehicle body control device 11 are also connected by CAN communication.
- the external operation control device 60 transfers an operation command received from the outside via the communication terminal 61 to the vehicle body control device 11, thereby controlling the actuator during unmanned operation. Execute motions, pumps and valves.
- the external operation control device 60 can grasp the states of various switches and various sensors connected to the vehicle body control device 11 through CAN communication that connects the external operation control device 60 and the vehicle body control device 11 .
- the communication terminal 61 is also connected to the vehicle body control device 11 by CAN communication. etc.) can be sent to the remote operator or control room via the network.
- the communication terminal 61 can also send a command to the monitor control device 14 via the vehicle body control device 11, and a specific message or Icons can be displayed.
- the communication terminal 61 is connected to a plurality of cameras 63 mounted on the vehicle by Ethernet communication, and the communication terminal transmits this video signal via the network, so that the image around the vehicle can be confirmed even from a remote location. can be done.
- the external operation control device 60 includes, as status indicator lights for notifying the surroundings of the status of the vehicle body, a work indicator light 62a, a warning indicator light 62b, a communication indicator light 62c, a driving indicator light 62d, an approach permission indicator light 62e, an action indicator light 62e, and an action light.
- Six types of revolving lamps of the request indicator lamp 62f are electrically connected, and are switched between lighting (ON) and lighting (OFF) according to a command from the external operation control device 60.
- the external operation control device 60 is also connected to an external speaker 66 (notification device) for notifying surrounding workers of voice messages and alarm sounds related to unmanned operation. Outputs a notification sound upon command.
- an external speaker 66 notification device
- An operating state changeover switch 64 for switching between manned operation and unmanned operation is mounted in the operator's cab 4 of the hydraulic excavator 100 and is electrically connected to the vehicle body control device 11 .
- the driving state changeover switch 64 is a so-called momentary type switch, and the vehicle body control device 11 is in a state where the driving state changeover switch 64 is pressed (ON) or not pressed (OFF). can be determined.
- a lighting condition changeover switch 65 is mounted for the operator to change (switch) the lighting condition of the status indicator lamp 62, and is electrically connected to the vehicle body control device 11. It is The lighting condition changeover switch 65 is a so-called momentary type switch, and the vehicle body control device 11 is in a state where the lighting condition changeover switch 65 is pressed (ON) or not pressed (OFF). can be determined.
- the vehicle body control device 11, the monitor control device 14, the engine control device 17, and the external operation control device 60 each comprise a central processing unit (CPU), a memory, and an interface.
- the stored program is executed by the central processing unit (CPU), and the central processing unit (CPU) performs processing based on the settings stored in the memory and the signals input from the interface, and outputs signals from the interface. It is something to do.
- FIG. 4 is a diagram showing the state transition of the control state of the vehicle body in the hydraulic excavator.
- FIG. 5 is a diagram showing the relationship between whether or not the vehicle can be operated by an operator on board and remote (external) commands in each control state shown in FIG.
- FIG. 5 shows, in a tabular form, the relationship between control states 211, whether the vehicle can be operated by an operator on board 212, and whether the vehicle can be operated by a remote (external) command 213.
- the vehicle body operation is all operations other than the ON/OFF operation of the start key of the hydraulic excavator 100 and the operation corresponding to the pressing operation of the operating state changeover switch 64.
- the engine 16 is started/stopped, locked, It includes operations such as closing/releasing the valve 22, operating the hydraulic actuators 1a, 2a, 3d, 3e, and 3f, operating other electrical components, and changing the setting of the vehicle body.
- the manned operation state 310 is a state in which the excavator 100 is manually operated. As shown in FIG. 5, in the manned operation state 310, the operator in the operator's cab 4 can operate the vehicle body, but cannot operate the vehicle body by a remote (external) command.
- the vehicle body control device 11 and the external operation control device 60 enter the unmanned operation state 320.
- the unmanned operation temporary release states 321 which is one of the unmanned operation temporary release states 321 .
- the reason why the state transition conditions between the manned operation state 310 and the unmanned operation state 320 include the shut-off state of the lock valve 22 is that the vehicle body must stop switching the control state between the manned operation and the unmanned operation. (that is, when the hydraulic actuators 1a, 2a, 3d, 3e, and 3f are not operating) to prevent sudden unintentional movement of the vehicle body when switching the control state. be.
- the operator in the driver's cab 4 can operate the vehicle body, but remote (external) commands cannot operate the vehicle body.
- the operator in the cab 4 moves out of the working range of the vehicle body, confirms the safety around the vehicle body, and performs the work. Operate the staff communication terminal to send a signal to allow unmanned operation start to the vehicle body and the control room.
- the unmanned operation temporary release state 321 when the hydraulic excavator 100 receives the unmanned operation start permission signal, the vehicle body control device 11 and the external operation control device 60 transition to the unmanned operation standby state 322 .
- the unmanned operation standby state 322 is a state in which remote control can be started at any time according to the judgment of the control room side. As shown in FIG. 5, in the unmanned operation standby state 322, vehicle body operation (operation of levers and switches in the operator's cab 4) by an operator in the operator's cab 4 is disabled. In addition, it is not possible to operate the vehicle body by remote (external) commands.
- an unmanned operation stop signal is transmitted to the hydraulic excavator 100 from the worker communication terminal or the control room.
- the hydraulic excavator 100 receives the unmanned operation stop signal in the unmanned operation standby state 322
- the vehicle body control device 11 and the external operation control device 60 transition to the unmanned operation temporary release state 321, so that the lock valve 22 is closed.
- the operator in the cab 4 presses the operating state changeover switch 64 to cause the vehicle body control device 11 and the external operation control device 60 to transition to the manned operating state 310 .
- the control room transmits an unmanned operation start signal to the excavator 100, and when the excavator 100 receives the unmanned operation start signal, the vehicle body control device 11 and the external operation control device 60 start unmanned operation. It transitions to the work state 323 .
- the unmanned operation temporary release state 321 is set to transition to the unmanned operation work state 323 via the unmanned operation standby state 322 . That is, in order to transition to the unmanned operation work state 323 in which the vehicle body can be operated by a remote (external) command, workers around the vehicle body and control, including transmission of an unmanned operation start permission signal by a communication terminal for workers, are required. It was set to require confirmation of intention from both sides. By defining the state transition procedure in this way, it is possible to prevent the occurrence of unmanned operation (vehicle body movement) at timings that are not intended by surrounding workers or at timings when the safety of the surroundings has not been confirmed, thereby improving safety. can be improved.
- the control room unmanns the excavator 100 .
- the vehicle body control device 11 and the external operation control device 60 transition to the unmanned operation temporary release state 321 .
- the unmanned operation work state 323 when a nearby worker requests to stop unmanned operation temporarily, the worker operates the worker communication terminal to send an unmanned operation stop request to the control room.
- the manager/supervisor in the control room who receives the request to stop unmanned operation operates the vehicle until the end of the work, adjusts the posture of the vehicle to the appropriate posture for stopping, and then stops unmanned operation of the vehicle.
- the vehicle body After transmitting the signal and receiving the unmanned operation stop signal, the vehicle body transits to the unmanned operation temporary release state 321 .
- the unmanned operation can be stopped normally, so the work process of the unmanned operation can be managed and the work can be safely stopped, and the safety and workability of the work site can be improved.
- the vehicle body receives an emergency stop signal transmitted by pressing an emergency stop switch (not shown) or transmitted via a network. Then, the vehicle body control device 11 and the external operation control device 60 transition to the unmanned operation forced stop state 324 .
- the vehicle body control device 11 or the external operation control device 60 determines that an abnormality that hinders the continuation of the unmanned operation has occurred. Similarly, it transitions to the unmanned operation forced stop state 324 at times.
- the behavior of the vehicle body in the unmanned operation forced stop state 324 should be set according to the degree of the event occurring.
- the engine 16 may be automatically stopped. Further, if the front posture has deviated from the normal range, it is sufficient to simply stop the operation of the hydraulic actuators 1a, 2a, 3d, 3e, and 3f.
- the hydraulic actuators 1a, 2a, 3d, 3e, and 3f As for how to stop the hydraulic actuators 1a, 2a, 3d, 3e, and 3f, for example, when an emergency stop switch is pressed, the hydraulic actuators 1a, 2a, 3d, 3e, and 3f should be stopped immediately. can be considered. In addition, if the network connection is interrupted, the hydraulic actuators 1a, 2a, 3d, 3e, and 3f can be gently stopped by the control of the vehicle body, causing the vehicle body and cargo to shake greatly due to the sudden stop. It is possible to reduce the influence of the accident and improve safety.
- lock valve 22 is set to automatically switch to the locked state when the vehicle body is stopped, then when a worker gets on board, the operator may accidentally touch the lever and move the vehicle body. can be prevented.
- the unmanned operation forced stop state 324 the unmanned operation is stopped, so the vehicle can be operated only by an operator (levers and switches in the operator's cab 4) in the operator's cab 4. Become.
- unmanned operation forced stop state 324 when the operator in the cab 4 presses the operation state changeover switch 64 while the lock valve 22 is in the closed state, the vehicle body control device 11 and the external operation control device 60 are put into manned operation. Transition to state 310 .
- the operator can get into the cab 4 of the hydraulic excavator 100 and evacuate the vehicle body.
- the unmanned operation forced stop state 324 when the vehicle body control device 11 or the external operation control device 60 determines that the abnormal state has been resolved, the state automatically transitions to the unmanned operation temporary release state 321.
- FIG. 6 is a diagram showing how the control patterns of the status indicator lights are switched in the manned operation state
- FIGS. 7 to 9 are diagrams showing control tables for each control pattern.
- FIG. 10 is a diagram showing a control table in an unmanned operation state.
- the external operation control device 60 controls lighting and extinguishing of the status indicator lamp 62 .
- Lighting control of the status indicator lamp 62 is broadly divided into a manned operation state 310 and an unmanned operation state 320 . Furthermore, the lighting control in the manned operation state 310 is switched between "lighting control pattern 1" to "lighting control pattern 3" each time the lighting condition changeover switch 65 is pressed.
- the external operation control device 60 selects “lighting control pattern 1” (see FIG. 7), “lighting control pattern 2” (see FIG. 8), “lighting control pattern 3” (see FIG. 9).
- the control patterns are “lighting control pattern 1", “lighting control pattern 2", “lighting control pattern 3”, and “lighting control pattern 1” each time the operator in the cab 4 presses the lighting condition changeover switch 65. switches in the order of
- the external operation control device 60 stores the lighting control pattern selected when the key is turned off, and reads and uses the lighting control pattern at the time of the previous end when the key is turned on next time.
- the work indicator lamp 62a lights up when the engine is running. This is to notify the surroundings that the hydraulic excavator 100 is in operation.
- the access permission indicator light 62e lights up when the engine is stopped or when the lock valve 22 is in the blocking position. In other words, the light is turned on when the vehicle body is secured to not start moving.
- the surrounding workers can visually confirm whether the operator in the operator's cab 4 has surely brought the vehicle body to a stopped state. , increasing safety on the job site.
- the warning indicator light 62b, the communication indicator light 62c, the operation indicator light 62d, and the action request indicator light 62f are the state indicator lights 62 for notifying information related to the unmanned operation state 320, so they are always turned off.
- the work indicator lamp 62a lights up when the engine 16 is running, as in the "lighting control pattern 1".
- Status indicator lamps other than the above are always turned off. In other words, the lighting pattern is the same as that of a hydraulic excavator having only manned operation.
- a notification indicating permission to approach can be made as in "lighting control pattern 1"
- the permission to approach indicator light 62e is in the field of view of the operator in the driver's cab 4. Since it is installed in a place where it is possible to enter the vehicle, it is possible that the approach permission indicator light 62e continues to illuminate while the engine is stopped or the lock valve is shut off, such as when work is being interrupted.
- the notice of access permission to the surrounding workers will be operated in the same way as before (by gesture, voice, or sound), and priority will be given to the workability of the operator in the cab 4, and access permission will be given.
- a pattern that is, "lighting control pattern 2" that allows the indicator lamp 62e to be turned off at all times can be selected.
- the "lighting control pattern 3" of the manned operation state 310 ensures that the vehicle does not move when the engine is stopped or when the lock valve 22 is in the closed position. It is different from “lighting control pattern 1" in that the state indicator lamp 62 that lights when the vehicle is on is not the approach permission indicator lamp 62e but the operation indicator lamp 62d.
- the unmanned operation state 320 when the operation indicator lamp 62d is illuminated, the communication indicator lamp 62c is always illuminated. By confirming that there is, even if the operation indicator lamp 62d is lit, it can be determined that the unmanned operation state 320 is not in effect (that is, the state is such that external commands are not accepted).
- the external operation control device 60 holds a control table that defines lighting control patterns (see FIG. 10) of the status indicator lamp 62 in the unmanned operation state 320 .
- the work indicator light 62a lights up when the engine is running.
- the warning indicator light 62b lights up when the control state is the unmanned operation forced stop state 324.
- a red indicator light informs the manager/monitor that there is an abnormality in which unmanned operation cannot be continued.
- the communication indicator lamp 62c indicates that the control state is one of the unmanned operation temporary release state 321, the unmanned operation standby state 322, the unmanned operation working state 323, and the unmanned operation forced stop state 324 (that is, when not in the manned operation state), and Lights up when the network connection between the vehicle body and the control room is normal.
- the lights are turned off in the manned operation state 310, so when the operator in the cab 4 presses the operation state changeover switch 64 to transition to the unmanned operation temporary release state 321, the network connection is normal. If there is, it switches from off to on.
- the operator can confirm that the communication indicator lamp 62c is lit and the warning indicator lamp 62b is extinguished, and can recognize that the vehicle body is in an unmanned operation state.
- the operation indicator lamp 62d lights up when the control state is the unmanned operation state 323.
- the operation indicator lamp 62d is on, the operator in the driver's cab 4 cannot operate the vehicle body, and the vehicle body can be operated by a remote (external) command.
- the access permission indicator light 62e indicates that the control state is any of the unmanned operation temporary release state 321, the unmanned operation standby state 322, and the unmanned operation forced stop state 324 (that is, when the unmanned operation state 320 is not the unmanned operation work state 323), In addition, it lights up when the engine is stopped or when the lock valve 22 is in the closed state (that is, the state in which the vehicle body does not start moving is ensured). Even if the engine is stopped or the lock valve 22 is shut off, the lamp is not lit (turned off) in the unmanned operation state 323 .
- the action request indicator light 62f is turned on when an abnormal state occurs in the vehicle body in the unmanned operation state 320, requiring the worker to get into the driver's cab and take a specific action (this indicates a transition to the unmanned operation forced stop state 324). one of the conditions), or when the vehicle body receives the turn-on signal of the action request indicator lamp 62f.
- the lighting signal for the action request indicator lamp 62f is transmitted via the network from the control room that manages and monitors the unmanned operation.
- the operation state changes to the unmanned operation state 320.
- unmanned operation work state 323 to unmanned operation forced stop state 324 the external operation control device 60 stops the operation of the hydraulic actuators 1a, 2a, 3d, 3e, and 3f and shuts off the lock valve 22.
- the vehicle in this state (unmanned operation forced stop state 324) cannot be operated by remote (external) command, but if the vehicle in the abnormal state is left for a long time, it will interfere with the work.
- the monitor in the operator's cab 4 displays the contact information (telephone number) of the control room and the manager/monitor, the operation requested to the worker on board, and the If actions are displayed, recovery work can be performed smoothly.
- the workability can be further improved by performing the following operation for turning off the action request indicator light 62f.
- the action request indicator light 62f is lit, if the worker is getting on the hydraulic excavator 100 and performing a return response, the state of the vehicle at that time (for example, an abnormal state, the posture of the vehicle, etc.) and other information) is monitored by the external operation control device 60 or a remote control room.
- the external operation control device 60 or the control room confirms that the work to have the worker board and respond has been completed (for example, that the abnormal state has been resolved, or that the vehicle body posture has been changed to the designated one). If the external operation control device 60 determines that the extinguishing condition including is satisfied, the external operation control device 60 extinguishes the action request indicator lamp 62f.
- the worker who boarded the hydraulic excavator 100 can more clearly know that the action requested of him/herself has been completed when the action request indicator lamp 62f lights up, so that the work is completed. can be determined quickly and accurately, and workability as a work site can be further improved.
- the vehicle body control device 11 that controls the operation of the hydraulic excavator 100 and the operation signal received from the outside via the communication terminal 61
- An external operation control device 60 that generates a control signal in response and sends the control signal to the vehicle body control device 11 to perform unmanned operation control that does not require operation by an operator getting on the cab 4, and a hydraulic excavator.
- An access permission indicator light 62e for indicating that the worker is permitted to approach the 100
- an action request indicator light 62f for indicating a request for surrounding workers to board the driver's cab and perform a specific action.
- the control device 60 determines that it is permissible for the operator to approach the hydraulic excavator 100 according to the information collected by the vehicle body control device 11, the control device 60 controls the approach permission indicator lamp 62e to light up.
- the action request indicator light 62f is turned on. Since it is configured to control to light up, the operating status of the vehicle can be easily notified to the workers and managers around the vehicle, and the safety and workability of the workers and managers around the vehicle can be improved. can be made compatible.
- the information assigned to each of the information indicator lamps 62 can be communicated to operators around the hydraulic excavator 100 and managers/monitors in the control room.
- transmitting is described as an example, it is not limited to this, and for example, information may be transmitted by blinking the status indicator lamp 62 .
- each of the above configurations, functions, etc. may be realized by designing a part or all of them, for example, with an integrated circuit.
- each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.
- Pilot pressure control pressure reducing valve 25 Operation pressure sensor 26
- Pump discharge pressure sensor 60
- External operation controller 61
- Communication terminal 62
- Status indicator lamp 62a
- Work indicator light 62b
- Warning indicator light 62c
- Communication indicator light 62d
- Driving indicator light 62e
- Approach permission indicator light 62f
- Action request indicator light 63
- Camera 64
- Driving state switch 65
- External speaker 100 Hydraulic excavator Name of status indicator lamp 221a to 221f 222 Display color 223 Lighting condition 300
- Status 310 Manned operation status 320 Unmanned operation status 321 Unmanned operation temporary release state 322
- Unmanned operation standby state 323
- Unmanned operation work state 324
- Unmanned operation forced stop state 620
- Unmanned operation work state 310
- Manned operation status 320
- Unmanned operation status 321
- Unmanned operation temporary release state 322
- Unmanned operation standby state 323
- Unmanned operation work state 324
- Unmanned operation forced stop state 620
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Abstract
Description
「作業表示灯」(名称201a)の名称を付した状態表示灯62a(以降、作業表示灯62aと称する)と、
「警告表示灯」(名称201b)の名称を付した状態表示灯62b(以降、警告表示灯62bと称する)と、
「通信表示灯」(名称201c)の名称を付した状態表示灯62c(以降、通信表示灯62cと称する)と、
「運転表示灯」(名称201d)の名称を付した状態表示灯62d(以降、運転表示灯62dと称する)と、
「接近許可表示灯」(名称201e)の名称を付した状態表示灯62e(以降、接近許可表示灯62eと称する)と、
「行動要求表示灯」(名称201f)の名称を付した状態表示灯62f(以降、行動要求表示灯62fと称する)とから構成されている。
ポンプ容積を推定し、推定したポンプ容積とエンジン回転数とを掛け合わせることで油圧ポンプ18の吐出流量を演算する。
なお、本発明は上記の実施の形態に限定されるものではなく、その要旨を逸脱しない範囲内の様々な変形例や実施の形態の組み合わせが含まれる。また、本発明は、上記の実施の形態で説明した全ての構成を備えるものに限定されず、その構成の一部を変更や削除したものも含まれる。
Claims (9)
- 施工現場での作業を行う建設機械において、
前記建設機械の動作を制御する車体制御装置と、
通信端末を介して外部から受信した操作信号に応じて制御信号を生成し、前記制御信号を前記車体制御装置に送出することで、運転室へのオペレータの搭乗による操作を必要としない無人運転の制御を行う外部操作制御装置と、
前記建設機械への作業者の接近許可を表示する接近許可表示灯と、
周囲の作業者に運転室に搭乗して特定行動を行うことの要求を表示する行動要求表示灯とを備え、
前記外部操作制御装置は、前記車体制御装置に収集された情報に応じて、前記建設機械への前記作業者の接近を許容できると判定した場合には前記接近許可表示灯を点灯させるように制御するとともに、周囲の作業者に特定の行動を要求する必要があると判定した場合、又は、前記通信端末を介して周囲の作業者に特定の行動を要求する信号を受信した場合には前記行動要求表示灯を点灯させるように制御することを特徴とする建設機械。 - 請求項1記載の建設機械において、
前記接近許可表示灯と前記行動要求表示灯は、互いに近傍もしくは連なる場所に配置され、
前記接近許可表示灯と前記行動要求表示灯の点灯色は異なる色であることを特徴とする建設機械。 - 請求項1記載の建設機械において、
前記接近許可表示灯及び前記行動要求表示灯の少なくとも一方は、周囲の作業者の目線の高さから視認しやすい位置に配置したことを特徴とする建設機械。 - 請求項1記載の建設機械において、
前記外部操作制御装置は、
前記車体制御装置に収集された情報が、少なくともアクチュエータの動作が無効になっており、かつ、アクチュエータが動き出さない状態が確保されているという情報であった場合に、前記建設機械への前記作業者の接近を許容できると判定するとともに、
無人運転を再開させるために必要な操作が発生した場合に、周囲の作業者に特定の行動を要求する必要があると判定することを特徴とする建設機械。 - 請求項4記載の建設機械において、
前記外部操作制御装置は、
無人運転を再開させるために必要な操作が行われたと判定した場合には、前記行動要求表示灯を消灯させることを特徴とする建設機械。 - 請求項4記載の建設機械において、
前記建設機械を操作する作業者が搭乗する運転室内に配置された表示装置をさらに備え、
前記外部操作制御装置は、前記行動要求表示灯を点灯させているときに、運転室内の表示装置に、管理者の連絡先、及び、搭乗した作業者に要求する行動の内容を表示させることを特徴とする建設機械。 - 請求項4記載の建設機械において、
前記外部操作制御装置は、制御室と車体との通信が途絶した場合、又は、通信端末を介して外部から受信した操作信号による車体動作が不可となった場合に、周囲の作業者に特定の行動を要求する必要があると判定することを特徴とする建設機械。 - 請求項4記載の建設機械において、
車体の周囲にいる作業者に対して音により情報を報知する報知装置をさらに備え、
前記外部操作制御装置は、前記行動要求表示灯を点灯させるように制御するのと同時に前記報知器から通知音を発することを特徴とする建設機械。 - 請求項1記載の建設機械において、
前記建設機械の無人運転が正常に動作中であることを示す運転表示灯をさらに備え、
前記外部操作制御装置は、前記車体制御装置により収集された情報に応じて、前記建設機械が正常に動作していると判定した場合には前記運転表示灯を点灯させるように制御することを特徴とする建設機械。
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2021
- 2021-12-16 JP JP2023510237A patent/JP7478309B2/ja active Active
- 2021-12-16 EP EP21935194.7A patent/EP4279663A1/en active Pending
- 2021-12-16 WO PCT/JP2021/046636 patent/WO2022209045A1/ja active Application Filing
- 2021-12-16 KR KR1020237028140A patent/KR20230131491A/ko active Search and Examination
- 2021-12-16 CN CN202180094839.4A patent/CN116917582A/zh active Pending
- 2021-12-16 US US18/277,842 patent/US20240125091A1/en active Pending
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JPS5826130A (ja) * | 1981-08-10 | 1983-02-16 | Meidensha Electric Mfg Co Ltd | 土建作業方法 |
JPH06311570A (ja) * | 1993-04-22 | 1994-11-04 | Komatsu Ltd | 遠隔操作機械の異常表示装置 |
JPH08255019A (ja) | 1995-03-17 | 1996-10-01 | Hitachi Ltd | 自動走行車両 |
JP2002180503A (ja) | 2000-10-02 | 2002-06-26 | Komatsu Ltd | 作業車両 |
JP2013243952A (ja) * | 2012-05-24 | 2013-12-09 | Yanmar Co Ltd | 作業車両 |
KR20150066723A (ko) * | 2013-12-09 | 2015-06-17 | 두산인프라코어 주식회사 | 건설장비의 고장내역표시 시스템 및 방법 |
JP2015192163A (ja) * | 2014-03-27 | 2015-11-02 | 日立建機株式会社 | 作業機械の遠隔操縦システム |
JP6212197B1 (ja) * | 2016-12-28 | 2017-10-11 | 株式会社六共 | 建設機械の安全装置 |
JP2020197123A (ja) * | 2020-09-10 | 2020-12-10 | 住友重機械工業株式会社 | ショベル |
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EP4279663A1 (en) | 2023-11-22 |
KR20230131491A (ko) | 2023-09-13 |
CN116917582A (zh) | 2023-10-20 |
JPWO2022209045A1 (ja) | 2022-10-06 |
US20240125091A1 (en) | 2024-04-18 |
JP7478309B2 (ja) | 2024-05-02 |
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