WO2022215466A1 - 作業機械および作業機械システム - Google Patents
作業機械および作業機械システム Download PDFInfo
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- WO2022215466A1 WO2022215466A1 PCT/JP2022/011785 JP2022011785W WO2022215466A1 WO 2022215466 A1 WO2022215466 A1 WO 2022215466A1 JP 2022011785 W JP2022011785 W JP 2022011785W WO 2022215466 A1 WO2022215466 A1 WO 2022215466A1
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- Prior art keywords
- command
- unit
- work machine
- avoidance
- control command
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- 230000005856 abnormality Effects 0.000 claims abstract description 65
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims description 20
- 230000008054 signal transmission Effects 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000003384 imaging method Methods 0.000 claims description 10
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 4
- 230000006866 deterioration Effects 0.000 claims description 2
- 230000007547 defect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000001934 delay Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- 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
-
- 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
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. 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
- E02F9/26—Indicating devices
- E02F9/267—Diagnosing or detecting failure of vehicles
- E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions
-
- 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
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
Definitions
- the present invention relates to working machines and working machine systems.
- Patent Document 1 describes, "A work vehicle includes an imaging device that captures an image of a work target, an image transmission unit that transmits the image captured by the imaging device to a control device, and an operation signal that receives an operation signal from the control device. a signal receiving unit; and an operation control unit that limits the operation signal according to the transmission status of the image.”
- Patent Document 2 describes "A loading machine control device for controlling a loading machine having a revolving body that revolves around a revolving center and a work machine that is attached to the revolving body and includes a bucket.
- a loading machine information acquisition unit that acquires position information and orientation information, and an unloading position specifying unit that specifies an unloading position for loading earth and sand onto the loading machine based on the position information and the orientation information.
- a bucket position identifying unit that identifies the position of the bucket when a discharging instruction signal for moving the bucket to the discharging position is input; and moving the bucket from the identified position to the discharging position. and an operation signal generation unit that generates an operation signal for causing the loading machine control device.”
- Patent Document 1 describes a mechanism for limiting operation signals in a situation where an abnormality occurs in image transmission and the operator cannot properly operate the work machine.
- the inertia of the vehicle body may cause contact with surrounding obstacles.
- Patent Document 2 describes a mechanism for avoiding contact with a transportation vehicle without depending on the operation of an operator by specifying the vehicle body position, orientation, and soil dumping position.
- the present invention aims to reduce the risk of contact with surrounding obstacles even if the vehicle body does not immediately stop due to inertia when an abnormality occurs in the work machine.
- a working machine comprises a traveling body, a revolving body rotatably mounted on the traveling body, an articulated working machine mounted on the revolving body and including a boom, an arm, and a work implement,
- a work machine comprising a control device, wherein the control device calculates an operation control command for the traveling body, the revolving body, and the working machine according to an operation command output from an operation input device.
- a machine control unit that controls the traveling body, the revolving body, and the work machine according to the operation control command of the control command calculation part; and an abnormality in a signal from the outside of the work machine or an abnormality in the work machine.
- an abnormality detection unit that detects the necessity of avoidance operation by determining the operation states of the traveling body, the revolving body, and the work machine when the abnormality detection unit detects an abnormality, and determining whether the avoidance operation is necessary.
- an avoidance control command unit that calculates an avoidance control command and outputs the avoidance control command to the machine control unit when the avoidance motion necessity determination unit determines that the avoidance action is necessary.
- the control unit is characterized in that the avoidance control command is prioritized over the operation control command to control the traveling body, the revolving body, and the working machine.
- the risk of the vehicle body coming into contact with surrounding obstacles is reduced when an abnormality occurs in the work machine.
- the excavator of Example 1. 1 is a system block diagram of Example 1.
- FIG. 4 is a flowchart of Example 1; Avoidance control of the first embodiment.
- the excavator includes a revolving body 202 including a cab 201 , a traveling body 206 , and a working machine 309 including a boom 203 , an arm 204 and a bucket 205 .
- the revolving body 202 is rotatably mounted on the running body 206 .
- the working machine 309 is attached to the revolving body 202, includes a boom 203, an arm 204, and a working tool, and is configured as a multi-joint type.
- the work implement is the bucket 205 in this example, but may be hydraulic breaker/chisel, crusher, steel reinforced concrete demolition machine, rebar cutter, fork, fork grapple, mounted hydraulic auger, lawn mower, bucket hammer, magnet, or the like. good too.
- FIG. 2 is a system block diagram of this embodiment.
- a working machine for example, a shovel
- the work machine also includes an attitude sensor 303 , a position sensor 305 and a load weight measuring device 306 .
- the work machine system includes the work machine described above, an operation input device 301 provided outside the work machine, a video display device 302, and a remote stop signal transmission device 304. They output signals to the control device 307, and the remote stop signal transmission device 304 is a device that transmits an emergency stop signal to command an emergency stop of the working machine. Used to avoid mechanical accidents.
- the operation input device 301 may be a part of the working machine, or may be arranged outside the working machine. When located external to the work machine, operation input device 301 receives remote operator input.
- the operation input device 301 includes an operation signal generation section 332 that generates an operation signal according to an operator's operation, and an operation signal transmission section 333 that transmits the operation signal to the work machine.
- the work machine also includes an imaging device 308 that captures an image around the work machine.
- the control device 307 includes an operation signal reception section 342 and a video signal transmission section 341 .
- the operation signal reception unit 342 receives the operation signal transmitted by the operation signal transmission unit 333 and outputs the operation signal to the control command calculation unit 343 .
- the video signal transmission unit 341 transmits the video signal output by the imaging device 308 to the outside of the work machine (to the video display device 302 in this embodiment).
- the video display device 302 includes a video signal reception section 322 that receives the video signal transmitted by the video signal transmission section 341, and a video display section 331 that outputs video to the operator.
- the operator of the excavator checks the surroundings of the excavator from the image captured by the imaging device 308 and output by the image display device 302 . Also, the work machine 309 , the revolving body 310 , and the traveling body 311 are remotely operated via the operation input device 301 .
- the video captured by the imaging device 308 is transmitted outside the vehicle from the video signal transmission section 341 of the control device 307 and received by the video signal reception section 322 of the video display device 302 .
- the received video signal is output to the operator via the video display section 331 .
- the operation input device 301 has an operation lever, and when the operator operates the lever, the operation signal generator 332 outputs the operation angle of the lever as an operation signal.
- the operation signal is transmitted to the excavator via the operation signal transmission section 333 and received by the operation signal reception section 342 of the excavator.
- the operation signal is converted into an operation control command such as a command pressure by the control command calculator 343 .
- the control command calculation unit 343 calculates operation control commands for the revolving body 310 , the traveling body 311 , and the working machine 309 according to the operation command output from the operation input device 301 .
- control command calculation unit 343 corrects the operation control command based on not only the operation signal but also the vehicle body posture sensed by the posture sensor 303 so as to stop the movement toward the position of the preset specific obstacle.
- the positions of specific obstacles can be stored in the storage means of the control device 307, for example.
- the specific obstacle here is, for example, a scaffolding when loading earth and sand into a dump. If the operator operates the work implement without noticing the foothold, the control command calculation unit 343 controls the work implement 309, the revolving body 310, or the traveling body 311 in accordance with the operation to determine whether or not these come into contact with the foothold.
- a control command calculation unit 343 calculates an operation control command according to the posture information detected by the posture sensor 303 . For example, depending on the posture of the work machine, it determines whether or not it is permissible to execute a specific operation, and depending on the result, outputs or stops an operation control command.
- the machine control unit 344 controls the working machine 309 , the revolving body 310 and the traveling body 311 according to the operation control command from the control command calculation unit 343 .
- the abnormality detection unit 345 detects an abnormality in a signal from the outside of the work machine or an abnormality in the work machine.
- the abnormality detection unit 345 detects an abnormality in the signal from the outside or an abnormality in the work machine.
- step 401 it is determined whether or not there is an abnormality in the communication of the operation signal.
- Abnormalities here include communication disruptions, communication delays longer than a predetermined time, operation signal bit errors, abnormal acknowledgments, and the like in communication between the operation signal transmitter 333 and the operation signal receiver 342 .
- the abnormality detection unit 345 detects a communication delay, communication interruption, or loss of communication data that occurs between the operation signal transmission unit 333 and the operation signal reception unit 324 as an abnormality. If it is determined that there is an abnormality, the process proceeds to step 405, and if it is determined that there is no abnormality, the process proceeds to step 402.
- step 402 it is determined whether there is an abnormality in the video signal communication.
- Abnormalities here include communication interruptions, communication delays longer than a predetermined time, video signal bit errors, abnormal acknowledgments, etc., in communication between the video signal transmitter 341 and the video signal receiver 322.
- the abnormality detection unit 345 detects a communication delay, communication interruption, or loss of communication data that occurs between the video signal transmission unit 341 and the video signal reception unit 322 as an abnormality. If it is determined that there is an abnormality, the process proceeds to step 405, and if it is determined that there is no abnormality, the process proceeds to step 403.
- the presence or absence of an abnormality in the attitude sensor 303 is determined.
- the working machine has an attitude sensor 303 .
- the orientation sensor 303 detects orientation information representing the orientation of the work machine.
- the attitude sensor is, for example, a variable resistance potentiometer or an IMU (Inertial Measurement Unit). If it is determined that there is an abnormality, the process proceeds to step 405, and if it is determined that there is no abnormality, the process proceeds to step 404.
- a control command calculation unit 343 calculates an operation control command according to the posture information detected by the posture sensor 303 . For example, depending on the posture of the work machine, it determines whether or not it is permissible to execute a specific operation, and depending on the result, outputs or stops an operation control command.
- the anomaly detection unit 345 detects signal interruption or deterioration in accuracy of the posture sensor 303 as an anomaly. Also, if the sensor output is an analog signal, the malfunction of the attitude sensor 303 may be disconnection or deviation from a predetermined signal level. If the sensor output is a digital signal, the malfunction of the attitude sensor 303 may be communication interruption, deviation from predetermined communication content, reception of a signal indicating an internal abnormality, or the like. Abnormality of the orientation sensor 303 can be appropriately detected based on such detection criteria.
- the remote stop signal reception unit 346 determines whether or not an emergency stop signal has been received.
- the remote stop signal receiver 346 can receive an emergency stop signal.
- the emergency stop signal is transmitted and received, for example, as a remote signal. If it is determined that there is an abnormality, the process proceeds to step 405, and if it is determined that there is no abnormality, the process ends.
- the avoidance operation necessity determination unit 349 the traveling body 311, the revolving body 310, and the working machine 309 are determined, and the necessity of the avoidance operation is determined (steps 405 and 406 described later).
- the avoidance movement necessity determination unit 349 issues a command to turn the revolving body 310, a command to run the traveling body 311, or a downward movement of the boom 203.
- a command is being output from the control command calculation unit 343, or a command to turn the revolving body 310, a command to run the traveling body 311, or a command to move the boom 203 downward has been output last. Therefore, when the time until the abnormality detection unit 345 detects the abnormality is equal to or shorter than the first time, it is determined that the avoidance operation is necessary.
- the avoidance control command includes a command to move the boom 203 in an upward direction (eg, for a predetermined period of time).
- the avoidance operation necessity determination unit 349 determines whether the swing body 310 is operating, whether the traveling body 311 is operating, or whether the boom 203 is operating in the downward direction. If it is determined that there is any action, processing proceeds to step 406 . If it is determined that there is no action, the process ends.
- step 406 the presence or absence of structures and/or obstacles above the work machine may be determined. If there are structures and/or obstacles, the process proceeds to step 407; If there are no structures and/or obstacles, the process ends.
- the avoidance control command unit 350 calculates an avoidance control command and outputs it to the machine control unit 344 .
- step 404 when the remote stop signal receiving unit 346 receives an emergency stop signal, the avoidance movement necessity determination unit 349 issues a command to turn the turning body 310, a command to run the traveling body 311, or A command to lower the boom 203 is being output from the control command calculation unit 343, or a command to operate the revolving structure 310, a command to operate the traveling structure 311, or a command to lower the boom 203. is output until the remote stop signal receiving unit 346 receives the emergency stop signal is equal to or shorter than the first time, it is determined that an avoidance action is necessary.
- the avoidance control command includes a command to move the boom 203 in an upward direction (eg, for a predetermined period of time).
- the idling time for example, the time from when the command to operate the boom 203 is output until it is judged that the avoidance action is necessary.
- the elapsed time since the last output it is possible to appropriately determine whether or not an avoidance action is required even in a modified example that does not include a sensor that detects the state of the working machine.
- step 405 the avoidance operation necessity determination unit 349 determines whether the swing body 310 is operated, whether the traveling body 311 is operated, and whether the boom 203 is operated in the lowering direction. Both of these actions increase the risk of the work implement 309 coming into contact with obstacles around the vehicle body.
- the time when an abnormality is detected or the time when an emergency stop signal is received is defined as time t1.
- dt1 be the elapsed time from the last command to run the traveling body 311, swing the swing body 310, or lower the boom 203 to time t1.
- the inertia of the vehicle body and/or the load is large, the free running time after the operation control command is stopped is long. Therefore, when dt1 is smaller than a predetermined time (second time) corresponding to the vehicle class of the work machine and/or the weight of the load held in the vehicle class information holding unit 348 (FIG. 2), the avoidance operation is performed. You may make it determine that it is necessary.
- control device 307 may include a vehicle class information holding unit 348 that holds vehicle class information of the work machine. And/or the work machine may include a load weight measuring device 306 that detects the load weight of a load loaded on the work machine. Then, in steps 401 to 403, when the abnormality detection unit 345 detects an abnormality, the avoidance operation necessity determination unit 349 determines that the command to operate the swing body 310 or the command to operate the boom 203 in the downward direction is the control command.
- the avoidance control command output during the third time period may include a command to move arm 204 and bucket 205 in the pulling direction. Such a control command reduces the turning radius of work implement 309 .
- step 404 when the remote stop signal receiving unit 346 receives an emergency stop signal, the avoidance movement necessity determination unit 349 issues a command to turn the swing body 310 or a command to move the boom 230 downward. is being output from the control command calculation unit 343, or the remote stop signal receiving unit 346 has been put into an emergency stop since the command to operate the swing structure 310 or the command to move the boom 230 in the downward direction was last output. If the time until the signal is received is equal to or less than a second time according to the vehicle class information and/or the load weight, it is determined that an avoidance action is required. Also, the avoidance control command includes a command to raise the boom 203 for a time (third time) according to the vehicle class information and/or the load weight.
- step 406 it may be determined whether there are structures and/or obstacles above the work machine, particularly above the work machine 309.
- Structures and/or obstacles are, for example, electrical wires, bridge girders, ceilings in tunnels, and the like.
- the work machine 309 may come into contact with structures and/or obstacles above.
- the working machine is equipped with a position sensor 305 that detects the position of the working machine.
- the position sensor 305 is, for example, a sensor that uses GNSS (Global Navigation Satellite System).
- GNSS Global Navigation Satellite System
- the avoidance movement necessity determination unit 349 determines that an avoidance movement is necessary only when there are no structures or obstacles above the work machine, for example. When determining the presence or absence of a structure and/or an obstacle, the position sensor 305 first acquires the position of the work machine.
- the control device 307 includes a work area information holding unit 347 that holds the correspondence between the position of the work area and the presence or absence of structures and/or obstacles above each position in the work area.
- the presence or absence of structures and/or obstacles above each position is stored in advance in the work area information storage unit 347, and the presence or absence of structures and/or obstacles is determined based on the position information from the position sensor 305. can do.
- the avoidance movement necessity determination unit 349 determines if there is a structure and/or an obstacle above the position of the work machine. , irrespective of the determination result of step 405 (that is, regardless of the operating states of the traveling body 311, the revolving body 310, and the working machine 309), it is determined that the avoidance operation is unnecessary. Otherwise, it is determined from the determination result of step 405 that an avoidance action is required.
- the avoidance control command unit 350 calculates an avoidance control command and outputs it to the machine control unit 344 .
- the avoidance control command includes a command to stop work implement 309 (excluding boom 203), revolving body 310, and traveling body 311.
- FIG. some work machines (for example, shovels) have a large inertia and a long braking distance, so that they may not be braked in time and come into contact with an obstacle. Therefore, in this step, the avoidance control command includes a command to operate the boom 203 in the upward direction so that part of the work implement 309 escapes upward from the obstacle.
- the command to move the boom 203 in the raising direction is based on the weight output by the load weight measuring device 306 and the vehicle class information holding unit 348. It can be configured to continue only for a predetermined time (dt2 in FIG. 4) proportional to the vehicle class. Such control enables appropriate control in consideration of vehicle class and load weight.
- step 407 is not executed. Further, step 407 is not executed even if it is determined in steps 405 and 406 that no avoidance action is necessary.
- the machine control unit 344 controls the swing body 310, the traveling body 311, and the working machine 309 by prioritizing the avoidance control command over the operation control command. This reduces the risk of the vehicle body coming into contact with surrounding obstacles when an abnormality occurs in the working machine.
- step 404 may be omitted. Also, step 406 may be omitted.
- Image signal reception unit 324 ... Operation signal reception unit 331... Image display unit 332... Operation signal generation unit 333... Operation signal transmission unit 341... Image signal transmission unit 342... Operation signal reception unit 343 Control command calculation unit 344 Machine control unit 345 Abnormality detection unit 346 Remote stop signal reception unit 347 Work area information storage unit 348 Vehicle class information storage unit 349 Avoidance operation necessity determination unit 350 Avoidance control command unit All publications, patents and patent applications cited herein are hereby incorporated by reference in their entirety.
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Abstract
Description
本明細書は本願の優先権の基礎となる日本国特許出願番号2021-066428号の開示内容を包含する。
上述の実施例1において、ステップ404を省略してもよい。また、ステップ406を省略してもよい。
102…制御装置
103…作業機
104…旋回体
105…走行体
106…制御指令演算部
107…機械制御部
108…異常検出部
109…回避動作要否判定部
110…回避制御指令部
202…旋回体
203…ブーム
204…アーム
205…バケット(作業具)
206…走行体
230…ブーム
301…操作入力装置
302…映像表示装置
303…姿勢センサ
304…遠隔停止信号送信装置
305…位置センサ
306…積載重量計測装置
307…制御装置
308…撮像装置
309…作業機
310…旋回体
311…走行体
322…映像信号受信部
324…操作信号受信部
331…映像表示部
332…操作信号生成部
333…操作信号送信部
341…映像信号送信部
342…操作信号受信部
343…制御指令演算部
344…機械制御部
345…異常検出部
346…遠隔停止信号受信部
347…作業エリア情報保持部
348…車格情報保持部
349…回避動作要否判定部
350…回避制御指令部
本明細書で引用した全ての刊行物、特許および特許出願はそのまま引用により本明細書に組み入れられるものとする。
Claims (10)
- 走行体と、
前記走行体上に旋回可能に取り付けられた旋回体と、
前記旋回体に取り付けられ、ブーム、アーム及び作業具を含む多関節型の作業機と、
制御装置と、
を備える作業機械において、
前記制御装置は、
操作入力装置から出力される操作指令に応じて、前記走行体、前記旋回体及び前記作業機への操作制御指令を演算する制御指令演算部と、
前記制御指令演算部の操作制御指令に応じて、前記走行体、前記旋回体および前記作業機を制御する機械制御部と、
前記作業機械の外部からの信号の異常または作業機械の異常を検出する異常検出部と、
前記異常検出部が異常を検出した場合に、前記走行体、前記旋回体および前記作業機の動作状態を判別し、回避動作の要否を判定する回避動作要否判定部と、
前記回避動作要否判定部によって回避動作が必要であると判定された場合に、回避制御指令を演算し、前記機械制御部へ出力する回避制御指令部と、
を備え、
前記機械制御部は、前記操作制御指令よりも前記回避制御指令を優先して前記走行体、前記旋回体および前記作業機を制御することを特徴とする、
作業機械。 - 請求項1に記載の作業機械と、前記操作入力装置とを備える、作業機械システムであって、
映像表示装置をさらに備え、
前記映像表示装置は、
映像信号送信部が送信した映像信号を受信する映像信号受信部と、
オペレータに対して映像を出力する映像表示部とを有し、
前記操作入力装置は、前記作業機械の外部に配置されて前記オペレータの入力を受け取り、
前記操作入力装置は、
前記オペレータの操作に応じて操作信号を生成する操作信号生成部と、
操作信号を作業機械へ伝送する操作信号送信部と、
を備え、
前記作業機械は、作業機械周辺の映像を撮像する撮像装置を備え、
前記制御装置は、
前記操作信号送信部が送信した前記操作信号を受信し、前記制御指令演算部へ出力する操作信号受信部と、
前記撮像装置が出力する前記映像信号を前記作業機械の外部へ送信する前記映像信号送信部と、
を備え、
前記異常検出部は、前記操作信号送信部と前記操作信号受信部の間、または、前記映像信号送信部と前記映像信号受信部の間で発生した、通信遅延、通信途絶、または、通信データの欠損を異常として検出する、
作業機械システム。 - 前記作業機械は、前記作業機械の姿勢を表す姿勢情報を検出する姿勢センサを備え、
前記制御装置の前記制御指令演算部は、前記姿勢センサが検出した姿勢情報に応じて前記操作制御指令を演算し、
前記異常検出部は、前記姿勢センサの信号途絶または精度悪化を異常として検出する、請求項1に記載の作業機械。 - 請求項1に記載の作業機械を備える、作業機械システムであって、
前記作業機械の緊急停止を指令する緊急停止信号を送信する、遠隔停止信号送信装置をさらに備え、
前記制御装置は、前記緊急停止信号を受信する遠隔停止信号受信部を備え、
前記回避動作要否判定部は、前記遠隔停止信号受信部が緊急停止信号を受信した場合に、前記走行体、前記旋回体および前記作業機の動作状態を判別し、回避動作の要否を判定する、
作業機械システム。 - 前記回避動作要否判定部は、
前記異常検出部が異常を検出した場合に、
前記旋回体を旋回動作させる指令、前記走行体を走行動作させる指令、または前記ブームを下げ方向に動作させる指令が前記制御指令演算部から出力中であるか、または、
前記旋回体を旋回動作させる指令、前記走行体を走行動作させる指令、または前記ブームを下げ方向に動作させる指令が最後に出力されてから、前記異常検出部が異常を検出するまでの時間が第1時間以下である
場合に、回避動作が必要であると判定し、
前記回避制御指令は、前記ブームを上げ方向に動作させる指令を含む
請求項1に記載の作業機械。 - 前記回避動作要否判定部は、
前記遠隔停止信号受信部が前記緊急停止信号を受信した場合において、
前記旋回体を旋回動作させる指令、前記走行体を走行動作させる指令、または前記ブームを下げ方向に動作させる指令が前記制御指令演算部から出力中であるか、または、
前記旋回体を旋回動作させる指令、前記走行体を走行動作させる指令、または前記ブームを下げ方向に動作させる指令が最後に出力されてから、前記遠隔停止信号受信部が前記緊急停止信号を受信するまでの時間が第1時間以下である
場合に、回避動作が必要であると判定し、
前記回避制御指令は、前記ブームを上げ方向に動作させる指令を含む
請求項4に記載の作業機械システム。 - 前記制御装置は、前記作業機械の車格情報を保持する車格情報保持部を備え、
前記作業機械は、前記作業機械に積載された積載物の積載重量を検出する積載重量計測装置を備え、
前記回避動作要否判定部は、
前記異常検出部が異常を検出した場合において、
‐前記旋回体を旋回動作させる指令、または前記ブームを下げ方向に動作させる指令が前記制御指令演算部から出力中であるか、または、
‐前記旋回体を旋回動作させる指令、または前記ブームを下げ方向に動作させる指令が最後に出力されてから、前記異常検出部が異常を検出するまでの時間が、前記車格情報および前記積載重量に応じた第2時間以下である
場合に、回避動作要と判定し、
前記回避制御指令は、前記車格情報および前記積載重量に応じた第3時間の間、ブームを上げ方向に動作させる指令を含む、
請求項1に記載の作業機械。 - 前記制御装置は、前記作業機械の車格情報を保持する車格情報保持部を備え、
前記作業機械は、前記作業機械に積載された積載物の積載重量を検出する積載重量計測装置を備え、
前記回避動作要否判定部は、
前記遠隔停止信号受信部が前記緊急停止信号を受信した場合に、
‐前記旋回体を旋回動作させる指令、または前記ブームを下げ方向に動作させる指令が前記制御指令演算部から出力中であるか、または、
‐前記旋回体を旋回動作させる指令、または前記ブームを下げ方向に動作させる指令が最後に出力されてから、前記遠隔停止信号受信部が前記緊急停止信号を受信するまでの時間が、前記車格情報および前記積載重量に応じた第2時間以下である
場合に、回避動作要と判定し、
前記回避制御指令は、前記車格情報および前記積載重量に応じた第3時間の間、ブームを上げ方向に動作させる指令を含む、
請求項4に記載の作業機械システム。 - 前記第3時間の間、出力される前記回避制御指令は、アームおよび作業具を引き方向に動作させる指令を含む、請求項7に記載の作業機械。
- 前記作業機械は、前記作業機械の位置を検出する位置センサを備え、
前記制御装置は、前記位置と、前記位置の上方における構造物または障害物の有無との対応関係を保持する、作業エリア情報保持部を備え、
前記回避動作要否判定部は、前記位置と、前記対応関係とに基づき、前記位置の上方に構造物または障害物がある場合には、前記走行体、前記旋回体および前記作業機の前記動作状態に関わらず、回避動作が不要であると判定する、請求項1に記載の作業機械。
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JP2017218015A (ja) * | 2016-06-07 | 2017-12-14 | 株式会社Ihi | 建設機械の制御システム、及び制御プログラム |
JP2019065661A (ja) | 2017-10-04 | 2019-04-25 | 株式会社小松製作所 | 積込機械制御装置および制御方法 |
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JP2021035812A (ja) * | 2019-08-30 | 2021-03-04 | 日立建機株式会社 | 作業機械 |
JP2021066428A (ja) | 2019-10-18 | 2021-04-30 | 穎華科技股▲ふん▼有限公司 | 光ガイドサンルーフアセンブリ |
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JP2004338817A (ja) * | 2003-05-13 | 2004-12-02 | Komatsu Ltd | 作業車両の操作装置 |
JP2013150233A (ja) * | 2012-01-23 | 2013-08-01 | Hitachi Ltd | 重機車両の遠隔操作システム |
JP2017218015A (ja) * | 2016-06-07 | 2017-12-14 | 株式会社Ihi | 建設機械の制御システム、及び制御プログラム |
JP2019065661A (ja) | 2017-10-04 | 2019-04-25 | 株式会社小松製作所 | 積込機械制御装置および制御方法 |
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JP2021035812A (ja) * | 2019-08-30 | 2021-03-04 | 日立建機株式会社 | 作業機械 |
JP2021066428A (ja) | 2019-10-18 | 2021-04-30 | 穎華科技股▲ふん▼有限公司 | 光ガイドサンルーフアセンブリ |
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