WO2024090225A1 - Operation state switching device, work machine, and operation state switching system - Google Patents

Abstract

Provided are a device and the like that can improve the matching property of operating situation of a work machine with respect to the intention of an operator. An effective power supply path is switched from a first power supply path L1 to a second power supply path L2 in a state in which the first power supply path L1 is currently the effective power supply path and further on condition that the second power supply path L2 is currently in ON-state (a second switching mechanism 452 is in ON-state). Similarly, the effective power supply path is switched from the second power supply path L2 to the first power supply path L1 in a state in which the second power supply path L2 is currently the effective power supply path and further on condition that the first power supply path L1 is currently in ON-state (a first switching mechanism 451 is in ON-state).

Description

Operation state switching device, working machine, and operation state switching system

The present invention relates to a technology for switching between remote operation by an operator of a work machine such as a hydraulic excavator and on-board operation of the machine.

A work machine capable of switching between remote operation and on-board operation (or manual operation) has been proposed (see, for example, Patent Document 1). When the remote/manual changeover switch on the work machine is on the manual side, the control selection switch is connected to the manual side, and the operation of the engine and control valves is controlled by on-board operation of the actual machine via the actual machine control unit. When the remote/manual changeover switch is on the remote side, the control selection switch is connected to the remote side, and the operation of the engine and control valves is controlled by remote operation via the transmission unit.

Japanese Patent Application Laid-Open No. 7-71281

When a work machine is started by on-board operation, the engine of the work machine is started by the operator on board the work machine operating the manual engine start switch, and the work machine becomes available for on-board operation. However, when on-board operation of the work machine, no instruction to start the engine (remote engine start switch ON) is issued from the remote control device (transmitter unit). For this reason, when on-board operation of the work machine is switched to remote operation (the remote/manual changeover switch is switched to the remote side), there is a risk that the engine will be stopped because there is no instruction to start the engine from the transmitter unit.

When a work machine is started by remote control, the engine of the work machine is started based on an instruction to start the engine (remote engine start switch ON) given to the remote control device (transmitter unit). However, in remote control, no instruction to start the engine is given from the manual engine start switch. For this reason, when remote control is switched to on-board operation (the remote/manual changeover switch is set to the manual side), there is a risk that the engine will be stopped because the manual engine start switch has not been operated. Therefore, when switching between remote control and on-board operation while the work machine is in operation, there is a risk that the operation of equipment such as the engine will be stopped against the operator's intentions.

The present invention aims to provide a device that can improve the consistency of the operating status of a work machine with the operator's intentions.

The operation state switching device of the first aspect of the present invention is
Power supply,
Electrical equipment including a prime mover;
a first switching mechanism that switches a first power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to one of an on-board operation of the actual aircraft and a remote operation through a remote control device;
a second switching mechanism that switches a second power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to the other of an on-board operation of the actual aircraft and a remote operation through the remote control device;
a comprehensive switching mechanism that switches an active power supply path from the power source to the electrical device between the first power supply path and the second power supply path;
For work machines equipped with
On condition that the second power supply path is in an ON state, an instruction to switch the active power supply path from the first power supply path to the second power supply path is output to the comprehensive switching mechanism.

According to the first aspect of the operation state switching device of the present invention, when the first power supply path is the active power supply path and the second power supply path is in the ON state, the active power supply path is switched from the first power supply path to the second power supply path. This avoids a situation in which, when the second power supply path is in the OFF state and power cannot be supplied from the power source to the electrical device, the active power supply path is switched from the first power supply path to the second power supply path, the power supply to the electrical device is cut off, and the operation of the electrical device is stopped before the operator expects it. This improves the consistency between the operation state of the work machine intended by the operator (remote operation state or on-board operation state) and the actual operation state of the work machine (remote operation state or on-board operation state).

In the operation state switching device of the first aspect of the present invention,
It is preferable that an instruction to switch the active power supply path between the first power supply path and the second power supply path, inputted through an input interface by at least one of an operator on board the work machine and an operator of the remote control device, is output to the comprehensive switching mechanism.

　With the operation state switching device configured as described above, the active power supply path is switched between the first power supply path and the second power supply path in accordance with a switching instruction input by the operator through the input interface. This improves the consistency between the operation state of the work machine intended by the operator (remote operation state or on-board operation state) and the actual operation state of the work machine (remote operation state or on-board operation state).

In the operation state switching device of the first aspect of the present invention, an instruction to control the first power supply path to an ON state or an OFF state is output to the first switching mechanism in response to an ON operation or an OFF operation by an operator through the remote control device,
It is preferable that an instruction to control the second power supply path to an ON state or an OFF state is output to the second switching mechanism in response to an ON operation or an OFF operation by an operator on board the work machine, respectively.

　According to the operation state switching device of this configuration, the first power supply path and the second power supply path are each switched between the ON state and the OFF state in response to the operation of the operator. As described above, the active power supply path is switched from the first power supply path to the second power supply path on the condition that the second power supply path is in the ON state. This avoids a situation in which the active power supply path is switched from the first power supply path to the second power supply path when the second power supply path is in the OFF state and power cannot be supplied from the power source to the electrical equipment, cutting off the power supply to the electrical equipment and causing the operation of the electrical equipment to stop unexpectedly by the operator. This improves the consistency between the operation state of the work machine intended by the operator and the actual operation state of the work machine.

In the operation state switching device of the first aspect of the present invention,
It is preferable that, on condition that an instruction to end operation of the work machine is input through the input interface, an instruction to switch the active power supply path between the first power supply path and the second power supply path is output to the comprehensive switching mechanism.

According to the operation state switching device of this configuration, when the work machine is being remotely operated (for example, when the first power supply path is switched to the active power supply path) and the operator inputs an instruction to end the operation of the work machine (an instruction to end remote operation) through the input interface, the work machine is switched to an actual on-board operation state. Similarly, when the work machine is being operated on-board (for example, when the second power supply path is switched to the active power supply path) and the operator inputs an instruction to end the operation of the work machine (an instruction to end operation on-board) through the input interface, the work machine is switched to a remote operation state. This improves the consistency between the operation state of the work machine intended by the operator and the actual operation state of the work machine.

In the operation state switching device of the first aspect of the present invention,
When the first power supply path is the active power supply path and the communication state between the work machine and the remote control device is poor, it is preferable to output an instruction to the comprehensive switching mechanism to switch the active power supply path from the first power supply path to the second power supply path, on condition that the second power supply path is in the ON state.

　With the operation state switching device of this configuration, when the first power supply path is the active power supply path (when the work machine is being remotely operated), if the communication state between the work machine and the remote operation device is poor and there is a high probability that remote operation of the work machine will be hindered, the active power supply path is switched from the first power supply path to the second power supply path, provided that the second power supply path is in the ON state. As a result, even though the second power supply path is in the OFF state, the active power supply path is switched from the first power supply path to the second power supply path, cutting off the power supply from the power source to the electrical equipment, and avoiding a situation in which the operation of the electrical equipment stops before the operator expects it.

The operation state switching device of the second aspect of the present invention is
Power supply,
Electrical equipment including a prime mover;
a first switching mechanism that switches a first power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to one of an on-board operation of the actual aircraft and a remote operation through a remote control device;
a second switching mechanism that switches a second power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to the other of an on-board operation of the actual aircraft and a remote operation through the remote control device;
a comprehensive switching mechanism that switches an active power supply path from the power source to the electrical device between the first power supply path and the second power supply path;
For work machines equipped with
When the first power supply path is the active power supply path and the communication state between the work machine and the remote control device is poor, a standby state is maintained in which the active power supply path is waiting to be switched from the first power supply path to the second power supply path.

According to the second aspect of the operation state switching device of the present invention, when the first power supply path is the active power supply path (when the work machine is being remotely operated), if the communication state between the work machine and the remote operation device is poor and there is a high probability that remote operation of the work machine will be hindered, the device waits for the active power supply path to be switched from the first power supply path to the second power supply path. In this standby state, after the operator gets on board the work machine, processing required for operating the work machine while actually on board can be executed, such as switching the active power supply path from the first power supply path to the second power supply path.

FIG. 1 is an explanatory diagram relating to a configuration of an operation state switching system. FIG. 2 is an explanatory diagram relating to the configuration of a remote control device. FIG. 2 is an explanatory diagram relating to the configuration of a work machine. FIG. 4 is an explanatory diagram regarding the function of the operation state switching device. 13 is an explanatory diagram (continued) relating to the function of the operation state switching device.

(Configuration of Operation State Switching Device)
The operation state switching system of the present invention is composed of an operation state switching device as one embodiment of the present invention, and a remote operation device 20 and/or a work machine 40 that are configured to be able to communicate with each other via a network. In this embodiment, the "operation state switching device" is composed of an actual machine control device 400 that constitutes the work machine 40.

(Configuration of remote control device)
1, the remote operation device 20 includes a remote control device 200, a remote input interface 210, a remote output interface 220, and a remote communication device 224. The remote control device 200 is configured with a calculation processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes calculation processing on the data according to the software.

The remote input interface 210 includes a remote operation mechanism 211. The remote output interface 220 includes a remote image output device 221 and a handheld terminal 225.

The remote control mechanism 211 includes a travel operation device, a slewing operation device, a boom operation device, an arm operation device, and a bucket operation device. Each operation device has an operation lever that receives a rotation operation. The operation lever (travel lever) of the travel operation device is operated to move the lower travel body 41 of the work machine 40. The travel lever may also serve as a travel pedal. For example, a travel pedal fixed to the base or lower end of the travel lever may be provided. The operation lever (slewing lever) of the slewing operation device is operated to move the hydraulic slewing motor that constitutes the slewing mechanism 43 of the work machine 40. The operation lever (boom lever) of the boom operation device is operated to move the boom cylinder 442 of the work machine 40. The operation lever (arm lever) of the arm operation device is operated to move the arm cylinder 444 of the work machine 40. The operation lever (bucket lever) of the bucket operation device is operated to move the bucket cylinder 446 of the work machine 40.

The operating levers constituting the remote operation mechanism 211 are arranged around a seat St on which a remote operator who performs remote operation sits, as shown in FIG. 2, for example. The seat St is in the form of a high-back chair with armrests, but it may be in the form of a low-back chair without a headrest, or a chair without a backrest, or any other form of seating on which a remote operator can sit.

Left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat St. One operating lever may serve as multiple operating levers. For example, the left operating lever 2111 provided in front of the left frame of the seat St shown in FIG. 2 may function as an arm lever when operated in the forward/backward direction, and as a rotation lever when operated in the left/right direction. Similarly, the right operating lever 2112 provided in front of the right frame of the seat St shown in FIG. 2 may function as a boom lever when operated in the forward/backward direction, and as a bucket lever when operated in the left/right direction. The lever pattern may be changed as desired by operation instructions from a remote operator.

The remote image output device 221 is, for example, as shown in FIG. 2, composed of a central remote image output device 2210, a left remote image output device 2211, and a right remote image output device 2212, each having a substantially rectangular screen arranged in front of the seat St, diagonally forward to the left, and diagonally forward to the right. The shapes and sizes of the screens (image display areas) of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be the same or different. The remote image output device 221 may be composed of a single curved or bendable image output device, or two or four or more image output devices arranged to surround the front of the seat St.

As shown in FIG. 2, the right edge of the left remote image output device 2211 is adjacent to the left edge of the central remote image output device 2210 such that the screens of the central remote image output device 2210 and the left remote image output device 2211 form an inclination angle θ1 (e.g., 120°≦θ1≦150°). As shown in FIG. 2, the left edge of the right remote image output device 2212 is adjacent to the right edge of the central remote image output device 2210 such that the screens of the central remote image output device 2210 and the right remote image output device 2212 form an inclination angle θ2 (e.g., 120°≦θ2≦150°). The inclination angles θ1 and θ2 may be the same or different.

The screens of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be parallel to the vertical direction or inclined to the vertical direction. At least one of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be composed of multiple image output devices divided into multiple parts. For example, the central remote image output device 2210 may be composed of adjacent image output devices above and below, each having a roughly rectangular screen.

The remote communication device 224 is a device that enables network communication of the remote control device 20, and communicates with the work machine 40 via the network.

(Configuration of the work machine)
1, the work machine 40 includes a real machine control device 400, a real machine input interface 410, a real machine communication device 424, a real machine battery 450 (power source), a first switching mechanism 451, a second switching mechanism 452, a real machine comprehensive switching mechanism 454, a remote switching mechanism 456, a power source self-holding mechanism 458, and a real machine electrical device 460. As described above, in this embodiment, the real machine control device 400 constitutes an "operation state switching device." The real machine control device 400 is constituted by an arithmetic processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes arithmetic processing according to the software on the data.

The work machine 40 is, for example, a crawler excavator (construction machine), and as shown in FIG. 3, comprises a crawler-type lower track body 41 and an upper rotating body 42 that is mounted on the lower track body 41 so as to be rotatable via a rotating mechanism 43. A cab 42C (operator's compartment) is provided on the front left side of the upper rotating body 42. A work mechanism 44 is provided in the front center of the upper rotating body 42.

As shown in FIG. 3, the working mechanism 44 includes a boom 441 that is movably attached to the upper rotating body 42, an arm 443 that is rotatably connected to the tip of the boom 441, and a bucket 445 that is rotatably connected to the tip of the arm 443. The working mechanism 44 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446 that are configured as extendable and retractable hydraulic cylinders.

The boom cylinder 442 is interposed between the boom 441 and the upper rotating body 42 so as to extend and retract when supplied with hydraulic oil, thereby rotating the boom 441 in the hoisting direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to extend and retract when supplied with hydraulic oil, thereby rotating the arm 443 around a horizontal axis relative to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to extend and retract when supplied with hydraulic oil, thereby rotating the bucket 445 around a horizontal axis relative to the arm 443.

The actual machine input interface 410 includes an actual machine operation mechanism 411 and an actual machine imaging device 412. The actual machine operation mechanism 411 includes a number of operation levers arranged around a seat arranged inside the cab 42C in the same manner as the remote control mechanism 211. A drive mechanism or robot is provided in the cab 42C that receives a signal according to the operation mode of the remote control lever and moves the actual machine operation lever based on the received signal. The actual machine imaging device 412 is installed, for example, inside the cab 42C, and images the environment including at least a part of the working mechanism 44 through the front window and the left and right side windows. Some or all of the front window and side windows may be omitted.

The handheld terminal 225 displays various screens on the display surface based on signals from the remote control device 200. The handheld terminal 225 may function as a remote input interface 210 that outputs a signal representing a touch operation by the operator to the controller 231.

The actual machine communication device 424 is a device that enables network communication of the work machine 40, and communicates with the remote control device 20 via the network.

The actual machine battery 450 supplies power to the devices mounted on the work machine 40, such as the actual machine control device 400, the actual machine electrical equipment 460, and the actual machine communication equipment 424. The actual machine battery 450 is, for example, a rechargeable secondary battery, and is charged by connecting a power supply cable of an external power source (for example, a commercial power source) to the power supply port. Instead of the actual machine battery 450, the power source may be configured so that power is supplied from an external power source to the devices mounted on the work machine 40.

The first switching mechanism 451 switches the first power supply path L1 from an OFF state to an ON state to enable operational control of the actual electrical equipment 460 in response to one of the operations (e.g., remote operation) between "actual machine on-board operation" by an on-board operator in the cab 42C and "remote operation" by an operation of a remote operator of the remote control device 20. The ON/OFF switching operation of the first switching mechanism 451 is controlled by the actual machine control device 400 based on, for example, a switching instruction transmitted from the remote control device 20.

The second switching mechanism 452 switches the second power supply path L2 from the OFF state to the ON state to enable the operation control of the actual machine electrical equipment 460 in response to the other operation (e.g., actual machine on-board operation) of the "actual machine on-board operation" and the "remote operation". In this embodiment, the second switching mechanism 452 is a key switch for starting the engine of the work machine 40, and the on-board operator in the cab 42C inserts a key into the key switch socket and turns it to perform the ON/OFF switching operation of the key switch, which acts as the ON/OFF switching operation of the second switching mechanism 452. The ON/OFF switching operation of the second switching mechanism 452 may be controlled by the actual machine control device 400 based on a switching instruction transmitted or input from the actual machine input interface 410 by the operation of the on-board operator in the cab 42C, and for example, a switch that can instruct the start and stop of the engine of the work machine 40 may be adopted.

The real machine comprehensive switching mechanism 454 switches the active power supply path that supplies power from the real machine battery 450 to the real machine electrical device 460 between the first power supply path L1 and the second power supply path L2. The ON/OFF switching operation of the real machine comprehensive switching mechanism 454 is controlled by the real machine control device 400 in response to a switching instruction input, for example, through the remote input interface 210 and transmitted from the remote operation device 20 and/or a switching instruction transmitted or input from the real machine input interface 410. When the real machine comprehensive switching mechanism 454 is not controlled by the real machine control device 400, it is configured to use the second power supply path L2 as the active power supply path.

The remote switching mechanism 456 is configured to be switchable between an ON state in which remote operation is permitted and an OFF state in which remote operation is prohibited, for example by manual operation by an operator in the cab 42C. When the remote switching mechanism 456 is switched to the ON state, power is supplied from the actual machine battery 450 to the actual machine control device 400 via the third power supply circuit power L3. When the remote switching mechanism 456 is switched to the OFF state, power is no longer supplied from the actual machine battery 450 to the actual machine control device 400 via the third power supply circuit power L3.

The power supply self-holding mechanism 458 maintains a state in which the power required to perform the functions required for remote operation is supplied from the actual machine battery 450 to the actual machine control device 400 (operation state switching device). Specifically, when the actual machine control device 400 is supplied with power from the actual machine battery 450 via the third power supply circuit power L3, the actual machine control device 400 switches the power supply self-holding mechanism 458 from the OFF state to the ON state so that power is supplied from the actual machine battery 450 via the fourth power supply circuit power L4. Also, when it is no longer necessary to perform the functions required for remote operation, the actual machine control device 400 switches the power supply self-holding mechanism 458 from the ON state to the OFF state.

The actual electrical equipment 460 includes electrical components such as a controller that controls a prime mover (such as an engine or electric motor) that drives a pump that supplies hydraulic oil to each actuator, and a controller that controls a control valve that changes the direction and flow rate of the hydraulic oil supplied from the pump to each actuator.

(function)
The function of the operation state switching device (actual device control device 400) having the above-mentioned configuration will be described with reference to the flowcharts shown in Figures 4 and 5. The actual device control device 400 detects the state of each switching mechanism, etc. based on communication with the switching mechanisms, etc.

First, the remote switching mechanism 456 is switched to the ON state by manual operation by the operator in the cab 42C, and power is supplied from the actual machine battery 450 to the actual machine control device 400 via the third power supply circuit power L3. This starts up the actual machine control device 400 (FIG. 4/START). After startup, the actual machine control device 400 switches the power supply self-holding mechanism 458 from the OFF state to the ON state so that power is supplied from the actual machine battery 450 via the fourth power supply circuit power L4.

When the work machine 40 is "remotely operated" by the remote operator of the remote control device 20, the on-board operator leaves the cab 42C while keeping the remote switching mechanism 456 in the ON state. Next, the remote operator of the remote control device 20, who has established communication with the work machine 40, operates to switch the first switching mechanism 452 from the OFF state to the ON state in order to supply power to electrical equipment such as the controller of the work machine 40. The actual machine control device 400 switches the first switching mechanism 452 to the ON state and switches the active power supply path of the actual machine comprehensive switching mechanism 454 to the first power supply path L1, on the condition that the remote switching mechanism 456 is in the ON state and that an operation to turn the first switching mechanism 452 to the ON state has been performed. As a result, power is supplied from the actual machine battery 450 to the actual machine electrical equipment 460 via the first power supply path L1, and the work machine 40 is in a "remotely operated" state. On the other hand, when the work machine 40 is "operated while on board" by an operator aboard the cab 42C, the operator switches the remote switching mechanism 456 to the OFF state. The actual machine control device 400 recognizes that the remote switching mechanism 456 is in the OFF state, and switches the active power supply path of the actual machine comprehensive switching mechanism 454 to the second power supply path L2. In this state, when the operator switches the second switching mechanism 452 from the OFF state to the ON state in order to supply power to electrical components such as the controller of the work machine 40, the second switching mechanism 452 becomes the ON state, and power is supplied from the actual machine battery 450 to the actual machine electrical equipment 460 via the second power supply path L2, and the work machine 40 enters a state in which it is "operated while on board".

The actual machine comprehensive switching mechanism 454 determines whether the active power supply path has been switched to the first power supply path L1 or the second power supply path L2 (FIG. 4/STEP 102).

When it is determined by the actual machine comprehensive switching mechanism 454 that the active power supply path has been switched to the first power supply path L1 (FIG. 4/STEP 102...1), it is determined whether the remote switching mechanism 456 is in the OFF state (FIG. 4/STEP 120). That is, when the work machine 40 is "remotely operated" and the active power supply path is the first power supply path L1, it is determined whether the remote switching mechanism 456 is maintained in the ON state so that the work machine 40 continues to be "remotely operated," or whether the remote switching mechanism 456 has been switched from the ON state to the OFF state by the on-board operator to switch the work machine 40 to a state where it is "operated while on board."

If it is determined that the remote switching mechanism 456 is ON (FIG. 4/STEP 120...NO), the process returns to the process of determining the effective power supply path (FIG. 4/STEP 102). In this case, the work machine 40 continues to be "remotely operated."

On the other hand, if it is determined that the remote switching mechanism 456 is in the OFF state (FIG. 4/STEP 120...YES), it is determined whether the second switching mechanism 452 is in the OFF state (FIG. 4/STEP 122). In other words, if it is determined that the remote switching mechanism 456 has been switched to the OFF state by the on-board operator to switch the work machine 40 to a state in which the work machine 40 is "operated while on board the actual machine", it is further determined whether the on-board operator has switched the second switching mechanism 452 from the OFF state to the ON state, or whether the second switching mechanism 452 is maintained in the OFF state.

If it is determined that the second switching mechanism 452 is in the OFF state (FIG. 4/STEP 122...NO), the process returns to the determination process of the effective power supply path (FIG. 4/STEP 102). In this case, the on-board operator has switched the remote switching mechanism 456 to the OFF state (FIG. 4/STEP 120...YES), but the second switching mechanism 452 has not been switched from the OFF state to the ON state.

If it is determined that the second switching mechanism 452 is in the ON state (FIG. 4/STEP 122...YES), it is determined whether or not a poor communication state has occurred in the actual wireless communication device 424 (FIG. 4/STEP 124). That is, when the on-board operator switches the second switching mechanism 452 from the OFF state to the ON state, it is determined whether or not a poor communication state has occurred in the actual wireless communication device 424. If a poor communication state has occurred in the actual wireless communication device 424, the communication error flag f is set to "1", and if a poor communication state has not occurred, the communication error flag f is set to something other than "1", for example, "0". For example, if the communication speed with the work machine 40 decreases or communication is interrupted, the communication error flag f is set to "1".

If it is determined that the communication error flag f is "0" (FIG. 4/STEP 124...NO), it is determined whether or not the operation state switching has been authorized by the remote operator through the actual machine input interface 410 (FIG. 4/STEP 126). This process obtains the remote operator's authorization for switching the work machine 40 from a "remotely operated" state to a "real machine on-board operation" state, and prevents the remote operator from unexpectedly terminating the "remote operation" of the work machine 40. If it is determined that the authorization has been granted (FIG. 4/STEP 126...YES), the actual machine comprehensive switching mechanism 454 switches the active power supply path from the first power supply path L1 to the second power supply path L2 (FIG. 4/STEP 128). Then, the process returns to the determination process of the active power supply path (FIG. 4/STEP 102). Also, the work machine 40 is switched from a "remotely operated" state to a "real machine on-board operation" state. If it is determined that the authentication has not been performed (FIG. 4/STEP 126...NO), the actual machine comprehensive switching mechanism 454 does not switch the active power supply path, and the process returns to the active power supply path determination process (FIG. 4/STEP 102).

If it is determined that the communication error flag f is "1" (FIG. 4/STEP 124...YES), the actual machine comprehensive switching mechanism 454 switches the active power supply path from the first power supply path L1 to the second power supply path L2 (FIG. 4/STEP 128). Since a poor communication state occurs in the actual machine wireless communication device 424 and the remote operator cannot "remotely operate" the work machine 40, this process assumes that authentication for switching the operation state (FIG. 4/STEP 126) has been performed, and switches the active power supply path by the comprehensive switching mechanism 454. For example, if a poor communication state occurs during the "remote operation" of the work machine 40 by the remote operator using the remote operation device 20, the "remote operation" cannot continue. In such a case, the on-board operator can board the work machine 40 and switch the remote switching mechanism 456 to the OFF state, and switch the second switching mechanism 452 from the OFF state to the ON state, so that the work machine 40 can be quickly switched from a "remotely operated" state to a "on-board operation" state.

When it is determined by the actual machine comprehensive switching mechanism 454 that the active power supply path has been switched to the second power supply path L2 (FIG. 4/STEP 102...2), it is determined whether the state in which the communication error flag f is "1" has continued for the first specified period T1 (FIG. 4/STEP 110). In other words, when the work machine 40 is "operated while on board the actual machine" and the active power supply path is the first power supply path L2, it is determined whether a communication failure has occurred in the actual machine wireless communication device 424.

If it is determined that the communication error flag f remains at "1" for the first specified period T1 (FIG. 4/STEP 110...YES), the power supply required for remote operation to the actual machine control device 400 by the power supply self-holding mechanism 458 is cut off (FIG. 5/STEP 130). This process stops the function for performing "remote operation" of the work machine 40 when a poor communication state occurs in the actual machine wireless communication device 424. The work machine 40 is in a state for "operation by boarding the actual machine", but power is being supplied to the actual machine control device 400 by the power supply self-holding mechanism 458 in order to provide the function of switching to a "remote operation" state. Since the work machine 40 is "operated on board the actual machine", there is no inconvenience even if a short-term communication failure occurs in the actual machine wireless communication device 424, but if the communication failure does not recover and continues for the first specified period T1, the work machine 40 cannot be "remotely operated". In this case, the power supply self-holding mechanism 458 is switched from ON to OFF to cut off the power supply to the actual machine control device 400. Even after the power supply to the actual machine control device 400 is cut off, power is supplied to the actual machine electrical device 460 via the second power supply path L2, which is set as the active power supply path by the actual machine general switching mechanism 454, so the work machine 40 can continue to be "operated on board the actual machine". In this case, it is possible to prevent the actual machine wireless communication device 424 from generating a communication failure by turning the remote switching mechanism 456 ON after the operator on board has taken measures such as "operating the actual machine" to move the work machine 40 to a place with good communication conditions.

If it is determined that the communication error flag f does not remain at "1" for the first specified period T1 (FIG. 4/STEP 110...NO), it is determined whether the second switching mechanism 452 is in the OFF state (FIG. 5/STEP 112). In other words, if there is no communication failure in the actual wireless communication device 424, it is determined whether the second switching mechanism 452 is in the ON state or the OFF state.

If it is determined that the second switching mechanism 452 is in the ON state (FIG. 5/STEP 112...NO), the process returns to the determination process of the effective power supply path (FIG. 4/STEP 102). In this case, the work machine 40 continues to be in the "operated on-board" state.

If it is determined that the second switching mechanism 452 is in the OFF state (FIG. 5/STEP 112...YES), it is determined whether or not the remote switching mechanism 456 is in the OFF state (FIG. 5/STEP 114). In this case, the second switching mechanism 452 is in the OFF state, and since no power is supplied to the actual electrical equipment 460 and the pump, etc. are not driven, the work machine 40 is in a stopped state. When the work machine 40 is in a stopped state in a state in which "actual machine on-board operation" is being performed, it is assumed that the work of the work machine 40 by "actual machine on-board operation" has been interrupted or ended and that the state will be switched to "remotely operated". Therefore, by determining whether or not the remote switching mechanism 456 is in the OFF state, it is determined whether or not to switch to a "remotely operated" state.

If it is determined that the remote switching mechanism 456 is in the OFF state (FIG. 5/STEP 114...YES), the operation of the actual electrical equipment 460 is turned OFF or stopped (FIG. 5/STEP 115), and the power supply required for remote operation to the actual machine control device 400 by the power self-holding mechanism 458 is cut off (FIG. 5/STEP 130). This process stops the power supply to the actual machine control device 400 because the remote switching mechanism 456 is in the OFF state and it is expected that the work machine 40 will not be "remotely operated" for a while. To return the work machine 40 to a state where it can be "remotely operated", the on-board operator simply switches the remote switching mechanism 456 to the ON state.

If it is determined that the remote switching mechanism 456 is in the ON state (FIG. 5/STEP 114...NO), it is determined whether or not the first switching mechanism 451 is in the OFF state (FIG. 5/STEP 116). In other words, when the remote switching mechanism 456 is in the ON state and there is a possibility that the work machine 40 is "remotely operated," it is determined whether or not the first switching mechanism 451 operated by the remote operator is in the OFF state.

If it is determined that the first switching mechanism 451 is in the OFF state (FIG. 5/STEP 116...YES), it is determined whether the situation in which the remote switching mechanism 456 is in the ON state and the first switching mechanism 451 is in the OFF state has continued for the second specified time T2 (FIG. 5/STEP 117). In other words, it is determined whether the situation in which the first switching mechanism 451 operated by the remote operator is in the OFF state has continued for the second specified time T2 since the remote switching mechanism 456 is in the ON state and the possibility of "remotely operating" the work machine 40 has arisen. If it is determined that this situation has continued for the second specified time T2 (FIG. 5/STEP 117...YES), the power supply required for remote operation to the actual machine control device 400 by the power supply self-holding mechanism 458 is cut off (FIG. 5/STEP 130). In this case, the first switching mechanism 451 remains in the OFF state even after the second specified time T2 has elapsed, and since it is unlikely that the work machine 40 will be "remotely operated" by a remote operator, the power supply to the actual machine control device 400 is stopped. If it is determined that this situation has not continued for the second specified time T2 (FIG. 5/STEP 117...NO), the process returns to the determination process of the active power supply path (FIG. 4/STEP 102).

If it is determined that the first switching mechanism 451 is in the ON state (FIG. 5/STEP 116...NO), the actual machine comprehensive switching mechanism 454 switches the active power supply path from the second power supply path L2 to the first power supply path L1 (FIG. 5/STEP 118). Then, the remote operator can "remotely operate" the work machine 40 using the remote operation device 20. Thereafter, the process returns to the active power supply path determination process (FIG. 4/STEP 102).

(Functions in remote control state)
In the remote operation device 20, the remote control device 200 transmits a request to confirm the actual environment to the work machine 40 via the remote communication device 224. When the work machine 40 receives the request to confirm the actual environment via the actual machine communication device 424, the actual machine control device 400 transmits environmental image data corresponding to a captured image (which may have been subjected to appropriate image processing) acquired via the actual machine imaging device 412 to the remote operation device 20. When the remote operation device 20 receives the environmental image data via the remote communication device 224, the remote control device 200 outputs an environmental image corresponding to the environmental image data to the remote image output device 221.

As a result, an environmental image that includes, for example, the ground spreading out in front of the cab 42C, as well as the boom 441 and arm 443 that are part of the work mechanism 44, and piles of rubble or earth and sand in the work area (the target of work by the bucket 445), is output to the remote image output device 221.

In the remote operation device 20, the remote control device 200 recognizes the operation mode of the remote operation mechanism 211, and a remote operation command corresponding to the operation mode is transmitted to the work machine 40 via the remote communication device 224. In the work machine 40, when the actual machine control device 400 receives an operation command via the actual machine communication device 422, the operation of the work mechanism 44 and the like is controlled. For example, the bucket 445 is used to dig up and scoop up soil in the construction area in front of the work machine 40, the upper rotating body 42 is rotated, and then the soil is dropped from the bucket 445 outside the construction area.

(Action and Effect)
According to the operation state switching device (actual machine control device 400) that performs the above function, when the first power supply path L1 is the active power supply path and the second power supply path L2 is in the ON state (the second switching mechanism 452 is in the ON state), the active power supply path is switched from the first power supply path L1 to the second power supply path L2 (see FIG. 4/STEP 102 . . . 1->STEP 122 . . . YES->STEP 128). Similarly, when the second power supply path L2 is the active power supply path and the first power supply path L1 is in the ON state (the first switching mechanism 451 is in the ON state), the active power supply path is switched from the second power supply path L2 to the first power supply path L1 (see FIG. 4/STEP 102 . . . 2->FIG. 5/STEP 116 . . . NO->STEP 118).

This prevents the active power supply path from being switched from the first power supply path L1 to the second power supply path L2 when the second power supply path L2 is in the OFF state and power cannot be supplied from the actual battery 450 (power source) to the actual electrical device 460. Similarly, this prevents the active power supply path from being switched from the second power supply path L2 to the first power supply path L1 when the first power supply path L1 is in the OFF state and power cannot be supplied from the actual battery 450 (power source) to the actual electrical device 460.

As a result, the power supply to the actual electrical equipment 460, such as the prime mover, is cut off, and a situation in which the operation of the actual electrical equipment 460 is stopped before the operator expects it is avoided. This improves the consistency between the operation state of the work machine 40 intended by the operator (remote operation state or on-board operation state) and the actual operation state of the work machine 40 (remote operation state or on-board operation state).

Other Embodiments of the Invention
In the above embodiment, the operation state switching device is configured by the actual machine control device 400 of the work machine 40, but in other embodiments, the operation state switching device 10 may be configured by the remote control device 200 constituting the remote operation device 20, or a computer or external device capable of intercommunicating with the remote operation device 20 and the work machine 40.

The process of determining whether the remote switching mechanism 456 is ON/OFF may be omitted (see FIG. 4/STEP 120 and FIG. 5/STEP 114). In this case, the remote switching mechanism 456 may be omitted in the work machine 40. The process of determining whether the communication error flag f is ON may be omitted (see FIG. 4/STEP 124 and FIG. 4/STEP 110). The process of authenticating the actual machine may be omitted (see FIG. 4/STEP 126). The process of determining whether the situation in which the remote switching mechanism 456 is ON and the first switching mechanism 451 is OFF has continued for the second specified time T2 may be omitted (see FIG. 5/STEP 117).

On the condition that an instruction to end the operation of the work machine is input via the remote input interface 210 and/or the remote input interface 210, an instruction to switch the active power supply path between the first power supply path L1 and the second power supply path L2 may be output to the actual machine comprehensive switching mechanism 454.

According to the operation state switching device of this configuration, when the remote operator inputs an operation end instruction (remote operation end instruction) for the work machine 40 through the real machine input interface 410 and/or the on-board operator inputs an operation end instruction (real machine on-board operation end instruction) for the work machine 40 through the remote operation device 20 (for example, when the first power supply path L1 is switched to the active power supply path), the work machine 40 is switched to a state in which it is "operated while on-board". Similarly, when the remote operator inputs an operation end instruction (actual machine on-board operation end instruction) for the work machine 40 through the real machine input interface 410 and/or the on-board operator inputs an operation end instruction (real machine on-board operation end instruction) for the work machine 40 through the remote input interface 210 while the work machine 40 is on-board operation (for example, when the second power supply path L2 is switched to the active power supply path), the work machine 40 is switched to a state in which it is "operated remotely". Thus, the consistency between the operation state of the work machine 40 intended by the remote operator and/or the on-board operator and the actual operation state of the work machine 40 is improved.

The work machine 40 may be equipped with an indication of whether it is being operated as "operation on board" or "remote control". For example, the display surface of a display device mounted on the cab 42C may display whether the operation status of the work machine 40 is "operation on board" or "remote control". In addition, the hand terminal 225 or remote image output device 221 of the remote control device 20 may display whether the operation status of the work machine 40 is "operation on board" or "remote control". The remote control device 20 may be equipped with an audio device that outputs a sound indicating the operation status of the work machine 40.

20. Remote operation device 200. Remote control device 210. Remote input interface 211. Remote operation mechanism 220. Remote output interface 221. Remote image output device 222. Remote sound output device 224. Remote wireless communication device 40. Work machine 41. Lower traveling body 42. Upper rotating body 42C. Cab (operating room)
44: Working mechanism 445: Bucket 400: Actual machine control device (operation state switching device)
410: Actual machine input interface 420: Actual machine output interface 450: Actual machine battery (power supply)
451...first switching mechanism 452...second switching mechanism 454...overall switching mechanism 460...actual electric device L1...first power supply path L2...second power supply path.

Claims (9)

1. Power supply,
   Electrical equipment including a prime mover;
   a first switching mechanism that switches a first power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to one of an on-board operation of the actual aircraft and a remote operation through a remote control device;
   a second switching mechanism that switches a second power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to the other of an on-board operation of the actual aircraft and a remote operation through the remote control device;
   a comprehensive switching mechanism that switches an active power supply path from the power source to the electrical device between the first power supply path and the second power supply path;
   For work machines equipped with
   an operation state switching device that outputs, on condition that the second power supply path is in an ON state, an instruction to the comprehensive switching mechanism to switch the active power supply path from the first power supply path to the second power supply path;
2. In the operation state switching device according to claim 1,
   an operation state switching device that outputs to the comprehensive switching mechanism an instruction to switch the active power supply path between the first power supply path and the second power supply path, the instruction being input through an input interface by at least one of an operator on board the work machine and an operator of the remote control device.
3. 2. The operation state switching device of claim 1, further comprising: a remote control device that outputs, to the first switching mechanism, an instruction to control the first power supply path to an ON state or an OFF state in response to an ON operation or an OFF operation by an operator via the remote control device,
   an operation state switching device that outputs an instruction to the second switching mechanism to control the second power supply path to an ON state or an OFF state in response to an ON operation or an OFF operation by an operator on board the work machine, respectively;
4. In the operation state switching device according to claim 2,
   an operation state switching device that outputs an instruction to the comprehensive switching mechanism to switch the active power supply path between the first power supply path and the second power supply path on condition that an instruction to end operation of the work machine is input through the input interface.
5. In the operation state switching device according to claim 3,
   an operation state switching device that outputs, when the first power supply path is the active power supply path and a communication state between the work machine and the remote control device is poor, to the comprehensive switching mechanism, an instruction to switch the active power supply path from the first power supply path to the second power supply path, on condition that the second power supply path is in an ON state.
6. Power supply,
   Electrical equipment including a prime mover;
   a first switching mechanism that switches a first power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to one of an on-board operation of the actual aircraft and a remote operation through a remote control device;
   a second switching mechanism that switches a second power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to the other of an on-board operation of the actual aircraft and a remote operation through the remote control device;
   a comprehensive switching mechanism that switches an active power supply path from the power source to the electrical device between the first power supply path and the second power supply path;
   For work machines equipped with
   an operation state switching device that maintains a standby state in which the active power supply path is waiting to be switched from the first power supply path to the second power supply path when a communication state between the work machine and the remote control device is poor while the first power supply path is the active power supply path.
7. Power supply,
   Electrical equipment including a prime mover;
   a first switching mechanism that switches a first power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to one of an on-board operation of the actual aircraft and a remote operation through a remote control device;
   a second switching mechanism that switches a second power supply path from an OFF state to an ON state to enable operational control of the electrical device in response to the other of an on-board operation of the actual aircraft and a remote operation through the remote control device;
   a comprehensive switching mechanism that switches an active power supply path from the power source to the electrical device between the first power supply path and the second power supply path;
   An operation state switching device according to any one of claims 1 to 6;
   A work machine comprising:
8. A work machine according to claim 7;
   The remote control device;
   An operation state switching system comprising:
9. The present invention is configured to include an operation state switching device according to any one of claims 1 to 6, the work machine, and the remote control device,
   An operation state switching system in which the operation state switching device is configured by equipment having a communication function with each of the work machine and the remote control device via a communication network.

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