JP7650184B2 - Work Machine Systems - Google Patents

Description

The present invention relates to a work machine system.

In the field of work machines, systems have been proposed that automate the movements of work machines to reduce the number of workers required.

For example, Patent Document 1 discloses technology related to automatic loading of hydraulic excavators. The technology in Patent Document 1 is an automation technology for hydraulic excavators that records the position trajectory of the work area in chronological order in advance and operates based on that position trajectory using a switch as a trigger.

In recent years, a technology has been proposed in which an operator operates a control lever on an operating device provided separately from the work machine to control the work machine (so-called remote control technology).

Japanese Patent Application Publication No. 9-25647

In a situation where multiple commands are sent to a single actuator on a work machine (for example, a work machine on which one or more of the automatic systems described in Patent Document 1 are remotely installed in addition to an operating device provided on a conventional work machine), it is necessary to determine which command should be given priority to the actuator.

For example, in autonomous driving of automobiles, one example of level 2 is the idea that human driving should always override the automated system.

However, unlike the automatic driving of automobiles, which are intended to transport people, work machines do not necessarily need to be manned because their purpose is to perform work. Rather, from the perspective of reducing manpower, some think that they should be unmanned. Therefore, there is no absolute priority relationship between an operating device mounted on a work machine (hereinafter referred to as a "direct operating device") and an operating device installed remotely separate from the work machine (hereinafter referred to as a "remote operating device") or an automatic system.

In this current situation, in a system configuration where the operation of a direct operation device is always overridden by commands from an automated system or a remote operation device, if the direct operation device is operated for some reason while no one is present at the direct operation device, there is no way to cancel the operation, and the unexpected operation will continue, which is undesirable.

This type of situation can occur, for example, in the following cases. One example is vehicle body resonance. In vehicle body resonance, for example, inertia acts on the control lever as the vehicle body moves, causing the control lever to move relative to the vehicle body. Another example is when an obstacle such as a tree branch gets caught on the control lever while the work machine is in operation. Another example is when the control lever breaks down.

The present invention has been made in consideration of the above, and provides a work machine system that appropriately switches the priority of operation commands to actuators in a work machine system that includes a mixture of multiple command devices (automatic systems, remote control devices, direct operation devices, etc.).

One example of a work machine system according to the present invention is a work machine system including a work device, an actuator that drives the work device, two or more command devices that send command values to the actuator, and a control device, in which the control device includes a priority change determination unit that determines the priority of the command devices, and an actuator priority change unit that sets the command value of the command device with the highest priority among the command devices that are outputting the command value as the actuator command value sent to the actuator, and the work machine system determines the priority in accordance with the determination of the priority change determination unit.

The work machine system according to the present invention can appropriately switch the priority of operation commands to actuators in a work machine system that includes multiple command devices. This makes it possible to provide, for example, a safer work machine system.

A work machine according to a first embodiment of the present invention. A remote control device according to a first embodiment of the present invention. An automated system according to a first embodiment of the present invention. FIG. 1 is a diagram showing a control system according to a first embodiment of the present invention. Flowchart according to the first embodiment of the present invention Flowchart according to the first embodiment of the present invention FIG. 1 is a control system diagram according to a second embodiment of the present invention. Flowchart according to the second embodiment of the present invention Flowchart according to the second embodiment of the present invention FIG. 3 is a control system diagram according to the third embodiment of the present invention. Flowchart according to the third embodiment of the present invention FIG. 11 is a control system diagram according to a fourth embodiment of the present invention. Flowchart according to the fourth embodiment of the present invention List of collective control according to the fourth embodiment of the present invention A work machine according to a fifth embodiment of the present invention. A work machine system according to a fifth embodiment of the present invention. Display device according to a fifth embodiment of the present invention

The following describes an embodiment of the present invention with reference to the attached drawings.

<1. Overall structure>
1 is a side view of a hydraulic excavator, which is an example of a work machine according to the present invention.

The work machine 1 comprises a lower running body 1C equipped with a travel motor, an upper rotating body 1B that is rotatably mounted to the lower running body 1C via a slewing device 4 and rotatably driven by a slewing motor 11, and a work device 1A attached to the upper rotating body 1B.

The working device 1A includes a boom 8 rotatably attached to the upper rotating body 1B, an arm 9 rotatably attached to the boom 8, a bucket 10 rotatably attached to the arm 9, a bucket link 13 rotatably attached to the bucket 10 and the arm 9, a boom cylinder 5 connected to the boom 8 and the upper rotating body 1B and rotating the boom 8 relative to the upper rotating body 1B, an arm cylinder 6 connected to the boom 8 and the arm 9 and rotating the arm 9 relative to the boom 8, and a bucket cylinder 7 connected to the arm 9 and the bucket link 13 and rotating the bucket 10 relative to the arm 9.

The boom cylinder 5, arm cylinder 6, bucket cylinder 7, swing motor 11 and travel motor 3 are actuators that drive the work machine 1.

In this embodiment, the boom 8, arm 9, and bucket 10 constitute the working device, but the specific configuration of the working device is not limited to this.

The lower traveling body 1C is driven by a traveling motor 3, allowing the work machine 1 to move to any position. The slewing device 4 is equipped with a slewing motor 11 that arbitrarily changes the rotation angle of the lower traveling body 1C and the upper rotating body 1B. On the upper rotating body 1B, there are provided a controller 22 that functions as a control device, a communication device 21 that communicates between the controller 22 and a remote control device 26 (Fig. 2), a direct operation device 25 that allows an operator to directly instruct the operation of at least one actuator (boom cylinder 5, arm cylinder 6, bucket cylinder 7, slewing motor 11, traveling motor 3), a human detection device (direct) 30 that determines whether or not an operator is present, and an automatic system input device (direct) 36a.

The direct operation device 25 and the remote operation device 26 are examples of command devices that send command values to actuators. In particular, the direct operation device 25 is a direct command device provided on the work machine 1, and the remote operation device 26 is a remote command device provided outside the work machine 1.

The human detection device (direct) 30 is an example of a device that detects the presence or absence of a person in the cab of the work machine 1 in the direct operation device 25, and detects the person in the cab as the person operating the work machine 1 or the person who is about to operate it.

In this embodiment, the controller 22 is placed on the upper rotating body 1B, but it may be located on the remote control device 26 side. Also, the remote control device 26 is installed remotely from the work machine 1, but the communication form is not limited to wireless and may be wired. In the case of wired communication, the communication device 21 is not necessary, and instead, an alternative means for exchanging information between the remote control device 26 and the controller 22, such as a wired cable, is provided.

Figure 2 is a side view of the remote control device 26 and the work machine 1. The remote control device 26 is not integrated with the work machine 1, and is provided, for example, remotely from the work machine 1. The remote control device 26 comprises a remote control device communication device 27 that communicates with the communication device 21, a remote control device operation lever 28 that allows the operator to directly instruct the operation of at least one actuator, an automatic system input device (remote) 36b, and a human detection device (remote) 31 that determines whether or not an operator is present. The remote control device communication device 27 and the remote control device operation lever 28 are electrically connected.

The human detection device (remote) 31 is an example of a device that detects the presence or absence of a person operating the remote control device 26.

In FIG. 2, the remote control device 26 is shown as being fixed, but the form is not important as long as it can instruct the actuator to operate and can communicate. It may also be in a portable form, such as a game controller or tablet that can accept multiple inputs.

The human detection device (direct) 30 and the human detection device (remote) 31 do not need to be able to reliably detect whether a person is actually present. If there is uncertainty, a threshold can be designed and used for the detection reliability, etc.

Specifically, the detection device may be a passive detection device (e.g., a camera/Lidar/millimeter wave detection device that has the direct operation device or remote operation device in its field of view, a load measuring device on the seat surface where a person sits (hereinafter referred to as the "seat"), a heat measuring device for the seat, a pyroelectric device, a _CO2 measuring device, a contact detection device for the operating lever, an RF tag, etc.), or an active detection device (e.g., a switch, a card key, a tablet, a seat belt (direct operation device only), etc.). In addition, accuracy may be improved by combining multiple of these.
It also includes a state in which the driver is attempting to operate the operating lever, regardless of whether the driver is holding and operating the operating lever, such as a state in which the driver is seated in the driver's seat near the operating lever or has entered the driver's cab.

Figure 3 shows an example of an automatic system. The automatic system 35 is an example of a command device that automatically sends command values to the actuator. In this way, this embodiment is equipped with various command devices (direct operation device 25, remote operation device 26, and automatic system 35), and is therefore capable of handling various operation forms.

The automatic system 35 is arranged, for example, in the controller 22, and automatically calculates an operation plan (including information representing the operation of the actuator) based on the planning instructions input from the automatic system input device (direct) 36a or the automatic system input device (remote) 36b, or both, and executes the operation in response to a predetermined trigger (operation management).

Examples of triggers for the automation system 35 include input from a switch provided in the automation system input device, input of a signal to the system, etc. For example, a signal indicating that the operation of the excavation automation system has been completed can be used as a trigger for starting automatic travel.

Figure 4 is a diagram of a control system according to this embodiment. The controller 22 includes a priority change determination unit 101 and an actuator priority change unit 102. The priority change determination unit 101 determines the priority of the command devices (i.e., the priority of the command devices relative to each other among a plurality of command devices). In particular, in this embodiment, the priority change determination unit 101 determines the priority based on the detection state of the human detection device (direct) 30 and the human detection device (remote) 31 (described later in relation to Figure 5).

In this way, the work machine system in this embodiment determines the priority order according to the judgment of the priority order change judgment unit 101.

The actuator priority change unit 102 actually controls the actuator by setting the command value of one of the command devices as the command value (actuator command value) to be sent to the actuator based on the priority order.

For example, the actuator priority change unit 102 sets the command value of the highest priority command device among those currently outputting command values (in an output state) as the actuator command value. As a more specific example, if the command device with the first priority is not outputting a command value and the command device with the second priority is outputting a command value, the actuator priority change unit 102 sets the command value of the command device with the second priority as the actuator command value.

2. Operation
5 is a flowchart related to the priority change determination unit 101 of this embodiment. First, the detection state of the human detection device (direct) 30 is determined (S201). When the human detection device (direct) 30 is in a detection state and the human detection device (remote) 31 is in a detection state, the priority of the command devices is set in the order of the direct operation device 25, the remote operation device 26, and the automatic system 35 from the highest (S202, S204).

When the human detection device (direct) 30 is in a detection state and the human detection device (remote) 31 is in a non-detection state, the priority of the command devices is determined in the order of highest to lowest: direct operation device 25, automatic system 35, and remote operation device 26 (S202, S205).

When the human detection device (direct) 30 is in a non-detection state and the human detection device (remote) 31 is in a detection state, the priority of the command devices is determined in the order of highest to lowest: remote control device 26, automatic system 35, and direct control device 25 (S203, S206).

When the human detection device (direct) 30 is in a non-detection state and the human detection device (remote) 31 is in a non-detection state, the priority of the command device is set so that the automatic system 35 has the highest priority, followed by the direct operation device 25 and the remote operation device 26 with equal priority (S203, S207).

In this way, if a person is present at the operating device (direct operating device 25 or remote operating device 26), that operating device takes priority over the automatic system 35, and if a person is not present at the operating device (direct operating device 25 or remote operating device 26), the automatic system 35 takes priority over that operating device. If a person is present at both the direct operating device 25 and the remote operating device 26, the direct operating device 25 takes priority over the remote operating device 26. If a person is not present at either the direct operating device 25 or the remote operating device 26, the direct operating device 25 and the remote operating device 26 have equal priority (note that in this case, since the automatic system 35 has the highest priority, the priority of the direct operating device 25 and the remote operating device 26 is not actually important).

In this way, in this embodiment, the priority change determination unit 101 determines the priority based on the detection state of the human detection device (direct) 30 and the human detection device (remote) 31, so that the actuator command value can be more appropriately switched according to the presence or absence of a person, thereby improving safety.

Note that the flowchart in Figure 5 is an example, and the specific control operations are not limited to this.

Figure 6 is a flowchart related to the actuator priority change unit 102 of this embodiment. The actuator priority change unit 102 determines the actuator command value according to the priority order and the output state of each command device.

In the example of FIG. 6, a determination is first made in S221. If in S221 the direct operation device 25 is in an output state and the command device that has priority over the direct operation device 25 is not in an output state, the command value of the direct operation device 25 is set as the actuator command value (S224).

In FIG. 6, "in an output state" refers to a state in which, for the direct operation device 25 or the remote operation device 26, a command value that operates an actuator in response to lever operation (e.g., an output value for operating the actuator from one state to another) is being output. For the automatic system 35, it refers to a state in which a command value that operates an actuator is being output. Note that whether or not an output value that does not operate an actuator (e.g., an output value that maintains the actuator in its current state) is interpreted as a command value can be appropriately designed by a person skilled in the art depending on the specific embodiment.

In S221, if the direct operation device 25 is not in an output state or a command device that has priority over the direct operation device 25 is in an output state (S222), and the remote operation device 26 is in an output state and a command device that has priority over the remote operation device 26 is not in an output state, the command value of the remote operation device 26 is set as the actuator command value (S225).

In S222, if the remote control device 26 is not in an output state or a command device that has priority over the remote control device 26 is in an output state (S223), and the automatic system 35 is in an output state and a command device that has priority over the automatic system 35 is not in an output state, the command value of the automatic system 35 is set as the actuator command value (S226).

In S223, if the automatic system 35 is not in an output state or if a command device that has priority over the automatic system 35 is in an output state, processing returns to S221.

Note that the flowchart in Figure 6 is an example, and the specific control operations are not limited to this.

<3. Effects>
According to the control shown in FIG. 5 and FIG. 6, a command device with a lower priority will not override a command device with a higher priority, thereby improving safety.

The following describes the work machine system according to Example 2. Explanations of parts common to Example 1 may be omitted.

<1. Overall structure>
7 is a diagram of a control system according to this embodiment. The controller 22 includes an operation state priority change determination unit 121 in addition to or instead of the priority change determination unit 101 of the first embodiment. The operation state priority change determination unit 121 determines the priority of the command device or changes the priority determined by the priority change determination unit 101.

2. Operation
8A and 8B are flow charts of the operation state priority change determination unit 121. The entire process shown in Fig. 8B is executed at the position of the star symbol in Fig. 8A.

In this embodiment, an example is described in which the current priority state is S206, the human detection device (direct) 30 and the human detection device (remote) 31 have detected a person, and the direct operation device 25 is in an output state.

First, at the start of processing (START), the order of priority is remote control device > automatic system > direct control device according to S206 (the larger or smaller inequality sign indicates the higher or lower priority). Next, in S201, since the human detection device (direct) 30 detects a person, the process proceeds to S202. Similarly, in S202, since the human detection device (remote) 31 detects a person, the process proceeds to S241 (Figure 8). The flow up to this point is the same as in Example 1.

Next, in S241, the next process (in this case, S204) is referenced. In S204, the priority order is direct operation device > remote operation device > automatic system.

Based on the current priority and the priority of the next process, if A = remote operation device or A = automatic system and B = direct operation device, there is a possibility that the condition of S241 will be met. In particular, if B = direct operation device, since B is in the output state, the condition of S241 will be met. For this reason, the priority of the direct operation device (B) is not changed (S242), and the priority is maintained as it is: remote operation device > automatic system > direct operation device (i.e., the priority change in S204 is not made). In this way, the operation state priority change determination unit 121 prohibits a change in priority depending on the output state of the command device. This state is maintained until the direct operation device 25 is no longer in the output state.

According to this embodiment, when a command device with a lower priority is in an output state, that command device is prevented from taking top priority, so that the actuator can be prevented from suddenly starting to move, thereby improving safety.

The following describes the work machine system according to Example 3. Explanations of parts common to Examples 1 and 2 may be omitted.

<1. Overall structure>
9 is a diagram of a control system according to this embodiment. In this embodiment, the controller 22 further includes a priority interrupt unit 141. The priority interrupt unit 141 determines an actuator command value based on a specific command value (e.g., an emergency stop operation or an emergency stop signal) from a command device, regardless of the operation of the actuator priority change unit 102.

The emergency stop operation refers to an operation for performing an emergency stop. For example, it may include the operation of the lock lever of the direct operation device 25 or the remote operation device 26. The lock lever operation is an operation for stopping the operation of all actuators. The emergency stop operation may also include turning off the key, operating the engine stop switch, operating the emergency stop button, etc.

The emergency stop signal is a specific signal sent, for example, from the automated system 35.

2. Operation
10 is a flowchart of the priority interrupt unit 141. The process starts in S261. If the priority interrupt unit 141 receives a specific command value in S261, the operation of the actuator is stopped regardless of the operation or state of the actuator priority change unit 102 (S262). On the other hand, if the priority interrupt unit 141 does not receive a specific command value in S261, the priority interrupt unit 141 does not perform any active operation, and sends the output by the actuator priority change unit 102 to the actuator as it is as an actuator command value (S263).

In the example of FIG. 10, all actuators are stopped in S262, but a specified safety operation may be performed without stopping the actuators. In that case, the command value for performing the safety operation becomes the actuator command value.

<3. Effects>
According to this embodiment, safety-related operations such as an emergency stop can be executed regardless of the priority order, thereby improving safety.

The following describes a work machine system according to Example 4. Explanations of parts common to Examples 1 to 3 may be omitted.

<1. Overall structure>
11 is a diagram of a control system according to the present embodiment. In this embodiment, the controller 22 includes an actuator collective priority change unit 161 as a modified example of the actuator priority change unit 102 of the first embodiment. The actuator collective priority change unit 161 switches the priority order for a group of actuators collectively.

2. Operation
A flow chart of this embodiment is shown in Figure 12, and a table of the collective control is shown in Figure 13. The table in Figure 13 shows the group of actuators that are controlled for each actuator trigger.

In the following example, the actuators related to rotation, boom, arm, bucket, and travel are operated by the automatic system 35, the priority order is the state of S204 in FIG. 5 (direct operation device > remote operation device > automatic system), the human detection device (direct) detects a person, and the direct operation device 25 outputs a command value to operate the rotation motor.

First, a judgment is made regarding the swing motor according to S281 to S283. S281 to S283 are similar to S221 to S223 in FIG. 6, respectively. In this example, since the judgment in S281 is YES, the group of actuators for which the command value is to be overwritten is calculated based on the table in FIG. 13 (S284). For example, actuator group (A) consists of a boom cylinder, arm cylinder, and bucket cylinder, actuator group (B) consists of a boom cylinder, arm cylinder, bucket cylinder, and swing motor, and actuator group (C) consists of a left traveling motor and a right traveling motor.

In this example, the actuator trigger is the swing motor, so the corresponding actuator group in FIG. 13 consists of the boom cylinder, arm cylinder, bucket cylinder, and swing motor. Therefore, the command value for the corresponding actuator group is taken as the command value from the direct manipulation device 25 (S287).

Here, for the other actuators included in the group (in this example, the boom cylinder, arm cylinder, and bucket cylinder), the command value from the direct operating device 25 becomes the actuator command value regardless of whether the direct operating device 25 is outputting a command value. If no output is being output, a value representing no output (i.e., an output that does not cause an operation; also called a 0 output) becomes the actuator command value.

The above is an example in which the actuator trigger is a command value from a direct operation device, but if the actuator trigger is a command value from a remote operation device, S285 and S288 are executed, and if the actuator trigger is a command value from an automated system, S286 and S289 are executed.

In this way, the actuator collective priority change unit 161 determines the priority of other actuators included in the same group based on the priority of one actuator.

<3. Effects>
According to this embodiment, the output of some actuators can be used as a trigger to give an appropriate output (for example, no output or 0 output) to the other corresponding actuators, allowing the operators of the direct operation device 25 and the remote operation device 26 to perform more detailed operations. Also, safety is improved.

The following describes a work machine system according to Example 5. Explanations of parts common to Examples 1 to 4 may be omitted.

<1. Overall structure>
FIG. 14 shows a work machine according to this embodiment, and FIG. 15 shows a work machine system according to this embodiment.

In the work system according to this embodiment, one or more of the command devices include a display device. For example, the display device includes a display device (direct) 51 provided near the direct operation device 25 and located so that it can be seen by the operator of the direct operation device 25, and a display device (remote) 52 provided near the remote operation device 26 and located so that it can be seen by the operator of the remote operation device 26.

2. Operation
An example of the display on the display device 51 is shown in Fig. 16. The display device 51 displays the current priority order. In the example of Fig. 16, it is shown that the current priority order is direct operation device > remote operation device > automatic system.

The display device 51 also displays information indicating the command device that is sending the command value that becomes the actuator command value. In the example of FIG. 16, it is displayed that the command value from the direct operation device is the actuator command value for the boom cylinder, and the command value from the remote operation device is the actuator command value for the arm cylinder.

Specific priority display modes may include a list of command devices and a display of a number representing the priority of each command device.

<3. Effects>
According to this embodiment, the operator of the direct operation device 25 or remote operation device 26 can confirm the current priority and command states of the actuators, thereby reducing the occurrence of unexpected operations of the work machine.

[Other Examples]
In the first to fifth embodiments, the command device includes all of the direct operation device 25, the remote operation device 26, and the automatic system 35, but one of them may be omitted. In other words, the command device may include two or more of the direct operation device 25, the remote operation device 26, and the automatic system 35.

In Examples 1 to 5, a human detection device (direct) 30 and a human detection device (remote) 31 are provided, but either one of them may be omitted.

1... Working machine 1A... Working device 3... Travel motor (actuator)
5...Boom cylinder (actuator)
6...Arm cylinder (actuator)
7...Bucket cylinder (actuator)
11... Swing motor (actuator)
22...Controller (control device)
25... Direct operation device (command device)
26...Remote control device (command device)
30... Human detection device 31... Human detection device 35... Automatic system (command device)
51: Display device 52: Display device 101: Priority order change determination section 102: Actuator priority change section 121: Operation state priority order change determination section 141: Priority interrupt section 161: Actuator collective priority change section

Claims (7)

A working device;
An actuator that drives the working device;
Two or more command devices that send command values to the actuators;
A control device;
In a working machine system comprising:
The control device includes:
a priority change determination unit that determines a priority of the command device;
an actuator priority change unit that sets a command value of a command device having the highest priority among the command devices currently outputting the command values as an actuator command value to be sent to the actuator,
determining the priority order according to a decision made by the priority order change decision unit;
The control device further includes an operation state priority change determination unit,
The operation state priority order change determination unit prohibits a change in the priority order according to an output state of the command device.
A work machine system comprising: A working device;
An actuator that drives the working device;
Two or more command devices that send command values to the actuators;
A control device;
In a working machine system comprising:
The control device includes:
a priority change determination unit that determines a priority of the command device;
an actuator priority change unit that sets a command value of a command device having the highest priority among the command devices currently outputting the command values as an actuator command value to be sent to the actuator,
determining the priority order according to a decision made by the priority order change decision unit;
the actuator priority change unit is an actuator collective priority change unit that collectively switches the priority order for a group of actuators,
The actuator collective priority change unit determines the priority of other actuators included in the same group based on the priority of one actuator.
A work machine system comprising: 3. The work machine system according to claim 1,
One or more of the command devices include a human detection device that detects the presence or absence of a person who is trying to operate the command device,
A work machine system, wherein the priority change determination unit determines the priority of the command device based on a detection state of the human detection device. 3. The work machine system according to claim 1,
The control device further includes a priority interrupt unit,
A working machine system, wherein the priority interrupt unit determines the actuator command value based on a specific command value from the command device, regardless of the operation of the actuator priority change unit. 3. The work machine system according to claim 1,
One or more of the command devices comprises a display device;
A work machine system, wherein the display device displays a current priority. 6. The work machine system according to claim 5 ,
A work machine system, wherein the display device displays information representative of the command device sending a command value that becomes the actuator command value. 3. The work machine system according to claim 1,
The command device includes:
A direct command device provided in the work machine;
a remote command device provided outside the work machine;
An automatic system that automatically sends command values;
A work machine system comprising: