Operating machinery control system

Abstract

A work machine control system is provided that makes it easier for a worker to work near a work machine that automatically performs a task. The work machine control system includes a work machine that automatically performs a task to be performed, and a task control device that controls the execution of the task. The work machine includes a hydraulic actuator used to perform the task and a body control device. The body control device includes a task content input unit that receives input of task content information; an action control unit that calculates a speed command for the hydraulic actuator based on the task content information; a receiving unit that receives task control information output from the task control device having a task control input unit that receives input of the task control information; and a task control unit that controls the execution of the task based on the task control information.

Description

Technical Field

[0001] The present invention relates to a control system for an operating machine. Background Art

[0002] In a work machine having a work device, productivity can be improved by automating work. In the technology described in Patent Document 1, a series of work to be performed by the work machine is set as a task, and the work machine operates according to the task.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 5110741 Summary of the Invention

[0006] However, in the conventional technology, there is a problem that it is difficult for a worker (human worker) to work near a working machine that performs a task automatically.

[0007] In work machines operated by a human operator, the operator and a human operator communicate while performing work. However, in work machines that automatically perform tasks, such as those described in Patent Document 1, the human operator cannot communicate with the machine, making it unclear how the machine will move. This can lead to impaired workability even if the operator wishes to approach the machine. Furthermore, if the work machine performs actions different from those intended by the operator, there is a risk of contact between the operator and the machine.

[0008] The present invention has been made to solve such a problem, and an object of the present invention is to provide a work machine control system that enables an operator to more easily perform work near a work machine that automatically performs a task.

[0009] An example of a work machine control system of the present invention is a work machine control system comprising: a work machine that automatically performs a task as a work to be performed; and a task control device that controls the execution of the task, wherein the work machine has a hydraulic actuator and a body control device used to perform the task, and the body control device has: a task content input unit that accepts input of task content information; an action control unit that calculates a speed instruction of the hydraulic actuator based on the task content information; a receiving unit that receives the task control information output from the task control device having a task control input unit that accepts input of task control information; and a task control unit that controls the execution of the task based on the task control information.

[0010] This specification incorporates the disclosure of Japanese Patent Application No. 2021-063303 on which the present application claims priority.

[0011] Effects of the Invention

[0012] The work machine control system of the present invention makes it easier for workers to work near a work machine that performs tasks automatically. For example, a human operator can control the execution of a work machine's tasks, thereby allowing them to work close to the work machine and improving productivity and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a diagram showing the appearance of a working machine according to the first embodiment of the present invention.

[0014] Figure 2 This is a diagram showing the appearance of a task control device according to the first embodiment of the present invention.

[0015] Figure 3 It is a diagram showing the system configuration of the first embodiment of the present invention.

[0016] Figure 4 This is a diagram showing a control flow in the first embodiment of the present invention.

[0017] Figure 5 It is a diagram showing the system configuration of the second embodiment of the present invention.

[0018] Figure 6 This is a diagram showing a control flow according to the second embodiment of the present invention.

[0019] Figure 7 It is a diagram showing the system configuration of the third embodiment of the present invention. DETAILED DESCRIPTION

[0020] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0021] [First embodiment]

[0022] Reference Figures 1 to 4 , describing a first embodiment of the working machine control system of the present invention.

[0023] Figure 1 1 is a diagram showing the appearance of a working machine 1 according to a first embodiment of the present invention. The working machine control system includes the working machine 1. The working machine 1 can automatically operate by executing a task.

[0024] Work machine 1 includes a front working mechanism 1a, an upper rotating structure 1b, and a lower traveling structure 1c. The front working mechanism 1a includes a boom 2, an arm 3, and a bucket 4. The boom 2 is driven by a boom hydraulic cylinder 5, the arm 3 is driven by an arm hydraulic cylinder 6, and the bucket 4 is driven by a bucket hydraulic cylinder 7 via a bucket link 20. The boom hydraulic cylinder 5, the arm hydraulic cylinder 6, and the bucket hydraulic cylinder 7 are examples of hydraulic actuators. Work machine 1 may include hydraulic actuators other than these. Hydraulic actuators are used to perform tasks.

[0025] The upper rotating body 1b is rotatable relative to the lower traveling body 1c and is rotatable by a rotating device 8. Circulating rail devices 21 are provided on the left and right sides of the lower traveling body 1c, and are driven by the traveling device 9 (only the left side is shown).

[0026] The upper rotating body 1 b is provided with a prime mover 10 , a hydraulic pump 11 driven by the prime mover 10 , and a control valve 12 for distributing hydraulic oil from the hydraulic pump 11 to the boom cylinder 5 , arm cylinder 6 , bucket cylinder 7 , rotating device 8 , and travel device 9 .

[0027] In order to detect the posture of the front working device 1 a , a boom angle sensor 30 is provided on the boom 2 , an arm angle sensor 31 is provided on the arm 3 , and a bucket angle sensor 32 is provided on the bucket link 20 .

[0028] The upper rotating body 1b is provided with a vehicle body tilt angle sensor 33 for detecting the tilt angle of the upper rotating body 1b, a rotation angle sensor 34 for detecting the relative angle between the upper rotating body 1b and the lower traveling body 1c, and a GNSS antenna 35 for detecting the position and orientation of the upper rotating body 1b.

[0029] Figure 2 FIG1 is a diagram showing the appearance of a task control device according to the first embodiment of the present invention. The task control device 40 is a device for controlling the execution of tasks. The working machine control system includes the task control device 40.

[0030] The task control device 40 includes a start instruction input device 41 for receiving input of a task start instruction, a stop instruction input device 42 for receiving input of a task stop instruction, a speed instruction input device 43 for receiving input of a task speed instruction, and a task switching input device 44 for receiving input of a task switching instruction for switching tasks. The task switching input device 44 includes a forward switching key 44a and a reverse switching key 44b.

[0031] The start instruction input device 41, the stop instruction input device 42, and the task switching input device 44 are buttons, for example, and can be input by ON / OFF. The speed instruction input device 43 is a slide lever, for example, and can input an arbitrary value.

[0032] Figure 3 This diagram shows the system configuration of the first embodiment of the present invention. The task control device 40 includes a task control input unit 46 that receives input of task control information from the start instruction input unit 41, the stop instruction input unit 42, the speed instruction input unit 43, and the task switching input unit 44; and a transmission unit 47 that transmits the task control information input to the task control input unit 46.

[0033] The task control information can include the above-mentioned task start instruction, task stop instruction, task speed instruction, task switching instruction, etc.

[0034] The working machine 1 has Figure 3 The vehicle body control device 50, the vehicle body position detection device 57, the working device posture detection device 58 and the electromagnetic proportional valve 61 are shown. In addition, an external system 53 is provided in association with the working machine 1.

[0035] The vehicle body control device 50 includes a receiving unit 51 that receives task control information transmitted (output) from the task control device 40 , and a task control unit 52 that controls execution of tasks based on the task control information received by the receiving unit 51 .

[0036] The vehicle body control device 50 includes a position and posture calculation unit 59. The vehicle body position detection device 57 and the working machine posture detection device 58 are connected to the position and posture calculation unit 59. The position and posture calculation unit 59 calculates the position and posture of the working machine 1.

[0037] The vehicle body control device 50 further includes a task content input unit 54, an action planning unit 55, an action control unit 56, and an electromagnetic proportional valve control unit 60. The task content input unit 54 is connected to the external system 53 and receives input of task content information indicating the task content. The action planning unit 55 plans the vehicle body's actions based on the task content information and generates action plan information.

[0038] The motion control unit 56 calculates the speed command for the hydraulic actuator based on the motion plan information and the position and posture of the vehicle body calculated by the position and posture calculation unit 59. Since the motion plan information is generated based on the task content information, the motion control unit 56 can calculate the speed command for the hydraulic actuator based on the task content information.

[0039] The electromagnetic proportional valve control unit 60 controls the electromagnetic proportional valve 61 in accordance with the speed command from the motion control unit 56. The electromagnetic proportional valve control unit 60 is connected to the electromagnetic proportional valve 61 and controls the electromagnetic proportional valve 61 to operate the working machine 1 in accordance with the task. The electromagnetic proportional valve 61 is also used to control the hydraulic actuator.

[0040] A task refers to, for example, the work to be performed by the work machine 1. Specific examples include "excavating soil" and "traveling to a destination." Task content information includes information identifying the task and information indicating the location to be worked on. Task content information may also include information related to multiple tasks.

[0041] Action plan information refers to the specific actions of various parts of the work machine to perform a task. For example, the action plan information associated with the "Excavate Soil" task includes information indicating the actions of the bucket used to load the excavated soil into the bucket. Alternatively, for example, the action plan information associated with the "Travel to Destination" task includes information indicating the actions of the travel device 9 used for travel.

[0042] The above are merely examples, and those skilled in the art can arbitrarily define the content and format of task content information and action plan information. Furthermore, in this embodiment, action plan information is generated based on task content information, but a clear distinction between task content information and action plan information is not necessary. For example, if the task content information includes information indicating the actions of various parts of the work machine, part or all of the task content information can be used directly as action plan information.

[0043] The task control unit 52 is connected to the motion control unit 56. When issuing a command to the electromagnetic proportional valve control unit 60 according to an instruction from the motion planning unit 55, the motion control unit 56 can refer to the task control information from the task control unit 52 and change settings related to task execution.

[0044] Figure 4 1 is a diagram showing a control flow according to the first embodiment of the present invention. This control flow is executed by the vehicle body control device 50, for example.

[0045] Figure 4 In the process of , it is confirmed in S101 whether the task content information is input from the external system 53. If the task content information is not input, the process ends. If the task content information is input, the vehicle body motion plan information based on the task content information is generated in S102.

[0046] In S103, it is confirmed whether the start instruction of the task is received from the task control device 40. If the start instruction is not received, the task is terminated. Figure 4 When receiving the start instruction, the task control unit 52 starts the execution of the task. In this embodiment, executing the task means, for example, executing the operation of each part of the working machine indicated by the operation plan information.

[0047] After the execution of the task starts, it is confirmed in S104 whether a speed instruction for the task has been received.

[0048] If a speed instruction is received, the task is executed according to the speed instruction in S105. That is, the task control unit 52 controls the execution speed of the task being executed based on the speed instruction. If no speed instruction is received, S105 is not executed.

[0049] A person skilled in the art can appropriately design a method for achieving the task execution speed. For example, the task execution speed can be changed by changing the moving speeds of the boom 2 , the arm 3 , and the bucket 4 .

[0050] In S106, it is confirmed whether a task switching instruction has been received from the task control device 40. If a task switching instruction has been received, in S107, the task control unit 52 switches tasks according to the task switching instruction. For example, multiple tasks can be distinguished from each other by task identification numbers. If the task switching instruction indicates the operation of the forward switching button 44a, the execution of the currently executing task is stopped and the execution of the task with a task identification number one higher than the previous one is started. Similarly, if the task switching instruction indicates the operation of the reverse switching button 44b, the execution of the currently executing task is stopped and the execution of the task with a task identification number one lower than the previous one is started.

[0051] Those skilled in the art can appropriately design the control required when switching tasks (such as the processing of actions currently being executed). In addition, if no task switching instruction is received, S107 is not executed.

[0052] In S108, it is confirmed whether a stop instruction of the task is received from the task control device 40. In case a stop instruction is received, the task control unit 52 stops the execution of the task in S109, and ends Figure 4 Stopping the execution of the task means, for example, stopping the operation of all hydraulic actuators in the working machine 1. If no stop instruction is received, the process returns to S104 and the execution of the task continues.

[0053] In addition, although Figure 4 There is no special indication in the text, but the task can be ended after the execution of the action plan for the task is completed. Figure 4 processing.

[0054] According to the working machine control system of the first embodiment described above, the working machine 1 can automatically perform work according to a task input from the external system 53 , and in addition thereto, can execute tasks according to task control information from the task control device 40 .

[0055] A human operator working near work machine 1 carries a task control device 40, enabling real-time instructions to work machine 1 regarding the timing for starting a task, the speed at which tasks should be executed, task switching, and task stopping. This allows the human operator to approach work machine 1 while controlling the movements of work machine 1. This allows the human operator to approach work machine 1 with confidence, improving work productivity. This makes it easier for operators to work near work machine 1 that is performing tasks autonomously.

[0056] [Second embodiment]

[0057] Reference Figure 5 6. A second embodiment of the working machine control system of the present invention will be described. Description of portions common to the first embodiment may be omitted.

[0058] Figure 5 1 is a diagram showing a system configuration of a second embodiment of the present invention. The vehicle body control device 50 further includes a communication monitoring unit 62 and a mode switching unit 63 .

[0059] The communication monitoring unit 62 is connected to the receiving unit 51 and is capable of monitoring and determining the communication status of task control information. The communication status is indicated, for example, by whether a communication failure has occurred. An example of a failure is a communication interruption. Furthermore, the communication monitoring unit 62 is also connected to the action control unit 56 and transmits the communication status to the action control unit 56. If the action control unit 56 determines that a task control information communication failure has occurred, it will halt task execution.

[0060] In this embodiment, the work machine 1 can selectively operate in any of a plurality of operation modes. One of the operation modes is a task control operation mode, in which the work machine 1 operates based on task control information. For example, the work machine 1 starts executing a task in response to a task start instruction and stops executing the task in response to a task stop instruction.

[0061] Furthermore, one of the operation modes may be a non-task control operation mode, in which the work machine 1 may operate independently of the task control information. For example, the execution of a task may be started based on input of task content information and stopped based on completion of the execution of the operation plan related to the task.

[0062] The mode switching unit 63 is connected to the operation control unit 56 and can switch between the task control operation mode, in which the task is executed according to the task control information. In other words, the mode switching unit 63 can switch the operation mode of the work machine 1 between the task control operation mode and other modes. The mode switching unit 63 can include an input device such as a key provided on the work machine 1.

[0063] Figure 6 This is a diagram showing the control flow of the second embodiment of the present invention. Figure 4 Compared with (First Embodiment), S110 and S111 are added.

[0064] After S102, in S110, it is confirmed whether the operation mode of the working machine 1 is the task control operation mode. If it is the task control operation mode, it proceeds to S103. If it is not the case, it ends. Figure 6 processing.

[0065] After S103, in S111, the communication status with the task control device 40 is checked. If it is determined that the communication of task control information is blocked, the operation control unit 56 stops the execution of the task in S109. Otherwise, the process proceeds to S104.

[0066] According to the working machine control system of the second embodiment described above, the communication status between the task control device 40 and the vehicle body control device 50 is confirmed, and the execution of the task is stopped when a communication failure occurs, thereby eliminating the situation where the working machine 1 cannot be stopped due to communication interruption, or the situation where the working machine 1 performs unintentional actions.

[0067] Furthermore, by switching the task control operation mode, the work machine 1 can be operated independently of the task control information. For example, even without an instruction from the task control device, the work machine 1 can be operated based on the receipt of task content information.

[0068] [Third embodiment]

[0069] Reference Figure 7 A third embodiment of the working machine control system of the present invention will be described. Description of portions common to the first or second embodiment may be omitted.

[0070] The task control device 40 of the third embodiment can use Figure 2 The working machine 1 includes a task control device specifying device 45. The task control device specifying device 45 can specify the task control device 40 to be the target of task control.

[0071] Furthermore, in this embodiment, the task control information includes task control device identification information for identifying the task control device. For example, if multiple task control devices are distinguished by task control device identification information, each task control device may transmit the task control information including the task control device identification information that identifies the task control device itself. The work machine can be configured so that it can only be controlled by a specific task control device.

[0072] Figure 7: is a diagram showing the system configuration of the third embodiment of the present invention. The vehicle body control device 50 includes a task control device designating device 45 and a task control device identifying unit 64. The task control device designating device 45 and the task control device identifying unit 64 are connected to the task control unit 52. Figure 7 The example is in the second embodiment ( Figure 5 ) is modified, but it is also possible to implement the first embodiment ( Figure 3 ) in the additional changes.

[0073] The task control device specifying device 45 and the task control device identifying unit 64 receive input of task control device identification information for identifying a specific task control device 40. For example, the task control device specifying device 45 displays three buttons with different numbers so that three task control devices can be selected, and the task control device identification information corresponds to the numbers displayed on these buttons.

[0074] The task control device designation device 45 receives input of task control device identification information and sends it to the task control device identification unit 64. The task control device identification unit 64 receives the input and specifies the task control device 40 with respect to the task control unit 52. The task control unit 52 only follows the task control information from the task control device 40 specified by the task control device identification unit 64. In addition, the task control device designation device 45 and the task control device identification unit 64 can not only specify a specific task control device 40, but also automatically specify the task control device 40 that is sending task control information for the first time as the specific task control device.

[0075] When the task control device identification information included in the task control information does not match the task control device identification information input from the task control device identification unit 64 , the task control unit 52 prevents the task from being executed.

[0076] When the task control device identification information matches, the task control unit 52 can perform the same control as in the first or second embodiment.

[0077] According to the work machine control system of the third embodiment described above, task control instructions can be issued to multiple work machines 1 by a single task control device 40, thereby enabling efficient work. Furthermore, even when task control instructions are issued from multiple task control devices 40 to a single work machine 1, the work machine 1 can operate only in accordance with the task control of a specific task control device 40, thereby preventing unintended operation.

[0078] In the first to third embodiments described above, the task control device 40 does not need to include all the input devices shown in the figure, and one or more input devices may be omitted. Figure 2 Any one of the start instruction input device 41, the stop instruction input device 42, the speed instruction input device 43, and the task switching input device 44.

[0079] Description of Reference Numerals

[0080] 1…Operation machinery

[0081] 5… Boom hydraulic cylinder (actuator)

[0082] 6…Hydraulic cylinder (actuator)

[0083] 7…Bucket hydraulic cylinder (actuator)

[0084] 40…Mission Control

[0085] 41…Start indicating input device

[0086] 42…Stop indication input device

[0087] 43…Speed indication input device

[0088] 44 (44a, 44b) ...task switching input device

[0089] 45…Mission Control Device Designation Device

[0090] 46…Mission Control Input

[0091] 47…Sending Department

[0092] 51…Receiving unit

[0093] 52…Mission Control

[0094] 54…Task content input section

[0095] 62…Communications Monitoring Department

[0096] 63…Mode switching unit

[0097] 64…Mission Control Device Identification Unit

[0098] All publications, patents, and patent applications cited in this specification are hereby incorporated by reference into this specification as they are.

Claims

1. A work machine control system comprising: a work machine that generates action plan information indicating actions of various parts of the work machine based on task content information, and automatically executes a task to be performed based on the action plan information, wherein the task content information includes information identifying the task and information indicating a location to be performed; and a task control device that is held by an operator performing work around the work machine and controls the execution of the automatically executed task, wherein the work machine control system is characterized in that: The working machine has a hydraulic actuator and a body control device used to perform tasks. The mission control device includes: a mission control input unit that receives input of mission control information including a start instruction or a stop instruction of the mission; and a transmission unit that transmits the mission control information to the vehicle body control device. The vehicle body control device comprises: a task content input unit for receiving an input of the task content information from an external system in order to generate the action plan information for automatically executing the task; a receiving unit for receiving the task control information sent from the task control device; a task control unit capable of changing a setting of automatic execution of the task based on the task control information; an electromagnetic proportional valve control unit for controlling the hydraulic actuator; and An action control unit calculates a speed instruction for the hydraulic actuator based on the action plan information, outputs the speed instruction to the electromagnetic proportional valve control unit, and changes settings related to automatic execution of the task when outputting the speed instruction to the electromagnetic proportional valve control unit based on the task control information from the task control unit.

2. The working machine control system according to claim 1, characterized in that: The task control device has: a start instruction input device for accepting input of the start instruction; and A stop instruction input device receives input of the stop instruction.

3. The working machine control system according to claim 1, characterized in that: The task control information includes a speed indication of the task, The task control device includes a speed instruction input device for receiving an input of the speed instruction.

4. The working machine control system according to claim 1, characterized in that: The task content information includes information related to multiple tasks. The task control information includes a task switching instruction for switching tasks. The task control device includes a task switching input device for receiving an input of the task switching instruction.

5. The working machine control system according to claim 1, characterized in that: The working machine can be operated in a task control operation mode in which the working machine is operated based on control by the task control unit. The vehicle body control device includes a mode switching unit that switches the operation mode of the work machine to the task control operation mode or another mode.

6. The working machine control system according to claim 1, characterized in that: The vehicle body control device includes a communication monitoring unit that monitors the communication status of the task control information. When it is determined that a failure has occurred in the communication of the task control information, the operation control unit stops execution of the task.

7. The working machine control system according to claim 1, characterized in that: The mission control information includes mission control device identification information for identifying the mission control device. The work machine includes a task control device identification unit that receives input of the task control device identification information.

8. The working machine control system according to claim 7, characterized in that: The task control unit prevents the task from being executed when the task control device identification information included in the task control information does not match the task control device identification information input from the task control device identification unit.

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