Work machine and work machine system

Abstract

The present application provides a work machine and a work machine system that reduce the risk of contact between a vehicle body and an obstacle in the surroundings in the event of an abnormality in the work machine. The work machine includes a traveling body, a slewing body rotatably mounted on the traveling body, a multi-joint work machine mounted on the slewing body and including a boom, a stick, and a work tool, and a control device. The control device includes a control command calculation section, a machine control section, an abnormality detection section, an avoidance action necessity determination section, and an avoidance control command section. The machine control section preferentially controls the traveling body, the slewing body, and the work machine with avoidance control commands compared to operation control commands.

Description

TECHNICAL FIELD

[0001] The present application relates to a work machine and a work machine system. BACKGROUND

[0002] Japanese Patent Application Publication No. 2019-68346 (Patent Literature 1) is background art. Patent Literature 1 describes “a work vehicle including an imaging device that images an image of a work object projection, an image transmission section that transmits the image imaged by the imaging device to a control device, an operation signal reception section that receives an operation signal from the control device, and a movement control section that restricts the operation signal in correspondence with a transmission state of the image”.

[0003] In addition, Japanese Patent Application Publication No. 2019-065661 (Patent Literature 2) is another background art. Patent Literature 2 describes “a loading machine control device that controls a loading machine including a swing body that swings around a swing center and a work machine that is mounted to the swing body and includes a bucket, the loading machine control device including a loaded machine information acquisition section that acquires position information and orientation information of a loaded machine, a dumping position determination section that determines a dumping position for loading sand into the loaded machine based on the position information and the orientation information, a bucket position determination section that determines a position of the bucket at a time when a dumping instruction signal that instructs movement of the bucket to the dumping position is input, and an operation signal generation section that generates an operation signal for moving the bucket from the determined position to the dumping position”.

[0004] PRIOR ART DOCUMENTS

[0005] PATENT LITERATURE

[0006] Patent Literature 1: Japanese Patent Application Publication No. 2019-068346

[0007] Patent Literature 2: Japanese Patent Application Publication No. 2019-065661 SUMMARY

[0008] PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] Patent Literature 1 describes a mechanism that restricts an operation signal in a situation in which an image transmission is abnormal and an operator cannot properly operate a work machine.

[0010] Note that even if an operation signal is restricted and a vehicle body speed is reduced in a vehicle body operation, the vehicle body can contact an obstacle around due to inertia of the vehicle body.

[0011] In addition, Patent Literature 2 describes a mechanism that avoids contact with a transport vehicle regardless of an operator’s operation by determining a vehicle body position, an orientation, and a dumping position.

[0012] Note that for the case where an abnormality occurs in the device that determines the dozing position, the vehicle body position, the orientation, and the like, it is desirable to also avoid contact.

[0013] Thus, an object of the present application is to reduce the risk of contact with surrounding obstacles even in the case where the vehicle body does not immediately stop due to inertia in the case where an abnormality occurs in the work machine.

[0014] Means for solving the problem

[0015] The work machine of the present application includes a traveling body, a slewing body that is rotatably mounted on the traveling body, a multi-joint work machine that is mounted to the slewing body and includes a boom, a stick, and a work tool, and a control device, characterized in that the control device includes a control command calculation section that calculates operation control commands for the traveling body, the slewing body, and the work machine in correspondence with operation commands output from an operation input device, a machine control section that controls the traveling body, the slewing body, and the work machine in correspondence with the operation control commands of the control command calculation section, an abnormality detection section that detects an abnormality of a signal from the outside of the work machine or an abnormality of the work machine, an avoidance action necessity determination section that determines the action state of the traveling body, the slewing body, and the work machine in the case where the abnormality detection section detects an abnormality and determines whether an avoidance action, which is an action that changes the action direction of the work machine to a prescribed direction that avoids contact with an obstacle, is necessary, and an avoidance control command section that calculates an avoidance control command and outputs it to the machine control section in the case where the avoidance action necessity determination section determines that the avoidance action is necessary, the machine control section preferentially controlling the traveling body, the slewing body, and the work machine with the avoidance control command compared to the operation control command.

[0016] This specification includes the disclosure of Japanese Patent Application No. 2021-066428, which is the basis for priority of this application.

[0017] Effects of the Invention

[0018] According to the present application, in the case where an abnormality occurs in the work machine, the risk of contact of the vehicle body with surrounding obstacles can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is an excavator of Example 1.

[0020] Figure 2 is a system block diagram of Example 1.

[0021] Figure 3 is a flowchart of Example 1.

[0022] Figure 4 This is the avoidance control in Example 1. Detailed Implementation

[0023] Example 1

[0024] In this embodiment, to be in Figure 1 The example focuses on vehicle control in the event of an anomaly during remote control of the excavator (operating machinery). The excavator includes a slewing body 202 (containing a cab 201), a traveling body 206, and a workpiece 309 (containing a boom 203, stick 204, and bucket 205). The slewing body 202 is rotatably mounted on the traveling body 206. The workpiece 309 is mounted on the slewing body 202 and is configured as a multi-joint type, including the boom 203, stick 204, and working tools. In this example, the working tool is the bucket 205, but it could also be a hydraulic rock chisel, a crusher, a steel-reinforced concrete demolition machine, a rebar cutter, a fork, a fork grab bucket, a mounted hydraulic auger, a lawnmower, a bucket hammer, a magnet, etc.

[0025] Figure 2 This is a system block diagram of this embodiment. The working machinery (e.g., an excavator) includes a control device 307, a camera device 308, a working machine 309, a rotating body 310, and a traveling body 311. In addition, the working machinery includes an attitude sensor 303, a position sensor 305, and a load weight measuring device 306.

[0026] In addition, the work machinery system of this embodiment includes the aforementioned work machinery, an operation input device 301 disposed outside the work machinery, an image display device 302, and a remote stop signal transmitting device 304. These devices output signals to the control device 307. The remote stop signal transmitting device 304 is a device that sends an emergency stop signal instructing the work machinery to stop urgently, for example, to prevent workers around the work machinery from accidents caused by the work machinery.

[0027] The operation input device 301 can be part of the working machine or disposed externally. When disposed externally, the operation input device 301 accepts input from a remote operator.

[0028] The operation input device 301 includes an operation signal generation unit 332 that generates operation signals in response to operator operations, and an operation signal transmission unit 333 that transmits the operation signals to the work machinery. Additionally, the work machinery is equipped with a camera device 308 that captures images of the area surrounding the work machinery.

[0029] The control device 307 includes an operation signal receiving unit 342 and an image signal transmitting unit 341. The operation signal receiving unit 342 receives operation signals sent by the operation signal transmitting unit 343 and outputs them to the control command processing unit 343. The image signal transmitting unit 341 transmits the image signals output by the camera device 308 to the outside of the working machine (in this embodiment, to the image display device 302).

[0030] The image display device 302 includes an image signal receiving unit 322 that receives image signals transmitted by an image signal transmitting unit 341 and an image display unit 331 that outputs images to an operator.

[0031] The excavator operator can check the situation around the excavator by using images captured by the camera device 308 and output by the image display device 302. In addition, the operator can remotely operate the work machine 309, the slewing body 310, and the traveling body 311 via the operation input device 301.

[0032] The image captured by the camera device 308 is transmitted from the image signal transmitting unit 341 of the control device 307 to the outside of the vehicle and received by the image signal receiving unit 322 of the image display device 302. The received image signal is output to the operator via the image display unit 331.

[0033] Additionally, the operation input device 301 includes an operating joystick. If the operator operates the joystick, the operation signal generation unit 332 outputs the joystick's operating angle as an operation signal. The operation signal is transmitted to the excavator via the operation signal transmission unit 333 and received by the excavator's operation signal receiving unit 342. The operation signal is converted into an operation control command, such as a command pressure, by the control command calculation unit 343.

[0034] The control command calculation unit 343 calculates the operation control commands for the rotating body 310, the traveling body 311, and the working machine 309 in accordance with the operation commands output from the operation input device 301.

[0035] Note that the control command calculation section 343 corrects the operation control command based on not only the operation signal but also the vehicle body posture detected by the posture sensor 303, so as to stop the movement toward the position of the specific obstacle set in advance. The position of the specific obstacle can be stored in advance in a storage mechanism of the control device 307 or the like, for example. The specific obstacle here is, for example, a scaffold when sand is loaded in a waste dump. In a case where the operator operates the working machine without noticing the scaffold, the control command calculation section 343 determines whether the working machine 309, the slewing body 310, or the traveling body 311 comes into contact with the scaffold when the operator operates the working machine 309, the slewing body 310, or the traveling body 311. In a case where it is determined that the contact is made, the operation control in accordance with the operation is not performed (i.e., the contact with the scaffold is not made), and the movement of the working machine 309, the slewing body 310, or the traveling body 311 is stopped. Such control can be appropriately implemented by those skilled in the art based on publicly known technologies or the like. Note that the position of the waste dump changes over time, and thus it is also advantageous to avoid the obstacle by the operation of the operator.

[0036] The control command calculation section 343 calculates the operation control command in correspondence with the posture information detected by the posture sensor 303. For example, it is determined whether a specific operation can be performed in correspondence with the posture of the working machine, and the operation control command is output or stopped in correspondence with the result.

[0037] The machine control section 344 controls the working machine 309, the slewing body 310, or the traveling body 311 in correspondence with the operation control command of the control command calculation section 343.

[0038] The abnormality detection section 345 detects an abnormality of a signal from the outside of the working machine or an abnormality of the working machine.

[0039] The process of the present embodiment will be described with reference to a flowchart of Figure 3 . The process shown in the flowchart is executed by the control device 307, for example.

[0040] In steps 401 to 403 of Figure 3 , the abnormality detection section 345 detects an abnormality of a signal from the outside of the working machine or an abnormality of the working machine.

[0041] In step 401, it is determined whether there is an abnormality in the communication of the operation signal. The abnormality here includes a communication interruption, a communication delay of a prescribed time or more, a bit error of the operation signal, an abnormality of a positive response, or the like in the communication between the operation signal transmission section 333 and the operation signal reception section 342. For example, the abnormality detection section 345 detects a communication delay, a communication interruption, or a lack of communication data generated between the operation signal transmission section 333 and the operation signal reception section 342 as an abnormality. In a case where it is determined that there is an abnormality, the process proceeds to step 405, and in a case where it is determined that there is no abnormality, the process proceeds to step 402.

[0042] In step 402, it is determined whether there is an abnormality in communication of the image signal. The abnormality here includes a communication interruption in communication between the image signal transmission section 341 and the image signal reception section 322, a communication delay of a prescribed time or more, a bit error of the image signal, an abnormality of a positive response, and the like. For example, the abnormality detection section 345 detects a communication delay, a communication interruption, or a lack of communication data generated between the image signal transmission section 341 and the image signal reception section 322 as an abnormality. In a case where it is determined that there is an abnormality, the process proceeds to step 405, and in a case where it is determined that there is no abnormality, the process proceeds to step 403.

[0043] According to such an abnormality detection criterion, it is possible to appropriately detect an abnormality in communication of the operation signal or the image signal.

[0044] In step 403, it is determined whether there is an abnormality in the attitude sensor 303. The work machine is provided with the attitude sensor 303. The attitude sensor 303 detects attitude information indicating an attitude of the work machine. The attitude sensor has, for example, a variable resistance type displacement meter, an IMU (Inertial Measurement Unit). In a case where it is determined that there is an abnormality, the process proceeds to step 405, and in a case where it is determined that there is no abnormality, the process proceeds to step 404.

[0045] The operation command calculation section 343 calculates an operation command in correspondence with the attitude information detected by the attitude sensor 303. For example, in correspondence with the attitude of the work machine, it is determined whether a particular operation can be performed, and an operation command is output or stopped in correspondence with the result.

[0046] The abnormality detection section 345 detects a signal interruption or a deterioration in precision of the attitude sensor 303 as an abnormality. In addition, if the sensor output is an analog signal, the abnormality of the attitude sensor 303 can also be a disconnection, a deviation from a prescribed signal level. If the sensor output is a digital signal, the abnormality of the attitude sensor 303 can also be a communication interruption, a deviation from a prescribed communication content, a reception of a signal indicating an internal abnormality, and the like. It is possible to appropriately detect an abnormality of the attitude sensor 303 according to such a detection criterion.

[0047] In step 404, it is determined whether the remote stop signal reception section 346 has received an emergency stop signal. The remote stop signal reception section 346 can receive an emergency stop signal. The emergency stop signal is, for example, transmitted and received as a remote signal. In a case where it is determined that there is an abnormality, the process proceeds to step 405, and in a case where it is determined that there is no abnormality, the process ends.

[0048] In a case where the abnormality detection section 345 detects an abnormality in any one of steps 401 to 403, or in a case where the remote stop signal reception section 346 receives an emergency stop signal in step 404, the avoidance action necessity determination section 349 determines the action states of the traveling body 311, the turning body 310, and the working machine 309, and determines whether or not avoidance action (described later in steps 405 and 406) is necessary.

[0049] The determination of the appropriate avoidance action can be made in accordance with such specific determination criteria.

[0050] For example, in a case where the abnormality detection section 345 detects an abnormality, in a case where the time from when the instruction to cause the turning body 310 to rotate is being output from the control instruction operation section 343, the instruction to cause the traveling body 311 to travel, or the instruction to cause the boom 203 to move in the lowering direction, or the time from when the last instruction to cause the turning body 310 to rotate, the instruction to cause the traveling body 311 to travel, or the instruction to cause the boom 203 to move in the lowering direction is output until the abnormality detection section 345 detects the abnormality is the first time or less, the avoidance action necessity determination section 349 determines that avoidance action is necessary. The avoidance action is an action to avoid contact with an obstacle in the surroundings in a case where the vehicle body speed is reduced by limiting the operation signal in the vehicle body operation, and the vehicle body does not immediately stop due to inertia, is an action to change the directions of the boom, the stick, and the bucket to a prescribed direction to avoid contact with an obstacle, that is, an action to move the boom, the stick, and the bucket in a prescribed direction in which there is no obstacle, and further, the avoidance control instruction is an instruction to change the directions of the boom, the stick, and the bucket to a direction to avoid contact with an obstacle, that is, an instruction to move the boom, the stick, and the bucket in a prescribed direction in which there is no obstacle, and includes an instruction to cause the boom 203 to move in the raising direction (for a prescribed time, for example).

[0051] In step 405, the avoidance action necessity determination section 349 determines the presence or absence of the action of the turning body 310, the presence or absence of the action of the traveling body 311, or the presence or absence of the action of the boom 203 in the lowering direction. In a case where it is determined that any one of the actions is present, the process proceeds to step 406. In a case where it is determined that none of the actions is present, the process ends.

[0052] In step 406, it can also be determined whether or not there is a structure and / or an obstacle above the working machine. In a case where there is a structure and / or an obstacle, the process proceeds to step 407. In a case where there is no structure and / or obstacle, the process ends.

[0053] In step 407 (i.e., when the avoidance action determination unit 349 determines that an avoidance action is required), the avoidance control command unit 350 calculates the avoidance control command and outputs it to the mechanical control unit 344.

[0054] The same can be set for emergency stop signals. For example, in step 404, when the remote stop signal receiving unit 346 receives an emergency stop signal, if the time between the output of a command from the control command calculation unit 343 to the emergency stop signal received by the remote stop signal receiving unit 346 and the output of a command to rotate the slewing body 310, move the traveling body 311, or lower the boom 203, or the last output of a command to move the slewing body 310, move the traveling body 311, or lower the boom 203, is less than the first time, the avoidance action determination unit 349 determines that an avoidance action is required. In addition, the avoidance control command is a command to change the direction of movement of the boom, stick, and bucket in a predetermined direction to avoid contact with obstacles; that is, it is a command to move the boom, stick, and bucket in a predetermined direction where there are no obstacles, including a command to move the boom 203 (for example, for a predetermined time period) in the upward direction.

[0055] Based on this judgment criterion, it is possible to make an appropriate judgment that takes into account the idle time (e.g., the time from the output of the command to move the boom 203 to the determination that an avoidance action is required). In particular, by taking into account the elapsed time from the last output, even in variations that do not have sensors to detect the state of the working machinery, it is possible to make an appropriate judgment on whether an avoidance action is required.

[0056] A specific example is explained using step 405. In step 405, the avoidance action determination unit 349 determines whether the movement of the rotating body 310, the movement of the traveling body 311, and the movement of the boom 203 in the lowering direction are present. All of these actions increase the risk of the work machine 309 coming into contact with obstacles located around the vehicle body.

[0057] use Figure 4 Here is a specific example of the determination method. In steps 401 to 404, the moment when an anomaly is detected or the moment when an emergency stop signal is received is set as time t1. At this time, the time elapsed from the moment the last command was given to the travel of the traveler 311, the rotation of the slewing body 310, or the descent of the boom 203 to time t1 is set as dt1.

[0058] Sometimes, after the control command stops, the vehicle body does not stop immediately and continues to move idling for a period of time. Therefore, when dt1 is less than the specified time (the first time), it is determined that an avoidance action is needed to prevent the vehicle body from contacting surrounding obstacles due to idling.

[0059] In addition, in a case where the inertia of the vehicle body and / or the load is large, the vehicle body does not stop immediately after the operation control instruction is stopped, and the coasting time during which the operation continues is long. Thus, when dt1 is less than a predetermined time (second time) corresponding to the vehicle specifications of the work machine and / or the weight of the load maintained in the vehicle specifications information holding section 348 ( Figure 2 ), it can also be determined that the avoidance operation to avoid contact of the vehicle body with the surrounding obstacles due to coasting is required.

[0060] That is, the control device 307 can also have a vehicle specifications information holding section 348 that maintains the vehicle specifications information of the work machine. And / or the work machine can have a load weight measuring device 306 that detects the load weight of the load loaded in the work machine. Also, in a case where the abnormality detection section 345 detects an abnormality in steps 401 to 403, in a case where the time from when the instruction to operate the swing body 310 or the instruction to operate the boom 203 in the lowering direction is being output from the control instruction operation section 343 to when the abnormality is detected by the abnormality detection section 345 is equal to or less than the second time corresponding to the vehicle specifications information and / or the load weight, the avoidance operation necessity determination section 349 determines that the avoidance operation is required, which is an operation to change the operation direction of the boom, the stick, and the bucket to a predetermined direction to avoid contact with the obstacles, i.e., an operation to the predetermined direction where there is no obstacle. In addition, the avoidance control instruction is an instruction to change the operation direction of the boom, the stick, and the bucket to a predetermined direction to avoid contact with the obstacles, i.e., an instruction to operate the boom, the stick, and the bucket to the predetermined direction where there is no obstacle, including an instruction to operate the boom 203 in the raising direction, for a third time corresponding to the vehicle specifications information and / or the load weight.

[0061] The avoidance control instruction output during the third time can also include an instruction to operate the stick 204 and the bucket 205 in the retracting direction. According to such an instruction, the swing radius of the work machine 309 is reduced, and the risk of contact with the surrounding obstacles can be reduced.

[0062] The same can be set for the emergency stop signal. For example, in a case where the remote stop signal receiving section 346 receives an emergency stop signal in step 404, in a case where the time from when the control command operation section 343 outputs a command to rotate the swing body 310 or a command to move the boom 230 in a lowering direction or from when the last command to move the swing body 310 or the boom 230 in a lowering direction is output until the remote stop signal receiving section 346 receives the emergency stop signal is a second time or less corresponding to the vehicle specification information and / or the load weight, the avoidance action necessity determination section 349 determines that the avoidance action is necessary. In addition, the avoidance control command is a command to change the moving direction of the boom, the stick, and the bucket to a prescribed direction to avoid contact with an obstacle, i.e., a command to move the boom, the stick, and the bucket to a prescribed direction in which there is no obstacle, including a command to move the boom 203 in a raising direction, during a time (a third time) corresponding to the vehicle specification information and / or the load weight.

[0063] According to such a determination criterion, appropriate determination considering the length of the empty running time can be achieved.

[0064] In step 406, it can also be determined whether there is a structure and / or an obstacle above the work machine, particularly above the work implement 309. The structure and / or the obstacle is, for example, a power line, a bridge, a ceiling in a tunnel, or the like.

[0065] When the avoidance action is performed, there is a possibility that the work implement 309 contacts the structure and / or the obstacle above. To avoid such a situation, the work machine is provided with a position sensor 305 that detects the position of the work machine. The position sensor 305 is, for example, a sensor using a GNSS (Global Navigation Satellite System). Note that, in a case where the position of the work implement 309 is detected, a GNSS provided to the work machine and a calculation based on the attitude of the work implement 309 obtained by the attitude sensor 303 can be used.

[0066] The avoidance action necessity determination section 349 determines that the avoidance action, i.e., the action to change the moving direction upward, to move it upward in which there is no obstacle, is necessary only when, for example, there is neither a structure nor an obstacle above the work machine. In determining the presence or absence of the structure and / or the obstacle, first, the position of the work machine is acquired using the position sensor 305.

[0067] The control device 307 has an operation area information holding section 347 that holds a correspondence relationship between the position of the operation area and the presence or absence of a structure and / or an obstacle above each position in the operation area. The presence or absence of a structure and / or an obstacle at each position is held in advance in the operation area information holding section 347, and can be determined on the basis of the position information of the position sensor 305.

[0068] For example, the avoidance action necessity determination section 349 determines that avoidance action is not necessary in a case where there is a structure and / or an obstacle above the position of the work machine on the basis of the correspondence relationship held in the operation area information holding section 347 and the position of the work machine, regardless of the determination result of step 405 (that is, regardless of the action state of the traveling body 311, the swing body 310, and the work machine 309), because it is possible to come into contact with the obstacle due to avoidance action, and otherwise determines that avoidance action is necessary on the basis of the determination result of step 405.

[0069] Through such determination, avoidance action is suppressed in a case where there is a structure and / or an obstacle above the work machine. Therefore, the instruction of the boom 203 to move upward in the upward direction, which can come into contact with the structure and / or the obstacle, is suppressed, and contact with the structure and / or the obstacle is avoided.

[0070] In step 407 (that is, in a case where the avoidance action necessity determination section 349 determines that avoidance action is necessary), the avoidance control instruction section 350 calculates an avoidance control instruction and outputs it to the machine control section 344.

[0071] A specific example of the avoidance control instruction will be described below. The avoidance control instruction includes an instruction to stop the work machine 309 (but the boom 203 is excluded), the swing body 310, and the traveling body 311. However, depending on the work machine (for example, a shovel), it can be too late to brake and come into contact with the obstacle because of large inertia and a long braking distance. Therefore, in this step, in order to change the direction of the action of the work machine 309 to a prescribed direction in which contact with the obstacle is avoided, that is, to move the work machine 309 in a prescribed direction in which there is no obstacle so as to avoid a part of the work machine 309 upward from the obstacle, the avoidance control instruction is an instruction to change the direction of the action of the work machine 309 to a prescribed direction in which contact with the obstacle is avoided, that is, an instruction to move the work machine 309 in a prescribed direction in which there is no obstacle, and includes an instruction to move the boom 203 in the upward direction. Since the time to raise the boom 203 depends on the vehicle specifications and the weight of the bucket load, the instruction to move the boom 203 in the upward direction can be configured to continue for a prescribed time proportional to the weight output by the load weight measuring device 306 and the vehicle specifications held in the vehicle specifications information holding section 348. Figure 4During the period of dt2). Through such control, appropriate control taking into account vehicle specifications and load weight can be achieved.

[0072] It should be noted that if no abnormality is detected in steps 401-403 and no emergency stop signal is received in step 404, step 407 will not be executed. Additionally, if it is determined in steps 405-406 that no avoidance action is required, step 407 will also not be executed.

[0073] exist Figure 3 After processing, compared with the operation control command, the mechanical control unit 344 prioritizes the avoidance control command to control the rotating body 310, the traveling body 311, and the working machine 309. As a result, in the event of an abnormality in the working machine, the risk of the vehicle body coming into contact with surrounding obstacles can be reduced.

[0074] Other embodiments

[0075] In the above embodiment 1, step 404 can also be omitted. Additionally, step 406 can also be omitted.

[0076] Explanation of reference numerals in the attached figures

[0077] 101…Operation Input Device

[0078] 102…Control device

[0079] 103…work machine

[0080] 104… Rotational body

[0081] 105…driving body

[0082] 106…Control Instruction Calculation Unit

[0083] 107…Mechanical Control Department

[0084] 108…Anomaly Detection Department

[0085] 109…Determination of Avoidance Actions

[0086] 110…Evasion Control Command Section

[0087] 202… Rotational body

[0088] 203… boom

[0089] 204… pole

[0090] 205… Bucket (operating tool)

[0091] 206…driving body

[0092] 230… boom

[0093] 301 … operation input device

[0094] 302 … image display device

[0095] 303 … posture sensor

[0096] 304 … remote stop signal transmission device

[0097] 305 … position sensor

[0098] 306 … load weight measuring device

[0099] 307 … control device

[0100] 308 … imaging device

[0101] 309 … work implement

[0102] 310 … revolving body

[0103] 311 … traveling body

[0104] 322 … image signal receiving section

[0105] 324 … operation signal receiving section

[0106] 331 … image display section

[0107] 332 … operation signal generating section

[0108] 333 … operation signal transmission section

[0109] 341 … image signal transmission section

[0110] 342 … operation signal receiving section

[0111] 343 … control command calculation section

[0112] 344 … mechanical control section

[0113] 345 … abnormality detection section

[0114] 346 … remote stop signal receiving section

[0115] 347 … work area information holding section

[0116] 348 … vehicle specification information holding section

[0117] 349 … avoidance action necessity determination section

[0118] 350 … avoidance control command section

[0119] All publications, patents, and patent applications cited in this specification are herein incorporated by reference in their entirety.

Claims

1. A type of operating machinery, comprising: Vehicle; A rotating body, which is rotatably mounted on the traveling body; A multi-joint type work machine, which is mounted on the rotating body, includes a boom, stick and working tools; as well as Control device, The operating machinery is characterized in that... The control device includes: The control command calculation unit is responsible for calculating the operation control commands for the traveling body, the rotating body, and the working machine, corresponding to the operation commands output from the operation input device. The mechanical control unit controls the traveling body, the slewing body, and the boom of the work machine according to the operation control commands of the control command calculation unit; An anomaly detection unit detects anomalies in signals from outside the operating machinery or anomalies in the operating machinery itself; The avoidance action determination unit, when the anomaly detection unit detects an anomaly, determines whether there is movement of the traveling body, the slewing body, and the boom in the downward direction. If any of these movements are detected, it determines that an avoidance action is required. This avoidance action includes the boom in the upward direction, which is an action that changes the direction of movement of the working machinery towards a predetermined direction to avoid contact with the obstacle; and The avoidance control command unit, when determined by the avoidance action determination unit to require an avoidance action, calculates an avoidance control command, including a command to move the boom in the upward direction, and outputs it to the mechanical control unit. Compared to the operation control commands, the mechanical control unit preferentially uses the avoidance control commands to control the traveling body, the slewing body, and the boom of the work machine.

2. The operating machinery according to claim 1, characterized in that, The operating machinery is equipped with an attitude sensor, which detects attitude information representing the attitude of the operating machinery. The control command processing unit of the control device calculates the operation control command based on the attitude information detected by the attitude sensor. The anomaly detection unit detects signal interruption or accuracy degradation of the attitude sensor as an anomaly.

3. The operating machinery according to claim 1, characterized in that, If the anomaly detection unit detects an anomaly, The control command processing unit is currently outputting commands to rotate the slewing body, to move the traveling body, or to lower the boom. If the time from the last output of the command to rotate the slewing body, to move the traveling body, or to lower the boom until the anomaly detection unit detects an anomaly is less than or equal to the first time. The avoidance action determination unit determines that an avoidance action is required.

4. The operating machinery according to claim 1, characterized in that, The control device includes a vehicle specification information holding unit that holds the vehicle specification information of the operating machinery. The operating machinery is equipped with a load weight measuring device, which detects the load weight of the cargo loaded on the operating machinery. If the anomaly detection unit detects an anomaly, The control command processing unit is currently outputting commands to rotate the slewing body, or commands to lower the boom, or... If the time from the last output of the command to rotate the slewing body or to lower the boom until the anomaly detection unit detects an anomaly is less than or equal to the second time corresponding to the vehicle specifications and the load weight, then... The avoidance action determination unit determines that an avoidance action is required. The avoidance control command includes a command to move the boom in the upward direction during a third time period corresponding to the vehicle specification information and the load weight.

5. The operating machinery according to claim 4, characterized in that, The avoidance control command output during the third time period includes a command to move the stick and the working tool in the pull-back direction.

6. The operating machinery according to claim 1, characterized in that, The operating machinery is equipped with a position sensor, which detects the position of the operating machinery. The control device includes a work area information holding unit, which maintains the correspondence between the position and whether there are any structures or obstacles above the position. If, based on the position and the corresponding relationship, there is a structure or obstacle above the position, regardless of the movement of the traveling body, the movement of the slewing body, or the movement of the boom in the downward direction, the avoidance action determination unit determines that the avoidance action is not required.

7. A working machinery system, characterized in that, Includes the operating machinery as described in claim 1 and the operation input device. The operating machinery system also has an image display device. The image display device has: An image signal receiving unit that receives image signals transmitted by an image signal transmitting unit; and The image display unit outputs images to the operator. The operation input device is located outside the working machinery and accepts input from the operator. The operation input device includes: An operation signal generation unit generates operation signals in response to the operator's operation; and The operation signal transmitting unit transmits operation signals to the operating machinery. The operating machinery is equipped with a camera device for capturing images of the area surrounding the operating machinery. The control device includes: An operation signal receiving unit receives the operation signal sent by the operation signal transmitting unit and outputs it to the control command processing unit; and The image signal transmitting unit transmits the image signal output by the camera device to the outside of the operating machinery. The anomaly detection unit detects communication delays, communication interruptions, or missing communication data that occur between the operation signal transmitting unit and the operation signal receiving unit or between the image signal transmitting unit and the image signal receiving unit as anomalies.

8. A work machinery system comprising the work machinery as described in claim 1, The operating machinery system is characterized in that... It also has a remote stop signal transmitting device, which sends an emergency stop signal instructing the machine to stop urgently. The control device includes a remote stop signal receiver for receiving the emergency stop signal. When the remote stop signal receiving unit receives an emergency stop signal, the avoidance action determination unit determines whether the movement of the traveling body, the movement of the slewing body, and the movement of the boom in the downward direction are present. If it determines that any one of these movements exists, it determines that the avoidance action is required.

9. The working machinery system according to claim 8, characterized in that, When the remote stop signal receiving unit receives the emergency stop signal... The control command processing unit is currently outputting commands to rotate the slewing body, to move the traveling body, or to lower the boom. If the time from the last output of the command to rotate the slewing body, to move the traveling body, or to lower the boom, to the time the remote stop signal receiver receives the emergency stop signal is less than or equal to the first time. The avoidance action determination unit determines that an avoidance action is required.

10. The working machinery system according to claim 8, characterized in that, The control device includes a vehicle specification information holding unit that holds the vehicle specification information of the operating machinery. The operating machinery is equipped with a load weight measuring device, which detects the load weight of the cargo loaded on the operating machinery. When the remote stop signal receiving unit receives the emergency stop signal... The control command processing unit is currently outputting commands to rotate the slewing body, or commands to lower the boom, or... If the time from the last output of the command to rotate the slewing body or to lower the boom until the remote stop signal receiver receives the emergency stop signal is less than or equal to the second time corresponding to the vehicle specifications and the load weight, then... The avoidance action determination unit determines that an avoidance action is required. The avoidance control command includes a command to move the boom in the upward direction during a third time period corresponding to the vehicle specification information and the load weight.

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