Work machine

Abstract

Provided is a work machine having an external control interface for inputting a control command for the work machine from the outside and outputting work machine information necessary for the generation of the control command to the outside, the work machine being capable of preventing the work machine from operating in accordance with the control command generated by erroneous recognition based on the specification of the work machine. In order that the specification of the work machine (1) needs to be confirmed before the start of external control of the work machine (1), external input / output information of the external control interface (101) is monitored, and the operation of the work machine (1) is restricted before information identifying the specification of the work machine (1) is included in the external input / output information.

Description

Technical Field

[0001] The present invention relates to a working machine. Background Art

[0002] In recent years, with the shortage of labor in the civil engineering industry as the background, attention is being focused on the remote and automatic control of work machines. In order to realize the remote and automatic control of work machines, instead of directly modifying the work machines, there is a method of opening the actuator control function of the work machines as an API (Application Programming Interface). That is, there is a method in which an interface (external control interface) for controlling the work machines according to control instructions from the outside is pre-set on the work machines, and the external control device that generates remote and automatic control instructions is constructed in coordination with the work site or work content, and connected to the work machines, thereby realizing a remote or automatic control system.

[0003] As a conventional technology of an automatic control system, there is Japanese Patent Application Laid-Open No. 2020-125594 (Patent Document 1).

[0004] Patent document 1 records: "A control system for a construction machine, the construction machine having a work machine including a boom and a bucket that can be detached from the boom, the control system for the construction machine having: a target value generating unit that generates a target value of a control amount of the work machine; a prediction model storage unit that stores a prediction model of the work machine; a weight data acquiring unit that acquires weight data of the bucket; a prediction model updating unit that updates the prediction model based on the weight data; a prediction unit that calculates a predicted value of the control amount of the work machine based on the target value and the prediction model and calculates a drive amount for controlling the work machine based on the predicted value; and an instruction unit that outputs a control instruction for controlling the work machine based on the drive amount." Here, regarding a method for acquiring weight data, as an embodiment, it is recorded that "a driver or a manager of a hydraulic excavator 100 operates an input device 80 to input weight data of the bucket 8 into a control device 50."

[0005] In a new case where an external control device is mounted on an unspecified machine, another conventional technique for acquiring information such as weight data on machine specifications of the mounted object is disclosed in Japanese Patent No. 6604925 (Patent Document 2).

[0006] Patent document 2 records "a safe driving support device, wherein the inherent information includes information for determining the model of the own vehicle, and the risk judgment unit judges whether there is the collision risk based on the position information of the own vehicle and the information for determining the model, and the position information of the other vehicle and the information for determining the model obtained via the inter-vehicle communication unit."

[0007] Here, regarding the method for obtaining inherent information, it is recorded that "a safe driving support device, wherein, when the connection object detection unit detects the operation management terminal that manages the inherent information of the own vehicle as the connection object device, the inherent information setting unit sets the information sent from the operation management terminal as the inherent information" and "a safe driving support device, wherein, when the connection object detection unit does not detect the operation management terminal that manages the inherent information of the own vehicle as the connection object device, the inherent information setting unit sets a predetermined value as the inherent information."

[0008] Prior art literature

[0009] Patent Literature

[0010] Patent Document 1: Japanese Patent Application Publication No. 2020-125594

[0011] Patent Document 2: Japanese Patent No. 6604925 Summary of the invention

[0012] When a working machine with an external control interface is used for high-precision machine control, sometimes the actual machine specifications and the machine specifications recognized by the external control device cannot be allowed to deviate. For example, Patent Document 1 shows a system that ensures control accuracy by inputting the bucket weight after replacing the bucket. However, if the bucket weight is input incorrectly due to human error, etc., there is a risk of significantly deteriorating the control accuracy.

[0013] In addition, as a system for automatically recognizing machine specifications, there is a method of using a machine management system as described in Patent Document 2. However, when changing machine specifications during operation, such as replacing a bucket, there is a risk that the machine specification update on the management system side will be temporarily delayed. In this case, in the high-precision machine control shown in Patent Document 1, etc., there is a case where temporary erroneous recognition of machine specifications cannot be allowed.

[0014] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a working machine having an external control interface, which can prevent an external control device from erroneously recognizing specifications of the working machine.

[0015] In order to solve the above-mentioned problems, the working machine of the present invention comprises: an external control interface, which inputs control instructions for remotely or automatically controlling the working machine from the outside, and outputs working machine information required for generating the control instructions externally; a control device, which controls the working machine according to the control instructions; and a working machine information holding device, which holds the working machine information. The working machine is characterized in that it has a monitoring device for monitoring the external input and output information of the external control interface, and the monitoring device comprises: an identification information judgment unit, which judges whether the external input and output information contains identification information of the specification for identifying the working machine; and an action restriction instruction unit, which generates an action restriction instruction that restricts the action of the working machine before the identification information judgment unit judges that the external input and output information contains the identification information, and the control device restricts the action of the working machine according to the action restriction instruction generated by the action restriction instruction unit.

[0016] Effects of the Invention

[0017] According to the present invention, in a working machine having an external control interface, it is possible to prevent the external control device from erroneously recognizing the specifications of the working machine.

[0018] Other problems, structures, and effects than those described above will become apparent from the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a side view of the working machine (excavator) of Embodiments 1 to 3.

[0020] Figure 2 This is a system block diagram of the working machine of the first embodiment.

[0021] Figure 3 This is a flowchart of the monitoring device of Example 1.

[0022] Figure 4 This is a system block diagram of the working machine of the second embodiment.

[0023] Figure 5 This is a flow chart of the monitoring device of Example 2.

[0024] Figure 6 This is a flow chart of the monitoring device of Example 3. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present invention will be described using the accompanying drawings. Figure 1The excavator shown as being externally controllable is an object. In addition, the working machine of the present invention is not limited to the excavator, and can also be applied to all working machines such as bulldozers, wheel loaders, compaction machines, trucks, cranes, etc.

[0026] [Example 1]

[0027] Figure 1 FIG. 1 is a side view of a working machine (excavator) 1 of this embodiment. Figure 1 As shown, the working machine (excavator) 1 includes: a crawler-type lower traveling body 11 ; an upper swing body 12 rotatably provided on the lower traveling body 11 ; and a multi-articulated working machine (front working machine) 13 mounted on the upper swing body 12 .

[0028] The lower traveling structure 11 travels by driving the left and right crawler tracks 14 by left and right traveling motors (not shown), respectively.

[0029] The upper rotating body 12 has a cabin 15 for the operator to ride on the left and right sides of the front part. A rotating motor (not shown) is installed on the rotating frame of the upper rotating body 12. When the rotating motor is driven, the upper rotating body 12 rotates relative to the lower traveling body 11. A counterweight 16 is provided at the rear of the upper rotating body 12 to maintain the weight balance of the fuselage.

[0030] The work machine 13 is connected to the side of the cabin 15 at the front of the upper swing body 12. The work machine 13 is a multi-jointed front work machine having a boom 8, an arm 9 and an attachment 10 (a bucket in the present embodiment). The boom 8 is directly connected to the upper swing body 12 so as to be able to rotate up and down and is connected to the upper swing body 12 via a boom cylinder 5. The arm 9 is directly connected to the front end of the boom 8 so as to be able to rotate and is connected to the boom 8 via an arm cylinder 6. The attachment (bucket) 10 is directly connected to the front end of the arm 9 so as to be able to rotate and is connected to the arm 9 via an attachment cylinder 7. The boom cylinder 5, the arm cylinder 6 and the attachment cylinder 7 are hydraulic actuators. If the swing motor is driven, the upper swing body 12 rotates. If the boom cylinder 5, the arm cylinder 6 and the attachment cylinder 7 are driven, the boom 8, the arm 9 and the attachment 10 rotate respectively, and the position and posture of the attachment 10 change. In this way, operations such as excavation are performed. Furthermore, the attachment (bucket) 10 of the present embodiment can also be replaced with other attachments such as a blade and a slope bucket.

[0031] Figure 2 This is a system block diagram of the working machine 1 according to the first embodiment. First, the parts that are the premise of the first embodiment will be described.

[0032] The external control interface 101 is a connection interface connected to the external control device 120, which transfers the control instructions (control instructions for remote or automatic control of the working machine 1) input from the external control device 120 to the control device 103, and extracts the information of the working machine 1 (working machine information) required by the external control device 120 from the working machine information holding device 102 and outputs it to the external control device 120.

[0033] The working machine information storage device 102 stores all information related to the working machine 1 , and outputs information required by the external control interface 101 .

[0034] The control device 103 controls a working machine 13 including a boom 8 , an arm 9 , an attachment (bucket) 10 , an upper swing structure 12 , and a lower traveling structure 11 based on control commands from the external control interface 101 .

[0035] The external control device 120 generates a control command for the working machine 1 based on the working machine information obtained from the external control interface 101, and outputs the generated control command to the external control interface 101. In addition, the external control device 120 is not developed by the working machine manufacturer, but is developed by the user of the working machine and is a vehicle-mounted or non-vehicle-mounted electronic device connected to the working machine. When the external control device 120 is a vehicle-mounted device, it is connected to the external control interface 101 by wire. In addition, when the external control device 120 is a non-vehicle-mounted electronic device, it is connected to the external control interface 101 wirelessly.

[0036] Next, the part related to the present invention in the first embodiment is described. In the first embodiment, after the communication between the external control device 120 and the external control interface 101 is established, the monitoring device 110 restricts the operation of the working machine 1 until the specification confirmation of the working machine 1 by the external control device 120 is completed.

[0037] The monitoring device 110 is a device that monitors external input / output information of the external control interface 101. The external input / output information includes external input information input from the outside and external output information output to the outside. The monitoring device 110 includes an identification information determination unit 111 and an action restriction instruction unit 112.

[0038] The identification information determination unit 111 is a module that determines whether the external input / output information of the external control interface 101 includes information (identification information) for identifying the specifications of the working machine 1. Specifically, the identification information determination unit 111 determines whether the external output information output to the external control device 120 includes the identification information of the machine specifications, and whether the external input information input from the external control device 120 includes a reception response (acquisition response) of the identification information.

[0039] The motion restriction instruction unit 112 is a module that instructs the control device 103 to restrict or release the motion of the machine based on the judgment result of the identification information judgment unit 111. In detail, when the identification information judgment unit 111 judges that the external input / output information of the external control interface 101 does not include the identification information of the machine specification (that is, the external output information does not include the identification information of the machine specification, or the external input information does not include the reception response of the identification information), the motion restriction instruction unit 112 generates a motion restriction instruction to restrict the motion of the working machine 1 (motion prohibition or motion speed restriction) and outputs it to the control device 103. On the other hand, when the identification information judgment unit 111 judges that the external input / output information of the external control interface 101 includes the identification information of the machine specification (that is, the external output information includes the identification information of the machine specification, and the external input information includes the reception response of the identification information), the motion restriction instruction unit 112 generates a motion restriction release instruction to release the motion restriction of the working machine 1 and outputs it to the control device 103. That is, the motion restriction instruction unit 112 generates a motion restriction instruction for restricting the motion of the working machine 1 and outputs it to the control device 103 before the identification information determination unit 111 determines that the external input / output information of the external control interface 101 includes the identification information of the machine specification.

[0040] Figure 3 The flowchart of FIG. 1 shows the processing of the monitoring device 110 in the present embodiment 1. Hereinafter, the present embodiment 1 is described according to the flowchart.

[0041] Step S300 is a step for determining whether the external control interface 101 is in a connection state with the external control device 120. When the external control device 120 is not connected, the working machine 1 will not operate according to the external control device 120, thereby releasing the operation restriction (step S303). When the external control device 120 is in a connection state, the process proceeds to step S301. This step is performed by the identification information determination unit 111.

[0042] Step S301 is a step for determining whether the external control interface 101 has sent information (identification information) for identifying machine specifications held by the work machine information holding device 102 to the external control device 120 in response to a request from the external control device 120. Here, the information for identifying machine specifications refers to the type of work machine (excavator, etc.), the type of components constituting the work machine (attachments, arms, booms, upper swing bodies, lower travel bodies, etc.), the model, a unique number for uniquely identifying the machine (manufacturer number, etc.), the model of the work machine, the weight and size of each of the attachments, arms, booms, upper swing bodies, and lower travel bodies, the control characteristics of the work machine (responsiveness, control accuracy), a list of functions installed on the work machine such as semi-automatic control functions, the versions of the installed functions, and the last update date and time of the machine specification information (update history).

[0043] In this step, if it is determined that the identification information of the machine specification has not been sent to the external control device 120, the operation of the working machine 1 is prohibited in order to prevent the working machine 1 from being misused due to the external control command (step S304). If it is determined that the identification information of the machine specification has been sent to the external control device 120, the process proceeds to step S302. In addition, this step is executed by the identification information determination unit 111.

[0044] Step S302 is a step of determining, via the external control interface 101, whether the external control device 120 responds to the receipt of the mechanical specifications. In other words, it is a step of determining whether the external control interface 101 receives an acquisition response from the external control device 120 indicating the receipt of the mechanical specifications. This step assumes a situation where the external control device 120 cannot confirm the mechanical specifications due to a temporary communication failure, etc. With respect to the identification information of the mechanical specifications sent by the external control interface 101, if there is no response (acquisition response) from the external control device 120, the operation of the operating machine 1 is prohibited (step S304). In the case where there is a reception response (acquisition response) from the external control device 120, proceed to step S303. In addition, this step is performed by the identification information determination unit 111.

[0045] Step S303 is a step of instructing the control device 103 to release the restriction on the mechanical motion based on the judgment results of steps S300 and S302. That is, when the external control device 120 is not connected, or when the identification information of the mechanical specification has been sent to the external control device 120 (in other words, the identification information of the mechanical specification is included in the external output information output to the external control device 120) and there is a reception response (acquisition response) from the external control device 120 (in other words, the reception response of the identification information is included in the external input information input from the external control device 120), a motion restriction release instruction is generated and output to the control device 103. This step is executed by the motion restriction instruction unit 112.

[0046] Step S304 is a step of instructing the control device 103 to prohibit (restrict) the mechanical action based on the judgment results of steps S301 and S302. That is, when the identification information of the mechanical specification is not sent to the external control device 120 (in other words, the identification information of the mechanical specification is not included in the external output information output to the external control device 120) or there is no reception response (acquisition response) from the external control device 120 (in other words, the reception response of the identification information is not included in the external input information input from the external control device 120), an action restriction instruction is generated and output to the control device 103. This step is executed by the action restriction instruction unit 112.

[0047] The control device 103 restricts the motion of the working machine 1 (prohibits the motion or restricts the motion speed) according to the motion restriction instruction while the motion restriction instruction is input from the motion restriction instruction unit 112. On the other hand, the control device 103 removes the motion restriction of the working machine 1 according to the motion restriction removal instruction while the motion restriction instruction is input from the motion restriction instruction unit 112, or does not impose the motion restriction.

[0048] As described above, the working machine 1 of this embodiment 1 has: an external control interface 101, which inputs control instructions for remotely or automatically controlling the working machine 1 from the outside (external control device 120), and outputs to the outside the working machine information required for generating the control instructions externally; a control device 103, which controls the working machine 1 according to the control instructions; and a working machine information holding device 102, which holds the working machine information, the working machine has a monitoring device 110 for monitoring the external input and output information of the external control interface 101, and the monitoring device 110 has: an identification information judgment unit 111, which judges whether the external input and output information contains identification information for identifying the specifications of the working machine; and an action restriction instruction unit 112, which generates an action restriction instruction that restricts the action of the working machine 1 before the identification information judgment unit 111 judges that the external input and output information contains the identification information, and the control device 103 restricts the action of the working machine 1 according to the action restriction instruction generated by the action restriction instruction unit 112.

[0049] In the above process, the first embodiment prohibits the operation of the working machine 1 by the external control device 120 or limits the operation speed of the working machine 1 before the external control interface 101 notifies the external control device 120 of the machine specifications. This can prevent the working machine 1 from being controlled in a state where the external control device 120 mistakenly recognizes the specifications of the working machine 1.

[0050] [Example 2]

[0051] Embodiment 2 is an embodiment in which specifications are inquired from an external control device to a working machine.

[0052] Figure 4 This is a system block diagram of the working machine 1 according to the second embodiment. The parts that are the premise of the second embodiment are the same as those of the first embodiment, and thus the description thereof will be omitted.

[0053] Next, the part related to the present invention in the present embodiment 2 is described. In the present embodiment 2, the following processing is described, which is used to limit the action of the working machine 1 by the monitoring device 210 after the communication between the external control device 220 and the external control interface 201 is established and before the specification confirmation of the working machine 1 based on the external control device 220 is completed.

[0054] The monitoring device 210 is a device for monitoring the external input / output information of the external control interface 201. The external input / output information includes external input information input from the outside and external output information output to the outside. The monitoring device 210 includes an identification information determination unit 211, an action restriction instruction unit 212, and an identification information right / wrong determination unit 213.

[0055] The identification information determination unit 211 is a module that determines whether the external input information input from the external control device 220 in the external input / output information of the external control interface 201 contains information (identification information) for identifying the specifications of the working machine 1. In other words, it is a module that determines whether the external control interface 201 has received information (identification information) for identifying the machine specifications from the external control device 220.

[0056] The identification information correctness determination unit 213 is a module that determines whether the identification information included in the external input information input from the external control device 220 is consistent with the information stored in the working machine information storage device 202 .

[0057] The motion restriction instruction unit 212 is a module that instructs the control device 203 to restrict or release the motion of the machine based on the judgment result of the identification information right / wrong judgment unit 213. In detail, when the identification information right / wrong judgment unit 213 judges that the identification information included in the external input information is inconsistent with the information stored in the working machine information storage device 202, the motion restriction instruction unit 212 generates a motion restriction instruction to restrict the motion of the working machine 1 (motion prohibition or motion speed restriction), and outputs it to the control device 203. On the other hand, when the identification information right / wrong judgment unit 213 judges that the identification information included in the external input information is consistent with the information stored in the working machine information storage device 202, the motion restriction instruction unit 212 generates a motion restriction release instruction to release the motion restriction of the working machine 1, and outputs it to the control device 203. That is, the motion restriction instruction unit 212 generates a motion restriction instruction to restrict the motion of the working machine 1 before the identification information right / wrong judgment unit 213 judges that the identification information included in the external input information is consistent with the information stored in the working machine information storage device 202, and outputs it to the control device 203.

[0058] Figure 5 The flowchart of FIG. 1 shows the processing of the monitoring device 210 in the present embodiment 2. Hereinafter, the present embodiment 2 is described according to the flowchart.

[0059] Step S500 is a step for determining whether the external control interface 201 is in a connection state with the external control device 220. When the external control device 220 is not connected, the working machine 1 will not operate according to the external control device 220, thereby releasing the operation restriction (step S505). When the external control device 220 is in a connection state, the process proceeds to step S501. This step is performed by the identification information determination unit 211.

[0060] Step S501 is a step of determining whether the external control interface 201 has received information (identification information) for identifying the mechanical specifications from the external control device 220. Here, the identification information of the mechanical specifications is the same as that of the first embodiment. In this step, if it is determined that the identification information has not been received, the confirmation of the mechanical specifications by the external control device 220 is set as incomplete, and the mechanical action is restricted (step S506). If it is determined that the identification information has been received, the process proceeds to step S502. This step is performed by the identification information determination unit 211.

[0061] Step S502 is a step of judging whether the identification information of the mechanical specification received by the external control interface 201 is consistent with the identification information of the mechanical specification held by the working machine information holding device 202. When it is judged that the identification information of the mechanical specification sent by the external control device 220 is inconsistent with the identification information of the mechanical specification held by the working machine information holding device 202, it is judged that the external control device 220 has misidentified the mechanical specification, and the misidentification of the mechanical specification and the correct mechanical specification are notified to the external control device 220 via the external control interface 201 (step S504). On the other hand, when it is judged that the identification information of the mechanical specification sent by the external control device 220 is consistent with the identification information of the mechanical specification held by the working machine information holding device 202, a confirmation response of the identification information is notified to the external control device 220 via the external control interface 201 (step S503). This step is performed by the identification information correctness judgment unit 213.

[0062] Step S503 is a step of instructing the external control interface 201 to notify the external control device 220 of the confirmation response of the identification information. This step is executed by the identification information correctness judgment unit 213.

[0063] Step S504 is a step of instructing the external control interface 201 to notify the external control device 220 of the incorrect recognition of the mechanical specifications and the correct mechanical specifications. This step is executed by the identification information correctness determination unit 213.

[0064] Step S505 is a step of instructing the control device 203 to release the restriction on the machine motion when it is determined that the working machine 1 is not controlled by the external control device 220 (step S500, No) or when the external control device 220 correctly recognizes the machine specifications (step S502, Yes). That is, a motion restriction release instruction is generated and output to the control device 203. This step is executed by the motion restriction instruction unit 212.

[0065] Step S506 is a step of instructing the control device 203 to restrict the operation of the machine when it is determined that the specifications of the working machine are not confirmed or the recognition is erroneous (No in steps S501 and S502). That is, an operation restriction instruction is generated and output to the control device 203. This step is executed by the operation restriction instruction unit 212.

[0066] The control device 203 restricts the motion of the working machine 1 (motion prohibition or motion speed restriction) according to the motion restriction instruction while the motion restriction instruction is input from the motion restriction instruction unit 212. On the other hand, the control device 203 removes the motion restriction of the working machine 1 according to the motion restriction removal instruction while the motion restriction instruction is input from the motion restriction instruction unit 212, or does not impose the motion restriction.

[0067] As described above, in the monitoring device 210 of the working machine 1 of the present embodiment 2, the identification information judgment unit 211 judges whether the external input information input from the outside (external control device 220) in the external input-output information of the external control interface 201 contains the identification information, and has an identification information right or wrong judgment unit 213, which, when it is judged that the identification information is included in the external input information, judges whether the identification information is consistent with the working machine information maintained in the working machine information maintaining device 202, and the action restriction instruction unit 212 generates the action restriction instruction and outputs it to the control device 203 before the identification information right or wrong judgment unit 213 judges that the identification information included in the external input information is consistent with the working machine information maintained in the working machine information maintaining device 202.

[0068] In the above process, the second embodiment prohibits the operation of the working machine 1 based on the external control device 220 or limits the operation speed of the working machine 1 before confirming that the machine specifications recognized by the external control device 220 are correct. This can prevent the working machine 1 from being controlled in a state where the specifications of the working machine 1 are incorrectly recognized by the external control device 220.

[0069] [Example 3]

[0070] Embodiment 3 is an embodiment in which the action restriction is changed according to the exchange status of information in the identification information.

[0071] The system block diagram of the working machine 1 of the third embodiment is the same as that of the second embodiment. The parts that are the premise of the third embodiment are the same as those of the second embodiment, and thus the description thereof is omitted.

[0072] Next, the part related to the present invention in the third embodiment will be described. In the third embodiment, a process for causing the monitoring device 210 to gradually release the operation restriction of the working machine 1 before the specification confirmation of the working machine 1 by the external control device 220 is completed will be described.

[0073] The identification information determination unit 211 and the identification information correctness determination unit 213 of the monitoring device 210 are the same as those in the second embodiment, and thus the description thereof is omitted.

[0074] The action restriction instruction unit 212 is a module that changes the content of the restriction on the mechanical action according to the judgment result of the identification information right / wrong judgment unit 213 and instructs the control device 203. In detail, when there is a component whose identification information included in the external input information is judged by the identification information right / wrong judgment unit 213 to be inconsistent with the information stored in the work machine information storage device 202, the action restriction instruction unit 212 generates an action restriction instruction for restricting the action (action prohibition or action speed restriction) for the component judged to be inconsistent, and outputs it to the control device 203. On the other hand, when there is a component whose identification information included in the external input information is judged by the identification information right / wrong judgment unit 213 to be consistent with the information stored in the work machine information storage device 202, the action restriction instruction unit 212 generates an action restriction release instruction for releasing the action restriction for the component judged to be consistent, and outputs it to the control device 203. In this way, the action restriction of the work machine 1 is released in stages.

[0075] Figure 6 The flowchart of FIG. 1 shows the processing of the monitoring device 210 in the present embodiment 3. Hereinafter, the present embodiment 3 is described according to the flowchart.

[0076] Step S600 is the same as that in Embodiment 2, and thus its description is omitted.

[0077] Step S601 is a step of determining whether the external control interface 201 has received information (identification information) for identifying the mechanical specifications from the external control device 220. Here, the identification information of the mechanical specifications is the same as that of the first embodiment. In this step, if it is determined that the identification information has not been received, the confirmation of the mechanical specifications by the external control device 220 is set as incomplete, and the mechanical operation is prohibited (step S607). If it is determined that the identification information has been received, the process proceeds to step S602. This step is performed by the identification information determination unit 211.

[0078] Step S602 is a step of judging whether the identification information of the mechanical specification received by the external control interface 201 is consistent with the identification information of the mechanical specification held by the working machine information holding device 202. When it is judged that the identification information of the mechanical specification sent by the external control device 220 is inconsistent with the identification information of the mechanical specification held by the working machine information holding device 202, it is judged that the external control device 220 has misidentified the mechanical specification, and the misidentification of the mechanical specification and the correct mechanical specification are notified to the external control device 220 via the external control interface 201 (step S604). On the other hand, when it is judged that the identification information of the mechanical specification sent by the external control device 220 is consistent with the identification information of the mechanical specification held by the working machine information holding device 202, a confirmation response of the identification information is notified to the external control device 220 via the external control interface 201 (step S603). This step is performed by the identification information correctness judgment unit 213.

[0079] Steps S603, S604, and S605 are the same as those in Embodiment 2, and thus their description is omitted.

[0080] Step S606 is a step of instructing the control device 203 to limit the mechanical action related to the component when it is determined that the external control device 220 has unconfirmed specifications or erroneous identification in the component of the working machine (step S602, No). That is, an action restriction instruction related to the component determined that the identification information of the mechanical specifications sent by the external control device 220 is inconsistent with the identification information of the mechanical specifications held by the working machine information holding device 202 (unconfirmed specifications or erroneous identification) is generated and output to the control device 203. Specifically, when the specifications related to the size of the lower traveling body are unconfirmed, the travel speed is restricted. On this basis, when the specifications related to the size of the upper traveling body are unconfirmed, the rotation speed is restricted. This step is executed by the action restriction instruction unit 212.

[0081] Step S607 is a step of instructing the control device 203 to prohibit (limit) the mechanical operation based on the determination result of step S601. That is, when it is determined that the identification information is not received, an operation restriction instruction is generated and output to the control device 203. This step is executed by the operation restriction instruction unit 212.

[0082] As described above, in the monitoring device 210 of the working machine 1 of the third embodiment, the identification information judging unit 211 judges whether the external input information input from the outside (external control device 220) in the external input / output information of the external control interface 201 includes the identification information, and has an identification information right / wrong judging unit 213, which, when it is judged that the identification information is included in the external input information, judges whether the identification information is consistent with the working machine information held in the working machine information holding device 202, and the action restriction instruction unit 212 changes the instruction content of the action restriction instruction according to the judgment result of the identification information right / wrong judging unit 213 and outputs it to the control device 203. The action restriction instruction unit 212 changes the instruction content of the action restriction instruction in units of components constituting the working machine 1 according to the judgment result of the identification information right / wrong judging unit 213 and outputs it to the control device 203.

[0083] The action restriction instruction unit 212 generates the action restriction instruction related to the component for which the identification information right / wrong judgment unit 213 judges that the identification information included in the external input information is inconsistent with the working machine information maintained in the working machine information maintaining device 202, and outputs it to the control device 203.

[0084] In the above process, the third embodiment prohibits the operation of the working machine 1 based on the external control device 220, or limits the operation speed of the working machine 1, before confirming that the machine specifications recognized by the external control device 220 are correct. On the other hand, even if some specifications are defective, the operation can be performed while limiting the operation speed, thereby improving usability.

[0085] In addition, the present invention is not limited to the above-mentioned embodiments, and includes various modified examples. For example, the above-mentioned embodiments are described in detail in order to explain the present invention in an easy-to-understand manner, but are not limited to having all the described structures. In addition, a part of the structure of a certain embodiment can be replaced with the structure of other embodiments, and the structure of other embodiments can be added to the structure of a certain embodiment. In addition, for a part of the structure of each embodiment, other structures can be added, deleted, or replaced.

[0086] In addition, each function of the controller of the above-mentioned embodiment can be partially or completely implemented by hardware, for example, through integrated circuit design. In addition, it can also be implemented by software by interpreting and executing the program that implements each function through a processor. In addition to the storage device in the controller, the information such as the program, table, and file that implements each function can also be placed in a recording device such as a hard disk, SSD (Solid State Drive) or a recording medium such as an IC card, SD card, and DVD.

[0087] Description of Reference Numerals

[0088] 1Operation machinery

[0089] 101, 201 external control interface

[0090] 102, 202 Operating machinery information holding device

[0091] 103, 203 control device

[0092] 110, 210 monitoring device

[0093] 111, 211 identification information judgment unit

[0094] 112, 212 Action limit command unit

[0095] 213 identifies the information right or wrong judgment unit.

Claims

1. A working machine having: An external control interface that inputs a control instruction for remotely or automatically controlling the working machine from the outside, and outputs to the outside the working machine information required for generating the control instruction externally; a control device that controls the working machine according to the control command; and a working machine information holding device for holding the working machine information; The working machine is characterized in that A monitoring device is provided for monitoring the external input and output information of the external control interface, and The monitoring device comprises: an identification information determination unit that determines whether the external input / output information includes identification information for identifying a specification of the working machine; and an action restriction instruction unit for generating an action restriction instruction for restricting the action of the working machine before the identification information determination unit determines that the identification information is included in the external input / output information, The control device restricts the operation of the working machine according to the operation restriction instruction generated by the operation restriction instruction unit.

2. The working machine according to claim 1, characterized in that: The identification information determination unit determines whether the identification information is included in the external input information input from the outside of the external input / output information of the external control interface. The apparatus comprises an identification information right / wrong judgment unit, which, when it is judged that the identification information is included in the external input information, judges whether the identification information is consistent with the working machine information held in the working machine information holding device. The motion restriction instruction unit generates the motion restriction instruction and outputs it to the control device before the identification information right / wrong determination unit determines that the identification information included in the external input information is consistent with the working machine information held in the working machine information holding device.

3. The working machine according to claim 1, characterized in that: The identification information determination unit determines whether the external input information input from the outside in the external input / output information of the external control interface includes the identification information. The apparatus comprises an identification information right / wrong judgment unit, which, when it is judged that the identification information is included in the external input information, judges whether the identification information is consistent with the working machine information held in the working machine information holding device. The motion restriction instruction unit changes the instruction content of the motion restriction instruction based on the determination result of the identification information right / wrong determination unit and outputs the instruction to the control device.

4. The working machine according to claim 3, characterized in that: The motion restriction instruction unit changes the instruction content of the motion restriction instruction in units of components constituting the working machine based on the determination result of the identification information right / wrong determination unit and outputs the result to the control device.

5. The working machine according to claim 3, characterized in that: The motion restriction instruction unit generates and outputs the motion restriction instruction related to the component for which the identification information right / wrong judgment unit judges that the identification information included in the external input information is inconsistent with the working machine information held in the working machine information holding device, to the control device.

6. The working machine according to claim 1, characterized in that: The identification information judgment unit judges that the external input-output information includes the identification information when the external output information output to the outside of the external input-output information of the external control interface includes the identification information, and when the external input information input from the outside includes the acquisition response of the identification information, the identification information is included in the external input-output information; and judges that the external input-output information does not include the identification information when the external output information does not include the identification information, or when the external input information does not include the acquisition response of the identification information.

7. The working machine according to claim 1, characterized in that: The identification information includes at least any one of information related to the type, shape, weight, characteristics, mounted functions, unique number, and update history of machine specifications of the working machine or a component constituting the working machine.

8. The working machine according to claim 1, characterized in that: The working machine has a working machine, a rotating body, or a traveling body. The movement restriction instruction instructs at least one of prohibiting the movement of the working machine, the swing body, or the traveling body or restricting the movement speed.

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