Remote operation type work machine system and work machine

Abstract

A remote operation type work machine system includes a hydraulic shovel capable of being remotely operated, a remote operation device for remotely operating the hydraulic shovel, and a remote operation signal processing device as a system control device. And a remote operation signal processing device that controls the operation of the hydraulic shovel on the basis of a remote operation signal from a remote operation device. When the remote operation signal is a remote start operation signal for starting the hydraulic shovel or a remote stop operation signal for stopping the hydraulic shovel, the system control device acquires surroundings information detected by a surroundings monitoring device of the hydraulic shovel and posture information detected by a posture detection device. Whether the prime mover can be started or stopped is determined.

Description

Technical Field

[0001] The present invention relates to a remote-operated work machine system capable of executing start and stop of a work machine by remote operation, and a work machine capable of being started and stopped by remote operation. Background Art

[0002] Some construction machines, such as hydraulic excavators and bulldozers, can be remotely operated. Some remotely operated machines have operators riding on them to start and stop them after work is complete. These machines cannot be used in locations where hazardous gases are generated or disaster sites, where entering a location could be dangerous. However, there is a demand for using these machines in such locations.

[0003] To address this need, a technology has been proposed that remotely controls all aspects of a work machine, from initial engine startup to machine shutdown after completion of work (see, for example, Patent Document 1). In the remote control device for a construction machine described in Patent Document 1, a receiving device that receives commands for controlling the operation of the construction machine, transmitted from a remote control transmitting device, is constantly powered and maintained in an active state. Upon receiving a start or stop command, the receiving device turns a power switch on and off.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 10-219748 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] In a remotely controlled work machine where an operator is on board to start and stop the machine, the operator can visually confirm the surrounding conditions of the machine or the state of the machine itself (e.g., posture). Meanwhile, the technology described in Patent Document 1 enables the operator to start and stop the machine via remote control without approaching the machine, but does not describe a process for confirming the surrounding conditions of the work machine or the state of the machine itself during remote control start and stop.

[0009] If the operating machine is stopped by remote control without confirming the conditions around the operating machine or the state of the machine itself, it may be difficult to move the machine when it is started later, depending on the surrounding conditions or the state of the machine when it is stopped. In this case, it may take time from the start of the operating machine to the start of the operation, resulting in reduced work efficiency. In addition, when it is desired to start the operating machine by remote control, it may be preferable not to start the operating machine when it is difficult to operate, depending on the surrounding conditions or the state of the machine itself. In such a case, even if the operating machine is started, there is a concern that useless operations will be performed, resulting in reduced work efficiency. Therefore, it is preferable to confirm the conditions around the machine or the state of the machine itself when performing remote control to start and stop the operating machine.

[0010] The present invention has been made in view of the above circumstances, and its object is to provide a remote-controlled working machine system and a working machine capable of starting and stopping the working machine by remote control after confirming the conditions around the working machine and the state of the machine itself.

[0011] Means for solving problems

[0012] The present application includes multiple means for solving the above-mentioned problems. For example, a remote-operated work machine system includes: a work machine having a prime mover and capable of being remotely operated by receiving a remote operation signal; a remote operation device that transmits a remote operation signal to the work machine to remotely operate the work machine, wherein the work machine includes: a surrounding monitoring device that monitors information related to the surrounding conditions of the work machine, i.e., surrounding information; and a posture detection device that detects information related to the posture of the work machine, i.e., posture information. The work machine or the remote operation device includes: a system control device that controls the operation of the work machine based on the remote operation signal. When the remote operation signal transmitted from the remote operation device is a remote start operation signal for starting the work machine or a remote stop operation signal for stopping the work machine, the system control device performs the following operations: receives the surrounding information and posture information detected by the surrounding monitoring device and the posture detection device; and determines whether the prime mover can be started or stopped based on the surrounding information and the posture information.

[0013] Effects of the Invention

[0014] According to the present invention, with respect to the remote operation signal for starting / stopping the remote operation device, before executing the start / stop of the prime mover, a judgment is made as to whether the prime mover can be started / stopped based on the surrounding information monitored by the surrounding monitoring device and the posture information detected by the posture detection device. Therefore, the start / stop of the working machine based on remote control can be executed on the basis of confirming the conditions around the working machine and the state of the machine itself.

[0015] Other problems, structures, and effects than those described above will become clear from the following description of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram showing a hydraulic excavator as an example of a remote control device and a work machine constituting the remote control type work machine system according to the first embodiment of the present invention.

[0017] Figure 2 This is a block diagram showing the configuration of a remote control device and a work machine in the remote control work machine system according to the first embodiment.

[0018] Figure 3 Yes Figure 2 1 is a flowchart of an example of a control process for remote activation of a working machine in the remote-operated working machine system according to the first embodiment shown.

[0019] Figure 4 Yes Figure 3 FIG. 1 is a diagram showing a display screen for determining whether to start inhibiting the remote control system of the remote-operated working machine according to the first embodiment.

[0020] Figure 5 Yes Figure 3 FIG. 1 is a diagram showing a display screen for determining whether or not to enable activation during remote activation of the remote-operated working machine system according to the first embodiment.

[0021] Figure 6 Yes Figure 3 FIG. 1 is a diagram showing a display screen for confirming the start of a prime mover during remote start control of the remote-operated working machine system according to the first embodiment.

[0022] Figure 7 Yes Figure 2 1 is a flowchart of an example of a control process for remote stopping of a working machine in the remote-operated working machine system according to the first embodiment shown.

[0023] Figure 8 Yes Figure 7FIG. 1 is a diagram showing a display screen indicating a parking lot reservation based on surrounding situation determination during a remote stop control process of the remote-operated working machine system according to the first embodiment.

[0024] Figure 9 Yes Figure 7 FIG. 1 is a diagram showing a display screen for indicating a parking space reservation based on machine state determination during a remote stop control process of the remote-operated working machine system according to the first embodiment.

[0025] Figure 10 Yes Figure 7 FIG. 1 is a diagram showing a display screen for confirming the stop of the prime mover during the remote stop control process of the remote-operated working machine system according to the first embodiment.

[0026] Figure 11 Yes Figure 7 The flowchart of an example of a detailed control process of the automatic parking in the remote stop control process of the remote-operated working machine system according to the first embodiment is shown.

[0027] Figure 12 This is a block diagram showing the configuration of a remote control device and a working machine in a remote control working machine system according to a second embodiment of the present invention.

[0028] Figure 13 Yes Figure 12 1 is a flowchart of an example of a control process for remote activation of a working machine in a remote-operated working machine system according to the second embodiment shown.

[0029] Figure 14 Yes Figure 12 1 is a flowchart of an example of a control process for remote stopping of a working machine in a remote-controlled working machine system according to the second embodiment shown. DETAILED DESCRIPTION

[0030] Hereinafter, embodiments of the remote-controlled working machine system and working machine of the present invention will be described using the accompanying drawings. In this embodiment, a hydraulic excavator will be described as an example of a working machine constituting the remote-controlled working machine system.

[0031] [First embodiment]

[0032] First, use Figure 1 A schematic configuration of a remote-operated working machine system according to a first embodiment will be described. Figure 1 This is a schematic diagram showing a hydraulic excavator as an example of a remote control device and a work machine constituting the remote control type work machine system according to the first embodiment. Here, the description is made from the perspective of an operator seated in a driver's seat.

[0033] exist Figure 1 In the present invention, a remote-operated working machine system 1 includes a hydraulic excavator 10 as a working machine and a remote operating device 70. The remote operating device 70 transmits a remote operating signal to the hydraulic excavator 10 to remotely operate the hydraulic excavator 10. The hydraulic excavator 10 can be remotely operated by receiving the remote operating signal from the remote operating device 70 located at a location remote from the hydraulic excavator 10. The structure of the remote operating device 70 will be described later.

[0034] The hydraulic excavator 10 includes a front working device 11 for performing excavation work, and a machine body 12 to which the front working device 11 is rotatably mounted. The machine body 12 is composed of a self-propelled lower traveling body 13 and an upper revolving body 14 rotatably mounted on the lower traveling body 13.

[0035] The front working device 11 is a multi-jointed working device, which is constructed by connecting a plurality of driven parts used for excavation work, etc. so that they can rotate in the vertical direction. The plurality of driven parts are composed of, for example, a boom 21, an arm 22, and a bucket 23 as a working tool. The base end of the boom 21 is rotatably supported on the front part of the upper rotating body 14. The base end of the arm 22 is rotatably supported on the front end of the boom 21. The bucket 23 is rotatably supported on the front end of the arm 22. The boom 21, the arm 22, and the bucket 23 are driven by a boom cylinder 25, an arm cylinder 26, and a bucket cylinder 27, respectively, which are hydraulic actuators.

[0036] The lower traveling structure 13 includes, for example, crawler-type traveling devices 29 on the left and right sides (only the left side is shown in the figure). The traveling device 29 is driven by a traveling hydraulic motor 29a as a hydraulic actuator.

[0037] For example, the upper rotating body 14 is driven to rotate relative to the lower traveling body 13 by a rotary hydraulic motor (not shown) serving as a hydraulic actuator. The upper rotating body 14 has a cab 31 for an operator to sit in, a compartment 32 for storing various equipment, and a counterweight 33 installed at the rear end of the compartment 32. The cab 31 is provided with a driver's seat for an operator to sit in, an operating device for operating the hydraulic excavator 10 (both not shown), etc. The compartment 32 houses various hydraulic devices 35, a prime mover 36, and various electrical devices 37 (all referred to below) for moving the front working device 11 and the machine body 12 (the lower traveling body 13 and the upper rotating body 14). Figure 2 ) etc. The counterweight 33 is used to obtain a weight balance with the front working device 11.

[0038] Next, use Figure 2 The configurations of the working machine and the remote control device in the remote-controlled working machine system according to the first embodiment will be described. Figure 2 This is a block diagram showing the configuration of a remote control device and a work machine in the remote control work machine system according to the first embodiment.

[0039] exist Figure 2 In the example, the remote operation device 70 of the remote-operated work machine system 1 includes a remote operation input device 71 for inputting remote operation instructions for the hydraulic excavator 10, a communication device 72 capable of bidirectional communication with the hydraulic excavator 10, and a display device 73 for displaying information related to remote operation of the hydraulic excavator 10. The remote operation input device 71 is similar to the operating device (not shown) in the cab 31 of the hydraulic excavator 10. The communication device 72 transmits remote operation signals corresponding to remote operation instructions input to the remote operation input device 71 to the hydraulic excavator 10 and receives information related to the hydraulic excavator 10 transmitted from the hydraulic excavator 10. The display device 73 displays the information related to the hydraulic excavator 10 received by the communication device 72 on a display screen and also functions as an output device that presents information related to the hydraulic excavator 10 to the remote operator. The display device 73 also includes a touch panel and functions as an input device that inputs remote operation instructions for the hydraulic excavator 10 based on operations on the touch panel.

[0040] The hydraulic excavator 10 of the remote-controlled working machine system 1 includes various hydraulic devices 35 that constitute the hydraulic system for operating the hydraulic excavator 10, a prime mover 36 for driving the hydraulic system, various electrical devices 37 for operating the hydraulic excavator 10, and a main power supply 38 that supplies power to the various electrical devices 37. The various hydraulic devices 35 include, for example, a hydraulic pump (not shown) that discharges pressurized oil, multiple hydraulic actuators such as the boom cylinder 25, the arm cylinder 26, the bucket cylinder 27, and the travel hydraulic motor 29a, and control valves (not shown) that control the flow of pressurized oil from the hydraulic pump to each hydraulic actuator. A portion of the hydraulic devices 35 receives power from the main power supply 38. The prime mover 36 drives the hydraulic pump (not shown) and other components of the hydraulic devices 35 and is, for example, an engine or an electric motor. Alternatively, the prime mover 36 may use a power source other than an engine or an electric motor. The various electrical devices 37 include, for example, a vehicle controller that controls the operation of the hydraulic excavator 10 based on operation of an operating device (not shown) within the operator's cab 31, and various electric auxiliary devices. The vehicle controller controls the operation of the hydraulic excavator 10 by controlling hydraulic equipment 35, such as a hydraulic pump or a control valve. The main power supply 38 is, for example, a battery. A generator (not shown) is mechanically connected to the prime mover 36, for example. The power generated by the generator driven by the prime mover 36 is used to charge the battery serving as the main power supply 38.

[0041] The hydraulic excavator 10 is equipped with a communication device 41 capable of bidirectional communication with the communication device 72 of the remote control device 70, and a remote control signal processing device 42 as a system control device. The system control device controls the operation of the hydraulic excavator 10 based on the remote control signal. The communication device 41 and the remote control signal processing device 42 are connected to the main power supply 38 and the backup power supply 43 in an electrically switchable manner. The communication device 41 and the remote control signal processing device 42 are connected to the backup power supply 43 when the prime mover 36 is stopped, and on the other hand, they are connected to the main power supply 38 when the prime mover 36 is driven. In other words, the communication device 41 and the remote control signal processing device 42 are always in an operating state while maintaining a power supply state. The remote control signal processing device 42 is configured as a separate body from the vehicle body controller, but it can also be a structure that is installed as a part of the vehicle body controller. The details of the functions of the remote control signal processing device 42 (system control device) will be described later.

[0042] The hydraulic excavator 10 is equipped with a posture detection device 45 that detects posture information, which is information related to the posture of the hydraulic excavator 10, and a surrounding monitoring device 46 that monitors surrounding information, which is information related to the conditions around the hydraulic excavator 10. The posture detection device 45 is composed of a front posture sensor (not shown) that detects physical quantities related to the posture of the front working device 11 (for example, the relative angles between the components 21, 21, 23), and a body posture sensor (not shown) that detects physical quantities related to the posture of the body 12 (for example, the tilt relative to the horizontal plane, the rotation angle from the reference line, etc.). The front posture sensor can be composed of, for example, an angle sensor, a stroke sensor, or a gyro sensor. The body posture sensor can be composed of, for example, an angle sensor, a gyro sensor, etc. The posture information of the hydraulic excavator 10 can also include the position information of the hydraulic excavator 10. The surrounding monitoring device 46 monitors the terrain around the hydraulic excavator 10, other working machines, operators, obstacles, etc. The surrounding monitoring device 46 can be composed of, for example, a camera sensor, a LiDAR sensor, etc. The posture detection device 45 and the surrounding monitoring device 46 are electrically switchably connected to the main power supply 38 and the backup power supply 43. For example, the posture detection device 45 and the surrounding monitoring device 46 are configured to maintain power supply by being connected to the backup power supply 43 even when the prime mover 36 is stopped. Furthermore, the posture detection device 45 and the surrounding monitoring device 46 can be connected to the backup power supply 43 after receiving a remote operation signal from the remote operation device 70 via the communication device 41, indicating a start instruction. In other words, the posture detection device 45 and the surrounding monitoring device 46 can be disconnected from the backup power supply 43 before receiving a remote operation signal indicating a start instruction.

[0043] The hydraulic excavator 10 is also provided with a load detection device 47 that detects load information, which is information related to the load applied to the front working device 11. The load detection device 47 is comprised of, for example, pressure sensors that detect the pressure in the oil chambers of the boom cylinder 25, arm cylinder 26, and bucket cylinder 27, the hydraulic actuators that operate the front working device 11. The load detection device 47 is electrically connected to the main power supply 38 but is not connected to the backup power supply 43, rendering it unpowered when the prime mover 36 is stopped.

[0044] In the remote-controlled working machine system 1 of this embodiment, when the remote control signal transmitted from the remote control device 70 is a remote start signal for starting the hydraulic excavator 10 or a remote stop signal for stopping the hydraulic excavator 10, the remote control signal processing device 42, serving as the system control device, remotely controls the start and stop of the hydraulic excavator 10 based on detection information from the posture detection device 45, the surrounding monitoring device 46, and the load detection device 47. As a hardware configuration, the remote control signal processing device 42 is comprised of, for example, a microcomputer including a storage device 51 composed of RAM, ROM, etc., and a processing device 52 composed of a CPU, MPU, etc. The storage device 51 pre-stores programs and various information required for remote control of the start and stop of the hydraulic excavator 10. The processing device 52 appropriately reads the programs and various information from the storage device 51 and executes processing according to the programs, thereby realizing the various functions described below. The remote operation signal processing device 42 includes functional units including a posture information processing unit 61 , a surrounding information processing unit 62 , a load information processing unit 63 , a machine state determination unit 64 , a surrounding situation determination unit 65 , a loaded state determination unit 66 , and a start / stop control unit 67 .

[0045] When receiving a remote start operation signal or a remote stop operation signal from the remote operation device 70 , the posture information processing unit 61 takes in the posture information detected by the posture detection device 45 and outputs the taken-in posture information to the machine state determination unit 64 .

[0046] When receiving a remote start operation signal or a remote stop operation signal from the remote operation device 70 , the surrounding information processing unit 62 acquires the surrounding information monitored by the surrounding monitoring device 46 and outputs the acquired surrounding information to the surrounding condition determination unit 65 .

[0047] Upon receiving the remote stop operation signal from the remote operation device 70 , the load information processing unit 63 takes in the load information of the front working device 11 detected by the load detection device 47 and outputs the taken-in load information to the loading state determination unit 66 .

[0048] Upon receiving a remote start signal from the remote operating device 70, the machine state determination unit 64 calculates the starting posture of the hydraulic excavator 10 (front working device 11 and machine body 12) at the time the remote start signal was received, based on the posture information from the posture information processing unit 61. Furthermore, the machine state determination unit 64 retrieves posture information detected by the posture detection unit 45, specifically information regarding the hydraulic excavator 10's position when the prime mover 36 most recently stopped, i.e., the stop posture. The most recent stop posture of the hydraulic excavator 10 is the posture calculated based on the posture information detected by the posture detection unit 45 when the hydraulic excavator 10 was most recently stopped by the remote start signal, and is stored in the storage device 51. The calculated starting posture of the hydraulic excavator 10 is then compared with the retrieved most recent stop posture of the hydraulic excavator 10. Specifically, the determination is made as to whether the difference between the starting posture of the hydraulic excavator 10 and the most recent stop posture of the hydraulic excavator 10 is within an acceptable range. This determination is referred to as the second determination of whether the hydraulic excavator 10 can be started (the prime mover 36 can be activated) based on the posture information. This determination is used, for example, to confirm whether the hydraulic excavator 10 has overturned or is immobilized due to an unexpected event such as a landslide, thereby preventing unnecessary execution of the startup process. On the other hand, upon receiving a remote stop operation signal from the remote control device 70, a determination is made as to whether the inclination of the hydraulic excavator 10's body 12 relative to the horizontal plane, obtained based on the posture information from the posture information processing unit 61, is within an acceptable range. This determination is referred to as the second determination of whether the hydraulic excavator 10 (prime mover 36) can be stopped based on the posture information. This determination determines whether the area around the hydraulic excavator 10 is suitable for parking by confirming the state of the hydraulic excavator 10 (body 12), thereby avoiding parking on steep slopes. The determination result of the machine state determination unit 64 (a permission determination to permit start / stop or a prohibition determination to prohibit start / stop) is output to the start / stop control unit 67.

[0049] Upon receiving a remote start signal from the remote operating device 70, the surrounding situation determination unit 65 determines, based on the surrounding information from the surrounding information processing unit 62, whether there is a start-up obstruction factor. A start-up obstruction factor is a factor that prevents the hydraulic excavator 10 from starting within a predetermined range around the hydraulic excavator 10. Examples of start-up obstruction factors include an operator, other work machines, or obstacles within the predetermined range around the hydraulic excavator 10. This determination is referred to as the first determination based on the surrounding information to determine whether the hydraulic excavator 10 can be started (started with the prime mover 36). Furthermore, upon receiving a remote stop signal from the remote operating device 70, the surrounding information from the surrounding information processing unit 62 determines whether there is a parking obstruction factor. A parking obstruction factor is a factor that prevents the hydraulic excavator 10 from stopping within the predetermined range around the hydraulic excavator 10. Examples of parking obstruction factors include the presence of an operator, other work machines, or obstacles within the predetermined range around the hydraulic excavator 10, or a situation where the hydraulic excavator 10 cannot be parked. This determination is referred to as the first determination based on the surrounding information to determine whether the hydraulic excavator 10 (prime mover 36) can be stopped. This determination is used to determine whether there is a place where the hydraulic excavator 10 can be parked within a predetermined range around the hydraulic excavator 10. The determination result of the surrounding situation determination unit 65 (a determination to allow start / stop or a determination to prohibit start / stop) is output to the start / stop control unit 67.

[0050] If the first determination based on the surrounding information indicates a permission determination for stopping the hydraulic excavator 10, and the second determination based on the posture information indicates a permission determination for stopping the hydraulic excavator 10, the load state determination unit 66 determines whether the bucket 23, as the work tool of the front working device 11, is holding a load such as soil or sand as a work object based on at least one of the load information from the load information processing unit 63, the surrounding information from the surrounding information processing unit 62, and the posture information from the posture information processing unit 61. The determination result of the load state determination unit 66 is output to the start / stop control unit 67.

[0051] Upon receiving a remote start operation signal from the remote control device 70, the start / stop control unit 67 executes start control corresponding to the determination results (second determination) of the machine state determination unit 64 and the determination results (first determination) of the surrounding condition determination unit 65. Specifically, if both the determination results of the machine state determination unit 64 and the surrounding condition determination unit 65 indicate a permission determination, a start command is output to the prime mover 36 to start the prime mover 36, and a confirmation of the start of the prime mover 36 is output to the communication device 41. Furthermore, control is performed to connect the main power supply 38 of the hydraulic excavator 10 and disconnect the backup power supply 43. On the other hand, if the determination result (second determination) of the machine state determination unit 64 indicates a prohibition determination or the determination result (first determination) of the surrounding condition determination unit 65 indicates a prohibition determination, a start prohibition determination for the hydraulic excavator 10 is output to the communication device 41.

[0052] Upon receiving a remote stop operation signal from the remote control device 70, the start / stop control unit 67 executes remote stop control corresponding to the determination result (second determination) of the mechanical state determination unit 64 and the determination result (first determination) of the surrounding condition determination unit 65. If the determination result (second determination) of the mechanical state determination unit 64 indicates a prohibition determination or the determination result (first determination) of the surrounding condition determination unit 65 indicates a prohibition determination, a parking space securing request for the hydraulic excavator 10 is output to the communication device 41. The parking space securing request for the hydraulic excavator 10 is transmitted to the remote control device 70 via the communication device 41. On the other hand, if the determination result (second determination) of the mechanical state determination unit 64 indicates a permission determination and the determination result (first determination) of the surrounding condition determination unit 65 indicates a permission determination, an automatic parking process for the hydraulic excavator 10 is executed. The automatic parking process changes the front working device 11 of the hydraulic excavator 10 to a predetermined parking position. Details of the automatic parking process will be described later. Then, after the automatic parking process is completed, a stop command for stopping the prime mover 36 is output to the prime mover 36 , and a stop confirmation of the prime mover 36 is output to the communication device 41 .

[0053] Next, the process of remote control of starting and stopping the hydraulic excavator in the remote-controlled working machine system of the first embodiment will be described. Figures 2 to 6 A control process for remote starting of a hydraulic excavator in this remote-operated working machine system will be described. Figure 3 Yes Figure 2 1 is a flowchart of an example of a control process for remote activation of a working machine in the remote-operated working machine system according to the first embodiment shown.

[0054] exist Figure 3 in Figure 2In the remote-operated working machine system 1 shown, when a "system start" instruction of the hydraulic excavator 10 is input from the remote operation input device 71 or the display device 73 of the remote operation device 70 through the operator's operation, the communication device 72 sends a remote start operation signal as a system start instruction (step S10).

[0055] The communication device 41 of the hydraulic excavator 10 receives the remote start operation signal from the remote operation device 70 (step S210). The communication device 41 is connected to the backup power supply 43 while the prime mover 36 is stopped, and is always able to receive the remote operation signal from the remote operation device 70.

[0056] When the communication device 41 receives the remote start operation signal, the posture information processing unit 61 of the remote operation signal processing device 42 retrieves the posture information of the hydraulic excavator 10 from the posture detection device 45 and retrieves the most recent stopped posture of the hydraulic excavator 10 stored in the storage device 51 (step S220). The remote operation signal processing device 42 is connected to the backup power supply 43 while the prime mover 36 is stopped, maintaining a state in which it can always process remote operation signals from the remote operation device 70. The posture detection device 45 is also connected to the backup power supply 43 while the prime mover 36 is stopped. Alternatively, the posture detection device 45 may connect to the backup power supply 43 in response to a command from the remote operation signal processing device 42 after receiving the remote start operation signal.

[0057] Next, the machine state determination unit 64 of the remote operation signal processing device 42 calculates the posture of the front working device 11 and the machine body 12 based on the posture information obtained by the posture information processing unit 61, and performs a second determination to determine whether the posture obtained by the calculation is within a predetermined allowable range (step S230). Specifically, a determination is made as to whether the difference between the hydraulic excavator 10's starting posture (calculated as a result) and the hydraulic excavator 10's most recent stopped posture, stored in the storage device 51, is within the allowable range. If yes in step S230, the process proceeds to step S240; if no, the process proceeds to step S260.

[0058] If the answer is yes in step S230, that is, if it is determined that there is no abnormality in the starting posture and position of the hydraulic excavator 10 and the determination is permitted, the surrounding information processing unit 62 of the remote operation signal processing device 42 retrieves the surrounding information of the hydraulic excavator 10 from the surrounding monitoring device 46 (step S240). The surrounding monitoring device 46 is connected to the backup power supply 43 while the prime mover 36 is stopped. Alternatively, the surrounding monitoring device 46 may connect to the backup power supply 43 in response to a command from the remote operation signal processing device 42 after receiving the remote starting operation signal.

[0059] Next, the surrounding situation determination unit 65 of the remote operation signal processing device 42 determines whether there is a start-up hindering factor based on the surrounding information obtained by the surrounding information processing unit 62 (step S250). The start-up hindering factor is a factor (such as an operator, another hydraulic excavator, or an obstacle) that prevents the hydraulic excavator 10 from starting within a predetermined range around the hydraulic excavator 10. If the determination is yes in step S250, the process proceeds to step S270; if not, the process proceeds to step S260.

[0060] In the case of No in step S230 or No in step S250, that is, in the case of a prohibition determination that the posture or position of the hydraulic excavator 10 may be abnormal or in the case of a prohibition determination that there is a starting obstruction factor around the hydraulic excavator 10, the communication device 41 sends a start prohibition determination to the remote operation device 70 (step S260).

[0061] The communication device 72 of the remote control device 70 receives the start prohibition determination from the hydraulic excavator 10 (communication device 41) (step S20). When the communication device 72 receives the start prohibition determination, the display device 73 of the remote control device 70 displays information indicating the start prohibition determination on the display screen of the display device 73 (step S30). For example, if there is an obstacle (start-up hindering factor) within the predetermined range around the hydraulic excavator 10 (if the answer is No in step S250), the display device 73 displays the information indicating the start prohibition determination. Figure 4 The display shown. Figure 4 Yes Figure 3 The figure shows a display screen for determining the start prohibition during the remote start control process of the remote-operated working machine system according to the first embodiment. Figure 4 After the information indicating the start prohibition determination is displayed on the display device 73 as shown, the remote start control flow is terminated.

[0062] On the other hand, if the answer is yes in step S230 and yes in step S250, that is, if it is determined that there is no abnormality in the posture or position of the hydraulic excavator 10 for starting, and if it is determined that there is no starting obstruction factor around the hydraulic excavator 10 for starting, the communication device 41 sends a start permission judgment (step S270).

[0063] The communication device 72 of the remote control device 70 receives the start permission determination from the hydraulic excavator 10 (communication device 41) (step S40). When the communication device 72 receives the start permission determination, the display device 73 of the remote control device 70 displays information indicating the start permission determination on the display screen of the display device 73 (step S50). For example, Figure 5The display screen shown is displayed on the display device 73. Figure 5 Yes Figure 3 The figure shows a display screen for determining whether or not to enable the remote start of the remote-controlled working machine system according to the first embodiment. When information indicating whether or not to enable the remote start is displayed on the display device 73, the operator of the remote control device 70 can input an instruction to enable the prime mover 36 of the hydraulic excavator 10. When the operator inputs an instruction to enable the prime mover 36 via the remote control input device 71 or the display device 73, the communication device 72 transmits a remote control signal indicating the activation of the prime mover 36 (step S110).

[0064] The communication device 41 on the hydraulic excavator 10 receives a remote control signal from the remote control device 70 indicating a start (step S310). Upon receiving the remote control signal, the start / stop control unit 67 of the remote control signal processing device 42 switches the main power supply 38 to a connected state and disconnects the backup power supply 43 (step S320). This allows power to be supplied from the main power supply 38 to the communication device 41, the remote control signal processing device 42, the posture detection device 45, the surrounding monitoring device 46, the load detection device 47, and the various electrical devices 37.

[0065] Next, the start / stop control unit 67 starts the prime mover 36 (step S330). When the prime mover 36 starts, the start / stop control unit 67 receives a signal indicating start confirmation of the prime mover 36 and transmits the start confirmation of the prime mover 36 via the communication device 41 (step S340).

[0066] The communication device 72 of the remote control device 70 receives a start confirmation signal of the prime mover 36 from the hydraulic excavator 10 (communication device 41) (step S120). Upon receiving the start confirmation of the prime mover 36, the display device 73 of the remote control device 70 displays information indicating the start confirmation of the prime mover 36 on the display screen of the display device 73 (step S130). For example, Figure 6 The information shown is displayed on the display screen of the display device 73 . Figure 6 Yes Figure 3 FIG. 1 is a diagram showing a display screen for confirming the start of a prime mover during the remote start control process of the remote-operated working machine system according to the first embodiment. Figure 6 After the message indicating confirmation of the start of the engine as shown is displayed on the display device 73, the control flow of the remote start is terminated.

[0067] Next, use Figure 2 and Figures 7 to 10A control process for remote stopping of a hydraulic excavator in the remote-operated working machine system according to the first embodiment will be described. Figure 7 Yes Figure 2 1 is a flowchart of an example of a control process for remote stopping of a working machine in the remote-operated working machine system according to the first embodiment shown.

[0068] exist Figure 7 in Figure 2 In the remote-operated working machine system 1 shown, when a "system stop" instruction of the hydraulic excavator 10 is input from the remote operation input device 71 or the display device 73 of the remote operation device 70 through the operator's operation, the communication device 72 sends a remote stop operation signal as a system stop instruction (step S410).

[0069] The communication device 41 on the hydraulic excavator 10 receives the remote stop operation signal from the remote operation device 70 (step S610). When the communication device 41 receives the remote stop operation signal, the surrounding information processing unit 62 of the remote operation signal processing device 42 retrieves the surrounding information of the hydraulic excavator 10 from the surrounding monitoring device 46 (step S620).

[0070] Next, the surrounding situation determination unit 65 determines whether there is a suitable parking location within the specified range around the hydraulic excavator 10 based on the surrounding information obtained by the surrounding information processing unit 62 (step S630). Specifically, based on the surrounding information from the surrounding information processing unit 62, it is determined whether there are any parking obstacles (obstacles, other working machines, operators, or conditions that prevent the hydraulic excavator 10 from changing to a parking position) within the specified range around the hydraulic excavator 10. If the determination is yes in step S630, the process proceeds to step S640; if not, the process proceeds to step S660.

[0071] If YES in step S630 , that is, if it is determined that there is a parking space within the predetermined range around the hydraulic excavator 10 , the posture information processing unit 61 retrieves the posture information of the hydraulic excavator 10 from the posture detection device 45 (step S640 ).

[0072] Next, the machine state determination unit 64 determines whether the posture (inclination relative to the horizontal plane) of the hydraulic excavator 10's body 12 is within the permissible range based on the posture information acquired by the posture information processing unit 61 (step S650). If the determination is yes in step S650, the process proceeds to step S670; if not, the process proceeds to step S660.

[0073] In the case of No in step S630 or No in step S650, that is, in the case where it is determined that there are parking obstacles around the hydraulic excavator and parking is prohibited, or in the case where it is determined that the posture (tilt) of the body 12 of the hydraulic excavator 10 is outside the allowable range and parking is prohibited, the communication device 41 sends a parking space securing request (step S660).

[0074] The communication device 72 of the remote control device 70 receives a parking space securing request from the hydraulic excavator 10 (communication device 41) (step S420). When the communication device 72 receives the parking space securing request, the display device 73 of the remote control device 70 displays information indicating the parking space securing request on the display screen (step S430). For example, if there is an obstacle (parking obstruction factor) around the hydraulic excavator 10 (if the answer is No in step S630), the display device 73 displays the information indicating the parking space securing request. Figure 8 The display shown. Figure 8 Yes Figure 7 FIG. 1 is a diagram showing a display screen indicating a parking lot reservation based on the surrounding conditions during the remote stop control process of the remote-controlled working machine system. In addition, when the tilt of the machine body 12 of the hydraulic excavator 10 is outside the permissible range (in the case of No in step S650), the display device 73 displays Figure 9 The display shown. Figure 9 Yes Figure 7 FIG. 1 is a diagram showing a display screen indicating a parking lot reservation based on machine state determination during a remote stop control process of a remote-operated working machine system.

[0075] When the parking space securing request is displayed on the display device 73, the operator of the remote operation device 70 inputs, by operating the remote operation input device 71, an instruction to move the hydraulic excavator 10, to remove an obstacle by the hydraulic excavator 10, or to level the surrounding ground by the hydraulic excavator 10. The instruction to operate the hydraulic excavator 10 from the remote operation input device 71 is transmitted as a remote operation signal via the communication device 72 (step S440).

[0076] The communication device 41 on the hydraulic excavator 10 side receives the remote operation signal instructing the hydraulic excavator 10 to operate from the remote operation device 70. In response to the received remote operation signal instructing the operation, the start / stop control unit 67 operates the hydraulic excavator 10, and finally the communication device 41 transmits the parking space information (step S665).

[0077] The parking space information from the hydraulic excavator 10 is received by the communication device 72 of the remote operating device 70 and displayed on the display device 73 (step S440). The parking space information displayed on the display device 73 is, for example, information about the surroundings of the hydraulic excavator 10 as monitored by the surrounding monitoring device 46. When the operator determines that the parking space is available based on the information on the display device 73 and inputs a system stop instruction again, the remote operating device 70 transmits a remote stop operation signal indicating the re-input stop instruction.

[0078] When the communication device 41 on the hydraulic excavator 10 receives the remote stop operation signal from the remote operation device 70 again, the remote operation signal processing device 42 and the like repeat steps S610 to S650. If the answer is yes in step S630 and yes in step S650, that is, if it is determined that there are no parking obstacles around the hydraulic excavator 10 and it is appropriate to determine that a parking space is permitted, and if it is determined that the posture (tilt) of the hydraulic excavator 10's body 12 is within the allowable range and it is appropriate to determine that a parking space is permitted, the communication device 41 transmits a stop permission determination (step S670).

[0079] The communication device 72 of the remote control device 70 receives the stop permission determination from the hydraulic excavator 10 (communication device 41) (step S450). When the communication device 72 receives the stop permission determination, the display device 73 displays information indicating the stop permission determination on the display screen of the display device 73 (step S460).

[0080] When the information indicating the stop permission determination is displayed on the display device 73, the operator of the remote operation device 70 can input a stop instruction for the prime mover 36 of the hydraulic excavator 10. When the operator inputs a stop instruction for the prime mover 36 from the remote operation input device 71 or the display device 73, the communication device 72 transmits a remote operation signal for the stop instruction for the prime mover 36 (step S510).

[0081] The communication device 41 on the hydraulic excavator 10 receives a remote control signal from the remote control device 70 indicating a stop (step S710). Upon receipt of the remote control signal, the start / stop control unit 67 of the remote control signal processing device 42 executes an automatic stop process for the hydraulic excavator 10 (step S720). The details of this automatic stop process will be described later.

[0082] When the automatic parking process is executed and the hydraulic excavator 10 is in the specified parking position, the start-stop control unit 67 switches the communication device 41 and the remote control signal processing device 42 to a state connected to the backup power supply 43 (step S730), stopping the prime mover 36 (step S740). Next, the main power supply 38 is disconnected (step S750). This prevents the main power supply 38 from discharging, thereby preventing battery depletion. When the prime mover 36 stops, the start-stop control unit 67 receives a stop confirmation signal from the prime mover 36 and transmits it via the communication device 41 (step S760).

[0083] The communication device 72 of the remote control device 70 receives the stop confirmation signal of the prime mover 36 from the hydraulic excavator 10 (communication device 41) (step S520). When the stop confirmation of the prime mover 36 is received, the display device 73 of the remote control device 70 displays the information indicating the stop confirmation of the prime mover 36 on the display screen of the display device 73 (step S530). For example, Figure 10 The information shown is displayed on the display device 73. Figure 10 Yes Figure 7 The figure shows a display screen for confirming the stop of the prime mover during the remote stop control process of the remote control type working machine system. The remote control type working machine system 1 is operated by, for example, a touch screen. Figure 10 The “EXIT” shown ends the control flow of the remote stop of the hydraulic excavator 10 .

[0084] Next, use Figure 2 and Figure 11 A description will be given of a procedure for remotely controlling the automatic parking of a hydraulic excavator in the remote-operated working machine system according to the first embodiment. Figure 11 Yes Figure 7 1 is a flowchart showing an example of a detailed control process of automatic parking in the remote stop control process of the remote-operated working machine system according to the first embodiment.

[0085] The remote operation signal processing device 42 executes Figure 11 First, the load information processing unit 63 receives the load information of the front working device 11 from the load detection device 47, the posture information processing unit 61 receives the posture information of the hydraulic excavator 10 from the posture detection device 45, and the surrounding information processing unit 62 receives the surrounding information of the hydraulic excavator 10 from the surrounding monitoring device 46 (step S721).

[0086] Next, the loading state determination unit 66 determines whether the bucket 23 holds a load such as soil as a work object (step S722). In step S722, if it is not, the process proceeds to step S724, and if it is yes, the process proceeds to step S723.

[0087] For example, the load applied to the front working device 11 is calculated based on the load information (the pressure in the oil chambers of the hydraulic cylinders 25, 26, and 27 for the front working device 11) obtained by the load information processing unit 63, and the presence or absence of cargo (sand) held in the bucket 23 is determined based on the calculated load. Furthermore, the presence or absence of cargo (sand) held in the bucket 23 is determined based on the image information as surrounding information obtained by the surrounding information processing unit 62. Furthermore, the posture of the front working device 11 is calculated based on the posture information obtained by the posture information processing unit 61, and the presence or absence of cargo (sand) held in the bucket 23 is determined based on the calculated posture of the front working device 11. Alternatively, a configuration may be employed in which a combination of these information is used to determine the presence or absence of cargo (sand) held in the bucket 23.

[0088] If the answer is yes in step S722, that is, if the remote operation signal processing device 42 determines that the bucket 23 is still loaded, the start / stop control unit 67 dumps the soil by performing a dumping operation of the bucket 23 (step S723), and then performs the processes of steps S721 and S722 again. The processes of steps S721 and S722 are repeated until the answer is no in step S722.

[0089] If the answer is "no" in step S722, that is, if the remote operation signal processing device 42 determines that there is no load (sand) in the bucket 23, the start / stop control unit 67 changes the posture of the front working device 11 to a predetermined parking posture. Specifically, first, a boom raising operation is performed to raise the boom 21 to a predetermined position (step S724), second, an arm operation is performed to rotate the arm 22 to a predetermined position (step S725), third, a bucket operation is performed to rotate the bucket 23 to a predetermined position (step S726), and fourth, a boom lowering operation is performed to lower the boom 21 at a predetermined speed (step S727).

[0090] Then, the start-stop control unit 67 determines whether the bucket 23 has touched the ground (step S728). Specifically, for example, the load information processing unit 63 takes in the rod pressure of the boom cylinder 25 from the load detection device 47, and determines whether the obtained rod pressure is greater than a preset pressure threshold. The pressure threshold is, for example, stored in advance in the storage device 51. When the rod pressure of the boom cylinder 25 is greater than the pressure threshold, it is determined that the bucket 23 has touched the ground. On the other hand, in other cases, it is determined that the bucket 23 has not touched the ground. In the case of No in step S728, steps S727 to S728 are repeated until it becomes Yes in step S728. That is, the lowering action of the boom 21 is continued.

[0091] If the determination in step S728 is yes, the position of the hydraulic excavator 10, the posture of the front working device 11, and the machine body 12 at the time of parking are stored in the storage device 51 (step S729). The remote operation signal processing device 42 ends the automatic parking process after the processing in step S729.

[0092] The remote operation signal processing device 42 may be configured to output operation commands of the boom 21 , the arm 22 , and the bucket 23 directly to the hydraulic system, or may be configured to output operation commands to the hydraulic system via a vehicle body controller.

[0093] As described above, the remote-operated work machine system 1 of the first embodiment includes a hydraulic excavator 10 (work machine) having a prime mover 36 and capable of remote operation by receiving a remote operation signal; and a remote operation device 70 that transmits a remote operation signal to the hydraulic excavator 10 (work machine) to remotely operate the hydraulic excavator 10 (work machine). The hydraulic excavator 10 (work machine) includes a surrounding monitoring device 46 that monitors surrounding information related to the conditions surrounding the hydraulic excavator 10 (work machine); and a posture detection device 45 that detects posture information related to the posture of the hydraulic excavator 10 (work machine). The hydraulic excavator 10 (work machine) also includes a remote operation signal processing device 42 as a system control device that controls the operation of the hydraulic excavator 10 (work machine) based on the remote operation signal. When the remote operation signal sent from the remote operation device 70 is a remote start operation signal for starting the hydraulic excavator 10 (working machine) or a remote stop operation signal for stopping the hydraulic excavator 10 (working machine), the remote operation signal processing device 42 (system control device) performs the following actions: takes in the surrounding information and posture information monitored by the surrounding monitoring device 46 and the posture detection device 45; and determines whether the prime mover 36 can be started or stopped based on the surrounding information and posture information.

[0094] According to this structure, for the remote operation signal for starting / stopping the remote operation device 70, before executing the start / stop of the prime mover 36, a judgment is made as to whether the prime mover 36 can be started / stopped based on the surrounding information monitored by the surrounding monitoring device 46 and the posture information detected by the posture detection device 45. Therefore, the start / stop of the hydraulic excavator 10 (working machine) based on remote control can be executed on the basis of confirming the surrounding conditions of the hydraulic excavator 10 (working machine) and the state of the machine itself.

[0095] In addition, when the remote operation signal sent from the remote operation device 70 is a remote start operation signal, the remote operation signal processing device 42 (system control device) of the remote operation type working machine system 1 of this embodiment performs the following actions: takes in the posture information detected by the posture detection device 45, that is, information related to the stop posture of the hydraulic excavator 10 (working machine) when the prime mover 36 most recently stopped; and, based on the surrounding information monitored by the surrounding monitoring device 46, determines whether there is a start-up obstruction cause, which is the cause of the hydraulic excavator 10 (working machine) around the hydraulic excavator 10 (working machine) that hinders the starting of the hydraulic excavator 10 (working machine); determines whether the prime mover 36 can be started based on whether there is a start-up obstruction cause, the posture of the hydraulic excavator 10 (working machine) when the remote start operation signal is obtained, that is, the start posture, and the most recent stop posture of the hydraulic excavator 10 (working machine).

[0096] According to this structure, the remote operation signal processing device 42 (system control device) itself determines whether the prime mover 36 can be started in response to the remote start operation signal from the remote operation device 70. Therefore, the operator of the remote operation device 70 does not need to confirm the surrounding conditions of the hydraulic excavator 10 (working machine) and the status of the machine itself to determine whether the hydraulic excavator 10 (working machine) can be started, which can reduce the operator's operating burden.

[0097] Furthermore, when the remote operation signal sent from the remote operation device 70 is a remote stop operation signal, the remote operation signal processing device 42 (system control device) of the remote-operated working machine system 1 of this embodiment performs the following actions: determines whether there is a parking obstruction cause based on the surrounding information, and the parking obstruction cause is the cause around the hydraulic excavator 10 (working machine) that prevents the hydraulic excavator 10 (working machine) from stopping (operator, other working machines, obstacles, etc.); determines whether the prime mover 36 can be stopped based on whether there is a parking obstruction cause and the inclination of the hydraulic excavator 10 (working machine) relative to the horizontal plane obtained based on the posture information.

[0098] According to this structure, the remote operation signal processing device 42 (system control device) itself determines whether the prime mover 36 can be stopped based on the remote stop operation signal from the remote operation device 70. Therefore, the operator of the remote operation device 70 does not need to confirm the surrounding conditions of the hydraulic excavator 10 (working machine) and the status of the machine itself to determine whether the hydraulic excavator 10 (working machine) can be stopped, which can reduce the operator's operating burden.

[0099] In this embodiment, the hydraulic excavator 10 (working machine) includes a multi-articulated front working device 11 (working device) and a load detection device 47 that detects load information related to the load applied to the front working device 11 (working device). Furthermore, before stopping the prime mover 36, the remote operation signal processing device 42 (system control device) performs the following operations: It receives load information, surrounding information, and posture information; and based on the received load information, surrounding information, and posture information, it determines whether the front working device 11 (working device) is holding a working object (sand, etc.). If it is determined that the front working device 11 (working device) is not holding the working object, the front working device 11 (working device) is changed to a predetermined parking posture before stopping the prime mover 36.

[0100] According to this structure, the remote operation signal processing device 42 (system control device) performs the change control of the front working device 11 (working device) to the specified parking posture. Therefore, the operator of the remote operation device 70 does not need to perform the change operation of the front working device 11 (working device) to the specified parking posture, which can reduce the operator's operating burden.

[0101] In this embodiment, the hydraulic excavator 10 (working machine) is equipped with a main power supply 38 and a backup power supply 43. The hydraulic excavator 10 (working machine) is configured to receive remote control signals using the backup power supply 43 as a power source when the prime mover 36 is stopped, and to receive remote control signals using the main power supply 38 as a power source when the prime mover 36 is driven.

[0102] According to this configuration, when the prime mover 36 stops, power is supplied from the backup power supply 43 rather than the main power supply 38 , thereby receiving a remote operation signal. This prevents discharge of the main power supply 38 when the hydraulic excavator system is stopped (in a standby state).

[0103] As described above, the hydraulic excavator 10 (work machine) of this embodiment includes a prime mover 36 and can be remotely operated by receiving remote operation signals from a remote operation device 70. The hydraulic excavator 10 includes a surrounding monitoring device 46 that monitors surrounding information, which is information related to the surrounding conditions of the hydraulic excavator 10 (work machine); a posture detection device 45 that detects posture information, which is information related to the posture of the hydraulic excavator 10 (work machine); and a remote operation signal processing device 42 (control device) that controls the operation of the hydraulic excavator 10 (work machine) based on the remote operation signals. Upon receiving a remote start operation signal for starting the hydraulic excavator 10 (work machine) or a remote stop operation signal for stopping the hydraulic excavator 10 (work machine) from the remote operation device 70 as a remote operation signal, the remote operation signal processing device 42 (control device) determines whether the prime mover 36 can be started or stopped based on the surrounding information and posture information, and transmits the determination result of whether the prime mover 36 can be started or stopped to the remote operation device 70.

[0104] According to this structure, with respect to the remote operation signal for starting / stopping the remote operation device 70, before executing the start / stop of the prime mover 36, a judgment is made as to whether the prime mover 36 can be started / stopped based on the surrounding information and posture information. Therefore, the start / stop of the hydraulic excavator 10 (working machine) based on remote control can be executed on the basis of confirming the surrounding conditions of the hydraulic excavator 10 (working machine) and the state of the machine itself.

[0105] [Second embodiment]

[0106] Next, use Figures 12 to 14 A second embodiment of the remote-controlled working machine system of the present invention will be described. Figures 12 to 14 In, with Figures 1 to 11 Parts denoted by the same reference numerals are identical parts, and therefore detailed description thereof will be omitted. Figure 12 This is a block diagram showing the configuration of a remote control device and a work machine in a remote control work machine system according to a second embodiment.

[0107] Figure 12 The difference between the remote-operated working machine system 1A of the second embodiment shown and the first embodiment is that the functions of the three judgment units, namely the mechanical state judgment unit 64, the surrounding condition judgment unit 65, and the cargo state judgment unit 66, of the remote-operated signal processing unit 42, which is the system control unit of the first embodiment, are installed in the second remote-operated signal processing unit 75 (second control unit) assembled in the remote-operated unit 70A, and the process of remote control of the hydraulic excavator 10A is changed accordingly.

[0108] Specifically, the system control device in the remote-operated working machine system 1A of this embodiment is composed of a first remote-operation signal processing device 42A (first control device) mounted on the hydraulic excavator 10 and a second remote-operation signal processing device 75 (second control device) incorporated into the remote operating device 70A. The first remote-operation signal processing device 42A includes the machine state determination unit 64, surrounding condition determination unit 65, and cargo state determination unit 66 of the remote-operation signal processing device 42 of the first embodiment, in addition to the functional units: the posture information processing unit 61, surrounding information processing unit 62, load information processing unit 63, and start / stop control unit 67. The remaining configuration of the components mounted on the hydraulic excavator 10A is the same as that of the first embodiment.

[0109] In addition to the remote operation input device 71, communication device 72, and display device 73 of the first embodiment, the remote operation device 70A of this embodiment further includes a second remote operation signal processing device 75 having the same functions as the three determination units of the remote operation signal processing device 42 of the first embodiment. The second remote operation signal processing device 75 is configured to perform determinations based on various information on the remote operation device 70A, rather than on the first remote operation signal processing device 42A on the hydraulic excavator 10A. Specifically, the second remote operation signal processing device 75 includes a machine state determination unit 64A having the same functions as the machine state determination unit 64 of the first embodiment; a surrounding condition determination unit 65A having the same functions as the surrounding condition determination unit 65 of the first embodiment; and a cargo state determination unit 66A having the same functions as the cargo state determination unit 66 of the first embodiment. The hardware configuration of the second remote operation signal processing device 75 is, for example, a microcomputer comprising a storage device 76 composed of RAM, ROM, etc., and a processing unit 77 composed of a CPU, MPU, etc. Programs and various information required for remote control of starting and stopping the hydraulic excavator 10A are stored in advance in the storage device 76. The processing device 77 reads the programs and various information from the storage device 76 as needed and executes processing according to the programs, thereby realizing the various functions described above.

[0110] Next, the process of remote control of starting and stopping the hydraulic excavator in the remote-controlled working machine system of the second embodiment will be described. Figure 12 and Figure 13 A control process for remote starting of a hydraulic excavator in this remote-operated working machine system will be described. Figure 13 Yes Figure 12 1 is a flowchart of an example of a control process for remote activation of a working machine in a remote-operated working machine system according to the second embodiment shown.

[0111] exist Figure 13 in Figure 12 In the illustrated remote-operated working machine system 1A, when an operator inputs a "system start" instruction for the hydraulic excavator 10A via the remote operation input device 71 or the display device 73 of the remote operation device 70A, the communication device 72 transmits a remote start operation signal (step S10). The remote start operation signal from the remote operation device 70A is then received by the communication device 41 on the hydraulic excavator 10A (step S210). These steps are the same as those of the first embodiment.

[0112] When the communication device 41 receives the remote start operation signal, the posture information processing unit 61 of the first remote operation signal processing device 42A takes in the posture information of the hydraulic excavator 10A from the posture detection device 45 (step S220), and the surrounding information processing unit 62 takes in the surrounding information of the hydraulic excavator 10A from the surrounding monitoring device 46 (step S240). The communication device 41 sends the posture information and surrounding information of the hydraulic excavator 10A obtained by the first remote operation signal processing device 42A (step S280). The first remote operation signal processing device 42A of this embodiment is different from the first embodiment and does not perform the judgment of whether there is any abnormality in the posture or position of the hydraulic excavator 10A ( Figure 3 Step S230 of the flowchart shown in FIG. 1 and the determination of whether there is a cause of starting obstruction around the hydraulic excavator ( Figure 3 (step S250 of the flowchart shown).

[0113] The remote operation device 70A receives the posture information and surrounding information of the hydraulic excavator 10A from the communication device 41 on the hydraulic excavator 10A side (step S12). The mechanical state determination unit 64A of the second remote operation signal processing device 75 of the remote operation device 70A calculates the posture of the front working device 11 and the machine body 12 based on the received posture information, and performs a second determination as to whether the starting posture as a result of the calculation is within the prescribed allowable range (step S14). In step S14, if yes, the process proceeds to step S16, and on the other hand, if no, the process proceeds to step S30. This step S14 is the same as the mechanical state determination unit 64 of the remote operation signal processing device 42 of the first embodiment. Figure 3 The determination process of step S230 shown is the same as that of step S230, and therefore, its detailed description is omitted.

[0114] If the answer is yes in step S14, the surrounding situation determination unit 65A of the second remote operation signal processing device 75 determines whether there is no starting obstacle within the predetermined range around the hydraulic excavator 10A based on the received surrounding information (step S16). In step S16, if the answer is yes, the process proceeds to step S50, and if the answer is no, the process proceeds to step S30. This step S16 is similar to the surrounding situation determination unit 65 of the remote operation signal processing device 42 of the first embodiment. Figure 3 The determination process of step S250 shown is the same as that of step S250, and therefore, its detailed description is omitted.

[0115] If the answer is NO in step S14 or NO in step S16, that is, if the first determination based on the surrounding information is a prohibition determination or the second determination based on the posture information is a prohibition determination, a message indicating a start prohibition determination is displayed on the display screen of display device 73 (step S30), and the remote start control flow ends. On the other hand, if the answer is YES in step S14 and YES in step S16, that is, if the first determination based on the surrounding information is a permission determination and the second determination based on the posture information is a permission determination, a message indicating a start permission determination is displayed on the display screen of display device 73 (step S50).

[0116] When the operator inputs a start instruction for the prime mover 36 from the remote operation input device 71 or the display device 73 while the information indicating the start permission determination is displayed on the display device 73, the communication device 72 transmits a remote operation signal for the start instruction for the prime mover 36 (step S110). After the remote operation signal for the start instruction for the prime mover 36 is transmitted, the series of processes for starting the prime mover 36 on the hydraulic excavator 10A side (steps S310 to S340) and the series of processes for starting the prime mover 36 on the remote operation device 70A side (steps S120 to S130) are the same as those in the first embodiment.

[0117] Next, use Figure 12 and Figure 14 A control process for remote stopping of a hydraulic excavator in a remote-operated working machine system will be described. Figure 14 Yes Figure 12 1 is a flowchart of an example of a control process for remote stopping of a working machine in a remote-controlled working machine system according to the second embodiment shown.

[0118] exist Figure 14 in Figure 12In the illustrated remote-operated working machine system 1A, when an operator inputs a "system stop" instruction for the hydraulic excavator 10A via the remote operation input device 71 or the display device 73 of the remote operation device 70A, the communication device 72 transmits a remote stop operation signal (step S410). The remote stop operation signal from the remote operation device 70A is then received by the communication device 41 on the hydraulic excavator 10A side (step S610). These steps are the same as those of the first embodiment.

[0119] When the remote stop operation signal is received, the surrounding information processing unit 62 of the first remote operation signal processing device 42A takes in the surrounding information of the hydraulic excavator 10A from the surrounding monitoring device 46 (step S620), and the posture information processing unit 61 takes in the posture information of the hydraulic excavator 10A from the posture detection device 45 (step S640). The communication device 41 sends the surrounding information and posture information of the hydraulic excavator 10A obtained by the first remote operation signal processing device 42A (step S680). The first remote operation signal processing device 42A of this embodiment is different from the remote operation signal processing device 42 of the first embodiment and does not perform the judgment of whether there is a parking obstruction factor around the hydraulic excavator 10A ( Figure 7 Step S630 of the flowchart shown in FIG. 1 and the determination of whether the posture (tilt) of the machine body 12 is abnormal ( Figure 7 (step S650 of the flowchart shown).

[0120] The remote control device 70A receives the surrounding information and posture information of the hydraulic excavator 10A from the communication device 41 on the hydraulic excavator 10A side (step S412). The surrounding situation determination unit 65A of the second remote control signal processing unit 75 of the remote control device 70A determines whether there is a place where the hydraulic excavator 10A can be parked within a specified range around the hydraulic excavator 10A based on the received surrounding information (step S414). In step S414, if yes, the process proceeds to step S416, and if no, the process proceeds to step S430. This step S414 is the same as the surrounding situation determination unit 65 of the remote control signal processing unit 42 of the first embodiment. Figure 7 The determination process of step S630 shown is the same as that of step S630, and therefore, its detailed description is omitted.

[0121] If the answer is yes in step S414, the mechanical state determination unit 64A of the second remote operation signal processing device 75 determines whether the posture (inclination relative to the horizontal plane) of the hydraulic excavator 10A is within the allowable range based on the received posture information (step S416). In step S416, if the answer is yes, the process proceeds to step S460, and if the answer is no, the process proceeds to step S430. This step S416 is the same as the mechanical state determination unit 64A of the remote operation signal processing device 42 of the first embodiment. Figure 7 The determination process of step S650 shown is the same as that of step S650, and therefore, its detailed description is omitted.

[0122] If the answer is NO in step S414 or step S416, that is, if the first determination based on the surrounding information is a prohibition determination or the second determination based on the posture information is a prohibition determination, information indicating a parking space securing request for the hydraulic excavator 10A is displayed on the display screen of the display device 73 (step S430).

[0123] When a parking space securing request is displayed, if the operator of the remote control device 70 inputs an operation instruction for the hydraulic excavator 10A from the remote control input device 71, a remote control signal for the operation instruction for the hydraulic excavator 10A is transmitted from the communication device 72 (step S440). The communication device 41 on the hydraulic excavator 10A receives this remote control signal, and the start / stop control unit 67 operates the hydraulic excavator 10A in accordance with the received remote control signal for the operation instruction. Finally, the communication device 41 transmits parking space information (step S665). The parking space information from the hydraulic excavator 10A is received and displayed by the remote control device 70 (step S440). This series of steps S430 to S440 and S665 is the same as in the first embodiment, and therefore a detailed description thereof will be omitted.

[0124] When the operator of the remote control device 70 again inputs a system stop instruction, the above steps S610, S620, S640, S680, S412, S414, and S416 are repeated. If the answer is yes in step S414 and yes in step S416, that is, if the first determination based on the surrounding information is a permission determination and the second determination based on the posture information is a permission determination, a message indicating a stop permission determination is displayed on the display screen of the display device 73 (step S460).

[0125] When information indicating that the stop permission decision is displayed on the display device 73, when a stop instruction of the prime mover 36 is input from the remote operation input device 71 or the display device 73 by the operator's operation, a series of processes on the hydraulic excavator 10A side (steps S710 to S760) and a series of processes on the remote operation device 70A side (steps SS520 to S530) similar to those in the first embodiment are performed, thereby ending the control process of the remote stop of the hydraulic excavator 10A.

[0126] According to the remote-operated working machine system 1A of the second embodiment described above, as in the first embodiment described above, with respect to the remote operation signal for starting / stopping the remote operating device 70A, before executing the start / stop of the prime mover 36, a determination is made as to whether the prime mover 36 can be started / stopped based on the surrounding information monitored by the surrounding monitoring device 46 and the posture information detected by the posture detection device 45. Therefore, the start / stop of the hydraulic excavator 10A (working machine) can be executed based on remote control after confirming the surrounding conditions of the hydraulic excavator 10A (working machine) and the state of the machine itself.

[0127] [Other embodiments]

[0128] Furthermore, in the above-described embodiment, an example in which the present invention is applied to the remotely-operated hydraulic excavators 10 and 10A has been described, but the present invention can be widely applied to various working machines other than the remotely-operated hydraulic excavators.

[0129] In addition, the present invention is not limited to this embodiment, but also includes various modifications. The above embodiment is an embodiment described in detail to easily explain the present invention, and is not limited to having all the structures described. A part of the structure of a certain embodiment can be replaced with the structure of another embodiment, and the structure of another embodiment 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.

[0130] For example, in the second embodiment, the second remote operation signal processing device 75 on the remote operation device 70A, which constitutes part of the system control device, is configured to perform a first determination based on ambient information received from the first remote operation signal processing device 42A on the hydraulic excavator 10A to determine whether the hydraulic excavator 10A can be started or stopped (starting and stopping the prime mover 36), and a second determination based on posture information received from the first remote operation signal processing device 42A to determine whether the hydraulic excavator 10A can be started or stopped (starting and stopping the prime mover 36). Furthermore, if both the first and second determinations indicate permission to start or stop the hydraulic excavator 10A (starting or stopping the prime mover 36), the second remote operation signal processing device 75 can transmit a start instruction or a stop instruction to start or stop the prime mover 36. Alternatively, the second remote operation signal processing device on the remote operation device 70A may be configured to not proceed to the first determination based on the surrounding information and the second determination based on the posture information, but to stop processing until the first determination based on the surrounding information and the second determination based on the posture information are enabled. Specifically, the second remote operation signal processing device on the remote operation device 70A is configured to display information indicating that the first determination based on the surrounding information is enabled to the display device 73, which is the output device of the remote operation device 70A, and to display information indicating that the second determination based on the posture information is enabled to the display device 73, which is the output device of the remote operation device 70A.

[0131] In the case of such a configuration, the control process of the remote start of the hydraulic excavator in the remote-operated working machine system 1A of the second embodiment differs in the following points, for example.

[0132] exist Figure 13In step S14 of the control flow of the second embodiment shown, the second remote operation signal processing device 75 calculates the posture of the front working device 11 and the machine body 12 based on the received posture information, and determines whether the starting posture of the hydraulic excavator 10A as a result of the calculation is within the prescribed allowable range. In contrast, the second remote operation signal processing device of the modified example of the second embodiment calculates the posture of the front working device 11 and the machine body 12 based on the received posture information, and displays the information of the starting posture of the hydraulic excavator 10A as a result of the calculation and the second judgment information related to the starting posture for judging whether the hydraulic excavator 10A can be started (starting the prime mover 36) on the display device 73 as an output device, thereby prompting the operator of the remote operation device 70A. In addition, the second remote operation signal processing device of the modified example accepts the operation input of the second judgment (whether the hydraulic excavator 10A can be started) performed by the operator of the remote operation device 70A. When the accepted operation input of the second judgment is yes (permission judgment to allow the start of the hydraulic excavator 10A), it enters the step of Figure 13 On the other hand, if the accepted second judgment operation input is negative (a prohibition judgment to prohibit the start of the hydraulic excavator 10A), the process proceeds to step S16. Figure 13 Step S30 is shown.

[0133] In addition, Figure 13 In step S16 of the control flow of the second embodiment shown, the second remote operation signal processing device 75 determines whether there is no starting obstruction cause within a specified range around the hydraulic excavator 10A based on the received surrounding information. In contrast, the second remote operation signal processing device of the modified example of the second embodiment displays the information on whether there is a starting obstruction cause around the hydraulic excavator 10A (information that can perform a first judgment) obtained based on the received surrounding information on the display device 73 as an output device, thereby prompting the operator of the remote operation device 70A. In addition, the second remote operation signal processing device of the modified example receives the operation input of whether the hydraulic excavator 10A can be started (starting the prime mover 36) (first judgment) from the operator of the remote operation device 70A. When the accepted operation input of the first judgment is yes (permission judgment to allow the start of the hydraulic excavator 10A), it enters the Figure 13 On the other hand, in step S50 shown in FIG. 1 , if the accepted operation input of the first determination is negative (determination of prohibiting the start of the hydraulic excavator 10A), the process proceeds to step S60. Figure 13 Step S30 is shown.

[0134] In this modified example, the second remote operation signal processing device displays the information of the starting posture of the hydraulic excavator 10A obtained based on the posture information and the information of whether there are any starting obstacles around the hydraulic excavator 10A obtained based on the surrounding information on the display device 73 to prompt the operator of the remote operation device 70A, and receives the operation input of whether the hydraulic excavator 10A can be started (whether the prime mover 36 can be started) performed by the operator of the remote operation device 70A. This is equivalent to the system control device determining whether the hydraulic excavator 10A can be started (whether the prime mover 36 can be started) based on the surrounding information and posture information.

[0135] Furthermore, the control process of remote stopping of the hydraulic excavator in the remote-operated working machine system 1A according to the second embodiment differs in the following points, for example.

[0136] exist Figure 14 In step S414 of the control flow of the second embodiment shown, it is determined whether there is a place where the hydraulic excavator 10A can be parked based on the surrounding information received by the second remote operation signal processing device 75. In contrast, the second remote operation signal processing device of the modified example of the second embodiment displays the information on whether there is a parking obstacle around the hydraulic excavator 10A (information that can make a first judgment on whether the hydraulic excavator 10A (prime mover 36) can be stopped) obtained based on the received surrounding information on the display device 73 as an output device, thereby prompting the operator of the remote operation device 70A. In addition, the second remote operation signal processing device of the modified example receives the operation input of whether the hydraulic excavator 10A (prime mover 36) can be stopped (first judgment) from the operator of the remote operation device 70A. When the accepted operation input of the first judgment is yes (permission judgment of allowing the hydraulic excavator 10A to stop), it enters into step S414. Figure 14 On the other hand, in step S416 shown in FIG. 1 , if the accepted operation input of the first determination is negative (determination of prohibiting the stop of the hydraulic excavator 10A), the process proceeds to step S417. Figure 14 Step S430 is shown.

[0137] In addition, Figure 14In step S416 of the control flow of the second embodiment shown, based on the posture information received by the second remote operation signal processing device 75, it is determined whether the posture of the body 12 of the hydraulic excavator 10A (the inclination relative to the horizontal plane) is within the permissible range. In contrast, the second remote operation signal processing device of the modified example displays the information on whether the inclination of the hydraulic excavator 10A relative to the horizontal plane obtained based on the received posture information is within the permissible range (the second determination for determining whether the hydraulic excavator 10A (prime mover 36) can be stopped) on the display device 73 as an output device, thereby prompting the operator of the remote operation device 70A. In addition, the second remote operation signal processing device of the modified example receives the operation input of whether the hydraulic excavator 10A (prime mover 36) can be stopped (the second determination) from the operator of the remote operation device 70A. When the accepted operation input of the second determination is yes (the determination of allowing the hydraulic excavator 10A to stop), the process proceeds to Figure 14 On the other hand, in step S460 shown in FIG. 1 , if the accepted second judgment operation input is negative (a prohibition judgment prohibiting the stop of the hydraulic excavator 10A), the process proceeds to step S461. Figure 14 Step S430 is shown.

[0138] In this modified example, the second remote operation signal processing device displays information on whether there is a parking obstruction cause based on the posture information and surrounding information of the hydraulic excavator 10A on the display device 73 to prompt the operator of the remote operation device 70A, and receives the operation input of whether the hydraulic excavator 10A (prime mover 36) can be stopped by the operator of the remote operation device 70A. This is equivalent to the system control device determining whether the hydraulic excavator 10A (prime mover 36) can be stopped based on the surrounding information and posture information.

[0139] Thus, the system control device of the modified example of the second embodiment includes a first remote operation signal processing device 42A as a first control device mounted on the hydraulic excavator 10A (working machine), and a second remote operation signal processing device as a second control device mounted on the remote operation device 70A. The first remote operation signal processing device 42A (first control device) on the hydraulic excavator 10A (working machine) receives ambient information monitored by the ambient monitoring device 46 and posture information detected by the posture detection device 45 and transmits them to the second remote operation signal processing device 75. The second remote operation signal processing device (second control device) on the remote operation device 70A displays the ambient information and posture information on the display device 73, which serves as the output device of the remote operation device 70A, and receives an input indicating whether to start or stop the prime mover 36. If the received input indicates permission to start or stop the prime mover 36, the first remote operation signal processing device 42A (first control device) starts or stops the prime mover 36.

[0140] According to this structure, as in the second embodiment described above, with respect to the remote operation signal for starting / stopping the remote operation device 70A, before executing the start / stop of the prime mover 36, a determination is made as to whether the prime mover 36 can be started / stopped based on the surrounding information monitored by the surrounding monitoring device 46 and the posture information detected by the posture detection device 45. Therefore, the start / stop of the hydraulic excavator 10A (working machine) based on remote control can be executed on the basis of confirming the surrounding conditions of the hydraulic excavator 10 (working machine) and the state of the machine itself.

[0141] Explanation of symbols

[0142] 1, 1A…remote-operated working machine system, 10, 10A…hydraulic excavator (working machine), 11…front working device (working device), 36…prime mover, 38…main power supply, 42…remote-operation signal processing device (system control device; control device), 42A…first remote-operation signal processing device (system control device; first control device), 43…backup power supply, 45…posture detection device, 46…surrounding monitoring device, 47…load detection device, 70, 70A…remote operating device, 73…display device (output device), 75…second remote-operation signal processing device (system control device; second control device).

Claims

1. A remote-operated work machine system comprising: a work machine having a prime mover and capable of being remotely operated by receiving a remote operation signal; and a remote operation device for transmitting a remote operation signal to the work machine to remotely operate the work machine, wherein: The working machine includes: a surrounding monitoring device for monitoring surrounding information related to the surrounding conditions of the working machine; a posture detection device for detecting posture information related to the posture of the working machine; The working machine or the remote control device includes a system control device that controls the operation of the working machine according to the remote control signal. When the remote operation signal transmitted from the remote operation device is a remote start operation signal for starting the working machine or a remote stop operation signal for stopping the working machine, the system control device performs the following operations: fetching the surrounding information and the posture information detected by the surrounding monitoring device and the posture detection device; It is determined whether the prime mover can be started or stopped based on the surrounding information and the posture information.

2. The remote-controlled working machine system according to claim 1, characterized in that: When the remote operation signal transmitted from the remote operation device is the remote start operation signal, the system control device performs the following operations: fetching the posture information detected by the posture detection device, that is, information related to the stop posture of the working machine when the prime mover was most recently stopped; and determining whether there is a start-up hindering factor based on the surrounding information detected by the surrounding monitoring device, the start-up hindering factor being a factor around the working machine that hinders the starting of the working machine; Whether the prime mover can be started is determined based on the presence or absence of the start-up preventing factor, the posture of the work machine when the remote start operation signal is obtained, that is, the starting posture, and the most recent stop posture of the work machine.

3. The remote-controlled working machine system according to claim 1, wherein: When the remote operation signal transmitted from the remote operation device is the remote stop operation signal, the system control device performs the following operations: determining whether there is a parking obstruction factor based on the surrounding information, the parking obstruction factor being a factor surrounding the working machine that prevents the working machine from parking; Whether the prime mover can be stopped is determined based on the presence or absence of the parking obstruction factor and the inclination of the working machine relative to a horizontal plane obtained based on the posture information.

4. The remote-controlled working machine system according to claim 1, wherein: The system control device includes: a first control device mounted on the working machine; a second control device assembled in the remote control device; The first control device takes in the surrounding information monitored by the surrounding monitoring device and the posture information detected by the posture detection device, and sends them to the second control device. The second control device performs the following actions: presenting the surrounding information and the posture information to an output device of the remote control device, and accepting an operation input of whether the prime mover can be started or stopped; When the accepted operation input is an operation input that permits the start or stop of the prime mover, the first control device is caused to start or stop the prime mover.

5. The remote-controlled working machine system according to claim 1, wherein: The working machine includes: a multi-joint working device; a load detection device that detects load information, which is information related to the load applied to the working device. Before stopping the prime mover, the system control device performs the following actions: Retrieving the load information, the surrounding information, and the posture information; determining whether the working device is holding a working object based on the acquired load information, the surrounding information, and the posture information; When it is determined that the working device is not holding a work object, the working device is changed to a predetermined parking posture before the motor is stopped.

6. The remote-controlled working machine system according to claim 1, wherein: The operating machine is equipped with a main power supply and a backup power supply. The working machine is configured to receive the remote operation signal using the backup power source as a power source when the prime mover is stopped, and to receive the remote operation signal using the main power source as a power source when the prime mover is driven.

7. A working machine having a prime mover and capable of being remotely operated by receiving a remote operation signal from a remote operation device, characterized in that: The working machine includes: a surrounding monitoring device for monitoring surrounding information related to the surrounding conditions of the working machine; a posture detection device for detecting posture information related to the posture of the working machine; The working machine includes a control device for controlling the operation of the working machine according to the remote operation signal. When receiving a remote start operation signal for starting the working machine or a remote stop operation signal for stopping the working machine from the remote operation device as the remote operation signal, the control device performs the following operations: determining whether the prime mover can be started or stopped according to the surrounding information and the posture information; The result of determination of whether the prime mover can be started or stopped is transmitted to the remote operation device.

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