CONTROL SYSTEM FOR WORK MACHINE

Abstract

A control system for a working machine is provided and comprises the working machine with an attachment; a drive force detection device configured to detect a drive force for driving the attachment; an output device configured to output information to an operator operating the working machine; a detector configured to detect a part of the attachment in contact with a work object; an identifier configured to perform control to identify the part of the attachment in contact with the work object based on a detection result from the detector; and an output control configured to perform control to output initial information from the output device indicating the reaction force generated at the identified part.The initial information is estimated based on the detection result of the driving force detection device.

Description

BACKGROUND 1. Technical field

[0001] The present disclosure relates to a control system for a working machine. 2. Description of the state of the art

[0002] Traditionally, experienced operators of construction machinery tend to predict the machine's condition based on information such as engine noise and adjust their operation accordingly. In contrast, inexperienced operators find it difficult to predict the machine's condition based on such information.

[0003] In recent years, technologies have been proposed that detect the loads applied to multiple hydraulic cylinders of a working machine and, based on the detected load information, adjust aspects such as the transparency of images displayed on a screen. SUMMARY

[0004] A control system for a working machine according to one aspect of the present disclosure comprises the working machine with an attachment; a drive force detection device configured to detect a drive force for driving the attachment; an output device configured to output information to an operator operating the working machine; a detector configured to detect a part of the attachment that is in contact with a work object; an identification device configured to perform control to identify the part of the attachment that is in contact with the work object, based on a detection result of the detector; and an output control configured to perform control to output initial information from the output device indicating the reaction force generated at the identified part.The information is estimated based on the detection result of the driving force detection device. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a schematic diagram illustrating an example of a remote control system according to a first embodiment; Fig. 2 is a side view illustrating a working machine according to the first embodiment; Fig. Figure 3 is a schematic diagram illustrating an example of a configuration of the working machine according to the first embodiment; Fig. Figure 4 is a functional block diagram illustrating a configuration example of a remote control system according to the first embodiment; Fig. Figure 5 is a diagram illustrating an example arrangement of a remote control room according to the first embodiment; Fig. 6 is a diagram illustrating a table structure of an output procedure memory according to the first embodiment; Fig. Figure 7 is a diagram illustrating a correspondence relationship between the work performed by the working machine according to the first embodiment and output information; Fig. Figure 8 is a diagram illustrating an example of a screen displayed on a central monitor according to the first embodiment; Fig. 9 is a diagram illustrating a further example of a screen displayed on a central monitor according to the first embodiment; and Fig. Figure 10 is a sequence diagram illustrating an overall process of processing in the remote control system according to the first embodiment. DETAILED DESCRIPTION

[0005] There are cases where the pressure loads applied to several hydraulic cylinders are displayed; however, it is difficult for operators to intuitively determine forces and other factors generated according to the operation of the working machine solely on the basis of the pressure loads applied to each of the several actuators.

[0006] In light of the foregoing, by providing information indicating the reaction force on a part of the machine that is in contact with the workpiece, operators are enabled to understand the operating status of the machine, thereby reducing the operational load.

[0007] According to one aspect of the present disclosure, the operational burden is reduced by enabling operators to determine the operational status of a working machine.

[0008] The following describes embodiments of the present disclosure with reference to the drawings. The embodiments described below are exemplary and do not limit the present disclosure. Not all features and combinations thereof in the embodiments of the present disclosure are essential to the present disclosure. In the drawings, the same or corresponding components are identified by the same or corresponding reference numerals, and duplicate descriptions thereof may be omitted.

[0009] A working machine 100 according to one embodiment of the present disclosure is an excavator. The working machine 100 can be a working machine equipped with an end attachment or can be a machine other than an excavator, such as a crane or a forklift. In the illustrated example, the excavator, as the working machine 100, is an excavating machine equipped with a bucket 6 as an end attachment, but it can be a modified machine, such as a forestry machine, equipped with an end attachment other than the bucket 6. The working machine 100 can be a crawler crane equipped with a lower track, an upper slewing body, and an end attachment mounted on the upper slewing body. (First embodiment)

[0010] First, with reference to Fig. 1 An overview of a remote control system (an example of a control system) SYS according to the first embodiment is described. Fig. Figure 1 is a schematic diagram illustrating an example of a remote control system SYS according to the first embodiment. <Bei dem Fernbedienungssystem umfasste Vorrichtungen>

[0011] As in Fig. As illustrated in Figure 1, the remote control system SYS according to the first embodiment comprises the working machine 100 and a remote control room RC.

[0012] The work machine 100 and the remote control room RC are connected via a communication line NW to transmit and receive data.

[0013] The Work Machine 100 enables wireless communication. The Work Machine 100 can transmit data to and receive data from devices (e.g., the remote control room RC) that are connected to the communication line NW.

[0014] The work machine 100 is located at a construction site where it is performing work. As described above, this embodiment includes several types of devices at the construction site. The work machine 100 can transmit information about the construction site to the remote control room (RC). This makes it possible to inspect the construction site from the remote control room (RC) based on information received from the work machine 100. This embodiment is not limited to a device that uses the work machine 100 to take measurements at the construction site, but can also be another type of device, such as a drone flying over the construction site or an imaging device that the user can wear.

[0015] The SYS remote control system can include one or more 100 work machines. This allows the SYS remote control system to provide the RC remote control room with information about the work site via one or more 100 work machines. <Konfigurationsbeispiel für Fernbedienungsraum>

[0016] The remote control room RC comprises a communication device T2, a remote control R40, an operating device R42, an operating sensor R43, a sound output device SP2E, and a display device D1E. The remote control room RC is equipped with an operator's seat DS, on which an operator OP sits, who remotely controls the work machine 100.

[0017] The communication device T2 (an example of a receiving device) is configured to communicate with a communication device T1 attached to the working machine 100 (see Fig. 2) controls.

[0018] The R40 remote control is an information processing device for performing various calculations. In the present embodiment, the R40 remote control is a microcomputer comprising a CPU and memory. Various functions of the R40 remote control are implemented by the CPU, which executes programs stored in the memory.

[0019] The display device D1E shows a screen based on information transmitted by the work machine 100, allowing the operator OP in the remote control room RC to visually check the work machine 100's surroundings. The display device D1E enables the operator OP to monitor the situation on the construction site, including the work machine 100's surroundings, even when the operator is in the remote control room RC. In the illustrated example, the display device D1E is a liquid crystal display for showing images captured by an imaging device S6 mounted on the work machine 100. The display device D1E can be a display or projector for providing a stereoscopic view with the naked eye, or it can be VR (virtual reality) glasses or the like.

[0020] The SP2E sound output device is an example of an output device capable of transmitting various types of sound information (an example of information) to the operator OP, who operates the work machine 100. The SP2E sound output device emits sounds based on information transmitted by the work machine 100, allowing the operator OP in the remote control room RC to hear the sounds emitted at the construction site. For example, the SP2E sound output device emits sounds generated by the remote control R40.

[0021] The SP2E sound output device can be a permanently installed device, such as a loudspeaker, or a detachable device, such as earphones or headphones. The loudspeaker can be a mono loudspeaker, a stereo loudspeaker, or a surround loudspeaker. The loudspeaker can be omnidirectional or directional. The detachable device can have a noise-canceling function, a spatial audio function (stereo function), or a bone conduction function. More than one SP2E sound output device can be provided around the operator seat DS.

[0022] The operating device R42 (an example of an operating device) is equipped with the operating sensor R43 for detecting an operation input via the operating device R42. The operating sensor R43 is, for example, an inclination sensor for detecting the tilt angle of an operating lever or an angle sensor for detecting the oscillation angle of the operating lever around an oscillation axis. The operating sensor R43 can be another type of sensor, such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operating sensor R43 outputs information about the detected actuation of the operating device R42 to the remote control R40. Based on the received information, the remote control R40 generates an operating signal and transmits this signal to the machine 100. The operating sensor R43 can be configured to generate operating signals.In this case, the operating sensor R43 can output an operating signal to the communication device T2, bypassing the remote control R40. This makes it possible to remotely control the work machine 100 from the remote control room RC. <Konfigurationsbeispiel für Arbeitsmaschine>

[0023] Next, with reference to Fig. 2 an overview of the working machine 100 according to the present embodiment is given. Fig. Figure 2 is a side view of the working machine 100 as the working machine according to the first embodiment.

[0024] At Fig. 2 +X represents one direction of the X-axis of the three-dimensional rectangular coordinate system, and -X (not illustrated) represents the other direction of the X-axis. +Y represents one direction of the Y-axis of the three-dimensional rectangular coordinate system, and -Y (not illustrated) represents the other direction of the Y-axis. +Z represents one direction of the Z-axis of the three-dimensional rectangular coordinate system, and -Z (not illustrated) represents the other direction of the Z-axis. In Fig. Figure 1 corresponds to the +X side of machine 100, the front of machine 100, and the -X side of machine 100, the rear of machine 100. The +Y side of machine 100 corresponds to the left side of machine 100, and the -Y side of machine 100, the right side of machine 100. The +Z side of machine 100 corresponds to the top of machine 100, and the -Z side of machine 100, the bottom of machine 100. The same applies to the other figures.

[0025] The work machine 100 is equipped with a lower carriage 1, an upper swivel body 3 mounted on the lower carriage 1 to swivel freely via a swivel mechanism 2, an attachment AT for performing various types of work, and an operator's cabin 10. The operator's cabin 10 is also referred to as a "cabin" or "cab." The front of the work machine 100 (upper swivel body 3) corresponds to the side where the attachment AT is mounted on the upper swivel body 3 when the work machine 100 is viewed directly from above along the swivel axis of the upper swivel body 3. The left side, right side, and rear of the work machine 100 (upper swivel body 3) correspond to the left side, right side, and rear, respectively, when viewed from the operator's seat in the operator's cabin 10.

[0026] The lower running gear 1, for example, comprises a pair of right and left tracks 1C. Specifically, the tracks 1C comprise a left track and a right track. The left track is driven by a left-hand drive hydraulic motor 2ML (see Fig. 3) driven, and the right track is driven by a right-hand drive hydraulic motor 2MR (see Fig. 3) Driven. The left hydraulic drive motor 2ML serves as the drive component for the left track and enables its rotation. The right hydraulic drive motor 2MR serves as the drive component for the right track and enables its rotation. The drive component can be an electric motor.

[0027] A boom 4 is rotatably mounted at the front center of the upper pivoting body 3, an arm 5 is rotatably mounted at the tip of the boom 4, and a bucket 6 is rotatably mounted at the tip of the arm 5. In the illustrated example, the boom 4, the arm 5, and the bucket 6 form a digging attachment, which is an example of attachment AT. The boom 4, the arm 5, and the bucket 6 are each driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0028] The bucket 6 is an example of a working tool (end attachment). The bucket 6 is used, for example, for excavation work. Depending on the work content or similar requirements, another working tool may be attached to the distal end of the arm 5 instead of the bucket 6. The other working tool may be a different type of bucket, such as a large bucket, a slope bucket, a dredging bucket, or the like. The other working tool may be a different type of tool than a bucket, such as a stirrer, a crusher, a grab, a reflective magnet, or the like. The excavation attachment may be equipped with a bucket tilting mechanism.

[0029] A swivel hydraulic motor 2A, the left travel hydraulic motor 2ML, the right travel hydraulic motor 2MR, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 are hydraulic actuators that are driven by hydraulic oil supplied by a hydraulic pump.

[0030] In the case of the work machine 100, all or some of the driven components, such as the lower travel body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6, can be electrically driven. In other words, the work machine 100 can be a hybrid excavator, an electric excavator, or the like, in which all or some of the driven components are powered by an electric actuator.

[0031] The imaging device S6 is installed on the upper swivel body 3 and captures images of the environments of the working machine 100 in order to acquire image information representing the environments of the working machine 100. In the illustrated example, the imaging device S6 comprises a front camera S6F, a left camera S6L, a right camera S6R and a rear camera S6B.

[0032] The front camera S6F is a camera for capturing an image of the area in front of the work machine 100 and is mounted on the outside of the operator's cabin 10, for example on the roof of the operator's cabin 10 or on the side of the boom 4. The left camera S6L is a camera for capturing an image of the area to the left of the work machine 100; the right camera S6R is a camera for capturing an image of the area to the right of the work machine 100; and the rear camera S6B is a camera for capturing an image of the area behind the work machine 100. In particular, the front camera S6F, the left camera S6L, the right camera S6R, and the rear camera S6B are all monocular wide-angle cameras equipped with an image capture device, such as a CCD or a CMOS sensor, and information from the captured image is input into a controller 30.The images captured by the image acquisition device S6 can be output to a display device D1 (see . Fig. 3).

[0033] In the example shown, the front camera S6F is mounted on the roof of the operator cabin 10; the left camera S6L is mounted on the left end of the top of the upper swivel body 3; the right camera S6R is mounted on the right end of the top of the upper swivel body 3; and the rear camera S6B is mounted on the rear end of the top of the upper swivel body 3.

[0034] The imaging device S6 can be an object detection device for detecting an object located around the work machine 100. The object detection device can be a device other than a camera. For example, the object detection device can be a LiDAR (Laser Imaging, Detection and Ranging) sensor. The LiDAR sensor is a device capable of measuring, for example, the distance between a group of one million or more points within a monitoring area and the LiDAR (laser source) sensor. The object detection device can be any other device capable of measuring the distance to an object, such as a stereo camera, a distance imaging camera, or millimeter-wave radar.In cases where millimeter-wave radar or similar technology is used to detect an object, the object detection device can calculate the object's distance and direction by transmitting a large number of signals (laser beams or similar) to the object and receiving the reflected signals. Alternatively, the object detection device can be a combination of two or more types of devices. For example, the object detection device can be a combination of an imaging device and a LiDAR sensor, a combination of an imaging device and a millimeter-wave radar, or a combination of an imaging device and a stereo camera.

[0035] The controller 30 is an example of a pilot control device and is composed, for example, of a CPU, a volatile memory device, a non-volatile memory device, and a computer, including various input / output interfaces or the like. The controller 30 performs various functions, for example, by reading a program from the non-volatile memory device, loading it into the volatile memory device, and instructing the CPU to execute the program. In the illustrated example, the controller 30 is configured to control the machine 100 by performing various functions. These functions include, for example, a machine guidance function to direct an operator to perform manual operation of the machine 100.

[0036] The various functions may include a contact avoidance function for automatically or autonomously operating or stopping the work machine 100 in order to avoid contact between the work machine 100 and an object located within a monitoring area around the work machine 100.

[0037] The boom angle sensor S1 detects a rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an accelerometer and can detect a rotation angle (hereinafter referred to as the "boom angle") of the boom 4 relative to the upper pivoting body 3, which changes per unit of time. The boom angle sensor S1 can detect an angular velocity of the boom 4, which indicates changes in the boom angle, as well as an angular acceleration of the boom 4, which indicates a ratio of the changes. For example, the boom angle becomes minimal when the boom 4 is lowered to its lowest position and increases when the boom 4 is raised.

[0038] The arm angle sensor S2 detects a rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an accelerometer and is capable of detecting a rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as an "arm angle"). The arm angle sensor S2 can detect an angular velocity of the arm 5, which indicates changes in the arm angle, as well as an angular acceleration of the arm 5, which indicates a ratio of the changes. For example, the arm angle becomes minimal when the arm 5 is fully closed and increases when the arm 5 is opened.

[0039] The blade angle sensor S3 detects a rotation angle of the blade 6. In the present embodiment, the blade angle sensor S3 is an accelerometer and is capable of detecting a rotation angle of the blade 6 relative to the arm 5 (hereinafter referred to as a "blade angle"). The blade angle sensor S3 can detect an angular velocity of the blade 6, which indicates changes in the blade angle, as well as an angular acceleration of the blade 6, which indicates a ratio of the changes. For example, the blade angle becomes minimal when the blade 6 is maximally closed and increases when the blade 6 is opened.

[0040] It is sufficient that the boom angle sensor S1, the arm angle sensor S2, and the blade angle sensor S3 are sensors (an example of a position detection device) capable of obtaining information about the position of an attachment. Each of the boom angle sensor S1, the arm angle sensor S2, and the blade angle sensor S3 can be an inertial measurement unit (IMU), a 6-axis sensor, a potentiometer using variable resistance, a stroke sensor detecting the stroke amounts of corresponding hydraulic cylinders, a rotary encoder detecting rotation angles around coupling pins, a gyroscope, a combination of accelerometers and gyroscopes, or the like.

[0041] A detection signal corresponding to a boom angle detected by boom angle sensor S1, a detection signal corresponding to an arm angle detected by arm angle sensor S2, and a detection signal corresponding to a blade angle detected by blade angle sensor S3 are input into the controller 30. The detection signal can include an angular velocity in addition to an angle.

[0042] A machine body tilt sensor S4 detects the tilt state of a body (the lower drive body 1 or the upper pivoting body 3) with respect to the horizontal plane. For example, the machine body tilt sensor S4 is mounted on the upper pivoting body 3 and detects a tilt angle about two axes, namely the forward-backward direction and the left-right direction, of the working machine 100 (i.e., the upper pivoting body 3). The machine body tilt sensor S4 can be, for example, an accelerometer, a 6-axis sensor, an IMU, or the like. The controller 30 receives a detection signal corresponding to a tilt angle detected by the machine body tilt sensor S4.

[0043] A swivel sensor S5 outputs information about the swiveling of the upper swivel body 3. For example, the swivel sensor S5 detects the swivel angular velocity and swivel angular acceleration of the upper swivel body 3 relative to the lower drive body 1. The swivel sensor S5 can also detect a swivel angle. The swivel sensor S5 can be, for example, a gyroscope, a resolver, a rotary encoder, or the like. Detection signals corresponding to a swivel angle, swivel angular velocity, and swivel angular acceleration of the upper swivel body 3, as detected by the swivel sensor S5, are input into the controller 30.

[0044] A boom rod pressure sensor S7R and a boom base pressure sensor S7B are mounted on boom cylinder 7. A boom rod pressure sensor S8R and a boom base pressure sensor S8B are mounted on boom cylinder 8. A bucket rod pressure sensor S9R and a bucket base pressure sensor S9B are mounted on bucket cylinder 9. The boom rod pressure sensor S7R, boom base pressure sensor S7B, boom rod pressure sensor S8R, boom base pressure sensor S8B, bucket rod pressure sensor S9R, and bucket base pressure sensor S9B are devices for detecting a pressure (an example of a driving force) to drive each configuration of the attachment AT (for example, boom 4, arm 5, and bucket 6) and are collectively referred to as a "cylinder pressure sensor" (an example of a driving force detection device).The device for detecting a driving force to actuate each attachment AT in the present embodiment is not limited to the cylinder pressure sensor, and other detection devices, such as strain gauges, can be used. The method for detecting a driving force in the present embodiment is not limited to a method using pressure as a driving force, and a thrust force obtained by multiplying a pressure by a pressure-bearing area can be calculated and used.

[0045] The boom rod pressure sensor S7R detects the pressure of a rod-side oil chamber of boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure of a bottom-side oil chamber of boom cylinder 7 (hereinafter referred to as "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure of a rod-side oil chamber of arm cylinder 8 (hereinafter referred to as "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure of a bottom-side oil chamber of arm cylinder 8 (hereinafter referred to as "arm bottom pressure"). The bucket rod pressure sensor S9R detects the pressure of a rod-side oil chamber of bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure of a bottom-side oil chamber of bucket cylinder 9 (hereinafter referred to as "bucket bottom pressure").

[0046] A positioning device PS measures the position of the upper pivoting body 3. The positioning device PS is, for example, a GNSS (Global Navigation Satellite System) compass and detects the position and orientation of the upper pivoting body 3. Detection signals corresponding to the position and orientation of the upper pivoting body 3 are input into the controller 30. The function of detecting the orientation of the upper pivoting body 3 can be implemented by an orientation sensor attached to the upper pivoting body 3. According to the present embodiment, the positioning device PS measures the current position of the machine 100 in a reference coordinate system, which can be used to identify its position in the world.

[0047] The reference coordinate system is, for example, a geodesic world system, which can be used to identify a position on Earth. The geodesic world system is a three-dimensional orthogonal XYZ coordinate system with its origin at the Earth's center of mass, the X-axis pointing in the direction of the intersection of the Greenwich Meridian and the Equator, the Y-axis pointing at 90 degrees east longitude, and the Z-axis pointing towards the North Pole.

[0048] The operator's cabin 10 is a compartment containing a driver and is located on the front left side of the upper swivel body 3. However, if the work machine 100 is operated remotely or fully automatically, the operator's cabin 10 can be omitted.

[0049] The communication device T1 communicates with external devices via networks, including a mobile network, a satellite communication network, the internet, and the like. The communication device T1 is, for example, a mobile communication module compliant with a mobile communication standard such as LTE (Long Term Evolution), 4G (4th generation), or 5G (5th generation); a communication module compliant with a short-range radio communication standard such as Wi-Fi (registered trademark) or Bluetooth (registered trademark); or a satellite communication module for connecting to a satellite communication network.

[0050] The working machine 100 actuates actuators in response to an operation by an operator located in the operator cabin 10 to drive driven components such as the lower drive body 1, the upper slewing body 3, the boom 4, the arm 5 and the bucket 6.

[0051] Alternatively, the work machine 100 can be configured for remote operation. In this case, the interior of the operator's cabin 10 can be unattended.

[0052] The machine 100 can automatically operate the actuators independently of the operator's input. This allows the machine 100 to implement a function, the so-called "machine control function," in which at least some of the driven components, such as the lower carriage 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, are automatically operated.

[0053] Fig. Figure 3 is a schematic diagram illustrating an example of a configuration of the working machine 100 according to the present embodiment. Fig. 3. The mechanical energy system, a hydraulic oil line, a pilot line and an electrical control system are illustrated by a double line, a thick solid line, a dashed line, a thick dotted line and a dotted line respectively.

[0054] The drive system of the working machine 100 comprises a motor 11, a regulator 13, a main pump 14 and a control valve unit 17. The hydraulic drive system of the working machine 100 includes hydraulic actuators, such as the slewing hydraulic motor 2A, the left travel hydraulic motor 2ML, the right travel hydraulic motor 2MR, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9.

[0055] Motor 11 is an example of a power source for the working machine 100 and is, for example, mounted on the rear of the upper swivel body 3. The power source of the working machine 100 can be a combination of a power source, such as a battery or a fuel cell, and an electric motor. Specifically, motor 11 rotates at a constant target speed, which is preset under direct or indirect control by the controller 30 (which will be described later), and drives the main pump 14 and the pilot pump 15. Motor 11 is, for example, a diesel engine that uses diesel fuel. Motor 11 could be a gasoline engine, a hydrogen engine, or the like.

[0056] The controller 13 controls a delivery quantity of the main pump 14. For example, the controller 13 controls a delivery quantity of the main pump 14 by adjusting an angle (tilt angle) of the wobble plate tilt angle of the main pump 14 in response to a control command from the controller 30.

[0057] The main pump 14, for example, is mounted on the rear of the upper swivel body 3 in the same way as the motor 11 and supplies hydraulic oil to the control valve unit 17 via the hydraulic oil line. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0058] The control valve unit 17 is one of the hydraulic control devices that control the hydraulic system in the working machine 100. In the illustrated example, the control valve unit 17 comprises control valves 171 to 176. The control valve unit 17 is configured to selectively direct the hydraulic oil supplied by the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of the hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the left travel hydraulic motor 2ML, the right travel hydraulic motor 2MR, and the swing hydraulic motor 2A.Specifically, control valve 171 corresponds to the right-hand drive hydraulic motor 2MR, control valve 172 corresponds to the left-hand drive hydraulic motor 2ML, and control valve 173 corresponds to the slewing hydraulic motor 2A. Control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to arm cylinder 8.

[0059] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic oil to the hydraulic control devices via a pilot line. In the illustrated example, the pilot pump 15 is a fixed-displacement hydraulic pump. The pilot pressure generating device can be implemented by the main pump 14. In other words, in addition to supplying hydraulic oil to the control valve unit 17 via the hydraulic oil line, the main pump 14 can also supply hydraulic oil to various hydraulic control devices via the pilot line. In this case, the pilot pump 15 can be omitted.

[0060] A discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the illustrated example, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0061] An operating device 26 is a device used by the operator to operate the actuators. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuators can be hydraulic actuators or electric actuators.

[0062] The operating sensor 29 is configured to detect the content of an actuation performed by the operator using the control device 26. In the present embodiment, the operating sensor 29 detects an operating direction and an operating amount of the control device 26 corresponding to each of the actuators and outputs the detected value to the controller 30. In the illustrated example, the controller 30 can control the opening range of the proportional valve 31 according to the output of the operating sensor 29. The controller 30 supplies hydraulic oil, delivered by the pilot pump 15, to a pilot port of a corresponding control valve enclosed in the control valve unit 17. The pressure (pilot pressure) of the hydraulic oil supplied to each of the pilot ports corresponds, in principle, to a pressure corresponding to an operating direction and an operating amount of the control device 26 corresponding to each of the hydraulic actuators.In this way, the operating device 26 is configured to supply hydraulic oil delivered by the pilot pump 15 to the pilot port of a corresponding control valve, which is included in the control valve unit 17.

[0063] The proportional valve 31, which functions as a control valve for machine control, is arranged in a line connecting the pilot pump 15 to a pilot port of a control valve included in the control valve unit 17, and is configured to modify a flow range of the line. In the illustrated example, the proportional valve 31 operates in response to a control command issued by the controller 30. Therefore, the controller 30 can adjust the pilot pressure acting on the pilot port of the control valve through the proportional valve 31 independently of any actuation of the operating device 26 by the operator.

[0064] This configuration allows the controller 30 to actuate the hydraulic actuator according to a specific device of the operating device 26, even if no actuation is performed on the specific operating device 26.

[0065] As in Fig. As illustrated in Figure 3, the control system of the working machine 100 comprises the control unit 30, the display device D1, the input device D2, the communication device T1, and the like. The display device D1 is located inside the operator's cabin 10 and, under the control of the control unit 30, outputs various information to the operator. The input device D2 is a button, a touch panel, or the like, located inside the operator's cabin 10, and processes the data entered by the operator.

[0066] The controller 30 is configured to send a control command to the controller 13 when required and to change the output quantity of the main pump 14.

[0067] The controller 30 can, for example, be configured to perform a control function with respect to a machine guidance function that instructs the operator to perform manual operation of the work machine 100 via the operating device 26. The controller 30 can, for example, be configured to perform a control function with respect to a machine control function that automatically assists the operator in performing manual operation of the work machine 100 via the operating device 26.

[0068] Some of the functions of controller 30 can be implemented by another controller (control device). In other words, the functions of controller 30 can be realized by multiple controllers in a distributed manner. For example, the machine guidance function and the machine control function can be realized by a dedicated controller (control device). [Description of information for communicating operational status]

[0069] Traditionally, operators experienced in operating machinery recognize the machine's operating status based on information emitted by the machine, such as engine noise and the load applied to a control device, and operate the machine accordingly. It is desirable that operators inexperienced in operating machinery be able to recognize the machine's operating status while operating it.

[0070] Furthermore, when an operator remotely controls a machine, the amount of information transmitted from the machine to the operator tends to be less compared to on-board operation, which can lead to reduced operability.

[0071] Therefore, in recent years it has become desirable for machine tools to provide information that allows operators to determine the conditions of a currently performed operation. However, this is difficult to do because machine tools perform different operations. For example, the part of a workpiece that comes into contact with a workpiece varies from operation to operation performed by a machine tool.

[0072] In order to present to the operator OP the reaction force generated by the working machine 100, the working machine 100 according to the present embodiment identifies a part of the attachment AT that is in contact with a working object and presents information indicating the reaction force generated on this part.

[0073] When a force generated by a machine is presented to the operator, there is a technology that allows the operator to perceive the force through force perception or vibrations intentionally transmitted from the control device, or a technology that allows the operator to perceive the force through intentional vibrations of the seat on which the operator sits. If a conventional machine intentionally transmits force feedback or vibrations through the control device to convey the forces generated to the operator, this feedback can make it difficult for the operator to perform precise operations. Furthermore, if a conventional machine induces vibrations in the operator's cabin, it can become difficult for the operator to accurately perceive changes in force. In addition, the vibrations can increase operator fatigue.

[0074] Therefore, in the remote control system SYS according to the present embodiment, the operator OP is prompted to detect changes in reaction force by a change in tone or a display that corresponds to changes in the reaction force generated at a part of the attachment AT. <Blockkonfiguration des Fernbedienungssystems>

[0075] Fig. Figure 4 is a functional block diagram illustrating a configuration example of the remote control system SYS according to the present embodiment. The diagram shown in Fig. Example 4 illustrates block configurations of the remote control room RC and the work machine 100, which are included in the remote control system SYS. The description of the hardware configuration of the work machine 100 is omitted. <Konfiguration von Fernbedienungsraum RC>

[0076] The remote control room RC comprises the remote control R40, the communication device T2, the operating sensor R43, the operating device R42, and the display device D1E. Since the communication device T2, the operating sensor R43, and the operating device R42 have already been described, their descriptions are omitted.

[0077] Next, the remote control room (RC) will be described. Fig. Figure 5 is a diagram illustrating an example layout of the remote control room RC. The remote control room RC contains several operating devices R42 with the operator seat DS serving as a reference.

[0078] In this embodiment, as in Fig. Figure 5 illustrates that the display device D1E is a multiple display device composed of six monitors arranged in two rows and three columns. In particular, the display device D1E comprises a central monitor D1Ea, an upper monitor D1Eb, a left monitor D1Ec, a right monitor D1Ed, an upper left monitor D1Ee, and an upper right monitor D1Ef. <<Funktionsblock von Arbeitsmaschine> >

[0079] Back to Fig. Section 4 describes each functional block in the controller 30 of the machine 100. The functional blocks included in the controller 30 are conceptual and do not necessarily have to be physically configured, as illustrated in the figure. All or some of the functional blocks can be configured to be functionally or physically distributed or integrated into freely defined units. All or some of the processing functions performed by the functional blocks can be implemented by a program executed by the CPU. Alternatively, the functional blocks can be implemented as hardware by wired logic. The controller 30 is equipped with a sensor 301, an identifier 302, a reaction force estimator 303, a transmission controller 304, a receiving controller 305, and an actuator driver 306, which execute the program.

[0080] The sensor 301 acquires signals from the various detection devices provided on the machine 100. For example, the sensor 301 acquires detection results from the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. The sensor 301 acquires detection results from each of the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B.

[0081] The sensor 301 acquires measurement results, such as the position and orientation of the machine 100, from the positioning device PS. The sensor 301 also acquires image information from the imaging device S6.

[0082] The identifier 302 performs control to identify a part in contact with a work object among the parts included in the attachment AT, based on image information (an example of a detection result) acquired by the imaging device (an example of a detector) S6.

[0083] For example, when the machine 100 performs excavation work, the identifier 302 processes the image information acquired by the imaging device S6 to determine the position of the work object and the bucket 6. The identifier 302 then detects whether any part of the bucket 6 is in contact with the work object and identifies the part of the bucket 6 that is in contact. Any technique can be used for image processing or other necessary processing. Then, when the excavation work starts, the identifier 302 identifies the claw tip of the bucket 6, based on the image information acquired by the imaging device S6, as the part that is in contact with the work object (the ground).For example, when the working machine 100 performs soil excavation work, the identifier 302 identifies the underside of the shovel 6, based on the image information captured by the imaging device S6, as a part that is in contact with the work object (the soil).

[0084] As a further example, when the working tool (end attachment) of the attachment AT of the working machine 100 is exchanged via coupling mechanisms or the like, the identifier 302 identifies, based on the image information captured by the imaging device S6, the surface of the coupling mechanism of the arm 5 (main body) which is provided at the tip of the attachment AT which is in contact with the coupling mechanism of the working tool which is the exchange target.

[0085] In the present embodiment, an example of using image information acquired by the imaging device S6 to identify a part in contact with a work object is described, but the method for identifying a part in contact with a work object is not limited to this method. For example, the identifier 302 can estimate a position (an example of a detection result) of the attachment AT based on the angle sensors (an example of a detector) S1, S2, and S3, and identify a part of the attachment AT in contact with the work object based on a positional relationship between the previously stored position of the work object (e.g., the ground) and the estimated position.As a further method for identifying a part in contact with a working object, the identifier 302 can, for example, calculate the lowest point of the blade 6 in the vertical direction based on the angle sensors (an example of a detector) S1, S2, and S3, and set the lowest point as the contact point with the ground. As yet another method, the identifier 302 can calculate a force and a moment exerted on a part of the blade 6 based on the detection results from each of the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B and the angle sensors (an example of a detector) S1, S2, and S3, and estimate the position of the contact point based on the calculated force and moment.

[0086] The reaction force estimator 303 estimates a direction and magnitude of reaction force generated at the part identified by the identifier 302 (e.g., the claw tip or the bottom surface of the shovel 6) based on the detection results from each of the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R and S9B and the position of the attachment AT detected by each of the angle sensors S1, S2 and S3.

[0087] In cases where the work is excavation, the reaction force is the reaction force to an excavation force and is a force equal in magnitude to the excavation force but acting in the opposite direction. The same applies in cases where the work is not excavation; the reaction force is a force equal in magnitude but acting in the opposite direction to a force acting on a work object.

[0088] For example, the reaction force estimator 303 can use any known techniques to estimate the direction and magnitude of the reaction force generated at a predetermined position based on the cylinder pressures detected by the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B, and the position of the attachment AT detected by the angle sensors S1, S2, and S3. For example, the reaction force estimator 303 can estimate the magnitude and direction of the reaction force by performing an inverse dynamic calculation based on the cylinder pressures detected by the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R, and S9B, and the position of the attachment AT detected by the angle sensors S1, S2, and S3.

[0089] The transmission controller 304 performs control to transmit various pieces of information, based on the results of the acquisition by the sensor 301, via the communication device (an example of a transmission device) T1 to the remote control room RC. For example, the transmission controller 304 performs control to transmit image information acquired by the image acquisition device S6 and position information, indicating the position and orientation of the work machine 100 identified by the positioning device PS, to the remote control room RC.

[0090] The transmission control 304 also performs control to transmit information about the position of the working machine 100 including the attachment AT, angle information from each of the boom angle sensors S1, arm angle sensors S2 and bucket angle sensors S3, swivel angle information from the swivel sensor S5 and cylinder pressures detected by each of the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R and S9B to the remote control room RC.

[0091] Furthermore, the transmission control 304 performs control to transmit information to the remote control room RC indicating a part that is in contact with the work object identified by the identifier 302, as well as information indicating the magnitude and direction of reaction force generated on the identified part, which was estimated by the reaction force estimator 303.

[0092] The receiving control unit 305 controls the reception of various information from the remote control room RC via the communication device T1. For example, the receiving control unit 305 receives an operating signal to control the operation of the work machine 100 from the remote control room RC.

[0093] The actuator driver 306 is configured to drive the actuators mounted on the working machine 100. In the present embodiment, the actuator driver 306 generates and outputs actuation signals for the respective solenoid valves contained in the proportional valve 31, based on the operating signal transmitted from the remote control room RC.

[0094] Each solenoid valve that receives the actuation signal increases or decreases the pilot pressure acting on the pilot port of the corresponding control valve in the control valve unit 17. As a result, the hydraulic actuator corresponding to each control valve operates at a rate equal to the stroke of the control valve. <<Funktionsblock von Fernbedienungsraum> >

[0095] The following describes the functional blocks of the remote control (an example of a controller) 40 of the remote control room RC. The functional blocks included in the remote control R40 are conceptual and need not necessarily be physically configured as illustrated in the figures. All or some of the functional blocks can be configured to be functionally or physically distributed or integrated into freely defined units. All or some of the processing functions performed by the functional blocks can be implemented by a program executed by the CPU. Alternatively, the functional blocks can be implemented as hardware by wired logic. The remote control R40 is equipped with a receiver controller 401, a work identifier 402, a converter 403, an output controller 404, a signal generator 405, and a transmission controller 406, which execute a program.

[0096] A storage device ST2 connected to the remote control R40 stores an output procedure memory ST2A.

[0097] The output procedure memory ST2A according to the present embodiment stores a correspondence relationship for outputting suitable information to the operator OP according to work performed by the work machine 100.

[0098] Fig. Figure 6 is a diagram illustrating a table structure of the ST2A output procedure memory according to the present embodiment. As shown in Fig. As illustrated in Figure 6, the output procedure memory ST2A stores a correspondence relationship to identify an output procedure for information that corresponds to work. As shown in Figure 6, the output procedure memory ST2A stores a correspondence relationship to identify an output procedure for information that corresponds to work. Fig. Figure 6 illustrates that the output procedure memory ST2A stores work, output destinations, and output procedures in relation to one another. Thus, the remote control R40 can vary the information to be output according to the work of the machine 100 by referencing the output procedure memory ST2A.

[0099] Assume that work is currently being performed by the work machine 100. Work includes, for example, "soil excavation", "tip replacement", "detection of hidden object", "excavation and deep excavation (excavation or deep excavation)", "optional work (disaster relief or response to abnormal situation)", "penetration phase of the excavation cycle", "excavation phase of the excavation cycle", "lifting phase of the excavation cycle", "swivel phase of the excavation cycle", and "earth removal (loading) phase of the excavation cycle".

[0100] The "soil excavation" is stored in conjunction with "tone output device" as an output goal and "change the amplitude or frequency of tone when the magnitude of the reaction force exceeds the predetermined reference" as an output procedure. The predetermined reference is determined based on a reference value representing an upper limit of the reaction force on the soil when soil excavation is performed.

[0101] When the work performed by the machine 100 is "soil excavation," the remote control R40 sets an output target to "tone output device," thus suppressing the prevention of lever actuation compared to cases where force perception, vibration, or the like is applied to the operating device. When the work performed by the machine 100 is "soil excavation," the remote control R40, as the output method, changes the amplitude or frequency of the tone when the magnitude of the reaction force exceeds the predetermined reference. Thus, the operator OP controls the machine 100 in such a way that the amplitude or frequency of the tone does not change, allowing the machine 100 to level the ground in a manner that reduces the reaction force upon contact with the ground.Since the operator OP can also detect the accuracy of the straightness of the claw tip of the bucket 6, the remote control system SYS can improve the operator OP's skills.

[0102] The “attachment change” is stored in conjunction with “display device” as an output target and “display of a vector indicating the magnitude and direction of reaction force on the tip of the coupling mechanism of the attachment” as an output procedure.

[0103] If the work performed by the machine 100 is a "bit change," the remote control R40 sets the output target to "display device," thereby communicating with the operator OP regarding the direction in which the reaction force is generated. In this case, the remote control R40 causes the tip of the bit's coupling mechanism to display a vector indicating the magnitude and direction of the reaction force as an output method. This allows the operator OP to detect the contact between the bit AT and the tool being coupled and to fine-tune the position of the tip of the bit AT's coupling mechanism.

[0104] The "hidden object detection" function is stored in conjunction with "sound output device" as an output destination, and "performing filter processing of a change in reaction force and changing the amplitude or frequency of the output sound according to a result of the filter processing" as an output procedure. The filter process uses, for example, a high-pass filter. In other words, the R40 remote control changes the amplitude or frequency of the output sound when the change in reaction force is large.

[0105] In the case where the work performed by the machine 100 is "detection of a hidden object," the remote control R40 sets the output target to "tone output device." The remote control R40 then filters for changes in reaction force and adjusts the amplitude or frequency of the emitted tone accordingly. This allows the operator OP to detect a sudden change in reaction force by observing the change in the amplitude or frequency of the emitted tone. Upon detecting such a change, the operator OP can halt operation, assuming that the bucket 6 or similar component is in contact with a hidden object, thus minimizing potential damage to the hidden object.The cutoff frequency of the high-pass filter used for filter processing is adjusted taking into account differences in the material of the hidden object to be detected, the shape of the blade 6, the properties (viscosity or the like) of the soil and sand, or the type of soil and sand. The remote control R40 according to the present embodiment performs the control described above as "hidden object detection," so that the operator OP can detect not only the presence of the hidden object when the blade 6 or the like is in contact with it, but also its presence immediately before the blade 6 or the like makes contact. Since contact between the blade 6 or the like and a hidden object can be suppressed, the degree of damage to the hidden object and the blade 6 or the like can be further reduced.

[0106] The remote control R40 according to the present embodiment is not limited to a method in which information (sound) is output according to the detection of the hidden object when a predetermined operation is received from the operator OP via the control device R42. For example, the remote control R40 can repeat the processing according to the detection of the hidden object in a predetermined cycle independently of any operation entered by the operator OP. For example, the remote control R40 can repeat the processing corresponding to the detection of a hidden object in a predetermined cycle from the time the claw tip of the bucket 6 touches the ground until the time the claw tip of the bucket 6 leaves the ground.

[0107] The work “Excavation / Deep Excavation” is stored in conjunction with “Sound Output Device” as an output target and “Output of sound with a different amplitude or frequency corresponding to the size of reaction force when the claw tip is not displayed” as an output procedure.

[0108] The R40 remote control sets the output target to "tone output device" when the work being performed by the machine 100 is "excavation / deep excavation (soil or ground excavation)." Based on the image information captured by the imaging device S6, the R40 remote control determines whether the claw tip of the bucket 6 is displayed on the display device D1E. The R40 remote control then performs a control action to "emit a tone with a different amplitude or frequency corresponding to the magnitude of the reaction force if the claw tip is not displayed." Therefore, if the operator OP cannot confirm the presence of the claw tip of the bucket 6 by referring to the display device D1E, the emitted tone allows the operator OP to determine the magnitude of the reaction force generated at the part (claw tip) in contact with the ground.This enables the operator OP to operate the working machine 100 taking into account the magnitude of the reaction force.

[0109] The work “Excavation / Deep Excavation” is stored in conjunction with “Display Device” as an output target and “Display a vector indicating the magnitude and direction of reaction force on the part in contact with the work object” as an output procedure.

[0110] If the work being performed by the machine 100 is "Excavation / Deep Excavation (Excavation or Soil Removal)," the remote control R40 sets the output target to "Display Device." The remote control R40 then performs a control operation to "display a vector indicating the magnitude and direction of the reaction force on the part in contact with the workpiece." By referring to the screen of the display device D1E, the operator OP can determine the magnitude of the reaction force being generated on a part in contact with the workpiece. The operator OP is thus able to operate the machine 100 taking the magnitude of the reaction force into account.

[0111] The “optional work (disaster relief or response to abnormal situation)” is stored in conjunction with “sound output device” as an output destination and “output warning tone when the value exceeds the threshold” as an output procedure.

[0112] The R40 remote control emits a warning tone from the SP2E tone output device when the magnitude of the reaction force exceeds the threshold, regardless of the work being performed by the machine 100. The threshold is determined depending on the specific configuration. Therefore, it is possible to prevent overloading of the machine 100 and thus avoid damage to an object.

[0113] The output procedure memory ST2A stores gains G1 to G5 for outputting sound from the sound output device SP2E in association with each of the "penetration phase of the excavation cycle", "excavation phase of the excavation cycle", "lifting phase of the excavation cycle", "swivel phase of the excavation cycle" and "earth discharge (loading) phase of the excavation cycle".

[0114] Changing the volume of the output tone allows the operator (OP) to detect the switching of the operating phase. Furthermore, according to the present embodiment, the remote control R40 can output a tone corresponding to the operating phase. For example, during the "ground discharge (charge) phase," the remote control R40 makes the gain G5 lower than the gains G1 to G4 of the other phases, as it is disruptive to have a tone output during this phase. As another example, during the "penetration phase," the remote control R40 makes the gain G1 of the tone corresponding to the reaction force of the vertical component higher than the gains G2 to G4 of the other phases, in order to enable the operator (OP) to detect the reaction force generated at the claw tip or the like.

[0115] Back to Fig. 4, the receiving control 401 performs control to receive various information from the working machine 100 via the communication device T2.

[0116] For example, the receiving control unit 401 performs control operations to receive image information from the machine 100, which was acquired by the image acquisition device S6, and position information indicating the position and orientation of the machine 100, which was identified by the positioning device PS. The receiving control unit 401 controls the reception of detection results from various detection devices provided on the machine 100.

[0117] In addition, the receiving control 401 also performs control to receive information about the position of the working machine 100 including the attachment AT angle information from each of the boom angle sensor S1, the arm angle sensor S2 and the bucket angle sensor S3, swivel angle data from the swivel sensor S5 and cylinder pressures detected by each of the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R and S9B.

[0118] In addition, the receiving control 401 performs control to receive information indicating a part that is in contact with a work object, as well as information indicating the magnitude and direction of reaction force generated on an identified part, which is estimated by the reaction force estimator 303.

[0119] The work identifier 402 identifies work performed by the machine 100 based on information about the content of an operation carried out at the control device R42, which is detected by the operating sensor R43. The method for identifying work based on operating content can use any method, whether known or not. The present embodiment is not limited to a method for identifying work of the machine 100 based on the content of an operation carried out at the control device R42, which is detected by the operating sensor R43; for example, a method for identifying work of the machine 100 based on an operation of the machine 100 detected by different sensors can be used.As a modified example, there is a procedure in which the work identifier 402 identifies work that is set by the operator OP as the work to be performed by the work machine 100 when setting of work is entered by the operator OP via the operating device R42 or the like.

[0120] The converter 403 converts the received information, which indicates the magnitude and direction of reaction force, into information to be output by the display device D1E or the sound output device SP2E. Although the present embodiment describes an example in which the information to be output varies depending on the work, the present embodiment is not limited to a mode in which the information to be output varies depending on the work, and it is sufficient that the magnitude or direction of reaction force at a part in contact with a work object can be output as information that the operator OP can recognize.

[0121] The converter 403 according to the present embodiment identifies an output destination for the information from the display device D1E and the sound output device SP2E based on the work identified by the work identifier 402 and the output method memory ST2A. The converter 403 then converts the information indicating the magnitude and direction of reaction force into output information, based on the output method corresponding to the identified work.

[0122] Since the converter 403 according to the present embodiment performs this conversion according to the one described in the Fig. The information to be output by at least one of the display devices D1E or the sound output device SP2E differs depending on the identified work, as illustrated in the output procedure memory ST2A.

[0123] For example, in the case where the output destination of the information is identified as the SP2E sound output device, the converter 403 converts the information indicating the magnitude of reaction force into a sound that indicates the magnitude by a frequency.

[0124] Fig. Figure 7 is a diagram illustrating a correspondence relationship between the work performed by the working machine 100 according to the first embodiment and the output information.

[0125] As in the graph (A) of Fig. Figure 7 illustrates that the working machine 100, which is initially in a work stop state 100A, successively performs a penetration phase 100B of the excavation cycle, an excavation phase 100C of the excavation cycle and a lifting phase 100D of the excavation cycle.

[0126] In Fig. 7 are defined as period P1 of the work stop state 100A, period P2 of the penetration phase 100B of the excavation cycle, period P3 of the excavation phase 100C of the excavation cycle and period P4 of the lifting phase 100D of the excavation cycle.

[0127] A line 1711 in the graph (B) of Fig. 7 indicates the magnitude of the reaction force received by the working machine 100 through the receiving control unit 401.

[0128] The graph (C) in Fig. Figure 7 illustrates the tone converted by the converter 403 based on the magnitude of the received reaction force. In graph (C) in Fig. As illustrated in Figure 7, the frequency of the tone is changed according to the magnitude of the reaction force. Specifically, the frequency increases when the absolute value of the reaction force increases, and the frequency decreases when the absolute value of the reaction force decreases. The converter 403 can convert tone to tone with a slightly different frequency superimposed to create ripple. For example, the converter 403 converts tone to tone where the frequency increases when the absolute value of the reaction force increases, and the frequency of the ripple increases when the absolute value of the reaction force increases, and converts tone to tone where the frequency decreases when the absolute value of the reaction force decreases, and the frequency of the ripple decreases when the absolute value of the reaction force decreases. Furthermore, the output controller 404 can simultaneously output tone from multiple SP2E tone output devices.In the case where sound is simultaneously output by each of several sound output devices SP2E, the frequency increases as the absolute value of the reaction force increases, and the frequency of the ripple caused by the sound output by the several sound output devices SP2E can also increase as the absolute value of the reaction force increases. When several sound output devices SP2E are provided, the output controller 404 can select different sound output devices SP2E to output sound, depending on the direction of the reaction force. Thus, the output controller 404 varies the sound output devices SP2E for outputting sound according to periods P2, P3, and P4.

[0129] In the graph (C) of Fig. In the illustrated example 7, the volume (amplitude) of the tone changes according to the phase of the excavation cycle. Specifically, in period P2 of the penetration phase 100B of the excavation cycle, the tone output is greater than in period P3 of the excavation phase 100C, and in period P4 of the lifting phase 100D of the excavation cycle, the tone output is less than in period P3 of the excavation phase 100C. As described above, the remote control R40 changes the volume of the emitted tone according to the phase, so that the operator OP can detect the phase change.

[0130] The present embodiment illustrates an example of outputting sound and displaying an image to present the reaction force to the operator (OP). However, the present embodiment does not limit the method of presenting the reaction force to sound and an image. For example, vibration can be used to present the reaction force to the operator (OP). In the remote control system (SYS) according to the modified example, the operator (OP) wears a portable device to present the reaction force by vibration.

[0131] The graph (D) of Fig. Figure 7 illustrates the vibration converted by the converter 403 based on the magnitude of the received reaction force. In the graph (D) of Fig. In Figure 7, the frequency and amplitude of the vibration are changed according to the magnitude of the reaction force. Specifically, the frequency and amplitude increase when the absolute value of the reaction force increases, and the frequency and amplitude decrease when the absolute value of the reaction force decreases. In the case where several vibrators are provided in the portable device, the output controller 404 can change the vibrators to be vibrated according to the direction of the reaction force. Although graph (D) of Fig. Figure 7 illustrates an example where the frequency and amplitude are changed according to the magnitude of the reaction force; for example, the amplitude or the frequency can be changed according to the magnitude of the reaction force.

[0132] In the graph (D) of Fig. In the illustrated example 7, the gain used for conversion to the vibration amplitude is changed according to the phase of the excavation cycle. Specifically, the gain for the penetration phase 100B of the excavation cycle is greater than the gain for the excavation phase 100C. The gain for the lifting phase 100D of the excavation cycle is less than the gain for the excavation phase 100C. As described above, the remote control R40 changes the output amplitude according to the phase, allowing the operator (OP) to detect the phase change.

[0133] Back to Fig. 4. When the output destination of information is identified as the display device D1E, the converter 403 converts information indicating the reaction force into an image indicating the magnitude and direction of the reaction force. The image obtained by the conversion is, for example, an arrow image. In the arrow image, the direction of the reaction force is indicated by the direction of the arrow, and the magnitude of the reaction force is indicated by the length of the arrow.

[0134] Output control 404 performs control to output various types of information from the sound output device SP2E and the display device D1E. For example, output control 404 performs control to output image information captured by the imaging device S6 to the display device D1E.

[0135] Furthermore, the output controller 404 causes the information converted by the converter 403 to be output. For example, if the converter 403 converts information into sound, the output controller 404 causes the sound converted by the converter 403 to be output by the sound output device SP2E. If multiple sound output devices SP2E are provided in the remote control room RC, the output controller 404 causes the sound converted by the converter 403 to be output from the sound output device SP2E that corresponds to the direction of the reaction force. Therefore, the output controller 404 performs control to output a sound that represents one or more of the direction and magnitude of the reaction force from the sound output device SP2E.

[0136] The output controller 404 according to the present embodiment performs control to output sound by continuously changing the frequency of the sound according to the magnitude of the reaction force generated at a part in contact with a work object. The output controller 404 according to the present embodiment is not limited to a mode in which the frequency of the sound is continuously changed according to the magnitude of the reaction force, but can continuously change the phase, amplitude, or direction of the output sound according to the magnitude of the reaction force. Furthermore, the output controller 404 can continuously change the phase, frequency, or amplitude of the sound according to the direction of the reaction force generated at a part in contact with a work object.For example, output control 404 can use a technique in which the direction of reaction force is pseudo-detected by continuously changing the phase of tone according to the direction of reaction force.

[0137] Furthermore, the output controller 404 can continuously change not only tone but also vibration according to at least one of the magnitude or direction of a reaction force. Alternatively, if, for example, the operator (OP) is wearing a portable device equipped with multiple vibrators, the output controller 404 issues a command to vibrate the portable device. The vibrate command, for example, is a command to continuously change the amplitude according to the magnitude of the reaction force, as shown in graph (D) of Fig. Figure 7 illustrates this. If the portable device is equipped with multiple vibrators, the output controller 404 issues a command to vibrate the vibrator, which is linked to the direction of the reaction force among the multiple vibrators. Furthermore, the output controller 404 can continuously change the frequency, phase, or output direction of one or more vibrators according to the magnitude of the reaction force generated at a part in contact with a work object, or it can continuously change the frequency, amplitude, or phase of one or more vibrators according to the direction of the reaction force generated at a part in contact with a work object.

[0138] In the case where the converter 403 converts an image into an image that represents at least one of the direction or magnitude of reaction force, the output control 404 further causes the image converted by the converter 403 to be output by the display device (an example of an output device) D1E.

[0139] As described above, the output control 404 according to the present embodiment controls the output of information indicating the reaction force generated on a part in contact with a working object from the tone output device SP2E or from the display device D1E, which is estimated on the basis of detection results from the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R and S9B and a position of the attachment AT detected by each of the angle sensors S1, S2 and S3.

[0140] Fig. Figure 8 is a diagram illustrating an example of the screen displayed on the central monitor D1Ea according to the present embodiment. Image information captured by the front camera S6F is displayed on the central monitor D1Ea.

[0141] Before the in Fig. As illustrated in image 8, the receiving controller 401 receives information in which the claw tip of the shovel 6 is identified as a part in contact with a work object. Therefore, on a Fig. 8 illustrated screen 1800 displays an arrow image 1811 in an area 1801 corresponding to the claw tip of the shovel 6 in the image information captured by the image-capturing device S6.

[0142] Arrow diagram 1811 shows the magnitude and direction of the reaction force generated at the claw tip. The operator (OP) can determine the magnitude and direction of the reaction force by referring to arrow diagram 1811.

[0143] Although Fig. Figure 8 illustrates an example of a screen display on which the magnitude and direction of reaction force can be detected. However, the present embodiment is not limited to displaying a screen on which the magnitude and direction of reaction force can be detected. For example, the remote control R40 can cause the monitor to display a screen on which the magnitude of reaction force can be detected.

[0144] Fig. Figure 9 is a diagram illustrating another example of the display screen shown on the central monitor D1Ea according to the present embodiment. Image information captured by the front camera S6F is displayed on the central monitor D1Ea.

[0145] In Fig. In step 9, a measurement display image 1911 is shown, indicating a magnitude of reaction force. Measurement display image 1911 is an image that indicates the magnitude of reaction force by its length. The operator OP can determine the magnitude of reaction force by referring to measurement display image 1911.

[0146] In the present embodiment, the image indicating the magnitude of the reaction force is not limited to a measurement display image. For example, the R40 remote control can use a circular image as an image indicating the magnitude of the reaction force. For example, the size and color of the circular image differ depending on the magnitude of the reaction force. Therefore, the operator OP can identify the magnitude of the reaction force by referring to the circular image based on the size and color of the circle.

[0147] The signal generator 405 generates an operating signal to control the operation of the working machine 100 according to an operation received from the operating sensor R43.

[0148] The transmission controller 406 performs control operations to transmit various types of information to the remote control room RC. For example, the transmission controller 406 performs control operations to transmit the operating signal generated by the signal generator 405 to the working machine 100.

[0149] A processing operation is described which is carried out by the remote control system SYS according to the present embodiment. Fig. Figure 10 is a sequence diagram illustrating an overall processing flow in the remote control system SYS according to the present embodiment.

[0150] The remote control R40 of the remote control room RC receives an operation performed by the operating device R42 from the operating sensor R43 (S1011).

[0151] Then, based on the received operation, the work identifier 402 identifies the work to be carried out with the work machine 100 (S1012).

[0152] The signal generator 405 generates an operating signal for controlling the operation of the working machine 100 (S1013) based on the operation received at S1011.

[0153] The transmission control 406 performs control to transmit the operating signal generated by the signal generator 405 to the working machine 100 (S1014).

[0154] The actuator driver 306 drives the actuators mounted on the working machine 100 on the basis of the operating signal (S1001) received by the receiver control 401.

[0155] The detector 301 acquires detection results from various detection devices provided on the machine 100 (S1002). The detection results acquired by the various detection devices include, for example, detection results from the respective cylinder pressure sensors S7R, S7B, S8R, S8B, S9R and S9B, as well as image information from the imaging device S6.

[0156] The identifier 302 identifies, based on the image information acquired by the imaging device S6, a part that is in contact with a work object among the parts included in the attachment AT (S1003).

[0157] Based on the detection results of the cylinder pressure sensors S7R, S7B, S8R, S8B, S9R and S9B and the position of the attachment AT, the reaction force estimator 303 estimates the direction and magnitude of reaction force generated at the part identified by the identifier 302 (for example, the claw tip or the bottom of the bucket 6) (S1004).

[0158] The transmission control 304 transmits the detection results acquired by the detector 301, information indicating the identified part, and information indicating the estimated reaction force to the remote control room RC (S1005).

[0159] The converter 403 converts the received information indicating the magnitude and direction of reaction force, taking into account the work identified at S1012 and the output procedure memory ST2A, into information that is output by at least one of the display device D1E or the sound output device SP2E (S1015).

[0160] The output control 404 performs control to output the information (for example, sound or image) converted by the converter 403 from at least one of the display device D1E or the sound output device SP2E (S1016).

[0161] The remote control system SYS according to the present embodiment illustrates one example of the configuration and is not limited to the configuration described above. For example, the identifier 302 and the reaction force estimator 303, which are included in the controller 30 in the configuration described above, can be provided in the remote controller R40. Furthermore, the working identifier 402 and the converter 403, which are included in the remote controller R40 in the configuration described above, can be provided in the controller 30.

[0162] In the present embodiment, the remote control R40, as shown in Fig.Figure 6 illustrates how information is output to a type of output destination corresponding to the work being performed. However, information can be output to multiple types of output destinations. For example, the R40 remote control can link a "sound output device" to a "vibrator" as an output destination for "excavation / deep excavation." In this case, if the work being performed by the working machine 100 is "excavation / deep excavation," the R40 remote control will simultaneously output the sound from the SP2E sound output device, which has a different amplitude or frequency depending on the magnitude of the reaction force, and the vibration from the portable device. (Modified Example 1)

[0163] In the embodiment described above, an example was provided in which the remote control system SYS outputs information corresponding to the reaction force of a part of the working machine 100 that is in contact with a work object to the remote control room RC. However, the embodiment described above does not limit the output destination of the information corresponding to the reaction force of a part in contact with a work object to the remote control room RC. The present modified example assumes a case in which a control system for working machines is applied to the working machine 100 and an operator operates the working machine 100 on board.

[0164] The control unit 30 of the working machine 100 according to the present modified example comprises part of the configuration of the control unit 30 of the preceding embodiment (in particular the sensor 301, the identifier 302 and the reaction force estimator 303) and part of the configuration of the remote control R40 of the preceding embodiment (in particular the work identifier 402, the converter 403 and the output control 404). In addition, a storage device provided in the working machine 100 (not illustrated) stores the output procedure memory ST2A.

[0165] The control unit 30, according to the present modified example, includes the configuration described above to identify a part of the attachment AT that is in contact with a workpiece and to estimate the magnitude and direction of the reaction force generated at the identified part. The control unit 30 identifies work performed by the working machine 100 based on the content of an operation performed at the operating device 26. The control unit 30 then converts information indicating the magnitude and direction of the estimated reaction force, taking into account the identified work and the output procedure memory ST2A, into information that is output by the display device D1 or the audio output device (provided in the operator's cab 10). The control unit 30 then outputs the converted information from the display device D1 or from the audio output device (provided in the operator's cab 10).

[0166] The control unit 30 according to the present modified example has the configuration described above, so that the same effect as in the preceding embodiment can be achieved. <Vorteilhafte Wirkungen>

[0167] The remote control system SYS according to the preceding embodiment and the working machine 100 according to the modified example described above output information indicating the reaction force generated at a part in contact with a workpiece. By providing feedback of this reaction force information to the operator, the operator can easily ascertain the operating status of the working machine 100. This allows the operator to perform operations while remaining aware of the machine's condition. Therefore, the remote control system SYS of the preceding embodiment and the working machine 100 of the modified example described above can reduce the operator's workload.

[0168] The remote control system SYS of the preceding embodiment and the working machine 100 of the modified example described above identify the work performed by the working machine 100 based on an operation of the working machine 100 or an operation received from the control device, and the information output by the output device differs according to the identified work. Therefore, the operator can recognize information about work with corresponding reaction force. Thus, the remote control system SYS of the preceding embodiment and the working machine 100 of the modified example described above can reduce the workload required to operate the working machine 100.

[0169] The remote control system SYS of the preceding embodiment and the working machine 100 of the modified example described above output at least one of the following: sound, vibration, or image, all of which are derived from information indicating reaction force, so that the operator can easily perceive changes in reaction force. Since the remote control system SYS of the preceding embodiment and the working machine 100 of the modified example described above provide at least one of the following: sound output from the sound output device SP2E, image output from the display devices D1E and D1, or vibration output to the portable device, the operator's lever operation is not disrupted, and the operator's strain and fatigue can be reduced compared to cases where force perception and vibration are applied to the operating device or the operator's seat, etc.Furthermore, the SYS remote control system of the preceding embodiment and the working machine 100 of the modified example described above enable the operator to detect changes in reaction force without having to replace the control device, the operator seat, or other components. As a result, a cost-effective system is provided that can be retrofitted.

[0170] The preferred embodiments and modified examples of the present disclosure have been described. However, the present disclosure is not limited to the embodiments and examples described above. Various modifications, substitutions, and the like may be applied to the embodiment described above without deviating from the scope of the present disclosure. Any of the features described with reference to the embodiments described above may be combined appropriately, provided there is no technical conflict.

Claims

Control system for a working machine, comprising: the working machine with an attachment; a drive force detection device configured to detect a drive force for driving the attachment; an output device configured to output information to an operator operating the working machine; a detector configured to detect a part of the attachment in contact with a work object; an identifier configured to perform control to identify the part of the attachment in contact with the work object based on a detection result from the detector;and an output controller configured to perform control to output initial information from the output device indicating the reaction force generated at the identified part, the initial information being estimated based on the detection result of the driving force detection device. Control system for the working machine according to claim 1, further comprising: a work identifier configured to identify the work performed by the working machine on the basis of an operation of the working machine or an operation received from an operating device, wherein the output control is configured to modify the information output by the output device differently according to the identified work. Control system for the working machine according to claim 1 or 2, wherein the output control is configured to perform control to output sound, vibration or image from the output device indicating at least one of a direction or magnitude of the reaction force. Control system for the working machine according to claim 3, wherein the output control is configured to continuously change at least one of a frequency, amplitude, phase or output direction of the sound or vibration according to at least one of a direction or magnitude of the reaction force. Control system for the working machine according to claim 3, wherein the output control is configured to perform control to output sound or vibration from one of several output devices corresponding to the direction of the reaction force, wherein one of the several output devices is the output device. Control system for the working machine according to claim 1, wherein the detector comprises a position detection device configured to detect a position of the attachment, and the output control is configured to perform control to output second information from the output device indicating the reaction force generated on the identified part, wherein the second information is estimated on the basis of a detection result of the drive force detection device and a position detected by the position detection device.

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