Control system and control method

Abstract

To provide a control system and a control method which allow an MG function and an MC function to be introduced to a work machine as necessary.SOLUTION: A control system 1 comprises an A / M switch 35, a drive controller 65, a use time acquisition unit 72, and a charge amount calculation unit 83. When the A / M switch 35 receives a use start instruction, the drive controller 65 sets an MC function to an available ON state. The use time acquisition unit 72 acquires a use time of the MC function. The charge amount calculation unit 83 calculates a charge amount for use of the MC function on the basis of the use time.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a control system and a control method for a work machine. [Background technology]

[0002] In recent years, ICT (Information and Communication Technology) construction using work machines equipped with at least one of a machine control function (hereinafter referred to as "MC function") and a machine guidance function (hereinafter referred to as "MG function") has been becoming more widespread (see, for example, Patent Document 1).

[0003] Examples of the work machine include hydraulic excavators, bulldozers, wheel loaders, motor graders, etc. The MC function is a function that automatically or semi-automatically drives the drive mechanism based on a target value. The MG function is a function that presents an image or the like that shows the relative position of the work machine with respect to a target surface to the operator. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2023-10051 A Summary of the Invention [Problem to be solved by the invention]

[0005] Generally, a work machine equipped with an MG function is more expensive than a base grade work machine that is not equipped with an MG function or an MC function, and a work machine equipped with an MC function is even more expensive.

[0006] On the other hand, if the MG function and MC function can be introduced into a work machine according to the needs of the user, it is possible to improve user convenience while reducing the burden on the user.

[0007] An object of the present disclosure is to provide a control system and a control method that are capable of introducing an MG function or an MC function into a work machine according to the needs of a user. [Means for solving the problem]

[0008] A control system according to a first aspect of the present disclosure includes a reception unit, a drive unit, a usage time acquisition unit, and a charge calculation unit. The reception unit receives an instruction to start using a machine control function of a drive mechanism equipped in a work machine. When the reception unit receives the instruction to start using, the drive unit turns the machine control function on so that it can be used. The usage time acquisition unit acquires the usage time of the machine control function. The charge calculation unit calculates the charge for use of the machine control function based on the usage time.

[0009] A control system according to a second aspect of the present disclosure includes a charge calculation unit, a first display unit, and a second display unit. The charge calculation unit calculates a charge for use of at least one of a machine control function of a drive mechanism equipped in a work machine and a machine guidance function that presents the position of the work machine to an operator, based on usage information including usage time of at least one of the functions and related information regarding the at least one function. The first display unit is disposed outside an operation room of the work machine, and displays the usage information and the charge amount. The second display unit is disposed inside the operation room, and displays the usage time. Effect of the Invention

[0010] According to the present disclosure, it is possible to provide a control system and a control method that are capable of introducing an MG function or an MC function into a work machine as needed. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of a hydraulic excavator according to an embodiment. [Diagram 2] FIG. 2 is a block diagram of a control system according to the embodiment. [Diagram 3]FIG. 3 is a schematic diagram showing a display example of the monitor according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram showing a display example of the monitor according to the embodiment. [Diagram 5] FIG. 5 is a flow diagram for explaining a control method of the control system according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] (Work Machinery) The configuration of a hydraulic excavator 100, which is an example of a work machine, will be described with reference to the drawings. Fig. 1 is a side view of the hydraulic excavator 100 according to this embodiment.

[0013] The hydraulic excavator 100 is equipped with a machine control function (hereinafter referred to as "MC function") of the drive mechanism, which will be described later, and is applicable to ICT construction. The MC function of the drive mechanism is a function that drives the drive mechanism automatically or semi-automatically based on a target value. The drive mechanism of the work machine includes the work equipment, the slewing device, and the traveling device.

[0014] In the case of the hydraulic excavator 100 shown in this embodiment, the MC functions include automatic control functions such as a geofence function, a work machine operation limit control function, an on-line travel position alignment function, an on-line swing position alignment function, and a semi-automatic swing function. The geofence function is a function that sets a work restricted area and limits the operation of the drive mechanism so that the hydraulic excavator 100 does not contact or enter the set work restricted area. The work restricted area may be a planar figure (a line, a surface, etc.) or a solid figure (a sphere, a cone, a rectangular prism, etc.). The work machine operation limit control function is a function that acquires a target terrain and limits the operation of the work machine 40 approaching the acquired target terrain. The on-line travel position alignment function is a function that acquires a target line and limits the travel operation by the traveling device based on the acquired target line. The on-line swing position alignment function is a function that acquires a target line and limits the swing operation by the traveling device based on the acquired target line. The semi-automatic swing function is a function that generates a target route and limits the operation of the work machine and the swing operation by the traveling device according to the generated target route.

[0015] The MC function may include two or more of these automatic control functions, or may include only one of the automatic control functions.

[0016] 1, the hydraulic excavator 100 includes a traveling device 10, a rotating device 20, a rotating body 30, and a work machine 40. The traveling device 10, the rotating device 20, and the work machine 40 are each an example of a "drive mechanism" according to the present disclosure. In the following description, the traveling device 10, the rotating device 20, and the work machine 40 may be collectively referred to as the "drive mechanism."

[0017] The traveling device 10 has driving wheels 11, idler wheels 12, and crawler belts 13. The crawler belts 13 are wound around the driving wheels 11 and the idler wheels 12. The driving wheels 11 are driven by driving force from the engine, causing the hydraulic excavator 100 to travel.

[0018] The slewing device 20 is disposed between the traveling device 10 and the rotating body 30. The slewing device 20 rotates the rotating body 30 relative to the traveling device 10 about an axis along the vertical direction. The rotating body 30 has a cab 31, an engine room 32, and a counterweight 33.

[0019] An operation room 31S is provided in the cab 31. The hydraulic excavator 100 according to this embodiment is operated by an operator who sits in the operation room 31S in the cab 31. An operation member 34 for operating the drive mechanism is disposed in the cab 31. A monitor 64, which will be described later, is disposed in the cab 31. An engine room 32 is disposed behind the cab 31, and a counterweight 33 is disposed behind the engine room 32.

[0020] An auto / manual switch (hereinafter referred to as "A / M switch") 35 is attached to the operating member 34. The A / M switch 35 is an example of a "receiving unit" according to the present disclosure. The A / M switch 35 receives an instruction to start using the MC function and an instruction to stop using the MC function from the operator of the hydraulic excavator 100. When pressed by the operator, the A / M switch 35 receives an instruction to start using the MC function. After receiving the instruction to start using the MC function, the A / M switch 35 receives an instruction to stop using the MC function when pressed again by the operator. The A / M switch 35 transmits the instruction to start using the MC function and the instruction to stop using the MC function to the drive controller 65, which will be described later.

[0021] The work machine 40 is used for various tasks such as excavation and ground leveling. The work machine 40 has a boom 41, an arm 42, a bucket 43, and hydraulic cylinders 44-46. A base end of the boom 41 is rotatably connected to the rotating body 30. A base end of the arm 42 is rotatably connected to a tip end of the boom 41. The bucket 43 is rotatably connected to a tip end of the arm 42. The hydraulic cylinders 44-46 drive the boom 41, the arm 42, and the bucket 43, respectively.

[0022] (Control System) The configuration of the control system 1 according to this embodiment will be described with reference to the drawings. Fig. 2 is a block diagram of the control system 1 according to this embodiment.

[0023] The control system 1 is a system for linking a billing side that bills for the use of the MC function in the hydraulic excavator 100 with a paying side that pays the billing amount by using the MC function in the hydraulic excavator 100. In this embodiment, the billing side is assumed to be an MC function provider, a contract manager related to the MC function, a billing requester, etc., and the paying side is assumed to be a contract manager on the user's side, an MC cost manager on the user's side, etc.

[0024] The control system 1 includes a hydraulic excavator 100, a management server 200, and a management terminal 300.

[0025] [Hydraulic Excavator 100] The hydraulic excavator 100 has a communication unit 61, a management controller 62, a monitor controller 63, a monitor 64, and a drive controller 65. The hydraulic excavator 100 also has the traveling device 10, the swing device 20, the operating member 34, the A / M switch 35, and the work machine 40 described above.

[0026] [Communications Section 61] The communication unit 61 is capable of communicating with a communication unit 81 of the management server 200, which will be described later, via a communication network such as wireless communication or the Internet.

[0027] [Management Controller 62] The management controller 62 is connected to the communication unit 61, the monitor controller 63, and the drive controller 65. The management controller 62 includes a notification unit 71 and a usage time acquisition unit 72.

[0028] The notification unit 71 constantly receives MC function state information, described later, from the drive controller 65. As described later, the MC function state information indicates whether the usage state of the MC function is "standby state," "operating state," or "off state." Upon receiving the MC function state information, the notification unit 71 transmits the MC function state information to both the monitor controller 63 and the usage time acquisition unit 72.

[0029] The usage time acquisition unit 72 receives the MC function state information from the notification unit 71. The usage time acquisition unit 72 refers to the MC function state information and determines whether the usage state of the MC function is a "standby state," "operating state," or "off state."

[0030] The usage time acquisition unit 72 acquires the usage time of the MC function as follows.

[0031] The usage time acquisition unit 72 acquires the start time of the usage time in response to receipt of a usage start instruction by the A / M switch 35. In this embodiment, the usage time acquisition unit 72 determines that the start time of the usage time is when the MC function is turned on, that is, when the usage state of the MC function indicated by the MC function state information switches from "off state" to "standby state" or "operating state".

[0032] The usage time acquisition unit 72 acquires the end time of the usage time in response to the A / M switch 35 receiving a usage end instruction and in response to the execution conditions of the MC function being no longer satisfied. In this embodiment, the usage time acquisition unit 72 determines the end time of the usage time to be when the MC function is turned off, that is, when the usage state of the MC function indicated by the MC function state information switches from "standby state" or "operating state" to "off state." The execution conditions of the MC function will be described later.

[0033] The usage time acquisition unit 72 can acquire the difference between the start time and the end time as the usage time. Alternatively, the usage time acquisition unit 72 can acquire the usage time by starting counting the usage time from the start time and ending counting the usage time at the end time.

[0034] The usage time acquisition unit 72 acquires the usage time each time the MC function is used. In this embodiment, the usage time acquisition unit 72 acquires the usage time each time the usage state of the MC function indicated by the MC function state information switches from the "standby state" or "operating state" to the "off state."

[0035] The usage time acquiring unit 72 generates usage information including usage time information on the acquired usage time and related information on the hydraulic excavator 100. It is preferable that the usage time acquiring unit 72 generates the usage information periodically. In this embodiment, the usage time acquiring unit 72 generates the usage information for each first period. The length of the first period is not particularly limited, but can be set to, for example, 24 hours.

[0036] The usage time information includes the usage time acquired by the usage time acquisition unit 72. The usage time information includes the usage time acquired after the previous generation of usage information. If the usage time acquisition unit 72 acquires the usage time only once, the usage time information includes the usage time for that one time. If the usage time acquisition unit 72 acquires the usage time multiple times, the usage time information includes the total time of the multiple usage times as the usage time. If the usage time acquisition unit 72 does not acquire the usage time even once, the usage time included in the usage time information is set to "0".

[0037] It is preferable that the use time information includes the date on which the use time was acquired in addition to the use time.

[0038] The associated information includes a work machine identification number that is unique to the hydraulic excavator 100. The work machine identification number is specified by numbers, letters, symbols, or a combination of two or more of these.

[0039] The related information preferably includes at least one of an operator identification number unique to an operator who operates the hydraulic excavator 100 and the contents of the MC function. The operator identification number is specified by numbers, letters, symbols, or a combination of two or more of these. The contents of the MC function are information indicating which of the automatic control functions included in the MC function (geofence function, work machine operation limit control function, on-line traveling position alignment function, on-line swing position alignment function, semi-automatic swing function, etc.) has been activated in advance.

[0040] The usage time acquisition unit 72 transmits the generated usage information to the management server 200 via the communication unit 61. In this embodiment, the usage time acquisition unit 72 transmits the usage information to the management server 200 for each first period. The usage time acquisition unit 72 may transmit the usage information to the management server 200 in response to a request from the management server 200.

[0041] However, if communication between the communication unit 61 and the management server 200 cannot be established, the usage time acquisition unit 72 cannot transmit the usage information to the management server 200. In this case, the usage time acquisition unit 72 transmits the usage information to the management server 200 again when communication between the communication unit 61 and the management server 200 is established.

[0042] The usage time acquisition unit 72 transmits the usage time information to the monitor controller 63. It is preferable that the usage time acquisition unit 72 periodically transmits the usage time information to the monitor controller 63. The timing of transmitting the usage time information to the monitor controller 63 may be the same as or different from the timing of transmitting the usage information to the management server 200.

[0043] [Monitor Controller 63] The monitor controller 63 controls the display of the monitor 64 as follows: Figures 3 and 4 are schematic diagrams showing examples of the display of the monitor 64.

[0044] The monitor controller 63 constantly receives MC function state information from the notification unit 71. The monitor controller 63 refers to the MC function state information and determines whether the usage state of the MC function is a "standby state," "operating state," or "off state."

[0045] When the usage state of the MC function indicated by the MC function state information switches from "off state" to "standby state" or "operating state", the monitor controller 63 causes the monitor 64 to display a message 64a indicating that "the MC function has been switched to a paid mode in which it can be used", as shown in FIG. 3.

[0046] As shown in FIG. 3, the monitor controller 63 causes the monitor 64 to display, together with the message 64a, an announcement 64b indicating that "to leave the pay mode, the A / M switch 35 must be pressed again."

[0047] The monitor controller 63 receives the usage time information from the management controller 62. The monitor controller 63 can display the usage time 64c included in the usage time information on the monitor 64, as shown in Fig. 4. The monitor controller 63 may display the usage time 64c on the monitor 64 when the operator requests the display of the usage time 64c. When the usage time information includes a date 64d, the monitor controller 63 may display the date 64d when the usage time 64c was acquired on the monitor 64 together with the usage time 64c, as shown in Fig. 4.

[0048] In this embodiment, the monitor controller 63 does not calculate the charge for the use of the MC function. Furthermore, the monitor controller 63 does not acquire the charge calculated by the charge calculation unit 83 of the management terminal 300, which will be described later. Therefore, the monitor controller 63 does not cause the monitor 64 to display the charge.

[0049] [Monitor64] The monitor 64 is an example of a "second display unit" according to the present disclosure. The monitor 64 is a device that displays various information such as images. The monitor 64 is disposed in the operator's room 31S of the cab 31.

[0050] For example, a touch panel having an operation function and a display function can be used as the monitor 64. The monitor 64 is, for example, a liquid crystal display panel or an organic EL (Electro Luminescence) panel.

[0051] The display on the monitor 64 is controlled by the monitor controller 63. As shown in Fig. 3, the monitor 64 displays the above-mentioned message 64a and announcement 64b. In addition, the monitor 64 displays the usage time 64c of the MC function as shown in Fig. 4. The monitor 64 may display the date 64d when the usage time 64c was acquired together with the usage time 64c. However, in this embodiment, the monitor 64 does not display the amount charged for the use of the MC function.

[0052] [Drive Controller 65] The drive controller 65 is an example of a "drive unit" according to the present disclosure. The drive controller 65 is connected to the management controller 62, the operating member 34, the A / M switch 35, and the drive mechanism (the traveling device 10, the turning device 20, and the work machine 40).

[0053] The drive controller 65 drives the drive mechanism in response to an operator's operation of the operation member 34. The drive controller 65 has an MC function installed therein.

[0054] When the drive controller 65 receives a usage start instruction from the A / M switch 35, it determines whether or not information acquired from various sensors and the like satisfies the conditions for executing the MC function. Examples of the conditions for executing the MC function include, but are not limited to, being able to receive GNSS signals from GNSS satellites and the fact that the vehicle is not broken down.

[0055] When the execution conditions of the MC function are satisfied, the drive controller 65 switches the MC function to an ON state in which the function can be used. The ON state is a state in which, when the operating member 34 is operated by the operator, if it is necessary to limit the operation of the drive mechanism, the drive mechanism can be driven automatically or semi-automatically based on a target value.

[0056] When the MC function is on, that is, when the usage state of the MC function is either a "standby state" or an "operating state", the drive controller 65 judges that the usage state of the MC function is the "operating state" when the MC function is on, the operating member 34 is operated by the operator, and the operation of the drive mechanism is actually restricted by the MC function. For example, when the work implement operation restriction control function is used as the MC function, the position information of the target terrain is compared with the position information of the work implement 40, and the operating condition of the work implement operation restriction control (for example, the work implement 40 is approaching within a predetermined distance from the target terrain) is satisfied, and the movement direction and movement speed of the work implement 40 are actually restricted, which is the "operating state". When the MC function is on and the usage state of the MC function is not the "operating state", the drive controller 65 judges that the usage state of the MC function is the "standby state".

[0057] When the execution conditions of the MC function are not satisfied, and when a usage termination instruction is received from the A / M switch 35, the drive controller 65 sets the MC function to an OFF state in which it is unavailable. The OFF state is a state in which, when an operator operates the operating member 34, the drive mechanism is manually driven based on the operation, without judging whether or not it is necessary to limit the operation of the drive mechanism by the MC function. When the MC function is in the OFF state, the drive controller 65 judges that the usage state of the MC function is "OFF state."

[0058] When the drive controller 65 determines whether the usage state of the MC function is "standby state," "operating state," or "off state," it generates MC function state information indicating the usage state of the MC function. The drive controller 65 transmits the generated MC function state information to the notification unit 71 of the management controller 62 as needed.

[0059] [Administration Server 200] The management server 200 is managed by an administrator. The administrator may be a seller of the hydraulic excavator 100, a person commissioned by the seller, or a provider of a rental service for the hydraulic excavator 100. The functions of the management server 200 can be achieved by a server. The management server 200 may be a cloud server.

[0060] The management server 200 includes a communication unit 81, a storage unit 82, a billing amount calculation unit 83, and a notification unit 84.

[0061] The communication unit 81 is capable of communicating with the communication unit 61 of the hydraulic excavator 100 via the communication network. The communication unit 81 is capable of communicating with a communication unit 91 of the management terminal 300, which will be described later, via the communication network.

[0062] The communication unit 81 acquires the usage information from the management controller 62. Upon acquiring the usage information, the communication unit 81 causes the storage unit 82 to store the usage information.

[0063] The communication unit 81 receives an accounting information request, which will be described later, from the management terminal 300. Upon receiving the accounting information request, the communication unit 81 transmits the accounting information request to the accounting amount calculation unit 83.

[0064] The storage unit 82 stores the use time information included in the use information in association with the related information. The storage unit 82 may be a physical storage device or a virtual storage device.

[0065] The billing amount calculation unit 83 acquires the usage information from the storage unit 82. The billing amount calculation unit 83 acquires the usage time included in the usage time information from the usage information. The billing amount calculation unit 83 calculates the billing amount for the usage of the MC function in the hydraulic excavator 100 based on the usage time as follows.

[0066] The billing amount calculation unit 83 determines whether the total usage time in the first period (e.g., 24 hours) is equal to or greater than a threshold value. If the total usage time in the first period is equal to or greater than the threshold value, the billing amount is calculated to be the unit price set for the first period. The threshold value is not particularly limited, but can be set to, for example, 15 minutes, 30 minutes, 1 hour, etc. The unit price is a preset amount regardless of the length of usage time in the first period.

[0067] On the other hand, if the total usage time in the first period is less than the threshold, the billing amount calculation unit 83 calculates the billing amount so as not to charge for the use of the MC function in the first period.

[0068] However, the charging method in the charge amount calculation unit 83 is not particularly limited, and various methods can be adopted based on conditions agreed upon by both the billing side and the payment side. For example, when a free use period of the MC function is set, the charge amount calculation unit 83 may calculate the charge amount so as not to charge for use during the free use period. In this case, when the free use period is set for each operator, if an operator identified by an operator identification number included in the related information of the usage information is a person eligible for the free use period, the charge amount calculation unit 83 may calculate the charge amount so as not to charge for use of the MC function by that operator. For example, the first day of the month can be set as the free use period. In addition, when an inspector uses the MC function while performing maintenance work on the hydraulic excavator 100 using a service tool, the charge amount calculation unit 83 may calculate the charge amount so as not to charge for use of the MC function associated with the maintenance work. In addition, the monthly charge amount may be set so as not to exceed the upper limit fee.

[0069] As an example of a flat-rate pay-as-you-go system, the monthly billing amount can be calculated using the following formula (1).

[0070] 0 yen ≦ (number of days used - number of free days) × unit price ≦ maximum charge ··· (1) In formula (1), the number of days of use is the number of days that the daily usage time is equal to or greater than the threshold, and the number of free days is the number of days that the MC function can be used free of charge.

[0071] The billing amount calculation unit 83 associates the usage information with the billing amount and stores them in the memory unit 82. When the billing amount calculation unit 83 receives a billing information request from the communication unit 81, it acquires the work machine identification number included in the billing information request. The billing amount calculation unit 83 generates billing information including the usage information corresponding to the acquired work machine identification number and the billing amount stored in association with the usage information. The billing amount calculation unit 83 transmits the billing information to the communication unit 91 of the management terminal 300 via the communication unit 81.

[0072] The notification unit 84 determines whether or not a new usage time has been acquired within a period of time that is less than the second period since the previous usage time was acquired. Specifically, the notification unit 84 determines whether or not a new usage time has been stored within a period of time that is less than the second period since the storage unit 82 stored the previous usage time. The second period may be longer than the first period, and the length of the second period is not particularly limited.

[0073] If new usage time has not been acquired for the second period or longer, i.e., if the storage unit 82 has not stored new usage time for less than the second period, the notification unit 84 notifies the requesting party that usage time has not been acquired. For example, when the requesting party is using the management terminal 300, the notification unit 84 transmits notification information indicating that usage time of the MC function in the hydraulic excavator 100 cannot be acquired to the communication unit 91 of the management terminal 300.

[0074] [Administration terminal 300] The management terminal 300 is a terminal used by the billing side or the paying side. The management terminal 300 is used outside the operation room 31S of the cab 31. A personal computer, a mobile terminal, or the like can be used as the management terminal 300. A management application for managing the hydraulic excavator 100 is installed in the management terminal 300.

[0075] The management terminal 300 includes a communication unit 91 , a display controller 92 , and a display 93 .

[0076] The communication unit 91 is capable of communicating with the communication unit 81 of the management server 200 via the communication network. The communication unit 91 receives billing information from the billing amount calculation unit 83 of the management server 200 via the communication unit 81 of the management server 200. The billing information includes usage information and a billing amount. The communication unit 91 transmits the billing information to the display controller 92.

[0077] The communication unit 91 receives notification information from the notification unit 84 of the management server 200 via the communication unit 81 of the management server 200. The communication unit 91 transmits the notification information to the display controller 92.

[0078] The display controller 92 transmits a billing information request for requesting transmission of billing information to the communication unit 81 of the management server 200 via the communication unit 91. The billing information request includes the work machine identification number of the hydraulic excavator 100.

[0079] The display controller 92 receives the billing information from the communication unit 91. When the display controller 92 receives the billing information, it displays the usage information and billing amount included in the billing information on the display 93. The specific display content on the display 93 can be set as appropriate. For example, when the billing party uses the management terminal 300, the display controller 92 may display on the display 93 a line graph showing the cumulative value of the billing amount for the current month for each day.

[0080] When the requesting party is using the management terminal 300, the display controller 92 receives the notification information from the communication unit 91. Upon receiving the notification information, the display controller 92 displays on the display 93 a message 64a indicating that the usage time of the MC function in the hydraulic excavator 100 cannot be acquired.

[0081] The display 93 is an example of a “first display unit” according to the present disclosure. The display 93 is a device that displays various information. As described above, the charge amount, notification information, and the like are displayed on the display 93. The specific display content on the display 93 is appropriately set by the display controller 92.

[0082] (Control Method) A control method for the control system 1 according to this embodiment will be described with reference to FIG.

[0083] In step S1, the A / M switch 35 receives an instruction from the operator of the hydraulic excavator 100 to start using the MC function.

[0084] In step S2, the A / M switch 35 transmits a usage start instruction to the drive controller 65.

[0085] In step S3, the drive controller 65 turns the MC function on if the execution conditions of the MC function are satisfied, and turns the MC function off if the execution conditions of the MC function are not satisfied.

[0086] In step S4, the drive controller 65 transmits to the management controller 62 MC function state information indicating whether the usage state of the MC function is "standby state", "operating state", or "off state".

[0087] In step S 5 , the management controller 62 transmits the MC function status information to the monitor controller 63 .

[0088] In step S6, the monitor controller 63 refers to the MC function state information, and when the usage state of the MC function switches from "off state" to "standby state" or "operating state", displays a message 64a or an announcement 64b on the monitor 64 as shown in Fig. 3. On the other hand, if the usage state of the MC function is "off state", the monitor controller 63 does not display the message 64a or the announcement 64b on the monitor 64.

[0089] In the following description, it is assumed that the usage state of the MC function has switched from the "off state" to the "standby state" or "operating state" in FIG.

[0090] In step S7, the A / M switch 35 receives an instruction from the operator of the hydraulic excavator 100 to end use of the MC function.

[0091] In step S8, the A / M switch 35 transmits a usage end instruction to the drive controller 65.

[0092] In step S9, the drive controller 65 turns off the MC function.

[0093] In step S10, the drive controller 65 transmits to the management controller 62 MC function status information indicating that the usage status of the MC function is "off."

[0094] In step S11, the management controller 62 acquires the usage time until the usage state of the MC function switches from the "standby state" or "operating state" to the "off state."

[0095] In step S 12 , the management controller 62 transmits to the monitor controller 63 use time information relating to the acquired use time.

[0096] In step S13, the monitor controller 63 causes the monitor 64 to display the usage time 64c as shown in FIG.

[0097] In step S14, the management controller 62 transmits usage information including relevant information and usage time information relating to the hydraulic excavator 100 to the management server 200. However, step S14 may be performed simultaneously with step S12 or prior to step S12.

[0098] In step S15, the management server 200 calculates the fee for use of the MC function in the hydraulic excavator 100 based on the usage time.

[0099] In step S 16 , the management terminal 300 transmits a request for accounting information to the management server 200 .

[0100] In step S 17 , the management server 200 transmits the billing information to the management terminal 300 .

[0101] In step S18, the management terminal 300 displays on the display 93 the billing amount included in the billing information.

[0102] If the management server 200 is unable to acquire new usage time for the second period or longer, it transmits notification information to the management terminal 300 in step S19.

[0103] In step S20, the management terminal 300 displays on the display 93 a message to the effect that the usage time of the MC function in the hydraulic excavator 100 cannot be acquired.

[0104] (Features)

[0105] (1) The control system 1 includes an A / M switch 35 (reception unit), a drive controller 65 (drive unit), a usage time acquisition unit 72, and a billing amount calculation unit 83. When the A / M switch 35 receives an instruction to start use, the drive controller 65 switches the MC function to an ON state in which it can be used. The usage time acquisition unit 72 acquires the usage time of the MC function. The billing amount calculation unit 83 calculates the billing amount for use of the MC function based on the usage time.

[0106] In this way, since the billing amount can be calculated according to the actual usage time of the MC function, the MC function can be introduced to the work machine according to the needs of the user, thereby improving the user's convenience while reducing the burden on the user.

[0107] (2) If the total usage time in the first period is less than the threshold, the billing amount calculation unit 83 does not bill for the use of the MC function in the first period. Therefore, since no billing is done for short-term usage, it is possible to prevent billing in the case where, for example, the operator unintentionally presses the A / M switch 35.

[0108] (3) If the total usage time in the first period is equal to or greater than the threshold, the billing amount calculation unit 83 charges the unit price set for the first period. Therefore, since the default billing amount is charged regardless of the length of MC usage, the total billing amount can be easily predicted based on the construction period.

[0109] (4) The usage time acquisition unit 72 acquires the start time of the usage time in response to the A / M switch 35 receiving a usage start instruction. Therefore, the start time can be acquired easily.

[0110] (5) The usage time acquisition unit 72 acquires the end time of the usage time in response to the A / M switch 35 receiving a usage end instruction. Therefore, the end time can be acquired easily.

[0111] (6) The usage time acquisition unit 72 acquires the end time of the usage time in response to the drive controller 65 being unable to execute the MC function. This makes it possible to prevent charges being incurred when the MC function cannot be executed.

[0112] (7) When the management server 200 is unable to acquire the usage time from the usage time acquisition unit 72 for the second period or longer, the management server 200 notifies the user that the usage time has not been acquired. This allows the user to take measures to eliminate the cause of the inability to acquire the usage time (e.g., poor communication).

[0113] (8) The control system 1 includes a billing amount calculation unit 83, a display 93 (first display unit), and a monitor 64 (second display unit). The billing amount calculation unit 83 calculates a billing amount for use of the MC function based on usage information including the usage time of the MC function and related information regarding the MC function. The display 93 is disposed outside the operation room 31S of the hydraulic excavator 100, and displays the usage information and the billing amount. The monitor 64 is disposed inside the operation room 31S, and displays the usage time 64c.

[0114] Therefore, the user can check the usage information and the charge amount on the display 93 outside the operation room 31S, and the operator can check the usage time 64c on the monitor 64 inside the operation room 31S.

[0115] (9) The monitor 64 does not display the billing amount. Therefore, there is no need to install in the monitor controller 63 a program for calculating the billing amount based on the usage time. (Modification of the embodiment) The present disclosure is not limited to the above-described embodiments, and various modifications are possible without departing from the scope of the present disclosure.

[0116] [Variation 1] In the above embodiment, the hydraulic excavator 100 is provided with an MC function, but in addition to the MC function or instead of the MC function, the hydraulic excavator 100 may be provided with a machine guidance function (hereinafter referred to as an "MG function") In other words, the hydraulic excavator 100 can be provided with at least one of the MC function and the MG function.

[0117] The MG function is a function that presents the operator with an image or the like that indicates the relative position of the work machine with respect to a target surface. For example, the operator's operation can be guided by visually or audibly informing the operator of the vertical distance between the surface of the target terrain and the tip (toe) position of the bucket 43. The MG function can be executed by the monitor controller 63, the monitor 64, and the drive controller 65 working together.

[0118] If the hydraulic excavator 100 is equipped with an MG function, the usage time acquisition unit 72 acquires the usage time of the MG function, and the billing amount calculation unit 83 charges for the usage of the MG function. Then, the display 93 displays the usage information and the billing amount, and the monitor 64 displays the usage time 64c.

[0119] [Variation 2] In the above embodiment, the control system 1 includes only one hydraulic excavator 100, but may include multiple hydraulic excavators 100. In this case, the management terminal 300 may calculate the amount charged for use of the MC function in each of the multiple hydraulic excavators 100.

[0120] [Variation 3] In the above embodiment, the communication unit 61 of the hydraulic excavator 100 communicates directly with the communication unit 81 of the management server 200, but this is not limited to the above. For example, for security measures or the like, another server may be interposed between the communication unit 61 and the communication unit 81.

[0121] [Variation 4] In the above embodiment, the hydraulic excavator 100 is provided with the operation room 31S, and an operator inside the operation room 31S operates the hydraulic excavator 100, but this is not limited to the above. The operator may remotely operate the hydraulic excavator 100 from the operation room 31S provided outside the hydraulic excavator 100. In this case, the monitor 64 is disposed inside the operation room 31S outside the hydraulic excavator 100.

[0122] [Variation 5] In the above embodiment, the monitor 64 does not display the charged amount, but it may display the charged amount. In this case, a program for calculating the charged amount based on the usage time may be installed in any one of the management controller 62, the monitor controller 63, and the drive controller 65. Alternatively, the monitor controller 63 may obtain charging information from the charging amount calculation unit 83 of the management server 200, and display the charged amount included in the charging information on the monitor 64.

[0123] The monitor 64 may be configured so that the billing amount can be selectively displayed or hidden.

[0124] [Variation 6] In the above embodiment, the usage time acquisition unit 72 determines that the start time of the usage time is the time when the usage state of the MC function indicated by the MC function state information switches from an "off state" to a "standby state" or an "operating state," but this is not limited to this.

[0125] For example, the usage time acquisition unit 72 may determine the start time of the usage time when the usage state of the MC function is switched to the “operating state.” In this case, the usage time acquisition unit 72 determines the start time of the usage time when the usage state of the MC function is switched to the “operating state” and the end time of the usage time when the usage state is released from the “operating state.”

[0126] Furthermore, the usage time acquisition unit 72 may determine the start time of the usage time when it receives a charging consent instruction from the operator after the MC function is turned on. The charging consent instruction can be received from the operator at the monitor 64 as follows. When the monitor controller 63 receives MC function state information from the notification unit 71 of the management controller 62, it refers to the MC function state information and determines whether the usage state of the MC function is "on state" or "off state". When it determines that the usage state of the MC function is "on state", the monitor controller 63 causes the monitor 64 to display an consent button and a message indicating that "if you agree to use the MC function by paying the charge amount, you must press the consent button" on the monitor 64. When the operator presses the consent button on the monitor 64, the monitor controller 63 transmits a charging consent instruction indicating that the consent button has been pressed to the management controller 62. The management controller 62 determines the start time of the usage time when it receives the charging consent instruction. In this case, the usage time acquisition unit 72 determines that the time when the usage state of the MC function switches from "on" to "off" is the end time of the usage time.

[0127] [Variation 7] In the above embodiment, the usage time acquisition unit 72 acquires the usage time of the MC function, but if the MC function includes two or more automatic control functions, the usage time may be acquired for each automatic control function. In this case, the billing amount calculation unit 83 can calculate the billing amount for each automatic control function based on the usage time acquired for each automatic control function.

[0128] [Variation 8] In the above embodiment, the usage time acquisition unit 72 acquires the usage time of the MC function, but the usage time of the MC function may be acquired for each operator using the operator identification number. In this case, the billing amount calculation unit 83 can calculate the billing amount for each operator based on the usage time acquired for each operator.

[0129] [Variation 9] In the above embodiment, the monitor controller 63 receives the MC function state information from the notification unit 71 of the management controller 62, but it may also receive the MC function state information directly from the drive controller 65.

[0130] [Variation 10] In the above embodiment, the management server 200 is equipped with the charge amount calculation unit 83, but the management controller 62 of the hydraulic excavator 100 may be equipped with the charge amount calculation unit 83, or the management terminal 330 may be equipped with the charge amount calculation unit 83.

[0131] [Variation 11] In the above embodiment, the hydraulic excavator 100 has been described as an example of a work machine, but the work machine is not limited to a hydraulic excavator. The work machine may be any machine capable of automatically or semi-automatically controlling the drive mechanism according to the MC function. For example, in addition to hydraulic excavators, examples of the work machine include bulldozers, wheel loaders, and motor graders.

[0132] (Appendix 1) The control system according to the present disclosure includes a receiving unit that receives an instruction to start using a machine control function of a drive mechanism equipped in a work machine, a drive unit that switches the machine control function to an on state in which it can be used when the receiving unit receives the instruction to start using the function, a usage time acquisition unit that acquires the usage time of the machine control function, and a charge amount calculation unit that calculates a charge for usage of the machine control function based on the usage time.

[0133] (Appendix 2) The control system described in Appendix 1, wherein the charge calculation unit calculates the charge amount so as not to charge for use of the machine control function during the first period if the total usage time during the first period is less than a threshold value.

[0134] (Appendix 3) The control system described in Appendix 2, wherein the charge calculation unit calculates the charge amount so as to charge a unit price set for the first period if the total usage time in the first period is equal to or greater than a threshold value.

[0135] (Appendix 4) A control system described in any of Appendix 1 to 3, wherein the machine control function includes two or more automatic control functions, the usage time acquisition unit acquires the usage time for each of the automatic control functions, and the charging amount calculation unit calculates the charging amount to charge for each of the automatic control functions based on the usage time acquired for each of the automatic control functions.

[0136] (Appendix 5) The control system according to any one of claims 1 to 4, wherein the usage time acquisition unit acquires a start time of the usage time in response to the acceptance unit accepting the usage start instruction.

[0137] (Appendix 6) the usage time acquisition unit acquires a start time of the usage time in response to the machine control function being activated; Attachment 1 to 4. A control system according to any one of the preceding claims.

[0138] (Appendix 7) A control system described in any of Appendices 1 to 6, wherein the reception unit receives an instruction to end use of the machine control function, and the usage time acquisition unit acquires an end time of the usage time in response to the reception unit receiving the instruction to end use.

[0139] (Appendix 8) The control system according to any one of claims 1 to 7, wherein the usage time acquisition unit acquires an end time of the usage time in response to an execution condition of the machine control function being no longer satisfied.

[0140] (Appendix 9) A control system as described in any of Appendices 1 to 8, further comprising a management server that acquires the usage time from the usage time acquisition unit via a communication network, wherein the management server notifies the user that the usage time has not been acquired if the usage time cannot be acquired from the usage time acquisition unit for a second period or longer.

[0141] (Appendix 10) The control system according to the present disclosure includes a charge calculation unit that calculates a charge for usage of at least one of a machine control function of a drive mechanism equipped in a work machine and a machine guidance function that presents the position of the work machine to an operator, based on usage information including usage time information regarding the usage time of at least one of the functions and related information regarding the work machine, a first display unit that is arranged outside the operation room of the work machine and displays the usage information and the charge amount, and a second display unit that is arranged inside the operation room and displays the usage time information.

[0142] (Appendix 11) The control system according to claim 10, wherein the work machine has a usage time acquisition unit that acquires the usage time.

[0143] (Appendix 12) The control system described in Appendix 10 or 11, wherein the associated information includes at least one of a work machine identification number unique to the work machine, an operator identification number unique to an operator who operates the work machine, and content of at least one of the functions, and a work machine identification number unique to the work machine.

[0144] (Appendix 13) The control system according to any one of appendices 10 to 12, wherein the second display unit does not display the charge amount.

[0145] (Appendix 14) The control method according to the present disclosure comprises receiving an instruction to start using a machine control function of a drive mechanism equipped in a work machine, and when the instruction to start using is received, turning on the machine control function so that it can be used, obtaining a usage time of the machine control function, and calculating a charge for use of the machine control function based on the usage time. [Explanation of symbols]

[0146] 1...control system, 100...hydraulic excavator, 10...traveling device, 20...rotating device, 30...rotating body, 31...cab, 31S...operation room, 34...operation member, 35...A / M switch, 40...working machine, 61...communication unit, 62...management controller, 71...notification unit, 72...usage time acquisition unit, 63...monitor controller, 64...monitor, 65...drive controller, 200...management server, 81...communication unit, 82...storage unit, 83...charge amount calculation unit, 84...alarm unit, 300...management terminal, 91...communication unit, 92...display controller, 93...display

Claims

1. a reception unit that receives an instruction to start using a machine control function of a drive mechanism provided in the work machine; a drive unit that turns on the machine control function when the reception unit receives the usage start instruction; and a usage time acquisition unit that acquires usage time of the machine control function; a billing amount calculation unit that calculates a billing amount for use of the machine control function based on the usage time; A control system comprising:

2. the charge amount calculation unit calculates the charge amount so as not to charge for use of the machine control function in the first period when the total usage time in the first period is less than a threshold value; The control system of claim 1 .

3. the charge amount calculation unit calculates the charge amount so as to charge a unit price set for the first period when the total usage time in the first period is equal to or greater than a threshold value; The control system of claim 1 .

4. the machine control function includes two or more automatic control functions; the usage time acquisition unit acquires the usage time for each of the automatic control functions, the billing amount calculation unit calculates the billing amount to charge for each automatic control function based on the usage time acquired for each automatic control function. A control system according to any one of claims 1 to 3.

5. the use time acquisition unit acquires a start time of the use time in response to the acceptance unit accepting the use start instruction. A control system according to any one of claims 1 to 3.

6. the use time acquisition unit acquires a start time of the use time in response to the machine control function being activated. A control system according to any one of claims 1 to 3.

7. the receiving unit receives an instruction to end use of the machine control function, the usage time acquisition unit acquires an end time of the usage time in response to the acceptance unit accepting the usage end instruction. A control system according to any one of claims 1 to 3.

8. the use time acquisition unit acquires an end time of the use time in response to the execution condition of the machine control function no longer being satisfied. A control system according to any one of claims 1 to 3.

9. a management server that acquires the usage time from the usage time acquisition unit via a communication network; When the management server cannot acquire the usage time from the usage time acquisition unit for a second period or longer, the management server notifies the user that the usage time has not been acquired. A control system according to any one of claims 1 to 3.

10. a charge amount calculation unit that calculates a charge amount for use of at least one of a machine control function of a drive mechanism equipped in a work machine and a machine guidance function that presents the position of the work machine to an operator, based on usage information that includes usage time information regarding the usage time of at least one of the functions and related information regarding the work machine; a first display unit that is disposed outside an operation room of the work machine and that displays the usage information and the charged amount; a second display unit disposed in the operation room and displaying the usage time information; A control system comprising:

11. the work machine has a use time acquisition unit that acquires the use time, The control system of claim 10.

12. the associated information includes a work machine identification number unique to the work machine; 12. A control system according to claim 10 or 11.

13. The related information includes at least one of an operator identification number unique to the operator who operates the work machine and the content of at least one of the functions.

13. The control system of claim 12.

14. The second display unit does not display the charge amount.

12. A control system according to claim 10 or 11.

15. receiving an instruction to start using a machine control function of a drive mechanism provided in the work machine; When the instruction to start using the machine control function is received, turning on the machine control function so that the machine control function can be used; acquiring a usage time of the machine control function; calculating a fee for use of the machine control function based on the usage time; A control method comprising:

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