Remote control system, remote control device, method, and computer program

Abstract

To provide a technology capable of suppressing lowering of operational accuracy.SOLUTION: A remote control system 1 is for a work machine 100 which performs a work operation. The remote control system 1 includes: a control lever capable of moving in a movement range from a neutral position to a maximum operation position by an operation input by an operator; and a remote control device 200 which generates a control command for allowing the work operation to be performed based on the position of the control level, and which wirelessly transmits the control command toward the work machine. The remote control device 200 includes a processing unit 222 for executing setting processing for setting a neutral range for restricting the work operation by the work machine 100 on the neutral position side out of the movement range. The setting processing includes: processing for acquiring delay information showing communication delay with the work machine 100; and processing for adjusting the size of the neutral range based on the delay information.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a remote operation system, a remote control device, a method, and a computer program. [Background technology]

[0002] Patent Document 1 discloses a technique for remotely controlling a backhoe by operating a wired operation box. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 9-60033 Summary of the Invention [Problem to be solved by the invention]

[0004] 2. Description of the Related Art With the recent development of wireless communication technology, it has been considered to connect a terminal device such as a computer or a tablet to a work machine such as a backhoe via wireless communication and to remotely control the work machine. For example, a wireless LAN or a mobile communication system can be used for wireless communication between the terminal device and the work machine.

[0005] When connecting a terminal device and a work machine via wireless communication, a communication delay may occur between the two, resulting in a time lag between the operation input by the operator operating the terminal device and the work operation of the work machine in response to the operation input.

[0006] As a result, when the operator performs an operation input, the work machine will operate with a delay in response to the operator's operation input, which may result in the work machine being positioned too far from the target position, making it difficult to operate with precision. [Means for solving the problem]

[0007] The present disclosure relates to a remote control system for a work machine that performs a work operation. The remote control system includes an operating lever that can be moved within a movement range from a neutral position to a maximum operation position by an operator's operation input, and a remote control device that generates a control command for performing the work operation based on the position of the operating lever and wirelessly transmits the control command to the work machine. The remote control device includes a processing unit that executes a setting process to set a neutral range that limits the work operation by the work machine to the neutral position side of the movement range. The setting process includes a process of acquiring delay information indicating a communication delay with the work machine, and a process of adjusting the size of the neutral range based on the delay information. Effect of the Invention

[0008] According to the present disclosure, it is possible to obtain a remote control system that can suppress a decrease in operation accuracy. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of an overall configuration of a remote control system according to an embodiment. [Diagram 2] FIG. 2 is a perspective view showing an example of a working machine. [Diagram 3] FIG. 3 is a block diagram showing an example of the configuration of the work machine and the remote control device. [Figure 4A] FIG. 4A is an external view of the operating device. [Figure 4B] FIG. 4B is a diagram showing an example of assignment of work actions to operation inputs in each direction of the first and second operating levers. [Diagram 5] FIG. 5 is a flowchart showing an example of a setting process performed by the processing unit of the remote control device. [Figure 6] FIG. 6 is a diagram for explaining the neutral range and the operation limit range. [Figure 7] FIG. 7 is a flowchart showing an example of a process for adjusting the size of the neutral position. [Figure 8]FIG. 8 is a flowchart showing an example of a process for adjusting the size of the motion restriction range. [Figure 9] FIG. 9 is a diagram showing the neutral range within the movement ranges of the first operating lever and the second operating lever. [Figure 10A] FIG. 10A is a diagram showing an example of a neutral range and a movement limit range of the first operating lever and the second operating lever. [Figure 10B] FIG. 10B is a diagram showing another example of the neutral range and the movement limit range of the first operating lever and the second operating lever. [Figure 11] FIG. 11 is a plan view of a work machine 100 remotely operated by a remote control device in the first modified example. [Figure 12A] FIG. 12A is a diagram showing an example of a neutral range and a movement limit range of the first operating lever and the second operating lever in the first modified example. [Figure 12B] FIG. 12A is a diagram showing another example of the neutral range and the movement limit range of the first operating lever and the second operating lever in the first modified example. [Figure 13] FIG. 13 is a diagram showing still another example of the neutral range and the movement limit range of the first operating lever and the second operating lever in the first modified example. [Figure 14] FIG. 14 is a side view of a working machine remotely operated by a remote control device in the second modified example. [Figure 15] FIG. 15 is a diagram showing an example of a neutral range and a movement limit range of the first and second operating levers in the second modified example. [Figure 16] FIG. 16 is another example of a side view of the work machine remotely operated by the remote control device in the second modified example. [Figure 17A] FIG. 17A is a diagram showing another example of the neutral range and the movement limit range of the first and second operating levers in the second modified example. [Figure 17B]FIG. 17B is a diagram showing still another example of the neutral range and the movement limit range of the first operating lever and the second operating lever in the second modified example. [Figure 18] FIG. 18 is a diagram showing an example of the neutral range within the movement range of the first operating lever and the second operating lever when an operation input is made to inching the work machine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] First, the contents of the embodiment will be listed and described. [Overview of the embodiment]

[0011] (1) The present disclosure relates to a remote control system for a work machine that performs a work operation. The remote control system includes an operating lever that can be moved within a movement range from a neutral position to a maximum operation position by an operator's operation input, and a remote control device that generates a control command for performing the work operation based on the position of the operating lever and wirelessly transmits the control command to the work machine. The remote control device includes a processing unit that executes a setting process that sets a neutral range that limits the work operation by the work machine to the neutral position side of the movement range. The setting process includes a process of acquiring delay information that indicates a communication delay with the work machine, and a process of adjusting the size of the neutral range based on the delay information.

[0012] According to the above configuration, if the neutral range is adjusted to be expanded, the difference between the timing when the operator starts operating the control lever and the timing when the transmission of the control command to the work machine starts becomes larger than before the neutral range is expanded, so the operation amount accepted as the control command to the work machine becomes smaller than the operation amount of the control lever by the operator. Therefore, the operation amount of the work machine can be suppressed compared to the operation amount of the work machine before the neutral range is expanded. Therefore, in the setting process, when the communication delay between the remote control device and the work machine becomes relatively large, the neutral range may be adjusted to be expanded. In this case, even in a situation where communication delays are relatively large and the work machine operates with a delay in response to the operation input from the operator, the actual operation amount of the work machine can be suppressed relative to the amount of operation by the operator. As a result, it is possible to prevent the position of the work machine from overshooting the target position, and to prevent a decrease in operation accuracy. In addition, the amount of movement of the work machine in response to the operator's operation decreases, making it possible to make the operator aware of the situation in which communication delays are increasing and to urge the operator to pay attention.

[0013] (2) In the remote control system of (1) above, when the delay information includes a communication delay time, the neutral range may be expanded as the communication delay time increases. In this case, as described above, even if the communication delay between the remote control device and the work machine becomes relatively large, it is possible to suppress a decrease in operation accuracy.

[0014] (3) In the remote control system of (1) above, when the delay information includes a communication delay time, the process of adjusting the size of the neutral range may include a process of comparing the communication delay time with a predetermined threshold value, and a process of selecting the size of the neutral range from a first size and a second size larger than the first size based on a result of the comparison. In this case, if the second size is selected as the size of the neutral range when the communication delay time is greater than a predetermined threshold, it is possible to prevent the operation accuracy from decreasing.

[0015] (4) In addition, in the remote operation system of any one of (1) to (3) above, the work operation includes a first operation and a second operation different from the first operation, the operating lever is movable from the neutral position in a first direction and in a second direction perpendicular to the first direction, the control command includes a first control command for causing the work machine to perform the first operation and a second control command for causing the work machine to perform the second operation, the first control command is a command generated based on a position of the operating lever in a first movement range from the neutral position along the first direction, and the second control command is a command generated based on a position of the operating lever in a second movement range from the neutral position along the second direction, and when the neutral range includes a first neutral range set in the first movement range and a second neutral range set in the second movement range, the size of the first neutral range and the size of the second neutral range may be adjusted to be different from each other. The greater the movement of the work machine, the greater the impact that the movement of the work machine has on the surroundings. Therefore, for example, if the first action is a larger movement of the work machine than the second action, by setting the first neutral range larger than the second neutral range, the actual movement amount of the work machine relative to the operating amount can be further suppressed for the first action, which is the larger movement, thereby suppressing the impact of the work machine movement on the surroundings.

[0016] (5) Furthermore, in the remote control system of (1) above, it is preferable that the processing unit further executes at least one of a process of stopping transmission of the control command by the remote control device when the position of the operating lever is in the neutral range, and a process of including a command to stop the work operation in the control command. In this case, in either process, the work operation by the work machine can be stopped.

[0017] (6) In the remote operation system of (1) or (5) above, the setting process may further include a process of setting an operation limit range that limits the work operation of the work machine on the maximum operation position side of the movement range, and a process of adjusting a size of the operation limit range based on the delay information. In this case, if the operating limit range is adjusted to be expanded, even if the operating lever is operated far toward the maximum operating position, the work operation of the work machine is limited within the operating limit range, and the amount of operation accepted as a control command for the work machine is smaller than the amount of operation of the operating lever by the operator. Therefore, the amount of movement of the work machine can be suppressed compared to the amount of movement of the work machine before the movement limit range was expanded. Therefore, when the communication delay between the remote control device and the work machine becomes relatively large, the operation limit range may be adjusted so as to be expanded. In this case, even in a situation where the communication delay between the remote control device and the work machine is relatively large and the work machine operates with a delay in response to the operation input from the operator, the actual operation amount of the work machine can be restricted relative to the amount of operation by the operator by providing an operation limit range. As a result, it is possible to prevent the position of the work machine from going too far from the target position, and to prevent a decrease in operation accuracy.

[0018] (7) Also, in the remote operation system of (6) above, the work operation includes a first operation and a second operation different from the first operation, the operating lever is movable from the neutral position in a first direction and in a second direction perpendicular to the first direction, the control command includes a first control command for causing the work machine to perform the first operation and a second control command for causing the work machine to perform the second operation, the first control command is a command generated based on a position of the operating lever in a first movement range from the neutral position along the first direction, and the second control command is a command generated based on a position of the operating lever in a second movement range from the neutral position along the second direction, and when the operation limit range includes a first operation limit range set in the first movement range and a second operation limit range set in the second movement range, a size of the first operation limit range and a size of the second operation limit range may be adjusted to be different from each other. For example, if the first action is a larger movement of the work machine than the second action, by setting the first movement limit range larger than the second movement limit range, the actual movement amount of the work machine relative to the operating amount can be further suppressed for the first action, which is the larger movement, thereby suppressing the impact on the surrounding area of ​​the work machine.

[0019] (8) Furthermore, in the remote control system of (6) or (7) above, when the processing unit further executes a process of receiving detection information by an obstacle detection unit possessed by the work machine, it is preferable that the size of the operating restriction range is adjusted based on the delay information and the detection information. When the detection information includes information indicating the presence of an obstacle within the range in which the work machine operates, the operating restriction range can be expanded to suppress the actual amount of work machine movement relative to the amount of operation by the operator, and the work operation can be restricted, for example, by stopping the work operation or keeping the operating speed low.

[0020] (9) Furthermore, in the remote operation system of (8) above, when the detection information includes the distance between the work machine and an obstacle, it is preferable that the size of the operational limit range is expanded as the distance becomes shorter. In this case, the closer the work implement is to the obstacle, the greater the limit on the actual movement amount of the work implement relative to the amount of operation by the operator.

[0021] (10) In the remote control system of (8) above, the obstacle detection unit may include at least one of an ultrasonic sonar sensor, a LIDAR sensor, a millimeter wave sensor, and an image analysis unit including an imaging device.

[0022] (11) In the remote operation systems of (6) to (10) above, when the processing unit further executes a process of receiving input of a workable range of the work machine, the size of the operational restriction range may be adjusted based on the delay information and the workable range. In this case, the closer the work machine is to the boundary of the workable range, the greater the restriction on the actual amount of movement of the work machine relative to the amount of operation by the operator can be made, thereby preventing operations that would cause the work machine to go outside the workable range.

[0023] (12) In the remote control systems of (6) to (11) above, it is preferable that the processing unit further executes at least one of the following processes when the position of the operating lever is within the motion limit range: a process of stopping transmission of the control command by the remote control device; a process of including a command to stop the work motion in the control command; and a process of including a command to limit the motion speed of the work motion in the control command. In this case, in either process, the work operation by the work machine can be stopped.

[0024] (13) In the remote control systems of (1) to (12) above, when the processing unit further executes a process of measuring the time it takes for the operating lever to move from the neutral position and return to the neutral position again, the size of the neutral range may be adjusted based on the delay information and the time. The time it takes for the operating lever to move from the neutral position and then return to the neutral position can be used to determine whether or not the operation input is an input for inching the working machine. An operator may momentarily operate the working machine by applying an operational input to the operating lever. In this embodiment, it is possible to determine whether or not the operator has applied an operational input of a very short duration. When an operation input is performed for a very short period of time, it is difficult to adjust the amount of operation with high accuracy. Therefore, when a very short duration operation input is given, the size of the neutral range can be adjusted to expand. As a result, even if an operation input of a very short duration is given, the amount of actual movement of the work machine relative to the amount of operation by the operator can be suppressed.

[0025] (14) In the remote control systems of (1) to (13) above, when the work machine includes a traveling device, a machine body rotatably mounted on the traveling device, a boom that can swing around a laterally extending axis provided on the machine body, an arm that is swingably provided at the end of the boom, and a work tool that is swingably provided at the end of the arm, the work operation may include at least any one of rotation of the machine body, swinging of the boom, swinging of the arm, and swinging of the work tool.

[0026] (15) Also, the present disclosure from another viewpoint is a remote control device. This remote control device is a device that generates a control command for causing a work machine to perform a work operation based on a position of an operating lever that can be moved within a movement range from a neutral position to a maximum operation position by an operator's operation input, and wirelessly transmits the control command to the work machine. The remote control device includes a processing unit that executes a setting process that sets a neutral range that limits the work operation of the work machine to the neutral position side of the movement range. The setting process includes a process of acquiring delay information that indicates a communication delay with the work machine, and a process of adjusting the size of the neutral range based on the delay information.

[0027] (16) From another viewpoint, the present disclosure is a method for setting a neutral range for limiting the work operation of a work machine on the neutral position side of the range of movement in a remote control device that generates a control command for causing a work machine to perform a work operation based on a position of an operating lever that can be moved within a movement range from a neutral position to a maximum operation position by an operator's operation input and wirelessly transmits the control command to the work machine. This method includes the steps of: acquiring delay information indicating a communication delay between the remote control device and the work machine; and adjusting a size of the neutral range based on the delay information.

[0028] (17) From another viewpoint, the present disclosure is a computer program for causing a computer to execute a process of setting a neutral range, which limits the work operation of the work machine, on the neutral position side of the range of movement of a remote control device that generates a control command for causing a work machine to perform a work operation based on a position of an operating lever that can be moved within a movement range from a neutral position to a maximum operation position by an operator's operation input and wirelessly transmits the control command to the work machine. This computer program causes the computer to execute a step of acquiring delay information indicating a communication delay between the remote control device and the work machine and a step of adjusting a size of the neutral range based on the delay information.

[0029] [Details of the embodiment] Hereinafter, preferred embodiments will be described with reference to the drawings. At least a part of each of the embodiments described below may be combined in any manner.

[0030] [Overall system configuration] FIG. 1 is a diagram illustrating an example of an overall configuration of a remote control system according to an embodiment. In FIG. 1, a remote control system 1 is a system for remotely controlling a work machine. The remote operation system 1 includes a work machine 100, a remote control device 200, and an operation device 300. Although one work machine 100 is shown in Fig. 1, the remote operation system 1 may include a plurality of work machines.

[0031] The work machine 100 and the remote control device 200 are connected to each other so as to be able to communicate with each other via a network 500. The network 500 may be a local network or a global network. Furthermore, the network 500 may be configured by combining a local network and a global network.

[0032] The work machine 100 has a wireless communication function such as a wireless LAN, a mobile communication system, etc. The work machine 100 is connected to a network 500 by the wireless communication function. The work machine 100 has a function of performing a work operation at a work site. The work machine 100 is, for example, a slewing work machine (backhoe). The working machine 100 can be manually operated or remotely operated. In the case of manual operation, an operator gets on the working machine 100 and directly operates the working machine 100. In the case of remote operation, an operator 400 performs remote operation using a remote control device 200 and an operation device 300 .

[0033] The remote control device 200 is a device used by an operator 400 of the work machine 100. The remote control device 200 includes, for example, a computer, a tablet terminal, a smartphone, etc. An operation device 300 is connected to the remote control device 200. The remote control device 200 generates a control command based on the output from the operation device 300. The control command is a command for causing the work machine 100 to perform a work operation. The remote control device 200 provides the control command to the work machine 100. The work machine 100 performs the work operation based on the control command.

[0034] The operation device 300 has a function of accepting an operation input from the operator 400 and providing an output based on the operation input to the remote control device 200. The operation device 300 has a first operation lever 310 and a second operation lever 320. The operation device 300 accepts the operation input from the operator 400 via the first operation lever 310 and the second operation lever 320.

[0035] [Regarding the work machine 100] FIG. 2 is a perspective view showing an example of the work machine 100. As shown in FIG. The work machine 100 has a machine body (swivel base) 11, a traveling device 12, and a work device 13. The work device 13 has a boom 14, an arm 15, a work tool 16, and a dozer device 25.

[0036] 2, the forward direction of the traveling device 12 is the forward direction, and the opposite direction is the backward direction. In addition, the right side of the traveling device 12 when facing forward is the right direction, and the opposite direction is the left direction.

[0037] The traveling device 12 is a crawler type device. The traveling device 12 is driven by a hydraulic actuator (not shown). The traveling device 12 is not limited to the crawler type, and may be a wheel type. The machine body 11 is rotatably mounted on a traveling device 12. The machine body 11 can rotate about a rotation axis along the vertical direction. The machine body 11 rotates hydraulically or electrically. The machine body 11 has a revolving frame 17 and a cabin 18. The revolving frame 17 is rotatably mounted on the traveling device 12. The cabin 18 is mounted on the revolving frame 17. A driver's seat for an operator is provided inside the cabin 18. Note that a canopy (not shown) may be provided instead of the cabin 18, or neither the cabin 18 nor the canopy may be provided. Furthermore, the work machine 100 may be configured not to have a driver's seat. Of the faces of the machine body 11, the face on which the working device 13 is provided is the front face. In the illustrated example, the front face of the machine body 11 faces forward. In the following description, the machine body 11 will be described as being in a state in which the front face faces forward.

[0038] A prime mover and a hydraulic device (not shown) are provided on the revolving frame 17. The prime mover includes an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, a hybrid prime mover of an internal combustion engine and an electric motor, and the like. The hydraulic system has a function of generating hydraulic pressure using the driving force of a prime mover. The hydraulic pressure generated by the hydraulic system is applied to hydraulic actuators, hydraulic cylinders, etc. of various parts.

[0039] The working device 13 is attached to the bracket 17a via a swing bracket 27. The bracket 17a protrudes from the front end of the revolving frame 17. The swing bracket 27 is attached to the bracket 17a so as to be rotatable (swingable) about a vertical axis. A hydraulic cylinder (not shown) is provided between the machine body 11 and the swing bracket 27. The swing bracket 27 is driven to rotate in the horizontal direction by the extension and contraction of the hydraulic cylinder. The swing bracket 27 swingably supports the boom 14. The boom 14 is a columnar arm member extending from the swing bracket 27.

[0040] The swing bracket 27 is provided with a support shaft 19 that supports the boom 14. The support shaft 19 is a shaft that extends in the left-right direction (lateral direction). The support shaft 19 connects the base 14a of the boom 14 to the swing bracket 27. The boom 14 can swing around the support shaft 19. Therefore, as shown in the figure, the boom 14 swings between a position in which it extends upward from the swing bracket 27 and stands up, and a position in which it extends forward from the swing bracket 27 and is laid down. A hydraulic cylinder 20 is provided between the boom 14 and the swing bracket 27. The boom 14 is driven to swing by the extension and contraction of the hydraulic cylinder 20.

[0041] The arm 15 is provided at the tip 14b of the boom 14. The arm 15 is a columnar member extending from the tip 14b. A support shaft (not shown) that supports the arm 15 is provided at the tip 14b. The support shaft extends in the left-right direction (horizontal direction). The support shaft connects the tip 14b and the base 15a of the arm 15. The arm 15 is capable of swinging around the support shaft. Therefore, the arm 15 swings along a plane that includes the front-rear and up-down directions around the tip 14b. A hydraulic cylinder 21 is provided between the arm 15 and the boom 14. The arm 15 is driven to swing by the extension and contraction of the hydraulic cylinder 21.

[0042] The work implement 16 is provided at the tip 15b of the arm 15. In this embodiment, the work implement 16 is a bucket. In addition to a bucket, the work implement 16 may include a hydraulic breaker, a hydraulic crusher, an angle broom, an earth auger, a pallet fork, a sweeper, a mower, a snow blower, and the like. A support shaft 22 that supports the working tool 16 is provided on the tip portion 15b. The support shaft 22 is an axis that extends in the left-right direction (horizontal direction). The support shaft 22 connects the tip portion 15b to a base portion of the working tool 16. The working tool 16 can swing around the support shaft 22. Therefore, the working tool 16 swings around the support shaft 22 along a plane that includes the front-rear and up-down directions. A hydraulic cylinder 23 is provided between the arm 15 and the working tool 16. The working tool 16 is driven to swing by the extension and contraction of the hydraulic cylinder 23. The dozer device 25 includes an arm portion 25a attached to the traveling device 12 so as to be able to swing up and down, and a blade (blade) 25b attached to the tip of the arm portion 25a. A hydraulic cylinder (not shown) is provided between the traveling device 12 and the arm portion 25a. The arm portion 25a and the blade 25b are driven to swing up and down by the extension and contraction of the hydraulic cylinder.

[0043] The working machine 100 can perform various work operations by controlling the hydraulic cylinders of each part, etc. The work operations of the working machine 100 include, for example, the raising and lowering operations of the boom 14, the dumping and scraping operations of the arm 15, the dumping and scraping operations of the working implement 16, a swinging operation that rotates the working device 13 about a vertical axis relative to the machine body 11, the raising and lowering operations of the dozer device 25, and the turning operation of the machine body 11.

[0044] The raising operation of the boom 14 is an operation of swinging the boom 14 in a direction to raise the boom 14. The lowering operation of the boom 14 is an operation of swinging the boom 14 in a direction to lay the boom 14 down. The dumping operation of the arm 15 is an operation of swinging the arm 15 in a direction away from the boom 14, for example, an operation performed when discharging soil and sand within the work tool 16. The scraping operation of the arm 15 is an operation of swinging the arm 15 in a direction approaching the boom 14, for example, an operation performed when scooping soil and sand with the work tool 16. The dumping operation of the work tool 16 is an operation of swinging the work tool 16 in a direction away from the arm 15, for example, an operation for discharging soil and sand inside the work tool 16. The scraping operation of the work tool 16 is an operation of swinging the work tool 16 in a direction approaching the arm 15, for example, an operation for scooping soil and sand with the work tool 16.

[0045] The work machine 100 also includes devices necessary for remote operation, including a positioning device, a camera, an obstacle sensor, a communication device, a control device, and the like.

[0046] [Regarding the control configuration of the work machine 100] FIG. 3 is a block diagram showing an example of the configuration of the work machine 100 and the remote control device 200. As shown in FIG. 3, the work machine 100 includes a positioning device 110, a camera 120, an obstacle sensor 130, a control system 150, a hydraulic system 160, a power unit 170, an operation system 180, and a communication device 190. These components are communicatively connected via a bus to configure an in-vehicle network.

[0047] The communication device 190 has a function of communicating with the remote control device 200 via the network 500. The communication device 190 has, for example, a function as a wireless LAN terminal or a function as a wireless communication terminal in a mobile communication system.

[0048] The positioning device 110 includes a Global Navigation Satellite System (GNSS) receiver, an Inertial Measurement Unit (IMU), etc. The positioning device 110 receives satellite signals from a plurality of GNSS satellites using the GNSS receiver, and performs positioning based on the satellite signals. The IMU (Inertial Measurement Unit) includes a three-axis acceleration sensor and a three-axis gyro sensor. The IMU uses these sensors to output data indicating the attitude, direction, speed, and the like of the work machine 100. The positioning device 110 uses data obtained from the IMU to complement position data based on positioning using satellite signals, thereby improving the accuracy of the position information obtained by the positioning device 110. The position information from the positioning device 110 is provided to the control system 150 .

[0049] The camera 120 is an imaging device that captures images of the surroundings of the work machine 100. The camera 120 has an imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 120 captures images of the surroundings of the work machine 100 and generates image (video) data. The image data generated by the camera 120 is processed by the control system 150 and then transmitted to the remote control device 200. The image data is output from a monitor or the like of the remote control device 200. The operator remotely operates the work machine 100 while viewing the image data output from the remote control device 200. The image data generated by the camera 120 may also be used for positioning or obstacle detection.

[0050] The obstacle sensor 130 (obstacle detection unit) detects objects present around the work machine 100. The obstacle sensor 130 includes, for example, a LiDAR (Light Detection And Ranging) sensor. In this case, the obstacle sensor 130 continuously outputs sensor data indicating the distance and direction of each measurement point on an object present around the work machine 100, or the two-dimensional or three-dimensional coordinate values ​​of each measurement point. The sensor data is provided to the control system 150. The control system 150 uses the sensor data to detect obstacles around the work machine 100. The obstacle sensor 130 may include a sensor that detects the presence or absence of an obstacle using a laser light, an LED light, an ultrasonic wave, or a millimeter wave. These sensors provide an output to the control system 150 indicating the presence or absence of an obstacle within the detection range.

[0051] Hydraulic system 160 indicates the entire system related to hydraulic operation included in work machine 100, and includes hydraulic devices, hydraulic actuators, hydraulic cylinders, etc., as well as hydraulic circuits that distribute hydraulic pressure to each component. The hydraulic circuit of the hydraulic system 160 is controlled by operation commands given from the control system 150. In other words, the raising and lowering operations of the boom 14 of the work machine 100, the dumping and scraping operations of the arm 15, and the dumping and scraping operations of the work implement 16 are executed by operation commands from the control system 150. The power plant 170 includes a prime mover and equipment for controlling the prime mover, and is controlled by commands provided by the control system 150.

[0052] The control system 150 includes a memory unit 151 and a processing unit 152 . The processing unit 152 is, for example, any of various processors suitable for computer control, such as a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0053] The storage unit 151 is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The storage unit 151 stores computer programs and necessary information to be executed by the processing unit 152. The processing unit 152 executes computer programs stored in a computer-readable non-transitory recording medium such as the storage unit 151 to realize various processing functions possessed by the processing unit 152.

[0054] The processing unit 152 has a function of generating an operation command to be given to the hydraulic system 160. The processing unit 152 operates each part of the work machine 100 by giving the operation command to the hydraulic system 160. As a result, the work machine 100 performs a work operation. The operation command is generated based on a control command provided from the remote control device 200. The control command is provided to the processing unit 152 (control system 150) via the network 500 and the communication device 190.

[0055] The processing unit 152 also has a function of generating detection information using sensor data from the obstacle sensor 130. The detection information is information indicating whether or not there is an obstacle around the work machine 100. If there is an obstacle, the detection information includes the distance between the obstacle and the work machine 100 and the position of the obstacle. The processing unit 152 provides the detection information to the remote control device 200. Note that the processing unit 152 may detect an obstacle using image data and generate detection information.

[0056] The processing unit 152 has a function of processing image data generated by the camera 120 and providing the data to the remote control device 200 . The processing unit 152 also has a function of providing the position information generated by the positioning device 110 to the remote control device 200 . Furthermore, the processing unit 152 also has a function of providing operation information indicating the operating state of each part of the work machine 100 to the remote control device 200. The operation information is acquired from the state of the hydraulic system 160 and sensors provided in each part. Various data generated by the positioning device 110, the camera 120, the obstacle sensor 130, etc., as well as various data such as control commands and operation commands, are stored in the storage unit 151.

[0057] The operation system 180 is a system that allows an operator who boards the work machine 100 to operate the work machine 100. The operation system 180 includes an operation device that is provided in the driver's seat and receives operations from the operator, and a device that performs processing required to provide the received operations to the control system 150.

[0058] [Configuration of the remote control device 200] 3, the remote control device 200 includes a communication device 210, a control system 220, an input / output unit 230, and an interface unit 240. These components are communicatively connected by a bus.

[0059] The communication device 210 has a function of communicating with the work machine 100 via the network 500. The communication device 210 has, for example, a function as a wireless LAN terminal and a function as a wireless communication terminal in a mobile communication system.

[0060] The input / output unit 230 has a function of receiving input from the operator 400 and a function of outputting various information. The input / output unit 230 includes input devices such as a keyboard, a mouse, and a touch panel, and output devices such as a monitor, a speaker, and a printer.

[0061] The interface unit 240 is an interface for receiving an output from the operation device 300. The operation device 300 is connected to the interface unit 240. The output from the operation device 300 is provided to the control system 220 via the interface unit 240.

[0062] The control system 220 includes a memory unit 221 and a processing unit 222 . The processing unit 222 is, for example, any of various processors suitable for computer control, such as a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0063] The storage unit 221 is, for example, a flash memory, a hard disk, a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The storage unit 221 stores computer programs and necessary information to be executed by the processing unit 222. The processing unit 222 executes computer programs stored in a computer-readable non-transitory recording medium such as the storage unit 221, thereby realizing various processing functions of the processing unit 152.

[0064] The processing unit 222 outputs the image data provided from the work machine 100 as an image (video) to the monitor of the input / output unit 230. This allows the operator 400 to visually recognize the surroundings of the work machine 100 from the image output from the input / output unit 230.

[0065] The processing unit 222 also has a function of generating a control command. As described above, the control command is a command for causing the work machine 100 to perform a work operation. The processing unit 222 generates the control command based on the output from the operation device 300.

[0066] The processing unit 222 also has a function of executing a setting process 222a. The setting process 222a is a process for setting a neutral range and an operation limit range in the operation range of the operation lever of the operation device 300. The setting process 222a will be described later.

[0067] The processing unit 222 also has a function of performing processing to reflect the detection information provided by the work machine 100 in the setting processing 222a. Furthermore, the processing unit 222 has a function of receiving the workable range and performing processing to reflect it in the setting processing 222a. The workable range is a range within which the work machine 100 is permitted to perform a work operation, and is a range that is set in advance. The operator 400 inputs the workable range using an input device or the like of the input / output unit 230. The processing unit 222 receives the workable range via the input / output unit 230.

[0068] [Regarding the operation device 300] FIG. 4A is an external view of the operating device 300. FIG. 4A, the operating device 300 has a first operating lever 310, a second operating lever 320, and a main body portion 330. The first operating lever 310 and the second operating lever 320 are provided on the main body portion 330 so as to be able to tilt freely. The configuration of the operation device 300 is not limited to the configuration shown in Fig. 4A, and may be, for example, a joystick type, a pad controller type, an arcade controller type, a remote control type, or the like. Also, the operator 400 may be able to select an arbitrary operation device from among a plurality of types of operation devices according to preferences, work purposes, and the like. The method of selecting an operation device is not particularly limited, and for example, the selectable operation devices may be displayed on the remote operation device 200 so that the operator can select one, or the remote operation device 200 may automatically recognize the type of the connected operation device.

[0069] When no operational input is applied, the first operating lever 310 and the second operating lever 320 stand upright so as to be substantially perpendicular to the main body 330. The position of both levers 310, 320 in the upright position is also referred to as the neutral position. The first control lever 310 and the second control lever 320 in the neutral position are tilted by an operation input from the operator 400. The operation device 300 provides the remote control device 200 with an output indicating the positions of the first control lever 310 and the second control lever 320. Thus, the operation device 300 receives an operation input from the operator 400 via the first operation lever 310 and the second operation lever 320.

[0070] In Fig. 4A, directions perpendicular to each other on upper surface 331 of main body 330 are defined as X direction and Y direction. Both levers 310, 320 are aligned along the X direction. One of the X directions is defined as X1 direction, and the opposite direction to X1 direction is defined as X2 direction. One of the Y directions is defined as Y1 direction, and the opposite direction to Y1 direction is defined as Y2 direction.

[0071] The first control lever 310 and the second control lever 320 can be operated (tilted) in a direction of 360 degrees from a neutral position in a plan view. Work operations of the work machine 100 are assigned according to the X-direction component and the Y-direction component of the operation input (tilt operation amount) to the first control lever 310 and the second control lever 320.

[0072] FIG. 4B is a diagram showing an example of allocation of work actions to operation inputs in each direction of first control lever 310 and second control lever 320. As shown in FIG. The assignment of work actions to the operating directions of the first operating lever 310 and the second operating lever 320 is not limited to this, and may be, for example, possible for the operator 400 to select from a number of pre-set patterns, or may be possible for the operator to set at will. 4B is a plan view of the operating device 300. Therefore, both levers 310, 320 are located in the neutral position. As shown in FIG. 4B, among the operational inputs of the first operating lever 310, the operational input in the Y1 direction from the neutral position is assigned to the dump operation of the arm 15. Of the operation inputs of the first operating lever 310, the operation input from the neutral position to the Y2 direction is assigned to a scratching motion of the arm 15. Of the operation inputs of the first control lever 310, the operation input from the neutral position in the X1 direction is assigned to turn the machine body 11 to the right. Of the operation inputs of the first control lever 310, the operation input from the neutral position in the X2 direction is assigned to turning the machine body 11 left.

[0073] Of the operation inputs of the second operating lever 320, the operation input from the neutral position in the Y1 direction is assigned to the lowering operation of the boom 14. Of the operation inputs of the second control lever 320, the operation input from the neutral position in the Y2 direction is assigned to the lifting operation of the boom 14. Of the operation inputs of the second operating lever 320, the operation input from the neutral position in the X1 direction is assigned to the dumping operation of the implement 16. Of the operation inputs of the second operating lever 320, the operation input from the neutral position in the X2 direction is assigned to a scraping motion of the work tool 16.

[0074] The operating device 300 provides an output indicating the positions of the first operating lever 310 and the second operating lever 320 to the remote control device 200 . The processing unit 222 of the remote control device 200 generates a control command based on the positions of the first control lever 310 and the second control lever 320 . The processing unit 222 generates, as a control command, a command value for the operation speed according to the positions of both levers 310, 320.

[0075] The processing unit 152 of the work machine 100 to which the control command is given generates an operation command corresponding to the command value of the operation speed, and gives the operation command to the hydraulic system 160 . The hydraulic system 160 controls each section in response to an operation command (a command value for an operation speed). As a result, the work machine 100 performs a work operation in response to the operation input of both levers 310, 320.

[0076] The control command (operation command) is also a command for starting the operation of each part of the hydraulic system 160, and when no control command is given, the hydraulic system 160 stops the operation of each part. When a control command is given, the hydraulic system 160 starts the operation of each part, and operates each part at a speed according to the command value.

[0077] The control command is generated based on a control command provided from the remote control device 200. The control command is provided to the processing unit 152 (control system 150) via the network 500 and the communication device 190. The processing unit 152 also has a function of generating detection information using sensor data from the obstacle sensor 130. The detection information is information indicating whether or not there is an obstacle around the work machine 100. If there is an obstacle, the detection information includes information indicating whether or not the obstacle is within the range of the work operation of the work machine 100, and the distance between the obstacle and the work machine 100. The processing unit 152 also has a function of processing image data generated by the camera 120 and providing the data to the remote control device 200 .

[0078] [About the setting process] FIG. 5 is a flowchart showing an example of the setting process performed by the processing unit 222 of the remote control device 200. As shown in FIG. In the following, a process for setting the operation range of first control lever 310 in the X1 direction will be described.

[0079] In the setting process, the processor 222 first sets a neutral range and a movement limit range for the movement range of the first operating lever 310 (step S1 in FIG. 5). The neutral range is a range in which the work operation of the work machine 100 is limited. When the first operating lever 310 is located in the neutral range, the processing unit 222 stops transmitting the control command. Therefore, when the first operating lever 310 is located in the neutral range, the work machine 100 stops the work operation. The operation limit range is a range that limits the work operation of the work machine 100. When the first operating lever 310 is located within the operation limit range, the processing unit 222 stops transmitting the control command. Therefore, when the first operating lever 310 is located within the operation limit range, the work machine 100 stops the work operation. The processing unit 222 transmits control commands within the movement range other than the neutral range and the movement limit range.

[0080] 6 is a diagram for explaining the neutral range and the movement limit range, showing the movement range of first operating lever 310 in the X1 direction. 6, the horizontal axis represents the position of first control lever 310, and the vertical axis represents the command value for the movement speed. A straight line L represents the relationship between the position of first control lever 310 and the command value for the movement speed.

[0081] The first operating lever 310 is movable between a neutral position N and a maximum operating position M. Therefore, the range from the neutral position N to the maximum operating position M is the movement range of the first operating lever 310. The position of the operating lever 310 is determined within a range of movement between a neutral position N and a maximum operation position M. In other words, the position of the operating lever 310 indicates the amount of operation by the operator 400.

[0082] The processor 222 selects and sets the neutral range from either the range NR1 or the range NR2. The range NR1 and the range NR2 are set on the neutral position N side of the movement range. The range NR1 is a range between the neutral position N and the position P1. The range NR1 includes the neutral position N. The position P1 is a position adjacent to the neutral position N. The range NR2 is a range between the neutral position N and the position P2. The range NR2 includes the neutral position N. The position P2 is a position on the maximum operation position M side of the position P1. Therefore, the range NR2 is wider than the range NR1.

[0083] Furthermore, the processor 222 selects and sets the movement limit range from among the range MR1, the range MR2, and no movement limit range. The ranges MR1 ​​and MR2 are set on the maximum operation position M side of the movement range. When no movement limit range is selected, it indicates that no movement limit range is set in the movement range. The range MR1 is a range between the maximum operation position M and the position P4. The range MR1 includes the maximum operation position M. The position P4 is a position adjacent to the maximum operation position M. The range MR2 is a range between the maximum operation position M and the position P3. The range MR2 includes the maximum operation position M. The position P3 is a position on the neutral position N side of the position P4 and is a position between the positions P2 and P4. Therefore, the range MR2 is wider than the range MR1.

[0084] 5, the processing unit 222 sets a range NR1 as a neutral range for the movement range. Also, the processing unit 222 selects no operation restriction range for the movement range. Next, the processing unit 222 proceeds to step S2 and acquires the delay information (step S2 in FIG. 5). The delay information is information indicating a communication delay between the work machine 100 and the remote control device 200. In this embodiment, the delay information includes a communication delay time. The communication delay time is a time required when communication is performed between the work machine 100 and the remote control device 200. The processing unit 222, for example, transmits a packet for measuring the delay time to the work machine 100, thereby acquiring the round trip time as the communication delay time (delay information).

[0085] Next, the processing unit 222 proceeds to step S3, and adjusts the size of the neutral range (step S3 in FIG. 5). FIG. 7 is a flowchart showing an example of a process for adjusting the size of the neutral position. The processing unit 222 determines whether or not the communication delay time d included in the delay information is equal to or greater than a threshold value Th2 (step S11 in FIG. 7). When it is determined that the communication delay time d is not equal to or greater than the threshold value Th2 (is smaller than the threshold value Th2), the processing unit 222 sets the range NR1 as the neutral range and ends the process. On the other hand, when it is determined that the communication delay time d is equal to or greater than the threshold value Th2, the processing unit 222 sets the range NR2 as the neutral range and ends the process.

[0086] In this way, the processing unit 222 adjusts the size of the neutral range based on the delay information in step S3 in FIG.

[0087] After adjusting the size of the neutral range, the processing unit 222 proceeds to step S4 in FIG. 5, and adjusts the size of the motion limit range (step S4 in FIG. 5). FIG. 8 is a flowchart showing an example of a process for adjusting the size of the motion restriction range. The processor 222 determines whether the communication delay time d is equal to or greater than a threshold value Th1 (step S21 in FIG. 8). Here, the threshold value Th1 is a value smaller than the threshold value Th2. When it is determined that the communication delay time d is not equal to or greater than the threshold value Th1 (is smaller than the threshold value Th1), the processing unit 222 does not set an operation restriction range (step S22 in FIG. 8) and ends the process. When it is determined that the communication delay time d is equal to or greater than the threshold value Th1, the processing unit 222 determines whether or not the communication delay time d is equal to or greater than a threshold value Th2 (step S23 in FIG. 8). When it is determined that the communication delay time d is not equal to or greater than the threshold value Th2 (is smaller than the threshold value Th2), the processing unit 222 sets the range MR1 as the operation restriction range, and ends the process. When it is determined that the communication delay time d is equal to or greater than the threshold value Th2, the processing unit 222 sets the range MR2 as the operation restriction range, and ends the process.

[0088] In this way, the processing unit 222 adjusts the size of the operation restriction range based on the delay information in step S4 in FIG. The processing unit 222 repeatedly executes steps S2 to S4 in FIG. The threshold value Th1 is set to a value that is somewhat large as a communication delay and that may affect the operation of the operator 400. Moreover, the threshold value Th2 is set to a value that is large as a communication delay and that may greatly affect the operation of the operator 400.

[0089] When the processing unit 222 repeatedly executes steps S2 to S4, the neutral range and the operation limit range are adjusted in size based on the delay information (communication delay time d). For example, when the communication delay time d is smaller than the threshold value Th1, the processing unit 222 generates a control command when the first operating lever 310 is located within the range from position P1 to maximum operating position M within the movement range in Fig. 6. The control command is generated based on a command value for the operating speed obtained from the relationship indicated by the straight line L. When the communication delay time d is between the threshold value Th1 and the threshold value Th2, the processing unit 222 generates a control command when the first operating lever 310 is located within the range from position P1 to position P4 within the movement range in FIG. When the communication delay time d is greater than the threshold value Th2, the processing unit 222 generates a control command when the first operating lever 310 is located in the range from position P2 to position P3 within the movement range in FIG.

[0090] Here, if communication delay between the remote control device 200 and the work machine 100 becomes large, a time lag may occur between an operation input by the operator and a work operation of the work machine corresponding to the operation input. Such a time lag may reduce the operation accuracy when the operator 400 remotely operates the work machine 100.

[0091] In this regard, in this embodiment, when the communication delay time d becomes relatively large, the neutral range is expanded from the range NR1 to the range NR2. If the neutral range is adjusted to be expanded, the difference between the timing when the operator 400 starts operating the first control lever 310 and the timing when the transmission of a control command to the work machine starts becomes larger compared to before the neutral range was expanded, and therefore the amount of operation accepted as a control command to the work machine 100 becomes smaller than the amount of operation of the first control lever 310 by the operator 400. Therefore, the amount of operation of the work machine 100 can be suppressed compared to the amount of operation of the work machine 100 before the neutral range was expanded.

[0092] In the setting process of this embodiment, the neutral range is adjusted to expand when the communication delay between the remote control device 200 and the work machine 100 becomes relatively large, so that even in a situation where the communication delay becomes relatively large and the work machine 100 operates with a delay in response to the operation input by the operator 400, the actual operation amount of the work machine 100 can be suppressed relative to the operation amount by the operator 400. As a result, it is possible to suppress the position of the work machine 100 from going too far from the target position, and suppress a decrease in operation accuracy.

[0093] The same applies to the operation limit range, and even in a situation where the communication delay between the remote control device 200 and the work machine 100 becomes relatively large and the work machine 100 operates with a delay in response to the operation input by the operator 400, by setting the operation limit range, the actual operation amount of the work machine 100 can be restricted relative to the operation amount by the operator 400. As a result, it is possible to prevent the position of the work machine 100 from going too far from the target position, and to prevent a decrease in operation accuracy.

[0094] In addition, the amount of movement of the work machine 100 in response to the operator's operation decreases, which can cause the operator 400 to recognize that the communication delay is increasing, and can alert the operator 400.

[0095] The processor 222 performs similar processing not only for the X1 direction of the first operating lever 310, but also for the other directions of the first operating lever 310. The processor 222 also performs similar processing for each direction of the second operating lever 320. However, in the process of setting the operation ranges in each direction of first operating lever 310 and second operating lever 320, neutral ranges and operation limit ranges of different sizes may be set even at the same timing.

[0096] [Regarding the neutral range and operating limit range of the control lever] In this embodiment, for operation inputs of the first operating lever 310 in seven directions other than the X1 direction, positions P1, P2, P3, and P4 are set within the movement range as shown in Fig. 6, and a neutral range and a motion limit range are set based on this. Note that an appropriate value is set for the command value of the motion speed for each work motion.

[0097] FIG. 9 is a diagram showing the neutral range within the movement ranges of first control lever 310 and second control lever 320, and shows the neutral range when communication delay time d is smaller than threshold value Th1. 9, the outermost circle of the circles centered on the neutral position N is the maximum operation position M. That is, in FIG. 9, the area of ​​the movement range of the operating levers 310, 320 is the range surrounded by the maximum operation position M which is a circle.

[0098] When the communication delay time d is smaller than the threshold value Th1, the neutral range in each direction is set to the range NR1 (range from the neutral position N to the position P1). Therefore, the area NRE of the neutral range is a range surrounded by a circle that passes through the position P1 in each direction and has the neutral position N as its center.

[0099] In this manner, when the communication delay time d is smaller than the threshold value Th1, a circular neutral zone area NRE is set in the center of the movement range.

[0100] FIG. 10A is a diagram showing an example of the neutral range and the operating limit range of the movement range of the first operating lever 310 and the second operating lever 320, and shows the neutral range and the operating limit range when the communication delay time d is between the threshold value Th1 and the threshold value Th2.

[0101] When the communication delay time d is between the threshold value Th1 and the threshold value Th2, the neutral range in each direction is set to the range NR1 (range from the neutral position N to the position P1). Also, the motion limit range in each direction is set to the range MR1 (range from the maximum operation position M to the position P4). Therefore, the motion limit range area MRE is an annular area surrounded by a circle that passes through the position P4 in each direction and has the neutral position N as its center, and the maximum operation position M.

[0102] In this way, when the communication delay time d is between the threshold value Th1 and the threshold value Th2, the annular movement restriction range area MRE is set around the circular neutral range NR.

[0103] FIG. 10B is a diagram showing another example of the neutral range and the movement limit range of the first operating lever 310 and the second operating lever 320, and shows the neutral range and the movement limit range when the communication delay time d is greater than the threshold value Th2.

[0104] In this case, the neutral range NR is set to range NR2, and the movement limit range is set to range MR2 in the X1 direction of the first operating lever 310. The same is also set in the X2 direction of the first operating lever 310.

[0105] On the other hand, in the Y1 and Y2 directions of the first operating lever 310, the neutral range NR is set to the range NR1, and the movement limit range is set to the range MR1. In other words, the size of the neutral range in the X1 direction is different from the size of the neutral range in the Y1 direction perpendicular to the X1 direction. Similarly, the size of the movement limit range in the X1 direction is different from the size of the movement limit range in the Y1 direction perpendicular to the X1 direction.

[0106] Here, the greater the working movement of the work machine 100, the greater the impact that the working movement of the work machine 100 has on the surroundings. An operation input for the turning movement of the machine body 11 is assigned to the X direction of the first operating lever 310. Also, an operation input for the movement of the arm 15 is assigned to the Y direction of the first operating lever 310. In other words, the working movement performed by moving first operating lever 310 in the X direction is greater than the working movement performed in the Y direction.

[0107] Therefore, in this embodiment, the size of the neutral range and the size of the movement limit range in the X1 (X2) direction are set to be larger than the size of the neutral range and the size of the movement limit range in the Y1 (Y2) direction perpendicular to the X direction. As a result, for a turning operation which is a larger operation, the actual movement amount of the work machine 100 relative to the operation amount can be further suppressed, so that the impact of the operation of the work machine 100 on the surroundings can be suppressed. Furthermore, even if the operator 400 accidentally drops the operation device 300, for example, malfunction can be suppressed.

[0108] In addition, the neutral range NR is set to range NR2, and the movement limit range is set to range MR1 in the X1 direction of second operating lever 320. The same is true for the X2 direction of second operating lever 320.

[0109] On the other hand, in the Y1 and Y2 directions of second operating lever 320, the neutral range NR is set to range NR1, and the movement limit range is set to range MR2. In this case as well, the size of the neutral range in the X1 direction is different from the size of the neutral range in the Y1 direction perpendicular to the X1 direction. Similarly, the size of the movement limit range in the X1 direction is different from the size of the movement limit range in the Y1 direction perpendicular to the X1 direction.

[0110] The amount of movement of the second control lever 320 can also be further restricted in accordance with the work movement assigned to the second control lever 320, and the impact of the movement of the work machine 100 on the surroundings can be restricted.

[0111] [Regarding the first modified example] FIG. 11 is a plan view of a work machine 100 remotely controlled by a remote control device 200 in the first modified example. FIG. 11 shows a case where a worker W1 or a worker W2 is positioned around the work machine 100.

[0112] The position of the worker W1 is such that, by moving the arm 15 toward the boom 14, it is possible to avoid a collision between the working device 13 and the worker W1. When the work machine 100 (the processing unit 152 thereof) detects the presence of the worker W1 by the obstacle sensor 130, it provides the remote control device 200 with detection information including the distance to the worker W1 (obstacle) and the position thereof.

[0113] When the processing unit 222 of the remote control device 200 receives detection information from the obstacle sensor 130 of the work machine 100, when adjusting the size of the operation limit range in the setting process (step S4 in Figure 5), it adjusts the operation limit range based on the delay information and the detection information.

[0114] In this case, the processing unit 222 recognizes that the worker W1 is present at the above-mentioned position based on the detection information. Based on this recognition, the processing unit 222 determines to partially restrict the dumping operation of the arm 15 and the left turning operation of the machine body 11.

[0115] Here, when the communication delay time d is smaller than the threshold value Th1, the processing unit 222 sets, in principle, a neutral range area NRE as shown in FIG. 9, and does not set an operation restricted range area. However, the processing unit 222, which has decided to restrict the dumping operation of the arm 15 and the left turning operation of the machine body 11, sets a movement restriction range area MRE that spans a part of the Y1 direction and a part of the X2 direction of the first operating lever 310, as shown in Fig. 12A. This restricts the operation input in the direction where the worker W1 (obstacle) is located.

[0116] In addition, in FIG. 11, the position of the worker W2 is such that if the machine body 11 is turned left, the working device 13 and the worker W2 are on the verge of colliding with each other. In this case, too, when the processing unit 222 of the remote control device 200 receives detection information from the obstacle sensor 130 of the work machine 100, when adjusting the size of the operating limit range in the setting process (step S4 in Figure 5), it adjusts the operating limit range based on the delay information and the detection information.

[0117] In this case, the processing unit 222 determines to restrict all left turning operations of the aircraft 11. 12B, the processing unit 222 sets a movement restriction range area MRE for the entire X2 direction of the first control lever 310. As a result, the operation input for turning the machine body 11 to the left is no longer accepted.

[0118] Furthermore, when the communication delay time d is greater than the threshold value Th2, the processing unit 222 sets, in principle, the neutral range area NRE and the operation restricted range area MRE as shown in FIG. 10B. At this time, the processing unit 222, which recognizes the presence of the worker W1 shown in Fig. 11, sets a movement restriction range area MRE spanning a part of the Y1 direction and a part of the X2 direction of the first operating lever 310, as shown in Fig. 13. This restricts operation input in the direction where the worker W1 (obstacle) is located.

[0119] Thus, in this modified example, the processing unit 222 executes a process for receiving an input of the workable range of the work machine 100. In addition, the size of the operation restricted range MR (operation restricted range area MRE) is adjusted based on the communication delay time d and the detection information. Therefore, when the detection information includes information indicating that an obstacle is present within the range in which the work machine 100 performs its work operation, the operation restriction range area MRE can be expanded to suppress the actual amount of movement of the work machine 100 relative to the amount of operation by the operator 400, and the work operation can be restricted, such as by stopping the work operation or keeping the operating speed low. As a result, the work machine 100 is prevented from interfering with obstacles, and the amount of movement of the work machine in response to the operator's operation is reduced, making the operator 400 aware of situations in which the amount of movement must be limited, such as the presence of an obstacle, and alerting the operator 400 to the situation.

[0120] Furthermore, when the detection information includes the distance between the work machine 100 and an obstacle, the size of the operation restricted range area MRE can be configured to be expanded as the distance becomes shorter. In this case, the closer the work machine 100 is to the obstacle, the greater the limit on the actual movement amount of the work machine 100 relative to the amount of operation by the operator 400 can be.

[0121] [Regarding the second modified example] FIG. 14 is a side view of a work machine 100 remotely controlled by a remote control device 200 in the second modified example. FIG. 14 shows a case where the ceiling C is located above the work machine 100. The height of the ceiling C is a height at which the ceiling C will collide with the working implement 13 if the boom 14 is raised too far.

[0122] In this case, since the height of the ceiling C is known, the operator 400 can provide the height of the ceiling C to the processing unit 222 in advance as the workable range. The processing unit 222 can receive the workable range (height of the ceiling C) from the operator 400 and reflect it in the setting process. That is, when adjusting the size of the movement restriction range in the setting process (step S4 in FIG. 5), the processing unit 222 adjusts the movement restriction range based on the delay information and the workable range.

[0123] In this case, the processing unit 222 recognizes the position of the ceiling C based on the workable range. Furthermore, the processing unit 222 can grasp the position of the work machine 100 and the position of the work device 13 based on the position information and operation information of the work machine 100. Therefore, the processing unit 222 can obtain the distance between the ceiling C and the boom 14 based on the workable range, the position information, and the operation information. The processor 222 determines to limit the lifting operation of the boom 14 when the distance between the ceiling C and the working device 13 becomes equal to or smaller than a predetermined value during the working operation.

[0124] Here, when the communication delay time d is smaller than the threshold value Th1, the processing unit 222 sets, in principle, a neutral range area NRE as shown in FIG. 9, and does not set an operation restricted range area. However, the processing unit 222, having decided to limit the lifting operation of the boom 14, sets a movement limit range area MRE for the entire Y2 direction of the second operating lever 320, as shown in Fig. 15. As a result, operation input in the direction to lift the boom 14 is no longer accepted.

[0125] FIG. 16 is another example of a side view of the work machine 100 remotely controlled by the remote control device 200 in the second modified example. 16 shows a case where the horizontal boundary of the workable range is located in front of the work implement 100. More specifically, the position of the work implement 100 is a position where there is a distance K between the boundary and the work implement 16 of the work implement 100. FIG. 16 shows a state in which the work implement 16 exceeds the boundary if the arm 15 is dumped too far.

[0126] A workable range is provided to the processing unit 222. Therefore, the processing unit 222 recognizes the positions of the boundaries of the workable range. Furthermore, the processing unit 222 can grasp the position of the work machine 100 and the position of the work device 13 based on the position information and operation information of the work machine 100. Therefore, the processing unit 222 can obtain the interval K based on the workable range, the position information, and the operation information.

[0127] The processing unit 222 determines to limit the raising operation of the boom 14 when the distance K becomes equal to or smaller than the first threshold during the work operation. 17A, the processor 222 sets a movement limit range area MRE for a part of the Y1 direction of the first operating lever 310. This limits the operation input in the direction that causes the arm 15 to perform a dump operation.

[0128] Furthermore, when the interval K becomes equal to or smaller than the second threshold value, the processing unit 222 sets a movement restriction range area MRE for the entire Y1 direction of the first operating lever 310, as shown in Fig. 17B. As a result, operation input in a direction for performing a dump operation on the arm 15 is no longer accepted. The second threshold value is a value smaller than the first threshold value and indicates that the work tool 16 is about to cross the boundary. If it is determined that the work implement 16 is about to cross the boundary, the processing unit 222 does not accept an operation input in a direction to perform a dump operation on the arm 15. This makes it possible to prevent the work implement 16 from crossing the boundary.

[0129] Thus, in this modified example, the processing unit 222 further executes a process of receiving an input of the workable range of the work machine 100. In addition, the size of the operation restricted range MR (operation restricted range area MRE) is adjusted based on the delay information and the workable range. More specifically, the size of the motion restricted range area MRE is configured to be expanded as the interval K becomes shorter. As a result, the closer the work machine 100 is to the boundary of the workable range, the greater the restriction on the actual movement amount of the work machine 100 relative to the amount of operation by the operator 400, thereby preventing operations that would cause the work machine 100 to go outside the workable range.

[0130] In this modified example, the example has been given of the workable range being given by the operator 400, but the processing unit 152 of the work machine 100 or the processing unit 222 of the remote control device 200 may identify the situation around the work machine 100 using image data from the camera 120, and the processing unit 152 or the processing unit 222 may set the workable range based on the identified situation.

[0131] 〔others〕 It should be noted that the embodiments disclosed herein are illustrative in all respects and are not restrictive. For example, an operator may momentarily operate a control lever to move a working machine in an increment. When such an operation input is performed for a very short period of time, it is difficult to accurately adjust the amount of operation.

[0132] Therefore, the processing unit 222 may be configured to execute a process for measuring the time it takes for both operating levers 310, 320 to move from the neutral position N and return to the neutral position N again, and the processing unit 222 may be further configured to adjust the size of the neutral range NR based on the delay information and the time. In this case, the time it takes for both operating levers 310, 320 to move from the neutral position N and return to the neutral position N again can be used to determine whether or not the operation input is an operation input made when attempting to move the work machine 100 in an incremental motion.

[0133] Therefore, when the time is a value that can be determined to be an operation input when attempting to slightly move the work machine 100, the processing unit 222 can be caused to adjust the neutral range NR in each direction of both operating levers 310, 320 from the neutral position N to position P2, as shown in Figure 18, and adjust the size of the neutral range NRE to be expanded. As a result, even if an operation input of a very short duration is given, the actual movement amount of the work machine 100 relative to the operation amount by the operator 400 can be suppressed.

[0134] Also, for example, in the above embodiment, the delay information includes the communication delay time d. However, the delay information may include, in addition to the communication delay time d, the difference between the maximum and minimum values ​​of the communication delay time d acquired over a certain period of time. When the delay information includes this difference, the processing unit 222 performs the setting process using the difference.

[0135] When the communication delay time d is stable to a certain extent, the processing unit 222 does not increase the neutral range NR and the operational limit range MR set in each direction of both levers 310, 320, and when the communication delay time d is unstable to a certain extent or more, the processing unit 222 sets the neutral range NR and the operational limit range MR set in each direction of both levers 310, 320 to be expanded. When the communication delay time d is relatively stable, the operator 400 can perform an operation input according to the stable communication delay time d, and can perform an operation with relatively high accuracy. However, if the communication delay time d is unstable beyond a certain level, the operator 400 cannot perform an operation input according to the communication delay time d, and the operation accuracy decreases. On the other hand, if the processing unit 222 performs the setting process using the above-mentioned difference, it is possible to suppress a decrease in the operation accuracy even if the communication delay time d becomes unstable.

[0136] In the above embodiment, the case has been exemplified in which the size of the neutral range NR is selected from two patterns, the range NR1 and the range NR2, and the size of the operational limit range MR is selected from two patterns, the range MR1 and the range MR2. However, the size of the neutral range NR and the size of the operational limit range MR may be adjusted to have continuous values ​​in response to changes in the communication delay time d.

[0137] In addition, in the above embodiment, an example was given of a case where when each lever 310, 320 is located in the neutral range (neutral range area NRE) and the motion limit range (motion limit range area MRE), the transmission of the control command is stopped and the work machine 100 stops its work operation. However, when each lever 310, 320 is located within the operating limit range (operating limit range area MRE), the processing unit 222 may be configured to give a control command to the work machine 100 to gradually slow down the operating speed of the work machine 100, or to give a control command to the work machine 100 to maintain the operating speed of the work machine 100 constant or to stop the work operation of the work machine 100. Further, when each of the levers 310, 320 is located in the neutral range (neutral range area NRE), the processing unit 222 may be configured to give the working machine 100 a control command to stop the working operation of the working machine 100.

[0138] Further, in the above embodiment, the working machine 100 is a backhoe, but the working machine 100 may be a hydraulic excavator other than a backhoe.

[0139] The scope of the present invention is defined by the claims, not by the meaning described above, and is intended to include all modifications within the scope and meaning equivalent to the claims. [Explanation of symbols]

[0140] 1 Remote Control System 11 Aircraft 12 Running gear 13 Working Equipment 14. Boom 14a base 14b Tip 15 Arm 15a base 15b Tip 16 Work tools 17 Swivel Frame 17a Bracket 18 Cabin 19 Support shaft 20 Hydraulic cylinder 21 Hydraulic cylinder 22 Support shaft 23 Hydraulic cylinder 25 Dozer equipment 25a Arm section 25b blade 27 Swing bracket 100 Work Machine 110 Positioning device 120 Camera 130 Obstacle Sensor 150 Control System 151 Storage section 152 Processing section 160 Hydraulic System 170 Power plant 180 Operating System 190 Communication Equipment 200 Remote control device 210 Communication equipment 220 Control System 221 Storage section 222 Processing section 222a Setting process 230 Input / output section 240 Interface section 300 Operating device 310 First operating lever 320 Second operating lever 330 Main body 331 Top surface 400 Operator 500 Network C Ceiling K-spacing L straight line M Maximum operating position MR Operating Limit Range MR1 Range MR2 Range MRE Operational Restriction Area N Neutral position NR Neutral range NR1 Range NR2 Range NRE Neutral Range Area P1 position Position P2 Position P3 Position P4 Operator W1 Operator W2

Claims

1. A remote control system for a work machine that performs a work operation, an operating lever that can be moved within a range from a neutral position to a maximum operating position by an operator's operation input; a remote control device that generates a control command for performing the work operation based on a position of the operation lever and wirelessly transmits the control command to the work machine, The remote control device includes: a processing unit that executes a setting process to set a neutral range in which the work operation of the work machine is limited to a position on the neutral position side of the movement range, The setting process includes: A process of acquiring delay information indicating a communication delay between the work machine and the work machine; and adjusting the size of the neutral range based on the delay information. Remote control system.

2. The delay information includes a communication delay time, The neutral range is expanded as the communication delay time increases. The remote control system according to claim 1 .

3. The delay information includes a communication delay time, The process of adjusting the size of the neutral range includes: A process of comparing the communication delay time with a predetermined threshold value; and selecting the neutral range magnitude from among a first magnitude and a second magnitude greater than the first magnitude based on the comparison. The remote control system according to claim 1 .

4. The work motion includes a first motion and a second motion different from the first motion, the operating lever is movable from the neutral position in a first direction and in a second direction perpendicular to the first direction, The control command includes a first control command for causing the work machine to perform the first operation and a second control command for causing the work machine to perform the second operation, the first control command is a command generated based on a position of the operation lever within a first movement range from the neutral position along the first direction, the second control command is a command generated based on a position of the operation lever within a second movement range from the neutral position along the second direction, the neutral range includes a first neutral range set in the first movement range and a second neutral range set in the second movement range, The size of the first neutral range and the size of the second neutral range are adjusted to be different from each other. The remote control system according to claim 1 .

5. The processing unit further executes at least one of a process of stopping transmission of the control command by the remote control device and a process of including a command to stop the work operation in the control command when the position of the operation lever is located in the neutral range. The remote control system according to claim 1 .

6. The setting process includes: A process of setting an operation limit range that limits the work operation of the work machine on the maximum operation position side of the movement range; and adjusting the size of the operation limit range based on the delay information. The remote control system according to claim 1 .

7. The work motion includes a first motion and a second motion different from the first motion, the operating lever is movable from the neutral position in a first direction and in a second direction perpendicular to the first direction, The control command includes a first control command for causing the work machine to perform the first operation and a second control command for causing the work machine to perform the second operation, the first control command is a command generated based on a position of the operation lever within a first movement range from the neutral position along the first direction, the second control command is a command generated based on a position of the operation lever within a second movement range from the neutral position along the second direction, the movement limit range includes a first movement limit range set in the first movement range and a second movement limit range set in the second movement range, The size of the first movement limit range and the size of the second movement limit range are adjusted to be different from each other. The remote control system according to claim 6.

8. The processing unit further executes a process of receiving detection information by an obstacle detection unit of the work machine, The size of the operation limit range is adjusted based on the delay information and the detection information. The remote control system according to claim 6.

9. The detection information includes a distance between the work machine and an obstacle, The size of the movement limit range is expanded as the distance is shorter. The remote control system according to claim 8.

10. The obstacle detection unit includes at least one of an ultrasonic sonar sensor, a LIDAR sensor, a millimeter wave sensor, and an image analysis unit including an imaging device. The remote control system according to claim 8.

11. The processing unit further executes a process of receiving an input of a workable range of the work machine, The size of the motion restriction range is adjusted based on the delay information and the workable range. The remote control system according to claim 6.

12. When the position of the operation lever is within the operation limit range, the processing unit further executes at least one of the following processes: stopping transmission of the control command by the remote control device; including in the control command a command to stop the work operation; and including in the control command a command to limit the operation speed of the work operation. The remote control system according to claim 6.

13. The processing unit further executes a process of measuring a time period from when the operating lever moves from the neutral position to when the operating lever returns to the neutral position again, The magnitude of the neutral range is adjusted based on the delay information and the time. The remote control system according to claim 1 .

14. The working machine includes a traveling device, a machine body rotatably mounted on the traveling device, a boom swingable about a lateral axis provided on the machine body, an arm swingably provided at the tip of the boom, and a working tool swingably provided at the tip of the arm, The work operation includes at least one of turning the machine body, swinging the boom, swinging the arm, and swinging the work tool. The remote control system according to any one of claims 1 to 13.

15. A remote control device that generates a control command for causing a work machine to perform a work operation based on a position of an operation lever that is movable within a movement range from a neutral position to a maximum operation position by an operation input from an operator, and wirelessly transmits the control command to the work machine, a processing unit that executes a setting process to set a neutral range in which the work operation of the work machine is limited to a position on the neutral position side of the movement range, The setting process includes: A process of acquiring delay information indicating a communication delay between the work machine and the work machine; and adjusting the size of the neutral range based on the delay information. Remote control device.

16. A method for a remote control device which generates a control command for causing a work machine to perform a work operation based on a position of an operation lever which is movable within a movement range from a neutral position to a maximum operation position by an operator's operation input, and wirelessly transmits the control command to the work machine, the method comprising: setting a neutral range for limiting the work operation by the work machine on the neutral position side of the movement range, acquiring delay information indicating a communication delay between the remote control device and the work machine; and adjusting the magnitude of the neutral range based on the delay information. method.

17. A remote control device generates a control command for causing a work machine to perform a work operation based on a position of an operating lever that can be moved within a movement range from a neutral position to a maximum operation position by an operator's operation input, and wirelessly transmits the control command to the work machine, the remote control device comprising: a computer program for causing a computer to execute a process of setting a neutral range, in which the work operation by the work machine is limited, on the neutral position side of the movement range, the computer program comprising: The computer acquiring delay information indicating a communication delay between the remote control device and the work machine; adjusting the magnitude of the neutral range based on the delay information. Computer program.

Images