Remote control shovel system

Abstract

To provide a remote control shovel system that improves work efficiency.SOLUTION: A remote control shovel system comprises a shovel having an attachment including a bucket, and a remote control device for remotely controlling the shovel via a communication network. The remote control device includes: an operation device for inputting a tip position of the bucket and the opening / closing angle of the bucket; and a control unit having an analysis unit for analyzing a posture of the attachment based on the input information of the operation device, and a determination unit for determining whether or not the attachment is within an operation range based on the result of the analysis unit.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a remote control excavator system.

Background Art

[0002] Patent Document 1 discloses a control method for an excavator that operates attachments (boom, arm, bucket) of the excavator by operating two operation levers.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in an excavator system for remotely operating an excavator, improvement in work efficiency such as excavation work is required.

[0005] Therefore, in view of the above problems, an object of the present invention is to provide a remote control excavator system that improves work efficiency.

Means for Solving the Problems

[0006] To achieve the above object, a remote control excavator system according to an embodiment of the present invention includes an excavator having an attachment including a bucket, and a remote control device for remotely operating the excavator via a communication network. The remote control device includes an operation device for inputting a tip position of the bucket and an opening / closing angle of the bucket, an analysis unit for analyzing an attitude of the attachment based on input information of the operation device, and a determination unit for determining whether or not it is within an operating range of the attachment based on a result of the analysis unit.

Effects of the Invention

[0007] According to the above embodiment, a remote control excavator system that improves work efficiency can be provided.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Modes for Carrying Out the Invention

[0009] The remote control excavator system according to this embodiment will be described with reference to FIG. 1. FIG. 1 is a configuration diagram of the remote control excavator system according to this embodiment.

[0010] The remote control excavator system shown in FIG. 1 includes an excavator 100, a remote control device 200, a management device 300, and a communication network 400.

[0011] The excavator 100 includes a lower traveling body 1, an upper revolving body 3 rotatably mounted on the lower traveling body 1 via a slewing mechanism 2, a boom 4, an arm 5, and a bucket 6 that constitute an attachment (working machine).

[0012] The lower traveling body 1 travels the excavator 100 by driving a pair of left and right crawlers hydraulically with traveling hydraulic motors 1L and 1R (see FIG. 2 described later). That is, the pair of traveling hydraulic motors 1L and 1R (an example of traveling motors) drive the lower traveling body 1 (crawler) as a driven part.

[0013] The upper slewing body 3 slews with respect to the lower traveling body 1 by being driven by a slewing hydraulic motor 2A (see FIG. 2 described later). That is, the slewing hydraulic motor 2A is a slewing drive part that drives the upper slewing body 3 as a driven part, and can change the direction of the upper slewing body 3.

[0014] Incidentally, the upper slewing body 3 may be electrically driven by an electric motor (hereinafter, “slewing electric motor”) instead of the slewing hydraulic motor 2A. That is, the slewing electric motor, like the slewing hydraulic motor 2A, is a slewing drive part that drives the upper slewing body 3 as a non-driven part, and can change the direction of the upper slewing body 3.

[0015] The boom 4 is pivotally attached to the front center of the upper slewing body 3 so as to be able to pitch. At the tip of the boom 4, an arm 5 is pivotally attached so as to be able to rotate up and down. At the tip of the arm 5, a bucket 6 as an end attachment is pivotally attached so as to be able to rotate up and down. The boom 4, the arm 5, and the bucket 6 are each hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as hydraulic actuators, respectively.

[0016] Incidentally, the bucket 6 is an example of an end attachment. At the tip of the arm 5, other end attachments, for example, a slope bucket, a dredging bucket, a breaker, a lifting magnet, a grapple, a fork, a harvester including a chain saw, etc. may be attached instead of the bucket 6 according to the work content, etc.

[0017] Further, the excavator 100 may be equipped with a cabin 10. The cabin 10 is an operator's cab and is mounted on the front left side of the upper swing body 3. Note that the remotely operated excavator 100 may not be equipped with a cabin 10 for the operator to board.

[0018] Here, in addition to FIG. 1, referring to FIG. 2, the specific configuration of the excavator 100 will be described.

[0019] FIG. 2 is a diagram schematically showing an example of the configuration of the excavator 100 according to the present embodiment.

[0020] In addition, in FIG. 2, the mechanical power system, the high-pressure hydraulic line (hydraulic oil line), the pilot line, and the electric control system are shown by double lines, thick solid lines, broken lines, and thin solid lines, respectively.

[0021] The drive system of the excavator 100 according to the present embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17. Further, as described above, the hydraulic drive system of the excavator 100 according to the present embodiment includes hydraulic actuators such as travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that hydraulically drive the lower traveling body 1, upper swing body 3, boom 4, arm 5, and bucket 6, respectively.

[0022] The engine 11 is the main power source in the hydraulic drive system and is mounted, for example, at the rear of the upper swing body 3. Specifically, the engine 11 rotates at a constant speed at a preset target rotational speed under the direct or indirect control of a controller 30 to be described later, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel.

[0023] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 according to a control command from the controller 30.

[0024] The main pump 14 is mounted, for example, at the rear of the upper swing body 3, similarly to the engine 11, and supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump. As described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, so that the stroke length of the piston is adjusted and the discharge flow rate (discharge pressure) is controlled.

[0025] The control valve 17 is mounted, for example, at the center of the upper swing body 3, and is a hydraulic control device that controls the hydraulic drive system according to the control of the controller 30. The control valve 17 is connected to the main pump 14 via the high-pressure hydraulic line as described above, and supplies the hydraulic oil supplied from the main pump 14 to the hydraulic actuators (travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9) selectively according to the control of the controller 30. Specifically, the control valve 17 includes a control valve that controls the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators.

[0026] The operation system of the excavator 100 according to the present embodiment includes a pilot pump 15 and a proportional valve 31.

[0027] The pilot pump 15 is mounted, for example, at the rear of the upper swing body 3, and supplies pilot pressure to the proportional valve 31 through a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump and is driven by the engine 11 as described above.

[0028] The control system of the excavator 100 according to the present embodiment includes a controller 30, a discharge pressure sensor 28, a proportional valve 31, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body inclination sensor S4, a swing state sensor S5, an imaging device S6, a positioning device P0, and a communication device T1.

[0029] The controller 30 (an example of a control device) is provided, for example, inside the cabin 10 and controls the driving of the excavator 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is mainly configured around a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a non-volatile auxiliary storage device, various input / output interfaces, etc. The controller 30 realizes various functions by executing various programs stored in the ROM or the non-volatile auxiliary storage device on the CPU.

[0030] For example, based on a work mode or the like preset by a predetermined operation of an operator or the like, the controller 30 sets a target rotation speed and performs drive control to rotate the engine 11 at a constant speed.

[0031] Also, for example, the controller 30 outputs a control command to the regulator 13 as needed to change the discharge amount of the main pump 14.

[0032] Note that a part of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a manner distributed among a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0033] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. A detection signal corresponding to the discharge pressure detected by the discharge pressure sensor 28 is taken into the controller 30.

[0034] The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and the control valve 17, and is configured to be able to change its flow passage area (the cross-sectional area through which the hydraulic oil can flow). The proportional valve 31 operates in response to a control command input from the controller 30. Thereby, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31.

[0035] The boom angle sensor S1 is attached to the boom 4 and detects the pitching angle of the boom 4 with respect to the upper swing body 3 (hereinafter, “boom angle”), for example, in a side view, the angle formed by a straight line connecting the fulcrums at both ends of the boom 4 with respect to the turning plane of the upper swing body 3. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. Further, the boom angle sensor S1 may include a potentiometer using a variable resistor, a cylinder sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2 and the bucket angle sensor S3 below. The detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

[0036] The arm angle sensor S2 is attached to the arm 5 and detects the turning angle of the arm 5 with respect to the boom 4 (hereinafter, “arm angle”), for example, in a side view, the angle formed by a straight line connecting the fulcrums at both ends of the arm 5 with respect to a straight line connecting the fulcrums at both ends of the boom 4. The detection signal corresponding to the arm angle by the arm angle sensor S2 is taken into the controller 30.

[0037] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as the "bucket angle"), for example, in a side view, the angle formed by the straight line connecting the fulcrum and the tip (cutting edge) of the bucket 6 with respect to the straight line connecting the fulcrums at both ends of the arm 5. The detection signal corresponding to the bucket angle by the bucket angle sensor S3 is taken into the controller 30.

[0038] The machine body inclination sensor S4 detects the inclination state of the machine body (the upper slewing body 3 or the lower traveling body 1) with respect to the horizontal plane. The machine body inclination sensor S4 is, for example, attached to the upper slewing body 3 and detects the inclination angles (hereinafter referred to as the "front-back inclination angle" and the "left-right inclination angle") around two axes in the front-back direction and the left-right direction of the excavator 100 (i.e., the upper slewing body 3). The machine body inclination sensor S4 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an IMU, etc. The detection signals corresponding to the inclination angles (front-back inclination angle and left-right inclination angle) by the machine body inclination sensor S4 are taken into the controller 30.

[0039] The slewing state sensor S5 outputs detection information regarding the slewing state of the upper slewing body 3. The slewing state sensor S5 detects, for example, the slewing angular velocity and the slewing angle of the upper slewing body 3. The slewing state sensor S5 may include, for example, a gyro sensor, a resolver, a rotary encoder, etc. The detection signals corresponding to the slewing angle and the slewing angular velocity of the upper slewing body 3 by the slewing state sensor S5 are taken into the controller 30. The boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, and the slewing state sensor S5 are included in the attitude sensor. The attitude sensor detects not only the tip position of the bucket 6 but also the boom angle, the boom angular velocity, the boom angular acceleration, etc.

[0040] The imaging device S6 as a spatial recognition device images the periphery of the excavator 100. The imaging device S6 includes a camera S6F that images the front of the excavator 100, a camera S6L that images the left side of the excavator 100, a camera S6R that images the right side of the excavator 100, and a camera S6B that images the rear of the excavator 100.

[0041] The camera S6F is, for example, attached to the ceiling of the cabin 10, that is, inside the cabin 10. Further, the camera S6F may be attached outside the cabin 10, such as to the roof of the cabin 10 or the side surface of the boom 4. The camera S6L is attached to the left end of the upper surface of the upper swing body 3, the camera S6R is attached to the right end of the upper surface of the upper swing body 3, and the camera S6B is attached to the rear end of the upper surface of the upper swing body 3.

[0042] The imaging devices S6 (cameras S6F, S6B, S6L, S6R) are each, for example, a monocular wide-angle camera having a very wide angle of view. Further, the imaging device S6 may be a stereo camera, a distance image camera, or the like. The captured image by the imaging device S6 is captured by the controller 30.

[0043] The imaging device S6 as a space recognition device may function as an object detection device. In this case, the imaging device S6 may detect an object existing around the excavator 100. The objects to be detected may include, for example, people, animals, vehicles, construction machinery, buildings, holes, etc. Further, the imaging device S6 may calculate the distance to the object recognized from the imaging device S6 or the excavator 100. The imaging device S6 as an object detection device may include, for example, a stereo camera, a distance image sensor, or the like. And the space recognition device is, for example, a monocular camera having an image sensor such as a CCD or a CMOS, and outputs the captured image to the controller 30. Further, the space recognition device may be configured to calculate the distance to the object recognized from the space recognition device or the excavator 100. Further, in addition to the imaging device S6, other object detection devices such as an ultrasonic sensor, a millimeter wave radar, a LIDAR, an infrared sensor, etc. may be provided as the space recognition device. When using a millimeter wave radar, an ultrasonic sensor, or a laser radar, etc. as the space recognition device, a large number of signals (such as laser light) may be transmitted to the object, and the distance and direction of the object may be detected from the reflected signal by receiving the reflected signal.

[0044] A boom cylinder 7 is equipped with a boom rod pressure sensor S7R and a boom bottom pressure sensor S7B. An arm cylinder 8 is equipped with an arm rod pressure sensor S8R and an arm bottom pressure sensor S8B. A bucket cylinder 9 is equipped with a bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B. The boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R, and the bucket bottom pressure sensor S9B are collectively also referred to as "cylinder pressure sensors".

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

[0046] The positioning device P0 measures the position and orientation of the upper slewing body 3. The positioning device P0 is, for example, a GNSS (Global Navigation Satellite System) compass, which detects the position and orientation of the upper slewing body 3, and the detection signal corresponding to the position and orientation of the upper slewing body 3 is taken into the controller 30. Also, the function of detecting the orientation of the upper slewing body 3 among the functions of the positioning device P0 may be replaced by an azimuth sensor attached to the upper slewing body 3.

[0047] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network, a satellite communication network, an Internet network, etc., with the base station as the terminal. The communication device T1 is, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network, etc.

[0048] As described above, by controlling the proportional valve 31, the controller 30 can control the pilot pressure supplied from the pilot pump 15 to the control valve of the control valve 17. Also, by controlling the pilot pressure of the control valve, the hydraulic oil supplied from the main pump 14 to each hydraulic actuator (boom cylinder 7, arm cylinder 8, bucket cylinder 9, travel hydraulic motor 1L, travel hydraulic motor 1R, swing hydraulic motor 2A) via each control valve of the control valve 17 can be controlled, and thereby, the operation of the excavator 100 can be controlled.

[0049] Also, the controller 30 is provided so as to be able to transmit and receive various information to and from the remote operation device 200 and the management device 300 via the communication device T1 and the communication network 400.

[0050] Returning to FIG. 1, the remote operation device 200 includes an operation device 220A, a display device 230, and a control unit 240.

[0051] The operation device 220A is composed of a multi-joint arm that simulates the attachments (boom 4, arm 5, and bucket 6) of the excavator 100. The operation device 220A is provided with an operation amount sensor that detects the operation amount when the operator operates the operation device 220A. For example, in the operation device 220A composed of a multi-joint arm, an angle sensor that detects the angle of each joint is provided as the operation amount sensor. Note that the number of joints of the operation device 220A may be the same as the number of joints of the attachments of the excavator 100, or may be more than the number of joints of the attachments of the excavator 100.

[0052] Further, the operating device 220A may include a reaction force generating unit. The reaction force generating unit generates a reaction force on the operating device 220A based on a command from the control unit 240. Thereby, when the operator tilts the operating device 220A in a certain direction, the reaction force generating unit can generate a reaction force in the opposite direction to limit the tilting of the operating device 220A.

[0053] The display device 230 is configured to be able to display an image (including a moving image and a still image) under the control of the control unit 240. For example, an image captured by the camera S6F of the excavator 100 is transmitted to the control unit 240 of the remote control device 200 via the controller 30, the communication device T1, and the communication network 400. The control unit 240 causes the display device 230 to display the image captured by the camera S6F.

[0054] The control unit 240 generates a control command for the excavator 100 based on the operation amount detected by the operation amount sensor of the operating device 220A. Then, the control unit 240 transmits the generated control command to the controller 30 of the excavator 100 via the communication network 400 and the communication device T1. The controller 30 that has received the control command controls the excavator 100 based on the control command. With such a configuration, the operator can remotely control the excavator 100 using the remote control device 200.

[0055] Further, the control unit 240 includes an analysis unit 241, a determination unit 242, a display control unit 243, and a reaction force control unit 244.

[0056] The analysis unit 241 calculates the posture of the attachment of the excavator 100 based on the operation amount of the operating device 220A.

[0057] The determination unit 242 determines whether or not the posture of the attachment of the excavator 100 calculated by the analysis unit 241 is within the operating range of each hydraulic actuator (boom cylinder 7, arm cylinder 8, bucket cylinder 9, travel hydraulic motor 1L, travel hydraulic motor 1R, swing hydraulic motor 2A) that drives the attachment.

[0058] The display control unit 243 generates an image to be displayed on the display device 230.

[0059] The reaction force control unit 244 controls the reaction force generation unit of the operating device 220A.

[0060] The management device 300 is a fixed terminal device, for example, a computer installed in a management center outside the work site. Note that the management device 300 may be a portable computer (for example, a portable terminal device such as a notebook PC, a tablet PC, or a smartphone).

[0061] Next, with reference to FIG. 3, a three-dimensional orthogonal coordinate system used in the control method according to an embodiment of the present invention will be described. Note that F3A in FIG. 3 is a side view of the excavator 100, and F3B in FIG. 3 is a top view of the excavator 100.

[0062] As shown in F3A and F3B, the Z-axis of the three-dimensional orthogonal coordinate system corresponds to the slewing axis PC of the excavator 100, and the origin O of the three-dimensional orthogonal coordinate system corresponds to the intersection of the slewing axis PC and the installation surface of the excavator 100.

[0063] Also, the X-axis orthogonal to the Z-axis extends in the extending direction of the front attachment, and the Y-axis also orthogonal to the Z-axis extends in a direction perpendicular to the extending direction of the front attachment. That is, the X-axis and the Y-axis rotate around the Z-axis as the excavator 100 slews. Note that the slewing angle θ of the excavator 100 is set such that the counterclockwise direction with respect to the X-axis is the positive direction in a top view as shown in F3B.

[0064] Further, as shown in F3A, the attachment position of the boom 4 to the upper revolving body 3 is represented by a boom pin position P1 which is the position of the boom pin as the boom rotation axis. Similarly, the attachment position of the arm 5 to the boom 4 is represented by an arm pin position P2 which is the position of the arm pin as the arm rotation axis. Also, the attachment position of the bucket 6 to the arm 5 is represented by a bucket pin position P3 which is the position of the bucket pin as the bucket rotation axis. Furthermore, the tip position of the bucket 6 is represented by a bucket tip position P4.

[0065] Also, the length of the line segment SG1 connecting the boom pin position P1 and the arm pin position P2 is represented by a predetermined value L1 as the boom length, the length of the line segment SG2 connecting the arm pin position P2 and the bucket pin position P3 is represented by a predetermined value L2 as the arm length, and the length of the line segment SG3 connecting the bucket pin position P3 and the bucket tip position P4 is represented by a predetermined value L3 as the bucket length.

[0066] Also, the angle formed between the line segment SG1 and the horizontal plane is represented by a ground angle β1, the angle formed between the line segment SG2 and the horizontal plane is represented by a ground angle β2, and the angle formed between the line segment SG3 and the horizontal plane is represented by a ground angle β3. Hereinafter, the ground angles β1, β2, and β3 are also referred to as the boom rotation angle, the arm rotation angle, and the bucket rotation angle, respectively.

[0067] Here, if the three-dimensional coordinates of the boom pin position P1 are (X, Y, Z) = (H0X, 0, H0Z) and the three-dimensional coordinates of the bucket tip position P4 are (X, Y, Z) = (Xe, Ye, Ze), then Xe and Ze are represented by Expressions (1) and (2), respectively. Note that Xe and Ye represent the planar position of the end attachment, and Ze represents the height of the end attachment.

[0068] Xe = H0X + L1cosβ1 + L2cosβ2 + L3cosβ3 ··· (1) Ze = H0Z + L1sinβ1 + L2sinβ2 + L3sinβ3 ··· (2) Note that Ye is 0. This is because the bucket tip position P4 exists on the XZ plane.

[0069] Also, since the coordinate value of the boom pin position P1 is a fixed value, if the ground angles β1, β2, and β3 are determined, the coordinate value of the bucket tip position P4 is uniquely determined. Similarly, if the ground angle β1 is determined, the coordinate value of the arm pin position P2 is uniquely determined, and if the ground angles β1 and β2 are determined, the coordinate value of the bucket pin position P3 is uniquely determined.

[0070] Next, with reference to FIG. 4, the relationship between the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 and the boom rotation angle β1, the arm rotation angle β2, and the bucket rotation angle β3 will be described. Note that FIG. 4 is a diagram for explaining the movement of the front attachment in the XZ plane.

[0071] As shown in FIG. 4, the boom angle sensor S1 is installed at the boom pin position P1, the arm angle sensor S2 is installed at the arm pin position P2, and the bucket angle sensor S3 is installed at the bucket pin position P3.

[0072] Also, the boom angle sensor S1 detects and outputs the angle α1 formed between the line segment SG1 and the vertical line. The arm angle sensor S2 detects and outputs the angle α2 formed between the extension line of the line segment SG1 and the line segment SG2. The bucket angle sensor S3 detects and outputs the angle α3 formed between the extension line of the line segment SG2 and the line segment SG3. In FIG. 4, the angle α1 is positive in the counterclockwise direction with respect to the line segment SG1. Similarly, the angle α2 is positive in the counterclockwise direction with respect to the line segment SG2, and the angle α3 is positive in the counterclockwise direction with respect to the line segment SG3. Also, in FIG. 4, the boom rotation angle β1, the arm rotation angle β2, and the bucket rotation angle β3 are positive in the counterclockwise direction with respect to the line parallel to the X axis.

[0073] From the above relationships, the boom rotation angle β1, the arm rotation angle β2, and the bucket rotation angle β3 are represented by equations (3), (4), and (5) using the angles α1, α2, and α3, respectively.

[0074] β1 = 90 - α1 ···(3) β2 = β1 - α2 = 90 - α1 - α2 ···(4) β3 = β2 - α3 = 90 - α1 - α2 - α3 ···(5) Note that, as described above, β1, β2, and β3 are expressed as the inclinations of the boom 4, arm 5, and bucket 6 with respect to the horizontal plane.

[0075] Therefore, using equations (1) to (5), if the angles α1, α2, and α3 are determined, the boom rotation angle β1, the arm rotation angle β2, and the bucket rotation angle β3 are uniquely determined, and moreover, the coordinate values of the bucket tip position P4 are uniquely determined. Similarly, if the angle α1 is determined, the boom rotation angle β1 and the coordinate values of the arm pin position P2 are uniquely determined, and if the angles α1 and α2 are determined, the arm rotation angle β2 and the coordinate values of the bucket pin position P3 are uniquely determined.

[0076] Note that the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may directly detect the boom rotation angle β1, the arm rotation angle β2, and the bucket rotation angle β3. In this case, the calculations in equations (3) to (5) can be omitted.

[0077] Note that in the descriptions of FIGS. 3 and 4, for the sake of simplicity, it was described assuming that the movement of the bucket 6 in the Y direction (Ye) and the turning operation (θ) of the upper swing body 3 by the slewing mechanism 2 are not performed. It is not limited to this, and even when the movement of the bucket 6 in the Y direction (Ye) and the turning operation (θ) of the upper swing body 3 by the slewing mechanism 2 are performed, it can be uniquely determined in the same way.

[0078] Next, a control method of the excavator 100 will be described with reference to FIG. 5. FIG. 5 is a flowchart for explaining an example of the control method of the excavator 100.

[0079] In step S101, the control unit 240 detects the operation amount of the operation device 220A. Here, the angles of each joint in the operation device 220A are detected.

[0080] In step S102, the analysis unit 241 calculates the posture (Xe, Ye, Ze, β3) of the bucket 6 based on the operation amount of the operation device 220A.

[0081] Here, the analysis unit 241 calculates the inclination of the part 221 corresponding to the bucket 6 in the operation device 220A (for example, the axial direction of the part 221 indicated by the dashed-dotted line in FIG. 1) and the position of the part 221a corresponding to the tip position of the bucket 6 based on the detection values of the angle sensors of the respective joints. Then, the analysis unit 241 calculates the value Xe in the X direction of the bucket tip position P4, the value Ye in the Y direction of the bucket tip position P4, the value Ze in the Z direction of the bucket tip position P4, and the bucket rotation angle β3 based on the calculated inclination of the part 221 of the operation device 220A and the position of the part 221a.

[0082] In step S103, the analysis unit 241 calculates the posture (α1, α2, α3, θ) of the attachment by mechanism calculation based on the calculated posture (Xe, Ye, Ze, β3) of the bucket 6. Here, as described with reference to FIGS. 3 and 4, the posture (Xe, Ye, Ze, β3) of the bucket 6 is uniquely determined by the posture (α1, α2, α3, θ) of the attachment. Therefore, the analysis unit 241 calculates the posture (α1, α2, α3, θ) of the attachment that achieves the posture (Xe, Ye, Ze, β3) of the bucket 6 by mechanism calculation.

[0083] In step S104, the determination unit 242 determines whether or not it is within the operating range of the actuators (boom cylinder 7, arm cylinder 8, bucket cylinder 9, slewing hydraulic motor 2A). Here, the determination unit 242 determines whether or not the angle α1 is within the operating range by the boom cylinder 7. Also, the determination unit 242 determines whether or not the angle α2 is within the operating range by the arm cylinder 8. Also, the determination unit 242 determines whether or not the angle α3 is within the operating range by the bucket cylinder 9. Also, the determination unit 242 determines whether or not the angle θ is within the operating range by the slewing mechanism 2. Note that the upper slewing body 3 can rotate 360°, and the determination of the angle θ may be omitted.

[0084] When it is determined that the operation is within the operating range of all the actuators (S104·YES), the control of the control unit 240 proceeds to step S105. In step S105, the control unit 240 transmits an operation command for the actuator to the excavator 100 via the communication network 400. Here, based on the calculated posture of the attachment (α1, α2, α3, θ), the control unit 240 calculates the pilot pressure commands for the control valves of the control valves 17 provided corresponding to the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the swing hydraulic motor 2A, respectively. Then, the control unit 240 transmits the pilot pressure commands for the respective control valves.

[0085] The controller 30 of the excavator 100 controls the proportional valve 31 based on the pilot pressure commands for the respective control valves, thereby controlling the actuators (the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the swing hydraulic motor 2A).

[0086] On the other hand, when it is determined that the operation is not within the operating range of the actuator (S104·NO), the control of the control unit 240 proceeds to step S106. In step S106, the display control unit 243 displays a warning on the display device 230. In step S107, the reaction force control unit 244 restricts the tilting of the operating device 220A. That is, when the operating device 220A is outside the operating range of the actuator, the reaction force control unit 244 generates a reaction force to restrict the tilting of the operating device 220A in that direction. Thereby, the operator can easily grasp that the operation is outside the operating range of the actuator.

[0087] As described above, according to this control, by operating the position of the portion 221a corresponding to the tip position of the bucket 6 and the inclination of the portion 221 corresponding to the bucket 6 by operating the operating device 220A, the bucket tip position P4 (Xe, Ye, Ze) and the opening / closing angle of the bucket 6 (the rotation angle β3 of the bucket 6) can be input. Thereby, since the operator can directly operate the bucket 6, the operability is improved, and the workability such as the excavation operation is also improved.

[0088] Also, according to this control, when the determination unit 242 determines that it is outside the operating range of the actuator, a warning can be displayed. Thereby, the operator can easily determine that it is outside the operating range of the actuator.

[0089] Also, according to this control, when the determination unit 242 determines that it is outside the operating range of the actuator, a reaction force is generated to limit the tilting of the lever. Thereby, the operator can easily determine that it is outside the operating range of the actuator.

[0090] In the remote operation of the excavator 100, the operator operates the excavator 100 with reference to the video displayed on the display device 230. For this reason, the operator's field of view is narrower than when operating while riding on the actual machine. Therefore, it is difficult to grasp the postures of the boom 4 and the arm 5. Thus, it becomes difficult to grasp whether it is within the operating range of the actuator. On the other hand, in this control, the operator can easily grasp whether it is within the operating range of the actuator.

[0091] Note that the configuration of the remote control device 200 is not limited to that shown in FIG. 1.

[0092] Another example of the remote control excavator system according to the present embodiment will be described with reference to FIG. 6. FIG. 6 is another example of the configuration diagram of the remote control excavator system according to the present embodiment.

[0093] The remote control excavator system shown in FIG. 6 includes an excavator 100, a remote control device 200B, a management device 300, and a communication network 400. The remote control device 200B includes an operation device 220B, a display device 230, and a control unit 240. That is, the remote control excavator system shown in FIG. 6 has a different configuration of the remote control device 200B compared to the remote control excavator system shown in FIG. 1. Other configurations are the same, and duplicate explanations are omitted.

[0094] The operating device 220B includes a display device 222 on which a 3D model 222a of the excavator 100 is displayed, and an input device 223. The input device 223 is configured to be able to move the attachment of the 3D model 222a of the excavator 100 on the display device 222.

[0095] Based on the angles of each joint in the attachment of the 3D model 222a on the display device 222, the analysis unit 241 calculates the inclination of the part corresponding to the bucket 6 of the 3D model 222a and the position of the part corresponding to the tip position of the bucket 6. Then, based on the inclination of the part corresponding to the bucket 6 of the 3D model 222a and the position of the part corresponding to the tip position of the bucket 6, the analysis unit 241 calculates the value Xe in the X direction, the value Ye in the Y direction, and the value Ze in the Z direction of the bucket tip position P4, and the bucket rotation angle β3.

[0096] According to such a remote control excavator system using the operating device 220B, the operator can input the bucket tip position P4 (Xe, Ye, Ze) and the opening / closing angle of the bucket 6 (the rotation angle β3 of the bucket 6) by operating the 3D model 222a on the display device 222. Thereby, the operator can operate the excavator 100.

[0097] Also, when it is determined that the actuator is not within the operating range (S104·NO), even if the operator further operates the input device 223, the control unit 240 restricts the movement of the attachment in the 3D model 222a on the display device 222. In addition, the display control unit 243 displays a warning on the display device 230 and / or the display device 222. Thereby, the operator can easily grasp that the actuator is outside the operating range.

[0098] Another example of the remote control excavator system according to the present embodiment will be described with reference to FIGS. 7 and 8. FIG. 7 is another example of the configuration diagram of the remote control excavator system according to the present embodiment.

[0099] The remote control excavator system shown in Fig. 7 includes an excavator 100, a remote control device 200C, a management device 300, and a communication network 400. The remote control device 200C includes an operating device 220C, a display device 230, and a control unit 240. The operating device 220C includes a display device 222 on which a 3D model 222a of the excavator 100 is displayed, and an input device 223C. That is, compared with the remote control excavator system shown in Fig. 6, the configuration of the input device 223C is different. Other configurations are the same, and duplicate descriptions are omitted.

[0100] Fig. 8 shows an example of an operation by the input device 223C. As shown in Fig. 8(a), the input device 223C is worn on the fingertip of the operator. The input device 223C is provided with a sensor for detecting the position and orientation of the component worn on the fingertip of the operator. The sensor may be a sensor provided inside the component worn on the fingertip of the operator, or a sensor for detecting the component worn on the fingertip of the operator from the outside.

[0101] Based on the position and orientation of the input device 223C, the analysis unit 241 calculates the value Xe in the X direction of the bucket tip position P4, the value Ye in the Y direction of the bucket tip position P4, the value Ze in the Z direction of the bucket tip position P4, and the bucket rotation angle β3.

[0102] According to the remote control excavator system using such an operating device 220C, the operator wears the input device 223C on the fingertip and moves the finger or arm as shown in Fig. 8(b), thereby inputting the bucket tip position P4 (Xe, Ye, Ze) and the opening / closing angle of the bucket 6 (the rotation angle β3 of the bucket 6). Thereby, the operator can operate the excavator 100.

[0103] Also, when it is determined that the actuator is not within the operating range (S104·NO), even if the operator further operates the input device 223, the control unit 240 restricts the movement of the attachment in the 3D model 222a on the display device 222. Further, the display control unit 243 displays a warning on the display device 230 and / or the display device 222. Thereby, the operator can easily recognize that the actuator is outside the operating range.

[0104] The disclosed embodiments should be considered as illustrative in all respects and not restrictive. The above embodiments may be omitted, replaced, or changed in various forms without departing from the scope and spirit of the appended claims.

Explanation of Reference Numerals

[0105] 1 Lower Traveling Body 1L, 1R Travel Hydraulic Motor 2 Swing Mechanism 2A Swing Hydraulic Motor 3 Upper Swing Structure 4 Boom 5 Arm 6 Bucket 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 30 Controller 100 Excavator 200 Remote Control Device 220, 220B, 220C Operating Device 230 Display Device 240 Control Unit 241 Analysis Unit 242 Judgment Unit 243 Display Control Unit 244 Reaction Force Control Unit 300 Management Device 400 Communication Network S1 Boom Angle Sensor S2 Arm Angle Sensor S3 Bucket Angle Sensor S4 Machine Body Tilt Sensor S5 Swivel state sensor S6 Imaging device P1 Boom pin position P2 Arm pin position P3 Bucket pin position P4 Bucket tip position T1 Communication device

Claims

1. An excavator having an attachment including a bucket, and A remote control device for remotely operating the excavator via a communication network, a remote control excavator system comprising: The remote control device includes: An operating device for inputting the tip position of the bucket and the opening / closing angle of the bucket, A control unit having an analysis unit for analyzing the posture of the attachment based on the input information of the operating device, and a determination unit for determining whether or not it is within the operating range of the attachment based on the result of the analysis unit, Remote control excavator system.

2. The remote control device includes: A display device for displaying an image captured by an imaging device provided on the excavator, When the determination unit determines that it is not within the operating range of the attachment, a warning display is displayed on the display device, The remote control excavator system according to claim 1.

3. The operating device has a reaction force generating unit for generating a reaction force, When the determination unit determines that it is not within the operating range of the attachment, the reaction force generating unit generates a reaction force to limit the tipping of the operating device, The remote control excavator system according to claim 1.

Images