Control system of work vehicle and work vehicle

Abstract

To reduce deterioration in work efficiency in a situation where a transmission situation is poor.SOLUTION: A control system 1 of a work vehicle includes: an imaging device 128 for imaging a work site in which a work vehicle including a work machine constructs; a communication device 129 for transmitting an image imaged by the imaging device 128 to a remote control chamber which controls the work vehicle remotely; a display control unit 221 for displaying the image on a display device 200 included in the remote control chamber; a transmission situation detection unit 11 for detecting the data transmission situation between the work vehicle and the remote control chamber; a work state detection unit 12 for detecting the work state of the work vehicle; a work continuation determination unit 15 for determining whether or not to continue the work of the work vehicle based on the transmission situation and the work state; and a work control unit 17 for, in the case where the work is determined to continue by the work continuation determination unit 15, controlling so as to continue the work of the work vehicle.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] In the technical field related to work vehicles, there is known a technology for a work vehicle equipped with a front work implement, such as that disclosed in Patent Document 1, in which the communication status of wireless communications from a remote device is evaluated, and when restricting the operation of the work vehicle in accordance with the evaluation results, the technology relaxes the restrictions on the operation of the work vehicle in accordance with the detection results of a state quantity detection device that detects state quantities related to the operating state of the work implement. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-145114 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 prevents a work vehicle from suddenly stopping when the communication delay time suddenly increases and the operation signal of the work vehicle is restricted depending on the communication situation. Avoiding sudden stops of the work vehicle reduces, for example, scattering of soil due to a sudden stop when loading soil into a bucket, or a decrease in vehicle stability due to a sudden stop when working in a poor posture.

[0005] However, when a communication delay occurs, the work of the work vehicle is stopped, and work efficiency decreases in an environment where communication is unstable. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a work machine control system comprising: an imaging device that captures images of a work site being constructed by a work vehicle equipped with work equipment; a communication device that transmits images captured by the imaging device to a remote control room that remotely operates the work vehicle; a display control unit that displays the images on a display device provided in the remote control room; a transmission status detection unit that detects the transmission status of data between the work vehicle and the remote control room; a work status detection unit that detects the work status of the work vehicle; a work continuation determination unit that determines whether or not to continue work of the work vehicle based on the transmission status and the work status; and a work equipment control unit that controls the work vehicle to continue work if the work continuation determination unit determines that work should be continued.

[0007] According to the present disclosure, there is provided a work vehicle including the above-described work vehicle control system and a work implement. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to reduce the decline in work efficiency when transmission conditions are poor. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing an example of a work vehicle. [Figure 2] FIG. 2 is a block diagram showing a control system for a work vehicle according to the embodiment. [Figure 3] FIG. 3 is a block diagram showing the controller of the work vehicle. [Figure 4] FIG. 4 is a block diagram illustrating a computer system according to an embodiment. [Figure 5] FIG. 5 is a schematic diagram illustrating an example of detection of a work state. [Figure 6] FIG. 6 is a flowchart showing a control method for a work vehicle according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited thereto. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0011] [Embodiment] <Work vehicle control system> FIG. 1 is a schematic diagram showing an example of a work vehicle. In the embodiment, the work vehicle 100 is a hydraulic excavator. In the following description, the work vehicle 100 will be referred to as the hydraulic excavator 100 where appropriate. A control system 1 for the hydraulic excavator 100 remotely controls the hydraulic excavator 100 located at a work site from a remote control room located away from the work site. Furthermore, the control system 1 causes the hydraulic excavator 100 to continue working when it is determined to continue working on the basis of the status of data transmission between the hydraulic excavator 100 and the remote control room and the working state of the hydraulic excavator 100.

[0012] <Remote Control Room> 2 is a block diagram showing a control system for a work vehicle according to an embodiment. A remote control room is located at a location separate from the hydraulic excavator 100. The remote control room contains devices for remotely operating the hydraulic excavator 100. A display device 200, a remote operation device 210, and a remote controller 220 are arranged in the remote control room.

[0013] The display device 200 is installed in an administrative office or the like, away from the hydraulic excavator 100. The display device 200 is arranged independently from the hydraulic excavator 100. The display device 200 displays, for example, an image of a design surface indicating a target shape of a target to be worked on by the hydraulic excavator 100, based on construction data including a cross section of the design surface of the design surface indicating the target shape of the target to be worked on by the hydraulic excavator 100. The display device 200 displays, for example, a real-time captured image of the target to be worked on by the hydraulic excavator 100, based on video data. The display device 200 displays, for example, an image indicating the real-time position of the cutting edge 109 of the bucket 108 of the hydraulic excavator 100 relative to the target to be worked on, based on operation data and vehicle data. The display device 200 includes a flat panel display such as a liquid crystal display or an organic EL display. The display device 200 may be a touch panel type.

[0014] The remote control device 210 includes various control levers for remotely operating the hydraulic excavator 100. The remote control device 210 is operated by an operator seated in a control seat located in a remote control room. The operator operates the remote control device 210 while viewing the display screen of the display device 200.

[0015] Operation data indicating operations performed on each operation lever of the remote operation device 210 is transmitted to the controller 10 via the communication system, the remote controller 220, the base station 250, and the communication device 129 of the hydraulic excavator 100.

[0016] The remote control device 210 includes a left operating lever and a right operating lever that are operated to operate the rotating body 102 and the work implement 101, and a left traveling pedal and a right traveling pedal that are operated to operate the traveling body 103.

[0017] The remote controller 220 is connected to the display device 200 and the remote operation device 210. The remote controller 220 includes a numerical calculation device (processor) such as a CPU (Central Processing Unit).

[0018] The remote controller 220 receives video data and vehicle data from the hydraulic excavator 100 via the base station 250 through the communication system. The remote controller 220 transmits operation data indicating operations performed on the remote operation device 210 to the controller 10 of the hydraulic excavator 100 via the base station 250 through the communication system. The remote controller 220 receives construction data from the server device 230 via the base station 250. The remote controller 220 transmits the video data, vehicle data, and construction data to the display device 200.

[0019] The remote controller 220 includes a display control unit 221. The display control unit 221 of the remote controller 220 will be described later.

[0020] <Server device> The server device 230 is a construction data supply device that provides construction data to the control system 1 of the hydraulic excavator 100. The server device 230 is installed in a construction data design office or the like, away from the hydraulic excavator 100. The server device 230 generates construction data and transmits it to the base station 250.

[0021] <Base station> The base station 250 is located at a location remote from the hydraulic excavator 100. The base station 250 connects the hydraulic excavator 100 located at the work site to the server device 230 and the remote controller 220 located at a location remote from the work site via a communication system so that data communication is possible.

[0022] The base station 250 receives the video data and vehicle data from the hydraulic excavator 100 via the communication system. The base station 250 receives the construction data from the server device 230. The base station 250 transmits the video data, vehicle data, and construction data to the remote controller 220.

[0023] The base station 250 receives operation data from the remote controller 220. The base station 250 transmits the operation data to the hydraulic excavator 100 via the communication system.

[0024] <Work vehicle> 1, the hydraulic excavator 100 includes a hydraulically operated work implement 101, a revolving body 102 that supports the work implement 101, and a running body 103 that supports the revolving body 102. The revolving body 102 is supported by the running body 103 and is capable of rotating about a rotation axis RX.

[0025] The traveling body 103 has a pair of crawler tracks 103C. The hydraulic excavator 100 travels by rotation of the crawler tracks 103C.

[0026] The work machine 101 has a boom 106 connected to the revolving body 102, an arm 107 connected to the tip of the boom 106, and a bucket 108 connected to the tip of the arm 107. The bucket 108 has a cutting edge 109.

[0027] The boom 106 is rotatable relative to the rotating body 102 around a boom axis AX1. The arm 107 is rotatable relative to the boom 106 around an arm axis AX2. The bucket 108 is rotatable relative to the arm 107 around a bucket axis AX3, a tilt axis AX4, and a rotation axis AX5. The boom axis AX1, the arm axis AX2, and the bucket axis AX3 are parallel to the Y axis. The tilt axis AX4 is perpendicular to the bucket axis AX3. The rotation axis AX5 is perpendicular to each of the bucket axis AX3 and the tilt axis AX4. The rotation axis RX is parallel to the Z axis.

[0028] The X-axis direction is the front-to-rear direction of the revolving unit 102. The Y-axis direction is the width direction of the revolving unit 102. The Z-axis direction is the up-and-down direction of the revolving unit 102. With the revolving unit 102 as the reference, the direction in which the work implement 101 is located is the forward direction.

[0029] The work implement 101 is actuated by power generated by a hydraulic cylinder 110. The hydraulic cylinder 110 is driven by hydraulic oil supplied from a hydraulic pump (not shown). The hydraulic cylinder 110 includes a boom cylinder 111, an arm cylinder 112, and a bucket cylinder 113. The boom cylinder 111 actuates the boom 106. The boom cylinder 111 generates power to rotate the boom 106 about the boom axis AX1. The arm cylinder 112 actuates the arm 107. The arm cylinder 112 generates power to rotate the arm 107 about the arm axis AX2. The bucket cylinder 113 actuates the bucket 108. The bucket cylinder 113 generates power to rotate the bucket 108 about the bucket axis AX3.

[0030] The main valve 120 of the work implement 101 is connected to a hydraulic pump (not shown). The hydraulic pump supplies hydraulic oil to the hydraulic cylinder 110 and the swing motor via the main valve 120. The main valve 120 has a spool. The movement of the spool of the main valve 120 adjusts the direction and flow rate of hydraulic oil supplied from the hydraulic pump 23 to the hydraulic cylinder 110. The main valve 120 can extend or retract the boom cylinder 111, for example, by adjusting the direction of hydraulic oil supplied to the boom cylinder 111 based on a solenoid control command from the controller 10. The main valve 120 can adjust the operating speed of the boom cylinder 111 by adjusting the flow rate of hydraulic oil supplied to the boom cylinder 111 based on a solenoid control command from the controller 10. The same applies to the arm cylinder 112 and the bucket cylinder 113. The movement of the spool of the main valve 120 adjusts the direction and flow rate of hydraulic oil supplied from the hydraulic pump to the swing motor. The main valve 120 adjusts the direction of hydraulic oil supplied to the swing motor, thereby adjusting the rotation direction of the swing motor so that the swing body 102 swings left or right. The main valve 120 adjusts the flow rate of hydraulic oil supplied to the swing motor, thereby adjusting the rotation speed of the swing motor. The main valve 120 adjusts the direction and flow rate of hydraulic oil based on a solenoid control command from the controller 10, which will be described later.

[0031] The GNSS receiver 121 detects the position of the hydraulic excavator 100 in a global coordinate system using a Global Navigation Satellite System (GNSS). The position of the hydraulic excavator 100 in the global coordinate system is referred to as vehicle body position data. The GNSS receiver 121 transmits the vehicle body position data to the controller 10.

[0032] The GNSS antenna 122 is a pair of GNSS antennas arranged on the hydraulic excavator 100.

[0033] The work implement attitude sensor 125 detects the attitude of the work implement 101 in the local coordinate system. The attitude of the work implement 101 includes the angle of the work implement 101. The work implement attitude sensor 125 includes a boom attitude sensor that detects the angle of the boom 106 relative to the revolving structure 102, an arm attitude sensor that detects the angle of the arm 107 relative to the boom 106, and a bucket attitude sensor that detects the angle of the bucket 108 relative to the arm 107. The work implement attitude sensor 125 transmits the detected work implement attitude data to the controller 10.

[0034] In this embodiment, the work implement attitude sensor 125 is a stroke sensor disposed in the hydraulic cylinder 110. The hydraulic cylinder 110 has a cylinder tube, a piston that moves inside the cylinder tube, and a rod connected to the piston. The stroke sensor detects the stroke length of the hydraulic cylinder 110, which indicates the travel distance of the rod. The stroke length refers to the travel distance of the rod from the stroke end of the hydraulic cylinder 110. The stroke end refers to the end position of the rod's movable range. In other words, the stroke end refers to the position of the rod when the hydraulic cylinder 110 is most retracted or the position of the rod when the hydraulic cylinder 110 is most extended. The work implement attitude sensor 125 may be configured using an inertial measurement unit (IMU).

[0035] The boom attitude sensor is a stroke sensor disposed on the boom cylinder 111. The boom attitude sensor detects the stroke length of the boom cylinder 111.

[0036] The arm posture sensor is a stroke sensor arranged on the arm cylinder 112. The arm posture sensor detects the stroke length of the arm cylinder 112.

[0037] The bucket attitude sensor is a stroke sensor disposed in the bucket cylinder 113. The bucket attitude sensor detects the stroke length of the bucket cylinder 113.

[0038] The vehicle body attitude sensor 126 detects the attitude of the revolving unit 102 in the local coordinate system. The attitude of the revolving unit 102 includes a roll angle and a pitch angle, which are the inclination angles of the revolving unit 102 with respect to a horizontal plane. The vehicle body attitude sensor 126 includes an inertial measurement unit (IMU) provided on the revolving unit 102. The vehicle body attitude sensor 126 transmits the detected vehicle body attitude data to the controller 10.

[0039] The imaging device 128 captures images of the work site where the work vehicle is working. The imaging device 128 captures images of the work site and acquires images of the work site. The imaging device 128 is disposed on the revolving body 102, for example. Video data of the images captured by the imaging device 128 is transmitted to the video controller 20.

[0040] In the embodiment, the image of the work site of the hydraulic excavator 100 includes an image of the excavation target of the work implement 101.

[0041] The imaging device 128 includes an optical system and an image sensor that receives light that has passed through the optical system. The image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

[0042] The communication device 129 receives video data of captured images from the imaging device 128. The communication device 129 receives vehicle data from the controller 10. The communication device 129 transmits the video data and vehicle data to the remote controller 220 via the communication system via the base station 250.

[0043] The communication device 129 receives operation data from the remote controller 220 via the base station 250 through the communication system. The communication device 129 receives construction data from the server device 230 via the base station 250 through the communication system. The communication device 129 transmits the operation data and construction data to the controller 10.

[0044] <Video Controller> The video controller 20 includes a numerical calculation device (processor) such as a CPU. The video controller 20 is disposed in the hydraulic excavator 100. The video controller 20 transmits video data acquired from the imaging device 128 to the communication device 129.

[0045] <controller> The controller 10 includes a transmission status detection unit 11, a work state detection unit 13, a work continuation determination unit 15, a work machine control unit 17, and a memory unit 19.

[0046] The controller 10 receives vehicle body position data from the GNSS receiver 121. The controller 10 receives work implement attitude data from the work implement attitude sensor 125. The controller 10 receives vehicle body attitude data from the vehicle body attitude sensor 126. The controller 10 transmits vehicle data including vehicle body position data, work implement attitude data, and vehicle body attitude data to the communication device 129. The controller 10 receives operation data and construction data from the communication device 129. The controller 10 transmits a solenoid control command to the main valve 120.

[0047] The hydraulic excavator 100 operates based on operation data received from a remote location. The controller 10 operates the hydraulic excavator 100 based on operation data acquired from a remote control device 210 via a communication system. The operation of the hydraulic excavator 100 includes at least one of the operation of the traveling body 103, the operation of the rotating body 102, and the operation of the work implement 101.

[0048] The transmission status detection unit 11 detects the status of data transmission between the hydraulic excavator 100 and the remote control room. The transmission status detection unit 11 detects a data transmission failure between the hydraulic excavator 100 and the remote control room.

[0049] An example of a method for detecting the transmission status in the transmission status detection unit 11 will be described below in the case where the transmitted data is an image, but the present invention is not limited to this. A similar method can be applied to data other than images. The transmission status detection unit 11 reproduces an encoded image from a packet received by the receiving side (here, the remote control room) and identifies the transmission status of the image based on the encoded image and an encoded image stored by the transmitting side (here, the hydraulic excavator 100). The transmission status detection unit 11 detects the transmission status of the data based on a delay time, which is the difference between the transmission time stored on the data transmitting side (either the hydraulic excavator 100 or the remote control room) and the time of reproduction on the receiving side. The transmission status detection unit 11 compares the encoded image reproduced from the received packet with the encoded image stored on the transmitting side and identifies an encoded image identical to the received encoded image. The difference between the transmission time stored by the transmitting side in association with the encoded image and the time when the encoded image is reproduced from the received packet is calculated as the round-trip delay time of the image. The transmission status detection unit 11 calculates the one-way delay time of the image by dividing the round-trip delay time of the image by 2.

[0050] The one-way delay time of an image refers to the delay time from when an image is captured by the imaging device 128 until when it is displayed on the display device 200. The one-way delay time of an image is information that indicates the transmission status of the image. If no packet loss occurs, the one-way delay time of an image is equal to the one-way delay time of a single packet. If packet retransmission due to packet loss occurs, the worse the communication environment, the longer the one-way delay time of an image will be than the one-way delay time of a single packet.

[0051] The transmission status detection unit 11 determines that the transmission is good if the calculated one-sided delay time of the image is less than the delay threshold. The transmission status detection unit 11 determines that the transmission is poor if the calculated one-sided delay time of the image is equal to or greater than the delay threshold. The delay threshold can be set arbitrarily.

[0052] The work state detection unit 13 detects the work state of the hydraulic excavator 100. The work state detection unit 13 detects the work state of the hydraulic excavator 100 based on at least one of work implement attitude data and vehicle body attitude data, which are vehicle data indicating the attitude of the hydraulic excavator 100, operation data indicating operation of the operation lever of the remote control device 210 of the work implement 101, and construction data.

[0053] The working states of the hydraulic excavator 100 include, for example, excavation, molding, earth removal, and traveling.

[0054] Fig. 5 is a schematic diagram illustrating an example of work state detection. As shown in Fig. 5, the work state detection unit 13 detects that forming is being performed when the cutting edge 109 of the hydraulic excavator 100 is moving along the design surface 300, for example, based on the vehicle data, construction data, and operation data.

[0055] For example, based on the vehicle data, construction data, and operation data, the work state detection unit 13 detects that excavation is being performed when the cutting edge 109 of the hydraulic excavator 100 is located below the design surface.

[0056] For example, based on the vehicle data, the work state detection unit 13 detects that work is being performed in an unstable posture when the bucket 108 of the hydraulic excavator 100 is located away from the revolving bed 102. For example, based on the vehicle data, the work state detection unit 13 detects that work is being performed in an unstable posture when the boom 106 and arm 107 of the hydraulic excavator 100 are in an extended posture, in other words, when the angle between the boom 106 and the arm 107 is an obtuse angle.

[0057] The work state detection unit 13 detects that the hydraulic excavator 100 is traveling in a dangerous location, for example, when the hydraulic excavator 100 is traveling on a steep slope, based on the vehicle body position data, operation data, and construction data.

[0058] The work continuation determination unit 15 determines whether or not to continue the work of the hydraulic excavator 100 based on the data transmission status between the hydraulic excavator 100 and the remote control room and the work status. In a situation where the transmission status is poor, the work continuation determination unit 15 determines whether or not to continue the work of the hydraulic excavator 100 in accordance with the work status detected by the work status detection unit 13.

[0059] In a situation where the transmission condition is poor, if it is detected that the hydraulic excavator 100 is performing molding, for example, the work continuation determination unit 15 determines that the molding work should be continued.

[0060] In a situation where the transmission condition is poor, if it is detected that the hydraulic excavator 100 is performing excavation, for example, the work continuation determination unit 15 determines that the excavation work should be continued.

[0061] In a situation where the transmission condition is poor, if a change in the load on the hydraulic excavator 100 is detected as the work state, for example, because an excavated object is present in the bucket 108 of the hydraulic excavator 100, the work continuation determination unit 15 determines that work should be stopped. This is because in this case, the posture of the hydraulic excavator 100 may become unstable.

[0062] In a situation where the transmission condition is poor, if the work state detected is, for example, that the hydraulic excavator 100 is working in an unstable posture, the work continuation determination unit 15 determines to stop work. In this case, the work continuation determination unit 15 may further move the work equipment so as to eliminate the unstable posture of the hydraulic excavator 100, and then determine to stop work.

[0063] In a situation where the transmission condition is poor, if it is detected that the hydraulic excavator 100 is currently swinging as a work state, for example, the work continuation determination unit 15 determines that swinging should be stopped.

[0064] In a situation where the transmission condition is poor, for example, when the hydraulic excavator 100 is detected as a working state to be traveling, the work continuation determination unit 15 determines that traveling should be continued.

[0065] In a situation where the transmission condition is poor, for example, when the work state detected is that the hydraulic excavator 100 is traveling in a dangerous place, the work continuation determination unit 15 determines to stop work. In this case, the work continuation determination unit 15 may further determine to stop work after the hydraulic excavator 100 moves away from the dangerous place.

[0066] After determining that the work of the hydraulic excavator 100 should be continued, if the poor transmission condition continues for a period of time equal to or longer than the continuation threshold, the work continuation determination unit 15 determines to stop the continuation of the work of the hydraulic excavator 100. The continuation threshold can be set arbitrarily, for example.

[0067] The work machine control unit 17 outputs various control signals for automatically controlling the hydraulic excavator 100. The work machine control unit 17 controls the hydraulic excavator 100 based on the construction data, vehicle body position data, vehicle data, and operation data.

[0068] When the work continuation determination unit 15 determines that work should be continued, the work machine control unit 17 controls the hydraulic excavator 100 to continue work.

[0069] When the work continuation determination unit 15 determines that the continuation of work should be stopped, the work machine control unit 17 causes the hydraulic excavator 100 to stop working.

[0070] When the work of the hydraulic excavator 100 is continued based on the determination result of the work continuation determination unit 15, the work implement control unit 17 may transmit work continuation information indicating this to the remote controller 220.

[0071] The memory unit 19 stores work implement attitude data. The memory unit 19 stores vehicle body attitude data. The memory unit 19 stores construction data including design surface cross sections acquired from the server device 230. The memory unit 19 stores operation data acquired from the display device 200 arranged in the remote operation room.

[0072] <Display control unit of the remote controller> The display control unit 221 of the remote controller 220 controls the display of various images on the display device 200 in the remote operation room. The display control unit 221 generates a display signal for displaying an image showing a design surface cross section on the display device 200 based on the construction data. The display control unit 221 generates a display signal for displaying, for example, an image related to guidance for the hydraulic excavator 100, the design surface cross section based on the construction data together with an image of the hydraulic excavator 100.

[0073] If the data transmission status between the hydraulic excavator 100 and the remote control room is poor and it is determined from the working status of the hydraulic excavator 100 that work should be continued, and then the transmission status improves, the display control unit 221 displays a notification of the work that the hydraulic excavator 100 performed while the transmission status was poor. The display control unit 221 may perform the above display, for example, when work continuation information, which will be described later, is received from the hydraulic excavator 100.

[0074] The display notifying the operator of the work performed by the hydraulic excavator 100 while the transmission status was poor may, for example, be a pop-up message image displayed on the display screen for the guidance image, informing the operator that a transmission status problem has occurred and that the work by the hydraulic excavator 100 has continued.

[0075] The display notifying the work performed by the hydraulic excavator 100 while the transmission status was poor is superimposed on the design surface cross section of the guidance image, and the trajectory of the work performed by the hydraulic excavator 100 while the transmission status was poor is displayed in a manner such as by changing the color so that it can be distinguished from the trajectory of the work performed by the hydraulic excavator 100 while the transmission status was good.

[0076] FIG. 4 is a block diagram showing a computer system according to an embodiment. The controller 10, the video controller 20, and the remote controller 220 comprise a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU, a main memory 1002 including a nonvolatile memory such as a read-only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the controller 10, the video controller 20, and the remote controller 220 described above are stored as a program in the storage 1003. The processor 1001 reads the program from the storage 1003, loads it into the main memory 1002, and executes the above-described processing in accordance with the program. The program may be distributed to the computer system 1000 via a network.

[0077] <Control method> Fig. 6 is a flowchart showing a method for controlling a work vehicle according to an embodiment. When the key of the hydraulic excavator 100 is turned on, the control system 1 of the hydraulic excavator 100 is started. When the control system 1 of the hydraulic excavator 100 is started, the processing of the flowchart shown in Fig. 6 is started.

[0078] The controller 10 detects the data transmission status between the hydraulic excavator 100 and the remote control room by the transmission status detection unit 11 (step ST11). The controller 10 proceeds to step ST12.

[0079] The controller 10 detects the working state of the hydraulic excavator 100 using the working state detection unit 13 based on at least one of the vehicle data, operation data, and construction data of the hydraulic excavator 100 (step ST12). The controller 10 proceeds to step ST13.

[0080] The controller 10 determines, using the work continuation determination unit 15, based on the transmission status and the work state, whether or not the work of the hydraulic excavator 100 can continue (step ST13). More specifically, when the transmission status is poor, the controller 10 determines, using the work continuation determination unit 15, whether or not the work of the hydraulic excavator 100 can continue, depending on the work state detected by the work state detection unit 13. If the controller 10 determines that the work of the hydraulic excavator 100 can continue (Yes in step ST13), the controller 10 proceeds to step ST14. If the controller 10 does not determine that the work of the hydraulic excavator 100 can continue (No in step ST13), the controller 10 proceeds to step ST15.

[0081] When it is determined that the work of the hydraulic excavator 100 can be continued (Yes in step ST13), the controller 10 causes the work machine control unit 17 to continue the work of the hydraulic excavator 100 (step ST14).

[0082] When it is not determined that the work of the hydraulic excavator 100 can be continued (No in step ST13), the controller 10 causes the work machine control unit 17 to stop the work of the hydraulic excavator 100 (step ST15).

[0083] <Effects> As described above, in the embodiment, when it is determined to continue the operation of the hydraulic excavator 100 based on the transmission status of data between the hydraulic excavator 100 and the remote control room and the working status of the hydraulic excavator 100, control is performed to continue the operation of the hydraulic excavator 100. According to the embodiment, even when the transmission status is poor, the operation of the hydraulic excavator 100 can be continued depending on the working status of the hydraulic excavator 100. According to the embodiment, it is possible to reduce a decrease in work efficiency when the transmission status is poor.

[0084] In the embodiment, the working state of the hydraulic excavator 100 can be detected based on at least one of vehicle data indicating the attitude of the hydraulic excavator 100, operation data indicating operations on the remote control device 210, and construction data including a design surface indicating a target shape of a construction target for work by the hydraulic excavator 100. According to the embodiment, the working state of the hydraulic excavator 100 can be appropriately determined, and it can be appropriately determined whether or not to continue work by the hydraulic excavator 100.

[0085] In the embodiment, the data transmission status can be detected based on the delay time, which is the difference between the transmission time stored on the data sending side, either the hydraulic excavator 100 or the remote control room, and the time reproduced on the receiving side.

[0086] In the embodiment, if the transmission status is poor and it is determined that work should be continued, and then the transmission status improves, it is possible to notify the operator of the work performed by the hydraulic excavator 100 while the transmission status was poor. According to the embodiment, the operator in the remote control room can grasp the details of the work that has been continued by the hydraulic excavator 100.

[0087] In the embodiment, if the poor transmission condition continues for a period equal to or longer than the continuation threshold, it is possible to stop the continuation of work by the hydraulic excavator 100. According to the embodiment, if the poor transmission condition continues for a long time, it is possible to stop the continuation of work by the hydraulic excavator 100.

[0088] In the embodiment, when a change in the load applied to the work implement 101 of the hydraulic excavator 100 is detected as a work state, it can be determined to stop work. The embodiment can appropriately determine whether or not to continue work by the hydraulic excavator 100.

[0089] In the embodiment, when it is detected that the hydraulic excavator 100 is performing work in an unstable posture as a working state, it can be determined that the work should be stopped. The embodiment can appropriately determine whether or not to continue the work of the hydraulic excavator 100.

[0090] In the embodiment, when the working state of the hydraulic excavator 100 is detected as being in a dangerous place, it can be determined that the work should be stopped. The embodiment can appropriately determine whether or not to continue the work of the hydraulic excavator 100.

[0091] In the above-described embodiment, the delay threshold may be set for each working state of the hydraulic excavator 100. For example, the delay threshold may be set to about 2 seconds for traveling or swinging, the delay time may be set to about 10 seconds for excavating, and the delay time may be set to about 5 seconds for other states. For example, when the working state detection unit 12 determines that the working state of the hydraulic excavator 100 is traveling, the transmission status detection unit 11 may determine that a transmission failure has occurred if the calculated one-side delay time of the image is equal to or greater than the delay threshold of 2 seconds. The delay threshold may be set regardless of the working state of the hydraulic excavator 100.

[0092] In the above-described embodiment, the continuation threshold may be set for each work state of the hydraulic excavator 100. For example, the delay threshold may be set to about 5 seconds for traveling or swinging, the delay time may be set to about 20 seconds for excavating, and the delay time may be set to about 10 seconds for other states. For example, when the work state detection unit 12 determines that the work state of the hydraulic excavator 100 is excavating, the work continuation determination unit 15 may determine to continue the work of the hydraulic excavator 100 and then determine to stop the continuation of the work of the hydraulic excavator 100 if the poor transmission state continues for more than the continuation threshold of 20 seconds. The continuation threshold may be set regardless of the work state of the hydraulic excavator 100.

[0093] In the above-described embodiment, the work vehicle is not limited to a hydraulic excavator, and the control system can be applied to a dump truck, a wheel loader, or other work vehicles. [Explanation of symbols]

[0094] 1...control system, 11...transmission status detection unit, 12...work status detection unit, 15...work continuation determination unit, 17...work machine control unit, 19...memory unit, 20...image controller, 100...hydraulic excavator (work vehicle), 101...work machine, 102...swivel unit, 103...traveling unit, 103C...crawler, 106...boom, 107...arm, 108...bucket, 109...cutting edge, 110...hydraulic cylinder, 111...boom cylinder, 112...arm cylinder, 113...ba bucket cylinder, 121...GNSS receiver, 122...GNSS antenna, 125...work equipment attitude sensor, 126...vehicle body attitude sensor, 128...imaging device, 129...communication device, 200...display device, 210...remote operation device, 220...remote controller, 221...display control unit, 230...server device, 250...base station, AX1...boom axis, AX2...arm axis, AX3...bucket axis, AX4...tilt axis, AX5...rotate axis, RX...swivel axis.

Claims

1. an imaging device that captures images of a construction site where a work vehicle equipped with a work machine is working; a communication device that transmits the image captured by the imaging device to a remote control room that remotely operates the work vehicle; a display control unit that displays the image on a display device provided in the remote control room; a transmission status detection unit that detects a transmission status of data between the work vehicle and the remote control room; a work state detection unit that detects the work state of the work vehicle; a work continuation determination unit that determines whether or not to continue work by the work vehicle based on the transmission status and the work state; a work machine control unit that controls the work vehicle to continue work when the work continuation determination unit determines that work should be continued; A work vehicle control system comprising:

2. The work state detection unit detects the work state of the work vehicle based on at least one of vehicle data indicating the attitude of the work vehicle, operation data indicating operations on an operation device that operates the work vehicle, and construction data including a design surface that indicates a target shape of a construction target for work by the work vehicle. The work vehicle control system according to claim 1 .

3. The transmission status detection unit detects the data transmission status based on a delay time which is the difference between the transmission time stored on the data transmission side of the work vehicle and the remote control room and the time reproduced on the reception side. The work vehicle control system according to claim 1 .

4. When the transmission status becomes good after the work continuation determination unit determines that the work should be continued while the transmission status is poor, the display control unit notifies the work performed by the work vehicle while the transmission status was poor. The work vehicle control system according to claim 1 .

5. the work continuation determination unit determines to stop continuation of work by the work vehicle when the poor transmission condition continues for a period of time equal to or greater than a continuation threshold; the work machine control unit stops the work of the work vehicle when the work continuation determination unit determines that the continuation of work should be stopped; The work vehicle control system according to claim 4 .

6. the work continuation determination unit determines that work should be stopped when a change in the load applied to a work implement of the work vehicle is detected as a work state. The work vehicle control system according to claim 1 .

7. the work continuation determination unit determines that work should be stopped when a work state in which the work vehicle is performing work in an unstable posture is detected as the work state. The work vehicle control system according to claim 1 .

8. the work continuation determination unit determines that work should be stopped when it is detected that the work vehicle is traveling in a dangerous location as a work state. The work vehicle control system according to claim 1 .

9. A work vehicle control system according to any one of claims 1 to 8; A work machine, A work vehicle equipped with:

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