Remote control system of work machine, and remote control method of work machine

Abstract

To remotely control a work machine using a general-purpose operation device.SOLUTION: A portable operation device includes: a binary input unit that detects an input value of on or off depending on an operation; and a continuous value input unit that detects an input value that is a continuous value depending on an amount of operation. A computer generates an operation command for a work machine based on the input value detected by the operation device. The computer generates an operation command in accordance with a first operation pattern, a second operation pattern, and the input value. The first operation pattern represents a first actuator assigned to the binary input unit and a command value when the input value of the binary input unit is on. The second operation pattern represents a second actuator assigned to the continuous value input unit and a relation between the command value and the input value of the continuous value input unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] There is known technology for operating a work machine by remote control (see, for example, Patent Document 1). The remote control device used for remotely operating a work machine is designed for operating the work machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-047442 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, there is a need to use a general-purpose operating device such as a game pad for remotely operating a work machine. However, because a general-purpose operating device is not designed for operating a work machine, there is a high possibility that the number of actuators provided on the work machine will not match the number of input units (buttons, sticks, etc.) of the operating device. An object of the present disclosure is to provide a work machine remote control system and a work machine remote control method that can remotely control a work machine using a general-purpose operating device. [Means for solving the problem]

[0005] According to one aspect of the present invention, a remote operation system for a work machine comprises a portable operation device equipped with a binary input unit that detects an input value that is on or off in response to an operation, and a continuous value input unit that detects an input value that is a continuous value in response to an operation amount, and a computer that generates an operation command for the work machine based on the input value detected by the operation device, wherein the computer generates the operation command in accordance with a first operation pattern that represents a first actuator, of a plurality of actuators equipped on the work machine, that is assigned to the binary input unit and a command value when the input value of the binary input unit is on, a second operation pattern that represents a second actuator, of a plurality of actuators equipped on the work machine, that is assigned to the continuous value input unit and a relationship of the command value to the input value of the continuous value input unit, and the input value from the operation device. [Effects of the Invention]

[0006] According to the above aspect, the remote control system for a work machine can realize remote control of the work machine using a general-purpose operation device. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram illustrating a configuration of a remote control system according to a first embodiment. [Figure 2] 1 is a schematic diagram showing the configuration of a work machine according to a first embodiment. [Figure 3] FIG. 1 is a diagram illustrating an example of an operating device according to a first embodiment. [Figure 4] FIG. 2 is a schematic diagram showing the configuration of an operation computer according to the first embodiment. [Figure 5] 4 is an example of operation pattern data according to the first embodiment. [Figure 6] 3 is a flowchart showing a remote control method by the remote control system according to the first embodiment. [Figure 7] FIG. 10 is a first schematic diagram illustrating a configuration of a remote control system according to another embodiment. [Figure 8]FIG. 10 is a second schematic diagram illustrating the configuration of a remote control system according to another embodiment. [Figure 9] FIG. 1 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] First Embodiment <<Configuration of the remote control system>> Hereinafter, the embodiments will be described in detail with reference to the drawings. 1 is a schematic diagram showing the configuration of a remote operation system 1 according to a first embodiment. The remote operation system 1 is a system for operating a work machine 10 provided at a work site from a distance from the work site.

[0009] The remote control system 1 comprises a work machine 10, a wireless control device 20, a relay computer 30, an operation computer 40, and an operation device 50. Although the work machines 10 shown in Fig. 2 are all hydraulic excavators, the remote control system 1 may comprise different types of work machines 10, such as a wheel loader, a bulldozer, or a dump truck.

[0010] The work machine 10 receives operation commands via short-range wireless communication from the wireless control device 20 and drives in accordance with the operation commands. The work machine 10 and the wireless control device 20 are previously associated one-to-one, and the work machine 10 ignores operation commands from an incompatible wireless control device 20.

[0011] One or more wireless control devices 20 are connected to the relay computer 30. The wireless control device 20 has levers and buttons corresponding to the actuators equipped on the work machine 10. Of the actuators equipped on the work machine 10, those whose speed and angular velocity can be controlled (e.g., the traveling body 110, the rotating body 120, the boom 131, the arm 132, the bucket 133, etc.) are operated with levers, and those that are on / off controlled (e.g., the light, horn, swing lock, etc.) are operated with buttons. The wireless control device 20 converts operation signals from the levers and buttons into operation commands according to a predetermined protocol and transmits the operation commands as wireless signals. The wireless signals are transmitted on a channel preset in the wireless control device 20, and the work machine 10 receives the wireless signals transmitted on the corresponding channel. The channel may be divided by, for example, frequency, time, code, etc. When an operation command is input from the connected relay computer 30, the wireless control device 20 transmits the input operation command on the channel preset in the wireless control device 20.

[0012] The relay computer 30 is connected to the operation computer 40 via a network such as the Internet. The relay computer 30 receives operation commands for the work machine 10 from the operation computer 40, and causes the operation commands to be transmitted from the corresponding wireless control device 20. At least one relay computer 30 is provided at the work site.

[0013] The operation computer 40 and the operation device 50 are installed remotely from the work site. The operation computer 40 is connected to the relay computer 30 via a network such as the Internet. The operation computer 40 is connected to one or more operation devices 50. The operation device 50 is a general-purpose portable operation device such as a game pad. The operation computer 40 and the operation device 50 are connected by wire or wirelessly. The operation computer 40 may be equipped with a display. The operation computer 40 receives an operation signal input from the operation device 50 and converts the operation signal into an operation command according to the type of work machine 10. The operation computer 40 transmits the operation command to the relay computer 30 at the work site where the work machine 10 to be operated is located.

[0014] <Configuration of work machine 10> Figure 2 is a schematic diagram showing the configuration of a work machine 10 according to the first embodiment. The work machine 10 shown in Figure 2 is a backhoe excavator. The work machine 10 includes a traveling body 110, a rotating body 120, and a work implement 130.

[0015] The running body 110 supports the work machine 10 so that it can travel. The running body 110 includes two endless tracks 111 provided on the left and right, and two travel motors 112 for driving each of the endless tracks 111. The rotating body 120 is supported by the running body 110 so as to be able to rotate around a rotation center. The work implement 130 is hydraulically driven and supported on the front part of the revolving body 120 so as to be drivable in the vertical direction.

[0016] The swing body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a swing motor . The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source. The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil via a control valve 123 to each actuator (a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a traveling motor 112, and a swing motor 124). The control valve 123 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 122 . The swing motor 124 is driven by hydraulic oil supplied from the hydraulic pump 122 via a control valve 123 to swing the swing body 120. Note that the swing motor 124 according to other embodiments may be an electric motor instead of a hydraulic motor.

[0017] The work machine 130 includes a boom 131, an arm 132, a bucket 133 as a work implement, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C. Other examples of the work implement include end attachments such as a clam bucket, a tilt bucket, a tilt rotate bucket, a grapple, and a lifting magnet.

[0018] The base end of the boom 131 is rotatably attached to the revolving unit 120 via a boom pin, which is a joint. In the work machine 10 shown in FIG. 1, the boom 131 is provided in the center of the front of the revolving unit 120, but this is not limitative and the boom 131 may be attached offset in the left-right direction. In this case, the center of rotation of the revolving unit 120 is not located on the plane of operation of the work implement 130. The arm 132 connects the boom 131 and the bucket 133. The base end of the arm 132 is rotatably attached to the tip of the boom 131 via an arm pin, which is a joint. The bucket 133 is rotatably attached to the tip of the arm 132 via a pin that serves as a joint. The bucket 133 functions as a container for storing excavated earth and sand.

[0019] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. A base end of the boom cylinder 131C is attached to the revolving body 120. A tip end of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end of the arm cylinder 132C is attached to the boom 131. A tip end of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end of the bucket cylinder 133C is attached to the arm 132. A tip end of the bucket cylinder 133C is attached to a link mechanism that rotates the bucket 133. Although each cylinder according to the first embodiment is a hydraulic cylinder, in other embodiments, it may be another power cylinder such as an electric cylinder. Also, the actuator for driving the work machine 130 is not limited to a power cylinder, but may be, for example, an electric motor provided at each joint. The electric motor may be driven by power from a battery.

[0020] It should be noted that when the work machine 130 is provided with a work implement having a movable part (such as a clam bucket, tilt bucket, tilt rotate bucket, or grapple), the work implement has an actuator for operating the movable part.

[0021] The work machine 10 is equipped with an imaging device 140 , a wireless communication device 150 , and a control device 160 . The imaging device 140 is installed in the driver's cab of the revolving unit 120 or in a portion equivalent to the driver's cab so that the line of sight is directed forward of the revolving unit 120 . The wireless communication device 150 receives an operation command from the wireless control device 20. The wireless communication device 150 also transmits moving image data captured by the imaging device 140 to the relay computer 30. The wireless communication of the operation command and the wireless communication of the moving image data may be performed using different methods. For example, the wireless communication of the operation command may be performed using low-power wireless communication, and the wireless communication of the moving image data may be performed using a wireless LAN.

[0022] The control device 160 reads the operation command received by the wireless communication device 150 and outputs a control signal to the control valve 123. This causes the work machine 10 to operate in accordance with the operation command. The control device 160 transmits the video data captured by the imaging device 140 to the relay computer 30 in streaming format via the wireless communication device 150.

[0023] Configuration of the operation device 50 FIG. 3 is a diagram showing an example of an operating device 50 according to the first embodiment. The operating device 50 shown in FIG. 3 is a game pad, but the remote operation system 1 may be equipped with another type of operating device 50. The operating device 50 shown in FIG. 3 includes a main body 501, a left grip 502, and a right grip 503. The left grip 502 is provided on the lower left of the main body 501, and the right grip 503 is provided on the lower right of the main body 501. A user of the operating device 50 holds the left grip 502 with his left hand and the right grip 503 with his right hand.

[0024] The operation device 50 is provided with a first up button 511, a first down button 512, a first left button 513, a first right button 514, a first analog stick 515, an L1 button 516, an L2 button 517, a second up button 521, a second down button 522, a second left button 523, a second right button 524, a second analog stick 525, an R1 button 526, an R2 button 527, a first function button 531, a second function button 532, and a third function button 533. Each button is an example of a binary input unit that detects an input value of on or off in response to a user's operation. Each analog stick is an example of a continuous value input unit that detects an input value that is a continuous value corresponding to the amount of user operation. In other words, the analog stick can be used for input in the up / down and left / right directions, and the magnitude of its tilt is the input value.

[0025] The first upper button 511, the first lower button 512, the first left button 513, and the first right button 514 are arranged in positions on the main body 501 that can be operated with the thumb of the left hand when the left grip 502 is held in the left hand. The first upper button 511, the first lower button 512, the first left button 513, and the first right button 514 are arranged on concentric circles. The first upper button 511 and the first lower button 512 are arranged on diagonal lines in the up-down direction of the concentric circles. The first left button 513 and the first right button 514 are arranged on diagonal lines in the left-right direction of the concentric circles. The first analog stick 515 is disposed in a position on the main body 501 that can be operated with the thumb of the left hand when the left grip 502 is held in the left hand. The first analog stick 515 is disposed to the lower right of the first up button 511, the first down button 512, the first left button 513, and the first right button 514. The L1 button 516 is located on the top surface of the main body 501 at a position that can be operated with the index finger of the left hand when the left grip 502 is held in the left hand. The L2 button 517 is located on the top surface of the main body 501 at a position that can be operated with the middle finger of the left hand when the left grip 502 is held in the left hand.

[0026] The second upper button 521, the second lower button 522, the second left button 523, and the second right button 524 are arranged in positions on the main body 501 that can be operated with the thumb of the right hand when the right grip 503 is held in the right hand. The second upper button 521, the second lower button 522, the second left button 523, and the second right button 524 are arranged on concentric circles. The second upper button 521 and the second lower button 522 are arranged on diagonal lines in the up-down direction of the concentric circles. The second left button 523 and the second right button 524 are arranged on diagonal lines in the left-right direction of the concentric circles. The second analog stick 525 is disposed in a position on the main body 501 that can be operated with the thumb of the right hand when the right grip 503 is held in the right hand. The second analog stick 525 is disposed to the lower right of the second up button 521, the second down button 522, the second left button 523, and the second right button 524. The R1 button 526 is located on the top surface of the main body 501 at a position that can be operated with the index finger of the right hand when the right grip 503 is held in the right hand. The R2 button 527 is located on the top surface of the main body 501 at a position that can be operated with the middle finger of the right hand when the right grip 503 is held in the right hand.

[0027] The operation device 50 has four input units capable of inputting continuous values: the up / down and left / right axes of the first analog stick 515 and the up / down and left / right axes of the second analog stick 525. The work machine 10 has five actuators operated by levers: the running body 110, the revolving body 120, the boom 131, the arm 132, and the bucket 133. In other words, the number of input units capable of inputting continuous values ​​is insufficient compared to the number of actuators.

[0028] Configuration of Operation Computer 40 4 is a schematic diagram showing the configuration of an operation computer 40 according to the first embodiment. The operation computer 40 includes a storage unit 401, a recognition unit 402, a selection unit 403, a determination unit 404, an input unit 405, a conversion unit 406, a transmission unit 407, a reception unit 408, and a display control unit 409.

[0029] A plurality of operation pattern data are stored in advance in the memory unit 401. The operation pattern data is information indicating the actuator or function assigned to each button or lever of the operation device 50, and the method for calculating the command value. The operation pattern data is stored in association with the model of the work machine 10 to be operated, the model of the operation device 50, and the operation mode. If the work machine 10 is a hydraulic excavator, the operation mode may be, for example, a first mode in which excavation and traveling are mainly performed, and a second mode in which work is performed using a work implement having moving parts.

[0030] Fig. 5 is an example of operation pattern data according to the first embodiment. For example, the operation pattern data for the first mode associated with the work machine 10 shown in Fig. 2 and the operation device 50 shown in Fig. 3 may be as shown in Fig. 5. The first up button 511 is assigned to the left travel motor 112. When the input value of the first up button 511 is on, a command value of +60% is output. In other words, when the first up button 511 is pressed, a command value indicating a 60% forward movement is output. The first down button 512 is assigned to the left travel motor 112. When the input value of the first down button 512 is on, a command value of -60% is output. In other words, when the first down button 512 is pressed, a command value indicating 60% reverse movement is output. The first left button 513 is assigned to a rotation speed command for the engine 121. When the input value of the first left button 513 is on, the rotation speed command value for the engine 121 is increased by one step. The first right button 514 is assigned to a rotation speed command for the engine 121. When the input value of the first right button 514 is on, the rotation speed command value for the engine 121 is decreased by one step. The up and down direction input of the first analog stick 515 is assigned to the arm cylinder 132C. The up and down direction input value of the first analog stick 515 is output as is as a command value for the arm cylinder 132C. The left and right direction input of the first analog stick 515 is assigned to the rotation motor 124. The left and right direction input value of the first analog stick 515 is output as is as a command value for the rotation motor 124.

[0031] The second up button 521 is assigned to the right travel motor 112. When the input value of the second up button 521 is on, a command value of +60% is output. In other words, when the second up button 521 is pressed, a command value indicating 60% forward movement is output. The second down button 522 is assigned to the right travel motor 112. When the input value of the second down button 522 is on, a command value of -60% is output. In other words, when the second down button 522 is pressed, a command value indicating a 60% reverse movement is output. The second left button 523 is assigned to a swing lock command. When the input value of the second left button 523 is on, the swing lock is switched on and off. The second right button 524 is assigned to the light. When the input value of the second right button 524 is on, the light is switched on and off. The up and down direction input of the second analog stick 525 is assigned to the boom cylinder 131C. The up and down direction input value of the second analog stick 525 is output as is as a command value for the boom cylinder 131C. The left and right direction input of the second analog stick 525 is assigned to the bucket cylinder 133C. The left and right direction input value of the second analog stick 525 is output as is as a command value for the bucket cylinder 133C.

[0032] The L2 button 517 is used to switch modes, that is, the L2 button 517 is an example of a mode switch that switches modes. The R2 button 527 is used to switch the operation target, that is, the R2 button 527 is an example of a target switch that switches the work machine 10 that is the operation target. The third function button 533 is used to end the remote control.

[0033] That is, the operation pattern data includes a first operation pattern representing an actuator assigned to a button, which is a binary input unit, and a command value when the input value is on, and a second operation pattern representing an actuator assigned to an analog stick, which is a continuous value input unit, and a conversion formula for calculating a command value from the input value. Note that while the conversion formulas shown in FIG. 5 all convert the input value directly into a command value, this is not limiting. For example, a conversion formula according to another embodiment may be one that multiplies the input value by a gain or adds an offset to the input value to obtain a command value. The conversion formula is an example of the relationship between the input value and the command value. Note that the second operation pattern according to another embodiment may have a table, map, or the like instead of a conversion formula. Controlling the work machine 10 requires highly accurate output adjustment for the operation of the work implement 130 and the revolving unit 120, so it is preferable to assign it to an analog stick. On the other hand, because precise control of the traveling speed of the traveling unit 110 is rarely required, it can be substituted for a lever by assigning it to a button and outputting a fixed value as a command value. There are multiple lever operation patterns for the work machine 10. The analog stick operation pattern indicated by the operation pattern data shown in Figure 5 follows the lever operation pattern specified in JIS A 8919:2007. The operation computer 90 may switch the analog stick operation pattern to another lever operation pattern (alternative pattern) in response to instructions from the operator, for example. Examples of alternative patterns include the following. The first alternative pattern is a pattern in which the up / down input of the first analog stick 515 is assigned to the swing motor 124, the left / right input of the first analog stick 515 is assigned to the arm cylinder 132C, the up / down input of the second analog stick 525 is assigned to the boom cylinder, and the left / right input of the second analog stick 525 is assigned to the bucket cylinder 133C. The second alternative pattern is a pattern in which the up / down input of the first analog stick 515 is assigned to the boom cylinder 131C, the left / right input of the first analog stick 515 is assigned to the bucket cylinder 133C, the up / down input of the second analog stick 525 is assigned to the arm cylinder 132C, and the left / right input of the second analog stick 525 is assigned to the swing motor 124. In the second alternative pattern, when the second analog stick 525 is input in the upward direction, the arm moves forward, and when the second analog stick 525 is input in the downward direction, the arm moves backward. The third alternative pattern is a pattern in which up and down input of the first analog stick 515 is assigned to the boom cylinder 131C, left and right input of the first analog stick 515 is assigned to the bucket cylinder 133C, up and down input of the second analog stick 525 is assigned to the arm cylinder 132C, and left and right input of the second analog stick 525 is assigned to the swing motor 124. In the third alternative pattern, when the second analog stick 525 is input in the upward direction, the arm moves backward, and when the second analog stick 525 is input in the downward direction, the arm moves forward.

[0034] 5 shows an example of operation pattern data for the first mode. The storage unit 401 may store operation pattern data for the second mode in addition to the first mode. In the operation pattern data for the second mode, for example, the first up button 511 and the first down button 512 are assigned to an actuator for operating a movable part of the work tool, instead of the left traveling motor 112. Examples of actuators for operating a movable part of the work tool include the open / close cylinder of the grapple, the piston circuit of the breaker, the tilt cylinder of the tilt bucket, and the rotate motor of the rotator. Also, for example, the left and right input of the first analog stick 515 is assigned to an actuator for boom swing instead of the rotation motor 124. Also, for example, left and right inputs of the second analog stick 525 are assigned to an actuator for raising and lowering the blade instead of the bucket cylinder 133C. The actuators that are switched between the first mode and the second mode are preferably actuators that are unlikely to be operated simultaneously.

[0035] The recognition unit 402 recognizes the operation device 50 connected to the operation computer 40 and identifies the model thereof. The selection unit 403 displays a list of operable work machines 10 on the display, and accepts the selection of the work machine 10 to be operated by operating the operation device 50. The determination unit 404 determines operation pattern data to be used for control from the operation pattern data stored in the storage unit 401 based on the model of the operation device 50 and the model of the work machine 10 .

[0036] The input unit 405 receives an input of an operation signal from the operation device 50 . The conversion unit 406 converts the operation signal into a command value in accordance with the operation pattern data. The transmitting unit 407 transmits operation commands in a predetermined format representing each command value to the relay computer 30 . The receiving unit 408 receives the video data transmitted from the relay computer 30 in a streaming format. The display control unit 409 displays the received video data on the display.

[0037] <Remote control method using remote control system 1> 6 is a flowchart showing a remote control method by the remote control system 1 according to the first embodiment. The operator connects any operation device 50 to the operation computer 40. The recognition unit 402 of the operation computer 40 recognizes the operation device 50 and identifies the model of the operation device 50 (step S1). Note that the operation device 50 may be connected to the operation computer 40 in advance. In this case, the recognition unit 402 identifies the model of the connected operation device 50.

[0038] The selection unit 403 acquires information (ID, model, etc.) of operable work machines 10 from multiple relay computers 30 connected via the network (step S2). An operable work machine 10 is a work machine 10 that can connect to the operation computer 40 via the wireless control device 20 and relay computer 30, and that is not being operated by another user. The relay computer 30 identifies information about the work machine 10, for example, from the connected wireless control device 20. When the selection unit 403 acquires information about the operable work machine 10 from multiple relay computers 30, it displays the acquired information on the display (step S3). The display displays, for example, the location where the work machine 10 is operating and the model of the work machine 10. The user operates the operation device 50 to select one work machine 10. The selection unit 403 identifies the ID and model of the work machine 10 selected by the user, as well as the relay computer 30 for communicating with that work machine 10 (step S4).

[0039] The selection unit 403 transmits an operation start notification indicating the ID of the work machine 10 to be operated to the identified relay computer 30 (step S5). Upon receiving the operation start notification, the relay computer 30 outputs the operation command that it subsequently receives from that operation computer 40 to the wireless control device 20 that corresponds to the work machine 10 with the ID indicated in the operation start notification. The relay computer 30 also transmits to that operation computer 40 the video data transmitted from the work machine 10 with the ID indicated in the operation start notification.

[0040] The determination unit 404 reads out from the storage unit 401 operation pattern data associated with the model of the operation device 50 identified in step S1 and the model of the work machine 10 identified in step S4 (step S6). When operation pattern data is stored in association with a plurality of operation modes, the determination unit 404 reads out operation pattern data associated with a default operation mode (for example, the first mode).

[0041] The input unit 405 receives an input of an operation signal from the operating device 50 (step S7). The conversion unit 406 determines whether the input operation signal indicates mode switching, operation object switching, or remote operation termination based on the operation pattern data (step S8). If the input operation signal is not a mode switching, operation object switching, or remote operation termination (step S8: etc.), the conversion unit 406 converts the operation signal into a command value according to the operation pattern data (step S9). The transmission unit 407 generates an operation command based on the command value converted in step S9, and transmits it to the relay computer 30 identified in step S4 (step S10).

[0042] When the relay computer 30 receives an operation command from the operation computer 40, it outputs the operation command to the wireless control device 20 corresponding to the work machine 10 with the ID indicated in the operation start notification received in step S5. As a result, the operation command is received from the wireless control device 20 by the wireless communication device 150 of the work machine 10, and the control device 160 drives the work machine 10 in accordance with the operation command. The operation computer 40 returns the process to step S8 and waits for the input of an operation signal.

[0043] On the other hand, if the operation signal input in step S8 indicates mode switching (step S8: mode switching), the determination unit 404 reads out operation pattern data associated with the model of the operation device 50, the model of the work machine 10, and the post-switching operation mode from the storage unit 401 (step S11). The operation computer 40 returns the process to step S7 and performs processing based on the operation pattern data related to the post-switching operation mode. At this time, the display control unit 409 displays information indicating the post-switching operation mode on the display. The information indicating the operation mode may be, for example, a character string indicating the operation mode, or a diagram showing the correspondence between the buttons or analog sticks and the actuators in that operation mode.

[0044] If the operation signal input in step S8 indicates switching of the operation target (step S8: switching of the operation target), the selection unit 403 transmits an operation end notification to the relay computer 30 identified in step S4 (step S12). The relay computer 30 that receives the operation end notification treats the work machine 10 with the ID indicated in the operation start notification received in step S5 as an operable work machine 10. The operation computer 40 returns the process to step S2 and again accepts the selection of the work machine 10 to be operated.

[0045] If the operation signal input in step S8 indicates the end of remote operation (step S8: end of remote operation), the selection unit 403 sends an operation end notification to the relay computer 30 identified in step S4 (step S13), and ends the remote operation processing.

[0046] Actions and Effects In this way, the remote operation system 1 according to the first embodiment converts input values ​​from the operation device 50 into command values ​​and generates operation commands in accordance with the operation pattern data. The operation pattern data includes a first operation pattern representing a first actuator assigned to a button (binary input unit) among multiple actuators equipped on the work machine 10 and the command value when the input value of the binary input unit is on, and a second operation pattern representing a second actuator assigned to an analog stick (continuous value input unit) among multiple actuators equipped on the work machine 10 and a conversion formula for calculating the command value from the input value of the continuous value input unit. This makes it possible to remotely operate the work machine 10 with the operation device 50 even if the number of continuous value input units equipped in the operation device 50 does not match the number of actuators controlled by continuous value command values. In other words, the remote operation system 1 according to the first embodiment can realize remote operation of the work machine 10 using a general-purpose operation device 50.

[0047] Furthermore, the operation device 50 is further equipped with a mode switch for switching modes, and the operation computer 40 has a first operation pattern and a second operation pattern according to the mode, and generates operation commands according to the mode. As a result, even if the number of input units on the operation device 50 is smaller than the number of actuators on the work machine 10, the remote operation system 1 can realize remote operation of the work machine 10 using the operation device 50.

[0048] Other Embodiments Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design modifications are possible. That is, in other embodiments, the order of the above-described processes may be changed as appropriate. Furthermore, some processes may be executed in parallel. The operation computer 40 according to the above-described embodiment may be configured as a single computer, or the configuration of the operation computer 40 may be divided into multiple computers that cooperate with each other to function as the operation computer 40. In this case, the relay computer 30 may realize part of the functions of the operation computer 40.

[0049] The work machine 10 according to the embodiment described above operates in accordance with operation commands received via wireless signals from the corresponding wireless control device 20, but this is not limited to this. FIG. 7 is a first schematic diagram showing the configuration of a remote control system 1 according to another embodiment. A work machine 10 according to another embodiment may be connected to an operation computer 40 via a mobile communications network or the like, and operate in accordance with operation commands received directly from the operation computer 40. In the remote control system 1 according to the embodiment described above, the relay computer 30 and the operation computer 40 are connected via a network, and the relay computer 30 outputs operation commands received from the operation computer 40 to the wireless control device 20, but this is not limited to this. FIG. 8 is a second schematic diagram showing the configuration of a remote control system 1 according to another embodiment. In a work machine 10 according to another embodiment, the operation computer 40 and the operation device 50 are provided at the work site, and the operation computer 40 and the wireless control device 20 are directly connected, and the wireless control device 20 may transmit operation commands received directly from the operation computer 40 to the work machine 10. The remote operation system 1 has the configuration of the first embodiment, and can therefore operate a conventional work machine 10 that operates via short-range wireless communication in accordance with operation from a remote location using an arbitrary operation device 50.

[0050] The operating device 50 according to the embodiment described above has a button, which is a binary input unit that detects an input value of on or off in response to a user's operation. The button of the operating device 50 is generally a momentary switch. On the other hand, the operating device 50 according to other embodiments may be provided with a momentary switch other than a button as the binary input unit, or may be provided with an alternate switch.

[0051] <Computer Configuration> FIG. 9 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment. The computer 90 includes a processor 91 , a main memory 92 , a storage 93 , and an interface 94 . The above-described operation computer 40 is implemented in a computer 90. The operations of the above-described processing units are stored in the form of a program in a storage 93. A processor 91 reads the program from the storage 93, loads it into a main memory 92, and executes the above-described processing in accordance with the program. The processor 91 also allocates storage areas in the main memory 92 corresponding to the above-described storage units in accordance with the program. Examples of the processor 91 include a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), and a microprocessor.

[0052] The program may be for realizing some of the functions to be performed by the computer 90. For example, the program may be combined with other programs already stored in storage or implemented in other devices to perform the functions. In another embodiment, the computer 90 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by the processor 91 may be realized by the integrated circuit. Such an integrated circuit is also an example of a processor. In another embodiment, the computer 90 may be virtualized on one or more computers.

[0053] Examples of storage 93 include a magnetic disk, a magneto-optical disk, an optical disk, and a semiconductor memory. Storage 93 may be an internal medium directly connected to the bus of computer 90, or an external medium connected to computer 90 via interface 94 or a communication line. Furthermore, when this program is distributed to computer 90 via a communication line, computer 90 that receives the program may load the program into main memory 92 and execute the above-described processing. In at least one embodiment, storage 93 is a non-transitory tangible storage medium.

[0054] The program may also be a program for realizing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in storage 93. [Explanation of symbols]

[0055] 1...Remote operation system 10...Work machine 110...Traveling body 111...Crawler 112...Travel motor 120...Swinging body 121...Engine 122...Hydraulic pump 123...Control valve 124...Swing motor 130...Work machine 131...Boom 131C...Boom cylinder 132...Arm 132C...Arm cylinder 133...Bucket 133C...Bucket cylinder 140...Imaging device 150...Wireless communication device 160...Control device 20...Wireless operation device 30...Relay computer 40...Operation computer 401...Memory unit 402...Recognition unit 403...Selection unit 404...Decision unit 405...Input unit 406...Conversion unit 407...Transmission unit 408...Reception unit 409...Display control unit 50...Operation device 501...Main body 502...Left grip 503...Right grip 511...First upper button 512...First lower button 513...First left button 514...First right button 515...First analog stick 516...L1 button 517...L2 button 521...Second upper button 522...Second lower button 523...Second left button 524...Second right button 525...Second analog stick 526...R1 button 527...R2 button 531...First function button 532...Second function button 533...Third function button 90...Computer 91...Processor 92...Main memory 93...Storage 94...Interface

Claims

1. a portable operating device including a binary input unit that detects an input value of ON or OFF in response to an operation, and a continuous value input unit that detects an input value that is a continuous value in response to an operation amount; a computer that generates an operation command for a work machine based on the input value detected by the operation device; Equipped with The computer a first operation pattern representing a first actuator assigned to the binary input unit among a plurality of actuators included in the work machine and a command value when the input value of the binary input unit is on; a second operation pattern representing a second actuator assigned to the continuous value input unit among the plurality of actuators included in the work machine, and a relationship between the command value and the input value of the continuous value input unit; The input value from the operation device; The operation command is generated according to Remote control system for work machines.

2. The operation device further includes a mode switch for switching modes, the computer has the first operation pattern and the second operation pattern corresponding to the mode, and generates the operation command according to the mode; The remote control system for a work machine according to claim 1.

3. The second actuator includes an actuator that raises and lowers a work implement provided in the work machine. The remote control system for a work machine according to claim 1.

4. the operation device further includes a target switch for switching the work machine to be operated, the computer generates the operation command in accordance with the first operation pattern and the second operation pattern corresponding to the work machine to be operated. The remote control system for a work machine according to claim 1.

5. When the work machine to be operated is a hydraulic excavator including a traveling body, a rotating body supported rotatably relative to the traveling body, a boom supported on the rotating body, an arm provided at the tip of the boom, and a work tool provided at the tip of the arm, The second actuator includes any one of a boom cylinder that raises and lowers the boom relative to the revolving body, an arm cylinder that raises and lowers the arm relative to the boom, and a rotation motor that rotates the revolving body. The remote control system for a work machine according to claim 4.

6. The first actuator includes either a traveling motor that causes the traveling body to travel or an actuator that drives a movable part provided on the working tool. The remote control system for a work machine according to claim 5.

7. A method for remotely operating a work machine using a portable operating device that includes a binary input unit that detects an input value that is on or off in response to an operation, and a continuous value input unit that detects an input value that is a continuous value in response to an operation amount, The computer a first operation pattern representing a first actuator assigned to the binary input unit among a plurality of actuators included in the work machine and a command value when the input value of the binary input unit is on; a second operation pattern representing a second actuator assigned to the continuous value input unit among the plurality of actuators included in the work machine, and a relationship between the command value and the input value of the continuous value input unit; The input value from the operation device; and generating an operation command for the work machine according to the A method for remotely controlling a work machine.

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