Work machine system and work machine control method

Abstract

To remotely stop a working machine by a person concerned other than an operator of the working machine.SOLUTION: The transmitter transmits an operation command to the work machine. The jammer prevents communication between the transmitter and the work machine. The instruction terminal is provided remotely from the transmitter and the work machine, is configured to be able to communicate with the jamming device, and transmits a jamming instruction for instructing the jamming device to jam communication according to an operation command. The work machine operates in accordance with an operation command received from the transmitter, periodically communicates with the transmitter, and stops operating when communication with the transmitter becomes impossible.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] There is known technology for operating a work machine by remote control (see, for example, Patent Document 1). At a work site where a work machine is in operation, various people are involved in the work, such as the operator of the work machine, as well as on-site workers, supervisors, and construction managers. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-200660 Summary of the Invention [Problem to be solved by the invention]

[0004] When an abnormality occurs at a work site, there is a demand to stop the work machine. However, people at the work site who are not the operators of the work machine, such as workers, supervisors, and construction managers, usually do not have the means to issue an emergency stop command to the work machine. An object of the present disclosure is to provide a work machine system and a control method for a work machine that can stop the work machine from outside the work machine. [Means for solving the problem]

[0005] According to one aspect of the present invention, a work machine system includes a transmitter that transmits operation commands to a work machine, a jammer that interferes with communication between the transmitter and the work machine, and an instruction terminal that is provided remotely from the transmitter and the work machine and configured to be able to communicate with the jammer, and that transmits a jamming instruction to the jammer in response to an operation command, instructing the jammer to jam communication; the work machine operates in accordance with the operation command received from the transmitter, periodically communicates with the transmitter, and stops operating when communication with the transmitter becomes impossible. [Effects of the Invention]

[0006] According to the above aspect, a person other than the operator of the work machine can remotely stop the work machine. [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. FIG. [Figure 3] FIG. 2 is a schematic diagram illustrating a circuit configuration of the switch device according to the first embodiment. [Figure 4] FIG. 2 is a schematic block diagram showing the software configuration of the terminal device according to the first embodiment. [Figure 5] FIG. 4 is a sequence diagram showing a procedure for an emergency stop by the remote control system according to the first embodiment. [Figure 6] 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 includes a work machine 10, a wireless control device 20, a switch device 30, and a terminal device 40. The work machine 10 shown in Fig. 2 is a hydraulic excavator, but the remote control system 1 may include a different type of work machine 10, such as a wheel loader, bulldozer, or dump truck.

[0010] "Work Machine 10" 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. Furthermore, the work machine 10 and the wireless control device 20 periodically monitor their operating status and communication status. If the work machine 10 is unable to communicate with the wireless control device 20 for a certain period of time, the work machine 10 stops the engine 121. This allows the work machine 10 to be stopped when communication conditions deteriorate, ensuring safety at the work site.

[0011] 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 hydraulic excavator. The work machine 10 includes a traveling body 110, a rotating body 120, and a work implement 130.

[0012] 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.

[0013] 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. Note that a work machine 10 according to another embodiment may be provided with an electric motor as a prime mover (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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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 may also transmit moving image data captured by the imaging device 140 to a display device on which an operator can view the data. 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.

[0019] 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. As a result, the work machine 10 operates in accordance with the operation command. The control device 160 also monitors the operation state or communication state of the wireless control device 20 via the wireless communication device 150. The control device 160 outputs a stop command to the engine 121 when a state in which communication with the wireless control device 20 cannot be performed continues for a certain period of time. The control device 160 also outputs a stop command to the engine 121 when an emergency stop command is received from the wireless control device 20. For example, when a state in which communication with the wireless control device 20 cannot be performed continues for a certain period of time, the control device 160 stops the engine 121 by stopping the supply of fuel to the engine 121. When a state in which communication with the wireless control device 20 cannot be performed continues for a certain period of time, or when an emergency stop command is received, the control device 160 stops the engine 121, but maintains the key-on state of the work machine 10.

[0020] 《Wireless operation device 20》 The wireless control device 20 has levers and buttons that correspond 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 (for example, the traveling body 110, the revolving body 120, the boom 131, the arm 132, the bucket 133, etc.) are operated with levers, and those that are controlled on / off (for example, the light, horn, swing lock, etc.) are operated with buttons. The wireless control device 20 converts the operation signals from the levers and buttons into operation commands in accordance with a predetermined protocol and transmits the operation commands as wireless signals. The wireless signals are transmitted on a channel that is 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. The wireless control device 20 is an example of a transmitter that transmits operation commands to the work machine 10.

[0021] The wireless control device 20 also has an emergency stop button that brings the work machine 10 to an emergency stop, and pressing the emergency stop button sends an emergency stop command to the work machine 10. When the work machine 10 receives the emergency stop command, it stops the engine 121. This allows the operator to stop the work machine 10 in an emergency and ensure the safety of the work site. The wireless control device 20 has a plug 21 for receiving power from an external power source P. The wireless control device 20 operates using power supplied via the plug 21.

[0022] <<Switch device 30>> 3 is a schematic diagram showing the circuit configuration of the switch device 30 according to the first embodiment. The switch device 30 is provided in a power supply circuit that connects an external power source P and a wireless control device 20, and opens and closes the power supply circuit in accordance with instructions received from a terminal device 40 via a wireless LAN. The switch device 30 includes a plug receptacle 31, a plug 32, a connection line 33, a control unit 34, and a communication unit 35. The plug 21 of the wireless control device 20 is inserted into the plug receptacle 31 of the switch device 30. The plug 32 of the switch device 30 is inserted into a plug receptacle P1 of an external power source P. As a result, the switch device 30 is provided in a power supply circuit that connects the external power source P and the wireless control device 20. The connection line 33 connects the plug receptacle 31 and the plug 32. The connection line 33 is provided with a switching element 331 that switches the line connecting the plug receptacle 31 and the plug 32 between open and closed states. The control unit 34 controls the opening and closing of the switching element 331 in accordance with instructions received from the communication unit 35. When the communication unit 35 receives a disconnection instruction, the control unit 34 outputs an open signal to the switching element 331. When the communication unit 35 receives a conduction instruction, the control unit 34 outputs a close signal to the switching element 331. The communication unit 35 is connected to a network such as the Internet via a wireless LAN. The communication unit 35 receives instructions from a terminal device 40 connected to the network.

[0023] When the switch device 30 cuts off the power supply from the external power source P to the wireless control device 20, the wireless control device 20 is unable to transmit wireless signals. This disables communication between the work machine 10 and the wireless control device 20. In other words, the switch device 30 is an example of a jammer that interferes with communication between the wireless control device 20 and the work machine 10. The cut-off instruction is also an example of an interference instruction that instructs to interfere with communication.

[0024] Terminal device 40 The terminal device 40 is a terminal to be operated by a person (such as a worker, supervisor, or construction manager, hereinafter also referred to as a worker) working at the site where the work machine 10 is operating. Examples of the terminal device 40 include a smartphone, a tablet terminal, and a PC. The terminal device 40 is connected to a network and can communicate with the switch device 30 via the network. The terminal device 40 is an example of a communication device.

[0025] FIG. 4 is a schematic block diagram showing the software configuration of the terminal device 40 according to the first embodiment. The terminal device 40 comprises a memory unit 41, a selection unit 42, and a transmission unit 43. The memory unit 41 stores information about the work machines 10 operating at the site where the worker is working, in association with the ID of the switch device 30 corresponding to that work machine 10. Examples of information about the work machine 10 include the ID, chassis number, name, and model number of the work machine 10. The selection unit 42 displays a list of the work machines 10 stored in the memory unit 41 on a display, and accepts the selection of the work machine 10 to be brought to an emergency stop. The transmission unit 43 identifies the ID of the switch device 30 corresponding to the work machine 10 selected by the selection unit 42, and transmits a shut-off instruction addressed to that switch device 30 via the network.

[0026] The switch device 30 and the terminal device 40 may communicate directly or via a server. For example, the remote control system 1 may transmit a shutdown instruction from the terminal device 40 to the switch device 30 using the following procedure. The server previously stores the IDs of multiple switch devices 30 in association with their network addresses. The terminal device 40 transmits the shutdown instruction, including the ID of the switch device 30, to the server. Upon receiving the shutdown instruction from the terminal device 40, the server reads the ID of the switch device 30 included in the shutdown instruction. The server identifies the network address associated with the read ID and forwards the shutdown instruction to the network address. The server may store, for each switch device 30, information on the operation authority of the terminal device 40 or the operator. For example, the server stores the ID of the terminal device 40 or the operator who is authorized to issue a shutdown instruction, in association with the ID of the switch device 30. This allows the server to limit the terminal devices 40 or the operators who are authorized to shut down the power supply to the switch device 30.

[0027] <Emergency shutdown by remote control system 1> FIG. 5 is a sequence diagram showing the procedure for an emergency stop by the remote control system 1 according to the first embodiment. First, the operator turns on the key of the work machine 10 (step S1), which supplies power to the control device 160 of the work machine 10, enabling communication with the wireless control device 20. Before operating a work machine 10 using a wireless control device 20, the operator operates his / her own terminal device 40 to send a conduction command to the switch device 30 corresponding to the work machine 10 to be operated (step S2). This causes the control unit 34 of the switch device 30 to conduct the connection line 33 connecting the external power source P and the wireless control device 20 (step S3). The wireless control device 20 receives power supply and starts up (step S4).

[0028] When the control device 160 and the wireless operating device 20 are started, the control device 160 and the wireless operating device 20 confirm communication with each other (step S5). When communication is confirmed, the control device 160 acquires an ID from the wireless operating device 20 and performs authentication processing of the wireless operating device 20 (step S6). Thereafter, the control device 160 and the wireless operating device 20 periodically confirm communication.

[0029] Once authentication of the wireless control device 20 is complete, it becomes possible to control the work machine 10 using the wireless control device 20. The operator operates the wireless control device 20 to turn on the engine, and the wireless control device 20 transmits an engine-on command to the control device 160 (step S7). When the control device 160 receives the engine-on command from the authenticated wireless control device 20, it starts driving the engine 121 (step S8).

[0030] Thereafter, when an emergency occurs, the worker who notices the emergency operates his / her own terminal device 40 to select a work machine 10 to be subjected to an emergency stop from among the work machines 10 present at the work site. This causes the terminal device 40 to transmit a shut-off instruction addressed to the switch device 30 corresponding to the selected work machine 10 (step S9). Upon receiving the shut-off instruction, the control unit 34 of the switch device 30 shuts off the connection line 33 connecting the external power source P and the wireless control device 20 (step S10). This causes the power supply to the wireless control device 20 to stop, and the wireless control device 20 stops (step S11).

[0031] When the wireless control device 20 is stopped, the control device 160 detects that a response to the communication connection confirmation has not been received from the wireless control device 20 for a certain period of time or more, and determines that communication has been cut off (step S12). When the control device 160 determines that communication has been cut off, it stops driving the engine 121 (step S13).

[0032] Actions and Effects As described above, the remote control system 1 according to the first embodiment has the following functions. The work machine 10 operates in accordance with operation commands received from the wireless control device 20, periodically communicates with the wireless control device 20, and stops operating when communication with the wireless control device 20 becomes impossible. The wireless control device 20 transmits operation commands to the work machine 10. The switch device 30 blocks communication between the wireless control device 20 and the work machine 10. The terminal device 40 is provided remotely from the wireless control device 20 and is configured to be able to communicate with the wireless control device 20. In response to operation by the worker, the wireless control device 20 transmits a cut-off instruction to the switch device 30 to disrupt communication with the wireless control device 20. As a result, the remote control system 1 can bring the work machine 10 to an emergency stop by cutting off the power supply to the wireless control device 20 through operation of the terminal device 40. Therefore, according to the first embodiment, by installing software for sending shutdown instructions on a general-purpose terminal device 40 used by the worker, there is no need to prepare wireless control devices 20 with emergency stop buttons for the number of workers, and any worker can bring the work machine 10 to an emergency stop.

[0033] 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 wireless control device 20 according to the embodiment described above may be configured as a single device, or may be configured as a plurality of devices to realize the configuration of the wireless control device 20. For example, in a remote control system 1 according to another embodiment, the wireless control device 20 may be further connected to a remote operation computer via a network, and the wireless control device 20 may relay operation commands input from the operation computer to the work machine 10.

[0034] The remote control system 1 according to the embodiment described above disrupts communication between the wireless control device 20 and the work machine 10 by using the switch device 30 to cut off the power supply to the wireless control device 20, but this is not limited to this. For example, the switch device 30 according to another embodiment may be provided inside the wireless control device 20 and disrupt communication between the wireless control device 20 and the work machine 10 by partially cutting off the current in the control circuit and communication circuit of the wireless control device 20. Furthermore, the remote control system 1 according to another embodiment may be provided with a shielding device that blocks wireless signals transmitted from the antenna, instead of the switch device 30. In this case, the shielding device switches between a state in which wireless signals are blocked and a state in which wireless signals are allowed to pass, in accordance with instructions from the terminal device. This shielding device is an example of a jammer that disrupts communication between the wireless control device 20 and the work machine 10.

[0035] Computer Configuration FIG. 6 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 control device 160 of the work machine 10, the remote control device 20, and the control unit 34 of the switch device 30 described above are each implemented in a computer 90. The operation of each of the processing units described above is stored in the form of a program in a storage 93. The processor 91 reads the program from the storage 93, loads it into the main memory 92, and executes the above-mentioned processing in accordance with the program. The processor 91 also allocates storage areas in the main memory 92 corresponding to each of the storage units described above in accordance with the program. Examples of the processor 91 include a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), and a microprocessor.

[0036] 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.

[0037] 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.

[0038] 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]

[0039] 1...Remote control 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 21...Plug 30...Switch device 31...Plug receptacle 32...Plug 33...Connection line 331...Switching element 34...Control unit 35...Communication unit 40...Terminal device 41...Memory unit 42...Selection unit 43...Transmission unit 90...Computer 91...Processor 92...Main memory 93...Storage 94...Interface P...External power supply P1...plug receptacle

Claims

1. a transmitter that transmits an operation command to the work machine; a jammer that disrupts communication between the transmitter and the work machine; an instruction terminal that is provided remotely from the transmitter and the work machine, configured to be able to communicate with the jammer, and that transmits a jamming instruction to the jammer in response to an operation command, instructing the jammer to jam communications; Equipped with The work machine includes: Operates in accordance with an operation command received from the transmitter; periodically communicating with the transmitter and terminating operation when communication with the transmitter becomes unavailable; Work machine systems.

2. the jammer interrupts the power supply from a power source to the transmitter, thereby disrupting communication between the transmitter and the work machine.

10. The work machine system of claim 1.

3. The jammer comprises: a power supply connector for connecting the power supply plug to the transmitter plug, thereby forming a circuit for supplying power from the power supply to the transmitter; interrupting the circuit when the interference indication is received; 3. The work machine system of claim 2.

4. the work machine stops the prime mover when communication with the transmitter becomes impossible; 10. The work machine system of claim 1.

5. A control method for a work machine that operates in accordance with an operation command received from a transmitter and stops operation when communication with the transmitter becomes impossible, comprising: an instruction terminal provided remotely from the transmitter and the work machine transmits an interference instruction to a jammer in response to an operation command, instructing the jammer to interfere with communication between the transmitter and the work machine; the jammer disrupts communication between the transmitter and the work machine in accordance with the jamming instruction received from the transmitter; The work machine stops operating when communication with the transmitter is lost. A method for controlling a work machine.

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