Work machinery, remote control support systems

Abstract

This technology provides a method for diagnosing abnormalities in electrical control devices used in industrial machinery. [Solution] An excavator 100 according to one embodiment of the present disclosure comprises a lower traveling body 1, an upper rotating body 3, a cabin 10 provided on the upper rotating body 3, a hydraulic actuator HA that drives a driven element, an electric operating device 26 used by an operator inside the cabin 10 to operate the hydraulic actuator HA and which outputs an electrical signal according to the operation content, a gate lock lever 23 used to switch between a first state in which the hydraulic actuator HA can be operated using the operating device 26 and a second state in which the hydraulic actuator HA cannot be operated using the operating device 26, and a controller 30 that diagnoses abnormalities related to the operating device 26 based on the electrical signal when the excavator 100 is switched from the second state to the first state by the gate lock lever 23.

Description

Technical Field

[0001] This disclosure relates to construction machinery and the like.

Background Art

[0002] Conventionally, an electric operating device used to operate an actuator of construction machinery such as an excavator has been known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, it is desirable to be able to diagnose abnormalities related to an electric operating device.

[0005] Therefore, in view of the above problems, an object is to provide a technology capable of diagnosing abnormalities related to an electric operating device in construction machinery.

Means for Solving the Problems

[0006] To achieve the above object, in one embodiment of the present disclosure, a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, a cab provided on the upper revolving body, an actuator that drives a driven element, an electric operating device used by an operator inside the cab to operate the actuator and outputting an electric signal according to the operation content, A switching input device used to switch between a first state in which the actuator can be operated using the operating device and a second state in which the actuator cannot be operated using the operating device, The system includes a diagnostic device that diagnoses abnormalities related to the operating device based on the electrical signal received when the work machine is switched from the second state to the first state by the switching input device. Work equipment will be provided.

[0007] In other embodiments of this disclosure, A remote control support system for a work machine having a lower traveling body, an upper rotating body mounted on the lower traveling body so as to be rotatable, and an actuator for driving a driven element, An electrically operated device used to remotely control the actuator and outputting an electrical signal corresponding to the operation content, A switching input device used to switch between a first state in which the actuator can be operated using the operating device and a second state in which the actuator cannot be operated using the operating device, The system includes a diagnostic device that diagnoses abnormalities in the operating device based on the electrical signal received when the work machine is switched from a second state to a first state by the switching input device. A remote operation support system will be provided. [Effects of the Invention]

[0008] According to the above-described embodiment, it is possible to diagnose abnormalities related to the electrical operating device in the work machine. [Brief explanation of the drawing]

[0009] [Figure 1] This is a side view showing an example of an excavator. [Figure 2] This is a diagram showing an example of the configuration of a shovel. [Figure 3] This figure shows an example of a functional configuration for diagnosing abnormalities in the operating device. [Figure 4]It is a diagram showing a specific example of the output characteristics of an operation sensor with respect to the operation amount of an operation device. [Figure 5] It is a diagram showing an example of the screen of a display device. [Figure 6] It is a flowchart diagram schematically showing a first example of the process of abnormality diagnosis regarding an operation device. [Figure 7] It is a flowchart diagram schematically showing a second example of the process regarding the traveling operation of a lower traveling body. [Figure 8] It is a diagram showing an example of a remote operation support system.

Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments will be described with reference to the drawings.

[0011] [Overview of Excavator] Referring to FIG. 1, the overview of the excavator 100 according to the present embodiment will be described.

[0012] FIG. 1 is a side view showing an example of the excavator 100. Hereinafter, when explaining the direction in the excavator 100 or the direction seen from the excavator 100, the direction in which the attachment AT extends when viewed from the upper revolving body 3 in the top view of the excavator 100 is defined as "front".

[0013] As shown in FIG. 1, the excavator 100 includes a lower traveling body 1, an upper revolving body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cab 10.

[0014] The lower traveling body 1 uses a pair of left and right crawlers 1C to travel the excavator 100. The left crawler 1C and the right crawler 1C are each hydraulically driven by a traveling hydraulic motor 1M. Thereby, the lower traveling body 1 can travel by itself. Hereinafter, the traveling hydraulic motor 1M that drives the left crawler 1C may be referred to as the traveling hydraulic motor 1ML (see FIG. 2), and the traveling hydraulic motor 1M that drives the right crawler 1C may be referred to as the traveling hydraulic motor 1MR (see FIG. 2).

[0015] The upper revolving body 3 is mounted on the lower traveling body 1 via a slewing mechanism 2 so as to be slewed freely. For example, the upper revolving body 3 can be slewed with respect to the lower traveling body 1 by hydraulic driving of the slewing mechanism 2 by a slewing hydraulic motor 2M (see FIG. 2).

[0016] The boom 4 is attached to the center of the front part of the upper revolving body 3 so as to be able to pitch about a rotation axis along the left - right direction. The arm 5 is attached to the tip of the boom 4 so as to be able to rotate about a rotation axis along the left - right direction. The bucket 6 is attached to the tip of the arm 5 so as to be able to rotate about a rotation axis along the left - right direction.

[0017] The bucket 6 is an example of an end attachment, and is used, for example, in excavation work, slope work, leveling work, etc.

[0018] The bucket 6 is attached to the tip of the arm 5 in a mode that can be appropriately replaced according to the work content of the excavator 100. That is, instead of the bucket 6, a bucket of a different type from the bucket 6, for example, a large - sized bucket larger than the bucket 6, a slope bucket, a dredging bucket, etc. may be attached to the tip of the arm 5. Also, an end attachment of a type other than a bucket, for example, a stirrer, a breaker, a crusher, a lifting magnet, etc. may be attached to the tip of the arm 5. Further, a preliminary attachment such as a quick coupler or a tilt rotator may be provided between the arm 5 and the end attachment.

[0019] The boom 4, the arm 5, and the bucket 6 are each hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0020] The cab 10 is a cockpit (also referred to as an "operation room") for an operator to board and operate the excavator 100. The cab 10 is mounted, for example, on the left front part of the upper revolving body 3.

[0021] For example, the excavator 100 operates its driven elements, such as the lower traveling body 1 (i.e., a pair of left and right crawlers 1C), the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, in response to the operation of an operator seated in the cabin 10.

[0022] Furthermore, the driven elements of the shovel 100 may be operated remotely by an operator outside the cabin 10. The following explanation assumes that operator operation includes not only operation by an operator inside the cabin 10, but also remote operation by an operator outside the shovel 100.

[0023] For example, the remote control support system SYS includes an excavator 100 and a remote control support device 150 (see, for example, Figure 8 described later).

[0024] The remote control support system assists in the remote operation of the 100 excavator using a remote control support device.

[0025] The remote control support device 150 is connected to the shovel 100 via a communication line and is used by an operator who remotely controls the shovel 100.

[0026] The remote control support device 150 is installed, for example, in a remote control room RC outside the excavator 100 and includes a remote control device 42 similar to the control device 26 inside the cabin 10. This allows the operator to remotely control the excavator 100 from a remote location where the excavator 100 cannot be directly seen by sitting in the driver's seat DS installed in the remote control room RC and operating the remote control device 42. Alternatively, the remote control support device 150 may be a portable control terminal device. This allows the operator to remotely control the excavator 100 while directly checking the working status of the excavator 100 from its vicinity.

[0027] The excavator 100 transmits, for example, via the communication device 60, an image (surrounding image) representing the surrounding area including the front of the excavator 100, based on the image output from the imaging device 45 mounted on it. Alternatively, the excavator 100 may transmit the image output from the imaging device 45 to the remote control support device 150 via the communication device 60, and the remote control support device 150 may process the image received from the excavator 100 to generate the surrounding image. The remote control support device 150 includes a display device for remote operation (for example, the display device D1E described later), and displays the surrounding image representing the surrounding area including the front of the excavator 100 on the remote control display device. The remote control support device 150 may also display information screens on the remote control display device that are similar to the various information screens displayed on the display device 50 inside the cabin 10 of the excavator 100. As a result, an operator using the remote control support device 150 can remotely control the shovel 100 while checking the displayed content, such as surrounding images and information screens showing the surroundings of the shovel 100, which are displayed on a remote control display device. The shovel 100 operates its driven elements in response to signals (hereinafter referred to as "remote control signals") that represent the content of the remote control, which are received from the remote control support device 150 via the communication device 60. As a result, the remote control support system SYS can realize remote control of the shovel 100 using the remote control support device 150.

[0028] Furthermore, the excavator 100 may operate its actuators automatically, regardless of the operator's actions. This allows the excavator 100 to automatically operate at least some of its driven elements, such as the lower traveling body 1, the upper rotating body 3, and the attachment AT, thus realizing what is known as an "automatic driving function" or "machine control (MC) function."

[0029] The automatic driving function may include, for example, a semi-automatic driving function (operation-assistance type MC function). The semi-automatic driving function is a function that automatically operates driven elements (actuators) other than the target driven element (actuator) in response to the operator's operation. The automatic driving function may also include a fully automatic driving function (fully automatic type MC function). The fully automatic driving function is a function that automatically operates at least some of multiple driven elements (actuators) without operator intervention. In the case of the shovel 100, if the fully automatic driving function is enabled, the interior of the cabin 10 may be unoccupied. The semi-automatic driving function and the fully automatic driving function may also include, for example, a rule-based automatic driving function. The rule-based automatic driving function is an automatic driving function in which the operation content of the driven elements (actuators) that are the target of automatic driving is automatically determined according to predetermined rules. The semi-automatic driving function and the fully automatic driving function may also include an autonomous driving function. The autonomous driving function is an autonomous driving function in which the shovel 100 makes various decisions autonomously, and the operation of the driven elements (actuators) that are the target of the autonomous driving is determined according to the results of those decisions.

[0030] Furthermore, the operation of the shovel 100 may be monitored from outside the shovel 100. For example, when the shovel 100 is operated automatically, its operation is monitored from outside the shovel 100. In this case, a remote monitoring support device similar to the remote operation support device 150 is provided to assist the operator in monitoring the operation of the shovel 100 from outside.

[0031] The remote monitoring support device includes, for example, a display device for remote monitoring, and, similar to a display device for remote operation, displays surrounding images and information screens that show the conditions around the shovel 100. This allows the monitor to monitor the operation of the shovel 100 by checking the surrounding images and information screens using the remote monitoring support device.

[0032] Furthermore, the supervisor may be able to intervene in the operation of the shovel 100 using a remote control support device. For example, the remote monitoring support device includes an operation device for intervention and transmits a remote control signal to the shovel 100 that indicates the operation content of the operation device for intervention. This allows the supervisor to, for example, if the operation of the shovel 100 is inappropriate or if a safety problem arises with the shovel 100, to perform an emergency stop or an evacuation operation to move the shovel 100 to a safe position or posture by operating the operation device for intervention.

[0033] [Shovel configuration] In addition to Figure 1, the configuration of the shovel 100 will be explained with reference to Figures 2 and 3.

[0034] Figure 2 shows an example of the configuration of shovel 100.

[0035] Excavator 100 includes components for the hydraulic drive system, operating system, user interface system, and control system.

[0036] <Hydraulic drive system> The hydraulic drive system of the shovel 100 is a group of components related to the hydraulic drive of the driven elements of the shovel 100.

[0037] As shown in Figure 2, the hydraulic drive system of the excavator 100 includes multiple hydraulic actuators HA that hydraulically drive each of the multiple driven elements. The multiple driven elements include the left and right crawlers 1C of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, the bucket 6, etc. The multiple hydraulic actuators HA include the traveling hydraulic motors 1ML, 1MR, the slewing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc. Furthermore, the hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

[0038] Hereinafter, the hydraulic actuator HA will be used to represent components such as the travel hydraulic motor 1M, the slewing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc., either comprehensively or individually.

[0039] Furthermore, the excavator 100 may have some or all of its hydraulic actuator HA replaced with an electric actuator. In other words, the excavator 100 may be a hybrid excavator or an electric excavator.

[0040] Engine 11 is the prime mover for the shovel 100 and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses light oil as fuel. Engine 11 is mounted, for example, at the rear of the upper rotating body 3. Engine 11 rotates at a constant speed at a preset target speed, for example, under direct or indirect control by a controller 30, which will be described later, and drives the main pump 14 and the pilot pump 15.

[0041] Furthermore, in place of or in addition to engine 11, other types of prime movers (for example, electric motors) may be mounted on the shovel 100.

[0042] The regulator 13 adjusts the discharge rate of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter referred to as the "tilt angle") in response to a control command from the controller 30.

[0043] The main pump 14 supplies hydraulic fluid to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The main pump 14 is driven by the engine 11, as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the piston stroke length is adjusted by adjusting the tilt angle of the swash plate by the regulator 13, thereby controlling the discharge flow rate and discharge pressure.

[0044] The control valve 17 drives the hydraulic actuators HA in response to operator input or an operation command corresponding to an automatic operation function (hereinafter referred to as "automatic operation command"). The control valve 17 is mounted, for example, in the center of the upper rotating body 3. The control valve 17 is connected to the main pump 14 through a hydraulic line and selectively supplies hydraulic fluid from the main pump 14 to each hydraulic actuator HA in response to operator input or an automatic operation command. For example, the control valve 17 is a valve unit that includes multiple control valves (e.g., directional control valves) that control the flow rate and direction of the hydraulic fluid supplied from the main pump 14 to each of the hydraulic actuators HA.

[0045] <Operation system> The operating system of the Shovel 100 consists of a group of components related to the operation of the hydraulic actuator HA.

[0046] As shown in Figure 2, the operating system of the shovel 100 includes a pilot pump 15, a gate lock lever 23, a gate lock valve 25v, a limit switch 25s, an operating device 26, and a hydraulic control valve 31.

[0047] The pilot pump 15 supplies pilot pressure to various hydraulic devices (e.g., hydraulic control valve 31) via the pilot line 25. The pilot pump 15 is mounted at the rear of the upper slewing body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump and is driven by the engine 11 as described above.

[0048] The pilot pump 15 may be omitted. In this case, the hydraulic fluid discharged from the main pump 14 and reduced to a predetermined pilot pressure via a pressure reducing valve or the like may be supplied to the various hydraulic devices such as the operating device 26.

[0049] The gate lock valve 25v is located upstream of all hydraulic equipment that receives hydraulic fluid from the pilot pump 15 in the pilot line 25. The gate lock valve 25v switches the connection and disconnection (deconnection) of the pilot line 25 by switching a limit switch 25s ON / OFF, which is linked to the operating state of a gate lock lever 23 located inside the cabin 10.

[0050] The gate lock lever 23 is a mechanical input device for switching between a state in which the shovel 100 can be operated by the shovel 100 starting and operating device 26 and a state in which the shovel 100 cannot be started or operated. For example, the gate lock lever 23 is located on the upper surface of the console on the left side of the driver's seat. For example, the controller 30 controls whether or not to start the shovel 100, including starting the engine 11, according to the operating state of the gate lock lever 23. Also, as described above, the gate lock lever 23 can switch the connection and disconnection of the pilot line 25 according to its operating state, and as a result, the state in which the hydraulic actuator HA of the shovel 100 can be operated and the state in which it cannot be operated can be switched. For example, as shown in Figure 2, the limit switch 25s is turned ON / OFF according to the operating state of the gate lock lever 23, and an output (electrical signal) corresponding to the ON / OFF state of the limit switch 25s is input to the controller 30. The controller 30 then outputs a control signal to the gate lock valve 25v according to the content of the electrical signal from the limit switch 25s. Furthermore, the output (electrical signal) of the limit switch 25s is input to the gate lock valve 25v, which may allow the gate lock valve 25v to switch between connected and disconnected states depending on the operating state of the gate lock lever 23. Hereinafter, with respect to the gate lock lever 23, the state in which the shovel 100 can be started and operated by the operating device 26 will be conveniently referred to as the "gate lock released state," and the state in which the shovel 100 cannot be started or operated will be conveniently referred to as the "gate lock state."

[0051] The operating device 26 is located within reach of the operator in the driver's seat of the cabin 10 and is used by the operator to operate each of the driven elements, namely the left and right crawlers of the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuator HA that drives each of the driven elements.

[0052] The operating device 26 is electrically operated. Specifically, the operating device 26 outputs an electrical signal (hereinafter referred to as "operation signal") corresponding to the operation performed by the operator, and this operation signal is received by the controller 30. The controller 30 then outputs a control command (operation command) corresponding to the content of the operation signal, that is, an operation command corresponding to the operation performed on the operating device 26, to the hydraulic control valve 31. As a result, a pilot pressure corresponding to the operation performed by the operating device 26 is input from the hydraulic control valve 31 to the control valve 17 via the pilot line 27, and the control valve 17 can drive each hydraulic actuator HA according to the operation performed by the operating device 26.

[0053] For example, the operating device 26 includes an operation sensor 26s capable of detecting the operation performed by an operator on the operating device 26. The operation includes the amount of operation and the direction of operation relative to the neutral position. The amount of operation is, for example, the tilt angle of a lever or the swing angle of a pedal relative to the neutral position. The operation sensor 26s is, for example, a potentiometer (i.e., a variable resistor) that changes its resistance value according to the amount of operation (tilt angle) of the lever or pedal. The operation sensor 26s may also be, for example, a tilt sensor that detects the tilt angle of the lever or pedal, or an angle sensor that detects the swing angle around the swing axis of the lever or pedal. The operation sensor 26s may also include other types of sensors such as a pressure sensor, a current sensor, or a distance sensor. The operation sensor 26s is provided for each actuator to be operated, for example, and outputs an electrical signal (operation signal) representing the operation of the actuator to be operated via the operating device 26, and the operation signal is taken up by the controller 30 as described above.

[0054] Furthermore, the control valves that drive each hydraulic actuator HA, which are built into the control valve 17, may be of the electromagnetic solenoid type. In this case, the operating signal output from the operating device 26 may be directly input to the electromagnetic solenoid type control valve built into the control valve 17.

[0055] Furthermore, as described above, some or all of the hydraulic actuator HA may be replaced with an electric actuator. In this case, the controller 30 outputs control commands to the electric actuator or a driver that drives the electric actuator, for example, according to the operator's actions or the remote control content defined by the remote control signal.

[0056] A hydraulic control valve 31 is provided for each hydraulic actuator HA that the operating device 26 controls, and for each driving direction of the hydraulic actuator HA (for example, the extension and retraction directions of the boom cylinder 7). For example, a pair of hydraulic control valves 31 are provided for each double-acting hydraulic actuator HA that drives the left and right crawlers 1C, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6. The hydraulic control valve 31 is provided, for example, in the pilot line between the pilot pump 15 and the control valve 17, and may be configured to change its flow area (i.e., the cross-sectional area through which hydraulic fluid can flow). As a result, the hydraulic control valve 31 can use the hydraulic fluid from the pilot pump 15 supplied through the pilot line 25 to output a predetermined pilot pressure to the secondary pilot line 27. Therefore, the hydraulic control valve 31 can apply a predetermined pilot pressure to the control valve 17 through the pilot line 27 in accordance with the control command (operation command) from the controller 30. Therefore, for example, the controller 30 can apply pilot pressure to the control valve 17 in accordance with the operation command (automatic operation command) corresponding to the automatic operation function from the hydraulic control valve 31, thereby realizing the operation of the shovel 100 by the automatic operation function. In addition, the controller 30 can apply pilot pressure to the control valve 17 in accordance with the operation command corresponding to the remote operation signal from the hydraulic control valve 31, thereby realizing the operation of the shovel 100 by remote operation. The hydraulic control valve 31 is, for example, a proportional valve.

[0057] <User Interface System> The user interface system of Shovel 100 is a set of components related to the exchange of information between the user and Shovel 100.

[0058] As shown in Figure 5, the user interface system of the shovel 100 includes an operating device 26, a display device 50, and an input device 52.

[0059] The display device 50 transmits various information to the operator inside the cabin 10 in a visual manner. The display device 50 is, for example, a liquid crystal display or an organic EL (electroluminescence) display. For example, as shown in Figure 3, the display device 50 is installed in the front right part of the cabin 10 and outputs various information to the operator inside the cabin 10 in a visual manner.

[0060] In addition to the display device 50, a lighting device that transmits various information to the operator in a visual manner may be provided inside the cabin 10. The lighting device may be, for example, various warning lights (also called "indicator lamps"). Furthermore, in addition to the display device 50, an external display device may be provided to transmit various information to workers or site supervisors outside the cabin 10. Furthermore, in addition to the display device 50 and the lighting device inside the cabin 10, an external lighting device for the cabin 10 may be provided to transmit various information to workers or site supervisors outside the cabin 10. Furthermore, the shovel 100 may be provided with a sound output device that transmits various information in an auditory manner to the operator inside the cabin 10, workers outside the cabin 10, site supervisors, etc. The sound output device may include, for example, a buzzer or a speaker. Furthermore, the shovel 100 may be provided with a device that transmits various information in a tactile manner, such as vibration of the driver's seat where the operator sits.

[0061] The input device 52 receives various inputs from the user of the shovel 100, and the signals corresponding to the received inputs are taken into the controller 30. The inputs received from the input device 52 are of a different type from the inputs received by the operating device 26 for operating the hydraulic actuator HA. For example, the input device 52 is installed inside the cabin 10 and receives inputs from operators inside the cabin 10. Alternatively, the input device 52 may be installed, for example, on the side of the housing section of the upper slewing body 3 and receive inputs from workers around the shovel 100.

[0062] For example, the input device 52 includes a mechanical input device that accepts input from the user through mechanical operation. The mechanical input device includes, for example, a touch panel, touch pad, button switch, lever, toggle, knob switch, etc. For example, the mechanical input device installed inside the cabin 10 includes a touch panel, levers, switches, dials installed on the display device 50, and various levers, switches, dials, etc. installed on the console.

[0063] Furthermore, the input device 52 may include a voice input device that accepts voice input from the user. The voice input device may include, for example, a microphone.

[0064] Furthermore, the input device 52 may include a gesture input device that receives gesture input from the user. The gesture input device may include, for example, an imaging device that captures images of the gestures performed by the user.

[0065] Furthermore, the input device 52 may include a biometric input device that accepts biometric input from the user. Biometric input may include, for example, the input of biometric information such as the user's fingerprints or iris scan.

[0066] <Communications System> The communication system of the Shovel 100 is a set of components that enable the Shovel 100 to communicate with the outside world.

[0067] As shown in Figure 2, the communication system of the shovel 100 according to this embodiment includes a communication device 60.

[0068] The communication device 60 connects to an external communication line and communicates with a device provided separately from the shovel 100. The device provided separately from the shovel 100 may include not only a device located outside the shovel 100, but also a portable terminal device (mobile terminal) brought into the cabin 10 by the user of the shovel 100. The communication device 60 may, for example, use 4G (4 th Generation) and 5G (5 thThe communication device 60 may include a mobile communication module that conforms to standards such as Generation. Furthermore, the communication device 60 may include, for example, a satellite communication module. It may also include, for example, a WiFi communication module or a Bluetooth® communication module. Additionally, if there are multiple connectable communication lines NW, the communication device 60 may include multiple communication devices according to the type of communication line NW.

[0069] Furthermore, the shovel 100 may operate in a standalone state without communicating with the outside world. In this case, the communication system of the shovel 100, including the communication device 60, may be omitted.

[0070] <Control System> The control system for Shovel 100 consists of a group of components related to the various controls of Shovel 100.

[0071] As shown in Figure 2, the control system of the shovel 100 includes a controller 30. The control system of the shovel 100 also includes an imaging device 45. Furthermore, the control system of the shovel 100 includes various sensors and switches, such as a limit switch 25s and an operation sensor 26s, which acquire raw data for various controls performed by the controller 30.

[0072] The controller 30 performs various controls related to the shovel 100.

[0073] The functions of the controller 30 can be realized by any hardware, or any combination of hardware and software. For example, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a processor 30C, and an interface device 30D, all of which are connected communicably by bus BS1.

[0074] The auxiliary storage device 30A is a non-volatile storage means that stores the program installed in the controller 30, as well as files and data necessary for processing in the controller 30. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or flash memory. The memory device loads the program from the auxiliary storage device so that the processor can read it when, for example, a program startup instruction is received. The memory device is, for example, an SRAM (Static Random Access Memory). The processor executes various processes according to the program instructions by, for example, executing the program loaded into the memory device 30B. The processor includes, for example, a CPU (Central Processing Unit). The processor 30C may also include a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Gate Array). The interface device 30D functions as, for example, a communication interface for connecting to the internal communication line of the shovel 100. The interface device 30D may include multiple different types of communication interfaces to match the type of communication line to be connected. The interface device also functions as an external interface for reading data from and writing data to a recording medium. The recording medium is, for example, a dedicated tool connected by a detachable cable to a connector installed inside the cabin 10. Alternatively, the recording medium may be a general-purpose recording medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, the program that realizes the various functions of the controller 30 may be provided, for example, by a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. Alternatively, the program may be downloaded from another computer outside the shovel 100 via the communication device 60 and installed in the auxiliary storage device 30A.

[0075] Furthermore, some of the functions of the controller 30 may be implemented by other devices. In other words, the functions of the controller 30 may be implemented in a distributed manner by multiple devices. For example, the functions of the memory area included in the controller 30 may be implemented by an external storage device mounted on the shovel 100 in a manner that is communicatively connected to the controller 30. Alternatively, the functions of the controller 30 may be implemented in a distributed manner by multiple controllers mounted on the shovel 100.

[0076] The imaging device 45 captures images of the area around the shovel 100.

[0077] The imaging device 45 is, for example, a monocular camera. Alternatively, the imaging device 45 may be a 3D camera capable of acquiring not only 2D image information but also 3D information including the distance to objects in the image and the depth of the image, such as a stereo camera, a ToF (Time of Flight) camera, or a depth camera.

[0078] For example, the imaging device 45 includes a front camera, a rear camera, a left camera, and a right camera. The front camera images the area in front of the upper rotating body 3. The rear camera images the area behind the upper rotating body 3. The left camera images the area to the left of the upper rotating body 3. The right camera images the area to the right of the upper rotating body 3. As a result, the imaging device 45 can capture images of the entire circumference of the shovel 100, i.e., a range spanning 360 degrees in the angular direction, from a top view of the shovel 100. Hereinafter, the front camera, rear camera, left camera, and right camera may be collectively or individually referred to as "camera 45X".

[0079] The output data from the imaging device 45 (camera 45X) is received by the controller 30 via a one-to-one communication line or an in-vehicle network. This allows the controller 30, for example, to understand the surrounding conditions of the shovel 100 based on the output data from the camera 45X.

[0080] Furthermore, some or all of the cameras 45X may be omitted. In addition, the shovel 100 may be equipped with a distance sensor (also called a "distance sensor") capable of acquiring information representing the distance to objects in the vicinity of the shovel 100, instead of or in addition to the imaging device 45. Examples of distance sensors include LIDAR (Light Detecting and Ranging), millimeter-wave radar, and ultrasonic sensors.

[0081] [Functional configuration for abnormality diagnosis related to the operating device] Referring to Figure 3, the functional configuration for diagnosing abnormalities related to the operating device 26 (hereinafter referred to as "abnormality diagnosis" for convenience) will be explained.

[0082] Figure 3 shows an example of a functional configuration for abnormality diagnosis related to the operating device.

[0083] As shown in Figure 3, the controller 30 includes, as a functional unit, an operation content calculation unit 301, a pilot pressure command calculation unit 302, a control command generation unit 303, a state calculation unit 304, a control command generation unit 305, and a diagnostic unit 306.

[0084] The operation content calculation unit 301 calculates and outputs the operation content of the operating device 26 based on the electrical signal (operation signal) received from the operation sensor 26s of the operating device 26. For example, the operation content calculation unit 301 calculates the amount and direction of operation of the operating device 26 based on the operation signal from the operation sensor 26s, using predetermined correlation information that represents the relationship between the operation signal and the operation content.

[0085] The pilot pressure command calculation unit 302 calculates and outputs a control command (pilot pressure command) for the pilot pressure to be supplied to the control valve 17 based on the output of the operation content calculation unit 301 (i.e., information representing the operation content of the operating device 26). For example, the pilot pressure command calculation unit 302 calculates and outputs a pilot command based on information representing the operation content of the operating device 26, using predetermined correlation information that represents the relationship between the operation content of the operating device 26 (i.e., the direction and amount of operation) and the pilot pressure to be output from the hydraulic control valve 31.

[0086] The control command generation unit 303 generates and outputs a control command for the hydraulic control valve 31 based on the output of the pilot pressure command calculation unit 302 (i.e., the pilot pressure command). The control command for the hydraulic control valve 31 is, for example, a control command that represents the control current to flow through the hydraulic control valve 31. For example, based on the pilot pressure command, the control command generation unit 303 generates and outputs a control command for the hydraulic control valve 31 using predetermined information representing the correlation between the pilot pressure command and the control command for the hydraulic control valve 31. The control command generated by the control command generation unit 303 is output to the hydraulic control valve 31. As a result, the controller 30 can control the hydraulic control valve 31 so that the controller 30 can drive each hydraulic actuator HA according to the operation content of the operating device 26.

[0087] The state calculation unit 304 calculates the state of the gate lock valve 25V based on the electrical signal received from the limit switch 25s. For example, the state calculation unit 304 calculates and outputs the state of the gate lock lever 23 based on the electrical signal output from the limit switch 25s, using information that represents the correlation between the output (electrical signal) of the limit switch 25s and the state of the gate lock lever 23 (specifically, whether it is in a gate lock state or a gate lock release state).

[0088] The control command generation unit 305 generates control commands for the gate lock valve 25v based on the state of the gate lock lever 23 output from the state calculation unit 304. For example, the control command generation unit 305 generates a control command for the gate lock valve 25v to shut off when the gate lock lever 23 is in the gate lock state, and to open when the gate lock lever 23 is in the gate unlock state. The control commands generated by the control command generation unit 305 are output to the gate lock valve 25v. As a result, the controller 30 can control the state of the gate lock valve 25v according to the state of the gate lock lever 23.

[0089] The diagnostic unit 306 diagnoses any abnormalities related to the operating device 26 based on information representing the operation content of the operating device 26 output from the operation content calculation unit 301 and information representing the state of the gate lock lever 23 output from the state calculation unit 304.

[0090] An abnormality related to the operating device 26 does not include an abnormality caused by the intervention of a person operating the operating device 26, but only an abnormality caused by the excavator 100. An abnormality caused by the excavator 100 is, for example, a technical abnormality related to the operating device 26.

[0091] Anomalies related to the operating device 26 include, for example, an anomaly in the operating device 26 itself. Anomalies in the operating device 26 itself include, for example, a mechanical anomaly in the operating device 26. Anomalies due to improper physical mounting position or orientation of the operating sensor 26s relative to the operating tool (e.g., lever or pedal) of the operating device 26 also include, for example, an electrical anomaly in the operating device 26. Specifically, an electrical anomaly in the operating device 26 corresponds to an electrical anomaly in the operating sensor 26s, and includes, for example, an anomaly where the neutral position of the output value (e.g., voltage value) of the operating sensor 26s is offset for some reason.

[0092] Furthermore, abnormalities related to the operating device 26 include, for example, abnormalities in communication between the operating device 26 and the controller 30. Abnormalities in communication between the operating device 26 and the controller 30 include, for example, abnormalities in the communication line between the operating device 26 and the controller 30. Abnormalities in the communication line between the operating device 26 and the controller 30 include, for example, a break in the communication line between the operating device 26 and the controller 30, a delay in communication between the operating device 26 and the controller 30, and modification of the operation signal due to noise between the operating device 26 and the controller 30. Furthermore, abnormalities in communication between the operating device 26 and the controller 30 include, for example, abnormalities in the interface to which the operation signal from the operating device 26 is input in the controller 30.

[0093] A diagnosis of an abnormality includes determining whether or not an abnormality exists. Furthermore, a diagnosis of an abnormality may also include determining the degree of the abnormality.

[0094] The diagnostic unit 306 notifies the user of the excavator 100, such as an operator inside the cabin 10, of the results of the abnormality diagnosis regarding the operating device 26, for example, via the display device 50. In this case, the diagnostic unit 306 may display information representing the results of the abnormality diagnosis regarding the operating device 26 on the display device 50 only if the results of the abnormality diagnosis regarding the operating device 26 indicate a high need to prompt the user of the excavator 100 to take action, or it may display information representing the results of the abnormality diagnosis regarding the operating device 26 on the display device 50 regardless of the content of the abnormality diagnosis results. Cases in which the results of the abnormality diagnosis indicate a high need to prompt the user of the excavator 100 to take action include, for example, when the diagnosis result indicates an abnormality under the premise that the presence or absence of an abnormality is diagnosed, or when the degree of abnormality in the diagnosis result is a predetermined abnormality under the premise that the degree of abnormality is diagnosed.

[0095] Furthermore, the diagnostic unit 306 may transmit information representing the results of the abnormality diagnosis regarding the operating device 26 to an external device of the excavator 100, for example, via the communication device 60. The external device of the excavator 100 is, for example, the management device 200 described later. This allows, for example, the manager of the excavator 100 to make various adjustments for repair and maintenance (for example, ordering parts or arranging for service personnel) based on the results of the abnormality diagnosis regarding the operating device 26.

[0096] [Method for diagnosing malfunctions in operating devices] Referring to Figure 4, we will specifically explain the method for diagnosing abnormalities related to the operating device 26.

[0097] Figure 4 shows an example of the output characteristics of the control sensor 26s with respect to the control amount of the control device 26.

[0098] Specifically, Figure 4 includes Figure 4A, which shows an example of the output characteristics of the control sensor 26s with respect to the manipulated amount of the control device 26, and Figure 4B, which shows another example of the output characteristics of the control sensor 26s with respect to the manipulated amount of the control device 26. More specifically, Figure 4A represents a normal relationship between the manipulated amount of the control device 26 and the output value (e.g., voltage value) of the control sensor 26s, while Figure 4B represents an abnormal relationship between the manipulated amount of the control device 26 and the output value of the control sensor 26s.

[0099] As shown in Figure 4A, when the relationship between the manipulated amount of the operating device 26 and the output value of the operating sensor 26s is normal, the output value of the operating sensor 26s is zero (0) when the manipulated amount is zero (0). In other words, in this example, when the operating tool (e.g., lever or pedal) of the operating device 26 is in a mechanically neutral state, the operating sensor 26s is in an electrically neutral state.

[0100] On the other hand, as shown in Figure 4B, if the relationship between the amount manipulated by the operating device 26 and the output value of the operating sensor 26s is abnormal, the output value of the operating sensor 26s is significantly greater than zero when the amount manipulated is zero. In this case, the operating sensor 26s is not electrically neutral when the operating tool of the operating device 26 is in a mechanically neutral state, and as a result, the hydraulic actuator HA being operated may operate in response to the operating signal of the operating device 26, regardless of the operator's intention.

[0101] The abnormality shown in Figure 4B may occur, for example, as a mechanical abnormality of the operating device 26, due to improper mounting position or orientation of the operating sensor 26s. Alternatively, the abnormality shown in Figure 4B may occur as an electrical abnormality of the operating device 26, such as an offset in the output value of the operating sensor 26s.

[0102] Therefore, in this example, the diagnostic unit 306 performs an abnormality diagnosis regarding the operating device 26 based on the operating signal of the operating device 26 when it is determined that there is a high probability that the operating device 26 has not been operated. As a result, for example, the diagnostic unit 306 can diagnose whether or not there is an abnormality in the operating device 26 based on whether or not the operating signal of the operating device 26 is in an electrically neutral state when it is determined that there is a high probability that the operating device 26 has not been operated. Alternatively, for example, the diagnostic unit 306 can diagnose the degree of abnormality of the operating device 26 based on the degree to which the operating signal of the operating device 26 deviates from the electrically neutral state when it is determined that there is a high probability that the operating device 26 has not been operated.

[0103] The electrically neutral state of the operating device 26 includes, for example, a state in which the output of the operating device 26 is within a predetermined range relative to a state of zero. The predetermined range is, for example, a range of output values ​​of the operating device 26 defined by the tolerance range for the physical arrangement of the operating sensor 26s in the operating device 26. Alternatively, the predetermined range may be a range of output values ​​of the operating sensor 26s such that the hydraulic actuator HA to be operated does not operate. In this case, the predetermined range is defined, for example, based on the dead zone of the hydraulic actuator HA to be operated (the range of operating amounts in which the operating device 26 does not operate even when operated). Furthermore, the electrically neutral state of the operating device 26 may also include a state in which there is no output of an operating signal.

[0104] When it is highly likely that the operating device 26 is not being operated, for example, when the gate lock lever 23 transitions from the gate locked state to the gate unlocked state. For example, when the gate lock lever 23 is maintained in the gate unlocked state, it is highly likely that the operating device 26 is being operated. Also, when the gate lock lever 23 is maintained in the gate locked state, even though the operator has no intention of operating the operating device 26, it is highly conceivable that the operating device 26 could be moved unexpectedly by the operator's movements inside the cabin 10. In contrast, when the gate lock lever 23 transitions from the gate locked state to the gate unlocked state, the operator intends to start operating the shovel 100 after the transition, so it is highly unlikely that the operator would unexpectedly operate the operating device 26. Also, since it is clear that the operator intends to start operating the operating device 26 after the transition, it is highly likely that the operator has not yet started operating the operating device 26 when the gate lock lever 23 transitions from the gate locked state to the gate unlocked state. Therefore, the diagnostic unit 306 can perform an abnormality diagnosis regarding the operating device 26 based on the operating signal of the operating device 26 when the gate lock lever 23 transitions from the gate lock state to the gate unlock state (i.e., is switched).

[0105] When the gate lock lever 23 is switched from the gate locked state to the gate unlocked state, the timing of the gate lock lever 23 switching from the gate locked state to the gate unlocked state is included. Also, when the gate lock lever 23 is switched from the gate locked state to the gate unlocked state, a certain period immediately after the gate lock lever 23 switches from the gate locked state to the gate unlocked state may be included. This certain period is, for example, the lower limit of the time that is expected to be required from the switch from the gate locked state to the gate unlocked state until the operation of the operating device 26 is actually started. Also, when the gate lock lever 23 is switched from the gate locked state to the gate unlocked state, the state immediately before the gate lock lever 23 switches from the gate locked state to the gate unlocked state may be included. In other words, when the gate lock lever 23 is switched from the gate locked state to the gate unlocked state, a state in which there is a high probability that the gate lock lever 23 will be switched from the gate locked state to the gate unlocked state may be included. For example, the controller 30 can determine, based on an image from an indoor camera capable of capturing an imaging range including the operator inside the cabin 10, whether or not there is a high probability that the operator has operated the gate lock lever 23 and that the gate lock lever 23 has switched from the gate locked state to the gate unlocked state.

[0106] Furthermore, when the gate lock lever 23 is switched from the gate lock state to the gate lock release state, there is a possibility, though less than when the gate lock state is maintained, that the operator may unintentionally operate the operating device 26. Therefore, the abnormality to be diagnosed using the diagnostic method in this example may include an abnormality indicating that the operator has performed an unintended operation on the operating device 26.

[0107] [Specific examples of methods for notifying the results of abnormality diagnoses related to operating devices] Referring to Figure 5, a specific example of a method for notifying the results of an abnormality diagnosis related to the operating device 26 will be explained.

[0108] Figure 5 shows an example of the screen 41 of the display device 50. Specifically, Figure 5 shows an example of the screen 41 when the normal mode is selected as the control mode of the controller 30 and a diagnosis of an abnormality in the operating device 26 is obtained.

[0109] In this example, the explanation will be based on the assumption that the controller 30 has four or more control modes, including normal mode, payload mode, lift mode, and MC-MG mode.

[0110] For example, multiple control modes such as normal mode, payload mode, lift mode, and MC-MG mode are selectively used by the controller 30.

[0111] Normal mode is the standard control mode for controller 30.

[0112] The lift mode is a control mode in which the controller 30 controls the crane function of the shovel 100.

[0113] The crane function of the Shovel 100 is a function that assists the operator in crane operations, where a load is suspended from a hook (not shown) located at the tip of the Shovel 100's attachment AT and moved.

[0114] For example, the controller 30 prohibits the opening of the bucket 6 in lift mode. This prevents the bucket 6 from opening during crane operation.

[0115] Furthermore, for example, in lift mode, the controller 30 limits the operating speed of the hydraulic actuator HA. Specifically, the controller 30 sets the operating speed of the attachment in response to the operation of the hydraulic actuator HA lower than in normal mode (also referred to as "normal mode"). Normal mode is the standard control mode of the controller 30. This allows the controller 30 to suppress large swings and drops of the suspended load during crane operation.

[0116] Furthermore, for example, in lift mode, the controller 30 calculates the load state of the shovel 100 due to the suspended load and displays the calculation result on the display device 50 inside the cabin 10. This allows the operator in the cabin 10 to proceed with crane operations while being aware of the load state of the shovel 100 due to the suspended load.

[0117] The load state of the shovel 100 is divided into several stages, and is defined by the load (weight) W of the suspended load. The load W of the suspended load is measured, for example, based on the output of cylinder pressure sensors that detect the pressure in the oil chambers of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9. Specifically, the load state of the shovel 100 may be defined in order from lowest to highest as the first stage, second stage, and third stage. The first stage represents a state in which the load W of the suspended load is less than the threshold Wth1. The threshold Wth1 is predetermined as a value less than the predetermined rated load Wlim. The second stage represents a state in which the load W of the suspended load is greater than or equal to the threshold Wth1 and less than the threshold Wth2. The threshold Wth2 is predetermined as a value greater than the threshold Wth1 and less than the rated load Wlim. The third stage represents a state in which the load W of the suspended load is greater than or equal to the threshold Wth2.

[0118] Furthermore, the load state of the shovel 100 may take into account not only the load of the suspended load but also the attitude state of the attachment AT. The attitude state of the attachment AT is measured, for example, based on the output of attitude sensors that detect the attitude states of the upper slewing body 3, boom 4, arm 5, and bucket 6. For example, the controller 30 may calculate the tipping moment of the shovel 100 based on the load of the suspended load and the attitude state of the attachment, and then calculate the load state of the shovel 100 due to the suspended load based on the magnitude of the tipping moment.

[0119] Furthermore, for example, in lift mode, the controller 30 changes the color of the external indicator light (not shown) according to the load state of the shovel 100 due to the suspended load. For example, the controller 30 controls the external indicator light to emit green or blue light when the load state of the shovel 100 due to the suspended load is in the first stage. The controller 30 also controls the external indicator light to emit yellow or orange light when the load state of the shovel 100 due to the suspended load is in the second stage. The controller 30 also controls the external indicator light to emit red light when the load state of the shovel 100 due to the suspended load is in the third stage. In this way, the controller 30 can allow workers around the shovel 100, such as workers performing rigging work on suspended loads, to confirm the load state of the shovel 100 due to the suspended load by the color of the external indicator light.

[0120] The MC-MG mode is a control mode in which the controller 30 controls the machine control function and machine guidance function of the excavator 100.

[0121] Excavator 100 has, for example, a machine guidance function and a machine control function.

[0122] The machine guidance and machine control functions of the Shovel 100 are functions that assist the operator in operating the Shovel 100 in relation to the target shape of the workpiece. The target shape of the workpiece is, for example, a predetermined target construction surface.

[0123] For example, the machine guidance function provides the operator with information regarding the relative position and relative posture of the work portion of the attachment AT relative to the target shape of the work object via the display device 50.

[0124] Furthermore, for example, the machine control function allows the excavator 100 to automatically or semi-automatically operate the attachment AT to achieve the target shape of the workpiece. In addition to the attachment AT, the machine control function may also automatically or semi-automatically operate the lower traveling body 1 and the upper rotating body 3.

[0125] "Semi-automatic" includes, for example, a mode in which, when an operator operates one hydraulic actuator HA, other hydraulic actuators HA operate in conjunction, thereby causing the attachment AT to operate in order to achieve the target shape of the workpiece. Furthermore, "semi-automatic" may also include a mode in which, based on the operator's operation, the operation of the attachment AT is appropriately corrected from the operation corresponding to the operator's operation, thereby achieving the target shape of the workpiece.

[0126] For example, in MC-MG mode, the controller 30 always provides machine guidance functionality. Furthermore, in MC-MG mode, the controller 30 provides machine control functionality when an input requesting machine control functionality is received from the operator via the input device 52.

[0127] In MC-MG mode, the controller 30 measures the distance between the work area of ​​the attachment AT, i.e., the reference point of the bucket 6, and the target construction surface, and notifies the operator of this distance via the display device 50. The reference point of the bucket 6 is, for example, the point corresponding to the tip of the bucket 6. Alternatively, the reference point of the bucket 6 is a predetermined point on the flat surface on the back of the bucket 6. Furthermore, the reference point of the bucket 6 may be changed depending on the nature of the work.

[0128] Furthermore, in MC-MG mode, the controller 30 measures the orientation of the work area (bucket 6) of the attachment AT relative to the target construction surface and notifies the operator of this orientation via the display device 50.

[0129] Furthermore, in MC-MG mode, when the machine control function is enabled, the controller 30 operates attachment AT, etc., in response to operator input or automatically, so that the reference point of the bucket 6 moves along the target trajectory.

[0130] The target trajectory is defined, for example, to follow the target construction surface. Alternatively, the target trajectory may be defined based on a comparison between the target construction surface and the shape of the current work area ground. The shape of the current work area ground is obtained, for example, based on images from the imaging device 45. For example, if the difference between the target construction surface and the shape of the current work area ground is greater than or equal to a predetermined standard, the target trajectory for rough excavation is defined to reduce the difference between the work area ground and the target construction surface. On the other hand, if the difference between the target construction surface and the shape of the current work area ground is less than a predetermined standard, the target trajectory is defined to follow the target construction surface.

[0131] Furthermore, the number of control modes available to the controller 30 may be two, three, or five or more.

[0132] Screen 41 includes display areas 41A to 41E.

[0133] Display areas 41A to 41E are arranged vertically from top to bottom.

[0134] The display area 41A is located at the top of the screen 41. The display area 41A displays fixed content regardless of the control mode selected by the controller 30.

[0135] Display area 41A includes information display areas 41a to 41e and 41g to 41k.

[0136] Information display area 41a displays the current date and time. Information display area 41b displays the currently selected driving mode of the shovel 100. Information display area 41c displays an image representing the currently installed end attachment. Information display area 41d displays information regarding the shovel 100's fuel consumption rate (fuel efficiency). Information display area 41d includes, for example, information display area 41d1 which displays lifetime average fuel efficiency or section average fuel efficiency, and information display area 41d2 which displays instantaneous fuel efficiency. Information display area 41e displays information representing the control status of the engine 11.

[0137] Information display area 41g displays the current temperature of the engine 11's coolant. Information display area 41h displays the remaining amount of fuel stored in the fuel tank. Information display area 41i displays the operating mode corresponding to the engine speed of the engine 11. Information display area 41j displays the remaining amount of urea solution stored in the urea solution tank. Information display area 41k displays the temperature of the hydraulic fluid in the hydraulic drive system.

[0138] Display areas 41B to 41D are located in the vertical center of screen 41. Display areas 41B to 41D display content specific to the control mode selected by the controller 30. The display content specific to each of the multiple control modes may be fixed or may be changeable in response to requests from the user via the input device 52.

[0139] The surrounding image display area 41n is displayed in the display areas 41B and 41C.

[0140] The surrounding image display area 41n displays an image (hereinafter referred to as "surrounding image") representing the area around the shovel 100, based on the image captured by the imaging device 45. The surrounding image display area 41n includes surrounding image display areas 41n1 to 41n3.

[0141] The peripheral image display area 41n1 is displayed in display area 41B adjacent to and below the information display area 41d included in display area 41A.

[0142] In this example, the peripheral image display area 41n1 displays an overhead view image FV of the area around the shovel 100, generated based on the image captured by the imaging device 45. In addition, the peripheral image display area 41n1 displays a shovel image GE, which simulates the shovel 100 from a top view. The shovel image GE and the overhead view image FV are arranged in the peripheral image display area 41n1 so that their relative positions match the relative positions of the shovel 100 and the imaging range included in the overhead view image FV.

[0143] The peripheral image display areas 41n2 and 41n3 are displayed in the display area 41C adjacent to the lower part of the peripheral image display area 41n1. The peripheral image display areas 41n2 and 41n3 are positioned adjacent to the left and right portions of the display area 41C, respectively, with respect to the center in the horizontal direction.

[0144] In this example, the rear image BM, which shows the view behind the shovel 100, is displayed in the peripheral image display area 41n2, and the right image RM, which shows the view to the right of the shovel 100, is displayed in the peripheral image display area 41n3. The rear image BM and the right image RM correspond to the images captured by the rear camera and the right camera, respectively.

[0145] Display area 41D includes information display areas 41f and 41m.

[0146] The information display area 41f is positioned below and adjacent to the surrounding image display area 41n2. The cumulative operating time of the engine 11 is displayed in the information display area 41f.

[0147] The information display area 41m is positioned below the surrounding image display area 41n3 and adjacent to the right of the information display area 41f. The operating status of the air conditioner is displayed in the information display area 41m. The information display area 41m includes information display areas 41m1 to 41m4.

[0148] Information display area 41m1 shows the location of the air outlet currently being used for airflow from the air conditioner. Information display area 41m2 shows the current operating mode of the air conditioner. Information display area 41m3 shows the current set temperature of the air conditioner. Information display area 41m4 shows the current set airflow of the air conditioner.

[0149] The display area 41E is located at the bottom of the screen 41. The display area 41E displays fixed content regardless of the control mode selected by the controller 30. Specifically, the display area 41E displays a group of tabs 41q of operation elements for selecting one control mode to be applied to the controller 30 from among multiple control modes. For example, the operator can operate the tab group 41q by using the touch panel of the display device 50 as the input device 52. Alternatively, the operator may operate the tab group 41q by using switches attached to the display device 50 as the input device 52.

[0150] Hereinafter, among the display areas 41A to 41E, display areas 41A and 41E that do not depend on the control mode of the controller 30 will be conveniently referred to as "fixed display areas," and display areas 41B to 41D that depend on the control mode will be conveniently referred to as "variable display areas."

[0151] Tab group 41q includes tabs 41q1 to 41q6. Tabs 41q1 to 41q6 are arranged from left to right in a horizontal direction.

[0152] Tab 41q1 is an operation icon for configuring settings related to screen 41.

[0153] For example, settings for screen 41 include settings for tab group 41q. Settings for tab group 41q include, for example, settings for the order in which operation icons corresponding to the four control modes are arranged in tabs 41q2 to 41q5. This allows the operator to customize the order in which the operation icons corresponding to the four control modes are arranged in tabs 41q2 to 41q5. The position of the operation icon corresponding to normal mode may also be fixed to tab 41q2. In this case, the operator can customize the order in which the operation icons corresponding to the three control modes are arranged in tabs 41q3 to 41q5. Settings for tab group 41q may also include settings for the specifications of the cursor (also called a "pointer") that represents the control mode of the selected controller 30. For example, as shown in Figure 5, the cursor is realized by highlighting the operation icon corresponding to the selected control mode, but by changing the settings, it may also be realized by a rectangular frame surrounding the operation icon. Hereafter, for convenience, the state in which the operation icon of one of the operation tabs is highlighted may be described as the state in which the cursor is positioned. Furthermore, the settings for tab group 41q include a setting to select four control modes corresponding to the four operation icons arranged in tabs 41q2 to 41q5, from among multiple control modes, when there are four or more control modes. For example, as shown in Figure 5, tabs 41q3 to 41q5 display operation icons corresponding to payload mode, lift mode, and MC-MG mode, respectively, but some or all of these may be changed to operation icons corresponding to other control modes. Also, the operation icon corresponding to normal mode may always be included in tabs 41q2 to 41q5. In this case, the operator can customize the three control modes corresponding to the three operation icons arranged in tabs 41q2 to 41q5, excluding the operation icon corresponding to normal mode.

[0154] Furthermore, the settings for screen 41 may include specifications regarding the display content of the variable display area of ​​screen 41 for each control mode (i.e., display area 41B to display area 41D).

[0155] For example, when tab 41q1 is selected, multiple operation icons corresponding to multiple possible settings are expanded adjacent to each other on the tab group 41q. This allows the operator to perform the desired setting operation by selecting one of the expanded operation icons using a touch panel or the like as an input device 52.

[0156] Tabs 41q2 to 41q5 are operation icons corresponding to four of the multiple control modes. This allows the operator to select one of the multiple control modes to be applied to the controller 30 by using the input device 52, such as a touch panel, to select and confirm one of the tabs 41q2 to 41q5.

[0157] In this example, tab 41q2 displays an operation icon corresponding to the normal mode. The operator can select the normal mode from among several control modes as the control mode applied to the controller 30 by operating tab 41q2 using the touch panel, which serves as the input device 52.

[0158] In this example, tab 41q3 displays operation icons corresponding to the lift mode. This allows the operator to select a lift mode from among several control modes to be applied to the controller 30 by operating tab 41q3 using a touch panel or the like.

[0159] In this example, tab 41q4 displays an operation icon corresponding to the MC-MG mode. This allows the operator to select the MC-MG mode from among several control modes as the control mode applied to the controller 30 by operating tab 41q4 using a touch panel or the like.

[0160] In this example, tab 41q5 displays operation icons corresponding to the payload mode. This allows the operator to select a payload mode from among several control modes to be applied to the controller 30 by operating tab 41q5 using a touch panel or the like.

[0161] Tab 41q6 is an operation icon that corresponds to a control mode other than the four control modes corresponding to the operation icons on tabs 41q2 to 41q5, when there are four or more control modes. This allows the operator to select a control mode other than the four control modes corresponding to the operation icons on tabs 41q2 to 41q5 by using a touch panel or similar device to select the tab 41q6.

[0162] For example, when tab 41q6 is selected, operation icons corresponding to other control modes, different from the four control modes corresponding to the operation icons on tabs 41q2 to 41q5, are expanded adjacent to the tab group 41q. This allows the operator to select a control mode different from the four control modes corresponding to the operation icons on tabs 41q2 to 41q5 by using a touch panel or the like to select one of the expanded operation icons.

[0163] For example, if another control mode corresponding to tab 41q6 is selected as the control mode applied to controller 30, the operation icon on tab 41q6 will change from the state in this example to the operation icon corresponding to the other selected control mode. The cursor will then be moved to tab 41q6. This allows the user to check the control mode currently applied to controller 30 through the operation icon on tab 41q6.

[0164] In this example, the normal mode is selected as the control mode applied to the controller 30 from among several control modes. Therefore, tab 41q2, which displays the operation icon corresponding to the normal mode within the tab group 41q, is highlighted, and the cursor is positioned on tab 41q2. This allows the operator to confirm that the normal mode is selected.

[0165] Furthermore, the display content of the variable display area corresponding to the normal mode, specifically the type and arrangement of the displayed information, may be changed according to predetermined inputs received from the operator via the input device 52. Specifically, the controller 30 may change the settings of the display content of the variable display area in response to operations on the tab 41q1 via the touch panel. For example, the display content of the peripheral image display area 41n, specifically the type and arrangement of peripheral images included in the peripheral image display area 41n, may be arbitrary. Similarly, the display content of the variable display area corresponding to other control modes may also be changed.

[0166] In this example, a pop-up image 41t is displayed superimposed on the display area 41D.

[0167] The pop-up image 41t is positioned below the information display areas 41f and 41m, and adjacent to the tab group 41q. The pop-up image 41t is displayed on screen 41 when the diagnostic unit 306 obtains a diagnosis result indicating an abnormality with respect to the operating device 26.

[0168] The pop-up image 41t contains the text information "Electrical system malfunction" and information representing the malfunction code "xxxxxx". On screen 41, the operator can only see that there is an electrical system malfunction, but by using the error code to check the service manual, etc., they can confirm that the malfunction is related to the control device 26.

[0169] [Example 1 of the process for diagnosing abnormalities related to operating devices] Referring to Figure 6, a first example of the abnormality diagnosis process for the operating device 26 will be described.

[0170] Figure 6 is a flowchart illustrating a schematic example of the abnormality diagnosis process for the operating device 26.

[0171] This flowchart is executed repeatedly at predetermined processing cycles, for example, while the shovel 100 is in operation. Furthermore, this flowchart is performed for each operation sensor 26s provided for each of the multiple hydraulic actuators HA. In this case, the diagnostic unit 306 performs an abnormality diagnosis for each of the multiple operation sensors 26s. Alternatively, this flowchart may be performed to diagnose the entire operating device 26, including the multiple operation sensors 26s. These procedures also apply to the flowchart in Figure 7, which will be described later.

[0172] As shown in Figure 6, in step S102, the diagnostic unit 306 determines whether the operation signal of the operating device 26 is in an electrically neutral state. If the diagnostic unit 306 determines that the operation signal of the operating device 26 is not in an electrically neutral state, it proceeds to step S104. If it is in an electrically neutral state, it terminates the process in this flowchart.

[0173] Specifically, when the processing in this flowchart is performed for each operation sensor 26s, the diagnostic unit 306 determines whether the operation signal of the target operation sensor 26s is in an electrically neutral state. The diagnostic unit 306 then determines whether the operation signal of the target operation sensor 26s is not in an electrically neutral state, or whether it is in an electrically neutral state, and terminates the processing in this flowchart.

[0174] Furthermore, when the processing of this flowchart is performed on the entire operating device 26, the diagnostic unit 306 determines whether all of the operating signals from the multiple operating sensors 26s are in an electrically neutral state. If at least one of the operating signals from the multiple operating sensors 26s is not in an electrically neutral state, the diagnostic unit 306 proceeds to step S104. If all of them are in an electrically neutral state, the processing of this flowchart is terminated.

[0175] In step S104, the diagnostic unit 306 determines whether the gate lock lever 23 has been switched from the gate lock state to the gate unlock state. If the gate lock lever 23 has been switched from the gate lock state to the gate unlock state, the diagnostic unit 306 diagnoses an abnormality with respect to the operating device 26 and proceeds to step S106. Specifically, if the processing in this flowchart is performed for each operating sensor 26s, the diagnostic unit 306 diagnoses an abnormality with respect to the target operating sensor 26s. Also, if the processing in this flowchart is performed for the entire operating device 26, the diagnostic unit 306 diagnoses an abnormality with respect to the entire operating device 26. The diagnostic unit 306 may also diagnose an abnormality with respect to at least one of the multiple operating sensors 26s included in the operating device 26. On the other hand, if the gate lock lever 23 has not been switched from the gate lock state to the gate unlock state, the diagnostic unit 306 diagnoses that the conditions for diagnosing an abnormality with respect to the operating device 26 are not met and terminates the processing in this flowchart.

[0176] Furthermore, in step S104, the diagnostic unit 306 may determine whether there is a high probability that the gate lock lever 23 can be switched from the gate lock state to the gate lock release state, and if there is a high probability, it may diagnose that there is an abnormality with respect to the operating device 26. Also, if the result of the determination in step S102 is "NO" and the result of the determination in step S104 is YES, the process proceeds to step S106, in which case the order of processing in steps S102 and S104 may be reversed, or they may be replaced by a single determination process. In the former case, if the result of the determination in step S104 is YES, the process proceeds to step S102, and if the result of the determination in step S102 is YES, the diagnostic unit 306 diagnoses that there is no abnormality with respect to the operating device 26, and this flowchart is terminated.

[0177] In step S106, the diagnostic unit 306 forcibly shuts off the gate lock valve 25v regardless of the state of the gate lock lever 23. Alternatively, the diagnostic unit 306 may, instead of forcibly shutting off the gate lock valve 25v, or in addition to doing so, restrict the operation of the hydraulic control valve 31. Restricting the operation of the hydraulic control valve 31 means limiting the output to the secondary side of the hydraulic control valve 31 to zero, regardless of the operation signal of the operating device 26, or limiting the output for the operation content corresponding to the operation signal to be smaller than normal. This prevents situations in which the hydraulic actuator HA operates unintentionally due to a malfunction in the operating device 26, regardless of the operator's intention.

[0178] Once the processing in step S106 is complete, the controller 30 proceeds to step S108.

[0179] In step S108, the diagnostic unit 306 notifies the user of the excavator 100, such as an operator, via the display device 50 that there is an abnormality related to the operating device 26. At this time, the diagnostic unit 306 may also notify the user of the excavator 100, such as an operator, of information indicating the cause of the abnormality (for example, an abnormality in the operating sensor 26s). Alternatively, the diagnostic unit 306 may, instead of or in addition to the information indicating the cause of the abnormality, notify the operator, etc., via the display device 50 of information that leads to information indicating the cause of the abnormality (guidance information). For example, as shown in Figure 5, the guidance information is information indicating an abnormality code. The guidance information may also be link information to access information for identifying the cause of an abnormality in a service manual pre-registered in an auxiliary storage device, etc., or link information to access information for identifying the cause of an abnormality in a service manual on the web.

[0180] Once the processing in step S108 is complete, the controller 30 proceeds to step S110.

[0181] In step S110, the diagnostic unit 306 determines whether or not a release request has been received from a user of the shovel 100, such as an operator, via the input device 52. The release request may be received, for example, by a dedicated input device 52 for release requests. The release request may also be received, for example, by a specific operation on a general-purpose input device 52. Alternatively, the release request may be received by an operation using an input device 52 (for example, a touch panel) on a specific screen of the display device 50. If the diagnostic unit 306 has received a release request via the input device 52, it proceeds to step S112. If the diagnostic unit 306 has not received a release request, it repeats the processing of this step at predetermined processing cycles until one is received.

[0182] In step S112, the diagnostic unit 306 releases the forced shut-off state of the gate lock valve 25V that was performed in step S106. Alternatively, instead of releasing the forced shut-off state of the gate lock valve 25V, or in addition to doing so, the diagnostic unit 306 may release the operational restriction of the hydraulic control valve 31 that was performed in step S106.

[0183] Once the processing in step S112 is complete, the controller 30 proceeds to step S114.

[0184] In step S114, the diagnostic unit 306 cancels the notification of an abnormality related to the operating device 26 via the display device 50. For example, the diagnostic unit 306 terminates the display of the pop-up image 41t shown in Figure 5.

[0185] Once step S114 is completed, the controller 30 terminates the processing of this flowchart.

[0186] [Second example of abnormality diagnosis processing for operating devices] Referring to Figure 7, a second example of the abnormality diagnosis process for the operating device 26 will be described.

[0187] Figure 7 is a flowchart illustrating a schematic example of the abnormality diagnosis process for the operating device 26.

[0188] In the following flowchart, we will proceed with the assumption that the value of counter C is initialized to zero (0) when the shovel 100 is started.

[0189] As shown in Figure 7, in step S202, the diagnostic unit 306 determines whether the gate lock lever 23 has been switched from the gate locked state to the gate unlocked state. If the gate lock lever 23 has been switched from the gate locked state to the gate unlocked state, the diagnostic unit 306 proceeds to step S204; otherwise, it terminates the process in this flowchart.

[0190] In step S204, the diagnostic unit 306 determines whether the operating signal of the operating device 26 is electrically neutral. If the operating signal of the operating device 26 is electrically neutral, the diagnostic unit 306 diagnoses that there is no abnormality with respect to the operating device 26 and proceeds to step S206. On the other hand, if the operating signal of the operating device 26 is not electrically neutral, the diagnostic unit 306 diagnoses that there is an abnormality with respect to the operating device 26 and proceeds to step S208.

[0191] In step S206, the diagnostic unit 306 initializes counter C to zero (0).

[0192] Once the processing in step S206 is complete, the controller 30 terminates the processing in this flowchart.

[0193] Step S208 is the same as the process in step S106 in Figure 6, so its explanation is omitted.

[0194] Once the processing in step S208 is complete, the controller 30 proceeds to step S210.

[0195] In step S210, the diagnostic unit 306 increments counter C by 1 (C = C + 1).

[0196] Once the processing in step S210 is complete, the controller 30 proceeds to step S212.

[0197] In step S212, the diagnostic unit 306 determines whether the counter C is equal to or greater than the threshold Cth (≧2). If the counter C is not equal to or greater than the threshold Cth, the diagnostic unit 306 proceeds to step S214; if the counter C is equal to or greater than the threshold Cth, the diagnostic unit 306 proceeds to step S222.

[0198] In step S214, the diagnostic unit 306 notifies the user of the shovel 100, such as the operator, via the display device 50 or the like, that there is an abnormality with respect to the operating device 26.

[0199] Once the processing in step S214 is complete, the controller 30 proceeds to step S216.

[0200] Steps S216, S218, and S220 are the same as steps S110, S112, and S114 in Figure 6, so their explanation is omitted.

[0201] Once the processing in step S220 is complete, the controller 30 terminates the processing in this flowchart.

[0202] On the other hand, in step S222, the diagnostic unit 306 notifies the user of the shovel 100, such as the operator, via the display device 50 or the like, that it has been confirmed that there is an abnormality in the operating device 26 itself. This is because an abnormality in the operating device 26 is diagnosed each time the gate lock lever 23 switches from the gate locked state to the gate unlocked state, and this state continues for a certain number of times (specifically, the number of times corresponding to the threshold Cth). In addition, the diagnostic unit 306 may also notify the user of the shovel 100, such as the operator, of the cause of the abnormality in the operating device 26 (a mechanical or electrical abnormality in the operating sensor 26s included in the operating device 26).

[0203] Once step S222 is completed, the controller 30 terminates the processing of this flowchart.

[0204] As a result, once it is confirmed that there is a malfunction in the operating device 26 itself, the forced shutdown of the gate lock valve 25v and the forced operation restriction of the hydraulic control valve 31 will not be released by inputting a release request through the input device 52. Therefore, it is possible to prevent situations in which operation using the operating device 26 continues even after a malfunction in the operating device 26 has been confirmed, thereby improving the safety of the excavator 100. However, it is possible to release the forced shutdown of the gate lock valve 25v and the forced operation restriction of the hydraulic control valve 31 based on special input by a service technician or the like.

[0205] [Remote Operation Support System] Referring to Figure 8, the remote operation support system SYS according to this embodiment will be described.

[0206] Figure 8 shows an example configuration of the SYS remote control support system.

[0207] As shown in Figure 8, the remote control support system SYS includes an excavator 100, a remote control room RC, and a control center RMC.

[0208] In this example, the shovel 100 has the same configuration as in Figures 1 and 2 above. Therefore, the detailed configuration of the shovel 100 is omitted from Figure 8.

[0209] The excavator 100, the remote control room RC, and the management center RMC are connected to each other so that data can be sent and received via a communication line NW. Alternatively, the excavator 100, the remote control room RC, and the management center RMC may be connected to each other so that data can be sent and received directly without using the communication line NW. For example, the excavator 100 transmits information about the work site to the remote control room RC. This allows the remote operator RO in the remote control room RC to understand the situation at the work site based on the information from the excavator 100.

[0210] As described above, the shovel 100 is equipped with an imaging device 45 and distance sensors that can recognize the position and shape of objects present at the work site in three dimensions. Therefore, the shovel 100 can transmit the results of the three-dimensional measurement of the work site to the remote control room RC.

[0211] The SYS remote control support system may include one or more excavators 100. If it includes multiple excavators 100, the remote operator RO of a particular excavator 100 can obtain information about the work sites obtained by that particular excavator 100, as well as information about the work sites obtained by one or more other excavators 100.

[0212] The remote control room RC is equipped with a remote control support device 150. The remote control room RC also has a driver's seat DS where the remote operator RO sits to remotely control the shovel 100.

[0213] The remote control support device 150 includes a communication device T2, a remote controller 40, an operating device 42, a gate lock lever 44, a limit switch 44s, a display device D1E, and an input device D2E.

[0214] The communication device T2 is configured to communicate with the communication device 60 attached to the shovel 100 and with the communication device installed in the control center RMC.

[0215] The remote controller 40 is a control device that performs control processing related to the remote operation of the excavator 100. The remote controller 40 is mainly composed of a computer, including a processor, memory device, auxiliary storage device, and interface device, similar to the controller 30 of the excavator 100, for example. In this case, the various functions of the remote controller 40 are realized by loading a program installed in the auxiliary storage device into the memory device and executing it on the processor.

[0216] The operating device 42 is used by an operator seated in the driver's seat DS to remotely control the hydraulic actuator HA of the excavator 100. The operating device 42 includes an operating sensor 43.

[0217] The operation sensor 43 is installed to detect the operation of the operating device 42. The operation sensor 43 is, for example, a tilt sensor that detects the tilt angle of an operating tool such as a lever or pedal, or an angle sensor that detects the oscillation angle around the pivot axis of the operating tool. Alternatively, the operation sensor 43 is, for example, a potentiometer (i.e., a variable resistor) that changes its resistance value according to the amount of operation (tilt angle) of an operating tool such as a lever or pedal. The operation sensor 43 may also consist of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs information regarding the detected operation of the operating device 42 to the remote controller 40. The remote controller 40 generates an operation signal (remote operation signal) based on the received information and transmits the generated operation signal to the shovel 100. The operation sensor 43 may be configured to generate the operation signal. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without going through the remote controller 40. With this configuration, the remote operator RO can remotely control the hydraulic actuator HA of the excavator 100 from the remote control room RC.

[0218] The gate lock lever 44 and limit switch 44s have the same function as the gate lock lever 23 and limit switch 25s. The output (electrical signal) of the limit switch 44s is received by the remote controller 40. The remote controller 40 then transmits information representing the content of the output (electrical signal) of the limit switch 44s to the excavator 100 via the communication device T2. As a result, the controller 30 can switch between the closed state (non-communicated state) and the connected state of the gate lock valve 25v based on the information representing the content of the output of the limit switch 44s, which is received from the remote control support device 150 in the remote control room RC.

[0219] The display device D1E displays various information to the remote operator RO in the driver's seat DS. The display device D1E is, for example, a liquid crystal display or an organic EL display. Alternatively, the display device D1E may be a display or projector that enables glasses-free stereoscopic viewing, or it may be VR (Virtual Reality) goggles. Specifically, the display device D1E displays images similar to those displayed by the display device 50 inside the cabin 10 to the operator. For example, the display device D1E displays surrounding images based on information transmitted from the shovel 100 so that the remote operator RO in the remote control room RC can see the area around the shovel 100. Specifically, the display device D1E displays images captured by the imaging device 45 mounted on the shovel 100.

[0220] Input device D2E has the same function as input device 52 and accepts input from remote operator RO. The signal representing the content of the input received by input device D2E is taken up by the remote controller 40.

[0221] In this example, the remote control support system SYS can perform an abnormality diagnosis on the operating device 42 in the same manner as the abnormality diagnosis on the operating device 26 described above. In this case, the terms "gate lock lever 23," "limit switch 25s," "operating device 26," "operating sensor 26s," "display device 50," and "input device 52" in the description of the method for diagnosing an abnormality on the operating device 26 described above are replaced with "gate lock lever 44," "limit switch 44s," "operating device 42," "operating sensor 43," "display device D1E," and "input device D2E."

[0222] Furthermore, when the shovel 100 is remotely operated, some or all of the functions of the controller 30 described above, specifically the operation content calculation unit 301, the pilot pressure command calculation unit 302, the control command generation unit 303, the state calculation unit 304, the control command generation unit 305, and the diagnostic unit 306, may be transferred to the remote controller 40.

[0223] The Control Center (RMC) is a facility equipped with various devices for managing the remote operation of the excavator 100, either by the excavator 100 located at the work site or by the remote operator RO in the Remote Control Room (RC). In this example, the Control Center (RMC) is located at a distance from both the excavator 100's work site and the Remote Control Room (RC).

[0224] The management device 200 is, for example, a server device. The server device may be a so-called on-premise server, a cloud server, or an edge server. The management device 200 may also be a terminal device. The terminal device may be a stationary terminal device (for example, a desktop PC) or a portable terminal device, i.e., a mobile terminal (for example, a laptop PC, tablet, smartphone, etc.).

[0225] A manager at the Control Center (RMC) can, for example, use a sound collection device (e.g., a microphone) attached to the excavator 100 and a sound output device (e.g., a speaker) installed at the Control Center (RMC) to hear sounds emitted at the work site. Therefore, a manager at the Control Center (RMC) can, for example, confirm the content of speech from the operator inside the cabin 10 of the excavator 100 and the sounds around the excavator 100. In addition, a manager at the Control Center (RMC) can, for example, use a sound collection device (e.g., a microphone) installed in the remote control room (RC) and a sound output device at the Control Center (RMC) to hear sounds emitted in the remote control room (RC). Therefore, a manager at the Control Center (RMC) can, for example, confirm the content of speech from the remote operator RO in the remote control room (RC). Furthermore, a manager at the control center (RMC) can, for example, use a sound collection device (e.g., a microphone) installed at the control center (RMC) and a sound output device (e.g., a speaker) attached to the shovel 100 to transmit their own voice to the operator inside the cabin 10 of the shovel 100, or to workers around the shovel 100. Also, a manager at the control center (RMC) can, for example, use a sound collection device installed at the control center (RMC) and a sound output device (e.g., a speaker) installed at the remote control room (RC) to transmit their own voice to the remote operator RO in the remote control room (RC).

[0226] [Effect] Next, the operation of the work machine and remote control support system according to this embodiment will be described.

[0227] In a first aspect of this embodiment, a work machine is provided comprising a lower traveling body, an upper rotating body, a cabin, an actuator, an electric operating device, a switching input device, and a diagnostic device. The work machine is, for example, the excavator 100 described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper rotating body is, for example, the upper rotating body 3 described above. The cabin is, for example, the cabin 10 described above. The actuator is, for example, the hydraulic actuator HA described above. The operating device is, for example, the operating device 26 described above. The switching input device is, for example, the gate lock lever 23 described above. The diagnostic device is, for example, the controller 30. Specifically, the upper rotating body is mounted on the lower traveling body so as to be rotatable. The cabin is provided on the upper rotating body. The actuator drives a driven element. The operating device is used by an operator inside the cabin to operate the actuator and outputs an electrical signal corresponding to the operation. Furthermore, the switching input device is used to switch between a first state in which the actuator can be operated using the operating device and a second state in which the actuator cannot be operated using the operating device.The diagnostic device then diagnoses any abnormalities related to the operating device based on the electrical signal when the shovel is switched from the second state to the first state by the switching input device.

[0228] This allows the work machine to diagnose abnormalities related to its electrical control devices. This is because when the work machine switches from a state where the actuator is inoperable to an operable state via the switching input device, it is highly likely that the control device is not being operated by an operator.

[0229] Furthermore, in a second aspect of this embodiment, based on the first aspect described above, the diagnostic device may diagnose an abnormality if the electrical signal when the work machine is switched from the second state to the first state by the switching input device does not represent the electrical neutral state of the operating device.

[0230] This allows the work machine to diagnose whether or not there are any abnormalities in the electrical control devices.

[0231] Furthermore, in a third aspect of this embodiment, based on the second aspect described above, the work machine may be equipped with a notification device that notifies the user inside the cabin of the abnormality when the diagnostic device diagnoses such an abnormality. The notification device is, for example, the display device 50 described above.

[0232] This allows the work machine to notify the excavator user, such as the operator inside the cabin, of any malfunction related to the operating device.

[0233] Furthermore, in a fourth aspect of this embodiment, based on the third aspect described above, the notification device may be a display device that displays an image. The display device is, for example, the display device 50 described above. Specifically, when the diagnostic device diagnoses that there is an abnormality, the display device notifies the user inside the cabin of the abnormality by displaying a second image indicating that there is an abnormality, along with a first image showing the surroundings of the work machine. The first image is, for example, the overhead image FV, the rear image BM, and the right-side image RM in Figure 5 described above. The second image is, for example, the pop-up image 41t.

[0234] This allows the operator to quickly confirm notifications of malfunctions related to the control device while working, viewing the first image which shows the surroundings of the work machine. As a result, delays in confirming notifications of malfunctions related to the control device and consequently delays in addressing the problem are prevented, thereby ensuring the safety of the work machine.

[0235] Furthermore, in a fifth aspect of this embodiment, based on any one of the second to fourth aspects described above, the work machine may be equipped with a communication device that transmits information indicating the presence of an abnormality to an external party when the diagnostic device diagnoses such an abnormality.

[0236] This allows the work machine to prompt action regarding malfunctions related to external operating devices.

[0237] Furthermore, in the sixth aspect of this embodiment, the notification device may notify the cause of the abnormality based on any one of the second to fifth aspects described above.

[0238] This allows the machine to notify the operator or other user of the cause of the malfunction. Therefore, the machine can prompt the operator or other user to take more appropriate action regarding the malfunction.

[0239] Furthermore, in the seventh aspect of this embodiment, based on any one of the second to sixth aspects described above, the diagnostic device may diagnose that the abnormality is an abnormality of the operating device itself if the number of consecutive times the abnormality is diagnosed each time the work machine switches from the second state to the first state by the switching input device is greater than or equal to a predetermined threshold.

[0240] This allows the work machine to diagnose abnormalities in the operating device itself.

[0241] Furthermore, in the eighth aspect of this embodiment, assuming any one of the second to seventh aspects described above, the electrical neutral state of the operating device may be a state in which there is no output from the operating device, or a state in which the magnitude of the output from the operating device is within a predetermined range that does not allow the actuator to be operated.

[0242] This allows the work machine to properly diagnose any abnormalities related to its operating device.

[0243] Furthermore, in the ninth aspect of this embodiment, assuming any one of the second to eighth aspects described above, the diagnostic device may, when it diagnoses that there is an abnormality, restrict the operation of the actuator by the operating device.

[0244] This prevents situations where the actuator operates due to operation using the control device when there is a malfunction in the control device of the work machine. Therefore, the safety of the work machine can be improved.

[0245] Furthermore, in a tenth aspect of this embodiment, a remote control support system for a work machine is provided, comprising a lower traveling body, an upper rotating body mounted on the lower traveling body so as to be rotatable, and an actuator for driving a driven element. The remote control support system is, for example, the remote control support system SYS described above. The work machine is, for example, the shovel 100 described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper rotating body is, for example, the upper rotating body 3 described above. The actuator is, for example, the hydraulic actuator HA described above. Specifically, the remote control support system comprises an electric operating device, a switching input device, and a diagnostic device. The operating device is, for example, the operating device 42 described above. The switching input device is, for example, the gate lock lever 44 described above. The diagnostic device is, for example, a controller 30 or a remote controller 40. More specifically, the operating device is used to remotely operate the actuator and outputs an electrical signal corresponding to the operation content. Furthermore, the switching input device is used to switch between a first state in which the actuator can be operated using the operating device and a second state in which the actuator cannot be operated using the operating device.The diagnostic device then diagnoses any abnormalities related to the operating device based on the electrical signal that occurs when the work machine is switched from the second state to the first state by the switching input device.

[0246] This allows the remote control support system to diagnose abnormalities in the electrical control devices used for remotely controlling the work machinery. This is because when the work machinery is switched from a state where the actuator is inoperable to an operable state by the switching input device, there is a high probability that the control device was not being operated by an operator.

[0247] Furthermore, the remote operation support system can also be implemented in a manner similar to the second to ninth embodiments for the work machine, based on the tenth embodiment described above.

[0248] This produces the same effects as the second to ninth embodiments described above.

[0249] Although embodiments have been described in detail above, this disclosure is not limited to these specific embodiments, and various modifications and changes are possible within the scope of the gist described in the claims. [Explanation of symbols]

[0250] 1. Lower running body 1C Crawler 1M Hydraulic Motor for Travel 1ML Hydraulic Motor for Travel 1MR Hydraulic Motor for Travel 2. Swivel mechanism 2M Swivel Hydraulic Motor 3. Upper rotating body 4 Boom 5 Arms 6 buckets 7 Boom Cylinder 8 Arm Cylinder 9 Bucket Cylinder 10 cabins 17 Control valve 23 Gate lock lever 25 Pilot Line 25s limit switch 25V gate lock valve 26 Operating device 26s Operation Sensor 30 controllers 31 Hydraulic control valve 40 Remote Controllers 41 screens 41t pop-up image 42 Operating device 43 Operation Sensor 44 Gate lock lever 44s limit switch 45 Imaging device 50 Display device 52 Input devices 60 Communication equipment 100 Shovel 150 Remote Control Support Device 200 Management device 301 Operation content calculation section 302 Pilot pressure command calculation unit 303 Control Command Generation Unit 304 State Calculation Unit 305 Control Command Generation Unit 306 Diagnostic Department AT attachment BM rear view D1E display device D2E Input Device DS driver's seat FV overhead view HA Hydraulic Actuator RC Remote Control Room RM right image RMC Management Center RO Remote Operator SYS Remote Operation Support System T2 Communication Device

Claims

1. Lower running body and An upper slewing body mounted on the lower traveling body so as to be able to rotate, A cabin provided on the upper rotating body, An actuator that drives the driven element, An electrically operated device used by an operator inside the cabin to operate the actuator and outputting an electrical signal corresponding to the operation, A switching input device used to switch between a first state in which the actuator can be operated using the operating device and a second state in which the actuator cannot be operated using the operating device, The system includes a diagnostic device that diagnoses abnormalities related to the operating device based on the electrical signal received when the work machine is switched from the second state to the first state by the switching input device. A type of machinery used for industrial work.

2. The diagnostic device diagnoses an abnormality if the electrical signal generated when the work machine is switched from the second state to the first state by the switching input device does not represent the electrical neutral state of the operating device. The work machine according to claim 1.

3. When the diagnostic device diagnoses the abnormality, it is equipped with a notification device that notifies the user inside the cabin of the abnormality. The working machine according to claim 2.

4. The notification device is a display device that displays an image, When the diagnostic device diagnoses that an abnormality exists, the display device notifies the user inside the cabin of the abnormality by displaying a second image indicating the abnormality along with a first image showing the surroundings of the work machine. The work machine according to claim 3.

5. The diagnostic device detects the presence of the abnormality and includes a communication device that transmits information indicating the presence of the abnormality to an external party. A working machine according to any one of claims 2 to 4.

6. The notification device notifies the cause of the abnormality. The work machine according to claim 3 or 4.

7. The diagnostic device diagnoses that the abnormality is an abnormality of the operating device itself if the number of consecutive times the abnormality is diagnosed each time the working machine switches from the second state to the first state by the switching input device is greater than or equal to a predetermined threshold. A working machine according to any one of claims 2 to 4.

8. The electrical neutral state of the operating device is defined as a state in which there is no output from the operating device, or a state in which the magnitude of the output from the operating device is within a predetermined range that is insufficient to operate the actuator. A working machine according to any one of claims 2 to 4.

9. When the diagnostic device diagnoses that there is an abnormality, it restricts the operation of the actuator by the operating device. A working machine according to any one of claims 2 to 4.

10. A remote control support system for a work machine having a lower traveling body, an upper rotating body mounted on the lower traveling body so as to be rotatable, and an actuator for driving a driven element, An electrically operated device used to remotely control the actuator and outputting an electrical signal corresponding to the operation content, A switching input device used to switch between a first state in which the actuator can be operated using the operating device and a second state in which the actuator cannot be operated using the operating device, The system includes a diagnostic device that diagnoses abnormalities related to the operating device based on the electrical signal received when the work machine is switched from a second state to a first state by the switching input device. Remote control support system.

Images