Remote control system for industrial machinery and display device for industrial machinery

Abstract

To provide a remote control system for industrial machinery that can suppress the discomfort experienced by the remote operator. [Solution] The remote control system SYS is a remote control system for a work machine 100, which comprises a lower traveling body 1, an upper rotating body 3 that is rotatably mounted on the lower traveling body 1, and an attachment AT attached to the upper rotating body 3. The remote control system SYS also includes a remote control device 42 for remotely controlling the work machine 100, a display device D1 positioned so as to be visible to the remote operator OP who operates the remote control device 42, and a remote controller 40 that displays an image on the display device D1 used to adjust the response characteristics of the remote control device 42.

Description

Technical Field

[0001] The present disclosure relates to a remote operation system for a work machine and a display device for a work machine.

Background Art

[0002] Conventionally, a remote operation system has been known that enables a remote operator to remotely operate an excavator located at a remote location using a remote operation device in a remote operation room (see Patent Document 1). In this system, in order to suppress a decrease in operation responsiveness due to communication delay, an operation signal after a predetermined time is predicted, and the excavator is remotely operated using the predicted operation signal.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a remote operation system accompanied by a decrease in operation responsiveness due to communication delay, the response characteristics of the remote operation device change according to the degree of communication delay. This is the same even when using a predicted operation signal. Therefore, the remote operator may feel a sense of discomfort in the remote operation of the excavator.

[0005] Therefore, it is desirable to provide a remote operation system for a work machine that can suppress the discomfort felt by the remote operator.

Means for Solving the Problems

[0006] A remote control system for a work machine according to an embodiment of the present disclosure is a remote control system for a work machine comprising a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an attachment attached to the upper rotating body, the system comprising: a remote control device for remotely controlling the work machine; a display device provided in a position visible to a remote operator operating the remote control device; and a control device that causes an image used for adjusting the response characteristics of the remote control device to be displayed on the display device. [Effects of the Invention]

[0007] The aforementioned remote control system for industrial machinery can suppress the discomfort experienced by the remote operator. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram showing an example configuration of a remote control system for a work machine according to an embodiment of the present disclosure. [Figure 2] Figure 1 is a side view of the work machine shown. [Figure 3] This figure shows an example of the configuration of the drive control system for the work machine shown in Figure 1. [Figure 4] This is a block diagram showing an example configuration of an adjustment system. [Figure 5] This figure shows an example of the adjustment screen. [Figure 6] This figure shows another example of the widget configuration displayed on the adjustment screen. [Figure 7] This figure shows an example of a confirmation screen. [Figure 8] This figure shows the change in the turning angle over time. [Figure 9] This is a schematic diagram showing another configuration example of a remote control system for a work machine according to the present disclosure. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings. Furthermore, the embodiments described below are illustrative and not limiting to the invention, and not all features or combinations thereof described in the embodiments are necessarily essential to the invention. In addition, identical or corresponding components in each drawing are denoted by the same or corresponding reference numerals, and their descriptions may be omitted.

[0010] First, with reference to Figure 1, an overview of the remote control system SYS for work machines according to the embodiment of this disclosure will be described. Figure 1 is a schematic diagram showing an example of the configuration of the remote control system SYS.

[0011] As shown in Figure 1, the remote control system SYS includes a work machine 100 and a remote control room RC. The work machine 100 and the remote control room RC are connected to each other so that data can be sent and received via a communication line NW. In the illustrated example, the work machine 100 is configured to send and receive data with the remote control room RC via the communication line NW.

[0012] Specifically, the work machine 100 can, for example, transmit information about the work site to the remote control room RC. This allows the remote operator OP, who is the operator in the remote control room RC, to check the conditions of the work site in accordance with the information from the work machine 100. The device used to measure the work site is not limited to the work machine 100; it may also be a drone flying over the work site, a fixed-point camera installed at the work site, or an imaging device that can be carried by a worker at the work site.

[0013] For example, the work machine 100 is equipped with a spatial recognition device S6 (see Figure 2). The work machine 100 can transmit images of the work site captured by the spatial recognition device S6 to the remote control room RC.

[0014] The work machine 100 included in the remote control system SYS may be one unit or multiple units. This allows the remote control system SYS to acquire information about the work site through multiple work machines 100 and transmit that information to the remote control room RC.

[0015] In the remote operation room RC, a remote controller 40, a remote operation device 42, a remote operation sensor 43, a speaker A2, a display device D1, a communication device T2, etc. are provided. Also, in the remote operation room RC, an operation seat DS on which a remote operator OP who remotely operates the work machine 100 sits is installed.

[0016] The communication device T2 is configured to control communication with the communication device T1 attached to the work machine 100.

[0017] The remote controller 40 is a control device that executes various calculations. In the illustrated example, the remote controller 40 is composed of a microcomputer including a CPU, a memory, a non-volatile storage device, etc. And various functions of the remote controller 40 are realized by the CPU executing a program stored in the memory.

[0018] The display device D1 displays a remote operation screen, which is a screen generated based on information transmitted from the work machine 100 so that the remote operator OP in the remote operation room RC can visually recognize the surroundings of the work machine 100. The remote operator OP can confirm the situation of the work site including the surroundings of the work machine 100 by looking at the remote operation screen displayed on the display device D1. On the remote operation screen, for example, the current time, an image of the work site captured by a camera as the space recognition device S6, information indicating the state of the work machine 100 (for example, the temperature of the cooling water, the temperature of the hydraulic oil, or the remaining fuel amount, etc.), and information indicating the set state of the work machine 100 (for example, the current operation mode, etc.) are displayed. In the illustrated example, the display device D1 is a liquid crystal display, but it may be an XR (extended reality) goggle or the like.

[0019] The remote operation device 42 is a device used by the remote operator OP to operate the actuators mounted on the work machine 100. The actuator includes at least one of a hydraulic actuator and an electric actuator. From the perspective of functions, as shown in FIG. 2, the actuator includes a turning actuator SA, a traveling actuator DA, a working actuator WA, etc.

[0020] In the illustrated example, the remote operation device 42 includes operation tools such as an operation lever, a travel lever, and a travel pedal. The operation lever includes a left operation lever for swing operation and arm operation, and a right operation lever for boom operation and bucket operation. Hereinafter, when the left operation lever is used for swing operation, it is referred to as a swing operation device 26S or a swing operation lever, and when it is used for arm operation, it is referred to as an arm operation device or an arm operation lever. Further, when the right operation lever is used for boom operation, it is referred to as a boom operation device or a boom operation lever, and when it is used for bucket operation, it is referred to as a bucket operation device or a bucket operation lever. Also, each of the travel lever and the travel pedal is also referred to as a travel operation device 26D.

[0021] The remote operation device 42 is provided with a remote operation sensor 43 for detecting the operation content of the remote operation device 42. The remote operation sensor 43 is, for example, an inclination sensor for detecting the inclination angle of the operation lever, or an angle sensor for detecting the swing angle around the swing axis of the operation lever. The remote operation sensor 43 may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The remote operation sensor 43 outputs information regarding the detected operation content of the remote operation device 42 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal toward the work machine 100. The remote operation sensor 43 may be configured to generate an operation signal. In this case, the remote operation sensor 43 may output the operation signal to the communication device T2 without passing through the remote controller 40. Thereby, the remote operator OP can remotely operate the work machine 100 from the remote operation room RC.

[0022] The speaker A2 outputs the sound information received from the work machine 100 in order to enable the remote operator OP in the remote operation room RC to recognize the sound generated around the work machine 100.

[0023] Next, with reference to Figure 2, the details of the work machine 100 will be described. Figure 2 is a side view of an example of the work machine 100, which is a shovel (excavator). The work machine 100 may also be a crane or a forklift. In the illustrated example, the upper slewing body 3 is rotatably mounted on the lower traveling body 1 of the work machine 100 via a slewing mechanism 2. A boom 4 is attached to the upper slewing body 3, an arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment. The end attachment may be a breaker or a grapple, etc.

[0024] The boom 4, arm 5, and bucket 6 each constitute an excavation attachment, which is an example of an attachment AT, and are driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, which are hydraulic cylinders, which are an example of a work actuator WA. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0025] The boom angle sensor S1 detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the boom angle, which is the rotation angle of the boom 4 relative to the upper slewing body 3. The boom angle is smallest when the boom 4 is lowered to its lowest position, and increases as the boom 4 is raised.

[0026] The arm angle sensor S2 detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the arm angle, which is the rotation angle of the arm 5 relative to the boom 4. The arm angle is smallest when the arm 5 is closed to its shortest extent, and increases as the arm 5 is opened.

[0027] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the bucket angle, which is the rotation angle of the bucket 6 relative to the arm 5. The bucket angle is smallest when the bucket 6 is closed to its fullest extent, and increases as the bucket 6 is opened.

[0028] The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder HC, or a rotary encoder that detects the rotation angle around the connecting pin. The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 constitute an attitude sensor that detects the attitude of the excavation attachment.

[0029] The upper rotating body 3 is equipped with a cabin 10 as the operator's cab, an engine 11, a microphone array A1, a positioning device PD, an aircraft tilt sensor S4, a rotational velocity sensor S5, a spatial recognition device S6, a rotation actuator SA, and a communication device T1, among others.

[0030] A controller 30 is installed inside the cabin 10. The cabin 10 also contains a driver's seat, operating devices 26, and a display device D2, etc. The controller 30 is a control device that performs various calculations. For example, the controller 30 is located inside the cabin 10 and controls the drive of the work machine 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is mainly composed of a microcomputer including a CPU, memory (volatile memory) such as RAM, non-volatile memory such as ROM, and various input / output interface devices. The controller 30 may realize various functions by executing various programs installed in the non-volatile memory on the CPU, for example.

[0031] Engine 11 is an example of a power source for the work machine 100. In the illustrated example, engine 11 is a diesel engine and is mounted at the rear of the upper slewing body 3. The output shaft of engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively. Specifically, engine 11 rotates at a constant speed at a preset target rotational speed under direct or indirect control by the controller 30, driving the main pump 14 and the pilot pump 15, etc. The power source for the work machine 100 may also be a battery-powered electric motor. That is, the work machine 100 may be a hybrid work machine or an electric work machine.

[0032] The machine tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 with respect to a predetermined plane. In the illustrated example, the machine tilt sensor S4 is an acceleration sensor that detects the tilt angle of the upper rotating body 3 around the longitudinal axis and the tilt angle around the left-right axis with respect to the horizontal plane. The longitudinal axis and left-right axis of the upper rotating body 3 are, for example, orthogonal to each other and pass through a central point which is a point on the rotation axis PV of the work machine 100.

[0033] The rotational angular velocity sensor S5 is configured to detect the rotational angular velocity of the upper rotating body 3. In this embodiment, the rotational angular velocity sensor S5 is a gyro sensor. The rotational angular velocity sensor S5 may also be a resolver or a rotary encoder, etc. The rotational angular velocity sensor S5 may also be configured to detect the rotational speed. The rotational speed may also be calculated from the rotational angular velocity.

[0034] The spatial recognition device S6 is configured to acquire images of the area surrounding the work machine 100. In the illustrated example, the spatial recognition device S6 includes a front camera S6F that captures the space in front of the work machine 100, a left camera S6L that captures the space to the left of the work machine 100, a right camera S6R that captures the space to the right of the work machine 100, and a rear camera S6B that captures the space behind the work machine 100.

[0035] The spatial recognition device S6 may be, for example, a monocular camera having an image sensor such as a CCD or CMOS, and the captured image may be output to the display device D2.

[0036] The front camera S6F is mounted, for example, on the roof of cabin 10. The left camera S6L is mounted on the upper left end of the upper surface of the upper rotating body 3. The right camera S6R is mounted on the upper right end of the upper surface of the upper rotating body 3. The rear camera S6B is mounted on the upper rear end of the upper surface of the upper rotating body 3.

[0037] The spatial recognition device S6, located at the position described above, can photograph objects in the vicinity of the work machine 100. The spatial recognition device S6 may be a camera capable of recognizing the distance to the object being photographed (for example, an RGBD camera or a stereo camera). Alternatively, the spatial recognition device S6 may be a LiDAR.

[0038] The positioning device PD is configured to acquire information regarding the position of the work machine 100. In this embodiment, the positioning device PD is configured to measure the position and orientation of the work machine 100 in a reference coordinate system. Specifically, the positioning device PD is a GNSS (Global Navigation Satellite System) receiver incorporating an electronic compass, and measures the latitude, longitude, and altitude of the current position of the work machine 100, as well as the orientation of the work machine 100 (upper rotating body 3). In the illustrated example, the reference coordinate system is the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, the X-axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis pointing in the direction of 90 degrees east longitude, and the Z-axis pointing in the direction of the North Pole.

[0039] The communication device T1 is configured to control communication with equipment located outside the work machine 100. In this embodiment, the communication device T1 is configured to control communication between the communication device T1 and equipment located outside the work machine 100 via a wireless communication network. The communication device T1 may include, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0040] Furthermore, the communication device T1 may be configured to control, for example, wireless communication between an external GNSS surveying system and the work machine 100.

[0041] The microphone array A1 has multiple microphones and is configured to collect sounds generated around the work machine 100. In the illustrated example, the microphone array A1 consists of multiple microphones attached to the upper rotating body 3.

[0042] Figure 3 shows an example of the drive control system configuration for the work machine 100 shown in Figure 2. In Figure 3, the mechanical power transmission system is shown by double lines, the hydraulic fluid lines by thick solid lines, the pilot lines by dashed lines, and the electric drive and control system by dotted lines.

[0043] The drive system of the work machine 100 according to this embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. The hydraulic drive system of the work machine 100 includes a travel hydraulic motor (left travel hydraulic motor 1L and right travel hydraulic motor 1R) as a travel actuator DA, a slewing hydraulic motor 2A as a slewing actuator SA, and a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 as work actuators WA.

[0044] The regulator 13 is configured to control the discharge rate of the main pump 14. In the illustrated example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0045] The main pump 14 is mounted on the upper slewing body 3, similar to the engine 11, and supplies hydraulic fluid to the control valve unit 17 through the hydraulic fluid line. The main pump 14 is also driven by the engine 11. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump, and 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 (discharge pressure).

[0046] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the work machine 100. In the illustrated example, the control valve unit 17 includes control valves 171 to 176 as spool valves. The control valve unit 17 is configured to selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-travel hydraulic motor 1L, a right-travel hydraulic motor 1R, and a slewing hydraulic motor 2A. More specifically, control valve 171 corresponds to the left-travel hydraulic motor 1L, control valve 172 corresponds to the right-travel hydraulic motor 1R, and control valve 173 corresponds to the slewing hydraulic motor 2A. Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to arm cylinder 8.

[0047] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic fluid to hydraulic control equipment via a pilot line. In this embodiment, the pilot pump 15 is a fixed-displacement hydraulic pump. However, the pilot pressure generating device may be implemented by the main pump 14. That is, the main pump 14 may have the function of supplying hydraulic fluid to the control valve unit 17 via a hydraulic fluid line, as well as the function of supplying hydraulic fluid to various hydraulic control equipment via a pilot line. In this case, the pilot pump 15 may be omitted.

[0048] The operating device 26 is a device used by the onboard operator, who is an operator located inside the cabin 10, to operate the actuators. The actuators include at least one of a hydraulic actuator and an electric actuator. In the illustrated example, the operating device 26 includes operating levers, travel levers, and travel pedals, similar to the remote control device 42. The operating levers include a left operating lever for slewing and arm operation, and a right operating lever for boom and bucket operation.

[0049] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0050] The operation sensor 29 is configured to detect the operation performed by the operator using the operation device 26. In this embodiment, the operation sensor 29 detects the operating direction and amount of the operation device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30. In the illustrated example, the controller 30 controls the opening area of ​​the solenoid valve 31 according to the output of the operation sensor 29. The controller 30 then applies the pressure from the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The hydraulic fluid pressure (pilot pressure) acting on each pilot port is, in principle, the pressure corresponding to the operating direction and amount of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to apply the pressure from the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0051] The solenoid valve 31, which functions as a control valve for machine control, is located in an oil passage connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to change the flow area of ​​the oil passage. In the illustrated example, the solenoid valve 31 operates in response to control commands output by the controller 30. Therefore, the controller 30 can apply the pressure of the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the solenoid valve 31, regardless of the operation of the operating device 26 by the operator, thereby achieving a desired pilot pressure. In the illustrated example, the controller 30 is configured to provide feedback control of the pilot pressure based on the output of the pilot pressure sensor 32.

[0052] This configuration allows the controller 30 to operate the hydraulic actuator corresponding to a specific operating device 26 not only when an operation is being performed on that specific operating device 26, but also when no operation is being performed on that specific operating device 26.

[0053] Furthermore, the controller 30 is configured to perform various functions in addition to controlling pilot pressure. For example, the controller 30 can set a target rotational speed based on a pre-set work mode, etc., by a predetermined operation by the crew member or other operator, and perform drive control to keep the engine 11 rotating at a constant speed.

[0054] Furthermore, the controller 30 can, for example, output control commands to the regulator 13 as needed to change the discharge rate of the main pump 14.

[0055] Furthermore, the controller 30 can perform control related to a machine guidance function, for example, to guide the manual operation of the work machine 100 by the operator through the operating device 26. The controller 30 can also perform control related to a machine control function, for example, to automatically assist the manual operation of the work machine 100 by the operator through the operating device 26.

[0056] Furthermore, some of the functions of controller 30 may be implemented by other controllers (control devices). In other words, the functions of controller 30 may be implemented by multiple controllers. For example, the machine guidance function and the machine control function may be implemented by a dedicated controller (control device).

[0057] Next, referring to Figure 4, we will describe the adjustment system AS, which is a system for adjusting the response characteristics of the remote control device 42. Figure 4 is a block diagram showing an example configuration of the adjustment system AS.

[0058] In the illustrated example, the adjustment system AS comprises a remote controller 40, a remote operation sensor 43, adjustment buttons AB, a display device D1, a setting input device SD, and a communication device T2. However, the display device D1 may be replaced with a dedicated display device for adjusting the response characteristics of the remote operation device 42. Similarly, the remote controller 40 may be replaced with a dedicated control device for adjusting the response characteristics of the remote operation device 42.

[0059] The response characteristics of the remote control device 42 are properties specific to the remote control device 42 that represent the relationship between the input to the remote control device 42 and the output from the remote control device 42. These properties include, for example, the relationship between the lever operation amount of the boom control lever, which is part of the remote control device 42, and the extension / retraction speed of the boom cylinder 7. Adjusting the response characteristics of the remote control device 42 means changing these specific properties, and includes, for example, increasing or decreasing the extension / retraction speed of the boom cylinder 7 when the lever operation amount of the boom control lever is a predetermined amount.

[0060] The response characteristics of the remote control device 42 may be properties that represent the relationship between the amount of lever operation of the boom operation lever and the extension / retraction speed of the boom cylinder 7, properties that represent the relationship between the amount of lever operation of the boom operation lever and the opening area of ​​the solenoid valve 31 corresponding to the boom cylinder 7, or properties that represent the relationship between the amount of lever operation of the boom operation lever and the pressure of the hydraulic fluid (pilot pressure) acting on the pilot port of the control valve 175 corresponding to the boom cylinder 7. The same applies to the arm operation lever, bucket operation lever, slewing operation lever, travel lever, and travel pedal, etc.

[0061] The adjustment button AB is an example of an operating device for initiating the adjustment of the response characteristics of the remote control device 42. The adjustment button AB may be composed of an operating device other than a button, such as a toggle switch or a membrane switch. Furthermore, the adjustment button AB may be a hardware button or a software button. In the illustrated example, the adjustment button AB is a software button displayed on the display device D1.

[0062] The setting input device SD is a device for inputting various information to adjust the response characteristics of the remote control device 42. In this embodiment, the setting input device SD is an input device such as a mouse, trackball, touch panel, or touchpad. In the illustrated example, the setting input device SD is a touchpad. The setting input device SD may also be an audio input device. Furthermore, the combination of adjustment buttons AB, display device D1, and setting input device SD may be replaced with XR goggles.

[0063] In the illustrated example, the remote operator OP can start adjusting the response characteristics of the remote control device 42 by pressing the adjustment buttons AB using the setting input device SD. When the adjustment buttons AB are pressed, the remote controller 40 displays the adjustment screen GM on the display device D1.

[0064] Now, referring to Figure 5, we will explain the adjustment screen GM that is displayed on the display device D1 when adjusting the response characteristics of the remote control device 42. Figure 5 is a diagram showing an example of the adjustment screen GM displayed on the display device D1.

[0065] The adjustment screen GM displays, for example, a graph G1, an adjustment item image G2, a dropdown list G3, radio buttons G4, a dial G5, a slider G6, and a pointer GP. Note that at least one of the radio buttons G4, dial G5, and slider G6, which are implemented in software, may also be implemented in hardware. For example, radio button G4 may be implemented as a toggle switch.

[0066] The pointer GP is a graphic image whose position is manipulated by the setting input device SD. The remote operator OP can move the position of the pointer GP on the adjustment screen GM by, for example, moving their finger on the touchpad acting as the setting input device SD, thereby aligning the pointer GP with the desired target (e.g., dropdown list G3). The target (e.g., dropdown list G3) to which the pointer GP is aligned becomes active (selected). In this state, the remote operator OP can operate the active target by, for example, performing a click (tap) operation.

[0067] Graph G1 visually represents the response characteristics of the remote control device 42 using graphic images. In the illustrated example, graph G1 is a two-dimensional graph with the lever operation amount of the boom control lever, which is an example of input to the remote control device 42, on the horizontal axis, and the opening area of ​​the solenoid valve 31 corresponding to the boom cylinder 7, which is an example of output (response) from the remote control device 42, on the vertical axis. Note that graph G1 may also be a multi-dimensional graph such as a three-dimensional graph or a four-dimensional graph.

[0068] Specifically, graph G1 includes line G11 representing the response characteristics of the boom control lever before adjustment, and line G12 representing the response characteristics of the boom control lever after adjustment. Line G12, which represents the response characteristics of the boom control lever after adjustment, may also include line G12U, which represents the response characteristics when the amount of operation of the boom control lever is increased, and line G12D, which represents the response characteristics when the amount of operation of the boom control lever is decreased. In the illustrated example, line G11 is represented by a dashed line, and line G12 (lines G12D and G12U) is represented by a solid line with an arrowhead in the middle. More specifically, line G11 is a straight line segment connecting the minimum point Amin and the maximum point Amax, and lines G12D and G12U are curve segments connecting the minimum point Amin and the maximum point Amax, respectively. However, lines G11 and G12 may be algebraic curves such as quadratic or cubic curves, free-form curves such as spline or Bézier curves, freehand curves, polylines, or combinations of straight lines and curves. In the illustrated example, the shapes of lines G12U and G12D are made different in order to give the response characteristics hysteresis, and lines G12U and G12D are connected at the minimum point Amin and the maximum point Amax, respectively. However, the minimum point of line G12U and the minimum point of line G12D may be set separately, and the maximum point of line G12U and the maximum point of line G12D may be set separately. In other words, lines G12U and G12D may be discontinuous. In this case, the discontinuous portion (for example, the portion between the minimum point of line G12U and the minimum point of line G12D) may be interpolated by filtering.

[0069] Furthermore, the lines G11 and G12 representing the response characteristics may be set in multiple ways to accommodate various conditions individually. For example, the line G12D used when the manipulated amount is rapidly reduced and the line G12D used when the manipulated amount is gradually reduced may be set separately. The same applies to the line G12U. Alternatively, the line G12 used when the reaction force acting on the bucket 6 is large and the line G12 used when the reaction force acting on the bucket 6 is small may be set separately.

[0070] The adjustment item image G2 is an image representing the item to be adjusted. In the illustrated example, the adjustment item image G2 includes the item name area G21, the upper spin button G22, the lower spin button G23, and the value display area G24.

[0071] The item name area G21 is the area where the item name is displayed. The upper spin button G22 is a GUI (Graphical User Interface) component used to increase the value of the item displayed in the item name area G21. GUI components are also called "widgets". The lower spin button G23 is a GUI component (widget) used to decrease the value of the item displayed in the item name area G21. The value display area G24 is the area where the value of the item displayed in the item name area G21 is displayed.

[0072] In the illustrated example, the adjustment item image G2 includes a first adjustment item image G2A, a second adjustment item image G2B, a third adjustment item image G2C, and a fourth adjustment item image G2D. The first adjustment item image G2A, the second adjustment item image G2B, the third adjustment item image G2C, and the fourth adjustment item image G2D each have an item name area G21, an upper spin button G22, a lower spin button G23, and a value display area G24, respectively.

[0073] The item corresponding to the first adjustment item image G2A is "Maximum Point Amax," which corresponds to the upper ends of lines G11 and G12, respectively. "Maximum Point Amax" is the opening area [%] of the solenoid valve 31 when the lever operation amount is 100%. A lever operation amount of 100% indicates that the boom operation lever is fully operated. The item corresponding to the second adjustment item image G2B is "Minimum Point Amin," which corresponds to the lower ends of lines G11 and G12, respectively. "Minimum Point Amin" is the opening area [%] of the solenoid valve 31 when the lever operation amount is 0%. A lever operation amount of 0% indicates that the boom operation lever is in the neutral position. The item corresponding to the third adjustment item image G2C is "Upper Curvature φU," which corresponds to the curvature of line G12U. The item corresponding to the fourth adjustment item image G2D is "Lower Curvature φD," which corresponds to the curvature of line G12D. In the illustrated example, the current value of the "maximum point Amax" (the value of the opening area [%]) is "A2", the current value of the "minimum point Amin" (the value of the opening area [%]) is "A1", the current value of the "upper curvature φU" is "φ1", and the current value of the "lower curvature φD" is "φ2".

[0074] The dropdown list G3 is a widget for selecting the actuator to be adjusted. In the illustrated example, the dropdown list G3 is configured to allow selection of one of the following actuators to be adjusted: the left travel hydraulic motor 1L, the right travel hydraulic motor 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. Figure 5 shows the state where the boom cylinder 7 is selected as the actuator to be adjusted.

[0075] Furthermore, the drop-down list G3 may be configured to allow the remote operator (OP) to select the operating direction of the actuator to be adjusted. For example, the drop-down list G3 may be configured to allow the remote operator (OP) to select one of the following as the operating direction of the actuator to be adjusted: boom raise, boom lower, arm close, arm open, bucket close, bucket open, left forward, left reverse, right forward, right reverse, left turn, and right turn. If "boom raise" is selected, the remote operator (OP) can adjust the response characteristics of the boom control lever when operating the boom control lever in the boom raise direction. Note that "boom raise" and "boom lower" are each one of the operating directions of the boom cylinder 7, "arm close" and "arm open" are each one of the operating directions of the arm cylinder 8, and "bucket close" and "bucket open" are each one of the operating directions of the bucket cylinder 9. Furthermore, "left forward" and "left reverse" are each one of the operating directions of the left travel hydraulic motor 1L, "right forward" and "right reverse" are each one of the operating directions of the right travel hydraulic motor 1R, and "left turn" and "right turn" are each one of the operating directions of the turn hydraulic motor 2A.

[0076] Radio button G4 is a widget for selecting whether or not to hide line G11, which represents the response characteristics before adjustment, in graph G1. Figure 5 shows the state where line G11 is selected to be displayed. Radio button G4 may also be configured to allow selection whether or not to hide line G12, which represents the response characteristics after adjustment, in graph G1.

[0077] Dial G5 is a widget for increasing or decreasing various values. In the illustrated example, Dial G5 is displayed to be used when increasing or decreasing the value of the selected adjustment item. For example, the remote operator OP can increase or decrease the value of "upper curvature φU" by activating the value display area G24 of the third adjustment item image G2C, and then dragging the pointer GP to Dial G5 to rotate Dial G5. The adjustment screen GM may also display a numeric keypad image as a pop-up when the value display area G24 is activated. In this case, the remote operator can directly input the value of upper curvature φU by aligning the pointer GP with the number image on the numeric keypad image and clicking (tapping). Alternatively, the remote operator OP may change the value of upper curvature φU by uttering the desired number while the value display area G24 is activated (voice input). Alternatively, the remote operator OP may change the curvature (upper curvature φU) of line G12U by aligning the pointer GP with line G12U on graph G1 and performing a drag-and-drop operation.

[0078] Slider G6 is a widget used to increase or decrease various values. In the example shown, slider G6 is displayed to be used when increasing or decreasing the value of the selected adjustment item. For example, the remote operator OP can increase or decrease the value of "Maximum Point Amax" by activating the value display area G24 of the first adjustment item image G2A, and then dragging the pinch image G61 to move it left or right with the pointer GP.

[0079] The values ​​adjusted (modified) using the various widgets described above are stored (updated) by the remote controller 40 and used in subsequent remote operations by the remote control device 42. The remote operator OP can achieve the desired response characteristics by repeatedly adjusting the response characteristics of the remote control device 42 using the adjustment screen GM and testing the adjusted characteristics (actual remote operation of the work machine 100 using the remote control device 42). The application of the adjusted response characteristics to the work machine 100 may also be achieved by the onboard operator or the remote operator OP operating a predetermined switch or software button provided in the cabin 10 or the remote control room RC.

[0080] The adjustment screen GM may include a widget that allows the remote operator OP to input operating environment information such as the degree of communication delay, the length of the operating lever, or the spring constant of the spring used when returning the operating lever to the neutral position. The remote controller 40 may then automatically adjust the response characteristics of the remote control device 42 based on the input operating environment information. In this case, the remote operator OP can appropriately adjust the response characteristics of the remote control device 42 without individually inputting values ​​such as the maximum point Amax, minimum point Amin, upper curvature φU, and lower curvature φD. In other words, this configuration can reduce the effort required to adjust the response characteristics of the remote control device 42. The adjustment of the response characteristics of the remote control device 42 based on the operating environment information may be implemented, for example, by using stored historical data. Specifically, the adjustment of the response characteristics of the remote control device 42 based on the operating environment information may be implemented using deep learning or machine learning.

[0081] Furthermore, the adjustment screen GM may include a widget that allows the remote operator OP to input (select) the operating mode of the work machine 100. In this case, the operating modes may include, for example, a "slow mode" used when moving the work machine 100 in small increments, a "fast mode" used when moving the work machine 100 quickly, a "normal mode" used when moving the work machine 100 normally, or a "recommended mode" which is an operating mode adjusted by the manufacturer of the work machine 100. The remote operator may then adjust the response characteristics of the remote control device 42 for each selected operating mode.

[0082] Next, with reference to Figure 6, another widget displayed on the adjustment screen GM will be described. Figure 6 is a diagram showing another example configuration of widgets displayed on the adjustment screen GM. Specifically, Figure 6 shows an equalizer G7 for adjusting the phase of the operation signal transmitted from the remote control room RC to the work machine 100 in order to operate the actuator. The equalizer G7 may be displayed on a part of the adjustment screen GM, or it may be displayed on the entire adjustment screen GM. That is, when the remote controller 40 displays the equalizer G7, it may choose not to display other images on the adjustment screen GM, such as the graph G1, adjustment item image G2, dropdown list G3, radio buttons G4, dial G5, and slider G6.

[0083] Equalizer G7 displays a dropdown list G71, checkboxes G72, preamp slider G73, and phase slider G74, among others.

[0084] The dropdown list G71, like the dropdown list G3, is a widget for selecting the actuator to be adjusted. In the illustrated example, the dropdown list G71 is configured to allow selection of one of the following actuators to be adjusted: the left travel hydraulic motor 1L, the right travel hydraulic motor 1R, the slewing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. Figure 6 shows the state where the boom cylinder 7 is selected as the actuator whose response characteristics are to be adjusted. Note that, like the dropdown list G3, the dropdown list G71 may also be configured to allow the remote operator OP to select the operating direction of the actuator to be adjusted.

[0085] Checkbox G72 is a widget for selecting whether or not to use the adjusted phase. Figure 6 shows the state when checkbox G72 is checked (the state in which using the adjusted phase is selected). Note that when checkbox G72 is not checked (the state in which the state in which the adjusted phase is not selected), even if the phase is adjusted by equalizer G7, that adjusted phase is not applied to the operation signals transmitted from the remote control room RC to the work machine 100 to operate the actuator (boom cylinder 7).

[0086] The preamplifier slider G73 is a widget used to increase or decrease the level (intensity) of the control signal. In the illustrated example, the preamplifier slider G73 is displayed to be used to increase or decrease the level of the control signal for the actuator to be adjusted, selected in the dropdown list G71. For example, the remote operator OP can increase or decrease the preamplifier gain of the control signal by dragging the pointer GP to the thumb image GS and moving the thumb image GS up and down along the bar image GB.

[0087] The phase slider G74 is a widget for increasing or decreasing the level of the control signal for each frequency. In the illustrated example, the phase slider G74 includes the first phase slider G74A to the tenth phase slider G74J. Each of the first phase slider G74A to the tenth phase slider G74J has a corresponding knob image and bar image, similar to the preamplifier slider G73. The first phase slider G74A is a widget for adjusting the phase of the control signal belonging to the first frequency band, and the second phase slider G74B is a widget for adjusting the phase of the control signal belonging to the second frequency band, which is higher than the first frequency band. The same applies to the third phase slider G74C to the tenth phase slider G74J.

[0088] Furthermore, the adjustment screens displayed on the adjustment screen GM may include not only the equalizer G7 for adjusting the phase of the control signal, but also screens for adjusting the gain of the control signal, screens for adjusting the impulse response of the control signal, or screens for adjusting the step response of the control signal, etc. Alternatively, the adjustment screens displayed on the adjustment screen GM may include a Bode plot (a combination of a gain plot and a phase plot) for adjusting the frequency characteristics of the control signal.

[0089] Next, referring to Figure 7, we will describe the confirmation screen G8, which is displayed when the remote operator OP confirms the response characteristics of the adjusted remote control device 42. Figure 7 is a diagram showing an example of the configuration of the confirmation screen G8. The confirmation screen G8 is displayed when the remote operator OP actually operates the work machine 100 using the remote control device 42. The confirmation screen G8 may be displayed in part of the adjustment screen GM, or it may be displayed in the entirety of the adjustment screen GM. That is, when the remote controller 40 displays the confirmation screen G8, it may not display other images such as the graph G1, adjustment item image G2, drop-down list G3, radio buttons G4, dial G5, and slider G6 on the adjustment screen GM. The confirmation screen G8 may also be displayed in part of the remote operation screen displayed on the display device D1 when the remote operator OP remotely operates the work machine 100.

[0090] In the example shown in Figure 7, confirmation screen G8 is displayed when the remote operator OP performs a boom raising operation. Specifically, confirmation screen G8 displays a two-dimensional graph with the lever operation amount of the boom operation lever, which is an example of input to the remote control device 42, on the horizontal axis, and the boom raising speed, which is an example of output (response) from the remote control device 42, on the vertical axis. Confirmation screen G8 also includes a line G81 representing the response characteristics of the adjusted boom cylinder 7, and a point G82 representing the position on line G81 corresponding to the current lever operation amount of the boom operation lever. The position of point G82 on line G81 changes in real time according to the change in the lever operation amount of the boom operation lever.

[0091] The remote operator (OP) can view confirmation screen G8 to understand the relationship between the amount of lever movement on the boom control lever and the boom raising speed. For example, they can verify whether the timing of the change in the rate of change (acceleration) of the boom raising speed is at the desired timing.

[0092] The confirmation screen G8 may be configured to automatically switch the displayed object. For example, when the remote operator OP stops raising the boom control lever and starts lowering it, the confirmation screen G8 may be configured so that the vertical axis switches from "boom raising speed" to "boom lowering speed". Alternatively, when the remote operator OP stops raising the boom control lever and starts opening the arm control lever, the confirmation screen G8 may be configured so that the vertical axis switches from "boom raising speed" to "arm opening speed". The same applies to line G81 and point G82. That is, when the vertical axis switches from "boom raising speed" to "arm opening speed", line G81 switches to a line representing the response characteristics of the adjusted arm cylinder 8, and point G82 switches to a point representing the position on line G81 corresponding to the current lever operation amount of the arm control lever.

[0093] Furthermore, confirmation screen G8 may be used when adjusting the values ​​on the vertical axis. For example, the remote operator OP may slide a portion of line G81 (the portion including point G82) upward by dragging point G82 upward. In other words, the remote operator OP may adjust the relationship between the amount of lever movement of the boom control lever and the boom raising speed while operating the boom control lever.

[0094] Next, with reference to Figure 8, an example of the effect obtained by adjusting the remote control device 42 will be described. Figure 8 shows the temporal progression of the rotation angle when a rotation operation is performed to rotate the upper rotating body 3 by a desired rotation angle αt. Specifically, the left figure of Figure 8 shows the temporal progression of the rotation angle when a left rotation operation is performed in the onboard operation mode, and the center and right figures of Figure 8 show the temporal progression of the rotation angle when a left rotation operation is performed in the remote control mode. More specifically, the center figure of Figure 8 shows the temporal progression of the rotation angle when a left rotation operation is performed before the response characteristics of the rotation operation lever have been adjusted, and the right figure of Figure 8 shows the temporal progression of the rotation angle when a left rotation operation is performed after the response characteristics of the rotation operation lever have been adjusted. Furthermore, in the central and right diagrams of Figure 8, to make the explanation easier to understand, the actual rotation angle of the upper rotating body 3 at the work site (actual rotation angle) is shown by a thin solid line, and the rotation angle of the upper rotating body 3 (image) displayed on the display device D1 installed in the remote control room RC (image) is shown by a thick solid line.

[0095] The onboard operation mode is the operating mode of the work machine 100 when an operator inside the cabin 10 operates the work machine 100 using the control device 26, and the remote operation mode is the operating mode of the work machine 100 when a remote operator OP in the remote control room RC remotely operates the work machine 100 using the remote control device 42. The slewing angle (actual slewing angle and slewing angle on the image) is, for example, the angle between the longitudinal axis of the lower traveling body 1 and the longitudinal axis of the upper slewing body 3 in a top view along the slewing axis PV. It is zero when the longitudinal axis of the lower traveling body 1 and the longitudinal axis of the upper slewing body 3 coincide, and the positive value increases when the upper slewing body 3 rotates to the left (rotates counterclockwise), and the absolute value of the negative value increases when the upper slewing body 3 rotates to the right (rotates clockwise).

[0096] In the onboard operation mode, when the onboard operator pushes the slewing control lever to the left at time t1, the work machine 100 starts the leftward rotation of the upper slewing body 3 at time t2. The time difference between time t1 and time t2 is due to a hydraulic response delay. Then, at time t3, when the onboard operator determines that the actual rotation angle has reached rotation angle α1, they operate the slewing control lever to return it to the neutral position. In other words, the onboard operator starts an operation to decelerate (stop) the rotation speed of the upper slewing body 3. This is to stop the leftward rotation of the upper slewing body 3 at the position where the actual rotation angle is rotation angle αt. Subsequently, at time t4, when the actual rotation angle becomes rotation angle α2, the work machine 100 starts decelerating the leftward rotation of the upper slewing body 3, and at time t5, when the actual rotation angle becomes rotation angle αt, the leftward rotation of the upper slewing body 3 is stopped. The time difference between time t3 and time t4 is due to a hydraulic response delay. Thus, in the onboard operation mode, the onboard operator can relatively easily reduce the excess angle, which is the difference between the final rotation angle when the left rotation of the upper rotating body 3 stops and the desired rotation angle αt, to zero.

[0097] The difference (angle) between turning angle α1 and turning angle α2 is the turning angle at which the upper rotating body 3 will turn left between the time the conditions for decelerating (stopping) the left turn are met and the actual deceleration begins, and is also called the "free-running angle". The conditions for decelerating (stopping) the left turn are, for example, "whether the timing (turning angle) is right to start the operation to decelerate the left turn in order to stop the left turn at the desired turning angle αt". The difference (angle) between turning angle α2 and turning angle αt is the turning angle at which the upper rotating body 3 will turn left between the time the actual deceleration begins and the left turn of the upper rotating body 3 actually stops, and is also called the "braking angle". In Figure 8, the magnitude of the "free-running angle" is represented by a dashed double-headed arrow, and the magnitude of the "braking angle" is represented by a thick solid double-headed arrow.

[0098] In remote operation mode when the response characteristics of the remote control device 42 have not been adjusted, as shown in the center diagram of Figure 8, when the remote operator OP moves the slewing lever to the left at time t1, the work machine 100 starts the leftward rotation of the upper slewing body 3 at time t2a, which is later than time t2. This time lag is due to hydraulic response delay and signal transmission delay, etc. Then, at time t3b, when the remote operator OP determines that the rotation angle of the upper slewing body 3 (image) displayed on the display device D1 has reached rotation angle α1, he operates the slewing lever to return it to the neutral position. In an actual work site, the actual rotation angle of the upper slewing body 3 has already reached rotation angle α1 at time t3a, which is earlier than time t3b, and has reached rotation angle α1b (> rotation angle α1) at time t3b. Subsequently, at time t4a, which is later than time t4, when the actual rotation angle becomes rotation angle α2a (> rotation angle α2), the work machine 100 begins to decelerate the left rotation of the upper rotating body 3, and at time t5a, which is later than time t5, when the actual rotation angle becomes rotation angle α3a (> rotation angle αt), the left rotation of the upper rotating body 3 is stopped. In the central diagram of Figure 8, the magnitude of the excess angle, which is the difference between rotation angle α3a and rotation angle αt, is represented by block arrow AR1.

[0099] In remote control mode with the response characteristics of the remote control device 42 adjusted, as shown in the right diagram of Figure 8, when the remote operator OP moves the slewing lever to the left at time t1, the work machine 100 starts the leftward rotation of the upper slewing body 3 at time t2a, which is later than time t2 in the left diagram of Figure 8. Up to this point, it is the same as in remote control mode when the response characteristics of the remote control device 42 have not been adjusted.

[0100] However, in the example shown in the right-hand diagram of Figure 8, the response characteristics of the slewing lever are adjusted so that, even when the same operation is performed, the rate of change (increase rate) of the slewing angle is larger during slewing acceleration, and the rate of change (decrease rate) of the slewing angle is larger during slewing deceleration, compared to the example shown in the center diagram of Figure 8. For example, the response characteristics of the slewing lever may be adjusted so that the rate of change (increase rate) of the slewing angle is larger when the upper slewing body 3 starts to move. This is to provide acceleration characteristics that cancel out mechanical impedance such as friction. Alternatively, the response characteristics of the slewing lever may be adjusted so that the dead zone of the slewing lever is made smaller or virtually eliminated. This is because the time lag caused by hydraulic response delay is reduced, and the time lag associated with remote operation is also reduced overall. As a result, adjusting the response characteristics of the slewing lever can reduce the sense of discomfort felt by the remote operator during remote operation.

[0101] In addition, in the right-hand diagram of Figure 8, for the sake of clarity, the progression of the actual rotation angle shown by the thin solid line in the center diagram of Figure 8 is reproduced with a dashed line, and the progression of the on-screen rotation angle shown by the thick solid line in the center diagram of Figure 8 is reproduced with a dashed line.

[0102] Therefore, if the remote operator (OP) determines at time t3y, which is earlier than time t3b in the central diagram of Figure 8, that the rotation angle of the upper rotating body 3 (image) displayed on the display device D1 has reached rotation angle α1, they can operate the rotation control lever to return it to the neutral position. However, in an actual work environment, the actual rotation angle of the upper rotating body 3 has already reached rotation angle α1 at time t3x, which is earlier than time t3y, and at time t3y, it has reached rotation angle α1y (> rotation angle α1). However, time t3x is earlier than time t3a in the central diagram of Figure 8, and rotation angle α1y is a smaller rotation angle than rotation angle α1b in the central diagram of Figure 8. Therefore, adjusting this response characteristic can suppress the delay that occurs during rotation acceleration compared to rotation operation in onboard operation mode.

[0103] Furthermore, the work machine 100 starts decelerating the leftward rotation of the upper rotating body 3 at time t4x, which is earlier than time t4a in the center diagram of Figure 8, when the actual rotation angle becomes rotation angle α2x (< rotation angle α2a in the center diagram of Figure 8), and stops the leftward rotation of the upper rotating body 3 at time t5x, which is earlier than time t5a in the center diagram of Figure 8, when the actual rotation angle becomes rotation angle α3x (> rotation angle αt). In the right diagram of Figure 8, the magnitude of the excess angle, which is the difference between rotation angle α3x and rotation angle αt, is represented by block arrow AR2. The excess angle in the example shown in the right diagram of Figure 8 is smaller than the excess angle in the example shown in the center diagram of Figure 8.

[0104] This is because the response characteristics of the turning lever are adjusted so that the rate of change (increase) of the turning angle is large during turning acceleration, resulting in a smaller coasting angle. Similarly, this is because the response characteristics of the turning lever are adjusted so that the rate of change (decrease) of the turning angle is large during turning deceleration, resulting in a smaller braking angle.

[0105] In this way, the remote operator (OP) can adjust the response characteristics of the remote control device 42 to bring the operability in remote control mode closer to that of onboard operation mode, thereby suppressing any discomfort experienced during remote control operation.

[0106] Next, with reference to Figure 9, another configuration example of the remote control system SYS for a work machine according to the embodiment of this disclosure will be described. Figure 9 is a schematic diagram showing another configuration example of the remote control system SYS.

[0107] The remote control system SYS shown in Figure 9 differs from the remote control system SYS shown in Figure 1 in that the work machine 100 is remotely controlled using a portable remote control unit 50, rather than a remote control device 42 installed in the remote control room RC.

[0108] In the illustrated example, the remote control unit 50 is a neck-worn type remote control unit configured to allow a remote operator OP, who is standing near the work machine 100, to operate the work machine 100. It comprises a remote controller 40, a remote control device 42, a display device D1, and a communication device T2. The remote control device 42 comprises a left operating lever 42L and a right operating lever 42R. The remote operator OP can use this remote control unit 50 to remotely operate the work machine 100 while viewing it with their own eyes.

[0109] In this configuration, the remote operator OP can adjust the response characteristics of the remote control device 42 using the adjustment system AS shown in Figure 4. The display device D1 may be an external display connected to the remote control unit 50, and the adjustment buttons AB and the setting input device SD may be external devices connected to the remote control unit 50.

[0110] As described above, the remote control system SYS for a work machine according to the embodiment of this disclosure is a remote control system for a work machine 100 comprising a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and an attachment AT attached to the upper rotating body 3. The remote control system SYS includes a remote control device 42 for remotely controlling the work machine 100, a display device (e.g., display device D1) provided in a position visible to the remote operator operating the remote control device 42, and a control device (e.g., remote controller 40) that displays an image used to adjust the response characteristics of the remote control device 42 on the display device. The display device may be a dedicated display device for adjusting the response characteristics of the remote control device 42. Similarly, the control device may be a dedicated control device for adjusting the response characteristics of the remote control device 42. The control device may also be configured to display an image used to adjust the response characteristics of an operating device 26 operated by an onboard operator on the display device. In this case, the control device may be a controller 30 mounted in the cabin 10. Alternatively, the display device may be a display device D2 located in a position visible to the passenger operator operating the control device 26.

[0111] This configuration allows the remote operator OP to adjust the response characteristics (the relationship between input and output (response)) of the remote control device 42, thereby reducing the sense of unfamiliarity the remote operator OP may experience when remotely operating the work machine 100. Furthermore, by adjusting the response characteristics of the remote control device 42, this configuration improves the positioning accuracy of the remote operator OP's remote operation of the work machine 100 (operation involving communication delays). Specifically, for example, this configuration can reduce positional deviation when positioning the tip of the bucket 6 to a desired position. Alternatively, for example, this configuration can reduce angular deviation when rotating the upper slewing body 3 by a desired slewing angle.

[0112] Furthermore, the remote controller 40 may be configured to display a graph G1 representing the response characteristics of the remote control device 42 on the display device D1, as shown in Figure 5. Note that graph G1 may be a graph that is displayed when the remote control device 42 is actually being operated, as shown in Figure 7.

[0113] This configuration has the effect of making it easier for the remote operator OP to adjust the response characteristics of the remote control device 42. This is because the remote operator OP can adjust the response characteristics of the remote control device 42 while looking at the intuitively easy-to-understand graph G1.

[0114] Furthermore, in the remote control system SYS, as shown in Figure 7, the position (point G82) in the graph corresponding to the current operation amount of the remote control device 42 may be highlighted. Note that the highlighting may be implemented by any method. For example, the highlighting may be implemented by increasing the size of the image (point G82) that indicates the position corresponding to the current operation amount of the remote control device 42, by making the image (point G82) blink, or by making the color of the image (point G82) different from the surrounding color.

[0115] This configuration has the effect of allowing the remote operator OP to easily confirm the results of the adjustment of the response characteristics of the remote control device 42. Furthermore, this configuration makes it easier for the remote operator OP to find problems in the adjustment results and makes it easier for the remote operator OP to readjust the response characteristics of the remote control device 42.

[0116] Furthermore, as shown in Figure 7, the graph may display a line G81 representing the response characteristics of the remote control device 42, and a point G82 on line G81 corresponding to the current manipulated amount of the remote control device 42 may be highlighted. Note that the highlighting may be implemented by any method as described above.

[0117] This configuration has the effect of making it easier for the remote operator OP to confirm the results of adjusting the response characteristics of the remote control device 42. For example, as shown in Figure 7, the remote operator OP can easily determine where point G82, which corresponds to the current lever operation amount of the boom control lever, is located on the line G81 representing the response characteristics of the boom control lever. Specifically, the remote operator OP can know in advance how the boom raising speed will change if the lever operation amount is increased.

[0118] Furthermore, as shown in Figure 5, graph G1 may simultaneously display line G11, which represents the response characteristics of the remote control device 42 before adjustment, and line G12, which represents the response characteristics of the remote control device 42 after adjustment. The same applies to the graph shown in Figure 7.

[0119] This configuration has the effect of allowing the remote operator (OP) to easily understand the difference between the response characteristics before and after adjustment.

[0120] Furthermore, the line G12 representing the adjusted response characteristics of the remote control device 42 may be set separately to suit multiple conditions. For example, line G12 may include line G12U, which represents the response characteristics when the operating amount of the remote control device 42 is increased, and line G12D, which represents the response characteristics when the operating amount of the remote control device 42 is decreased. Line G12D, which is used when the operating amount of the remote control device 42 is rapidly decreased, and line G12D, which is used when the operating amount of the remote control device 42 is gradually decreased, may be set separately. The same applies to line G12U. Alternatively, line G12, which is used when the reaction force acting on the bucket 6 is large, and line G12, which is used when the reaction force acting on the bucket 6 is small, may be set separately.

[0121] This configuration allows for more detailed adjustment of the response characteristics of the rotation control lever, for example, by enabling separate adjustment of the response characteristics when increasing the rotation speed of the upper rotating body 3 and when decreasing the rotation speed of the upper rotating body 3. The same applies to other control levers, etc.

[0122] Furthermore, the remote control device 42 may be configured to be portable, as shown in Figure 9.

[0123] This configuration has the effect of allowing adjustment of the response characteristics of the remote control device 42 not only when the remote operator OP remotely controls the work machine 100 located at a remote location while viewing an image displayed on the display device D1 installed in the remote control room RC, but also when the remote operator OP remotely controls the work machine 100 using the remote control unit 50 while visually confirming the movement of the work machine 100.

[0124] Furthermore, as shown in Figure 5, the remote controller 40 may be configured to display on the display device D1 separately an image (e.g., line G12U) used to adjust the response characteristics of the remote control device 42 when operating the control device (e.g., boom control lever) of the remote control device 42 in a direction away from the neutral position, and an image (e.g., line G12D) used to adjust the response characteristics of the remote control device 42 when operating the control device (e.g., boom control lever) of the remote control device 42 in a direction returning to the neutral position. This configuration has the effect of making the response characteristics of the boom control lever different when increasing the lever operation amount of the boom control lever and when decreasing the lever operation amount of the boom control lever. Note that making the response characteristics of the boom control lever different when increasing the lever operation amount of the boom control lever and when decreasing the lever operation amount of the boom control lever means giving the response characteristics of the boom control lever a hysteresis characteristic. The same applies to the arm operation lever, bucket operation lever, slewing operation lever, left travel lever, left travel pedal, right travel lever, and right travel pedal.

[0125] This configuration has the effect of improving the positioning accuracy of the boom 4, for example, by allowing separate adjustment of the response characteristics when increasing the extension speed of the boom cylinder 7 and when decreasing the extension speed of the boom cylinder 7. This is because it is not necessary to match the response characteristics when decreasing the extension speed of the boom cylinder 7 to the response characteristics when increasing the extension speed of the boom cylinder 7. The same applies to other actuators.

[0126] Furthermore, as shown in Figure 6, the remote controller 40 may be configured to display an image (e.g., an equalizer G7) on the display device D1 that allows the phase of the operation signal output by the remote control device 42 to be adjusted for each frequency.

[0127] This configuration allows for more precise adjustment of the boom control lever's response characteristics, for example, by enabling separate adjustment of the response characteristics when the boom control lever is tilted quickly and when it is tilted slowly. Furthermore, this configuration improves the positioning accuracy of boom 4, because the response characteristics when the boom control lever is tilted slowly do not need to be matched to the response characteristics when it is tilted quickly. The same applies to the other actuators.

[0128] Furthermore, the response characteristics of the remote control device 42 may be adjusted for each actuator. For example, Figure 5 shows the state in which the adjustment screen GM for adjusting the response characteristics of the boom operation lever for operating the boom cylinder 7 is displayed on the display device D1. However, the display device D1 may also switchably display adjustment screens for adjusting the response characteristics of the arm operation lever for operating the arm cylinder 8, the bucket operation lever for operating the bucket cylinder 9, the left travel lever or left travel pedal for operating the left travel hydraulic motor 1L, the right travel lever or right travel pedal for operating the right travel hydraulic motor 1R, or the slewing operation lever for operating the slewing hydraulic motor 2A.

[0129] This configuration allows for more detailed adjustment of the response characteristics of the operating levers corresponding to each actuator, for example, by enabling separate adjustment of the response characteristics for each actuator. Furthermore, this configuration allows for adjustments to be made only when the remote operator (OP) wishes to adjust the response characteristics of a specific operating lever.

[0130] Furthermore, the response characteristics of the remote control device 42 may be adjusted for each operating direction. Figure 5 shows the state in which the adjustment screen GM for adjusting the response characteristics of the boom operation lever operated in the boom raising direction is displayed on the display device D1. However, the display device D1 may also switchably display adjustment screens for adjusting the response characteristics of the boom operation lever operated in the boom lowering direction, the arm operation lever operated in the arm opening direction, the arm operation lever operated in the arm closing direction, the bucket operation lever operated in the bucket opening direction, the bucket operation lever operated in the bucket closing direction, the left travel lever or left travel pedal operated in the forward direction, the left travel lever or left travel pedal operated in the reverse direction, the right travel lever or right travel pedal operated in the forward direction, the right travel lever or right travel pedal operated in the reverse direction, the slewing operation lever operated in the left slewing direction, or the slewing operation lever operated in the right slewing direction.

[0131] This configuration, for example, allows for separate adjustment of the response characteristics for each operating lever, resulting in the ability to fine-tune the response characteristics of each operating lever.

[0132] Furthermore, the display device for a work machine according to the embodiment of this disclosure (for example, display device D1) is a display device for a work machine 100 comprising a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and an attachment AT attached to the upper rotating body 3. The display device is provided in a position visible to the remote operator OP who operates the remote control device 42 for remotely controlling the work machine 100, and is configured to display an image used by the remote operator OP when adjusting the response characteristics of the remote control device 42.

[0133] This configuration allows the remote operator OP to adjust the response characteristics (the relationship between input and output (response)) of the remote control device 42, thereby reducing the sense of unfamiliarity the remote operator OP may experience when remotely operating the work machine 100. Furthermore, this configuration improves the positioning accuracy of the remote operator OP's remote operation of the work machine 100 (operation involving communication delays) by adjusting the response characteristics of the remote control device 42.

[0134] Preferred embodiments of the present disclosure have been described above. However, the inventions of the present disclosure are not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the inventions of the present disclosure. Furthermore, each of the features described with reference to the embodiments described above may be combined as appropriate, as long as they do not contradict each other technically.

[0135] For example, in the above embodiment, the adjustment of the response characteristics of the remote control device 42 is performed with the display device D1 and the setting input device SD connected to the remote controller 40, but it may also be performed when disconnected from the remote controller 40. For example, it may be performed on another personal computer installed in the remote control room RC or the like. In this case, data regarding the adjustment results may be transmitted to the remote controller 40 by any method such as a storage medium, wireless communication, or wired communication. [Explanation of Symbols]

[0136] 1. Lower travel body 1L. Left travel hydraulic motor 1R. Right travel hydraulic motor 2. Swivel mechanism 2A. Swivel hydraulic motor 3. Upper slewing body 4. Boom 5. Arm 6. Bucket 7. Boom cylinder 8. Arm cylinder 9. Bucket cylinder 10. Cabin 11. Engine 13. Regulator 14. Main pump 15. Pilot pump 17. Control valve unit 26. Operating device 26D. Travel operating device 26S. Swivel operating device 28. Discharge pressure sensor 29. Operating sensor 29D. Travel operating sensor 29DL. Left travel operating sensor 29DR. Right travel operating sensor 29S. Swivel operating sensor 30. Controller 31. Solenoid valve 32...Pilot pressure sensor 40...Remote controller 42...Remote control device 42L...Left control lever 42R...Right control lever 43...Remote control sensor 50...Remote control unit 100...Work machine 171~176...Control valve A1...Microphone array A2...Speaker AB...Adjustment buttons AS...Adjustment system AT...Attachment D1...Display device D2...Display device DA...Travel actuator DS...Operator's seat G1...Graph G2...Adjustment item image G2A...First adjustment item image G2B...Second adjustment item image G2C...Third adjustment item image G2D...Fourth adjustment item image G3...Dropdown list G4...Radio buttons G5...Dial G6...Slider G7...Equalizer G8...Confirmation screen G11...Line G12, G12D, G12U...Line G21...Item name area G22...Upper spin button G23...Lower spin button G24...Value display area G71...Dropdown list G72...Check box G73...Preamp slider G74...Phase slider G74A...1st phase slider G74B...2nd phase slider G74C...3rd phase slider G74D...4th phase slider G74E...5th phase slider G74F...6th phase slider G74G...7th phase slider G74H...8th phase sliderG74I...9th phase slider G74J...10th phase slider G81...Line G82...Point GB...Bar image GM...Adjustment screen GP...Pointer GS...Knob image NW...Communication line OP...Remote operator PD...Positioning device PV...Slewing axis RC...Remote control room S1...Boom angle sensor S2...Arm angle sensor S3...Bucket angle sensor S4...Machine tilt sensor S5...Slewing angular velocity sensor S6...Spatial recognition device S6B...Rear camera S6F...Front camera S6L...Left camera S6R...Right camera SA...Slewing actuator SD...Setting input device SYS...Remote control system T1...Communication device T2...Communication device WA...Work actuator

Claims

1. A remote control system for a work machine comprising a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an attachment attached to the upper rotating body, A remote control device for remotely operating the aforementioned work machine, A display device is provided in a position visible to the remote operator who operates the remote control device, The system includes a control device that causes an image used to adjust the response characteristics of the remote control device to be displayed on the display device. A remote control system for industrial machinery.

2. The control device causes the display device to display a graph representing the response characteristics of the remote control device. A remote control system for a work machine according to claim 1.

3. In the graph, the position corresponding to the current amount of operation of the remote control device is highlighted. A remote control system for a work machine according to claim 2.

4. In the graph, a line representing the response characteristics of the remote control device is displayed, and a point on the line corresponding to the current operation amount of the remote control device is highlighted. A remote control system for a work machine according to claim 2.

5. In the aforementioned graph, a line representing the response characteristics of the remote control device before adjustment and a line representing the response characteristics of the remote control device after adjustment are displayed simultaneously. A remote control system for a work machine according to claim 2.

6. The line representing the adjusted response characteristics of the remote control device is set separately according to multiple conditions. A remote control system for a work machine according to claim 5.

7. The remote control device is portable. A remote control system for a work machine according to claim 1.

8. The control device displays separately on the display device an image used to adjust the response characteristics of the remote control device when the operating tool of the remote control device is operated away from the neutral position, and an image used to adjust the response characteristics of the remote control device when the operating tool of the remote control device is operated back to the neutral position. A remote control system for a work machine according to claim 1.

9. The control device displays an image on the display device that allows the phase of the operation signal output by the remote control device to be adjusted for each frequency. A remote control system for a work machine according to claim 1.

10. The response characteristics of the remote control device are adjusted for each actuator. A remote control system for a work machine according to claim 1.

11. The response characteristics of the remote control device are adjusted for each operating direction. A remote control system for a work machine according to claim 10.

12. A display device for a work machine comprising a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an attachment attached to the upper rotating body, The remote control device for remotely operating the aforementioned work machine is installed in a position visible to the remote operator who operates it, The image displayed is used by the remote operator when adjusting the response characteristics of the remote control device. A display device for industrial machinery.

Images