SYSTEM AND METHOD FOR CONTROLLING A WORK MACHINE - Patent application

Abstract

To activate a work machine to be activated through remote control at an appropriate timing in accordance with the state of the work machine.SOLUTION: A system comprises: an on-vehicle controller; a remote controller; and a communicator. The on-vehicle controller is mounted on a work machine to control the work machine. The remote controller communicates with the on-vehicle controller. The remote controller transmits an activation instruction signal for activating the work machine to the work machine. The communicator is provided separately from the remote controller. The communicator communicates with the on-vehicle controller. The communicator can be operated to switch the work machine from an activation inhibition state to an activation permission state. The on-vehicle controller switches the work machine from the activation inhibition state to the activation permission state in response to the operation of the communicator. The on-vehicle controller inhibits activation of the work machine even when the activation instruction signal is received from the remote controller in a state where the activation of the work machine is inhibited. The on-vehicle controller activates the work machine when the machine is in the activation permission state and the activation instruction signal is received from the remote controller.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] Some construction machines can be started remotely. For example, the construction machine vehicle of Patent Document 1, upon receiving a command signal from a transmitter, checks whether or not a predetermined condition is met, and starts the engine if the predetermined condition is met. The predetermined conditions include, for example, that the engine is stopped, that the shift lever is in the neutral position, that the parking brake is in the operating position, and that the driver's door is closed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 08-156715 Summary of the Invention [Problem to be solved by the invention]

[0004] The circumstances under which a work machine is started are various and not always the same. For example, a work machine may be started to commence normal work at a work site, or may be started to carry out maintenance work on the work machine or to deal with a problem. However, it is not easy to accurately grasp the circumstances under which a work machine is started from a remote location.

[0005] For example, when a work machine is remotely controlled from a management center far away from the work machine, it is difficult to accurately grasp the status of the work machine because the work machine and its surroundings cannot be visually observed. Also, as described above, determining whether to start the engine based only on predetermined conditions is not necessarily suitable for the status of the work machine. An object of the present disclosure is to start a work machine that is started by remote control at an appropriate timing according to the status of the work machine. [Means for solving the problem]

[0006] A system according to one aspect of the present disclosure is a system for controlling a work machine. The system includes an on-vehicle controller, a remote operation device, and a communication device. The on-vehicle controller is mounted on the work machine and controls the work machine. The remote operation device communicates with the on-vehicle controller. The remote operation device transmits a start command signal to the work machine for starting the work machine. The communication device is provided separately from the remote operation device. The communication device communicates with the on-vehicle controller. The communication device is operable to switch the work machine from a start prohibited state to a start permitted state.

[0007] The on-board controller switches the work machine from a start-prohibited state to a start-permitted state in response to operation of the communication device. When the work machine is in the start-prohibited state, the on-board controller prohibits starting of the work machine even if a start command signal is received from the remote control device. When the work machine is in the start-permitted state and a start command signal is received from the remote control device, the on-board controller starts the work machine.

[0008] A method according to another aspect of the present disclosure is a method for controlling a work machine, the method including: communicating with a communication device, switching the work machine from a start prohibited state to a start permitted state in response to operation of the communication device, communicating with a remote control device, determining whether a start command signal for the work machine has been received from the remote control device, starting the work machine when the work machine is in the start permitted state and has received the start command signal from the remote control device, and prohibiting starting of the work machine when the work machine is in the start prohibited state even if the start command signal is received from the remote control device. Effect of the Invention

[0009] In the system and method according to the present disclosure, when an operator at the work site is working on a work machine, starting of the work machine is prohibited until the operator at the work site operates a communication device to switch the work machine from a start-prohibited state to a start-permitted state. Therefore, even if a remote operator operates a remote control device to send a start command signal to the work machine, the work machine will not start.

[0010] After completing work on the work machine, the operator at the work site operates the communication device to switch the work machine from a start-prohibited state to a start-permitted state. The remote operator then operates the remote control device to send a start command signal to the work machine, starting the work machine. Therefore, in the system and method disclosed herein, a work machine that is started by remote control can be started at an appropriate timing depending on the condition of the work machine. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a configuration of a system for controlling a work machine according to an embodiment. [Diagram 2] FIG. 1 is a perspective view showing a work machine. [Diagram 3] 4 is a flowchart showing a process for starting a work machine executed by an on-board controller. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A system for controlling a work machine according to an embodiment will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a system 1 according to an embodiment. The system 1 according to this embodiment includes a work machine 2, a remote control device 3, and a mobile communication device 4. The work machine 2 is placed at a work site such as a mine. The work machine 2 is, for example, a bulldozer.

[0013] FIG. 2 is a perspective view showing the work machine 2. As shown in FIG. 2, the work machine 2 is equipped with a main body 10 and a work implement 13. The main body 10 includes a vehicle body 11 and a traveling device 12. The vehicle body 11 includes a driver's cab 14 and a power room 15. A driver's seat (not shown) is arranged in the driver's cab 14. The power room 15 is arranged in front of the driver's cab 14. The traveling device 12 is attached to the lower part of the vehicle body 11. The traveling device 12 has a pair of left and right tracks 16. Note that only the left track 16 is shown in FIG. 1. The work machine 2 travels as the track 16 rotates.

[0014] The work machine 13 is attached to the main body 10. The work machine 13 includes a lift frame 17, a blade 18, and a lift cylinder 19. The lift frame 17 is attached to the traveling device 12 so as to be movable up and down. The lift frame 17 supports the blade 18. The blade 18 is disposed in front of the vehicle body 11. The lift cylinder 19 is connected to the vehicle body 11. The front end of the lift cylinder 19 is rotatably attached to the back surface of the blade 18. The blade 18 moves up and down as the lift cylinder 19 extends and retracts.

[0015] As shown in FIG. 1, the work machine 2 includes a power source 21, a hydraulic pump 22, and a power transmission device 23. In this embodiment, the power source 21 is an internal combustion engine. A starter motor 24 is connected to the power source 21. The starter motor 24 starts the power source 21. The hydraulic pump 22 is driven by the power source 21 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the lift cylinder 19. Note that, although one hydraulic pump is illustrated in FIG. 2, multiple hydraulic pumps may be provided.

[0016] The power transmission device 23 transmits the driving force of the power source 21 to the traveling device 12. The power transmission device 23 may be, for example, a hydrostatic transmission (HST). Alternatively, the power transmission device 23 may be, for example, a torque converter or a transmission having a plurality of speed change gears.

[0017] The work machine 2 includes an on-vehicle controller 25 and a control valve 26. The on-vehicle controller 25 is mounted on the work machine 2. The on-vehicle controller 25 is realized by a computer including a processor and a memory. The on-vehicle controller 25 may be composed of a plurality of controllers that are separate from one another. The on-vehicle controller 25 is programmed to control the work machine 2 based on the acquired data.

[0018] The control valve 26 is a proportional control valve, and is controlled by a command signal from the on-vehicle controller 25. The control valve 26 is disposed between a hydraulic actuator such as the lift cylinder 19 and the hydraulic pump 22. The control valve 26 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the lift cylinder 19. The on-vehicle controller 25 controls the control valve 26 so that the work machine 13 rises or falls. The control valve 26 may be a pressure proportional control valve. Alternatively, the control valve 26 may be an electromagnetic proportional control valve.

[0019] The work machine 2 is equipped with a camera 27, an on-board operation member 28, a first mode selection member 29, and a second mode selection member 30. The camera 27 is attached to, for example, the vehicle body 11. The camera 27 acquires images of the surroundings of the work machine 2. The camera 27 transmits image signals indicative of the images of the surroundings of the work machine 2 to the on-board controller 25.

[0020] The on-vehicle operation member 28 is disposed in the cab 14. The on-vehicle operation member 28 can be operated by the operator to travel the work machine 2. The on-vehicle operation member 28 can also be operated by the operator to operate the work implement 13. The on-vehicle operation member 28 includes, for example, an operation lever. The on-vehicle operation member 28 may include other operation members such as a pedal, a switch, or a touch panel.

[0021] The on-vehicle operation member 28 transmits an operation signal indicating an operation by the operator to the on-vehicle controller 25. The on-vehicle controller 25 controls the power source 21 and the power transmission device 23 in response to the operation signal, thereby causing the work machine 2 to travel. The on-vehicle controller 25 controls the hydraulic pump 22 and the control valve 26 in response to the operation signal, thereby causing the work machine 13 to operate.

[0022] The first mode selection member 29 is disposed in the cab 14. The first mode selection member 29 can be operated by the operator to set the control mode of the work machine 2. The first mode selection member 29 is, for example, a touch panel type input device. However, the first mode selection member 29 may be another input device such as a switch. The first mode selection member 29 transmits an input signal indicating an operation by the operator to the on-vehicle controller 25.

[0023] The control modes include a direct operation mode and a remote operation mode. In the direct operation mode, the on-vehicle controller 25 controls the work machine 2 in response to an operation signal from the on-vehicle operation member 28. Therefore, in the direct operation mode, the operator operates the work machine 2 by operating the on-vehicle operation member 28. In the remote operation mode, the work machine 2 is controlled in response to a remote control signal from the remote operation device 3. Therefore, in the remote operation mode, the operator operates the work machine 2 by operating the remote operation device 3.

[0024] The second mode selection member 30 is attached to the work machine 2. The second mode selection member 30 can be operated by an operator to select the remote operation mode as the control mode of the work machine 2. The second mode selection member 30 is, for example, a switch. Alternatively, the second mode selection member 30 may be another member such as a lever or a touch panel. The second mode selection member 30 is disposed on the outer surface of the work machine 2. For example, the second mode selection member 30 is disposed in a position on the work machine 2 where it can be operated by an operator on the ground. For example, the second mode selection member 30 may be disposed at a position below the rear of the vehicle body 11, at a height of 2000 mm or less. The second mode selection member 30 transmits a selection signal indicating an operation by the operator to the on-board controller 25.

[0025] The work machine 2 is equipped with a first communication device 31 and a second communication device 32. The first communication device 31 and the second communication device 32 are mounted on the work machine 2. The first communication device 31 communicates wirelessly with the remote control device 3. The second communication device 32 communicates wirelessly with the mobile communication device 4. The communication methods of the first communication device 31 and the second communication device 32 may be different or the same. The work machine 2 and the remote control device 3 may communicate directly, or may communicate with each other via a control system or the like.

[0026] The remote operation device 3 is placed in a control center away from the work site. An operator in the control center can remotely operate the work machine 2 by operating the remote operation device 3. The remote operation device 3 includes a communication device 33, a remote operation member 34, a remote input device 35, a display 36, and a remote controller 37. The communication device 33 communicates wirelessly with the first communication device 31 of the work machine 2.

[0027] The remote control member 34 can be operated by an operator to travel the work machine 2, similar to the on-vehicle operation member 28. The remote control member 34 can be operated by an operator to operate the work implement 13, similar to the on-vehicle operation member 28. The remote control member 34 includes, for example, an operation lever. The remote control member 34 may include other operation members such as a pedal, a switch, or a touch panel. The remote control member 34 transmits an operation signal indicating an operation by the operator to the remote controller 37.

[0028] The remote input device 35 can be operated by an operator to input settings of the work machine 2. The remote input device 35 is, for example, a touch panel type input device. However, the remote input device 35 may be another input device such as a switch. The remote input device 35 transmits an input signal indicating an operation by the operator to the remote controller 37.

[0029] The remote controller 37 is realized by a computer including a processor and a memory. The remote controller 37 may be composed of multiple controllers that are separate from each other. The remote controller 37 transmits a remote control signal to the in-vehicle controller 25 via the communication device 33. The remote controller 37 generates the remote control signal based on an operation signal from the remote operation member 34 or an input signal from the remote input device 35.

[0030] The on-vehicle controller 25 controls the power source 21 and the power transmission device 23 in response to a remote control signal from the remote controller 37, thereby causing the work machine 2 to travel. The on-vehicle controller 25 controls the hydraulic pump 22 and the control valve 26 in response to a remote control signal from the remote controller 37, thereby causing the work machine 13 to operate.

[0031] Furthermore, the on-board controller 25 transmits an image signal from the camera 27 to the remote controller 37. Based on the image signal, the remote controller 37 displays an image showing the surroundings of the work machine 2 on the display 36. The operator can control the work machine 2 by operating the remote control member 34 while viewing the image showing the surroundings of the work machine 2 on the display 36.

[0032] The mobile communication device 4 is provided separately from the remote control device 3. The mobile communication device 4 can be operated by an operator. Like the remote control device 3, the mobile communication device 4 has a communication function. The mobile communication device 4 communicates wirelessly with the on-board controller 25. In detail, the mobile communication device 4 communicates wirelessly with the second communication device 32 of the work machine 2. Alternatively, the mobile communication device 4 may communicate wirelessly with the first communication device 31 of the work machine 2.

[0033] The mobile communication device 4 is portable. The mobile communication device 4 is brought to a work site where the work machine 2 is located. The mobile communication device 4 is operated by an operator at the work site. The mobile communication device 4 performs wireless communication with the on-board controller 25 at a shorter distance than the remote control device 3. The operator operates the mobile communication device 4 within a range where the work machine 2 is visible.

[0034] The mobile communication device 4 may be a general-purpose mobile communication terminal such as a notebook computer, a tablet, or a smartphone. Alternatively, the mobile communication device 4 may be a dedicated terminal of the system 1 for controlling the work machine 2. The mobile communication device 4 includes operation members such as a switch, a lever, or a touch panel.

[0035] The mobile communication device 4 can be operated to switch the work machine 2 from a start-prohibited state to a start-permitted state. The mobile communication device 4 transmits a start-permitted signal to the on-board controller 25 in response to operation by the operator. The start-permitted signal is a signal for switching the work machine 2 from a start-prohibited state to a start-permitted state. The process for starting the work machine 2 will be described below.

[0036] Fig. 3 is a flowchart showing the processing executed by the on-board controller 25 to start the work machine 2. Note that, when starting the work machine 2, the on-board controller 25 is activated by being supplied with power from a battery mounted on the work machine 1. As shown in Fig. 3, in step S101, the on-board controller 25 sets the work machine 2 to a start-prohibited state. When the power source 21 is stopped and a start permission signal has not been received from the mobile communication device 4, the on-board controller 25 sets the work machine 2 to a start-prohibited state. When the work machine 2 is in a start-prohibited state, starting of the power source 21 is prohibited.

[0037] In step S102, the on-vehicle controller 25 determines whether the control mode of the work machine 2 is the remote operation mode. The on-vehicle controller 25 determines that the control mode of the work machine 2 is the remote operation mode when the remote operation mode has been set by the first mode selection member 29 and the remote operation mode has been selected by the second mode selection member 30. When the on-vehicle controller 25 determines that the control mode of the work machine 2 is the remote operation mode, the processing proceeds to step S103.

[0038] In step S103, the in-vehicle controller 25 determines whether or not a start permission signal has been received from the mobile communication device 4. The mobile communication device 4 transmits the start permission signal to the in-vehicle controller 25 in response to an operation by an operator at the work site. When the in-vehicle controller 25 determines that the start permission signal has been received from the mobile communication device 4, the process proceeds to step S104.

[0039] In step S104, the on-board controller 25 releases the start-inhibited state of the work machine 2. Note that if the on-board controller 25 does not receive a start permission signal from the mobile communication device 4 in step 103, it maintains the work machine 2 in the start-inhibited state.

[0040] In step S105, the on-vehicle controller 25 determines whether a start command signal for starting the work machine 2 has been received. The start command signal is transmitted from the remote operation device 3. The remote operation device 3 transmits the start command signal to the on-vehicle controller 25 in response to operation of the remote input device 35 by an operator in the management center (hereinafter referred to as the "remote operator"). When the on-vehicle controller 25 receives the start command signal, the process proceeds to step S106.

[0041] In step S106, the on-vehicle controller 25 determines whether the work machine 2 is in a start-permitted state. The on-vehicle controller 25 determines that the work machine 2 is in a start-permitted state when the start-prohibited state of the work machine 2 is released in step S104. Alternatively, the on-vehicle controller 25 may determine that the work machine 2 is in a start-permitted state when the start-prohibited state of the work machine 2 is released and other start-permit conditions are satisfied. When the on-vehicle controller 25 determines that the work machine 2 is in a start-permitted state, the process proceeds to step S107. In step S107, the on-vehicle controller 25 starts the work machine 2. That is, the on-vehicle controller 25 starts the power source 21 by driving the starter motor 24.

[0042] In step S106, when the on-vehicle controller 25 determines that the work machine 2 is not in a start permitted state, the on-vehicle controller 25 does not start the work machine 2 even if a start command signal is received from the remote operation device 3. In other words, when the work machine 2 is in a start prohibited state, the on-vehicle controller 25 prohibits the starting of the work machine 2 even if a start command signal is received from the remote operation device 3.

[0043] In the system 1 according to the present embodiment described above, the on-vehicle controller 25 releases the start inhibition state of the work machine 2 when it receives a start permission signal from the mobile communication device 4. Then, when the work machine 2 is in the start permission state and a start command signal is received from the remote operation device 3, the on-vehicle controller 25 starts the work machine 2. However, when the work machine 2 is in the start inhibition state, the on-vehicle controller 25 inhibits the starting of the work machine 2 even if a start command signal is received from the remote operation device 3.

[0044] Therefore, when an operator at the work site is performing work on the work machine 2, such as maintenance work, responding to trouble, judging safety suitability around the work machine 2, or preparing to ensure safety, starting of the work machine 2 is prohibited until the operator at the work site operates the mobile communication device 4 to release the start inhibition state of the work machine 2. For this reason, even if a remote operator operates the remote control device 3 to send a start command signal to the work machine 2, the work machine 2 will not start. This allows the operator at the work site to perform work on the work machine 2 smoothly.

[0045] After completing the above work on the work machine 2, the operator at the work site operates the first mode selection member 29 in the cab 14 to set the control mode of the work machine 2 to the remote operation mode. The operator at the work site gets off the work machine 2 and operates the second mode selection member 30 to select the remote operation mode. Then, after moving away from the work machine 2, the operator at the work site operates the mobile communication device 4 to release the start inhibition state of the work machine 2.

[0046] Thereby, the remote operator operates the remote control device 3 to send a start command signal to the work machine 2, thereby starting the work machine 2. The remote operator then operates the remote control member 34 to perform work at the work site using the work machine 2. As described above, in the system 1 according to this embodiment, the work machine 2 that is started by remote control can be started at an appropriate timing according to the condition of the work machine 2.

[0047] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0048] The work machine 2 is not limited to a bulldozer, and may be another vehicle such as a wheel loader, a motor grader, or a dump truck. The number of work machines controlled by the system 1 is not limited to one, and may be two or more. The power source 21 may be an electric motor. In this case, starting the work machine 2 may mean starting the travel of the work machine 2 or starting the operation of the work implement 13. Alternatively, the power source 21 may be a hybrid of an internal combustion engine and an electric motor.

[0049] Setting of the remote operation mode by the first mode selection member 29 may be omitted. Selection of the remote operation mode by the second mode selection member 30 may be omitted. The first mode selection member 29 and the second mode selection member 30 may be arranged on the outer surface of the work machine 2. Alternatively, the first mode selection member 29 and the second mode selection member 30 may be arranged inside the operator's cab 14.

[0050] In the above embodiment, the on-vehicle controller 25 releases the start inhibition state of the work machine 2 when it receives a start permission signal from the mobile communication device 4. However, the mobile communication device 4 may also transmit a start non-permission signal to the on-vehicle controller 25. The on-vehicle controller 25 may maintain the work machine 2 in the start inhibition state while it is receiving the start non-permission signal from the mobile communication device 4. The mobile communication device 4 may stop the start non-permission signal in response to an operation by the operator. The on-vehicle controller 25 may release the start inhibition state of the work machine 2 when the transmission of the start non-permission signal is stopped.

[0051] The communication device according to the present invention is not limited to the mobile communication device 4 described above, and may be modified. For example, instead of the mobile communication device 4, a start permission signal may be transmitted to the on-board controller 25 by a communication device provided at a base at the site. In that case, the operator at the work site may operate the communication device to release the start inhibition state of the work machine 2 after returning to the base at the site. Alternatively, the operator at the work site may contact the base at the site, and the operator at the base at the site may operate the communication device to release the start inhibition state of the work machine 2.

[0052] A notification means such as a lamp which indicates the start inhibition state or indicates that the start inhibition state has been released may be provided inside the cab 14 of the work machine 1, on the exterior of the work machine 1, on the remote control device 3, or the like. [Industrial Applicability]

[0053] With the system and method according to the present disclosure, a work machine that is started by remote control can be started at an appropriate timing depending on the condition of the work machine. [Explanation of symbols]

[0054] 2. Work Machinery 3 Remote Control Device 4 Mobile communication devices 25 Vehicle Controller 30 Mode selection member

Claims

1. 1. A system for controlling a work machine, comprising: an on-board controller that is mounted on the work machine and controls the work machine; a remote control device that communicates with the on-board controller and transmits to the work machine a start command signal for starting the work machine; a communication device that is provided separately from the remote control device, that communicates with the on-board controller, and that is operable to switch the working machine from a start-prohibited state to a start-permitted state; Equipped with The in-vehicle controller includes: switching the working machine from the start-prohibited state to the start-permitted state in response to an operation of the communication device; When the work machine is in the start-inhibited state, starting of the work machine is prohibited even if the work machine receives the start-instruction signal from the remote control device, When the work machine is in the start permitted state and receives the start command signal from the remote control device, the work machine is started. system.

2. a mode selection member mounted on the work machine and operable to select a remote operation mode of the work machine; when the remote operation mode is selected by the mode selection member and the work machine is in the start permitted state and receives the start command signal from the remote operation device, the on-vehicle controller starts the work machine. The system of claim 1 .

3. the on-vehicle controller prohibits starting of the work machine when the work machine is in the start-prohibited state even if the remote operation mode is selected by the mode selection member; The system of claim 2.

4. the communication device transmits a start permission signal to the on-board controller for switching the working machine from the start inhibition state to the start permission state; the on-board controller switches the working machine from the start-prohibited state to the start-permitted state when the start-permission signal is received; The system of claim 1 .

5. The communication device transmits a start prohibition signal to the on-board controller for maintaining the work machine in the start prohibition state. The communication device stops transmitting the start disallowance signal in response to an operation by an operator, the on-board controller switches the working machine from the start-prohibited state to the start-permitted state when transmission of the start-prohibited signal is stopped. The system of claim 1 .

6. 1. A method for controlling a work machine, comprising: Communicating with the communication device; switching the working machine from a start-prohibited state to a start-permitted state in response to an operation of the communication device; communicating with a remote control device; determining whether a start command signal for the work machine has been received from the remote control device; starting the work machine when the work machine is in the start permitted state and receives the start command signal from the remote operation device; When the work machine is in the start-inhibited state, starting of the work machine is prohibited even if the work machine receives the start-instruction signal from the remote control device. A method for providing the above.

7. determining whether a remote operation mode of the work machine has been selected by a mode selection member mounted on the work machine; when the remote operation mode has been selected by the mode selection member and the work machine is in the start permitted state and has received the start command signal from the remote operation device, starting the work machine; Further comprising: The method according to claim 6.

8. Even if the remote operation mode is selected by the mode selection member, when the work machine is in the start-prohibited state, starting of the work machine is prohibited. The method of claim 7.

9. the communication device transmits a start permission signal for switching the working machine from the start prohibited state to the start permitted state in response to an operation by an operator, determining whether the start permission signal is received from the communication device; switching the working machine from the start prohibited state to the start permitted state when the start permission signal is received; Further comprising: The method according to claim 6.

10. receiving a start prohibition signal for maintaining the work machine in the start prohibited state from the communication device; determining whether the start-disallowance signal from the communication device has been stopped; switching the working machine from the start prohibited state to the start permitted state when the start non-permission signal is stopped; The method of claim 6 further comprising:

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