Remote control system for work machine and remote control method for work machine

Abstract

To suppress cost required for a work machine remote control system.SOLUTION: A work machine remote control system includes: a first operating device that transmits a first operation command to a work machine via a first communication system; a second operating device that generates an operation signal for remotely controlling the work machine; and a remote controller that generates a second operation command on the basis of the operation signal and outputs the second operation command to the first operating device via a second communication system.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] BACKGROUND ART In the technical field related to work machines, a remote control system for a work machine such as that disclosed in Patent Document 1 is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-136462 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a demand for technology that can reduce the costs involved in remote control systems for work machines.

[0005] An object of the present disclosure is to reduce costs associated with remote control systems for work machines. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a remote operation system for a work machine, comprising: a first operation device that transmits a first operation command to the work machine via a first communication system; a second operation device that generates an operation signal for remotely operating the work machine; and a remote controller that generates a second operation command based on the operation signal and outputs the second operation command to the first operation device via the second communication system. [Effects of the Invention]

[0007] According to the present disclosure, costs associated with remote control systems for work machines can be reduced. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram that schematically shows a remote control system for a work machine according to a first embodiment. [Figure 2] FIG. 2 is a diagram schematically showing the work machine according to the first embodiment. [Figure 3] FIG. 3 is a block diagram showing the remote control system according to the first embodiment. [Figure 4] FIG. 4 is a flowchart showing the remote control method according to the first embodiment. [Figure 5] FIG. 5 is a diagram showing a display example of the display device according to the first embodiment. [Figure 6] FIG. 6 is a diagram showing an example of a display of the indicator according to the first embodiment. [Figure 7] FIG. 7 is a diagram showing a display example of the display device according to the first embodiment. [Figure 8] FIG. 8 is a diagram showing a display example of the display device according to the first embodiment. [Figure 9] FIG. 9 is a diagram showing a display example of the display device according to the first embodiment. [Figure 10] FIG. 10 is a block diagram showing a remote control system according to the second embodiment. [Figure 11] FIG. 11 is a block diagram showing a part of a remote control system according to the third embodiment. [Figure 12] FIG. 12 is a diagram schematically showing a conversion table according to the third embodiment. [Figure 13] FIG. 13 is a flowchart showing a method for remotely controlling a rotating body according to the third embodiment. [Figure 14] FIG. 14 is a flowchart showing a method for remotely controlling a work machine according to the third embodiment. [Figure 15] FIG. 15 is a flowchart showing a method for remotely controlling a traveling object according to the third embodiment. [Figure 16] FIG. 16 is a block diagram illustrating a computer system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [First embodiment] A first embodiment will be described.

[0011] <Remote Control System Overview> FIG. 1 is a diagram that schematically shows a remote control system 1 for a work machine 2 according to this embodiment.

[0012] The remote operation system 1 remotely controls a work machine 2 operating at a work site 3. In this embodiment, the work machine 2 is a hydraulic excavator.

[0013] The remote control system 1 includes an operation command transmitter 5 (first operation device), a relay controller 6, an information terminal 8, and a remote control device 9 (second operation device).

[0014] The operation command transmitter 5 and the relay controller 6 are each disposed at the work site 3 where the work machine 2 operates. A relay room 7 is installed at the work site 3. The operation command transmitter 5 and the relay controller 6 are disposed in the relay room 7.

[0015] The information terminal 8 and the remote control device 9 are each placed in a remote location from the work site 3. A remote control room 4 is installed in a remote location from the work site 3. The information terminal 8 and the remote control device 9 are each placed in the remote control room 4.

[0016] The operation command transmitter 5 transmits a first operation command to the work machine 2 via the first communication system 11. The first operation command is an operation command for operating the work machine 2.

[0017] The first communication system 11 transmits a first operation command to the work machine 2 using a first communication method (first communication protocol). The operation command transmitter 5 transmits the first operation command wirelessly to the work machine 2. The first communication system 11 transmits the first operation command by radio waves, for example. In this embodiment, the first communication method is a radio control method. The operation command transmitter 5 is a radio control transmitter. The work machine 2 is operated by radio control using the operation command transmitter 5. In this embodiment, radio control operation includes, for example, operations performed from a position where the operator can visually observe the work machine 2. The operation command transmitter 5 is positioned in a position where the operator can visually observe the work machine 2.

[0018] The radio station established for the first communication system 11 is, for example, a radio station that does not require a license or registration. Radio operator qualifications are not required when using the first communication system 11. The radio station established for the first communication system 11 may be a very low-power radio station for radio control using a radio frequency band such as the 73 MHz band, a specified low-power radio station for telemetry and telecontrol using a radio frequency band of 920 MHz, or a 2.4 GHz band low-power data communication system using a radio frequency band of 2.4 GHz.

[0019] The relay controller 6 includes a computer system located in a relay room 7 .

[0020] The information terminal 8 includes a computer system arranged in the remote control room 4. An example of the information terminal 8 is a personal computer. The information terminal 8 includes a remote controller 20 and a display device 21.

[0021] The remote operation device 9 generates an operation signal for remotely operating the work machine 2. The operation signal generated in the remote operation device 9 is output to the remote controller 20. The remote controller 20 generates a second operation command based on the operation signal from the remote operation device 9. The remote controller 20 outputs the second operation command to the operation command transmitter 5 via the second communication system 12. In this embodiment, the remote controller 20 transmits the second operation command to the operation command transmitter 5 via the second communication system 12. The second operation command is an operation command for operating the operation command transmitter 5.

[0022] The second communication system 12 transmits a second operation command to the operation command transmitter 5 using a second communication method (second communication protocol) different from the first communication method. The second communication system 12 transmits the second operation command via an electrical communication line. An example of the remote operation device 9 is a game pad. The remote operation device 9 is operated by an operator 10 in the remote operation room 4. In this embodiment, remote operation includes, for example, operations performed from a position where the operator cannot see the work machine 2.

[0023] The second communication system 12 may include a public communication line or a specific communication line. The second communication system 12 is exemplified by the Internet. The second communication system 12 may also include a local area network, a mobile phone communication network, or a satellite communication network. In this embodiment, the second communication method is the Internet method.

[0024] The operation command transmitter 5 transmits a first operation command based on a second operation command from the remote operation device 9. The work machine 2 operates based on the first operation command from the operation command transmitter 5.

[0025] <Work machinery> FIG. 2 is a diagram that schematically shows a work machine 2 according to this embodiment.

[0026] The work machine 2 has a revolving body 13 , a running body 14 , a work implement 15 , an imaging device 16 , an on-board display device 17 , an operation command receiver 18 , an on-board controller 19 , and an inclination sensor 31 .

[0027] The rotating body 13 rotates while being supported by the running body 14. The rotating body 13 rotates around a rotation axis. The running body 14 includes a crawler track.

[0028] The work implement 15 includes a boom 15A, an arm 15B, and a bucket 15C. The boom 15A, the arm 15B, and the bucket 15C each move about a rotation axis.

[0029] In this embodiment, the up-down direction of the work machine 2 refers to the direction in which the rotation axis of the revolving unit 13 extends. The left-right direction of the work machine 2 refers to the direction in which the rotation axis of the work implement 15 extends. The rotation axis extends in the up-down direction of the revolving unit 13. The rotation axis of the work implement 15 extends in the left-right direction of the revolving unit 13.

[0030] The imaging device 16 is mounted on the work machine 2. The imaging device 16 is arranged, for example, in a driver's seat provided on the revolving unit 13. The imaging device 16 includes a first camera 16A that captures an image in front of the revolving unit 13, and a second camera 16B that captures an image of the on-board display device 17. The area in front of the revolving unit 13 includes the work site 3. The first camera 16A captures an image of the work site 3.

[0031] It should be noted that both the work site 3 and the in-vehicle display device 17 may be captured by one camera.

[0032] The on-board display device 17 displays the situation around the work machine 2. The work machine 2 has a periphery monitoring system. The on-board display device 17 displays an overhead image of the area around the work machine 2, a single camera image showing, for example, the area behind the work machine 2, and a guide line indicating the distance from the work machine 2. The single camera image may be an image showing at least one of the areas in front, left, and right of the work machine 2. The on-board display device 17 may also display an overhead image but not a single camera image, or may not display an overhead image with a single camera image displayed. The on-board display device 17 may also display the vehicle status (water temperature, fuel, work mode, P mode, E mode, fine operation mode), or may display a combination of at least two of the vehicle status, the overhead image, and the single camera image.

[0033] The operation command receiver 18 receives the first operation command from the operation command transmitter 5. The operation command receiver 18 is a radio control receiver.

[0034] The on-vehicle controller 19 includes a computer system. The on-vehicle controller 19 controls the operation of the work machine 2 based on the first operation command. The on-vehicle controller 19 also transmits images captured by the imaging device 16 to the remote controller 20. The on-vehicle controller 19 transmits images of the work site 3 where the work machine 2 is operating to the remote controller 20 via the second communication system 12. The on-vehicle controller 19 transmits images on the on-vehicle display device 17 to the remote controller 20 via the second communication system 12. In this embodiment, the on-vehicle controller 19 transmits images captured by the imaging device 16 to the remote controller 20 without going through the first communication system 11.

[0035] The inclination sensor 31 detects the inclination angle of the revolving unit 13. The inclination sensor 31 includes, for example, an inertial measurement unit (IMU) capable of detecting the inclination angle of the revolving unit 13. The inclination sensor 31 is disposed on the revolving unit 13. The inclination sensor 31 detects the pitch angle and roll angle of the revolving unit 13 as the inclination angle of the revolving unit 13. If an axis parallel to the rotation axis of the work implement 15 is defined as the pitch axis, the pitch angle refers to the inclination angle about the pitch axis. If an axis perpendicular to each of the rotation axis of the revolving unit 13 and the rotation axis of the work implement 15 is defined as the roll axis, the roll angle refers to the inclination angle about the roll axis.

[0036] <Remote control system> 3 is a block diagram showing a remote operation system 1 according to this embodiment. A remote operation device 9, a remote controller 20, and a display device 21 are arranged in a remote operation room 4. In this embodiment, the remote controller 20 and the display device 21 are provided in an information terminal 8. The remote operation device 9 generates an operation signal when operated by an operator 10. The remote controller 20 is connected to the remote operation device 9.

[0037] The remote controller 20 includes an operation command transmitting unit 20A and an image receiving unit 20B.

[0038] The operation command transmitting unit 20A receives an operation signal from the remote control device 9. The operation command transmitting unit 20A generates a second operation command based on the operation signal from the remote control device 9. The operation command transmitting unit 20A transmits the generated second operation command to the relay controller 6 via the second communication system 12.

[0039] The image receiving unit 20B receives the image captured by the imaging device 16 via the second communication system 12.

[0040] In the relay room 7, an operation command transmitter 5, a relay controller 6, and a conversion device 22 are arranged.

[0041] The relay controller 6 has an operation command receiving unit 6A.

[0042] The operation command receiving unit 6A receives the second operation command transmitted from the remote controller 20 via the second communication system 12.

[0043] The conversion device 22 converts the second operation command into a first operation command. The conversion device 22 converts the second operation command in the second communication method into a first operation command in the first communication method. The conversion device 22 includes, for example, a microcomputer and a low-pass filter circuit.

[0044] An operation command receiver 18, an on-board controller 19, and an imaging device 16 are arranged on the work machine 2.

[0045] The vehicle controller 19 includes an operation control unit 19A, an image generation unit 19B, and an image transmission unit 19C.

[0046] The operation control unit 19A controls the operation of the work machine 2 based on the first operation command received by the operation command receiver 18. The work machine 2 operates based on the first operation command. The operation of the work machine 2 includes the rotation operation of the revolving unit 13, the traveling operation of the traveling unit 14, and the work operation of the work implement 15.

[0047] The image generation unit 19B generates an image to be transmitted to the remote controller 20 based on the imaging data captured by the imaging device 16. The images transmitted to the remote controller 20 include, for example, an image of the work site 3 captured by the first camera 16A and an image of the in-vehicle display device 17 captured by the second camera 16B. The image transmission unit 19C transmits the image generated by the image generation unit 19B to the remote controller 20 via the second communication system 12. By transmitting the image generated by the image generation unit 19B to the remote control room 4 via the second communication system 12 without via the first communication system 11, a decrease in work efficiency due to video delay is suppressed.

[0048] <Remote control method> FIG. 4 is a flowchart showing the remote control method according to this embodiment.

[0049] When the operator 10 operates the remote operation device 9, the remote operation device 9 generates an operation signal. The operation command transmitting unit 20A of the remote controller 20 generates a second operation command for operating the operation command transmitter 5 based on the operation signal generated by the remote operation device 9. The operation command transmitting unit 20A transmits the generated second operation command to the relay controller 6 via the second communication system 12 (step SU1).

[0050] The operation command receiving unit 6A of the relay controller 6 receives the second operation command transmitted via the second communication system 12. The operation command receiving unit 6A outputs the second operation command to the conversion device 22. The conversion device 22 converts the second operation command to generate a first operation command (step SV1).

[0051] The conversion device 22 outputs the first operation command generated based on the second operation command to the operation command transmitter 5. The operation command transmitter 5 transmits the first operation command to the work machine 2 via the first communication system 11 (step SV2).

[0052] The operation command receiver 18 of the work machine 2 receives the first operation command transmitted via the first communication system 11. The operation command receiver 18 outputs the received first operation command to the operation control section 19A of the on-board controller 19. The operation control section 19A controls the operation of the work machine 2 based on the first operation command. The work machine 2 operates based on the first operation command (step SW1).

[0053] The first camera 16A outputs imaging data of the work site 3 to the image generation unit 19B. The second camera 16B outputs imaging data of the in-vehicle display device 17 to the image generation unit 19B. The image generation unit 19B combines the imaging data of the work site 3 and the imaging data of the in-vehicle display device 17 to generate a predetermined image. The image transmission unit 19C transmits the image generated by the image generation unit 19B to the remote controller 20 via the second communication system 12. The image reception unit 20B of the remote controller 20 receives the image transmitted from the in-vehicle controller 19. The image reception unit 20B outputs the image transmitted from the in-vehicle controller 19 to the display device 21. The display device 21 displays the image transmitted from the in-vehicle controller 19.

[0054] An image of the work site 3 and an image of the in-vehicle display device 17 are displayed on the display device 21. The operator 10 in the remote control room 4 can visually confirm the situation at the work site 3 via the display device 21. The operator 10 in the remote control room 4 operates the remote control device 9 while viewing the image displayed on the display device 21. The work machine 2 is remotely controlled by the remote control device 9.

[0055] <Display device> FIG. 5 is a diagram showing a display example of the display device 21 according to this embodiment.

[0056] As shown in FIG. 5, an image of the work site 3 captured by the first camera 16A is displayed in the first display area 21A of the display device 21. The image of the work site 3 captured by the first camera 16A includes an image of the front of the revolving unit 13. The image of the front of the revolving unit 13 includes an image of the work implement 15. An image of the in-vehicle display device 17 captured by the second camera 16B is displayed in the second display area 21B of the display device 21. As described above, the in-vehicle display device 17 displays an overhead image of the periphery of the work machine 2 and a single camera image showing the rear of the work machine 2. The second display area 21B of the display device 21 displays an overhead image 26 of the periphery of the work machine 2 displayed on the in-vehicle display device 17 and a single camera image 27 showing the rear of the work machine 2.

[0057] In this embodiment, the display device 21 displays an indicator 28 that indicates the tilt angle of the revolving unit 13. The indicator 28 is displayed based on detection data of the tilt sensor 31.

[0058] FIG. 6 is a diagram showing a display example of the indicator 28 according to this embodiment.

[0059] As shown in FIG. 6, the indicator 28 has a first frame 28A indicating first threshold values ​​for the pitch angle and roll angle, a second frame 28B indicating second threshold values ​​for the pitch angle and roll angle, and a symbol 28C indicating detection data from the tilt sensor 31. The second threshold value is greater than the first threshold value. The symbol 28C moves the indicator 28 based on the detection data from the tilt sensor 31. When the pitch angle and roll angle are both 0 degrees, the symbol 28C is located at an origin 28D of the indicator 28. The first frame 28A is displayed to surround the origin 28D. The second frame 28B is displayed to surround the first frame 28A. As shown in FIG. 6(A), when the pitch angle and roll angle are both below the first threshold value, i.e., when the symbol 28C is located inside the first frame 28A, the first frame 28A and the second frame 28B are displayed in a first display state (e.g., blue). As shown in Fig. 6(B), when at least one of the pitch angle and the roll angle exceeds the first threshold, that is, when the symbol 28C is positioned outside the first frame 28A, the first frame 28A is displayed in the second display state (e.g., yellow). As shown in Fig. 6(C), when at least one of the pitch angle and the roll angle exceeds the second threshold, that is, when the symbol 28C is positioned outside the second frame 28B, the second frame 28B is displayed in the third display state (e.g., red).

[0060] 7, 8, and 9 are diagrams showing display examples of the display device 21 according to this embodiment. As shown in each of FIGS. 7, 8, and 9, the display device 21 can display a reference line 29 indicating the distance from the work machine 2 in the first display area 21A. The reference line 29 is made up of a plurality of lines. The multiple lines are parallel to one another. The multiple lines making up the reference line 29A shown in FIG. 7 become narrower as the distance from the work machine 2 increases. The multiple lines making up the reference line 29B shown in FIG. 8 become wider as the distance from the work machine 2 increases. The multiple lines making up the reference line 29C shown in FIG. 9 have a constant width regardless of the distance from the work machine 2. The reference line 29A shown in FIG. 7 is displayed at the bottom of the first display area 21A. The reference line 29B shown in FIG. 8 is displayed at the top of the first display area 21A. The reference line 29C shown in FIG. 9 is displayed at the bottom of the first display area 21A. The operator 10 can operate the remote control device 9 to arbitrarily change the number, width, and position of the lines that make up the guide line 29.

[0061] The operator can arbitrarily select the display example shown in Fig. 7, the display example shown in Fig. 8, or the display example shown in Fig. 9 to display on the display device 21. In the display examples shown in Fig. 7, Fig. 8, and Fig. 9, the guide line 29 does not have to be displayed.

[0062] <Effects> As described above, according to this embodiment, the operation command transmitter 5, which wirelessly controls the work machine 2 via the first communication system 11, is operated by the remote control device 9 via the second communication system 12. The work machine 2 is remotely controlled by the remote control device 9 via the operation command transmitter 5. If a wireless control system for wirelessly controlling the work machine 2 with the operation command transmitter 5 has already been established, or if the work machine 2 is already operating at the work site 3 by radio control operation, the remote control system 1 can be established simply by adding the second communication system and the remote control device 9 to the wireless control system. This reduces the costs required for the remote control system 1 for the work machine 2. The remote control system 1 can be constructed inexpensively.

[0063] A conversion device 22 is provided that converts the second operation command into the first operation command. Therefore, even if the communication method of the first communication system 11 and the communication method of the second communication system 12 are different, the operator 10 can remotely operate the work machine 2 with the remote control device 9. For example, even if the communication method of the first communication system 11 is a radio control method and the communication method of the second communication system 12 is an internet method, the second operation command is converted into the first operation by the conversion device 22, allowing the operator 10 to remotely operate the work machine 2 with the remote control device 9.

[0064] <Modification> In this embodiment, the first communication system 11 communicates using a radio control system. The first communication system 11 may communicate using a wireless LAN (Local Area Network) system or a wireless PAN (Personal Area Network) system.

[0065] In this embodiment, the operation command transmitting unit 20A and the image receiving unit 20B may be configured as separate hardware (computer systems). In this embodiment, the conversion device 22 may be configured as a relay controller 6. In this embodiment, the operation control unit 19A, the image generating unit 19B, and the image transmitting unit 19C may be configured as separate hardware (computer systems).

[0066] [Second embodiment] A second embodiment will be described below. In the following description, the same or equivalent components as those in the above-described embodiment will be denoted by the same reference numerals, and the description of those components will be simplified or omitted.

[0067] <Remote control system> FIG. 10 is a block diagram showing a remote control system 1 according to this embodiment.

[0068] In this embodiment, the work machine 2 has an image transmitter 23 that transmits images of the work site 3 and images of the on-board display device 17. As in the first embodiment described above, the imaging data of the imaging device 16 is output to the image generation unit 19B. The images generated in the image generation unit 19B are transmitted to the image transmitter 23 via the image transmission unit 19C. The image transmitter 23 transmits the images to an image receiver 25 arranged at the work site 3. The image receiver 25 is arranged in the relay room 7.

[0069] The image transmitter 23 transmits images of the work site 3 and images of the in-vehicle display device 17 to the image receiver 25 via a third communication system 24. The third communication system 24 transmits images to the image receiver 25 using a third communication method (third communication protocol) that is different from the first communication method and the second communication method. The third communication system 24 transmits images wirelessly. An example of the image transmitter 23 and the image receiver 25 is a video transmitter. The third communication method may be a specific communication method defined for the video transmitter.

[0070] The relay controller 6 has an image transmission unit 6B that transmits the image of the work site 3 received by the image receiver 25 and the image of the in-vehicle display device 17 to the remote controller 20. The image transmission unit 6B transmits the image of the work site 3 and the image of the in-vehicle display device 17 to the remote controller 20 via the second communication system 12.

[0071] <Effects> As described above, in this embodiment, images captured by the imaging device 16 are transmitted from the work machine 2 to the relay controller 6 via the third communication system 24, and then transmitted from the relay controller 6 to the remote controller 20 via the second communication system 12. As a result, even if the work machine 2 is performing work at a location at the work site 3 where it is difficult to transmit images, the images captured by the imaging device 16 are transmitted smoothly to the remote controller 20.

[0072] At the work site 3, the image transmission speed by the third communication system 24 is higher than the image transmission speed by the second communication system 12. The third communication system 24 can transmit images with less delay than the second communication system 12. Furthermore, at the work site 3, the communication stability of the third communication system 24 is higher than the communication stability of the second communication system 12. At the work site 3, there is a possibility that the work machine 2 will perform work in a location where communication is difficult using the second communication system 12. If the relay room 7 at the work site 3 is located in a location where communication is easy using the second communication system 12, an image captured by the imaging device 16 will be transmitted from the work machine 2 to the relay controller 6 located in the relay room 7 via the third communication system 24, and the image captured by the imaging device 16 will be smoothly transmitted from the relay controller 6 to the remote controller 20 via the second communication system 12.

[0073] <Modification> In this embodiment, the operation command receiving unit 6A and the image transmitting unit 6B may be configured as separate hardware (computer systems).

[0074] [Third embodiment] A third embodiment will be described below. In the following description, the same or equivalent components as those in the above-described embodiment will be denoted by the same reference numerals, and the description of those components will be simplified or omitted.

[0075] <Remote System> FIG. 11 is a block diagram showing a part of the remote control system 1 according to this embodiment.

[0076] The remote controller 20 includes an operation command transmitting unit 20A, an image receiving unit 20B, a determining unit 20C, and a storage unit 20D.

[0077] As in the above-described embodiment, the remote control device 9 generates an operation signal for remotely operating the work machine 2. The operation command transmission unit 20A transmits a second operation command for remotely operating the work machine 2, based on the operation signal generated in the remote control device 9.

[0078] The determination unit 20C determines whether communication has been established between the work machine 2 and the remote control device 9. The determination unit 20C also determines whether a predetermined period of time has elapsed since communication was established between the work machine 2 and the remote control device 9. In this embodiment, for example, a timer is provided in the remote controller 20. The determination unit 20C determines, based on the timer, whether a predetermined period of time has elapsed since communication was established between the work machine 2 and the remote control device 9.

[0079] The operation command transmitting unit 20A transmits a second operation command so that a first operating speed (fine operating speed) indicating the operating speed of the work machine 2 when communication between the work machine 2 and the remote control device 9 is established is slower than a second operating speed (normal speed) indicating a predetermined operating speed previously associated with the operation amount of the remote control device 9.

[0080] The second operating speed is an operating speed that is associated in advance with the operation amount of the remote control device 9, and is the normal speed at which the work machine 2 operates based on the operation amount of the remote control device 9. The first operating speed is a fine operation speed that is slower than the second operating speed. In this embodiment, when the remote control device 9 is operated with a predetermined operation amount, there are cases where the work machine 2 operates at the first operating speed and cases where it operates at the second operating speed.

[0081] The operation control section 19A of the on-board controller 19 (see Figures 3, 10, etc.) controls the work machine 2 based on the second operation command from the operation command transmission section 20A. As in the above-described embodiment, the operation command transmitter 5 is operated based on the second operation command, and the operation control section 19A controls the work machine 2 based on the first operation command from the operation command transmitter 5. The operation control section 19A controls the work machine 2 so that a first operation speed, which indicates the operation speed of the work machine 2 when communication between the work machine 2 and the remote control device 9 is established, is slower than a second operation speed, which indicates a predetermined operation speed associated in advance with the operation amount of the remote control device 9.

[0082] In this embodiment, if it is determined that a predetermined period of time has not elapsed since communication was established between the work machine 2 and the remote control device 9, the operation command transmitting unit 20A transmits a second operation command to the operation command transmitter 5 (relay controller 6) so that the work machine 2 operates at a first operating speed, and if it is determined that a predetermined period of time has elapsed since communication was established between the work machine 2 and the remote control device 9, the operation command transmitting unit 20A transmits a second operation command to the operation command transmitter 5 (relay controller 6) so that the work machine 2 operates at a second operating speed that is higher than the first operating speed. The predetermined period of time is a period that is set in advance.

[0083] In this embodiment, a conversion table is stored in the memory unit 20D. The operation command transmission unit 20A converts and transmits the second operation command based on the determination data of the determination unit 20C and the conversion table stored in the memory unit 20D. If it is determined that the predetermined period has not elapsed, the operation command transmission unit 20A converts and transmits the second operation command so that the work machine 2 operates at a first operating speed. If it is determined that the predetermined period has elapsed, the operation command transmission unit 20A converts and transmits the second operation command so that the work machine 2 operates at a second operating speed that is higher than the first operating speed. Before the predetermined period has elapsed from the time when communication between the work machine 2 and the remote operation device 9 was established, the operation control unit 19A controls the work machine 2 so that the work machine 2 operates at the first operating speed. After the predetermined period has elapsed from the time when communication between the work machine 2 and the remote operation device 9 was established, the operation control unit 19A switches the operating speed of the work machine 2 from the first operating speed to the second operating speed.

[0084] FIG. 12 is a diagram schematically showing a conversion table according to this embodiment.

[0085] The conversion table shows the relationship between a relay operation amount indicating an operation amount related to a first operation command output from the operation command transmitter 5 and a remote operation amount indicating an operation amount related to a second operation command output from the remote operation device 9. The conversion table is a conversion table for converting a remote operation amount into a relay operation amount. The conversion table includes a fine-operation table 30A (first conversion table) used when it is determined that a predetermined period has not elapsed, and a normal table 30B (second conversion table) used when it is determined that the predetermined period has elapsed. As shown in FIG. 12, the ratio of the relay operation amount to the remote operation amount differs between before the predetermined period has elapsed and after the predetermined period has elapsed. That is, the gain of the relay operation amount with respect to the remote operation amount differs between the fine-operation table 30A and the normal table 30B. The gain of the relay operation amount with respect to the remote operation amount before the predetermined period has elapsed (in the case of the fine-operation table 30A) is smaller than the gain of the relay operation amount with respect to the remote operation amount after the predetermined period has elapsed (in the case of the normal table 30B). When the remote control device 9 is operated with a predetermined remote control amount, the relay control amount transmitted to the work machine 2 before the predetermined period has elapsed is smaller than the relay control amount transmitted to the work machine 2 after the predetermined period has elapsed.

[0086] If it is determined that the predetermined period has not yet elapsed, the operation command transmitting unit 20A converts the second operation command based on the fine-operation table 30A. If it is determined that the predetermined period has elapsed, the operation command transmitting unit 20A converts the second operation command based on the normal table 30B. As a result, when the remote operation device 9 is operated with a predetermined remote operation amount, the first operating speed of the work machine 2 before the predetermined period has elapsed will be slower than the second operating speed of the work machine 2 after the predetermined period has elapsed.

[0087] In addition, a dead band is provided for the remote control amount. The dead band is set to a predetermined range of the remote control amount including a state where the remote control amount is zero. When the remote control amount is within the dead band, the remote control amount is treated as zero.

[0088] The operating speed of the work machine 2 is the operating speed of the operable parts of the work machine 2. Examples of operable parts of the work machine 2 include the revolving unit 13, the work implement 15, and the traveling unit 14. The second operation command output from the remote control device 9 includes a rotation command to operate the revolving unit 13, a work command to operate the work implement 15, and a traveling command to operate the traveling unit 14. The traveling commands include a forward command to move the traveling unit 14 forward and a reverse command to move the traveling unit 14 backward.

[0089] <Remote control method> FIG. 13 is a flowchart showing a method for remotely controlling the revolving body 13 according to this embodiment.

[0090] The determination unit 20C determines whether or not communication has been established between the work machine 2 and the remote control device 9. After communication has been established, the remote control device 9 is operated, and a turn command is output as a second operation command from the remote control device 9. The operation command transmission unit 20A acquires the turn command (step SA1).

[0091] The determination unit 20C determines whether or not there is an abnormality in the communication (step SA2).

[0092] If it is determined in step SA2 that there is no abnormality (step SA2: Yes), the determining unit 20C determines whether or not there is no restriction on operation (step SA3).

[0093] In this embodiment, the remote control device 9 is provided with an operation limiting operation unit (not shown) that limits the operation of the work machine 2. When the operation limiting operation unit is operated, the operation of the work machine 2 is limited. When the operation of the work machine 2 is limited, a neutral signal is output even if the remote control device 9 is operated. This limits the operation of the work machine 2. The restrictions on the operation of the work implement 15 include restrictions on the operation of the revolving unit 13, and restrictions on the operation of the traveling unit 14. The determination unit 20C determines whether the operation limiting operation unit has been operated.

[0094] If it is determined in step SA3 that there is no operation restriction (step SA3: Yes), the determining unit 20C determines whether there is no turning restriction (step SA4).

[0095] In this embodiment, the remote control device 9 is provided with a rotation limiting operation unit (not shown) that limits the rotation of the rotating unit 13. When the rotation limiting operation unit is operated, the rotation of the rotating unit 13 is limited. When the rotation of the rotating unit 13 is limited, a neutral signal is output even if the remote control device 9 is operated. This limits the rotation of the rotating unit 13. The determination unit 20C determines whether the rotation limiting operation unit is operated.

[0096] If it is determined in step SA4 that there is no turning restriction (step SA4: Yes), the determining unit 20C determines whether or not the remote operation amount related to the turning command is outside the dead zone (step SA5).

[0097] In step SA5, if it is determined that the remote operation amount is outside the dead zone (step SA5: Yes), the determination unit 20C determines whether or not a predetermined period has elapsed. That is, the determination unit 20C determines whether or not to switch to a fine operation mode that slows down the operating speed of the revolving unit 13 (step SA6).

[0098] If it is determined in step SA6 that the predetermined period has not elapsed, that is, if it is determined that the fine-operation mode should be entered (step SA6: Yes), the operation command transmitting unit 20A converts the second operation command based on the fine-operation table 30A. That is, the operation command transmitting unit 20A converts the second operation command with a small gain (step SA7).

[0099] The operation command transmitting unit 20A transmits the converted second operation command to the operation command transmitter 5 (step SA8).

[0100] If it is determined in step SA6 that the predetermined period has elapsed, that is, if it is determined that the operating speed of the revolving unit 13 should be changed to the normal mode, which is faster than the fine operation mode (step SA6: No), the operation command transmitting unit 20A converts the second operation command based on the normal table 30B. That is, the operation command transmitting unit 20A converts the second operation command with a large gain (step SA9).

[0101] The operation command transmitting unit 20A transmits the converted second operation command to the operation command transmitter 5 (step SA8).

[0102] If it is determined in step SA2 that there is an abnormality (step SA2: No), if it is determined in step SA3 that there is an operation restriction (step SA3: No), if it is determined in step SA4 that there is a rotation restriction (step SA4: No), or if it is determined in step SA5 that there is a dead zone (step SA5: No), the operation command transmitting unit 20A generates a stop command to prevent the rotating body 13 from rotating (step SA10).

[0103] The operation command transmitting unit 20A transmits the stop command to the operation command transmitter 5 (step SA8).

[0104] FIG. 14 is a flowchart showing a method for remotely controlling the work machine 15 according to this embodiment.

[0105] The determination unit 20C determines whether or not communication has been established between the work machine 2 and the remote control device 9. After communication has been established, the remote control device 9 is operated, and a work command is output from the remote control device 9 as a second operation command. The operation command transmission unit 20A acquires the work command (step SB1).

[0106] The determination unit 20C determines whether or not there is an abnormality in the communication (step SB2).

[0107] If it is determined in step SB2 that there is no abnormality (step SB2: Yes), the determining unit 20C determines whether or not there is no operation restriction (step SB3).

[0108] If it is determined in step SB3 that there is no operation restriction (step SB3: Yes), the determining unit 20C determines whether the remote operation amount related to the work command is outside the dead zone (step SB4).

[0109] If it is determined in step SB4 that the remote operation amount is outside the dead zone (step SB4: Yes), the determination unit 20C determines whether or not a predetermined period has elapsed. That is, the determination unit 20C determines whether or not to switch to a fine operation mode in which the operating speed of the work machine 15 is slowed (step SB5).

[0110] If it is determined in step SB5 that the predetermined period has not elapsed, that is, if it is determined that the fine-operation mode should be entered (step SB5: Yes), the operation command transmitting unit 20A converts the second operation command based on the fine-operation table 30A. That is, the operation command transmitting unit 20A converts the second operation command with a small gain (step SB6).

[0111] The operation command transmitting unit 20A transmits the converted second operation command to the operation command transmitter 5 (step SB7).

[0112] If it is determined in step SB5 that the predetermined period has elapsed, that is, if it is determined that the operating speed of the work implement 15 should be changed to the normal mode, which is faster than the fine operation mode (step SB5: No), the operation command transmitting unit 20A converts the second operation command based on the normal table 30B. That is, the operation command transmitting unit 20A converts the second operation command with a large gain (step SB8).

[0113] The operation command transmitting unit 20A transmits the converted second operation command to the operation command transmitter 5 (step SB7).

[0114] If it is determined in step SB2 that there is an abnormality (step SB2: No), if it is determined in step SB3 that there is an operation restriction (step SB3: No), or if it is determined in step SB4 that there is an operation within the dead zone (step SB4: No), the operation command transmitting unit 20A generates a stop command to prevent the work machine 15 from operating (step SB9).

[0115] The operation command transmitter 20A transmits the stop command to the operation command transmitter 5 (step SB9).

[0116] FIG. 15 is a flowchart showing a method for remotely controlling the traveling object 14 according to this embodiment.

[0117] The determination unit 20C determines whether or not the system is at startup when communication is established between the work machine 2 and the remote control device 9. After the system is started, the remote control device 9 is operated, and a travel command is output from the remote control device 9 as a second operation command. The operation command transmission unit 20A acquires the travel command (step SC1).

[0118] The determination unit 20C determines whether or not there is an abnormality in the communication (step SC2).

[0119] If it is determined in step SC2 that there is no abnormality (step SC2: Yes), the determining unit 20C determines whether or not there is no operation restriction (step SC3).

[0120] If it is determined in step SC3 that there is no operation restriction (step SC3: Yes), the operation command transmitter 20A determines whether the travel command is a forward movement command (step SC4).

[0121] In step SC4, if it is determined that the travel command is a forward movement command (step SC4: Yes), the operation command transmitter 20A generates a forward movement command as a second operation command (step SC5).

[0122] The operation command transmitter 20A transmits the forward movement command to the operation command transmitter 5 (step SC6).

[0123] If it is determined in step SC4 that the traveling command is not a forward command (step SC4: No), the operation command transmitter 20A determines whether the traveling command is a reverse command (step SC7).

[0124] In step SC7, if it is determined that the traveling command is a reverse command (step SC7: Yes), the operation command transmitter 20A generates a reverse command as a second operation command (step SC8).

[0125] The operation command transmitting unit 20A transmits a reverse command to the operation command transmitter 5 (step SC6).

[0126] If it is determined in step SC2 that there is an abnormality (step SC2: No), if it is determined in step SC3 that there is an operation restriction (step SC3: No), or if it is determined in step SC7 that the traveling command is not a reverse command (step SC7: No), the operation command transmitting unit 20A generates a stop command to prevent the traveling body 14 from traveling (step SB9).

[0127] The operation command transmitting unit 20A transmits a stop command to the operation command transmitter 5 (step SC6).

[0128] <Effects> As explained above, in this embodiment, when communication is established between the work machine 2 and the remote control device 9 and the remote control device 9 is operated by the operator 10, the operating speed of the work machine 2 is controlled to be slower than the normal operating speed. In other words, if the operating modes of the work machine 2 include fine-operation mode and normal mode, the operating mode of the work machine 2 is forcibly set to fine-operation mode when communication is established between the work machine 2 and the remote control device 9 (when the system is started up). For example, if the operator 10 is not accustomed to remote operation, there is a possibility that the operator 10 will operate the remote control device 9 abruptly. If the remote control device 9 is operated abruptly, there is a possibility that the work machine 2 will operate abruptly at the work site 3. In this embodiment, when the system is started up, the operating speed of the work machine 2 is forcibly limited, and therefore, even if the remote control device 9 is operated abruptly, the work machine 2 will be prevented from operating abruptly at the work site 3.

[0129] In this embodiment, for example, a timer is provided in the remote controller 20, and when the determination unit 20C determines based on the timer that a predetermined period of time has elapsed since communication was established between the work machine 2 and the remote operation device 9, the operation mode of the work machine 2 is changed from fine-operation mode to normal mode. After the predetermined period of time has elapsed since communication was established, the operation control unit 19A switches the operation speed of the work machine 2 from the first operation speed to the second operation speed. This prevents a decrease in the work efficiency of the work machine 2.

[0130] <Modification> In the present embodiment, the operation mode of the work machine 2 is set to fine-operation mode based on a timer before a predetermined period of time has elapsed since communication between the work machine 2 and the remote control device 9 was established, and the operation mode of the work machine 2 is changed from fine-operation mode to normal mode once the predetermined period of time has elapsed since communication between the work machine 2 and the remote control device 9 was established. In other words, the operation control unit 19A switches the operation speed of the work machine 2 from the first operation speed to the second operation speed after a predetermined period of time has elapsed since communication between the work machine 2 and the remote control device 9 was established. The operation mode of the work machine 2 may also be changed from fine-operation mode to normal mode based on a release signal output from the remote control device 9. In other words, the operation control unit 19A may switch the operation speed of the work machine 2 from the first operation speed to the second operation speed based on a release signal output from the remote control device 9. For example, after the operator 10 has become accustomed to remote operation, he or she can operate the remote control device 9 to change the operation mode of the work machine 2 from fine-operation mode to normal mode. This prevents a decrease in the work efficiency of the work machine 2. For example, if the remote control device 9 is provided with a fine-operation mode release operation unit, the operator 10 can change the operation mode of the work machine 2 from fine-operation mode to normal mode based on his or her own will by operating the fine-operation mode release operation unit. When the fine-operation mode release operation unit provided in the remote control device 9 is operated, a release signal is generated in the remote control device 9. The operation control unit 19A switches the operation speed of the work machine 2 from a first operation speed to a second operation speed based on the release signal output from the remote control device 9. The operator 10 can set the operation mode of the work machine 2 to normal mode by operating the fine-operation mode release operation unit on the remote control device 9.

[0131] The operation control unit 19A may switch the operating speed of the work machine 2 from the first operating speed to the second operating speed based on a release signal output from the remote control device 9, even before a predetermined period of time has elapsed since communication between the work machine 2 and the remote control device 9 was established.

[0132] In this embodiment, the work machine 2 is set to either the fine-operation mode or the normal mode based on the ratio (gain) between the relay operation amount and the remote operation amount. The work machine 2 may be set to either the fine-operation mode or the normal mode by changing the rotation speed of the engine, which is the power source mounted on the work machine 2.

[0133] In the present embodiment, the conversion table described with reference to Fig. 12 is stored in the storage unit 20D of the remote controller 20. The conversion table may be stored in the relay controller 6 or in the in-vehicle controller 19.

[0134] In this embodiment, as in the first and second embodiments, the operation command transmitter 5 is operated based on the second operation command, and the operation control unit 19A controls the work machine 2 based on the first operation command from the operation command transmitter 5. In this embodiment, the operation command transmitter 5 may be omitted. The operation control unit 19A may control the work machine 2 based on the second operation command from the operation command transmission unit 20A.

[0135] In this embodiment, the operation command transmitting unit 20A, the image receiving unit 20B, the determining unit 20C, and the storage unit 20D may be configured as separate hardware (computer systems).

[0136] [Computer System] FIG. 16 is a block diagram showing a computer system 1000 according to an embodiment. Each of the remote controller 20, relay controller 6, and in-vehicle controller 19 described above includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a nonvolatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the remote controller 20, relay controller 6, and in-vehicle controller 19 described above are stored in the storage 1003 as computer programs. The processor 1001 reads the computer programs from the storage 1003, loads them into the main memory 1002, and executes the above-described processes according to the programs. The computer programs may be distributed to the computer system 1000 via a network.

[0137] In accordance with the above-described embodiment, the computer program or computer system 1000 can execute the following operations: transmitting a first operation command for operating the work machine 2 from the operation command transmitter 5 to the work machine 2 via the first communication system 11; generating a second operation command based on an operation signal generated in the remote operation device 9 that remotely operates the work machine 2; and outputting the second operation command to the operation command transmitter 5 via the second communication system 12.

[0138] [Other embodiments] In the above-described embodiment, the work machine 1 is a loading shovel. The work machine 1 may also be a backhoe. Also, in the above-described embodiment, the work machine 1 is provided with a revolving body 13 as a vehicle body, but the vehicle body of the work machine 1 does not have to be a revolving body. The work machine 1 may be any work machine that has a work implement, and may be a bulldozer or a wheel loader. Also, the work machine 1 does not have to have a work implement. The work machine 1 may be, for example, a transport vehicle that has a dump body. [Explanation of symbols]

[0139] 1... remote operation system, 2... work machine, 3... work site, 4... remote operation room, 5... operation command transmitter (first operation device), 6... relay controller, 6A... operation command receiving unit, 7... relay room, 8... information terminal, 9... remote operation device (second operation device), 10... operator, 11... first communication system, 12... second communication system, 13... rotating body, 14... traveling body, 15... work machine, 15A... boom, 15B... arm, 15C... bucket, 16... imaging device, 16A... first camera, 16B... second camera, 17... on-vehicle display device, 18... operation command receiver, 19... on-vehicle controller, 19A... operation control unit, 19B... image generation unit, 19C... image transmission unit, 20... remote controller, 20A... operation command transmission unit, 20B... image Receiving unit, 20C...determination unit, 20D...memory unit, 21...display device, 21A...first display area, 21B...second display area, 22...conversion device, 23...image transmitter, 24...third communication system, 25...image receiver, 26...bird's-eye view image, 27...single camera image, 28...indicator, 28A...first frame, 28B...second frame, 28C...symbol, 28D...origin, 29...guide line, 29A...guide line, 29B...guide line, 29C...guide line, 30A...fine operation table (first conversion table), 30B...normal table (second conversion table), 31...tilt sensor, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface.

Claims

1. A first operating device that is operated by an operator to transmit a first operating command to a work machine via a first communication system to operate the work machine; a second operating device that generates an operating signal for remotely operating the work machine; a remote controller that generates a second operation command for operating the first operation device based on the operation signal and outputs the second operation command to the first operation device via a second communication system; Remote control system for work machines.

2. the first operating device is disposed at a work site where the work machine operates, The second operating device is disposed in a remote location from the work site. The remote control system for a work machine according to claim 1.

3. the first communication system transmits the first operation command to the work machine using a first communication method; the second communication system transmits the second operation command to the first operating device in a second communication method; The remote control system for a work machine according to claim 1 or 2.

4. the first communication system transmits the first operation command by radio waves; The remote control system for a work machine according to any one of claims 1 to 3.

5. the second communication system transmits the second operation command via a telecommunication line. The remote control system for a work machine according to any one of claims 1 to 4.

6. the work machine operates based on the first operation command, the first operating device transmits the first operating command based on the second operating command; The remote control system for a work machine according to any one of claims 1 to 5.

7. a conversion device that converts the second operation command into the first operation command, The remote control system for a work machine according to claim 6.

8. an on-board controller that transmits an image of a work site where the work machine is operating via the second communication system to a remote controller that is located at a remote location of the work site; The remote control system for a work machine according to any one of claims 1 to 7.

9. an image transmitter that transmits an image of a work site where the work machine is operating via a third communication system; The remote control system for a work machine according to any one of claims 1 to 7.

10. the image transmitter transmits the image to an image receiver located at the work site; a relay controller that transmits the image received by the image receiver via the second communication system to a remote controller located at a remote location of the work site; The remote control system for a work machine according to claim 9.

11. Transmitting a first operation command for operating the work machine from a first operation device to the work machine via a first communication system by being operated by an operator; generating a second operation command for operating the first operation device based on an operation signal generated in a second operation device that remotely operates the work machine, and outputting the second operation command to the first operation device via a second communication system. A method for remotely controlling a work machine.

Images