Operation state switching device, work machine, and operation state switching system

Abstract

To provide an apparatus and the like that can improve alignment of a working situation of a work machine with an operator's intention.SOLUTION: Under the condition that a second power supply path L2 is in the On state (a second switching mechanism 452 is in the On state) in a state of a first power supply path L1 being an effective power supply path, the effective power supply path is switched from the first power supply path L1 to the second power supply path L2. Similarly, under the condition that the first power supply path L1 is in the On state (a first switching mechanism 451 is in the On state) in a state of the second power supply path L2 being the effective power supply path, the effective power supply path is switched from the second power supply path L2 to the first power supply path L1.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a technique for switching between remote operation and actual machine boarding operation by an operator of a working machine such as a hydraulic excavator.

Background Art

[0002] Working machines that can switch between remote operation and actual machine boarding operation (or manual operation) have been proposed (see, for example, Patent Document 1). In a working machine, when the remote / manual changeover switch is on the manual side, the control selection switch is connected to the manual side, and the operations of the engine and the control valve are controlled by the actual machine boarding operation via the actual machine control unit. When the remote / manual changeover switch is on the remote side, the control selection switch is connected to the remote side, and the operations of the engine and the control valve are controlled by remote operation via the transmission unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the working machine is started by the actual machine boarding operation, the manual engine start switch is operated by the operator who has boarded the working machine, so that the engine of the working machine is started and the working machine becomes in a state where the actual machine boarding operation is possible. However, in the actual machine boarding operation, an instruction to start the engine (ON of the remote engine start switch) is not issued from the remote operation device (transmission unit). Therefore, when switching from the actual machine boarding operation to the remote operation (the remote / manual changeover switch is set to the remote side), there is a risk that the engine will stop because there is no instruction to start the engine in the transmission unit.

[0005] When a work machine is started remotely, the engine is started based on an instruction to start the engine (turning on the remote engine start switch) given to the remote control device (transmitter unit). However, in remote operation, no instruction to start the engine is sent from the manual engine start switch. Therefore, if the operation is switched from remote control to on-board operation (the remote / manual switch is set to manual), the engine may stop because the manual engine start switch is not operated. Consequently, if the operation of a work machine is switched between remote control and on-board operation, there is a risk that the operation of the engine or other equipment may stop against the operator's intention.

[0006] Therefore, the present invention aims to provide a device or the like that can improve the consistency between the operator's intentions and the operating status of the work machine. [Means for solving the problem]

[0007] The operating state switching device according to the first aspect of the present invention is Power supply and Electrical equipment including prime movers, A first switching mechanism that switches a first power supply path from an OFF state to an ON state, enabling control of the operation of the electrical equipment in response to either onboard operation or remote operation via a remote control device, A second switching mechanism that switches a second power supply path from an OFF state to an ON state, enabling control of the operation of the electrical equipment in response to the other operation between onboard operation and remote operation via the remote control device, A comprehensive switching mechanism that switches the effective power supply path from the power source to the electrical equipment between the first power supply path and the second power supply path, Targeting the work machines installed, Provided that the second power supply path is in the ON state, an instruction to switch the active power supply path from the first power supply path to the second power supply path is output to the integrated switching mechanism.

[0008] According to the operating state switching device of the first aspect of the present invention, the active power supply path is switched from the first power supply path to the second power supply path, provided that the first power supply path is in the active power supply path state and the second power supply path is in the ON state. This prevents a situation where the active power supply path is switched from the first power supply path to the second power supply path when the second power supply path is in the OFF state and power cannot be supplied to the electrical equipment from the power source, thereby cutting off the power supply to the electrical equipment and stopping the operation of the electrical equipment unexpectedly. Thus, the consistency between the operating state of the work machine intended by the operator (remote control state or on-board operation state) and the actual operating state of the work machine (remote control state or on-board operation state) is improved.

[0009] In the first embodiment of the present invention, in the operating state switching device, The system outputs a switching instruction to the integrated switching mechanism for the active power supply path between the first power supply path and the second power supply path, which is input through the input interface by at least one of the operator on board the work machine and the operator of the remote control device. It is preferable.

[0010] According to the operating state switching device of this configuration, the active power supply path is switched between the first power supply path and the second power supply path according to the switching instruction input by the operator through the input interface. This improves the consistency between the operating state of the work machine intended by the operator (remote operation state or on-board operation state) and the actual operating state of the work machine (remote operation state or on-board operation state).

[0011] In the first embodiment of the present invention, an operating state switching device In response to the ON and OFF operations performed by the operator via the remote control device, the first switching mechanism outputs instructions to control the first power supply path to the ON state and the OFF state, respectively. Depending on whether the operator on board the work machine is performing an ON operation or an OFF operation, the second switching mechanism outputs an instruction to control the second power supply path to the ON state and the OFF state, respectively. It is preferable.

[0012] According to the operating state switching device of this configuration, the first power supply path and the second power supply path are switched between the ON state and the OFF state in response to the operator's operation. As described above, the active power supply path is switched from the first power supply path to the second power supply path, provided that the second power supply path is in the ON state. This prevents a situation where, when the second power supply path is in the OFF state and power cannot be supplied from the power source to the electrical equipment, the active power supply path is switched from the first power supply path to the second power supply path, interrupting the power supply to the electrical equipment and causing the electrical equipment to stop operating unexpectedly. Thus, the consistency between the operating state of the work machine intended by the operator and the actual operating state of the work machine is improved.

[0013] In the first embodiment of the present invention, in the operating state switching device, Conditional on the input interface receiving an instruction to terminate the operation of the work machine, the system outputs an instruction to the integrated switching mechanism to switch between the first power supply path and the second power supply path. It is preferable.

[0014] According to the operating state switching device of this configuration, when a work machine is in a remotely controlled state (for example, when the first power supply path is switched to the active power supply path), if the operator inputs a command to end the operation of the work machine (remote operation termination command) through the input interface, the work machine is switched to the on-board operation state. Similarly, when a work machine is in an on-board operation state (for example, when the second power supply path is switched to the active power supply path), if the operator inputs a command to end the operation of the work machine (on-board operation termination command) through the input interface, the work machine is switched to the remotely controlled state. Therefore, the consistency between the operating state of the work machine intended by the operator and the actual operating state of the work machine is improved.

[0015] In the first embodiment of the present invention, in the operating state switching device, If the communication between the work machine and the remote control device is poor while the first power supply path is the active power supply path, and provided that the second power supply path is in the ON state, the system outputs a switching instruction to the integrated switching mechanism for the active power supply path from the first power supply path to the second power supply path. It is preferable.

[0016] According to the operating state switching device of this configuration, when the first power supply path is in the active power supply path state (when the work machine is being remotely controlled), if the communication between the work machine and the remote control device is poor and there is a high probability that the remote control of the work machine will be hindered, the active power supply path will be switched from the first power supply path to the second power supply path, provided that the second power supply path is in the ON state. As a result, even if the second power supply path is in the OFF state, the active power supply path will be switched from the first power supply path to the second power supply path, interrupting the power supply from the power source to the electrical equipment and preventing the electrical equipment from stopping unexpectedly.

[0017] The operating state switching device according to the second embodiment of the present invention is Power supply and An electrical device including a prime mover, A first switching mechanism that switches a first power supply path for enabling operation control of the electrical device in response to one of an on-machine operation and a remote operation through a remote operation device from an OFF state to an ON state; A second switching mechanism that switches a second power supply path for enabling operation control of the electrical device in response to the other of the on-machine operation and the remote operation through the remote operation device from an OFF state to an ON state; An overall switching mechanism that switches an effective power supply path from the power supply to the electrical device between the first power supply path and the second power supply path; For a working machine equipped with the above, When the communication state between the working machine and the remote operation device is poor while the first power supply path is the effective power supply path, a standby state is maintained in which switching from the first power supply path to the second power supply path of the effective power supply path is awaited.

[0018] According to the operation state switching device of the second aspect of the present invention, when the communication state between the working machine and the remote operation device is poor in a state where the first power supply path is the effective power supply path (a state where the working machine is being remotely operated), and there is a high probability that the remote operation of the working machine will be hindered, switching of the effective power supply path from the first power supply path to the second power supply path is awaited. In this standby state, after the operator boards the working machine, processes necessary for on-machine operation of the working machine, such as switching the effective power supply path from the first power supply path to the second power supply path, can be executed.

Brief Description of Drawings

[0019] [Figure 1] An explanatory diagram regarding the configuration of an operation state switching system. [Figure 2] An explanatory diagram regarding the configuration of a remote operation device. [Figure 3] An explanatory diagram regarding the configuration of a working machine. [Figure 4] An explanatory diagram regarding the function of an operation state switching device. [Figure 5] Diagram illustrating the function of the operation state switching device (continued). [Modes for carrying out the invention]

[0020] (Configuration of the operation state switching device) The operation state switching system of the present invention comprises an operation state switching device as one embodiment of the present invention, and a remote control device 20 and / or work machine 40 configured to communicate with each other via a network. In this embodiment, the "operation state switching device" is configured by a machine control device 400 that constitutes the work machine 40.

[0021] (Configuration of the remote control device) As shown in Figure 1, the remote control device 20 comprises a remote control device 200, a remote input interface 210, a remote output interface 220, and a remote communication device 224. The remote control device 200 is composed of an arithmetic processing unit (single-core processor or multi-core processor or processor cores comprising them), reads necessary data and software from a storage device such as memory, and performs arithmetic processing on said data in accordance with said software.

[0022] The remote input interface 210 includes a remote control mechanism 211. The remote output interface 220 includes a remote image output device 221 and a local terminal 225.

[0023] The remote control mechanism 211 includes a travel control device, a slewing control device, a boom control device, an arm control device, and a bucket control device. Each control device has an operating lever that receives rotational operation. The operating lever (travel lever) of the travel control device is operated to move the lower travel body 41 of the work machine 40. The travel lever may also serve as a travel pedal. For example, a travel pedal may be provided fixed to the base or lower end of the travel lever. The operating lever (slewing lever) of the slewing control device is operated to move the hydraulic slewing motor that constitutes the slewing mechanism 43 of the work machine 40. The operating lever (boom lever) of the boom control device is operated to move the boom cylinder 442 of the work machine 40. The operating lever (arm lever) of the arm control device is operated to move the arm cylinder 444 of the work machine 40. The operating lever (bucket lever) of the bucket control device is operated to move the bucket cylinder 446 of the work machine 40.

[0024] Each operating lever constituting the remote control mechanism 211 is arranged around the seat St for the remote operator to sit on, as shown in Figure 2, for example. The seat St may take the form of a high-back chair with armrests, but it may also be a low-back chair without a headrest, or a chair without a backrest, or any other form of seating that the remote operator can sit on.

[0025] Left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat St. One operating lever may serve multiple purposes. For example, the left operating lever 2111 located in front of the left frame of the seat St shown in Figure 2 may function as an arm lever when operated in the forward / backward direction and as a slewing lever when operated in the left / right direction. Similarly, the right operating lever 2112 located in front of the right frame of the seat St shown in Figure 2 may function as a boom lever when operated in the forward / backward direction and as a bucket lever when operated in the left / right direction. The lever pattern may be arbitrarily changed by operating instructions from a remote operator.

[0026] The remote image output device 221 consists of a central remote image output device 2210, a left remote image output device 2211, and a right remote image output device 2212, each having a roughly rectangular screen positioned in front of, diagonally to the left of, and diagonally to the right of the sheet St, as shown in Figure 2. The shape and size of the screens (image display areas) of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be the same or different. The remote image output device 221 may consist of a single curved or bendable image output device, or two or more image output devices arranged to surround the front of the sheet St.

[0027] As shown in Figure 2, the right edge of the left remote image output device 2211 is adjacent to the left edge of the central remote image output device 2210 such that the screens of the central remote image output device 2210 and the left remote image output device 2211 form an inclination angle θ1 (for example, 120° ≤ θ1 ≤ 150°). As shown in Figure 2, the left edge of the right remote image output device 2212 is adjacent to the right edge of the central remote image output device 2210 such that the screens of the central remote image output device 2210 and the right remote image output device 2212 form an inclination angle θ2 (for example, 120° ≤ θ2 ≤ 150°). The inclination angles θ1 and θ2 may be the same or different.

[0028] The screens of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be parallel to the vertical direction or inclined to the vertical direction. At least one of the image output devices among the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be composed of multiple divided image output devices. For example, the central remote image output device 2210 may be composed of vertically adjacent image output devices having substantially rectangular screens.

[0029] The remote communication device 224 is a device that enables network communication of the remote control device 20 and communicates with the work machine 40 via the network.

[0030] (Configuration of the work machine) As shown in Figure 1, the work machine 40 includes a machine control device 400, a machine input interface 410, a machine communication device 424, a machine battery 450 (power supply), a first switching mechanism 451, a second switching mechanism 452, a machine overall switching mechanism 454, a remote switching mechanism 456, a power supply self-holding mechanism 458, and machine electrical equipment 460. As described above, in this embodiment, the machine control device 400 constitutes the "operation state switching device". The machine control device 400 is composed of an arithmetic processing unit (single-core processor or multi-core processor or processor cores comprising them), reads necessary data and software from a storage device such as memory, and performs arithmetic processing on said data in accordance with said software.

[0031] The work machine 40 is, for example, a crawler excavator (construction machine), and as shown in Figure 3, comprises a crawler-type lower traveling body 41 and an upper rotating body 42 that is rotatably mounted on the lower traveling body 41 via a slewing mechanism 43. A cab 42C (operator's cabin) is provided on the front left side of the upper rotating body 42. A work mechanism 44 is provided on the front center of the upper rotating body 42.

[0032] As shown in Figure 3, the working mechanism 44 includes a boom 441 that is pivotably mounted on the upper slewing body 42, an arm 443 that is rotatably connected to the tip of the boom 441, and a bucket 445 that is rotatably connected to the tip of the arm 443. The working mechanism 44 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446, which are retractable hydraulic cylinders.

[0033] The boom cylinder 442 is interposed between the boom 441 and the upper slewing body 42 so as to extend and retract when supplied with hydraulic fluid, causing the boom 441 to rotate in the luffing direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to extend and retract when supplied with hydraulic fluid, causing the arm 443 to rotate around a horizontal axis relative to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to extend and retract when supplied with hydraulic fluid, causing the bucket 445 to rotate around a horizontal axis relative to the arm 443.

[0034] The actual machine input interface 410 comprises an actual machine operation mechanism 411 and an actual machine imaging device 412. The actual machine operation mechanism 411 is equipped with a plurality of operating levers arranged around a seat located inside the cab 42C, similar to the remote control mechanism 211. A drive mechanism or robot is provided in the cab 42C that receives signals corresponding to the operation of the remote control levers and moves the actual machine operation levers based on the received signals. The actual machine imaging device 412 is installed, for example, inside the cab 42C and images the environment, including at least a part of the work mechanism 44, through the front window and left and right side windows. Some or all of the front window and side windows may be omitted.

[0035] The local terminal 225 displays various screens on its display surface based on signals from the remote control device 200. The local terminal 225 may also function as a remote input interface 210 that outputs a signal to the controller 231 when touched by an operator.

[0036] The actual machine communication device 424 is a device that enables network communication of the work machine 40 and communicates with the remote control device 20 via the network.

[0037] The actual machine battery 450 supplies power to the equipment mounted on the work machine 40, such as the actual machine control device 400, the actual machine electrical equipment 460, and the actual machine communication equipment 424. The actual machine battery 450 is composed of, for example, a rechargeable secondary battery, and is charged by connecting a power supply cable from an external power source (e.g., commercial power) to the power supply port. Alternatively, the power supply may be configured to supply power to the equipment mounted on the work machine 40 from an external power source instead of the actual machine battery 450.

[0038] The first switching mechanism 451 switches the first power supply path L1 from the OFF state to the ON state to enable control of the operation of the aircraft's electrical equipment 460 in response to either an operation (e.g., remote operation) performed by an onboard operator in the cab 42C or an operation (e.g., remote operation) performed by a remote operator of the remote control device 20. The ON / OFF switching operation of the first switching mechanism 451 is controlled by the aircraft control device 400 based on a switching instruction transmitted from the remote control device 20, for example.

[0039] The second switching mechanism 452 switches the second power supply path L2 from the OFF state to the ON state, which enables the operation control of the machine's electrical equipment 460 in accordance with the other operation (for example, machine operation) among "machine operation" and "remote operation". In this embodiment, the second switching mechanism 452 is a key switch for starting the engine of the work machine 40, and the ON / OFF switching operation of the key switch is performed by the operator riding in the cab 42C inserting a key into the socket of the key switch and rotating it, which acts as the ON / OFF switching operation of the second switching mechanism 452. The ON / OFF switching operation of the second switching mechanism 452 may also be controlled by the machine control device 400 based on switching instructions transmitted or input from the machine input interface 410 by the operator riding in the cab 42C, and for example, a switch that can instruct the starting and stopping of the engine of the work machine 40 may be used.

[0040] The integrated switching mechanism 454 switches the active power supply path that supplies power from the actual battery 450 to the actual electrical equipment 460 between the first power supply path L1 and the second power supply path L2. The ON / OFF switching operation of the integrated switching mechanism 454 is controlled by the actual device control unit 400 in response to switching instructions input, for example, through the remote input interface 210 and transmitted from the remote control device 20, and / or switching instructions transmitted or input from the actual device input interface 410. When the integrated switching mechanism 454 is not controlled by the actual device control unit 400, it is configured to use the second power supply path L2 as the active power supply path.

[0041] The remote switching mechanism 456 is configured to allow switching between an ON state, where remote operation is permitted, and an OFF state, where remote operation is prohibited, by manual operation by an operator on board the cab 42C. When the remote switching mechanism 456 is switched to the ON state, power is supplied from the aircraft battery 450 to the aircraft control device 400 via the third power supply circuit power L3. When the remote switching mechanism 456 is switched to the OFF state, power is no longer supplied from the aircraft battery 450 to the aircraft control device 400 via the third power supply circuit power L3.

[0042] The power self-holding mechanism 458 maintains a state in which the power necessary to perform the functions required for remote control is supplied from the actual device battery 450 to the actual device control device 400 (operation state switching device). Specifically, when the actual device control device 400 is supplied with power from the actual device battery 450 via the third power supply circuit power L3, the actual device control device 400 switches the power self-holding mechanism 458 from the OFF state to the ON state so that power is supplied from the actual device battery 450 via the fourth power supply circuit power L4. Furthermore, when it is no longer necessary to perform the functions required for remote control, the actual device control device 400 switches the power self-holding mechanism 458 from the ON state to the OFF state.

[0043] The actual electrical equipment 460 includes electrical components such as a controller that controls the prime mover (engine, electric motor, etc.) that drives the pump that supplies hydraulic fluid to each actuator, and a controller that controls the control valve that changes the direction and flow rate of the hydraulic fluid supplied from the pump to each actuator.

[0044] (function) The function of the operation state switching device (actual machine control device 400) with the above configuration will be explained using the flowcharts shown in Figures 4 and 5. The actual machine control device 400 detects the state of each switching mechanism, etc., based on communication with each switching mechanism, etc.

[0045] First, the remote switching mechanism 456 is switched to the ON state by manual operation by the onboard operator in cab 42C, and power is supplied to the aircraft control device 400 from the aircraft battery 450 via the third power supply circuit power L3. This starts up the aircraft control device 400 (Figure 4 / START). After startup, the aircraft control device 400 switches the power supply self-holding mechanism 458 from the OFF state to the ON state so that power is supplied from the aircraft battery 450 via the fourth power supply circuit power L4.

[0046] When the work machine 40 is to be "remotely controlled" by a remote operator of the remote control device 20, the onboard operator keeps the remote switching mechanism 456 in the ON state and disembarks from the cab 42C. Next, the remote operator of the remote control device 20, which has established communication with the work machine 40, switches the first switching mechanism 452 from the OFF state to the ON state in order to supply power to the electrical components of the work machine 40, such as the controller. The actual machine control device 400, provided that the remote switching mechanism 456 is in the ON state and that the operation to turn the first switching mechanism 452 to the ON state has been performed, switches the first switching mechanism 452 to the ON state and switches the effective power supply path of the actual machine general switching mechanism 454 to the first power supply path L1. As a result, power is supplied from the actual machine battery 450 to the actual machine electrical equipment 460 via the first power supply path L1, and the work machine 40 becomes "remotely controlled". On the other hand, when the work machine 40 is to be "operated by an onboard operator" from the cab 42C, the onboard operator switches the remote switching mechanism 456 to the OFF state. The machine control device 400 recognizes that the remote switching mechanism 456 is in the OFF state and switches the active power supply path of the machine general switching mechanism 454 to the second power supply path L2. In this state, when the onboard operator switches the second switching mechanism 452 from the OFF state to the ON state in order to supply power to the electrical equipment of the work machine 40, the second switching mechanism 452 becomes ON, and power is supplied from the machine battery 450 to the machine electrical equipment 460 via the second power supply path L2, and the work machine 40 becomes ready for "operation by an onboard operator".

[0047] The integrated switching mechanism 454 determines whether the active power supply path has been switched to the first power supply path L1 or the second power supply path L2 (Figure 4 / STEP102).

[0048] If the machine's integrated switching mechanism 454 determines that the active power supply path has been switched to the first power supply path L1 (Figure 4 / STEP102...1), it is determined whether the remote switching mechanism 456 is in the OFF state or not (Figure 4 / STEP120). That is, in a state where the work machine 40 is "remotely operated" and the active power supply path is the first power supply path L1, it is determined whether the remote switching mechanism 456 remains in the ON state so that the state of the work machine 40 being "remotely operated" continues, or whether the remote switching mechanism 456 has been switched from the ON state to the OFF state by the operator on board in order to switch the work machine 40 to a state of "actual machine operation".

[0049] If it is determined that the remote switching mechanism 456 is in the ON state (Figure 4 / STEP120...NO), the process returns to the determination of the active power supply path (Figure 4 / STEP102). In this case, the state in which the work machine 40 is "remotely controlled" continues.

[0050] On the other hand, if it is determined that the remote switching mechanism 456 is in the OFF state (Figure 4 / STEP120...YES), it is determined whether or not the second switching mechanism 452 is in the OFF state (Figure 4 / STEP122). That is, if it is determined that the remote switching mechanism 456 has been switched to the OFF state in order to switch the work machine 40 to a state in which the operator can "actually operate the machine", it is further determined whether the operator has switched the second switching mechanism 452 from the OFF state to the ON state, or whether the second switching mechanism 452 is being kept in the OFF state.

[0051] If it is determined that the second switching mechanism 452 is in the OFF state (Figure 4 / STEP122...NO), the process returns to determining the active power supply path (Figure 4 / STEP102). In this case, the remote switching mechanism 456 has been switched to the OFF state by the onboard operator (Figure 4 / STEP120...YES), but the second switching mechanism 452 has not been switched from the OFF state to the ON state.

[0052] If the second switching mechanism 452 is determined to be in the ON state (Figure 4 / STEP122...YES), it is determined whether or not a communication problem has occurred in the actual wireless communication device 424 (Figure 4 / STEP124). In other words, when the second switching mechanism 452 is switched from the OFF state to the ON state by the onboard operator, it is determined whether or not a communication problem has occurred in the actual wireless communication device 424. If a communication problem has occurred in the actual wireless communication device 424, the communication error flag f is set to "1", and if there is no communication problem, the communication error flag f is set to something other than "1", for example, "0". A communication problem in the actual wireless communication device 424 is, for example, when the communication speed with the work machine 40 decreases or when communication is interrupted, the communication error flag f is set to "1".

[0053] If the communication error flag f is determined to be "0" (Figure 4 / STEP124...NO), it is determined via the machine input interface 410 whether the remote operator has authenticated the operation state switch (Figure 4 / STEP126). This process obtains the remote operator's authentication for switching the work machine 40 from a "remotely controlled" state to a "manual machine operation" state, and prevents the remote operator from unexpectedly ending the "remote control" of the work machine 40. If it is determined that the authentication has been performed (Figure 4 / STEP126...YES), the active power supply path is switched from the first power supply path L1 to the second power supply path L2 by the machine overall switching mechanism 454 (Figure 4 / STEP128). After that, the process returns to the active power supply path determination process (Figure 4 / STEP102). The work machine 40 is then switched from a "remotely controlled" state to a "manual machine operation" state. If it is determined that the authentication has not been performed (Figure 4 / STEP126...NO), the switching of the active power supply path by the actual machine's integrated switching mechanism 454 is not performed, and the process returns to the active power supply path determination process (Figure 4 / STEP102).

[0054] If the communication error flag f is determined to be "1" (Figure 4 / STEP124...YES), the active power supply path is switched from the first power supply path L1 to the second power supply path L2 by the actual machine's integrated switching mechanism 454 (Figure 4 / STEP128). This process is performed because a communication failure has occurred in the actual machine's wireless communication device 424, and the remote operator cannot perform "remote control" of the work machine 40. Therefore, the system considers that authentication for switching the operation state (Figure 4 / STEP126) has been performed and executes the switching of the active power supply path by the integrated switching mechanism 454. For example, if a communication failure occurs in the middle of "remote control" of the work machine 40 using the remote control device 20 by a remote operator, the "remote control" cannot be continued. In such cases, the operator can quickly switch the work machine 40 from a "remotely controlled" state to a "hand-operated" state by boarding the work machine 40, switching the remote switching mechanism 456 to the OFF state, and switching the second switching mechanism 452 from the OFF state to the ON state.

[0055] If the machine's integrated switching mechanism 454 determines that the active power supply path has been switched to the second power supply path L2 (Figure 4 / STEP102...2), it is determined whether the state in which the communication error flag f is "1" has continued for the first specified period T1 (Figure 4 / STEP110). In other words, when the work machine 40 is "operated on board" and the active power supply path is the first power supply path L2, it is determined whether or not a communication failure has occurred in the machine's wireless communication device 424.

[0056] If it is determined that the communication error flag f has remained at "1" for the first specified period T1 (Figure 4 / STEP110...YES), the power supply to the machine control device 400 by the power self-holding mechanism 458, which is necessary for remote operation, is cut off (Figure 5 / STEP130). This process stops the function for performing "remote operation" of the work machine 40 when a communication failure occurs in the machine wireless communication device 424. The work machine 40 is in a state where it is "operated by onboarding," but power is supplied to the machine control device 400 by the power self-holding mechanism 458 in order to provide the function to switch it to a state where it is "remotely operated." Since the work machine 40 is being "operated by an onboard operator," there is no problem even if a short-term communication failure occurs in the onboard wireless communication equipment 424. However, if the communication failure does not recover and continues for the first designated period T1, the work machine 40 cannot be "remotely operated." In this case, the power supply to the onboard control device 400 is cut off by switching the power self-holding mechanism 458 from the ON state to the OFF state. Even after the power supply to the onboard control device 400 is cut off, power is supplied to the onboard electrical equipment 460 via the second power supply path L2, which is designated as an effective power supply path by the onboard comprehensive switching mechanism 454, so the state in which the work machine 40 is "operated by an onboard operator" can continue. In this case, after the onboard operator has taken measures such as "operating the work machine 40 by an onboard operator" to move it to a location with good communication conditions, the remote switching mechanism 456 can be turned ON to prevent a communication failure from occurring in the onboard wireless communication equipment 424.

[0057] If it is determined that the state in which the communication error flag f is "1" has not continued for the first specified period T1 (Figure 4 / STEP110...NO), it is determined whether the second switching mechanism 452 is in the OFF state or not (Figure 5 / STEP112). In other words, if there is no communication condition failure in the actual wireless communication device 424, it is determined whether the second switching mechanism 452 is in the ON state or the OFF state.

[0058] If it is determined that the second switching mechanism 452 is in the ON state (Figure 5 / STEP112...NO), the process returns to the determination of the effective power supply path (Figure 4 / STEP102). In this case, the state in which the work machine 40 is "operated by actual machine riders" continues.

[0059] If it is determined that the second switching mechanism 452 is in the OFF state (Figure 5 / STEP 112...YES), it is determined whether or not the remote switching mechanism 456 is in the OFF state (Figure 5 / STEP 114). In this case, since the second switching mechanism 452 is in the OFF state, power is not supplied to the actual electrical equipment 460 and the pumps, etc., are not driven, so the work machine 40 is in a stopped state. When the work machine 40 is in a stopped state while being operated by an onboard operator, it is assumed that the work performed by the onboard operator of the work machine 40 has been interrupted or terminated, and that it will be switched to a state of remote operation. Therefore, by determining whether or not the remote switching mechanism 456 is in the OFF state, it is determined whether or not to switch to a state of remote operation.

[0060] If the remote switching mechanism 456 is determined to be in the OFF state (Figure 5 / STEP 114...YES), the operation of the actual machine's electrical equipment 460 is turned OFF or stopped (Figure 5 / STEP 115), and the power supply to the actual machine control device 400 by the power self-holding mechanism 458, which is necessary for remote operation, is cut off (Figure 5 / STEP 130). This process is performed because the remote switching mechanism 456 is in the OFF state and it is expected that the work machine 40 will not be "remotely operated" for some time, so the power supply to the actual machine control device 400 is stopped. In order to return the work machine 40 to a state where it can be "remotely operated", the operator on board should switch the remote switching mechanism 456 to the ON state.

[0061] If it is determined that the remote switching mechanism 456 is in the ON state (Figure 5 / STEP114...NO), it is determined whether or not the first switching mechanism 451 is in the OFF state (Figure 5 / STEP116). In other words, if the remote switching mechanism 456 is in the ON state and there is a possibility that the work machine 40 will be "remotely operated", it is determined whether or not the first switching mechanism 451, which is operated by a remote operator, is in the OFF state.

[0062] If it is determined that the first switching mechanism 451 is in the OFF state (Figure 5 / STEP116...YES), it is determined whether the situation in which the remote switching mechanism 456 is in the ON state and the first switching mechanism 451 is in the OFF state has continued for the second specified time T2 (Figure 5 / STEP117). That is, it is determined whether the situation in which the first switching mechanism 451, which is operated by the remote operator, is in the OFF state has continued for the second specified time T2 since the remote switching mechanism 456 was in the ON state and the possibility of the work machine 40 being "remotely operated" arose. If it is determined that this situation has continued for the second specified time T2 (Figure 5 / STEP117...YES), the power supply necessary for remote operation to the actual machine control device 400 by the power self-holding mechanism 458 is cut off (Figure 5 / STEP130). In this case, even after the second specified time T2 has elapsed, the first switching mechanism 451 remains in the OFF state, and the possibility of the work machine 40 being "remotely operated" by a remote operator is low, so the power supply to the actual machine control device 400 is stopped. If it is determined that this situation has not continued for the second specified time T2 (Figure 5 / STEP117...NO), the process returns to the determination of the effective power supply path (Figure 4 / STEP102).

[0063] If the first switching mechanism 451 is determined to be in the ON state (Figure 5 / STEP116...NO), the active power supply path is switched from the second power supply path L2 to the first power supply path L1 by the actual machine comprehensive switching mechanism 454 (Figure 5 / STEP118). Then, "remote operation" of the work machine 40 using the remote control device 20 by a remote operator becomes possible. After that, the process returns to the determination of the active power supply path (Figure 4 / STEP102).

[0064] (Functionality in remote control mode) In the remote control device 20, the remote control device 200 transmits a request for confirmation of the actual machine environment to the work machine 40 via the remote communication device 224. When the work machine 40 receives the request for confirmation of the actual machine environment via the actual machine communication device 424, the actual machine control device 400 transmits environmental image data corresponding to the captured image (which may have undergone appropriate image processing) acquired via the actual machine imaging device 412 to the remote control device 20. When the remote control device 20 receives the environmental image data via the remote communication device 224, the remote control device 200 outputs an environmental image corresponding to the environmental image data to the remote image output device 221.

[0065] As a result, the remote image output device 221 outputs an environmental image that includes, for example, the ground in front of the cab 42C, as well as the boom 441 and arm 443, which are part of the work mechanism 44, and piles of rubble or soil (which are the target of work by the bucket 445) in the construction area.

[0066] In the remote control device 20, the remote control device 200 recognizes the operation mode of the remote control mechanism 211, and a remote control command corresponding to that operation mode is transmitted to the work machine 40 via the remote communication device 224. In the work machine 40, when the actual machine control device 400 receives an operation command via the actual machine communication device 422, the operation of the work mechanism 44, etc. is controlled. For example, the bucket 445 is used to excavate and scoop up soil in the construction area in front of the work machine 40, the upper rotating body 42 is rotated, and the soil is dropped from the bucket 445 outside the construction area.

[0067] (Effects and Benefits) According to the operating state switching device (actual machine control device 400) that performs the above function, the active power supply path is switched from the first power supply path L1 to the second power supply path L2, provided that the first power supply path L1 is in the active power supply path state and the second power supply path L2 is in the ON state (the second switching mechanism 452 is in the ON state) (see Figure 4 / STEP102...1 → ...STEP122...YES → ... →STEP128). Similarly, the active power supply path is switched from the second power supply path L2 to the first power supply path L1, provided that the second power supply path L2 is in the active power supply path state and the first power supply path L1 is in the ON state (the first switching mechanism 451 is in the ON state) (see Figure 4 / STEP102...2 → ...Figure 5 / STEP116...NO → ... →STEP118).

[0068] This prevents a situation where the active power supply path switches from the first power supply path L1 to the second power supply path L2 when the second power supply path L2 is OFF and power cannot be supplied from the actual battery 450 (power source) to the actual electrical equipment 460. Similarly, it prevents a situation where the active power supply path switches from the second power supply path L2 to the first power supply path L1 when the first power supply path L1 is OFF and power cannot be supplied from the actual battery 450 (power source) to the actual electrical equipment 460.

[0069] As a result, the power supply to the actual electrical equipment 460, such as the prime mover, is cut off, and the operation of the actual electrical equipment 460 is prevented from stopping unexpectedly by the operator. Therefore, the consistency between the operating state of the work machine 40 intended by the operator (remote control state or on-board operation state) and the actual operating state of the work machine 40 (remote control state or on-board operation state) is improved.

[0070] (Other embodiments of the present invention) In the above embodiment, the operation state switching device was configured by the actual machine control device 400 of the work machine 40. However, in other embodiments, the operation state switching device 10 may be configured by the remote control device 200 which constitutes the remote control device 20, or by a computer or external device that can communicate with the remote control device 20 and the work machine 40.

[0071] The ON / OFF determination process for the remote switching mechanism 456 may be omitted (see Figures 4 / STEP120 and 5 / STEP114). In this case, the remote switching mechanism 456 may be omitted in the work machine 40. The determination process for the communication error flag f may be omitted (see Figures 4 / STEP124 and 4 / STEP110). The actual machine authentication process may be omitted (see Figure 4 / STEP126). The determination process for whether the situation in which the remote switching mechanism 456 is in the ON state and the first switching mechanism 451 is in the OFF state has continued for the second specified time T2 may be omitted (see Figure 5 / STEP117).

[0072] Conditional on the remote input interface 210 and / or the remote input interface 210 having received an instruction to end the operation of the work machine, an instruction to switch the active power supply path between the first power supply path L1 and the second power supply path L2 may be output to the machine overall switching mechanism 454.

[0073] According to the operation state switching device of this configuration, when the work machine 40 is being remotely controlled by the remote control device 20 (for example, when the first power supply path L1 is switched to the active power supply path), if the remote operator inputs an instruction to end operation of the work machine 40 (remote operation termination instruction) via the machine input interface 410 and / or the onboard operator inputs an instruction to end operation of the work machine 40 via the remote input interface 210, the work machine 40 is switched to a state of "onboard operation". Similarly, when the work machine 40 is being operated by an onboard operator (for example, when the second power supply path L2 is switched to the active power supply path), if the remote operator inputs an instruction to end operation of the work machine 40 (onboard operation termination instruction) via the machine input interface 410 and / or the onboard operator inputs an instruction to end operation of the work machine 40 via the remote input interface 210, the work machine 40 is switched to a state of "remote control". Therefore, the consistency between the operation state of the work machine 40 intended by the remote operator and / or the onboard operator and the actual operation state of the work machine 40 is improved.

[0074] The work machine 40 may be equipped with a device that indicates whether it is operated by "onboard operation" or "remote control." For example, the display surface of the display device mounted on the cab 42C can show whether the operation status of the work machine 40 is "onboard operation" or "remote control." Alternatively, the hand terminal 225 or the remote image output device 221 of the remote control device 20 can also show whether the operation status of the work machine 40 is "onboard operation" or "remote control." The remote control device 20 may also be equipped with an audio device that outputs sound indicating the operation status of the work machine 40. [Explanation of symbols]

[0075] 20. Remote control device 200... Remote control device 210... Remote input interface 211... Remote control mechanism 220... Remote output interface 221... Remote image output device 222... Remote Acoustic Output Device 224... Remote wireless communication equipment 40...Working machinery 41. Lower running body 42. Upper rotating body 42C... Cab (driver's cabin) 44‥Working mechanism 445... Bucket 400... Actual machine control device (operation state switching device) 410... Actual device input interface 420... Actual device output interface 450... Actual device battery (power supply) 451...First switching mechanism 452...Second switching mechanism 454... General switching mechanism 460... Actual electrical equipment L1...First power supply path L2... Second power supply route.

Claims

1. Power supply and Electrical equipment including prime movers, A first switching mechanism that switches a first power supply path from an OFF state to an ON state, enabling control of the operation of the electrical equipment in response to either onboard operation or remote operation via a remote control device, A second switching mechanism that switches a second power supply path from an OFF state to an ON state, enabling control of the operation of the electrical equipment in response to the other operation between onboard operation and remote operation via the remote control device, A comprehensive switching mechanism that switches the effective power supply path from the power source to the electrical equipment between the first power supply path and the second power supply path, Targeting the work machines installed, Provided that the second power supply path is in the ON state, the system outputs a switching instruction to the integrated switching mechanism for the active power supply path from the first power supply path to the second power supply path. Operation state switching device.

2. In the operating state switching device of claim 1, The system outputs a switching instruction to the integrated switching mechanism for the active power supply path between the first power supply path and the second power supply path, which is input through the input interface by at least one of the operator on board the work machine and the operator of the remote control device. Operation state switching device.

3. In the operating state switching device of claim 1 In response to the ON and OFF operations performed by the operator via the remote control device, the first switching mechanism outputs instructions to control the first power supply path to the ON state and the OFF state, respectively. Depending on the ON and OFF operations performed by the operator riding the aforementioned work machine, the second power supply path is instructed to be controlled to the ON state and the OFF state, respectively, by the second switching mechanism. Operation state switching device.

4. In the operating state switching device of claim 2, Conditional on the input interface receiving an instruction to terminate the operation of the work machine, the system outputs an instruction to the integrated switching mechanism to switch between the first power supply path and the second power supply path. Operation state switching device.

5. In the operating state switching device of claim 3, If the first power supply path is the active power supply path, and the communication between the work machine and the remote control device is poor, then, provided that the second power supply path is in the ON state, the system outputs a switching instruction to the integrated switching mechanism for the active power supply path from the first power supply path to the second power supply path. Operation state switching device.

6. Power supply and Electrical equipment including prime movers, A first switching mechanism that switches a first power supply path from an OFF state to an ON state, enabling control of the operation of the electrical equipment in response to either onboard operation or remote operation via a remote control device, A second switching mechanism that switches a second power supply path from an OFF state to an ON state, enabling control of the operation of the electrical equipment in response to the other operation between onboard operation and remote operation via the remote control device, A comprehensive switching mechanism that switches the effective power supply path from the power source to the electrical equipment between the first power supply path and the second power supply path, Targeting the work machines installed, If the communication between the work machine and the remote control device is poor while the first power supply path is the active power supply path, the system maintains a standby state, waiting for the active power supply path to switch from the first power supply path to the second power supply path. Operation state switching device.

7. Power supply and Electrical equipment including prime movers, A first switching mechanism that switches a first power supply path from an OFF state to an ON state, enabling control of the operation of the electrical equipment in response to either onboard operation or remote operation via a remote control device, A second switching mechanism that switches a second power supply path from an OFF state to an ON state, enabling control of the operation of the electrical equipment in response to the other operation between onboard operation and remote operation via the remote control device, A comprehensive switching mechanism that switches the effective power supply path from the power source to the electrical equipment between the first power supply path and the second power supply path, An operating state switching device according to any one of claims 1 to 6, It is equipped with Agricultural machinery.

8. The work machine according to claim 7, The remote control device and, It is composed of Operation state switching system.

9. The system comprises the operating state switching device described in any one of claims 1 to 6, the work machine, and the remote control device. The operation state switching device is comprised of equipment having a communication function via a communication network with the work machine and the remote control device, respectively. Operation state switching system.

Images