Remote control system for industrial machinery

Abstract

To allow remote operators to easily identify the factors causing the engine to fail to start. [Solution] In a remote control system for a work machine, comprising a control device for controlling the prime mover of the work machine and a remote control device connected to the control device via communication, wherein the control device is set to either an onboard operation mode or a remote control mode, the control device starts the prime mover in conjunction with the power being turned on of the remote control device when the operation mode is set to remote control mode and the conditions for starting the prime mover are met, and when the operation mode is set to onboard operation mode, or when the conditions for starting the prime mover are not met when the operation mode is set to remote control mode, the control device maintains the stopped state of the prime mover even when the power is turned on of the remote control device, and notifies the remote control device of the reason why the prime mover remained stopped (M1).

Description

[Technical Field]

[0001] The present invention relates to a remote control system for working machines. [Background Art]

[0002] In recent years, technology for remotely controlling working machines (remote control systems) has been known. For example, Patent Document 1 describes a configuration that starts / stops an engine in conjunction with turning on / off the power supply of a wireless operating device. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2007-230696 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] When engine start conditions are not satisfied on the working machine side (when engine start is not permitted), the engine will not start even if the operator turns on the power of the wireless operating device. In this case, with the conventional technology described in Patent Document 1, since the operator operates the wireless operating device at a position away from the working machine, it is difficult to immediately know the factor that prevents the engine from starting.

[0005] Furthermore, a known remote control system of this type includes a configuration in which a mode switching device installed on the work machine switches between an onboard operation mode, in which the operator operates the work machine while on board, and a remote control mode, in which the operator operates the work machine remotely. By switching the operation mode, the operator can operate the work machine in either the onboard operation mode or the remote control mode. In this case, if the operation mode is not switched correctly, the engine may not be able to be started remotely (for example, if the engine is instructed to be started remotely when the machine is set to onboard operation mode and remote operation reception is disabled). Even in such cases, according to Patent Document 1, the operator cannot know from a distance from the work machine that the engine is not starting due to an improper setting of the operation mode.

[0006] Thus, in the prior art described in Patent Document 1, when the engine (prime mover) fails to start during remote operation of the work machine, it is difficult to determine whether the cause is due to the condition of the work machine or an error in the setting of the operation mode.

[0007] The object of the present invention is to provide a remote control system for a work machine that allows the remote operator to easily identify the factors related to the failure of the prime mover to start when the work machine is being remotely operated. [Means for solving the problem]

[0008] To achieve the above objective, one aspect of the present invention provides a remote control system for a work machine, comprising: a control device for controlling the prime mover of the work machine; and a remote control device connected to the control device via communication, wherein the control device sets the operation mode of the work machine to either an onboard operation mode operated by an operation device provided in the driver's cab of the work machine or a remote control mode operated by the remote control device, wherein the control device starts the prime mover in conjunction with the power being turned on of the remote control device when the operation mode is set to the remote control mode and the conditions for starting the prime mover are met, and maintains the stopped state of the prime mover even when the power is turned on of the remote control device when the operation mode is set to the onboard operation mode, or when the conditions for starting the prime mover are not met when the operation mode is set to the remote control mode, and notifies the remote control device of the reason for maintaining the stopped state of the prime mover. [Effects of the Invention]

[0009] According to the present invention, the factors related to the failure of the prime mover to start can be easily identified by a remote operator. Other problems, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0010] [Figure 1] This is an overall configuration diagram of the remote control system for a work machine according to the embodiment. [Figure 2] This diagram shows the hydraulic system and controller installed in a hydraulic excavator. [Figure 3] This is a diagram showing the configuration of a wireless control device. [Figure 4] This figure shows an example of the normal screen display of a wireless control device. [Figure 5] This is a flowchart showing the control procedure for a wireless control device. [Figure 6] This figure shows an example of a warning screen display for a wireless control device. [Modes for carrying out the invention]

[0011] Hereinafter, embodiments of the remote control system for work machinery according to the present invention will be described with reference to the drawings. In the following embodiments, a hydraulic excavator will be used as an example of work machinery, but the present invention is applicable to any work machinery.

[0012] Figure 1 is an overall configuration diagram of a remote control system 90 for a work machine according to an embodiment of the present invention. The remote control system 90 shown in Figure 1 comprises a control device 120 (vehicle controller 100, remote control controller 110) mounted on a hydraulic excavator 1, and a wireless control device (remote control device) 5 connected to the control device 120 via a communication line (network). The hydraulic excavator 1 is remotely controlled by an operator (remote operator) operating the wireless control device 5. In this embodiment, a wireless communication line is used, but a wired communication line may also be used.

[0013] Furthermore, for the sake of clarity, the front-to-back and up-and-down directions of the hydraulic excavator 1 are defined as shown in Figure 1. In other words, in this embodiment, unless otherwise specified, the front of the hydraulic excavator 1 is defined as the area in front of the operator's cab 7 (to the left in the figure).

[0014] (Hydraulic Excavator 1) The hydraulic excavator 1 comprises a body 4 and a work device 10 attached to the body 4. The body 4 comprises a traveling body 2 and a rotating body 3 that is rotatably mounted on the traveling body 2. The work device 10 is attached to the front of the rotating body 3. The traveling body 2 moves by driving a pair of left and right crawlers with a traveling motor 2a. The movement mechanism of the traveling body 2 is not limited to a crawler type. For example, it may also use tires.

[0015] The revolving superstructure 3 is driven by a revolving motor 3a, and rotates (revolves) relative to the traveling undercarriage 2. The revolving superstructure 3 includes a revolving frame 8, a driver's cab 7 provided on the front left side of the revolving frame 8, a counterweight 9 provided at the rear part of the revolving frame 8, and an engine compartment 6 provided behind the driver's cab 7 on the revolving frame 8.

[0016] Hydraulic equipment including an engine 80 serving as a prime mover, and a hydraulic pump (a main pump 31 and a pilot pump 32 shown in Fig. 2) driven by the engine 80 is mounted in the engine compartment 6. A working device 10 is rotatably connected to the center of the front part of the revolving frame 8. Note that, for example, a motor may be used as the prime mover instead of the engine 80.

[0017] The working device 10 is an articulated working device including a plurality of rotatably connected driven members and a plurality of hydraulic cylinders that drive the plurality of driven members. In the present embodiment, a boom 11, an arm 12, and a bucket 13 serving as three driven members are connected in series. A base end portion of the boom 11 is rotatably connected to the front part of the revolving frame 8 by a boom pin 11b. A base end portion of the arm 12 is rotatably connected to a distal end portion of the boom 11 by an arm pin 12b. The bucket 13 is rotatably connected to a distal end portion of the arm 12 by a bucket pin 13b.

[0018] The boom 11 is driven by a hydraulic cylinder serving as a hydraulic actuator (hereinafter also referred to as boom cylinder 11a), and rotates relative to the revolving frame 8. The arm 12 is driven by a hydraulic cylinder serving as a hydraulic actuator (hereinafter also referred to as arm cylinder 12a), and rotates relative to the boom 11. The bucket 13 is driven by a hydraulic cylinder serving as a hydraulic actuator (hereinafter also referred to as bucket cylinder 13a), and rotates relative to the arm 12.

[0019] An external notification horn 23, which is a notification device that issues a predetermined notification to the outside of the hydraulic excavator 1, is provided on the outer shell of the operator cab 7. The external notification horn 23 is a sound output device that notifies workers around the hydraulic excavator 1 by outputting sound.

[0020] An external notification light 22, which is a notification device that issues a predetermined notification to the outside of the hydraulic excavator 1, is provided on the outer periphery of the revolving superstructure 3. The external notification light 22 is provided on the left side surface, right side surface and rear surface of the revolving superstructure 3. The external notification light 22 is a light-emitting device that notifies workers around the hydraulic excavator 1 by emitting light. The external notification light 22 includes a plurality of light-emitting diodes (LEDs).

[0021] Further, the hydraulic excavator 1 includes a vehicle body controller 100, a remote operation controller 110, and a wireless receiver 20 that receives a wireless operation signal transmitted from a wireless operation device 5. The vehicle body controller 100 and the remote operation controller 110 constitute a control device 120 (see FIG. 2) that controls a hydraulic actuator based on a wireless operation signal from the wireless operation device 5.

[0022] A touch panel monitor 18 is provided at the front in the operator cab 7 (see FIG. 2). The touch panel monitor 18 is connected to the vehicle body controller 100, and displays various types of information such as operation information of the hydraulic excavator 1 based on a control signal from the vehicle body controller 100. Further, as will be described in detail later, an operation device 34, a gate lock lever device 60, and a mode changeover switch 51 are provided in the operator cab 7.

[0023] Next, the internal configuration of the hydraulic excavator 1 will be described.

[0024] FIG. 2 is a diagram showing a hydraulic system and a controller mounted on the hydraulic excavator 1. In the following description, the travel motor 2a, swing motor 3a, boom cylinder 11a, arm cylinder 12a, and bucket cylinder 13a mounted on the hydraulic excavator 1 are also collectively referred to as hydraulic actuators.

[0025] The hydraulic system 30 is equipped with multiple hydraulic actuators, but Figure 2 shows a representative example of a hydraulic cylinder 37 (for example, a boom cylinder 11a) for driving the driven member of the work device 10. Furthermore, an operating device 34 for operating the hydraulic actuator, and electromagnetic proportional valves 33a, 33b and a flow control valve 40 driven in response to the operation of this operating device 34 are provided for each of the multiple hydraulic actuators, but Figure 2 shows only a representative configuration for controlling one hydraulic actuator. In this embodiment, the operating device 34 is electrically operated, but it may also be a hydraulic pilot type.

[0026] The hydraulic system 30 includes a main pump 31 and a pilot pump 32, a hydraulic cylinder 37 driven by hydraulic fluid discharged from the main pump 31, a flow control valve 40 that controls the flow of hydraulic fluid from the main pump 31 to the hydraulic cylinder 37, and electromagnetic proportional valves 33a, 33b(33) that generate command pilot pressure to the pressure receiving sections 41a, 41b(41) of the flow control valve 40.

[0027] The main pump 31 and pilot pump 32 are connected to the engine 80 and driven by the engine 80 to discharge hydraulic fluid (pressurized oil). The main pump 31 is a variable displacement hydraulic pump, and the pilot pump 32 is a fixed displacement hydraulic pump. The engine 80 is the power source for the hydraulic excavator 1 and is composed of an internal combustion engine such as a diesel engine. The engine 80 is controlled by the engine controller 130.

[0028] The electromagnetic proportional valves 33a and 33b are pressure reducing valves that use the discharge pressure (hydraulic pressure) of the pilot pump 32, which is the pilot hydraulic power source, as the source pressure to generate a command pilot pressure to be output to the pressure receiving sections 41a and 41b of the flow control valve 40. The electromagnetic proportional valves 33a and 33b are controlled based on signals from the vehicle controller 100. The operating device 34 instructs the operation of the work device 10, the slewing body 3, and the traveling body 2 in response to operations by the operator, and has a tiltable operating lever (operating member) 34a and an operating sensor 34b that outputs a signal to the vehicle controller 100 according to the amount of operation (operating angle) of the operating lever 34a. The vehicle controller 100 controls the electromagnetic proportional valves 33a and 33b based on signals from the operating device 34.

[0029] When the command pilot pressure generated by the electromagnetic proportional valve 33a acts on the pressure receiving section 41a of the flow control valve 40, which is in the neutral position (N), the flow control valve 40 is driven in one direction, switching from the neutral position (N) to the first position (P1). As a result, the pressurized oil discharged from the main pump 31 is guided into the bottom chamber of the hydraulic cylinder 37 (boom cylinder 11a), and the hydraulic fluid is discharged from the rod chamber into the tank 39, causing the hydraulic cylinder 37 (boom cylinder 11a) to extend. Consequently, the driven member (boom 11) rotates in the first direction (upward).

[0030] When the command pilot pressure generated by the electromagnetic proportional valve 33b acts on the pressure receiving portion 41b of the flow control valve 40, which is located in the neutral position (N), the flow control valve 40 is driven to the other side, switching the flow control valve 40 from the neutral position (N) to the second position (P2). As a result, the pressurized oil discharged from the main pump 31 is guided into the rod chamber of the hydraulic cylinder 37 (boom cylinder 11a), and the hydraulic fluid is discharged from the bottom chamber into the tank 39, causing the hydraulic cylinder 37 (boom cylinder 11a) to contract. Consequently, the driven member (boom 11) rotates in the second direction (downward).

[0031] The hydraulic fluid discharged from the main pump 31 is supplied to the hydraulic cylinder 37 through the flow control valve 40, driving the work device 10. Although not shown in the diagram, the hydraulic fluid discharged from the main pump 31 is also supplied to the swing motor 3a and the travel motor 2a through the flow control valve, driving the swing body 3 and the travel body 2, respectively.

[0032] The gate lock lever device 60 includes a gate lock lever 60a and an operating position sensor 60b that detects the operating position of the gate lock lever 60a and outputs it to the vehicle controller 100. The pilot line between the pilot pump 32 and the electromagnetic proportional valve 33 is provided with an electromagnetic switching valve (hereinafter referred to as a shut-off valve) 36 that can be switched between an operating position that connects the pilot line 38 and an operating position that disconnects the pilot line 38, depending on the operating position of the gate lock lever 60a.

[0033] When the gate lock lever 60a is operated to the unlocked position (lowered position), the shut-off valve 36 is switched to the communication position. Therefore, when the gate lock lever 60a is in the unlocked position, the electromagnetic proportional valve 33 generates a command pilot pressure corresponding to the amount the operating lever 34a is operated, and the hydraulic actuator corresponding to the operated operating lever 34a operates. In other words, when the gate lock lever 60a is operated to the unlocked position (lowered position), the actuator operated by the operating device 34 becomes operational.

[0034] When the gate lock lever 60a is operated to the locked position (up position), the shut-off valve 36 is switched to the shut-off position. As a result, the pilot pressure to the solenoid proportional valve 33 is cut off, and operation by the operating lever 34a is disabled. In other words, when the gate lock lever 60a is operated to the locked position (up position), the actuator operated by the operating device 34 becomes inoperable.

[0035] The mode selector switch 51 is located inside the driver's cab 7 (see Figure 1). The mode selector switch 51 is a mode selector switch that switches the operating mode to either the onboard operation mode or the remote operation mode.

[0036] The mode selector switch 51 can be manually switched between the onboard operation position and the remote operation position. The onboard operation position is the position used to set the operation mode to onboard operation mode.

[0037] In boarding operation mode, the wired control signals for the hydraulic actuator from the control device 34 are enabled, while the wireless control signals for the hydraulic actuator from the wireless control device 5 are disabled. In other words, in boarding operation mode, the operation of the work device 10, the slewing body 3, and the traveling body 2 by the control device 34 is enabled, while the operation of the work device 10, the slewing body 3, and the traveling body 2 by the wireless control device 5 is disabled.

[0038] The remote control position is the operating position for setting the operation mode to remote control mode. In remote control mode, the wireless control signal for the hydraulic actuator from the wireless control device 5 becomes active, and the wired control signal for the hydraulic actuator from the control device 34 becomes inactive. In other words, in remote control mode, the operation of the work device 10, the slewing body 3, and the traveling body 2 by the wireless control device 5 becomes active, and the operation of the work device 10, the slewing body 3, and the traveling body 2 by the control device 34 becomes inactive.

[0039] When the mode selector switch 51 is operated to the boarding operation position, the vehicle controller 100 sets the normal mode, which is the boarding operation mode. In boarding operation mode, the vehicle controller 100 controls the operation of the hydraulic actuator in accordance with the operation of the operating device 34. In other words, when the operation mode is switched to boarding operation mode by the mode selector switch 51, the vehicle controller 100 controls the operation of the work device 10, the slewing body 3, and the traveling body 2 in accordance with the operation of the operating device 34.

[0040] When the mode switch 51 is switched from the onboard operation position to the remote operation position, power is turned on to the wireless receiver 20 and the remote control controller 110, and a mode switching signal is output from the remote control controller 110 to the vehicle controller 100. The vehicle controller 100 sets the remote operation mode while the mode switching signal is being output from the remote control controller 110. In other words, the vehicle controller 100 switches the operation mode to remote operation mode only while the mode switching signal is being input.

[0041] In remote control mode, when the wireless receiver 20 receives a wireless control signal transmitted from the wireless control device 5 via the antenna, the received control signal is output from the remote control controller 110 to the vehicle controller 100.

[0042] The vehicle controller 100 controls the operation of the hydraulic actuator in response to the operation of the wireless control device 5. In other words, when the operation mode is switched to remote control mode by the mode switching switch 51, the control device 120 controls the operation of the work device 10, the slewing body 3, and the traveling body 2 in response to the operation of the wireless control device 5.

[0043] (Wireless operation device 5) Figure 3 shows the configuration of the wireless control device 5. The wireless control device 5 is a remote control device that can remotely operate the hydraulic excavator 1. The wireless control device 5 comprises a plurality of remote control levers A1 to A4, a plurality of remote control switches A5, an emergency stop switch A6, a wireless communication device 52 for wireless communication with the hydraulic excavator 1, a terminal controller 54, and a display unit 55.

[0044] Remote control levers A1 and A2 are used to operate the work device 10 and the rotating body 3. Remote control levers A3 and A4 are used to operate the traveling body 2. Remote control switch A5 is a function switch used to turn the power ON / OFF, the work lights ON / OFF, and the horn output. In addition, the emergency stop switch A6 is a switch that, when pressed in an emergency, stops the engine and turns on the hydraulic lock, thereby stopping the operation of the vehicle body 4.

[0045] The terminal controller 54 functions as a terminal control device that controls the wireless communication device 52. The terminal controller 54 is a microcomputer equipped with a CPU (Central Processing Unit) as an operating circuit, volatile memory called RAM (Random Access Memory) as a storage device, non-volatile memory such as EEPROM (Electrically Erasable and Programmable Read Only Memory) and flash memory as storage devices, an input / output interface (I / O interface) (not shown), and other peripheral circuits. The terminal controller 54 transmits wireless operation signals (remote operation signals) such as remote operation levers A1 to A4 and remote operation switch A5 to the hydraulic excavator 1 via the wireless communication device 52.

[0046] The display unit 55 is a liquid crystal monitor that displays various information about the hydraulic excavator 1. Figure 4 shows an example of the normal display screen of the wireless control device 5. As shown in Figure 4, the display unit 55 of the wireless control device 5 displays vehicle information such as fuel level 55a, engine speed 55b, 55c, wireless communication status of the wireless communication device 52 55d, battery level 55e, menu buttons 55f, etc. In addition, as will be described in detail later, the display unit 55 also displays information about any problems that occur with starting the engine 80 (see Figure 6).

[0047] Next, the procedure for starting the engine using the wireless control device 5 will be explained.

[0048] When the hydraulic excavator 1 is in remote control mode, if the operator turns on the power switch A5 of the wireless control device 5, wireless communication is established between the wireless control device 5 and the wireless receiver 20, and the remote control controller 110 receives information from the wireless receiver 20 that wireless communication has been established. The remote control controller 110 obtains information from the vehicle controller 100 regarding the position of the gate lock lever 60a and whether or not there are system errors, and determines whether or not the engine can be started.

[0049] If the remote control controller 110 determines that the remote control mode is enabled and that engine starting is possible, it sends an engine start command to the vehicle controller 100 and starts the engine 80. In this embodiment, the engine 80 starting conditions include at least one of the following conditions (1) to (4). Of course, all conditions may also be used as starting conditions. (1) The gate lock lever 60a, which is used to disable all operations of the hydraulic excavator 1, is in the locked position. (2) There are no system errors in the vehicle controller 100 that controls the hydraulic excavator 1. (3) No operation commands for the hydraulic excavator 1 have been generated from the wireless control device 5. (4) No operation commands for the hydraulic excavator 1 have been generated by the vehicle controller 100 (no operation commands have been generated from the operating device 34).

[0050] On the other hand, if the remote control controller 110 determines that the engine cannot be started, it sends a command to the wireless control device 5 via the wireless receiver 20, and the wireless control device 5 issues a notification.

[0051] Next, the procedure for stopping the engine using the wireless control device 5 will be explained.

[0052] When the operator turns off the power switch A5 of the wireless control device 5 while the hydraulic excavator 1's engine is running, wireless communication between the wireless control device 5 and the wireless receiver 20 is interrupted, and the remote control controller 110 receives information from the wireless receiver 20 that wireless communication has been interrupted. The remote control controller 110 sends an engine stop command to the vehicle controller 100, and stops the engine 80.

[0053] In the above explanation, the conditions for starting / stopping the engine from the wireless control device 5 are the establishment / disconnection of wireless communication between the wireless control device 5 and the wireless receiver 20, but it is also possible to send an engine start / stop command from the wireless control device 5. In addition, while notification of the inability to start the engine 80 is given by notification from the wireless control device 5, it is also possible to provide notification using an external notification light 22 or an external notification horn 23.

[0054] Next, the control procedure for the wireless control device 5 will be described. Figure 5 is a flowchart showing the control procedure for the wireless control device 5.

[0055] As shown in Figure 5, when the hydraulic excavator 1 becomes operational via remote control (remote control mode is enabled), the terminal controller 54 executes the remote control program as control routine S1. In S2, the terminal controller 54 determines whether the power switch A5 of the wireless control device 5 is ON or OFF. If it is ON, the process proceeds to S3; otherwise, S2 is repeated. In S3, the terminal controller 54 determines whether the engine can be started. If it can, the engine is started in S4. In S5, the terminal controller 54 determines whether the power to the wireless control device 5 is OFF or OFF. If it is OFF, the engine is stopped (S6). Then, the process returns to S2.

[0056] On the other hand, if the engine cannot be started in S3, the terminal controller 54 notifies the operator of the engine starting trouble in S7. After a predetermined time has elapsed, or if the operator turns off the power switch A5 of the wireless control device 5, the power to the wireless control device 5 is turned off (S8). Then the process returns to S2. Note that even if the boarding operation mode is enabled and the power to the wireless control device 5 is turned on, the engine 80 will not be started, and the same notification as in S7 will be executed.

[0057] Next, we will describe a specific example of a notification regarding engine starting problems that occurs in S7. Figure 6 shows an example of the warning screen displayed on the wireless control device 5.

[0058] As shown in Figure 6, if a problem occurs in which the engine 80 fails to start, information that identifies the cause of the problem is displayed. Specifically, the display unit 55 displays message M1, "The engine cannot be started because the gate lock is not released." If the cause of the problem is due to the operating mode, the display unit 55 displays the message, "The engine cannot be started because it is set to boarding operation mode." Similarly, if the engine 80 fails to start due to other reasons, such as the starting conditions (2) to (4) described above, the display unit 55 will display a message that identifies the cause.

[0059] According to the embodiment described above, the following effects can be achieved.

[0060] By checking message M1 shown in Figure 6, the operator can understand the problem with engine 80 and take prompt action to address it. Furthermore, as mentioned above, the operator is also notified that the engine starting problem is due to a misconfiguration of the operating mode, allowing them to understand that the cause of the engine starting problem is related to the operating mode. In this case, the operator can resolve the engine starting problem quickly by switching the mode selector switch 51 in the driver's cab 7 to the remote control position.

[0061] Furthermore, the external notification light 22 notifies the outside of the hydraulic excavator 1 via the external notification horn 23 of any engine starting trouble, allowing workers in the vicinity of the hydraulic excavator 1 to specifically understand the cause of the trouble.

[0062] Furthermore, as shown in Figure 5, if a notification is issued that the engine will not start (S7), the system is configured so that the process does not return to S2 until the power to the wireless control device 5 is turned OFF. In other words, if a notification of trouble with engine starting is received, the operator cannot start the engine 80 unless the power to the wireless control device 5 is turned OFF. This has the advantage of preventing accidental malfunction of the hydraulic excavator 1. Also, if the power to the wireless control device 5 is turned OFF in S5, the engine 80 is automatically stopped (S6), similarly preventing accidental malfunction of the hydraulic excavator 1.

[0063] The present invention is not limited to the embodiments described above, and includes various modifications that do not depart from the spirit of the invention.

[0064] (Variation 1) In the embodiment described above, a portable wireless control device 5 was exemplified as the remote control device. However, instead of this configuration, for example, a control device fixed in a control room that allows remote operation of the hydraulic excavator 1 may be used.

[0065] (Modification 2) Furthermore, while the above-described embodiment uses messages as an example of notification methods, any method of notification is acceptable as long as it allows for the identification of the cause of the problem. For example, the system could be configured so that the sound or indicator light changes depending on the type of problem. Alternatively, the specific nature of the problem could be notified via voice.

[0066] (Variation 3) Furthermore, in the embodiment described above, the engine 80 automatically starts when the power switch A5 of the wireless control device 5 is turned ON, but a separate engine start switch may also be provided. In this case, the engine will start after the power switch A5 is turned ON, and then the engine start switch is turned ON.

[0067] In other words, the wireless control device 5 is equipped with a power switch A5 for switching the power on and off, and an engine start switch (prime mover start switch) for starting the engine (prime mover) 80 of the hydraulic excavator (working machine) 1. When the control device 120 receives notification from the wireless control device 5 (M1 / see Figure 6), it prevents the engine 80 from being started by the engine start switch until the power to the wireless control device 5 is turned off by the power switch A5. Even in this modified example 3, it goes without saying that the operator can understand the engine 80 trouble by checking the contents of the notification to the wireless control device 5 and take quick action to address the trouble. [Explanation of Symbols]

[0068] 1...Hydraulic excavator (working machine), 2...Traction body, 3...Slewing body, 5...Wireless control device (remote control device), 7...Operator's cab, 10...Working equipment, 20...Wireless receiver, 22...External notification light (notification device), 23...External notification horn (notification device), 34...Operation device, 51...Mode selector switch, 52...Wireless communication device, 54...Terminal controller, 55...Display unit, 60...Gate lock lever device, 60a...Gate lock lever, A1~A4...Remote control lever, A5...Power switch, A6...Emergency stop switch, 80...Engine (prime mover), 90...Remote control system, 100...Vehicle controller (control device), 110...Remote control controller (control device)

Claims

1. A control device for controlling the prime mover of a work machine, The control device and the remote control device are connected via communication. In a remote control system for a work machine, the control device sets the operating mode of the work machine to either an onboard operation mode operated by an operating device provided in the operator's cab of the work machine or a remote control mode operated by the remote control device, The control device is When the operation mode is set to the remote control mode, if the conditions for starting the prime mover are met, the prime mover is started in conjunction with the power being turned on to the remote control device. When the operation mode is set to the boarding operation mode, and when the operation mode is set to the remote operation mode and the starting conditions for the prime mover are not met, the prime mover will remain stopped even if the power supply of the remote control device is turned on, and the remote control device will be notified of the reason why the prime mover remained stopped. A remote control system for industrial machinery characterized by the following features.

2. In the remote control system for a work machine according to claim 1, When the control device makes the notification to the remote control device, it continues to keep the remote control device unable to start the prime mover until the power supply to the remote control device is turned off. A remote control system for industrial machinery characterized by the following features.

3. In the remote control system for a work machine according to claim 1, The remote control device is provided with a power switch for switching the power on and off, and a motor start switch for starting the motor of the work machine. When the control device has given the notification to the remote control device, it will prevent the start of the prime mover by the prime mover start switch until the power to the remote control device is turned off by the power switch. A remote control system for industrial machinery characterized by the following features.

4. In the remote control system for a work machine according to claim 1, The starting conditions for the aforementioned prime mover are: The gate lock lever provided on the aforementioned work machine, which is used to prohibit all operations of the said work machine, is in the locked position. There are no system errors in the aforementioned work machine. No operation commands for the work machine are generated from the remote control device. No operation commands for the work machine are generated from the operating device located in the operator's cab of the work machine. Including at least one of the following: A remote control system for industrial machinery characterized by the following features.

5. In the remote control system for a work machine according to claim 1, The aforementioned work machine is equipped with a notification device that provides a predetermined notification to the outside, A remote control system for industrial machinery characterized by the following features.

6. In the remote control system for a work machine according to claim 1, When the control device is set to the remote control mode and the prime mover is running, it stops the prime mover in conjunction with the power to the remote control device being turned off. A remote control system for industrial machinery characterized by the following features.

7. In the remote control system for a work machine according to claim 1, The factors that maintained the stopped state of the aforementioned prime mover were: The operation mode is set to the boarding operation mode, or With the aforementioned operation mode set to the aforementioned remote operation mode, at least one of the following (1) to (4) must be satisfied: (1) The gate lock lever provided on the work machine for prohibiting all operations of the work machine is not in the locked position. (2) A system error has occurred in the aforementioned work machine. (3) The remote control device generates an operation command for the work machine. (4) Operation commands for the work machine are generated from the operating device located in the operator's cab of the work machine. A remote control system for industrial machinery characterized by the following.

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