System and method for controlling work machine

Abstract

This system comprises a machine operation member, a lock operation member, a communication device, and a controller. When the lock operation member is at the lock position, the operation by the machine operation member is disabled. When the lock operation member is at the unlock position, the operation by the machine operation member is enabled. The controller is capable of executing an optional control function for the work machine. The controller receives, from an external server, information about the optional control function, including settings for enabling and disabling the optional control function. The controller determines whether the lock operation member is located at the lock position or the unlock position. When a setting of the optional control function is changed, the controller switches between enabling and disabling of the optional control function on the basis of the changed setting when the lock operation member is located at the lock position or when the lock operation member is switched from the lock position to the unlock position.

Description

Systems and methods for controlling a work machine

[0001] TECHNICAL FIELD The present disclosure relates to systems and methods for controlling a work machine.

[0002] Some construction machine control systems are capable of switching optional control functions between enabled and disabled depending on the content of the contract with the user. For example, in the construction machine control system of Patent Document 1, the user selects the content of the contract from Plan A, Plan B, and Plan C. Plan A allows the user to freely use the machine control function of the construction machine without additional charges. Plan B allows the user to use the machine control function by paying a fee according to the usage time. Plan C does not allow the use of the machine control function. The machine control function is, for example, a function for automatically controlling the construction machine.

[0003] The user inputs the contract details using a user terminal such as a personal computer. Contract information indicating the input contract details is sent from the user terminal to the server. The server sends the contract information to the controller of the work machine used by the user. The controller controls the work machine in accordance with the contract information. For example, if Plan A is selected, the controller enables the machine control function. The controller executes the machine control function in accordance with the operation by the operator of the work machine. If Plan B is selected, the controller enables the machine control function. The controller counts the usage time of the machine control function. The controller sends the usage time of the machine control function to the server. The server charges the user according to the usage time of the machine control function. If Plan C is selected, the controller disables the machine control function. As a result, the operator of the work machine cannot use the machine control function.

[0004] Japanese Patent Application Laid-Open No. 2023-180569

[0005] In a work machine control system such as that described above, the user may change the contract details. The controller switches the setting of the optional control function between enabled and disabled in accordance with the change in the contract details. For example, if the user switches the contract details from Plan B to Plan C, the work machine controller switches the machine control function from enabled to disabled. In this case, the behavior of the work machine may change while the operator is operating the work machine, potentially reducing operability. An object of the present disclosure is to suppress the reduction in operability caused by switching the setting of the optional control function.

[0006] A system according to one aspect of the present disclosure is a system for controlling a work machine, and includes a machine operation member, a lock operation member, a communication device, and a controller. The machine operation member is operable by an operator to operate the work machine. The lock operation member is operable by the operator to a locked position and an unlocked position. When the lock operation member is in the locked position, operation by the machine operation member is disabled. When the lock operation member is in the unlocked position, operation by the machine operation member is enabled. The communication device communicates with a server external to the work machine. The controller controls the work machine. The controller is capable of executing optional control functions of the work machine. The controller receives information about the optional control functions, including settings for enabling and disabling the optional control functions, from the external server. The controller determines whether the lock operation member is in the locked position or the unlocked position. When the setting of the optional control function is changed, the controller switches between enabling and disabling the optional control function based on the changed setting when the lock operation member is in the locked position or when it is switched from the locked position to the unlocked position.

[0007] A method according to another aspect of the present disclosure is a method for controlling a work machine, comprising receiving, from an external server, information on optional control functions of the work machine, including settings for enabling and disabling the optional control functions; determining whether a lock operation member is positioned in a locked position, which disables operation of the work machine by an operator, or an unlocked position, which enables operation of the work machine by the operator; and, if the setting of the optional control function is changed, switching between enabling and disabling the optional control function based on the changed setting when the lock operation member is positioned in the locked position or when it is switched from the locked position to the unlocked position.

[0008] According to the present disclosure, when the setting of an optional control function is changed, the optional control function is switched between enabled and disabled when the lock operation member is in the locked position or when it is switched from the locked position to the unlocked position. This prevents changes in the behavior of the work machine when the setting of the optional control function is changed. This prevents a decrease in operability due to switching of the setting of the optional control function.

[0009] It is a side view of a work machine according to an embodiment. It is a diagram showing the configuration of a control system for the work machine. It is a diagram showing an example of the operation of the work machine using an optional control function. It is a diagram showing processing for determining whether or not an optional control function can be used. It is a flowchart showing processing for switching between enabling and disabling an optional control function.

[0010] A work machine according to an embodiment will now be described with reference to the drawings. Figure 1 is a side view of a work machine 1. In this embodiment, the work machine 1 is an excavator such as a hydraulic excavator or an electric excavator.

[0011] As shown in FIG. 1 , the work machine 1 includes a vehicle body 2 and a work implement 3. The work implement 3 is operably attached to the vehicle body 2. The vehicle body 2 includes a rotating bed 4, a traveling device 5, and a power source 6. The rotating bed 4 is rotatably connected to the traveling device 5. The rotating bed 4 is rotatable around a rotation center C1. A cab 9 is disposed on the rotating bed 4. The rotating bed 4 includes a rotating device 7. The rotating device 7 includes, for example, a hydraulic motor. Alternatively, the rotating device 7 may include an electric motor. The rotating device 7 rotates the rotating bed 4.

[0012] The traveling device 5 includes tracks 8. Note that FIG. 1 shows only one of the left and right tracks. The traveling device 5 includes, for example, a hydraulic motor. Alternatively, the traveling device 5 may include an electric motor. The traveling device 5 drives the tracks 8 to cause the work machine 1 to travel. The power source 6 is mounted on the rotating body 4. The power source 6 drives the work implement 3, the rotating device 7, and the traveling device 5. The power source 6 includes, for example, an internal combustion engine. Alternatively, the power source 6 may include an electric motor.

[0013] The work implement 3 is attached to the rotating unit 4. The work implement 3 is attached to the rotating unit 4 so as to be movable up and down. The work implement 3 includes a boom 11, an arm 12, and a bucket 13. The boom 11 is rotatably attached to the rotating unit 4. The arm 12 is rotatably attached to the boom 11. The bucket 13 is rotatably attached to the arm 12.

[0014] The work implement 3 includes a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16. The boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 are, for example, hydraulic cylinders. The boom cylinder 14 operates the boom 11. The arm cylinder 15 operates the arm 12. The bucket cylinder 16 operates the bucket 13. These cylinders 14-16 are driven by hydraulic oil from a hydraulic pump (not shown) that is driven by the power source 6.

[0015] Figure 2 is a block diagram showing the configuration of the control system of the work machine 1. As shown in Figure 2, the control system of the work machine 1 includes a machine operation member 21, an input device 22, a lock operation member 23, and a start switch 24. The machine operation member 21, the lock operation member 23, the input device 22, and the start switch 24 are arranged inside the cab 9. The machine operation member 21 can be operated by an operator to operate the work machine 1. By operating the machine operation member 21, the operator controls the travel of the work machine 1, the operation of the work implement 3, and the rotation of the rotating body 4. The machine operation member 21 includes, for example, a lever, a pedal, or a switch. The machine operation member 21 outputs an operation signal in response to operation by the operator.

[0016] The input device 22 can be operated by an operator to instruct the execution of an optional control function, which will be described later. The input device 22 is, for example, a switch. However, the input device 22 may include other members, such as a lever or a touch screen. The operator instructs the execution of an optional control function by operating the input device 22. The input device 22 outputs an input signal in response to the operator's operation.

[0017] The start switch 24 can be operated by an operator to start the power source 6 and activate the control system. The start switch 24 can be operated to an ON position, an OFF position, and an ACC position. When the start switch 24 is in the ON position, the power source 6 is driven and the control system is activated. That is, when the start switch 24 is in the ON position, power is supplied to the control system. When the start switch 24 is in the OFF position, the power source 6 is stopped and the control system is shut down. That is, when the start switch 24 is in the OFF position, power supply to the control system is stopped. When the start switch 24 is in the ACC position, the power source 6 is stopped but the control system is activated.

[0018] The lock operation member 23 can be operated by an operator to lock the operation of the work machine 1. The lock operation member 23 is, for example, a lever. The lock operation member 23 may also be another member such as a switch. The lock operation member 23 can be operated between a locked position and an unlocked position. When the lock operation member 23 is in the locked position, operation by the machine operation member 21 is invalid. When the lock operation member 23 is in the unlocked position, operation by the machine operation member 21 is valid. The lock operation member 23 outputs a lock signal in response to operation of the lock operation member 23.

[0019] The control system of the work machine 1 comprises a communication device 25, a controller 26, and a display 29. The communication device 25 communicates with an external server 100. The server 100 manages the use of and billing for optional control functions of the work machine 1, which will be described later. The communication device 25 communicates with the server 100, for example, via a mobile communication network. The controller 26 controls the work machine 1. The controller 26 includes a first controller 27 and a second controller 28.

[0020] The first controller 27 includes a processor 31 such as a CPU, and a storage device 32. The processor 31 performs processing for controlling the work machine 1. The storage device 32 includes memory such as RAM or ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 32 stores data and programs for controlling the work machine 1. The first controller 27 calculates command values ​​for the work machine 1 in the optional control function, which will be described later. The first controller 27 outputs command signals that indicate command values ​​for the work machine 1 in the optional control function. The display 29 displays a screen related to the optional control function in response to a display command from the first controller 27.

[0021] The second controller 28 includes a processor 33 such as a CPU, and a storage device 34. The processor 33 performs processing for controlling the work machine 1. The storage device 34 includes memory such as RAM or ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 34 stores data and programs for controlling the work machine 1. The second controller 28 performs processing related to the basic control functions of the work machine 1. The basic control functions of the work machine 1 are control of the operation of the work machine 1 in response to the operation of the machine operating member 21, or in response to commands of optional control functions calculated by the first controller 27.

[0022] The second controller 28 receives operation signals from the machine operation member 21. The second controller 28 controls the power source 6 and the traveling device 5 in accordance with the operation of the machine operation member 21 so as to travel the work machine 1. The second controller 28 controls the work implement 3 in accordance with the operation of the machine operation member 21 so as to operate the work implement 3. The second controller 28 controls the revolving device 7 in accordance with the operation of the machine operation member 21 so as to revolve the revolving body 4.

[0023] The second controller 28 receives a lock signal from the lock operation member 23. When the lock operation member 23 is in the locked position, operation of the work machine 1 by the machine operation member 21 described above is invalid. Therefore, when the lock operation member 23 is in the locked position, the work machine 1 will not move even if the operator operates the machine operation member 21. In other words, when the lock operation member 23 is in the locked position, the travel of the work machine 1, the rotation of the revolving body 4, and the operation of the work implement 3 are locked. When the lock operation member 23 is in the unlocked position, operation of the work machine 1 by the machine operation member 21 is valid. Therefore, when the lock operation member 23 is in the locked position, the work machine 1 moves in response to operation of the machine operation member 21 by the operator.

[0024] The second controller 28 is connected to the first controller 27. The second controller 28 communicates with the first controller 27. The second controller 28 receives an input signal from the input device 22. When an instruction to execute an optional control function is given by operating the input device 22, the second controller 28 receives a command signal for the optional control function from the first controller 27. The second controller 28 controls the work machine 1 based on the command signal from the first controller 27.

[0025] The optional control functions include machine control functions (hereinafter referred to as "MC functions"). The MC functions are functions that automatically control the work machine 1. The MC functions include, for example, automatic swing control. In automatic swing control, the controller 26 automatically swings the swing body 4 and operates the work machine 3 so that the work machine 3 moves according to target positions P1-P3 or target trajectories L1, L2, as shown in FIG. 3 . Alternatively, the MC functions may include travel alignment control. In travel alignment control, the controller 26 automatically causes the work machine 1 to travel according to a target route and / or a target orientation. Alternatively, the MC functions may include other automatic controls of the work machine 1.

[0026] The control system according to this embodiment determines whether or not an optional control function can be used based on the content of the contract for the optional control function with the user. The control for determining whether or not an optional control function can be used will be described below. Figure 4 shows the process for determining whether or not an optional control function can be used.

[0027] As shown in FIG. 4 , in step S101, contract information is transmitted from the user terminal 101 to the server 100. The user selects the contract details for the optional control function using the user terminal 101. The user terminal 101 is capable of communicating with the server 100 via a communication network such as the Internet. For example, the user selects the contract details for the optional control function on the web or using an app installed on the user terminal 101. The user terminal 101 transmits contract information corresponding to the contract details to the server 100.

[0028] The contract information includes a contract plan and a setting for enabling or disabling the MC function. The user selects a contract plan from, for example, Plan A, Plan B, and Plan C. Plan A is a plan that allows the machine control function of the work machine 1 to be used freely without additional charges. Plan B is a plan that allows the machine control function to be used by paying a fee according to the usage time of the machine control function. Plan C is a plan that disables the machine control function. When Plan A or Plan B is selected, the MC function is set to enabled. When Plan C is selected, the MC function is set to disabled.

[0029] In step S102, the server 100 transmits the contract information to the communication device 25. In step S103, the first controller 27 receives the contract information from the server 100 via the communication device 25. The first controller 27 stores the contract information in the storage device 32.

[0030] In step S104, the second controller 28 receives a setting for enabling or disabling the MC function from the first controller 27. When the second controller 28 receives a setting for enabling the MC function, it enables the MC function. This enables the work machine 1 to execute the MC function. In this case, the operator of the work machine 1 can execute the MC function by operating the input device 22.

[0031] When the second controller 28 receives a setting to disable the MC function, it disables the MC function. This makes it impossible for the work machine 1 to execute the MC function. In this case, even if the operator of the work machine 1 operates the input device 22, the MC function cannot be executed.

[0032] In step S105, the first controller 27 transmits a display command to the display 29 to cause a screen corresponding to the contract information to be displayed on the display 29. For example, if the contract plan is Plan A or Plan B, the first controller 27 causes a screen for executing the MC function to be displayed on the display 29. Furthermore, if the contract plan is Plan B, the first controller 27 causes the display 29 to display a confirmation screen indicating that charges will be incurred for use of the MC function.

[0033] If the contract plan is Plan B, the first controller 27 counts the usage time of the MC function. In steps S106 and S107, the first controller 27 transmits the usage time of the MC function to the server 100 via the communication device 25. The server 100 determines the amount of charge for use of the MC function according to the usage time of the MC function. In step S108, the server 100 transmits a notification of the amount of charge to the user terminal 101.

[0034] When the contract information is changed by the user terminal 101, the first controller 27 receives the changed contract information in real time from the server 100. The first controller 27 stores the changed contract information in the storage device 32. The second controller 28 receives, in real time, from the first controller 27 the setting of whether the MC function is enabled or disabled, according to the changed contract information. When the setting of whether the MC function is enabled or disabled has been changed, the second controller 28 switches between enabling and disabling the MC function based on the changed setting of the MC function.

[0035] 5 is a flowchart showing a process for switching between enabling and disabling the MC function, which is executed by the second controller 28. As shown in FIG. 5, in step S201, the second controller 28 acquires the setting of whether the MC function is enabled or disabled. The second controller 28 receives the setting of whether the MC function is enabled or disabled according to the changed contract information from the first controller 27.

[0036] In step S202, the second controller 28 determines whether the setting of the MC function has been changed, and if the setting of the MC function has been changed, the process proceeds to step S203.

[0037] In step S203, the second controller 28 determines whether the lock operation member 23 is in the locked position. If the second controller 28 determines that the lock operation member 23 is in the locked position, then in step S204, the second controller 28 switches the MC function between enabled and disabled. If the second controller 28 determines that the lock operation member 23 is not in the locked position, i.e., is in the unlocked position, then the second controller 28 maintains the MC function in its enabled or disabled state without switching it between enabled and disabled. Then, when the lock operation member 23 is operated to the locked position, the second controller 28 switches the MC function between enabled and disabled.

[0038] For example, if the setting of the MC function is changed from enabled to disabled in the contract information, the second controller 28 maintains the MC function enabled when the lock operation member 23 is positioned at the unlock position, and switches the MC function from enabled to disabled when the lock operation member 23 is switched from the unlock position to the lock position.

[0039] Furthermore, when the setting of the MC function is changed from disabled to enabled in the contract information, the second controller 28 maintains the MC function disabled when the lock operation member 23 is positioned at the unlock position, and switches the MC function from disabled to enabled when the lock operation member 23 is switched from the unlock position to the lock position.

[0040] The first controller 27 can receive contract information from the server 100 via the communication device 25 even when the control system is shut down. Even when the control system is shut down, the communication device 25 is active and the first controller 27 receives contract information. When the control system is shut down, the first controller 27 may or may not be stopped. If the first controller 27 is stopped, the first controller 27 may be started when the communication device 25 receives the contract information. The communication device 25 that has received the contract information may start the first controller 27. When the first controller 27 receives contract information from the server 100 via the communication device 25, the first controller 27 stores the contract information in the storage device 32. Therefore, regardless of whether the start switch 24 is in the OFF position, ON position, or ACC position, the first controller 27 receives the contract information from the server 100 and stores it in the storage device 32.

[0041] On the other hand, the second controller 28 is stopped when the control system is shut down. Therefore, the second controller 28 is activated when the start switch 24 is in the ON position or the ACC position, but is stopped when the start switch 24 is in the OFF position. Therefore, when the start switch 24 is in the OFF position, the second controller 28 does not receive the setting of the MC function even if the first controller 27 receives new contract information.

[0042] In this case, after the control system is started, the second controller 28 receives the setting of the MC function from the first controller 27. Then, if the setting of the MC function is changed, the second controller 28 switches the MC function between enabled and disabled when the lock operation member 23 is in the locked position.

[0043] In the control system for the work machine 1 according to the present embodiment described above, when the setting of the MC function is changed between enabled and disabled, the MC function is switched between enabled and disabled while the lock operation member 23 is in the locked position. This prevents changes in the behavior of the work machine 1 when the setting of the MC function is changed. This prevents a decrease in operability due to switching of the MC function setting.

[0044] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0045] The configuration of the work machine 1 is not limited to that of the above embodiment and may be modified. For example, the work machine 1 is not limited to a shovel, but may be other machines such as a bulldozer, a wheel loader, or a motor grader. The work machine 1 may be remotely operable. In this case, the machine operation member 21, the input device 22, the start switch 24, the lock operation member 23, the controller 26, and the communication device 25 may be located outside the work machine 1. The number of servers 100 is not limited to one and may be more than one. The number of controllers is not limited to two and may be one. Alternatively, the number of controllers may be more than two.

[0046] The optional control function is not limited to the MC function described above, and may be another function. For example, the optional control function may be another function such as a machine guidance function of the work machine 1 or a periphery monitoring function of the work machine 1. The machine guidance function is, for example, a function that causes a guidance screen showing the position of the work implement 3, the current terrain, and the target terrain to be displayed on the display 29. The periphery monitoring function is a function that causes a screen showing the periphery of the work machine 1 to be displayed on the display 29, and that outputs a warning if a person or object is detected around the work machine 1.

[0047] The condition for switching the setting of the optional control function between enabled and disabled (hereinafter referred to as the "setting switching condition") is not limited to the lock operation member 23 being in the locked position as in the above embodiment, but may include other conditions. For example, the setting switching condition may include the lock operation member 23 being switched from the locked position to the unlocked position. The setting switching condition may include the machine operation member 21 being in the neutral position. Alternatively, the setting switching condition may include the lock operation member 23 being in the locked position and the machine operation member 21 being in the neutral position.

[0048] The setting switching condition may include the start switch 24 being switched from the OFF position to the ON position. The setting switching condition may include the start switch 24 being in the ACC position. The determination of whether the setting switching condition is satisfied may be performed not only by the second controller 28 but also by the first controller 27. "When the controller is stopped" does not necessarily mean a shut down state, but may also mean a hibernation state or a sleep state.

[0049] According to the present disclosure, it is possible to suppress a decrease in operability due to switching of settings of optional control functions.

[0050] 1: Work machine, 21: Machine operation member, 23: Lock operation member, 25: Communication device, 26: Controller, 27: First controller, 28: Second controller

Claims

1. A system for controlling a work machine, comprising: a machine operation member operable by an operator to operate the work machine; a lock operation member operable by the operator to switch between a locked position in which operation by the machine operation member is disabled and an unlocked position in which operation by the machine operation member is enabled; a communication device for communicating with a server external to the work machine; and a controller for controlling the work machine, wherein the controller is capable of executing optional control functions of the work machine, receives information on the optional control functions including settings to enable or disable the optional control functions from the external server, determines whether the lock operation member is in the locked position or the unlocked position, and, if the setting of the optional control function is changed, switches between enabling and disabling the optional control function based on the changed setting when the lock operation member is in the locked position or when it is switched from the locked position to the unlocked position.

2. The system of claim 1, wherein, if the setting of the optional control function is changed from enabled to disabled in the information, the controller maintains the optional control function enabled when the lock operation member is positioned at the unlock position, and switches the optional control function from enabled to disabled when the lock operation member is positioned at the lock position.

3. The system of claim 1, wherein, if the setting of the optional control function is changed from disabled to enabled in the information, the controller maintains the optional control function disabled when the lock operation member is positioned at the unlock position, and switches the optional control function from disabled to enabled when the lock operation member is positioned at the lock position.

4. The system described in claim 1, wherein the controller includes: a first controller that receives the information via the communication device and stores the information; and a second controller that receives the setting of the optional control function from the first controller, and when the setting of the optional control function is changed, determines whether the lock operation member is located in the locked position, and switches the optional control function between enabled and disabled when the lock operation member is located in the locked position.

5. The system described in claim 4, wherein the first controller receives the information via the communication device and stores the information even when the system is shut down, and the second controller is stopped when the system is shut down, receives the setting of the optional control function from the first controller after the system is started up, and when the setting of the optional control function is changed, determines whether the lock operation member is in the locked position, and when the lock operation member is in the locked position, switches the optional control function between enabled and disabled.

6. A method for controlling a work machine, comprising: receiving, from an external server, information on optional control functions of the work machine, including settings for enabling and disabling the optional control functions; determining whether a lock operation member is located in a locked position, which disables operation of the work machine by an operator, or an unlocked position, which enables operation of the work machine by an operator; and, when the setting of the optional control function is changed, switching between enabling and disabling the optional control function based on the changed setting when the lock operation member is located in the locked position or when it is switched from the locked position to the unlocked position.

7. The method according to claim 6, further comprising, if the setting of the optional control function is changed from enabled to disabled in the information, maintaining the optional control function enabled when the lock operation member is positioned at the unlock position, and switching the optional control function from enabled to disabled when the lock operation member is positioned at the lock position.

8. The method according to claim 6, further comprising, if the setting of the optional control function is changed from disabled to enabled in the information, maintaining the optional control function disabled when the lock operation member is positioned at the unlock position, and switching the optional control function from disabled to enabled when the lock operation member is positioned at the lock position.

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