Remote Work Machine Control with Delay-Adaptive Neutral Range
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Solution Overview
Problem
Wireless communication delays between terminal devices and work machines, such as backhoes, lead to inaccuracies in remote operation due to timing differences between operator inputs and work machine motions.
Innovation Solution
A remote operation system that includes an operation lever and a remote control device. The remote control device generates control commands based on the lever's position and wirelessly transmits them to the work machine. It also executes a setting process to adjust a neutral range and a motion limit range based on communication delay information, limiting the work machine's motion to prevent inaccuracies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If wireless communication is used for remote operation, then ease of operation is improved, but operation accuracy deteriorates due to communication delays
Solution Approach 1:
The system performs preliminary actions by predicting the work machine's position based on past motion data and operation lever data stored in memory. This prediction is done in advance to compensate for communication delays, allowing the system to prepare correction data before the actual position information is received, thereby maintaining operation accuracy while using wireless communication
Solution Approach 2:
The system implements feedback by continuously comparing the predicted position (based on past data) with the actual position information received from the work machine. The correction data generated from this comparison is then fed back to adjust future position predictions, creating a closed-loop system that compensates for communication delays and maintains operational precision
2Manufacturing precision
If neutral range is increased to compensate for delay, then operation accuracy is improved, but response time worsens
Solution Approach 1:
The system applies dynamics by adaptively adjusting the neutral range based on the measured communication delay. When delay is detected, the neutral range is dynamically expanded to compensate for the timing difference between operation input and work machine response. This dynamic adjustment ensures operation accuracy is maintained without permanently increasing response time, as the neutral range returns to normal when delay is not present
Data Source
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AI summary
A remote operation system (1) for a work machine (100) that performs work motions. The remote operation system (1) includes: an operation lever (310, 320) that is movable in a movement range from a neutral position to a maximum operation position by an operator's operation input; and a remote control device (200) that generates, based on a position of the operation lever (310, 320), a control command to perform the work motion and wirelessly transmits the control command to the work machine (100). The remote control device (200) includes a processing unit (222) that executes a setting process to set a neutral range, which limits the work motion of the work machine (100), on the neutral position side within the movement range. The setting process includes a process of acquiring delay information indicating a communication delay with the work machine (100), and a process of adjusting the size of the neutral range based on the delay information.