Remote Work Machine Control Under Communication Delay
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Solution Overview
Problem
Existing remote operation systems for work machines are prone to sudden stops due to communication delays, leading to potential load scattering and reduced stability, which worsens workability.
Innovation Solution
A work machine equipped with a state amount sensor and a controller that assesses communication status and adjusts action restrictions based on sensor feedback to prevent sudden stops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operation signal is restricted according to communication status, then safety is improved, but workability deteriorates due to sudden stops
Solution Approach 1:
The control device dynamically adjusts the degree of action restriction based on real-time assessment of communication status and current work state. When communication delay is detected, the system evaluates the work posture and load state to determine whether to restrict actions gradually or maintain current actions, rather than applying fixed restriction rules. This dynamic adaptation resolves the contradiction by making safety responses flexible enough to preserve workability when conditions permit.
Solution Approach 2:
The system continuously monitors communication status, work posture, and load state to assess whether action restriction is necessary. By feeding back information about the current work state to the control decision, the system can distinguish between situations where restriction is safe and those where it would cause harm. This feedback mechanism enables the system to maintain workability while ensuring safety by making informed restriction decisions.
2Reliability
If the work machine stops suddenly due to communication delay, then control reliability is improved, but load scattering occurs
Solution Approach 1:
The system performs beforehand assessment of the work state before implementing action restriction. By evaluating the load state and work posture in advance, the system can prepare appropriate restriction strategies that cushion against harmful effects. When a load is detected in the bucket, the system anticipates potential scattering and adjusts the restriction approach to prevent sudden stops that would cause load loss, thereby maintaining control reliability without generating harmful effects.
Solution Approach 2:
The system changes the parameter of action restriction based on the assessed work state. Rather than applying uniform restriction, the control device adjusts restriction parameters (such as allowing continued operation with monitoring or implementing gradual deceleration) according to the specific conditions. This parameter adaptation prevents load scattering by tailoring the restriction response to the actual work situation while maintaining control reliability.
3Reliability
If the work machine stops suddenly, then communication safety is improved, but machine stability deteriorates
Solution Approach 1:
The system dynamically evaluates machine posture and work conditions before determining the appropriate response to communication delays. When the machine is in an unstable posture or carrying a load, the system adjusts the restriction strategy to maintain stability, possibly by allowing continued operation with enhanced monitoring rather than sudden stops. This dynamic adaptation ensures communication safety while preserving machine stability.
Solution Approach 2:
The system performs preliminary assessment of machine stability and work state to prevent actions that would cause instability. By evaluating the current condition before implementing restriction, the system can anticipate potential stability issues and take preliminary counter-actions, such as maintaining current operations or applying gradual deceleration, to prevent sudden stops that would compromise machine stability while still ensuring communication safety.
Data Source
AI summary
Provided is a work machine including a front work device, the work machine including a state amount sensor that senses a state amount relating to an action state of the work device and a controller that controls an action of the work machine on the basis of an operation signal transmitted from a remote device by radio communication. The controller assesses a communication status of the radio communication, and, when restricting the action of the work machine on the basis of a result of the assessment, eases the restriction on the action of the work machine, depending on a sensing result from the state amount sensor. As a result, it is possible to appropriately restrict action on the basis of a communication status, while suppressing worsening of workability.