Work Machine Remote Control System

The present disclosure relates to a remote control system of a work machine.

In a technical field related to a work machine, a technique for remote control of the work machine is known. In the remote control of the work machine, an image of a work site where the work machine operates is captured by an imaging apparatus. The image captured by the imaging apparatus is transmitted to a remote place and displayed on a display apparatus disposed in the remote place. An operator in the remote place performs the remote control of the work machine while viewing the image displayed on the display apparatus. Patent Literature 1 discloses a technique in which the imaging apparatus is disposed in a cab of a swinging platform to capture an image in front of the cab.

A work machine performs work using working equipment. In the work using the working equipment, an impact may act on the working equipment. It is difficult for an operator in a remote place to recognize the impact acting on the working equipment. Therefore, there is a possibility that the operator in the remote place performs remote control that results in applying an excessive impact to the working equipment. When the excessive impact acts on the working equipment, deterioration of the working equipment may be accelerated.

It is therefore an object of the present disclosure to make the operator in the remote place recognize an impact that will act on the working equipment.

According to an aspect of the present invention, a work machine remote control system comprises: a sensor data reception unit configured to receive detection data of an attitude of working equipment included in a work machine operated by an operation signal from a remote place; an alarm control unit configured to output an alarm control signal when it is determined, based on the detection data, that the working equipment is approaching or has reached an end position in a movable range; and an alarm device provided in the remote place and configured to output an alarm based on the alarm control signal from the alarm control unit.

According to the present disclosure, it is possible to make an operator in a remote place recognize an impact that will act on working equipment.

Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings. However, the present disclosure is not limited thereto. Components of the embodiments described below can be appropriately combined. Further, some components may not be used.

In the embodiments, positional relationship of each part will be described using terms of “left”, “right”, “front”, “back”, “top”, and “bottom”. These terms indicate relative positions or directions with respect to a center of a swinging platformof a work machine.

is a schematic diagram illustrating a remote control systemof the work machineaccording to an embodiment. The remote control systemperforms remote control of the work machineoperating at a work site. An example of the work site is a mine or a quarry.

At least a part of the remote control systemis disposed in a remote control room. The remote control roomis installed in a remote place away from the work site. The remote control systemincludes a remote controller, a display apparatus, and a control apparatus.

The remote controlleris disposed in the remote control room. The remote controlleris operated by an operator in the remote control room. The operator can operate the remote controllerin a state seated on an operating seat.

The display apparatusis disposed in the remote control room. The display apparatusdisplays an image of the work site. The operator in the remote control roomcannot directly visually recognize a situation in the work site. The operator in the remote control roomcan visually recognize the situation in the work site via the display apparatus.

The operator operates the remote controllerwhile viewing the image of the work site displayed on the display apparatus. The work machineis remotely controlled by the remote controller.

The control apparatusis disposed in the remote control room. The control apparatusincludes a computer system.

The work machineis provided with a control apparatus. The control apparatusincludes a computer system.

The control apparatusand the control apparatuscommunicate with each other via a communication system. Examples of the communication systeminclude the Internet, a local area network (LAN), a mobile phone communication network, and a satellite communication network. The communication systemmay include a relay station that relays data to be communicated.

is a perspective view illustrating the work machineaccording to the embodiment.is a side view illustrating the work machineaccording to the embodiment. In the embodiment, it is assumed that the work machineis an excavator that is one type of loading machine. The work machineoperates at the work site. The work machineoperates, for example, in a loading area of the work site. The work machineperforms excavation of a work target. Examples of the work target include earth and sand or ore. In addition, a dump truck, which is one type of a haulage vehicle, operates at the work site. The work machineperforms loading work to load a cargo onto the dump truck. As the cargo, an excavated object excavated by excavation is exemplified.

As illustrated in, the work machineincludes a traveling body, a swinging platformsupported by the traveling body, working equipmentmounted on the swinging platform, a hydraulic cylinderthat drives the working equipment, a position sensorthat detects a position of the work machine, a vehicle attitude sensorthat detects an attitude of the swinging platform, a working equipment attitude sensorthat detects an attitude of the working equipment, and an imaging apparatus.

The traveling bodytravels in a state of supporting the swinging platform. The swinging platformis a vehicle body of the work machine. Traveling bodyis disposed below the swinging platform. The traveling bodyrotatably supports the swinging platform. The traveling bodyincludes a drive wheelA, a driven wheelB, and a crawlerC supported by the drive wheelA and the driven wheelB. Each of the drive wheelA and the driven wheelB rotates about a rotation axis DX. A pair of drive wheelsA, a pair of driven wheelsB, and a pair of crawlersC are provided. The crawlerC is rotated by the rotation of the drive wheelA. When the crawlerC rotates, the traveling bodytravels.

The swinging platformcan swing about a swing axis RX in the state of being supported by the traveling body. The swing axis RX extends in a top-bottom direction. The swinging platformincludes a cabA, a lower deckB, a stepC, and an upper deckD. The cabA is an internal space of the swinging platformwhere an operator can board. The cabA is disposed at a front and upper part of the swinging platform. The lower deckB is disposed at a back and lower part of the swinging platform. The upper deckD is disposed at the front and upper part of the swinging platform. StepC connects the lower deckB and the upper deckD. The upper deckD is disposed around the cabA. At least a part of the upper deckD is disposed in front of the cabA. A fence-like handrailE is arranged in each of the lower deckB, the stepC, and the upper deckD.

Each of the lower deckB, the stepC, and the upper deckD includes a passage through which the operator can pass. The operator can board the cabA by passing the lower deckB, the stepC, and the upper deckD.

The swinging platformincludes a ladderF. The ladderF is connected to the upper deckD.

The working equipmentis mounted on the front part of the swinging platform. The working equipmentis disposed in front of the swing axis RX. The working equipmentis operable to extend forward. The working equipmentincludes a boomA connected to the swinging platform, an armB connected to the boomA, and a bucketC connected to the armB. A proximal end part of the boomA is connected to the front part of the swinging platformvia a pin. The proximal end part of the armB is connected to a distal end part of the boomA via a pin. A proximal end part of the bucketC is connected to a distal end part of the armB via a pin. The bucketC has a tip bladeD. The bucketC excavates the work target.

The boomA is connected to the front part of the swinging platformso as to be rotatable about a boom rotation axis AX. The armB is connected to the boomA so as to be rotatable about an arm rotation axis BX. The bucketC is connected to the armB so as to be rotatable about a bucket rotation axis CX.

The boom rotation axis AX, the arm rotation axis BX, and the bucket rotation axis CX are parallel. Each of the boom rotation axis AX, the arm rotation axis BX, and the bucket rotation axis CX extends in a vehicle width direction of the swinging platform.

In the embodiment, the work machineis a loading excavator. The loading excavator is an excavator in which the bucketC is attached to the armB such that the tip bladeD of the bucketC faces forward.

The hydraulic cylinderincludes a boom cylinderA that drives the boomA, an arm cylinderB that drives the armB, and a bucket cylinderC that drives the bucketC. A proximal end part of the boom cylinderA is connected to the swinging platform. A distal end part of the boom cylinderA is connected to the boomA. A proximal end part of the arm cylinderB is connected to the boomA. A distal end part of the arm cylinderB is connected to the armB. A proximal end part of the bucket cylinderC is connected to the boomA. A distal end part of the bucket cylinderC is connected to the bucketC.

The position sensordetects the position of the work machine. The position sensordetects an absolute position of the work machineusing a global navigation satellite system (GNSS). The position sensorincludes a GNSS receiver provided in the swinging platform.

The vehicle attitude sensordetects the attitude of the swinging platform. The attitude of the swinging platformincludes an inclination angle (roll, pitch) of the swinging platformwith respect to a horizontal plane. The vehicle attitude sensorincludes an inertial measurement unit (IMU) provided in the swinging platform.

The working equipment attitude sensordetects the attitude of the working equipment. The attitude of the working equipmentincludes an angle of the working equipment. The working equipment attitude sensorincludes a boom attitude sensorA that detects an angle of the boomA with respect to the swinging platform, an arm attitude sensorB that detects an angle of the armB with respect to the boomA, and a bucket attitude sensorC that detects an angle of the bucketC with respect to the armB.

In the embodiment, the working equipment attitude sensoris a stroke sensor disposed in the hydraulic cylinder. The hydraulic cylinderincludes a cylinder tube, a piston that moves inside the cylinder tube, and a rod connected to the piston. The stroke sensor detects a stroke length of the hydraulic cylinderindicating a movement distance of the rod. The stroke length refers to a movement distance of the rod from the stroke end of the hydraulic cylinder. The stroke end refers to an end position in a movable range of the rod. In other words, the stroke end refers to a position of the rod in a state that the hydraulic cylinderis most contracted or a position of the rod in a state that the hydraulic cylinderis most extended.

The boom attitude sensorA is a stroke sensor disposed in the boom cylinderA. The boom attitude sensorA detects a stroke length of the boom cylinderA.

The arm attitude sensorB is a stroke sensor disposed in the arm cylinderB. The arm attitude sensorB detects a stroke length of the arm cylinderB.

The bucket attitude sensorC is a stroke sensor disposed in the bucket cylinderC. The bucket attitude sensorC detects a stroke length of the bucket cylinderC.

The imaging apparatuscaptures the work site to acquire an image of the work site. The imaging apparatusis disposed in the swinging platform. The imaging apparatusis fixed to the swinging platform.

Examples of the image of the work site acquired by the imaging apparatusinclude an image of the work target of the work machine, an image of at least a part of the work machine, an image of a structure existing at the work site, an image of a work machine different from the work machine, and an image of a worker working at the work site. In the embodiment, the image of the work target of the work machineincludes an image of an excavation target of the working equipment.

The imaging apparatusincludes an optical system and an image sensor that receives light passing through the optical system. The image sensor includes a couple charged device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor.

In the embodiment, the imaging apparatuscaptures an image in an imaging range M. The imaging range M is set to include the work target of the work machine.

In the embodiment, the top-bottom direction is a direction parallel to the swing axis RX. A left-right direction is a direction parallel to the boom rotation axis AX. A front-back direction is a direction orthogonal to both the boom rotation axis AX and the swing axis RX. A direction in which the swinging platformexists with reference to a ground contact surface of the traveling bodyis toward top, and a direction opposite to the top is bottom. One of the left and right directions with reference to the swing axis RX is right, and a direction opposite to the right is left. A direction in which the working equipmentexists with reference to the swing axis RX is front, and a direction opposite to the front is back.

In the embodiment, the imaging apparatusis disposed in the cabA. An optical axis OA of the optical system of the imaging apparatusextends in the front-back direction.

In the following description, an image in the imaging range M captured by the imaging apparatusis referred to as an image P as appropriate.

is a diagram illustrating the remote control roomaccording to the embodiment. As illustrated in, the remote controllerand the display apparatusare disposed in the remote control room.

The remote controlleris operated by the operator seated on the operating seat. The operator sits on the operating seatso as to face a display screen of the display apparatus. The operator operates the remote controllerwhile viewing the display screen of the display apparatus.

An operation signal generated by operating the remote controlleris transmitted to the control apparatusof the work machinevia the control apparatusand the communication system. The control apparatusoperates the work machineaccording to the operation signal acquired via the communication system. The work machineis operated by the operation signal from the remote place of the work machine. An operation of the work machineincludes at least one of an operation of the traveling body, an operation of the swinging platform, and an operation of the working equipment.

The operation of the traveling bodyincludes a forward operation and a backward operation of the traveling body. The operation of the swinging platformincludes a left swing operation and a right swing operation of the swinging platform. The operation of the working equipmentincludes an elevating operation of the boomA, a lowering operation of the boomA, a dumping operation of the armB, an excavating operation of the armB, an excavating operation of the bucketC, and a dumping operation of the bucketC.

The remote controllerincludes a left working leverand a right working leveroperated for the operation of the swinging platformand the working equipment, and a left travel pedaland a right travel pedaloperated for the operation of the traveling body.

The left working leveris disposed on a left side of the operating seat. The right working leveris disposed on a right side of the operating seat. As an example, when the left working leveris operated in the front-back direction, the armB performs the dumping operation or the excavating operation. When the left working leveris operated in the left-right direction, the swinging platformperforms the left swing operation or the right swing operation. When the right working leveris operated in the left-right direction, the bucketC performs the excavating operation or the dumping operation. When the right working leveris operated in the front-back direction, the boomA performs the lowering operation or the elevating operation. Note that when the left working leveris operated in the front-back direction, the swinging platformmay perform the right swing operation or the left swing operation, and when the left working leveris operated in the left-right direction, the armB may perform the dumping operation or the excavating operation. The operating direction of the left working leverand the operating direction of the right working leverare arbitrarily related to the operation of the working equipment.

The left travel pedaland the right travel pedalare disposed on a front lower part of the operating seat. The left travel pedalis disposed to the left of the right travel pedal. When the left travel pedalis operated, the crawlerC on the left side of the traveling bodymoves forward or backward. When the right travel pedalis operated, the crawlerC on the right side of the traveling bodymoves forward or backward.

In the remote control room, a first monitor devicethat displays work machine operation data indicating an operation status of the work machineand an operation switchthat is operated to activate an electric apparatus equipped in the work machineare disposed. The first monitor devicedisplays, for example, a remaining amount of fuel of an engine mounted on the work machine, a temperature of coolant of the engine, a temperature of hydraulic oil for driving the hydraulic cylinder, and a traveling speed of the traveling bodyas the work machine operation data. The operation switchoperates, for example, a headlight provided in the work machineas the electric apparatus equipped in the work machine.