WO2022270136A1 - System and method for controlling work machine - Google Patents

System and method for controlling work machine Download PDF

Info

Publication number
WO2022270136A1
WO2022270136A1 PCT/JP2022/017987 JP2022017987W WO2022270136A1 WO 2022270136 A1 WO2022270136 A1 WO 2022270136A1 JP 2022017987 W JP2022017987 W JP 2022017987W WO 2022270136 A1 WO2022270136 A1 WO 2022270136A1
Authority
WO
WIPO (PCT)
Prior art keywords
work machine
remote control
state
communication device
machine
Prior art date
Application number
PCT/JP2022/017987
Other languages
French (fr)
Japanese (ja)
Inventor
圭 中野
総一 津村
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to AU2022297925A priority Critical patent/AU2022297925A1/en
Priority to CA3214459A priority patent/CA3214459A1/en
Publication of WO2022270136A1 publication Critical patent/WO2022270136A1/en

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload

Definitions

  • the present invention relates to systems and methods for controlling work machines.
  • Some work machines can be started remotely. For example, when the construction machine vehicle of Patent Document 1 receives a command signal from a transmitter, it checks whether a predetermined condition is satisfied, and starts the engine if the predetermined condition is satisfied.
  • Predetermined conditions include, for example, that the engine is stopped, that the shift lever is in the neutral position, that the parking brake is in the operating position, that the driver's door is closed, and the like.
  • An object of the present disclosure is to start a work machine that is started by remote control at an appropriate timing according to the status of the work machine.
  • a system is a system for controlling a work machine.
  • the system includes an in-vehicle controller, a remote control device, and a communication device.
  • the vehicle-mounted controller is mounted on the working machine and controls the working machine.
  • the remote controller communicates with the onboard controller.
  • the remote controller transmits a start command signal for starting the work machine to the work machine.
  • the communication device is provided separately from the remote control device.
  • the communicator communicates with the in-vehicle controller.
  • the communicator is operable to switch the work machine from a start inhibiting state to a start permitting state.
  • the in-vehicle controller switches the working machine from the start-prohibited state to the start-permitted state according to the operation of the communication device.
  • the in-vehicle controller prohibits the work machine from starting even if a start command signal is received from the remote control device.
  • the vehicle-mounted controller starts the work machine when the work machine is in a start-permitted state and receives a start command signal from the remote control device.
  • a method is a method for controlling a work machine.
  • the method includes communicating with a communication device, switching the work machine from a start prohibition state to a start permission state in accordance with operation of the communication device, communicating with a remote control device, and performing work from the remote control device. Determining whether or not a start command signal for the machine has been received; Starting the work machine when the work machine is in a start permitted state and receiving a start command signal from the remote control device; Then, even if a start command signal is received from the remote controller, the work machine is prohibited from starting.
  • the operator at the work site when the operator at the work site is working on the work machine, the operator at the work site operates the communication device to switch the work machine from the start-prohibited state to the start-permitted state. Starting the work machine is prohibited until Therefore, even if a remote operator operates the remote controller to send a start command signal to the work machine, the work machine does not start.
  • the operator at the work site After completing the work on the work machine, the operator at the work site operates the communication device to switch the work machine from the start-prohibited state to the start-permitted state. As a result, a remote operator operates the remote control device to transmit a start command signal to the work machine, thereby starting the work machine. Therefore, in the system and method according to the present disclosure, it is possible to start a work machine that is started by remote control at an appropriate timing according to the status of the work machine.
  • FIG. 1 is a block diagram showing the configuration of a system for controlling a work machine according to an embodiment
  • FIG. It is a perspective view showing a working machine.
  • 4 is a flow chart showing processing for starting a work machine, which is executed by an in-vehicle controller;
  • FIG. 1 is a block diagram showing the configuration of a system 1 according to an embodiment.
  • a system 1 according to this embodiment includes a work machine 2 , a remote controller 3 , and a mobile communication device 4 .
  • the work machine 2 is arranged at a work site such as a mine.
  • the work machine 2 is, for example, a bulldozer.
  • FIG. 2 is a perspective view showing the working machine 2.
  • the working machine 2 includes a main body 10 and a working machine 13 .
  • Main body 10 includes a vehicle body 11 and a traveling device 12 .
  • the vehicle body 11 includes an operator cab 14 and a power cab 15 .
  • a driver's seat (not shown) is arranged in the driver's cab 14 .
  • the power room 15 is arranged in front of the operator's room 14 .
  • the travel device 12 is attached to the lower portion of the vehicle body 11 .
  • the travel device 12 has a pair of left and right crawler belts 16 . Note that FIG. 1 shows only the left crawler belt 16 .
  • the work machine 2 travels as the crawler belt 16 rotates.
  • Work implement 13 includes a lift frame 17 , a blade 18 and a lift cylinder 19 .
  • the lift frame 17 is attached to the travel device 12 so as to be movable up and down.
  • Lift frame 17 supports blade 18 .
  • the blade 18 is arranged in front of the vehicle body 11 .
  • the lift cylinder 19 is connected to the vehicle body 11 .
  • the front end of the lift cylinder 19 is rotatably attached to the back of the blade 18 .
  • the blade 18 moves up and down by extending and retracting the lift cylinder 19 .
  • the work machine 2 includes a power source 21, a hydraulic pump 22, and a power transmission device 23.
  • the power source 21 is an internal combustion engine.
  • a starter motor 24 is connected to the power source 21 .
  • Starter motor 24 starts power source 21 .
  • the hydraulic pump 22 is driven by the power source 21 and discharges hydraulic oil. Hydraulic oil discharged from the hydraulic pump 22 is supplied to the lift cylinder 19 .
  • one hydraulic pump is illustrated in FIG. 2, a plurality of hydraulic pumps may be provided.
  • the power transmission device 23 transmits the driving force of the power source 21 to the travel device 12 .
  • the power transmission device 23 may be, for example, an HST (Hydro Static Transmission).
  • the power transmission device 23 may be, for example, a torque converter or a transmission having multiple transmission gears.
  • the work machine 2 includes an on-vehicle controller 25 and a control valve 26.
  • the in-vehicle controller 25 is mounted on the working machine 2 .
  • the in-vehicle controller 25 is realized by a computer including a processor and memory.
  • the in-vehicle controller 25 may be composed of a plurality of separate controllers.
  • the in-vehicle controller 25 is programmed to control the work machine 2 based on the acquired data.
  • the control valve 26 is a proportional control valve and is controlled by a command signal from the vehicle-mounted controller 25 .
  • Control valve 26 is arranged between a hydraulic actuator, such as lift cylinder 19 , and hydraulic pump 22 .
  • the control valve 26 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the lift cylinder 19 .
  • the in-vehicle controller 25 controls the control valve 26 so that the work implement 13 ascends or descends.
  • the control valve 26 may be a pressure proportional control valve.
  • control valve 26 may be an electromagnetic proportional control valve.
  • the work machine 2 includes a camera 27 , an in-vehicle operation member 28 , a first mode selection member 29 and a second mode selection member 30 .
  • the camera 27 is attached to the vehicle body 11, for example. Camera 27 acquires an image of the surroundings of work machine 2 . Camera 27 transmits an image signal representing an image of the surroundings of work machine 2 to in-vehicle controller 25 .
  • the in-vehicle operation member 28 is arranged inside the driver's cab 14 .
  • the vehicle-mounted operating member 28 can be operated by an operator to cause the work machine 2 to travel.
  • the in-vehicle operating member 28 can be operated by the operator to operate the working machine 13 .
  • the in-vehicle operation member 28 includes, for example, an operation lever.
  • the in-vehicle operating member 28 may include other operating members such as pedals, switches, or touch panels.
  • the in-vehicle operation member 28 transmits an operation signal indicating an operation by the operator to the in-vehicle controller 25 .
  • the in-vehicle controller 25 causes the work machine 2 to run by controlling the power source 21 and the power transmission device 23 according to the operation signal.
  • the in-vehicle controller 25 operates the working machine 13 by controlling the hydraulic pump 22 and the control valve 26 according to the operation signal.
  • the first mode selection member 29 is arranged inside the driver's cab 14 .
  • First mode selection member 29 is operable by the operator to set the control mode of work machine 2 .
  • the first mode selection member 29 is, for example, a touch panel type input device. However, the first mode selection member 29 may be another input device such as a switch.
  • the first mode selection member 29 transmits an input signal indicating an operation by an operator to the vehicle-mounted controller 25 .
  • the control mode includes a direct operation mode and a remote operation mode.
  • the vehicle-mounted controller 25 controls the working machine 2 according to the operation signal from the vehicle-mounted operation member 28 . Therefore, in the direct operation mode, the operator operates the work machine 2 by operating the vehicle-mounted operation member 28 .
  • the remote control mode the work machine 2 is controlled according to remote control signals from the remote control device 3 . Therefore, in the remote control mode, the operator operates the work machine 2 by operating the remote control device 3 .
  • the second mode selection member 30 is attached to the work machine 2.
  • a second mode selection member 30 is operable by the operator to select a remote control mode as the control mode of work machine 2 .
  • the second mode selection member 30 is, for example, a switch.
  • the second mode selection member 30 may be another member such as a lever or a touch panel.
  • the second mode selection member 30 is arranged on the outer surface of the work machine 2 .
  • the second mode selection member 30 is positioned on the work machine 2 at a position operable by an operator on the ground.
  • the second mode selection member 30 may be arranged below the rear portion of the vehicle body 11 at a height of 2000 mm or less.
  • the second mode selection member 30 transmits a selection signal indicating an operation by the operator to the onboard controller 25 .
  • the work machine 2 includes a first communication device 31 and a second communication device 32.
  • the first communication device 31 and the second communication device 32 are mounted on the working machine 2 .
  • the first communication device 31 wirelessly communicates with the remote control device 3 .
  • the second communication device 32 wirelessly communicates with the mobile communication device 4 .
  • the communication methods of the first communication device 31 and the second communication device 32 may be different or the same.
  • the work machine 2 and the remote control device 3 may communicate directly, or may communicate with each other via a control system or the like.
  • the remote control device 3 is located in a management center away from the work site. An operator in the management center can remotely operate the work machine 2 by operating the remote control device 3 .
  • the remote control device 3 includes a communication device 33 , a remote control member 34 , a remote input device 35 , a display 36 and a remote controller 37 .
  • the communication device 33 wirelessly communicates with the first communication device 31 of the work machine 2 .
  • the remote control member 34 can be operated by the operator to make the work machine 2 run, like the on-vehicle control member 28 .
  • the remote control member 34 can be operated by the operator to operate the working machine 13 in the same manner as the vehicle-mounted operating member 28 .
  • the remote control member 34 includes, for example, an operating lever.
  • the remote control member 34 may include other control members such as pedals, switches, or touch panels.
  • the remote control member 34 transmits an operation signal indicating an operation by an operator to the remote controller 37 .
  • a remote input device 35 is operable by an operator to enter settings for the work machine 2 .
  • the remote input device 35 is, for example, a touch panel type input device. However, the remote input device 35 may be another input device such as a switch.
  • the remote input device 35 transmits input signals indicating operations by the operator to the remote controller 37 .
  • the remote controller 37 is implemented by a computer including a processor and memory.
  • the remote controller 37 may be composed of a plurality of controllers separate from each other.
  • the remote controller 37 transmits remote control signals to the onboard controller 25 via the communication device 33 .
  • the remote controller 37 generates a remote control signal based on an operation signal from the remote control member 34 or an input signal from the remote input device 35 .
  • the in-vehicle controller 25 causes the work machine 2 to run by controlling the power source 21 and the power transmission device 23 according to a remote control signal from the remote controller 37 .
  • the in-vehicle controller 25 operates the work implement 13 by controlling the hydraulic pump 22 and the control valve 26 according to a remote control signal from the remote controller 37 .
  • the in-vehicle controller 25 transmits image signals from the camera 27 to the remote controller 37 .
  • the remote controller 37 displays an image showing the surroundings of the work machine 2 on the display 36 based on the image signal.
  • the operator can operate the work machine 2 by operating the remote control member 34 while viewing an image showing the surroundings of the work machine 2 on the display 36 .
  • the mobile communication device 4 is provided separately from the remote control device 3.
  • the mobile communication device 4 can be operated by an operator.
  • the mobile communication device 4, like the remote control device 3, has a communication function.
  • the mobile communication device 4 wirelessly communicates with the in-vehicle controller 25 .
  • the mobile communication device 4 wirelessly communicates with the second communication device 32 of the work machine 2 .
  • the mobile communication device 4 may wirelessly communicate with the first communication device 31 of the work machine 2 .
  • the mobile communication device 4 is portable.
  • the mobile communication device 4 is carried to the work site where the work machine 2 is arranged.
  • the mobile communication device 4 is operated by an operator at the work site.
  • the mobile communication device 4 performs wireless communication with the in-vehicle controller 25 at a shorter distance than the remote control device 3 .
  • the operator operates the mobile communication device 4 within a visual range of the work machine 2 .
  • the mobile communication device 4 may be a general-purpose mobile communication terminal such as a notebook computer, tablet, or smartphone. Alternatively, mobile communication device 4 may be a dedicated terminal of system 1 for controlling work machine 2 .
  • the mobile communication device 4 includes operation members such as switches, levers, or touch panels.
  • the mobile communication device 4 can be operated to switch the work machine 2 from the start-prohibited state to the start-permitted state.
  • the mobile communication device 4 transmits a start permission signal to the vehicle-mounted controller 25 in response to an operation by the operator.
  • the start permission signal is a signal for switching the working machine 2 from the start prohibited state to the start permitted state. Processing for starting the work machine 2 will be described below.
  • FIG. 3 is a flow chart showing the process executed by the onboard controller 25 to start the work machine 2.
  • the in-vehicle controller 25 is activated by being supplied with electric power from the battery mounted in the work machine 1 .
  • step S101 the in-vehicle controller 25 sets the work machine 2 to a start-prohibited state.
  • the in-vehicle controller 25 sets the work machine 2 to a start prohibited state when the power source 21 is stopped and the start permission signal is not received from the mobile communication device 4 .
  • the power source 21 is prohibited from starting.
  • the vehicle-mounted controller 25 determines whether the control mode of the work machine 2 is the remote control mode.
  • the remote control mode is set by the first mode selection member 29 and the remote control mode is selected by the second mode selection member 30
  • the in-vehicle controller 25 changes the control mode of the work machine 2 to the remote control mode. It is determined that it is in operation mode.
  • the in-vehicle controller 25 determines that the control mode of the working machine 2 is the remote control mode, the process proceeds to step S103.
  • step S ⁇ b>103 the in-vehicle controller 25 determines whether a start permission signal has been received from the mobile communication device 4 .
  • the mobile communication device 4 transmits a start permission signal to the vehicle-mounted controller 25 in response to an operation by an operator at the work site.
  • the process proceeds to step S104.
  • step S104 the in-vehicle controller 25 cancels the start-prohibited state of the work machine 2. If the in-vehicle controller 25 does not receive the start permission signal from the mobile communication device 4 in step S103, the work machine 2 in the start inhibit state.
  • the vehicle-mounted controller 25 determines whether or not a start command signal for starting the work machine 2 has been received.
  • a start command signal is transmitted from the remote control device 3 .
  • the remote operation device 3 transmits a start command signal to the onboard controller 25 in response to the operation of the remote input device 35 by an operator in the management center (hereinafter referred to as "remote operator").
  • remote operator an operator in the management center
  • the vehicle-mounted controller 25 determines whether the working machine 2 is in a start-permitted state.
  • the in-vehicle controller 25 determines that the work machine 2 is in the start-permitted state when the start-prohibited state of the work machine 2 is canceled in step S104.
  • the in-vehicle controller 25 determines that the work machine 2 is in the start-permitted state when the start-prohibited state of the work machine 2 is canceled and other start-permitted conditions are satisfied. good too.
  • the process proceeds to step S107.
  • step S ⁇ b>107 the onboard controller 25 starts the work machine 2 . That is, the in-vehicle controller 25 starts the power source 21 by driving the starter motor 24 .
  • step S106 when the in-vehicle controller 25 determines that the work machine 2 is not in the start-permitted state, the in-vehicle controller 25 does not start the work machine 2 even if it receives a start command signal from the remote control device 3. That is, when the work machine 2 is in the start-prohibited state, the in-vehicle controller 25 prohibits the start of the work machine 2 even if a start command signal is received from the remote control device 3 .
  • the in-vehicle controller 25 cancels the start prohibition state of the work machine 2 when receiving the start permission signal from the mobile communication device 4 . Then, the in-vehicle controller 25 starts the work machine 2 when the start command signal is received from the remote control device 3 while the work machine 2 is in the start-permitted state. However, when the work machine 2 is in the start-prohibited state, the in-vehicle controller 25 prohibits the start of the work machine 2 even if the start command signal is received from the remote control device 3 .
  • the operator at the work site After completing the work on the work machine 2, the operator at the work site operates the first mode selection member 29 in the operator's cab 14 to set the control mode of the work machine 2 to the remote control mode. The operator at the work site gets off the work machine 2 and operates the second mode selection member 30 to select the remote control mode. After leaving the work machine 2 , the operator at the work site operates the mobile communication device 4 to release the start prohibition state of the work machine 2 .
  • the remote operator operates the remote control device 3 to send a start command signal to the work machine 2, thereby starting the work machine 2.
  • the remote operator operates the remote control member 34 to perform work at the work site using the work machine 2 .
  • the working machine 2 that is started by remote control can be started at an appropriate timing according to the status of the working machine 2 .
  • the work machine 2 is not limited to a bulldozer, and may be a wheel loader, motor grader, or other vehicle such as a dump truck.
  • the number of work machines controlled by the system 1 is not limited to one, and may be two or more.
  • the power source 21 may be an electric motor. In that case, starting the work machine 2 may be starting the travel of the work machine 2, the operation of the work machine 13, or the like. Alternatively, the power source 21 may be a hybrid of an internal combustion engine and an electric motor.
  • the setting of the remote control mode by the first mode selection member 29 may be omitted.
  • Selection of the remote control mode by the second mode selection member 30 may be omitted.
  • a first mode selection member 29 and a second mode selection member 30 may be arranged on the outer surface of work machine 2 .
  • the first mode selection member 29 and the second mode selection member 30 may be arranged within the cab 14 .
  • the in-vehicle controller 25 cancels the start prohibition state of the work machine 2 when receiving the start permission signal from the mobile communication device 4 .
  • the mobile communication device 4 may transmit the start disapproval signal to the in-vehicle controller 25 .
  • the in-vehicle controller 25 may maintain the working machine 2 in the start prohibited state while receiving the start prohibition signal from the mobile communication device 4 .
  • the mobile communication device 4 may stop the start disapproval signal according to the operation by the operator.
  • the in-vehicle controller 25 may cancel the start prohibition state of the work machine 2 when transmission of the start prohibition signal is stopped.
  • the communication device is not limited to the mobile communication device 4 described above, and may be modified.
  • the start permission signal may be transmitted to the vehicle-mounted controller 25 by a communication device installed at the site base.
  • the operator at the work site may return to the base at the site and operate the communication device to cancel the start-prohibited state of the work machine 2 .
  • the operator at the work site may contact the base at the site, and the operator at the base at the site may operate the communication device to cancel the start prohibition state of the work machine 2 .
  • a notification means such as a lamp indicating that the start-prohibited state or the start-prohibited state is canceled may be provided in the operator's cab 14 of the work machine 1, on the outer surface of the work machine 1, or in the remote control device 3. .
  • a work machine that is remotely started can be started at an appropriate timing according to the status of the work machine.

Abstract

This system is provided with: an on-vehicle controller; a remote control device; and a communication machine. The on-vehicle controller is mounted on a work machine, and controls the work machine. The remote control device communicates with the on-vehicle controller. The remote control device transmits, to the work machine, a start instruction signal for stating the work machine. The communication machine is provided to a body separated from the remote control device. The communication machine communicates with the on-vehicle controller. The communication machine can be operated so as to switch the work machine from a start-prohibited state to a start-permitted state. The on-vehicle controller switches the work machine from the start-prohibited state to the start-permitted state in response to an operation on the communication machine. When the work machine is in the start-prohibited state, the on-vehicle controller prohibits the work machine from starting even if the start instruction signal is received from the remote control device. When the work machine is in the start-permitted state, the on-vehicle controller causes the work machine to start if the start instruction signal is received from the remote control device.

Description

作業機械を制御するためのシステムおよび方法Systems and methods for controlling work machines
　本発明は、作業機械を制御するためのシステムおよび方法に関する。 The present invention relates to systems and methods for controlling work machines.
　作業機械には、作業機械の始動を遠隔から操作可能なものがある。例えば、特許文献１の建設機械車両は、送信機から指令信号を受信すると、所定条件が満たされているか否かをチェックし、所定条件が満たされている場合にエンジンを始動する。所定条件は、例えば、エンジンが停止していること、シフトレバーがニュートラル位置にあること、パーキングブレーキが動作位置にあること、運転席用ドアが閉鎖されていることなどの条件を含む。 Some work machines can be started remotely. For example, when the construction machine vehicle of Patent Document 1 receives a command signal from a transmitter, it checks whether a predetermined condition is satisfied, and starts the engine if the predetermined condition is satisfied. Predetermined conditions include, for example, that the engine is stopped, that the shift lever is in the neutral position, that the parking brake is in the operating position, that the driver's door is closed, and the like.
特開平０８－１５６７１５号公報JP-A-08-156715
　作業機械が始動される際の状況は、様々であり、常に同じというわけではない。例えば、作業現場で通常の作業を開始するために作業機械が始動される場合もあれば、作業機械に対して保守作業、或いはトラブル対処などが行われる場合もある。しかし、作業機械が始動される際の状況を遠隔から正確に把握することは容易ではない。 　The situations when work machines are started vary and are not always the same. For example, there are cases where a work machine is started to start normal work at a work site, and there are cases where maintenance work or troubleshooting is performed on the work machine. However, it is not easy to accurately remotely grasp the situation when the work machine is started.
　例えば、作業機械から遠く離れた管理センターにおいて、作業機械を遠隔から制御する場合、作業機械及びその周囲を目視できないため、作業機械の状況を正確に把握することは困難である。また、上述したように、予め定められた所定条件のみでエンジンの始動を判断することは、作業機械の状況に適しているとは限らない。本開示の目的は、遠隔操作によって始動される作業機械を、作業機械の状況に応じて適切なタイミングで始動させることにある。 For example, when controlling a work machine remotely at a control center far away from the work machine, it is difficult to accurately grasp the status of the work machine because the work machine and its surroundings cannot be seen. Further, as described above, determining whether to start the engine based only on predetermined conditions is not always suitable for the working machine. An object of the present disclosure is to start a work machine that is started by remote control at an appropriate timing according to the status of the work machine.
　本開示の一態様に係るシステムは、作業機械を制御するためのシステムである。当該システムは、車載コントローラと、遠隔操作装置と、通信機とを備える。車載コントローラは、作業機械に搭載され、作業機械を制御する。遠隔操作装置は、車載コントローラと通信する。遠隔操作装置は、作業機械を始動するための始動指令信号を作業機械に送信する。通信機は、遠隔操作装置と別体に設けられる。通信機は、車載コントローラと通信する。通信機は、作業機械を始動禁止状態から始動許可状態に切り換えるために操作可能である。 A system according to one aspect of the present disclosure is a system for controlling a work machine. The system includes an in-vehicle controller, a remote control device, and a communication device. The vehicle-mounted controller is mounted on the working machine and controls the working machine. The remote controller communicates with the onboard controller. The remote controller transmits a start command signal for starting the work machine to the work machine. The communication device is provided separately from the remote control device. The communicator communicates with the in-vehicle controller. The communicator is operable to switch the work machine from a start inhibiting state to a start permitting state.
　車載コントローラは、通信機の操作に応じて、作業機械を始動禁止状態から始動許可状態に切り換える。車載コントローラは、作業機械が始動禁止状態では、遠隔操作装置から始動指令信号を受信しても、作業機械の始動を禁止する。車載コントローラは、作業機械が始動許可状態で、遠隔操作装置から始動指令信号を受信した場合には、作業機械を始動させる。 The in-vehicle controller switches the working machine from the start-prohibited state to the start-permitted state according to the operation of the communication device. When the work machine is in a start-prohibited state, the in-vehicle controller prohibits the work machine from starting even if a start command signal is received from the remote control device. The vehicle-mounted controller starts the work machine when the work machine is in a start-permitted state and receives a start command signal from the remote control device.
　本開示の他の態様に係る方法は、作業機械を制御するための方法である。当該方法は、通信機と通信することと、通信機の操作に応じて、作業機械を始動禁止状態から始動許可状態に切り換えることと、遠隔操作装置と通信することと、遠隔操作装置から、作業機械の始動指令信号を受信したかを判定することと、作業機械が始動許可状態で、遠隔操作装置から始動指令信号を受信した場合に、作業機械を始動させることと、作業機械が始動禁止状態では、遠隔操作装置から始動指令信号を受信しても、作業機械の始動を禁止すること、を備える。 A method according to another aspect of the present disclosure is a method for controlling a work machine. The method includes communicating with a communication device, switching the work machine from a start prohibition state to a start permission state in accordance with operation of the communication device, communicating with a remote control device, and performing work from the remote control device. Determining whether or not a start command signal for the machine has been received; Starting the work machine when the work machine is in a start permitted state and receiving a start command signal from the remote control device; Then, even if a start command signal is received from the remote controller, the work machine is prohibited from starting.
　本開示に係るシステム及び方法では、作業現場のオペレータが作業機械に対して作業を行っているときには、作業現場のオペレータが、通信機を操作して作業機械を始動禁止状態から始動許可状態に切り換えるまで、作業機械の始動が禁止される。従って、遠隔のオペレータが遠隔操作装置を操作して始動指令信号を作業機械に送信しても、作業機械は始動しない。 In the system and method according to the present disclosure, when the operator at the work site is working on the work machine, the operator at the work site operates the communication device to switch the work machine from the start-prohibited state to the start-permitted state. Starting the work machine is prohibited until Therefore, even if a remote operator operates the remote controller to send a start command signal to the work machine, the work machine does not start.
　作業現場のオペレータは、作業機械に対する作業の完了後に、通信機を操作して作業機械を始動禁止状態から始動許可状態に切り換える。それにより、遠隔のオペレータが遠隔操作装置を操作して始動指令信号を作業機械に送信することで、作業機械が始動する。そのため、本開示に係るシステム及び方法では、遠隔操作によって始動される作業機械を、作業機械の状況に応じて適切なタイミングで始動させることができる。 After completing the work on the work machine, the operator at the work site operates the communication device to switch the work machine from the start-prohibited state to the start-permitted state. As a result, a remote operator operates the remote control device to transmit a start command signal to the work machine, thereby starting the work machine. Therefore, in the system and method according to the present disclosure, it is possible to start a work machine that is started by remote control at an appropriate timing according to the status of the work machine.
実施形態に係る作業機械を制御するためのシステムの構成を示すブロック図である。1 is a block diagram showing the configuration of a system for controlling a work machine according to an embodiment; FIG. 作業機械を示す斜視図である。It is a perspective view showing a working machine. 車載コントローラによって実行される作業機械を始動するための処理を示すフローチャートである。4 is a flow chart showing processing for starting a work machine, which is executed by an in-vehicle controller;
　以下、実施形態に係る作業機械を制御するためのシステムについて、図面を参照しながら説明する。図１は、実施形態に係るシステム１の構成を示すブロック図である。本実施形態に係るシステム１は、作業機械２と、遠隔操作装置３と、移動通信機４とを備えている。作業機械２は、鉱山などの作業現場に配置される。作業機械２は、例えばブルドーザである。 A system for controlling a work machine according to an embodiment will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a system 1 according to an embodiment. A system 1 according to this embodiment includes a work machine 2 , a remote controller 3 , and a mobile communication device 4 . The work machine 2 is arranged at a work site such as a mine. The work machine 2 is, for example, a bulldozer.
　図２は、作業機械２を示す斜視図である。図２に示すように、作業機械２は、本体１０と作業機１３とを備えている。本体１０は、車体１１と走行装置１２とを含む。車体１１は、運転室１４と動力室１５とを含む。運転室１４には、図示しない運転席が配置されている。動力室１５は、運転室１４の前方に配置されている。走行装置１２は、車体１１の下部に取り付けられている。走行装置１２は、左右一対の履帯１６を有している。なお、図１では、左側の履帯１６のみが図示されている。履帯１６が回転することによって、作業機械２が走行する。 FIG. 2 is a perspective view showing the working machine 2. FIG. As shown in FIG. 2 , the working machine 2 includes a main body 10 and a working machine 13 . Main body 10 includes a vehicle body 11 and a traveling device 12 . The vehicle body 11 includes an operator cab 14 and a power cab 15 . A driver's seat (not shown) is arranged in the driver's cab 14 . The power room 15 is arranged in front of the operator's room 14 . The travel device 12 is attached to the lower portion of the vehicle body 11 . The travel device 12 has a pair of left and right crawler belts 16 . Note that FIG. 1 shows only the left crawler belt 16 . The work machine 2 travels as the crawler belt 16 rotates.
　作業機１３は、本体１０に取り付けられている。作業機１３は、リフトフレーム１７と、ブレード１８と、リフトシリンダ１９とを含む。リフトフレーム１７は、上下に動作可能に走行装置１２に取付けられている。リフトフレーム１７は、ブレード１８を支持している。ブレード１８は、車体１１の前方に配置されている。リフトシリンダ１９は、車体１１に連結されている。リフトシリンダ１９の前端は、ブレード１８の背面に回転可能に取り付けられている。リフトシリンダ１９が伸縮することによって、ブレード１８は、上下に動作する。 The working machine 13 is attached to the main body 10. Work implement 13 includes a lift frame 17 , a blade 18 and a lift cylinder 19 . The lift frame 17 is attached to the travel device 12 so as to be movable up and down. Lift frame 17 supports blade 18 . The blade 18 is arranged in front of the vehicle body 11 . The lift cylinder 19 is connected to the vehicle body 11 . The front end of the lift cylinder 19 is rotatably attached to the back of the blade 18 . The blade 18 moves up and down by extending and retracting the lift cylinder 19 .
　図１に示すように、作業機械２は、動力源２１と、油圧ポンプ２２と、動力伝達装置２３とを備えている。本実施形態において、動力源２１は、内燃機関である。動力源２１には、スタータモータ２４が接続されている。スタータモータ２４は、動力源２１を始動する。油圧ポンプ２２は、動力源２１によって駆動され、作動油を吐出する。油圧ポンプ２２から吐出された作動油は、リフトシリンダ１９に供給される。なお、図２では、１つの油圧ポンプが図示されているが、複数の油圧ポンプが設けられてもよい。 As shown in FIG. 1, the work machine 2 includes a power source 21, a hydraulic pump 22, and a power transmission device 23. In this embodiment, the power source 21 is an internal combustion engine. A starter motor 24 is connected to the power source 21 . Starter motor 24 starts power source 21 . The hydraulic pump 22 is driven by the power source 21 and discharges hydraulic oil. Hydraulic oil discharged from the hydraulic pump 22 is supplied to the lift cylinder 19 . Although one hydraulic pump is illustrated in FIG. 2, a plurality of hydraulic pumps may be provided.
　動力伝達装置２３は、動力源２１の駆動力を走行装置１２に伝達する。動力伝達装置２３は、例えば、HST（Hydro Static Transmission）であってもよい。或いは、動力伝達装置２３は、例えば、トルクコンバータ、或いは複数の変速ギアを有するトランスミッションであってもよい。 The power transmission device 23 transmits the driving force of the power source 21 to the travel device 12 . The power transmission device 23 may be, for example, an HST (Hydro Static Transmission). Alternatively, the power transmission device 23 may be, for example, a torque converter or a transmission having multiple transmission gears.
　作業機械２は、車載コントローラ２５と制御弁２６とを備える。車載コントローラ２５は、作業機械２に搭載されている。車載コントローラ２５は、プロセッサとメモリとを含むコンピュータによって実現される。車載コントローラ２５は、互いに別体の複数のコントローラによって構成されてもよい。車載コントローラ２５は、取得したデータに基づいて作業機械２を制御するようにプログラムされている。 The work machine 2 includes an on-vehicle controller 25 and a control valve 26. The in-vehicle controller 25 is mounted on the working machine 2 . The in-vehicle controller 25 is realized by a computer including a processor and memory. The in-vehicle controller 25 may be composed of a plurality of separate controllers. The in-vehicle controller 25 is programmed to control the work machine 2 based on the acquired data.
　制御弁２６は、比例制御弁であり、車載コントローラ２５からの指令信号によって制御される。制御弁２６は、リフトシリンダ１９などの油圧アクチュエータと、油圧ポンプ２２との間に配置される。制御弁２６は、油圧ポンプ２２からリフトシリンダ１９に供給される作動油の流量を制御する。車載コントローラ２５は、作業機１３が上昇、或いは下降するように、制御弁２６を制御する。なお、制御弁２６は、圧力比例制御弁であってもよい。或いは、制御弁２６は、電磁比例制御弁であってもよい。 The control valve 26 is a proportional control valve and is controlled by a command signal from the vehicle-mounted controller 25 . Control valve 26 is arranged between a hydraulic actuator, such as lift cylinder 19 , and hydraulic pump 22 . The control valve 26 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the lift cylinder 19 . The in-vehicle controller 25 controls the control valve 26 so that the work implement 13 ascends or descends. Note that the control valve 26 may be a pressure proportional control valve. Alternatively, control valve 26 may be an electromagnetic proportional control valve.
　作業機械２は、カメラ２７と、車載操作部材２８と、第１モード選択部材２９と、第２モード選択部材３０とを備えている。カメラ２７は、例えば、車体１１に取り付けられている。カメラ２７は、作業機械２の周囲の画像を取得する。カメラ２７は、作業機械２の周囲の画像を示す画像信号を車載コントローラ２５に送信する。 The work machine 2 includes a camera 27 , an in-vehicle operation member 28 , a first mode selection member 29 and a second mode selection member 30 . The camera 27 is attached to the vehicle body 11, for example. Camera 27 acquires an image of the surroundings of work machine 2 . Camera 27 transmits an image signal representing an image of the surroundings of work machine 2 to in-vehicle controller 25 .
　車載操作部材２８は、運転室１４内に配置されている。車載操作部材２８は、作業機械２を走行させるためにオペレータによって操作可能である。また、車載操作部材２８は、作業機１３を動作させるためにオペレータによって操作可能である。車載操作部材２８は、例えば操作レバーを含む。車載操作部材２８は、ペダル、スイッチ、或いはタッチパネルなどの他の操作部材を含んでもよい。 The in-vehicle operation member 28 is arranged inside the driver's cab 14 . The vehicle-mounted operating member 28 can be operated by an operator to cause the work machine 2 to travel. In addition, the in-vehicle operating member 28 can be operated by the operator to operate the working machine 13 . The in-vehicle operation member 28 includes, for example, an operation lever. The in-vehicle operating member 28 may include other operating members such as pedals, switches, or touch panels.
　車載操作部材２８は、オペレータによる操作を示す操作信号を、車載コントローラ２５へ送信する。車載コントローラ２５は、操作信号に応じて、動力源２１と動力伝達装置２３と制御することで、作業機械２を走行させる。車載コントローラ２５は、操作信号に応じて、油圧ポンプ２２と制御弁２６とを制御することで、作業機１３を動作させる。 The in-vehicle operation member 28 transmits an operation signal indicating an operation by the operator to the in-vehicle controller 25 . The in-vehicle controller 25 causes the work machine 2 to run by controlling the power source 21 and the power transmission device 23 according to the operation signal. The in-vehicle controller 25 operates the working machine 13 by controlling the hydraulic pump 22 and the control valve 26 according to the operation signal.
　第１モード選択部材２９は、運転室１４内に配置されている。第１モード選択部材２９は、作業機械２の制御モードを設定するためにオペレータによって操作可能である。第１モード選択部材２９は、例えばタッチパネル式の入力装置である。ただし、第１モード選択部材２９は、スイッチ等の他の入力装置であってもよい。第１モード選択部材２９は、オペレータによる操作を示す入力信号を車載コントローラ２５に送信する。 The first mode selection member 29 is arranged inside the driver's cab 14 . First mode selection member 29 is operable by the operator to set the control mode of work machine 2 . The first mode selection member 29 is, for example, a touch panel type input device. However, the first mode selection member 29 may be another input device such as a switch. The first mode selection member 29 transmits an input signal indicating an operation by an operator to the vehicle-mounted controller 25 .
　制御モードは、直接操作モードと、遠隔操作モードとを含む。直接操作モードでは、車載コントローラ２５は、車載操作部材２８からの操作信号に応じて、作業機械２を制御する。従って、直接操作モードでは、オペレータは、車載操作部材２８を操作することで、作業機械２を動作させる。遠隔操作モードでは、遠隔操作装置３からの遠隔制御信号に応じて、作業機械２を制御する。従って、遠隔操作モードでは、オペレータは、遠隔操作装置３を操作することで、作業機械２を動作させる。 The control mode includes a direct operation mode and a remote operation mode. In the direct operation mode, the vehicle-mounted controller 25 controls the working machine 2 according to the operation signal from the vehicle-mounted operation member 28 . Therefore, in the direct operation mode, the operator operates the work machine 2 by operating the vehicle-mounted operation member 28 . In the remote control mode, the work machine 2 is controlled according to remote control signals from the remote control device 3 . Therefore, in the remote control mode, the operator operates the work machine 2 by operating the remote control device 3 .
　第２モード選択部材３０は、作業機械２に取り付けられている。第２モード選択部材３０は、作業機械２の制御モードとして、遠隔操作モードを選択するためにオペレータによって操作可能である。第２モード選択部材３０は、例えばスイッチである。或いは、第２モード選択部材３０は、レバー、或いはタッチパネルなどの他の部材であってもよい。第２モード選択部材３０は、作業機械２の外面に配置される。例えば、第２モード選択部材３０は、作業機械２において、地上のオペレータによって操作可能な位置に配置される。例えば、第２モード選択部材３０は、車体１１の後部の下方において、高さ２０００ｍｍ以下の位置に配置されてもよい。第２モード選択部材３０は、オペレータによる操作を示す選択信号を車載コントローラ２５に送信する。 The second mode selection member 30 is attached to the work machine 2. A second mode selection member 30 is operable by the operator to select a remote control mode as the control mode of work machine 2 . The second mode selection member 30 is, for example, a switch. Alternatively, the second mode selection member 30 may be another member such as a lever or a touch panel. The second mode selection member 30 is arranged on the outer surface of the work machine 2 . For example, the second mode selection member 30 is positioned on the work machine 2 at a position operable by an operator on the ground. For example, the second mode selection member 30 may be arranged below the rear portion of the vehicle body 11 at a height of 2000 mm or less. The second mode selection member 30 transmits a selection signal indicating an operation by the operator to the onboard controller 25 .
　作業機械２は、第１通信装置３１と第２通信装置３２とを備えている。第１通信装置３１と第２通信装置３２とは、作業機械２に搭載されている。第１通信装置３１は、遠隔操作装置３と無線により通信を行う。第２通信装置３２は、移動通信機４と無線により通信を行う。第１通信装置３１と第２通信装置３２との通信方式は、異なっていてもよく、或いは同じであってもよい。作業機械２と遠隔操作装置３とは、直接的に通信してもよく、或いは、管制システムなどを介して互いに通信してもよい。 The work machine 2 includes a first communication device 31 and a second communication device 32. The first communication device 31 and the second communication device 32 are mounted on the working machine 2 . The first communication device 31 wirelessly communicates with the remote control device 3 . The second communication device 32 wirelessly communicates with the mobile communication device 4 . The communication methods of the first communication device 31 and the second communication device 32 may be different or the same. The work machine 2 and the remote control device 3 may communicate directly, or may communicate with each other via a control system or the like.
　遠隔操作装置３は、作業現場から離れた管理センターに配置される。管理センター内のオペレータは、遠隔操作装置３を操作することで、遠隔から作業機械２を操作可能である。遠隔操作装置３は、通信装置３３と、遠隔操作部材３４と、遠隔入力装置３５と、ディスプレイ３６と、遠隔コントローラ３７とを含む。通信装置３３は、作業機械２の第１通信装置３１と無線により通信を行う。 The remote control device 3 is located in a management center away from the work site. An operator in the management center can remotely operate the work machine 2 by operating the remote control device 3 . The remote control device 3 includes a communication device 33 , a remote control member 34 , a remote input device 35 , a display 36 and a remote controller 37 . The communication device 33 wirelessly communicates with the first communication device 31 of the work machine 2 .
　遠隔操作部材３４は、車載操作部材２８と同様に、作業機械２を走行させるためにオペレータによって操作可能である。また、遠隔操作部材３４は、車載操作部材２８と同様に、作業機１３を動作させるためにオペレータによって操作可能である。遠隔操作部材３４は、例えば操作レバーを含む。遠隔操作部材３４は、ペダル、スイッチ、或いはタッチパネルなどの他の操作部材を含んでもよい。遠隔操作部材３４は、オペレータによる操作を示す操作信号を、遠隔コントローラ３７へ送信する。 The remote control member 34 can be operated by the operator to make the work machine 2 run, like the on-vehicle control member 28 . In addition, the remote control member 34 can be operated by the operator to operate the working machine 13 in the same manner as the vehicle-mounted operating member 28 . The remote control member 34 includes, for example, an operating lever. The remote control member 34 may include other control members such as pedals, switches, or touch panels. The remote control member 34 transmits an operation signal indicating an operation by an operator to the remote controller 37 .
　遠隔入力装置３５は、作業機械２の設定を入力するためにオペレータによって操作可能である。遠隔入力装置３５は、例えばタッチパネル式の入力装置である。ただし、遠隔入力装置３５は、スイッチ等の他の入力装置であってもよい。遠隔入力装置３５は、オペレータによる操作を示す入力信号を、遠隔コントローラ３７に送信する。 A remote input device 35 is operable by an operator to enter settings for the work machine 2 . The remote input device 35 is, for example, a touch panel type input device. However, the remote input device 35 may be another input device such as a switch. The remote input device 35 transmits input signals indicating operations by the operator to the remote controller 37 .
　遠隔コントローラ３７は、プロセッサとメモリとを含むコンピュータによって実現される。遠隔コントローラ３７は、互いに別体の複数のコントローラによって構成されてもよい。遠隔コントローラ３７は、通信装置３３を介して、遠隔制御信号を車載コントローラ２５に送信する。遠隔コントローラ３７は、遠隔操作部材３４からの操作信号、或いは、遠隔入力装置３５からの入力信号に基づいて、遠隔制御信号を生成する。 The remote controller 37 is implemented by a computer including a processor and memory. The remote controller 37 may be composed of a plurality of controllers separate from each other. The remote controller 37 transmits remote control signals to the onboard controller 25 via the communication device 33 . The remote controller 37 generates a remote control signal based on an operation signal from the remote control member 34 or an input signal from the remote input device 35 .
　車載コントローラ２５は、遠隔コントローラ３７からの遠隔制御信号に応じて、動力源２１と動力伝達装置２３と制御することで、作業機械２を走行させる。車載コントローラ２５は、遠隔コントローラ３７からの遠隔制御信号に応じて、油圧ポンプ２２と制御弁２６とを制御することで、作業機１３を動作させる。 The in-vehicle controller 25 causes the work machine 2 to run by controlling the power source 21 and the power transmission device 23 according to a remote control signal from the remote controller 37 . The in-vehicle controller 25 operates the work implement 13 by controlling the hydraulic pump 22 and the control valve 26 according to a remote control signal from the remote controller 37 .
　また、車載コントローラ２５は、カメラ２７からの画像信号を遠隔コントローラ３７に送信する。遠隔コントローラ３７は、画像信号に基づいて、作業機械２の周囲を示す画像をディスプレイ３６に表示する。オペレータは、作業機械２の周囲を示す画像をディスプレイ３６上で見ながら遠隔操作部材３４を操作することで、作業機械２を操縦することができる。 Also, the in-vehicle controller 25 transmits image signals from the camera 27 to the remote controller 37 . The remote controller 37 displays an image showing the surroundings of the work machine 2 on the display 36 based on the image signal. The operator can operate the work machine 2 by operating the remote control member 34 while viewing an image showing the surroundings of the work machine 2 on the display 36 .
　移動通信機４は、遠隔操作装置３と別体に設けられる。移動通信機４は、オペレータによって操作可能である。移動通信機４は、遠隔操作装置３と同様に、通信機能を有している。移動通信機４は、車載コントローラ２５と無線により通信する。詳細には、移動通信機４は、作業機械２の第２通信装置３２と無線により通信する。或いは、移動通信機４は、作業機械２の第１通信装置３１と無線により通信してもよい。 The mobile communication device 4 is provided separately from the remote control device 3. The mobile communication device 4 can be operated by an operator. The mobile communication device 4, like the remote control device 3, has a communication function. The mobile communication device 4 wirelessly communicates with the in-vehicle controller 25 . Specifically, the mobile communication device 4 wirelessly communicates with the second communication device 32 of the work machine 2 . Alternatively, the mobile communication device 4 may wirelessly communicate with the first communication device 31 of the work machine 2 .
　移動通信機４は、持ち運び可能である。移動通信機４は、作業機械２が配置されている作業現場に、運び込まれる。移動通信機４は、作業現場のオペレータによって操作される。移動通信機４は、遠隔操作装置３よりも近距離での無線通信を車載コントローラ２５と行う。オペレータは、作業機械２を目視可能な範囲内で、移動通信機４を操作する。 The mobile communication device 4 is portable. The mobile communication device 4 is carried to the work site where the work machine 2 is arranged. The mobile communication device 4 is operated by an operator at the work site. The mobile communication device 4 performs wireless communication with the in-vehicle controller 25 at a shorter distance than the remote control device 3 . The operator operates the mobile communication device 4 within a visual range of the work machine 2 .
　移動通信機４は、ノートパソコン、タブレット、或いはスマートフォンなどの汎用のモバイル通信端末であってもよい。或いは、移動通信機４は、作業機械２を制御するためのシステム１の専用端末であってもよい。移動通信機４は、例えば、スイッチ、レバー、或いはタッチパネルなどの操作部材を含む。 The mobile communication device 4 may be a general-purpose mobile communication terminal such as a notebook computer, tablet, or smartphone. Alternatively, mobile communication device 4 may be a dedicated terminal of system 1 for controlling work machine 2 . The mobile communication device 4 includes operation members such as switches, levers, or touch panels.
　移動通信機４は、作業機械２を始動禁止状態から始動許可状態に切り換えるために操作可能である。移動通信機４は、オペレータによる操作に応じて、始動許可信号を車載コントローラ２５に送信する。始動許可信号は、作業機械２を始動禁止状態から始動許可状態に切り換えるための信号である。以下、作業機械２を始動するための処理について説明する。 The mobile communication device 4 can be operated to switch the work machine 2 from the start-prohibited state to the start-permitted state. The mobile communication device 4 transmits a start permission signal to the vehicle-mounted controller 25 in response to an operation by the operator. The start permission signal is a signal for switching the working machine 2 from the start prohibited state to the start permitted state. Processing for starting the work machine 2 will be described below.
　図３は、作業機械２を始動するために車載コントローラ２５によって実行される処理を示すフローチャートである。なお、作業機械２の始動にあたり、車載コントローラ２５には、作業機械１に搭載されたバッテリーから電力が供給されることで、車載コントローラ２５は、起動されている。図３に示すように、ステップＳ１０１では、車載コントローラ２５は、作業機械２を始動禁止状態に設定する。車載コントローラ２５は、動力源２１が停止しており、移動通信機４から始動許可信号を受信していないときには、作業機械２を始動禁止状態に設定する。作業機械２が始動禁止状態であるときには、動力源２１の始動が禁止される。 FIG. 3 is a flow chart showing the process executed by the onboard controller 25 to start the work machine 2. FIG. When the work machine 2 is started, the in-vehicle controller 25 is activated by being supplied with electric power from the battery mounted in the work machine 1 . As shown in FIG. 3, in step S101, the in-vehicle controller 25 sets the work machine 2 to a start-prohibited state. The in-vehicle controller 25 sets the work machine 2 to a start prohibited state when the power source 21 is stopped and the start permission signal is not received from the mobile communication device 4 . When the work machine 2 is in the start prohibited state, the power source 21 is prohibited from starting.
　ステップＳ１０２では、車載コントローラ２５は、作業機械２の制御モードが遠隔操作モードであるかを判定する。車載コントローラ２５は、第１モード選択部材２９によって遠隔操作モードが設定されており、且つ、第２モード選択部材３０によって遠隔操作モードが選択されているときに、作業機械２の制御モードが、遠隔操作モードであると判定する。車載コントローラ２５が、作業機械２の制御モードが遠隔操作モードであると判定したときには、処理はステップＳ１０３に進む。 At step S102, the vehicle-mounted controller 25 determines whether the control mode of the work machine 2 is the remote control mode. When the remote control mode is set by the first mode selection member 29 and the remote control mode is selected by the second mode selection member 30, the in-vehicle controller 25 changes the control mode of the work machine 2 to the remote control mode. It is determined that it is in operation mode. When the in-vehicle controller 25 determines that the control mode of the working machine 2 is the remote control mode, the process proceeds to step S103.
　ステップＳ１０３では、車載コントローラ２５は、移動通信機４から始動許可信号を受信したかを判定する。移動通信機４は、作業現場のオペレータによる操作に応じて、始動許可信号を車載コントローラ２５に送信する。車載コントローラ２５が、移動通信機４から始動許可信号を受信したと判定したときには、処理は、ステップＳ１０４に進む。 In step S<b>103 , the in-vehicle controller 25 determines whether a start permission signal has been received from the mobile communication device 4 . The mobile communication device 4 transmits a start permission signal to the vehicle-mounted controller 25 in response to an operation by an operator at the work site. When the in-vehicle controller 25 determines that it has received the start permission signal from the mobile communication device 4, the process proceeds to step S104.
　ステップＳ１０４では、車載コントローラ２５は、作業機械２の始動禁止状態を解除するなお、車載コントローラ２５は、ステップ１０３において、移動通信機４から始動許可信号を受信していない場合には、作業機械２を始動禁止状態に維持する。 In step S104, the in-vehicle controller 25 cancels the start-prohibited state of the work machine 2. If the in-vehicle controller 25 does not receive the start permission signal from the mobile communication device 4 in step S103, the work machine 2 in the start inhibit state.
　ステップＳ１０５では、車載コントローラ２５は、作業機械２を始動するための始動指令信号を受信したかを判定する。始動指令信号は、遠隔操作装置３から送信される。遠隔操作装置３は、管理センター内のオペレータ（以下、「遠隔のオペレータ」と呼ぶ。）による遠隔入力装置３５の操作に応じて、始動指令信号を車載コントローラ２５に送信する。車載コントローラ２５が始動指令信号を受信したときには、処理はステップＳ１０６に進む。 At step S105, the vehicle-mounted controller 25 determines whether or not a start command signal for starting the work machine 2 has been received. A start command signal is transmitted from the remote control device 3 . The remote operation device 3 transmits a start command signal to the onboard controller 25 in response to the operation of the remote input device 35 by an operator in the management center (hereinafter referred to as "remote operator"). When the in-vehicle controller 25 receives the start command signal, the process proceeds to step S106.
　ステップＳ１０６では、車載コントローラ２５は、作業機械２が始動許可状態であるかを判定する。車載コントローラ２５は、ステップＳ１０４において作業機械２の始動禁止状態が解除されているときに、作業機械２が始動許可状態であると判定する。或いは、車載コントローラ２５は、作業機械２の始動禁止状態が解除されていることに加えて、他の始動許可条件が満たされているときに、作業機械２が始動許可状態であると判定してもよい。作業機械２が始動許可状態であると車載コントローラ２５が判定したときには、処理は、ステップＳ１０７に進む。ステップＳ１０７では、車載コントローラ２５は、作業機械２を始動する。すなわち、車載コントローラ２５は、スタータモータ２４を駆動することで、動力源２１を始動する。 At step S106, the vehicle-mounted controller 25 determines whether the working machine 2 is in a start-permitted state. The in-vehicle controller 25 determines that the work machine 2 is in the start-permitted state when the start-prohibited state of the work machine 2 is canceled in step S104. Alternatively, the in-vehicle controller 25 determines that the work machine 2 is in the start-permitted state when the start-prohibited state of the work machine 2 is canceled and other start-permitted conditions are satisfied. good too. When the in-vehicle controller 25 determines that the work machine 2 is in the start-permitted state, the process proceeds to step S107. In step S<b>107 , the onboard controller 25 starts the work machine 2 . That is, the in-vehicle controller 25 starts the power source 21 by driving the starter motor 24 .
　ステップＳ１０６において、作業機械２が始動許可状態ではないと車載コントローラ２５が判定した時には、車載コントローラ２５は、遠隔操作装置３から始動指令信号を受信しても、作業機械２を始動しない。すなわち、車載コントローラ２５は、作業機械２が始動禁止状態では、遠隔操作装置３から始動指令信号を受信しても、作業機械２の始動を禁止する。 In step S106, when the in-vehicle controller 25 determines that the work machine 2 is not in the start-permitted state, the in-vehicle controller 25 does not start the work machine 2 even if it receives a start command signal from the remote control device 3. That is, when the work machine 2 is in the start-prohibited state, the in-vehicle controller 25 prohibits the start of the work machine 2 even if a start command signal is received from the remote control device 3 .
　以上説明した本実施形態に係るシステム１では、車載コントローラ２５は、移動通信機４からの始動許可信号を受信した時に、作業機械２の始動禁止状態を解除する。そして、車載コントローラ２５は、作業機械２が始動許可状態で、遠隔操作装置３から始動指令信号を受信した場合には、作業機械２を始動させる。しかし、車載コントローラ２５は、作業機械２が始動禁止状態では、遠隔操作装置３から始動指令信号を受信しても、作業機械２の始動を禁止する。 In the system 1 according to the present embodiment described above, the in-vehicle controller 25 cancels the start prohibition state of the work machine 2 when receiving the start permission signal from the mobile communication device 4 . Then, the in-vehicle controller 25 starts the work machine 2 when the start command signal is received from the remote control device 3 while the work machine 2 is in the start-permitted state. However, when the work machine 2 is in the start-prohibited state, the in-vehicle controller 25 prohibits the start of the work machine 2 even if the start command signal is received from the remote control device 3 .
　従って、作業現場のオペレータが作業機械２に対して、保守作業、トラブル対応、作業機械２の周辺で安全の適否判断、或いは安全確保の準備などの作業を行っているときには、作業現場のオペレータが、移動通信機４を操作して作業機械２の始動禁止状態を解除するまで、作業機械２の始動が禁止される。そのため、遠隔のオペレータが遠隔操作装置３を操作して始動指令信号を作業機械２に送信しても、作業機械２は始動しない。それにより、作業現場のオペレータは、作業機械２に対して作業を円滑に行うことができる。 Therefore, when an operator at the work site is performing work such as maintenance work, troubleshooting, judgment of safety in the vicinity of the work machine 2, or preparation for ensuring safety, the operator at the work site , the starting of the working machine 2 is prohibited until the mobile communication device 4 is operated to cancel the start-prohibited state of the working machine 2 . Therefore, even if a remote operator operates the remote control device 3 to transmit a start command signal to the work machine 2, the work machine 2 does not start. As a result, the operator at the work site can work on the work machine 2 smoothly.
　作業現場のオペレータは、作業機械２に対する上記作業の完了後、運転室１４内で第１モード選択部材２９を操作して、作業機械２の制御モードを遠隔操作モードに設定する。作業現場のオペレータは、作業機械２から降り、第２モード選択部材３０を操作して、遠隔操作モードを選択する。そして、作業現場のオペレータは、作業機械２から離れた後、移動通信機４を操作して作業機械２の始動禁止状態を解除する。 After completing the work on the work machine 2, the operator at the work site operates the first mode selection member 29 in the operator's cab 14 to set the control mode of the work machine 2 to the remote control mode. The operator at the work site gets off the work machine 2 and operates the second mode selection member 30 to select the remote control mode. After leaving the work machine 2 , the operator at the work site operates the mobile communication device 4 to release the start prohibition state of the work machine 2 .
　それにより、遠隔のオペレータが遠隔操作装置３を操作して始動指令信号を作業機械２に送信することで、作業機械２が始動する。その後、遠隔のオペレータは、遠隔操作部材３４を操作することで、作業機械２による作業現場での作業を行う。以上のように、本実施形態に係るシステム１では、遠隔操作によって始動される作業機械２を、作業機械２の状況に応じて適切なタイミングで始動させることができる。 As a result, the remote operator operates the remote control device 3 to send a start command signal to the work machine 2, thereby starting the work machine 2. After that, the remote operator operates the remote control member 34 to perform work at the work site using the work machine 2 . As described above, in the system 1 according to the present embodiment, the working machine 2 that is started by remote control can be started at an appropriate timing according to the status of the working machine 2 .
　以上、本発明の一実施形態について説明したが、本発明は上記実施形態に限定されるものではなく、発明の要旨を逸脱しない範囲で種々の変更が可能である。 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.
　作業機械２は、ブルドーザに限らず、ホイールローダ、モータグレーダ、或いはダンプトラック等の他の車両であってもよい。システム１によって制御される作業機械の数は１台に限らず、２台以上であってもよい。動力源２１は、電動モータであってもよい。その場合、作業機械２を始動することは、作業機械２の走行、或いは作業機１３の動作などを開始させることであってもよい。或いは、動力源２１は、内燃機関と電動モータとのハイブリッドであってもよい。 The work machine 2 is not limited to a bulldozer, and may be a wheel loader, motor grader, or other vehicle such as a dump truck. The number of work machines controlled by the system 1 is not limited to one, and may be two or more. The power source 21 may be an electric motor. In that case, starting the work machine 2 may be starting the travel of the work machine 2, the operation of the work machine 13, or the like. Alternatively, the power source 21 may be a hybrid of an internal combustion engine and an electric motor.
　第１モード選択部材２９による遠隔操作モードの設定は、省略されてもよい。第２モード選択部材３０による遠隔操作モードの選択は、省略されてもよい。第１モード選択部材２９と第２モード選択部材３０とが、作業機械２の外面に配置されてもよい。或いは、第１モード選択部材２９と第２モード選択部材３０とが、運転室１４内に配置されてもよい。 The setting of the remote control mode by the first mode selection member 29 may be omitted. Selection of the remote control mode by the second mode selection member 30 may be omitted. A first mode selection member 29 and a second mode selection member 30 may be arranged on the outer surface of work machine 2 . Alternatively, the first mode selection member 29 and the second mode selection member 30 may be arranged within the cab 14 .
　上記の実施形態では、車載コントローラ２５は、移動通信機４から始動許可信号を受信したときに、作業機械２の始動禁止状態を解除する。しかし、移動通信機４は、始動不許可信号を車載コントローラ２５に送信してもよい。車載コントローラ２５は、移動通信機４から始動不許可信号を受信している間は、作業機械２を始動禁止状態に維持してもよい。移動通信機４は、オペレータによる操作に応じて、始動不許可信号を停止してもよい。車載コントローラ２５は、始動不許可信号の送信が停止された場合に、作業機械２の始動禁止状態を解除してもよい。 In the above embodiment, the in-vehicle controller 25 cancels the start prohibition state of the work machine 2 when receiving the start permission signal from the mobile communication device 4 . However, the mobile communication device 4 may transmit the start disapproval signal to the in-vehicle controller 25 . The in-vehicle controller 25 may maintain the working machine 2 in the start prohibited state while receiving the start prohibition signal from the mobile communication device 4 . The mobile communication device 4 may stop the start disapproval signal according to the operation by the operator. The in-vehicle controller 25 may cancel the start prohibition state of the work machine 2 when transmission of the start prohibition signal is stopped.
　本発明に係る通信機は、上述した移動通信機４に限らず、変更されてもよい。例えば、移動通信機４に代えて、現場の基地に備え付けられた通信機により、始動許可信号が車載コントローラ２５に送信されてもよい。その場合、作業現場のオペレータは、現場の基地に戻ってから、通信機を操作して作業機械２の始動禁止状態を解除してもよい。或いは、作業現場のオペレータが、現場の基地に連絡することで、現場の基地のオペレータが、通信機を操作して作業機械２の始動禁止状態を解除してもよい。 The communication device according to the present invention is not limited to the mobile communication device 4 described above, and may be modified. For example, instead of the mobile communication device 4, the start permission signal may be transmitted to the vehicle-mounted controller 25 by a communication device installed at the site base. In this case, the operator at the work site may return to the base at the site and operate the communication device to cancel the start-prohibited state of the work machine 2 . Alternatively, the operator at the work site may contact the base at the site, and the operator at the base at the site may operate the communication device to cancel the start prohibition state of the work machine 2 .
　始動禁止状態、或いは始動禁止状態が解除されていることを示すランプなどの報知手段が、作業機械１の運転室１４内、作業機械１の外面、或いは遠隔操作装置３などに設けられてもよい。 A notification means such as a lamp indicating that the start-prohibited state or the start-prohibited state is canceled may be provided in the operator's cab 14 of the work machine 1, on the outer surface of the work machine 1, or in the remote control device 3. .
　本開示に係るシステム及び方法では、遠隔操作によって始動される作業機械を、作業機械の状況に応じて適切なタイミングで始動させることができる。 With the system and method according to the present disclosure, a work machine that is remotely started can be started at an appropriate timing according to the status of the work machine.
２　　作業機械
３　　遠隔操作装置
４　　移動通信機
２５　車載コントローラ
３０　モード選択部材
  2 work machine 3 remote control device 4 mobile communication device 25 on-vehicle controller 30 mode selection member

Claims (10)

  1. 　作業機械を制御するためのシステムであって、
    　前記作業機械に搭載され、前記作業機械を制御する車載コントローラと、
    　前記車載コントローラと通信し、前記作業機械を始動するための始動指令信号を前記作業機械に送信する遠隔操作装置と、
    　前記遠隔操作装置と別体に設けられ、前記車載コントローラと通信し、前記作業機械を始動禁止状態から始動許可状態に切り換えるために操作可能な通信機と、
    を備え、
    　前記車載コントローラは、
    　　前記通信機の操作に応じて、前記作業機械を前記始動禁止状態から前記始動許可状態に切り換え、
    　　前記作業機械が前記始動禁止状態では、前記遠隔操作装置から前記始動指令信号を受信しても、前記作業機械の始動を禁止し、
    　　前記作業機械が前記始動許可状態で、前記遠隔操作装置から前記始動指令信号を受信した場合には、前記作業機械を始動させる、
    システム。     A system for controlling a work machine, comprising:
    an in-vehicle controller mounted on the working machine and controlling the working machine;
    a remote control device that communicates with the in-vehicle controller and transmits a start command signal for starting the work machine to the work machine;
    a communication device that is provided separately from the remote control device, communicates with the vehicle-mounted controller, and is operable to switch the working machine from a start-prohibited state to a start-permitted state;
    with
    The in-vehicle controller includes:
    switching the working machine from the start-prohibited state to the start-permitted state according to the operation of the communication device;
    When the work machine is in the start-prohibited state, even if the start command signal is received from the remote control device, starting of the work machine is prohibited;
    when the work machine is in the start-permitted state and receives the start command signal from the remote control device, the work machine is started;
    system.
  2. 　前記作業機械に搭載され、前記作業機械の遠隔操作モードを選択するために操作可能なモード選択部材を含み、
    　前記車載コントローラは、前記モード選択部材によって前記遠隔操作モードが選択されており、且つ、前記作業機械が前記始動許可状態で、前記遠隔操作装置から前記始動指令信号を受信した場合には、前記作業機械を始動させる、
    請求項１に記載のシステム。     a mode selection member mounted on the work machine and operable to select a remote control mode of the work machine;
    The in-vehicle controller selects the remote operation mode by the mode selection member, and when the work machine is in the start-permitted state and receives the start command signal from the remote control device, the operation is performed. start the machine,
    The system of claim 1.
  3. 　前記車載コントローラは、前記モード選択部材によって前記遠隔操作モードが選択されていても、前記作業機械が前記始動禁止状態では、前記作業機械の始動を禁止する、
    請求項２に記載のシステム。     The in-vehicle controller prohibits starting of the work machine when the work machine is in the start-prohibited state even if the remote control mode is selected by the mode selection member.
    3. The system of claim 2.
  4. 　前記通信機は、前記作業機械を前記始動禁止状態から前記始動許可状態に切り換えるための始動許可信号を前記車載コントローラに送信し、
    　前記車載コントローラは、前記始動許可信号を受信した場合に、前記作業機械を前記始動禁止状態から前記始動許可状態に切り換える、
    請求項１に記載のシステム。     The communication device transmits a start permission signal for switching the work machine from the start prohibition state to the start permission state to the vehicle-mounted controller;
    The in-vehicle controller switches the working machine from the start prohibition state to the start permission state when the start permission signal is received.
    The system of claim 1.
  5. 　前記通信機は、前記作業機械を前記始動禁止状態に維持するための始動不許可信号を前記車載コントローラに送信し
    　前記通信機は、オペレータによる操作に応じて、前記始動不許可信号の送信を停止し、
    　前記車載コントローラは、前記始動不許可信号の送信が停止された場合に、前記作業機械を前記始動禁止状態から前記始動許可状態に切り換える、
    請求項１に記載のシステム。     The communication device transmits a start disapproval signal for maintaining the work machine in the start prohibited state to the vehicle-mounted controller, and the communication device stops transmission of the start disapproval signal in response to an operation by an operator. death,
    The in-vehicle controller switches the work machine from the start prohibition state to the start permission state when transmission of the start disapproval signal is stopped.
    The system of claim 1.
  6. 　作業機械を制御するための方法であって、
    　通信機と通信することと、
    　前記通信機の操作に応じて、前記作業機械を始動禁止状態から始動許可状態に切り換えることと、
    　遠隔操作装置と通信することと、
    　前記遠隔操作装置から、前記作業機械の始動指令信号を受信したかを判定することと、
    　前記作業機械が前記始動許可状態で、前記遠隔操作装置から前記始動指令信号を受信した場合に、前記作業機械を始動させることと、
    　前記作業機械が前記始動禁止状態では、前記遠隔操作装置から前記始動指令信号を受信しても、前記作業機械の始動を禁止すること、
    を備える方法。     A method for controlling a work machine comprising:
    communicating with a communicator;
    switching the work machine from a start-prohibited state to a start-permitted state in accordance with the operation of the communication device;
    communicating with a remote operator;
    Determining whether a start command signal for the work machine has been received from the remote control device;
    starting the work machine when the work machine is in the start-permitted state and receives the start command signal from the remote control device;
    In the start-prohibited state of the work machine, even if the start command signal is received from the remote control device, starting of the work machine is prohibited;
    How to prepare.
  7. 　前記作業機械に搭載されたモード選択部材によって、前記作業機械の遠隔操作モードが選択されているかを判定することと、
    　前記モード選択部材によって前記遠隔操作モードが選択されており、且つ、前記作業機械が前記始動許可状態で、前記遠隔操作装置から前記始動指令信号を受信した場合には、前記作業機械を始動させること、
    をさらに備える、
    請求項６に記載の方法。     Determining whether a remote control mode of the work machine is selected by a mode selection member mounted on the work machine;
    When the remote control mode is selected by the mode selection member and the work machine is in the start-permitted state and the start command signal is received from the remote control device, the work machine is started. ,
    further comprising
    7. The method of claim 6.
  8. 　前記モード選択部材によって前記遠隔操作モードが選択されていても、前記作業機械が前記始動禁止状態である場合には、前記作業機械の始動を禁止する、
    請求項７に記載の方法。     even if the remote control mode is selected by the mode selection member, if the work machine is in the start-prohibited state, the start of the work machine is prohibited;
    8. The method of claim 7.
  9. 　前記通信機は、オペレータによる操作に応じて、前記作業機械を前記始動禁止状態から前記始動許可状態に切り換えるための始動許可信号を送信し、
    　前記始動許可信号を前記通信機から受信したかを判定することと、
    　前記始動許可信号を受信した場合に、前記作業機械を前記始動禁止状態から前記始動許可状態に切り換えること、
    をさらに備える、
    請求項６に記載の方法。     The communication device transmits a start permission signal for switching the work machine from the start prohibition state to the start permission state in response to an operation by an operator;
    determining whether the start permission signal has been received from the communication device;
    switching the work machine from the start prohibition state to the start permission state when the start permission signal is received;
    further comprising
    7. The method of claim 6.
  10. 　前記通信機は、前記作業機械を前記始動禁止状態に維持するための始動不許可信号を前記車載コントローラに送信し
    　前記通信機は、オペレータによる操作に応じて、前記始動不許可信号を停止し、
    　前記始動不許可信号が停止されたかを判定することと、
    　前記始動不許可信号が停止された場合に、前記作業機械を前記始動禁止状態から前記始動許可状態に切り換えること、
    をさらに備える請求項６に記載の方法。
          The communication device transmits to the vehicle-mounted controller a start disapproval signal for maintaining the work machine in the start prohibition state, the communication device stops the start disapproval signal in response to an operation by an operator,
    determining whether the start disapproval signal has been stopped;
    switching the working machine from the start-prohibited state to the start-permitted state when the start-not-permitted signal is stopped;
    7. The method of claim 6, further comprising:
PCT/JP2022/017987 2021-06-25 2022-04-18 System and method for controlling work machine WO2022270136A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2022297925A AU2022297925A1 (en) 2021-06-25 2022-04-18 System and method for controlling work machine
CA3214459A CA3214459A1 (en) 2021-06-25 2022-04-18 System and method for controlling work machine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021106041A JP2023004406A (en) 2021-06-25 2021-06-25 System and method for controlling work machine
JP2021-106041 2021-06-25

Publications (1)

Publication Number Publication Date
WO2022270136A1 true WO2022270136A1 (en) 2022-12-29

Family

ID=84545607

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/017987 WO2022270136A1 (en) 2021-06-25 2022-04-18 System and method for controlling work machine

Country Status (4)

Country Link
JP (1) JP2023004406A (en)
AU (1) AU2022297925A1 (en)
CA (1) CA3214459A1 (en)
WO (1) WO2022270136A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06228988A (en) * 1993-01-29 1994-08-16 Hitachi Constr Mach Co Ltd Locking mechanism of hydraulic machine
JP2013185501A (en) * 2012-03-08 2013-09-19 Sumitomo (Shi) Construction Machinery Co Ltd Starting control system
JP2018159182A (en) * 2017-03-22 2018-10-11 コーワテック株式会社 Stopping device
JP2020105879A (en) * 2018-12-28 2020-07-09 日立建機株式会社 Wireless operation type hydraulic shovel
JP2020190145A (en) * 2019-05-23 2020-11-26 日本車輌製造株式会社 Safety system for construction machine
JP2021088835A (en) * 2019-12-03 2021-06-10 コベルコ建機株式会社 Remote control support server and remote control support system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06228988A (en) * 1993-01-29 1994-08-16 Hitachi Constr Mach Co Ltd Locking mechanism of hydraulic machine
JP2013185501A (en) * 2012-03-08 2013-09-19 Sumitomo (Shi) Construction Machinery Co Ltd Starting control system
JP2018159182A (en) * 2017-03-22 2018-10-11 コーワテック株式会社 Stopping device
JP2020105879A (en) * 2018-12-28 2020-07-09 日立建機株式会社 Wireless operation type hydraulic shovel
JP2020190145A (en) * 2019-05-23 2020-11-26 日本車輌製造株式会社 Safety system for construction machine
JP2021088835A (en) * 2019-12-03 2021-06-10 コベルコ建機株式会社 Remote control support server and remote control support system

Also Published As

Publication number Publication date
AU2022297925A1 (en) 2023-10-12
CA3214459A1 (en) 2022-12-29
JP2023004406A (en) 2023-01-17

Similar Documents

Publication Publication Date Title
US8851225B2 (en) Construction machinery
EP3202984A1 (en) Construction machinery
EP2255258B1 (en) Carrier and backhoe control system and method
CN107075874B (en) Hydraulic crawler excavator
CN105658568B (en) Working machine and method for operating the same
WO2015083753A1 (en) Utility vehicle
EP2805858A1 (en) Hydraulic control device for work machine
JP2009202839A (en) Vehicle controlling device and vehicle having the same
EP3944209B1 (en) Retrofit remote control system for a machine
KR102221165B1 (en) Safety device and control method for construction machinery
US9187098B2 (en) System and method for controlling a PTO accessory
JP2007208509A (en) Remote operation system of working vehicle
CN105857214A (en) Safety control device and method for multifunctional operating car
WO2022270136A1 (en) System and method for controlling work machine
US10026242B2 (en) Status information display device for wheeled work vehicle, maintenance-screen display method for wheeled work vehicle, and maintenance-screen display program for wheeled work vehicle
US20240159016A1 (en) System and method for controlling work machine
US8985079B2 (en) Method and system for controlling a pneumatic starter
JPWO2019189507A1 (en) Construction machinery
JP2019044541A (en) Remote control system for construction machine
JP6465344B2 (en) Work vehicle bodywork
US10450724B2 (en) Work vehicle collective switch apparatus and work vehicle equipped with collective switch apparatus
CN205737334U (en) A kind of safety control of multi-function operation automobile
JP6605290B2 (en) Construction machine control equipment
JP2001316078A (en) Control circuit for working vehicle with hydraulic power unit
JP2006063929A (en) Vehicle equipped with working machine

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22828055

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 18282355

Country of ref document: US

ENP Entry into the national phase

Ref document number: 3214459

Country of ref document: CA

WWE Wipo information: entry into national phase

Ref document number: 2022297925

Country of ref document: AU

Ref document number: AU2022297925

Country of ref document: AU

ENP Entry into the national phase

Ref document number: 2022297925

Country of ref document: AU

Date of ref document: 20220418

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE