DE-102025145223-A1 - CONTROL SYSTEM FOR WORK MACHINE

Abstract

A control system for a working machine is provided and comprises the working machine with an attachment; a drive force detection device configured to detect a drive force for driving the attachment; an output device configured to output information to an operator operating the working machine; a detector configured to detect a portion of the attachment in contact with a work object; an identifier configured to perform control to identify the portion of the attachment in contact with the work object based on a detection result from the detector; and an output control configured to perform control to output initial information from the output device indicating the reaction force generated at the identified portion. The initial information is estimated based on the detection result of the drive force detection device.

Inventors

• Naotake Shimamura

Assignees

• SUMITOMO HEAVY INDUSTRIES, LTD.

Dates

Publication Date

20260513

Application Date

20251104

Priority Date

20241113

Claims (6)

1. A control system for a working machine, comprising: the working machine with an attachment; a drive force detection device configured to detect a drive force for driving the attachment; an output device configured to output information to an operator operating the working machine; a detector configured to detect a portion of the attachment in contact with a work object; an identifier configured to perform control to identify the portion of the attachment in contact with the work object based on a detection result from the detector; and an output control configured to perform control to output initial information from the output device regarding the reaction force generated at the identified portion. display, with the initial information being estimated based on the detection result of the driving force detection device.
2. Control system for the working machine according to Claim 1 , further comprising: a work identifier configured to identify the work performed by the working machine on the basis of an operation of the working machine or an operation received from an operating device, wherein the output control is configured to modify the information output by the output device differently according to the identified work.
3. Control system for the working machine according to Claim 1 or 2 , wherein the output control is configured to perform control to output sound, vibration or image from the output device indicating at least one of a direction or magnitude of reaction force.
4. Control system for the working machine according to Claim 3 , wherein the output control is configured to continuously change at least one of a frequency, amplitude, phase or output direction of the tone or vibration according to at least one of a direction or magnitude of the reaction force.
5. Control system for the working machine according to Claim 3 , wherein the output control is configured to perform control to output sound or vibration from one of several output devices corresponding to the direction of the reaction force, wherein one of the several output devices is the output device.
6. Control system for the working machine according to Claim 1 , wherein the detector comprises a position detection device configured to detect a position of the attachment, and the output control is configured to perform control to output second information from the output device indicating the reaction force generated at the identified part, wherein the second information is estimated based on a detection result of the driving force detection device and a position detected by the position detection device.

Description

BACKGROUND 1. Technical field The present disclosure relates to a control system for a working machine. 2. Description of the state of the art Traditionally, experienced operators of construction machinery tend to predict the machine's condition based on information such as engine noise and adjust their operation accordingly. In contrast, inexperienced operators find it difficult to predict the machine's condition based on such information. In recent years, technologies have been proposed that detect the loads applied to multiple hydraulic cylinders of a working machine and, based on the detected load information, adjust aspects such as the transparency of images displayed on a screen. SUMMARY A control system for a working machine according to one aspect of the present disclosure comprises the working machine with an attachment; a drive force detection device configured to detect a drive force for driving the attachment; an output device configured to output information to an operator operating the working machine; a detector configured to detect a portion of the attachment in contact with a work object; an identification device configured to perform control to identify the portion of the attachment in contact with the work object based on a detection result from the detector; and an output control configured to perform control to output initial information from the output device indicating the reaction force generated at the identified portion. The information is estimated based on the detection result of the drive force detection device. BRIEF DESCRIPTION OF THE DRAWINGS 1 is a schematic diagram illustrating an example of a remote control system according to a first embodiment;2 is a side view illustrating a working machine according to the first embodiment;3 is a schematic diagram illustrating an example of a configuration of the working machine according to the first embodiment;4 is a functional block diagram illustrating a configuration example of a remote control system according to the first embodiment;5 is a diagram illustrating an example arrangement of a remote control room according to the first embodiment;6 is a diagram illustrating a table structure of an output procedure memory according to the first embodiment;7 is a diagram illustrating a correspondence relationship between the work performed by the working machine according to the first embodiment and output information;8 is a diagram illustrating an example of a screen displayed on a central monitor according to the first embodiment;9 is a diagram illustrating a further example of a screen displayed on a central monitor according to the first embodiment; and10 is a sequence diagram illustrating the overall processing sequence of the remote control system according to the first embodiment. DETAILED DESCRIPTION There are cases where the pressure loads applied to several hydraulic cylinders are displayed; however, it is difficult for operators to intuitively determine forces and other factors generated according to the operation of the working machine solely on the basis of the pressure loads applied to each of the several actuators. In light of the foregoing, by providing information indicating the reaction force on a part of the machine that is in contact with the workpiece, operators are enabled to understand the operating status of the machine, thereby reducing the operational load. According to one aspect of the present disclosure, the operational load is reduced, by enabling operators to determine the operating status of a work machine. The following describes embodiments of the present disclosure with reference to the drawings. The embodiments described below are exemplary and do not limit the present disclosure. Not all features and combinations thereof in the embodiments of the present disclosure are essential to the present disclosure. In the drawings, the same or corresponding components are identified by the same or corresponding reference numerals, and duplicate descriptions thereof may be omitted. A working machine 100 according to one embodiment of the present disclosure is an excavator. The working machine 100 can be a working machine equipped with an end attachment or can be a machine other than an excavator, such as a crane or a forklift. In the illustrated example, the excavator, as the working machine 100, is an excavating machine equipped with a bucket 6 as an end attachment, but it can be a modified machine, such as a forestry machine, equipped with an end attachment other than the bucket 6. The working machine 100 can be a crawler crane equipped with a lower track, an upper slewing body, and an end attachment mounted on the upper slewing body. (First embodiment) First, with reference to 1 An overview of a remote control system (an example of a control system) SYS according to the first embodiment is described. 1 is a schematic diagram illustrating an example of a remote control system SYS according to the first embodim