Technical Field
[0001] The present invention relates to a management system that manages a plurality of
work machines.
Background Art
[0002] Patent Literature 1 discloses a management system of industrial vehicles that displays
a map image on a display device. In the map image, symbols indicating the positions
of a plurality of industrial vehicles are superimposed and displayed. A display aspect
of the symbol is set to be different according to operating time of the industrial
vehicle.
Citation List
Patent Literature
[0004] The management system described in Patent Literature 1 can recognize a position and
operating time of each work machine (industrial vehicle) from information displayed
on a display device, but for example, when an operator in a cockpit remotely operates
one work machine while viewing the display device, if another work machine around
the one work machine is being automatically driven, the other work machine may make
an unexpected movement for the operator, and therefore there is a problem of deterioration
in workability and safety.
Summary of Invention
[0005] An object of the present invention is to provide a management system that makes it
possible to improve workability and safety when a plurality of work machines perform
work.
[0006] The present invention provides a management system including a display device that
displays a map image, a reception device, and a display control unit. The reception
device receives, from each of a plurality of work machines, position information of
the work machine and information on whether or not the work machine is being automatically
driven. The display control unit superimposes, on the map image, and displays, on
the display device, an image indicating that the work machine is being automatically
driven in association with a position of the work machine being automatically driven.
Brief Description of Drawings
[0007]
FIG. 1 is a view illustrating a management system according to one embodiment of the
present invention.
FIG. 2 is a view illustrating a display group of the management system according to
the embodiment of the present invention.
FIG. 3 is a block diagram of the management system according to the embodiment of
the present invention.
FIG. 4 is a view illustrating a map image of the management system according to the
embodiment of the present invention.
Description of Embodiments
[0008] Hereinafter, a preferred embodiment of the present invention will be described with
reference to the drawings.
<Configuration of Management System>
[0009] FIG. 1 is a view illustrating a management system 100 according to one embodiment
of the present invention. As illustrated in FIG. 1, the management system 100 manages
a plurality of work machines 20. The management system 100 includes the plurality
of work machines 20 and a management room 1. The management room 1 is a cockpit, for
example. An operator in the management room 1 remotely teaches motion to each of the
several work machines 20. The teaching is also called direct teaching, is a teaching
method in which an operator operates an operation device to teach motion, and is also
called a direct instruction method. Then, the operator can remotely control the other
work machine 20 while the work machine 20 having been taught is performing automatic
drive in accordance with the content.
[0010] FIG. 2 is a view illustrating the display group 2 of the management system 100. As
illustrated in FIG. 2, the management room 1 includes the display group 2. The display
group 2 includes a plurality of displays, and these displays include a display device
3, a remote control display device 4, and a map display device 5. The management room
1 includes a speaker 6 (see FIG. 3).
<Configuration of Work Machine>
[0011] As illustrated in FIG. 1, the work machine 20 is a hydraulic excavator, and includes
a machine body 25 including a lower travelling body 21 and an upper slewing body 22,
an attachment 30, and a work drive device 40.
[0012] The lower travelling body 21 includes a pair of crawlers, and can travel on the ground
by the pair of crawlers moving. The upper slewing body 22 is slewably attached to
the lower travelling body 21 via a slewing device 24. The slewing device 24 is a slewing
drive device that slews the upper slewing body 22. The upper slewing body 22 includes
a cab (operator's room) 23 positioned at a front part thereof.
[0013] The attachment 30 is a work device and is attached to the upper slewing body 22 so
as to be able to perform work motion including vertical rotation. The attachment 30
includes a boom 31, an arm 32, and a bucket 33. The boom 31 has a base end part attached
to the upper slewing body 22 so as to be vertically rotatable (capable of being raised
and lowered) and a tip end part on the opposite side. The arm 32 has a base end part
attached to the tip end part of the boom 31 so as to be vertically rotatable with
respect to the boom 31, and a tip end part on the opposite side. The bucket 33 is
attached to the tip end part of the arm 32 so as to be rotatable in the front-rear
direction with respect to the arm 32. The bucket 33 is a tip end attachment that is
a tip end part of the attachment 30, and is a part that performs work such as excavation,
leveling, and scooping of soil. Note that the work target object held by the bucket
33 is not limited to soil, may be stones, and may be waste (industrial waste or the
like). The tip end attachment is not limited to the bucket 33, and may be a grapple,
a lifting magnet, or the like.
[0014] The work drive device 40 hydraulically moves the attachment 30 to causes the work
motion to be performed. In the present embodiment, the work drive device 40 includes
a plurality of hydraulic cylinders each of which is extendable and contractable, and
the plurality of cylinders include a boom cylinder 41, an arm cylinder 42, and a bucket
cylinder 43.
[0015] The boom cylinder 41 rotates the boom 31 with respect to the upper slewing body 22.
The boom cylinder 41 has a base end part rotatably coupled to the upper slewing body
22 and a tip end part rotatably coupled to the boom 31.
[0016] The arm cylinder 42 rotates the arm 32 with respect to the boom 31. The arm cylinder
42 has a base end part rotatably coupled to the boom 31 and a tip end part rotatably
coupled to the arm 32.
[0017] The bucket cylinder 43 rotates the bucket 33 with respect to the arm 32. The bucket
cylinder 43 has a base end part rotatably coupled to the arm 32 and a tip end part
rotatably coupled to the link member 34. The link member 34 is rotatably coupled to
the bucket 33, and couples the bucket cylinder 43 and the bucket 33 to each other.
[0018] The work machine 20 further includes a slewing angle sensor 52, which is a slewing
angle detector, and a work posture detector 60.
[0019] The slewing angle sensor 52 detects a slewing angle of the upper slewing body 22
with respect to the lower travelling body 21. The slewing angle sensor 52 is, for
example, an encoder, a resolver, or a gyro sensor. In the present embodiment, the
slewing angle of the upper slewing body 22 when the front of the upper slewing body
22 coincides with the front of the lower travelling body 21 is 0°.
[0020] The work posture detector 60 detects a work posture of the attachment 30. The work
posture detector 60 includes a boom inclination angle sensor 61, an arm inclination
angle sensor 62, and a bucket inclination angle sensor 63.
[0021] The boom inclination angle sensor 61 is attached to the boom 31 and detects a posture
of the boom 31. The boom inclination angle sensor 61 acquires an inclination angle
of the boom 31 with respect to a horizon. The boom inclination angle sensor 61 is
an inclination (acceleration) sensor, for example. Note that the work posture detector
60 may include, in place of the boom inclination angle sensor 61, a rotation angle
sensor that detects a rotation angle of a boom foot pin (boom base end) or a stroke
sensor that detects a stroke amount of the boom cylinder 41.
[0022] The arm inclination angle sensor 62 is attached to the arm 32 and detects the posture
of the arm 32. The arm inclination angle sensor 62 acquires an inclination angle of
the arm 32 with respect to a horizon. The arm inclination angle sensor 62 is an inclination
(acceleration) sensor, for example. Note that the work posture detector 60 may include,
in place of the arm inclination angle sensor 62, a rotation angle sensor that detects
a rotation angle of an arm coupling pin (arm base end) or a stroke sensor that detects
a stroke amount of the arm cylinder 42.
[0023] The bucket inclination angle sensor 63 is attached to the link member 34 and detects
the posture of the bucket 33. The bucket inclination angle sensor 63 acquires an inclination
angle of the bucket 33 with respect to a horizon. The bucket inclination angle sensor
63 is an inclination (acceleration) sensor, for example. Note that the work posture
detector 60 may include, in place of the bucket inclination angle sensor 63, a rotation
angle sensor that detects a rotation angle of a bucket coupling pin (bucket base end)
or a stroke sensor that detects a stroke amount of the bucket cylinder 43.
[0024] The work machine 20 includes a camera 55. In the present embodiment, the camera 55
is attached to the boom 31. Note that the camera 55 may be attached to the upper slewing
body 22. The camera 55 captures an image of the front or the like of the upper slewing
body 22 from the same viewpoint as the operator positioned in the cab 23.
[0025] The work machine 20 includes a GNSS sensor 56. A global navigation satellite system
(GNSS) sensor 56 is provided in the upper slewing body 22, and detects the coordinate
of the upper slewing body 22 in a work site. The GNSS sensor 56 is a positioning sensor
such as a GPS sensor, and acquires the position of the work machine 20 (upper slewing
body 22) in a global coordinate system. Note that the work machine 20 may include
a ranging sensor such as a total station in place of the GNSS sensor 56.
<Circuit Configuration of Management System>
[0026] FIG. 3 is a block diagram of the management system 100. As illustrated in FIG. 3,
the work machine 20 includes a work machine side control unit 11, a work machine side
communication device 12, and a storage device 13.
[0027] Information regarding the slewing angle (posture) of the upper slewing body 22 with
respect to the lower travelling body 21 detected by the slewing angle sensor 52 is
input to the work machine side control unit 11. Information regarding the posture
of the boom 31 detected by the boom inclination angle sensor 61 is input to the work
machine side control unit 11. Information regarding the posture of the arm 32 detected
by the arm inclination angle sensor 62 is input to the work machine side control unit
11. Information regarding the posture of the bucket 33 detected by the bucket inclination
angle sensor 63 is input to the work machine side control unit 11.
[0028] Image data captured by the camera 55 is input to the work machine side control unit
11. Position information acquired by the GNSS sensor 56 is input to the work machine
side control unit 11.
[0029] When the work machine 20 is automatically driven, the work machine side control unit
11 automatically controls the work machine 20. The work machine side control unit
11 controls the movement of the upper slewing body 22 and the attachment 30 so that
the upper slewing body 22 and the attachment 30 perform a series of motions. The work
machine side control unit 11 automatically moves the slewing device 24 and the attachment
30 based on detection values of the slewing angle sensor 52 and the work posture detector
60. In the present embodiment, the series of motions is a motion of excavating soil
and removing the soil.
[0030] On the other hand, when the work machine 20 is remotely controlled, the work machine
side control unit 11 controls the movement of the upper slewing body 22 and the attachment
30 in accordance with an instruction from the management room 1.
[0031] The work machine side communication device 12 can communicate with a management room
side communication device 9 described later of the management room 1. The storage
device 13 stores work content remotely taught from the management room 1.
[0032] The management room 1 includes a management room side control unit 7, an operation
device 8, and the management room side communication device 9.
[0033] The operation device 8 includes a device necessary for the operator to remotely operate
the work machine 20 such as an operation lever and an operation button. The management
room side communication device 9 can communicate with the work machine side communication
device 12 of the work machine 20.
[0034] When the operator performs teaching from the management room 1, the work machine
20 is set to a teaching mode by a remote operation from the management room 1. When
the work machine 20 is set to the teaching mode, the operator remotely controls the
work machine 20 by operating the operation device 8. When the work machine 20 is remotely
controlled, a landscape captured by the camera 55 is displayed on the display group
2. The operation content by the remote control is stored in the storage device 13.
Thereafter, the work machine 20 is set to an automatic drive mode by a remote operation
from the management room 1. When the work machine 20 is set to the automatic drive
mode, the work machine 20 performs automatic drive along with the stored operation
content.
[0035] In the present embodiment, a series of motions performed by the work machine 20 is
to repeat motions in order such as excavating (excavate) soil from a soil pit (not
illustrated) with the bucket 33, slewing (lift slewing) the upper slewing body 22
toward a dump truck (not illustrated) while holding the soil, removing (soil removal)
soil to a loading platform (not illustrated) of the dump truck, and slewing (return
slewing) the upper slewing body 22 toward the soil pit.
[0036] A series of motions by automatic drive has a plurality of motion phases (motion content).
As described above, in a series of motions from soil excavation to soil removal, the
plurality of motion phases include excavation, lift slewing, soil removal, and return
slewing.
[0037] While automatic drive is performed in each of the plurality of work machines 20,
the operator in the management room 1 remotely controls the other work machines 20
by operating the operation device 8. At this time, the management room side control
unit 7 causes the remote control display device 4 to display an image captured by
the camera 55 mounted on the work machine 20 to be remotely controlled. The operator
in the management room 1 can suitably control the work machine 20 to be remotely controlled
while viewing the remote control display device 4.
[0038] FIG. 4 is a view illustrating a map image 70. As illustrated in FIG. 4, the map display
device 5 displays the map image 70. From each of a plurality of work machines 20,
the management room side communication device (reception device) 9 receives position
information of the work machine 20 and information on whether or not the work machine
20 is being automatically driven. The position information of the work machine 20
is acquired by the GNSS sensor 56. The automatic drive mode is an example of information
indicating that the work machine 20 is being automatically driven.
[0039] The management room side control unit 7 superimposes, on the map image 70, and displays,
on the map display device 5, an icon 71 indicating the work machine 20 at the position
of the work machine 20 on the map image 70. Due to this, the operator knows the position
on the map image 70 of each of the plurality of work machines 20.
[0040] The management room side control unit (display control unit) 7 superimposes, on the
map image 70, and displays, on the map display device 5, an icon (image) 72 indicating
that the work machine 20 is being automatically driven in association with the position
of the work machine 20 being automatically driven on the map image 70. In the present
embodiment, the icon 72 is displayed in the vicinity of the icon 71, but the present
invention is not limited to this as long as the icon 72 is associated with the icon
71. For example, the icon 72 may be displayed so as to overlap the icon 71, or the
icon 71 and the icon 72 may be connected by a line.
[0041] By viewing the map display device 5, the operator in the management room 1 can grasp
which work machine 20 is being automatically driven. Therefore, when remotely controlling
another work machine 20, the operator can keep this work machine 20 from inadvertently
approaching the work machine 20 being automatically driven. Therefore, workability
and safety can be improved in the work site where the plurality of work machines 20
performs work.
[0042] Here, the management room side communication device 9 receives information regarding
the motion phase from the work machine 20 being automatically driven. As described
above, the motion phases of the series of motions are excavation, lift slewing, soil
removal, and return slewing. The management room side control unit 7 displays, on
the map display device 5, an icon 72 (display images) of a different aspect in accordance
with the motion phase.
[0043] For example, as illustrated in FIG. 4, when the motion phase is soil removal, an
icon 72a representing soil removal is displayed on the map display device 5. Due to
this, the operator knows that the work machine 20 being automatically driven is currently
performing soil removal. When the motion phase is excavation, an icon 72b representing
excavation is displayed on the map display device 5. Then, with switching of the motion
phase, the icon 72 to be displayed is also switched.
[0044] The operator can recognize whether or not the motion phase is normally switched from
the change (switching) in the aspect of the icon 72. As a result, the operator can
grasp whether or not the work machine 20 being automatically driven is normally moving.
[0045] The management room side control unit 7 superimposes, on the map image 70, and displays,
on the map display device 5, an icon (image) 76 indicating that the work machine 20
is not being automatically driven in association with the position of the work machine
20 not being automatically driven on the map image 70. In the present embodiment,
the icon 76 is displayed in the vicinity of the icon 71, but the present invention
is not limited to this as long as the icon 76 is associated with the icon 71. For
example, the icon 76 may be displayed so as to overlap the icon 71, or the icon 71
and the icon 76 may be connected by a line.
[0046] By viewing the map display device 5, the operator in the management room 1 can grasp
which work machine 20 is not being automatically driven. Therefore, when remotely
controlling another work machine 20, the operator can keep this work machine 20 from
inadvertently approaching the work machine 20 not being automatically driven.
[0047] The management room side communication device 9 receives position information of
the dump truck from each of a plurality of dump trucks. The position information of
the dump truck is acquired by a GNSS sensor mounted on the dump truck. The dump truck
may be automatically driven or manually driven.
[0048] The management room side control unit 7 superimposes, on the map image 70, and displays,
on the map display device 5, an icon 90 indicating the dump truck at the position
of the dump truck on the map image 70. Due to this, the operator knows the position
on the map image 70 of each of the plurality of dump trucks.
[0049] The management room side communication device 9 receives information regarding a
work history from each of the plurality of work machines 20. The work history is information
indicating when, what work, and how many times (how many hours) was performed, and
is created by the work machine side control unit 11. Examples of the work performed
by the work machine 20 include slope finishing work, groove excavation work, and horizontal
leveling work. The management room side control unit 7 superimposes, on the map image
70, and displays, on the map display device 5, an icon (image) 73 indicating the work
history of the work machine 20 in association with the position of the work machine
20 on the map image 70. In the present embodiment, the icon 73 is displayed in the
vicinity of the icon 71, but the present invention is not limited to this as long
as the icon 73 is associated with the icon 71. For example, the icon 73 may be displayed
so as to overlap the icon 71, or the icon 71 and the icon 73 may be connected by a
line.
[0050] By viewing the map display device 5, the operator in the management room 1 can grasp
the work history of each of the work machines 20. Therefore, the operator can grasp
how much work is being performed by which work machine 20.
[0051] The management room side communication device 9 receives the position information
of a worked region. The position information of the worked region is position information
of a region where the work machine 20 has ended the work, and is created by the work
machine side control unit 11, for example. The management room side control unit 7
superimposes, on the map image 70, and displays, on the map display device 5, an image
indicating a worked region 77 on the map image 70. The image of the worked region
77 is displayed in a size corresponding to the size of the region 77.
[0052] By viewing the map display device 5, the operator in the management room 1 can grasp
the worked region 77. Therefore, the operator can grasp in how much region the work
has been performed. Then, when the worked region 77 is a region where the work machine
20 of automatic drive works, the operator can make a plan so as to perform finishing
work on this region by the work machine 20 of manual driving.
[0053] The management room side communication device 9 receives the position information
of an unworked region. The position information of the unworked region is position
information of a region where the work machine 20 performs work from now on, and is
created by the work machine side control unit 11 based on a work plan, for example.
The management room side control unit 7 superimposes, on the map image 70, and displays,
on the map display device 5, an image indicating an unworked region 78 on the map
image 70. The image of the unworked region 78 is displayed in a size corresponding
to the size of the region 78.
[0054] By viewing the map display device 5, the operator in the management room 1 can grasp
the unworked region 78. Therefore, the operator can grasp in how much region the work
remains. Then, the operator can make a plan which work machine 20 to perform work
on the unworked region 78. That is, when the work machine 20 in an idle state or in
a state where the work is finished soon exists near the unworked region 78, the operator
can make a plan so as to dispatch this work machine 20 to the unworked region 78 to
perform the work. Note that the management room side control unit 7 may automatically
determine which work machine 20 to perform work on the unworked region 78 from the
work situation of each of the plurality of work machines 20.
[0055] The management room side control unit (machine passage acquisition unit) 7 acquires
information on a machine passage from a machine passage management device that manages
information on the machine passage, which is a passage of each of the plurality of
work machines 20. The machine passage management device may be a storage device connected
to the management room side control unit 7 of the management room 1, or may be a server
or the like provided outside the management room 1 and communicating with the management
room side communication device 9. The management room side control unit 7 superimposes,
on the map image 70, and displays, on the map display device 5, an image indicating
a machine passage 79 on the map image 70.
[0056] By viewing the map display device 5, the operator in the management room 1 can grasp
the passage of the work machine 20. Therefore, the operator can make consideration
so that a dump truck or the like does not enter the passage of the work machine 20.
[0057] The management room side control unit (dump passage acquisition unit) 7 acquires
information on a dump passage from a dump passage management device that manages information
on the dump passage, which is a passage of a dump truck. The dump passage management
device may be a storage device connected to the management room side control unit
7 of the management room 1, or may be a server or the like provided outside the management
room 1 and communicating with the management room side communication device 9. The
management room side control unit 7 superimposes, on the map image 70, and displays,
on the map display device 5, an image indicating a dump passage 80 on the map image
70.
[0058] By viewing the map display device 5, the operator in the management room 1 can grasp
the passage of the dump truck. Therefore, the operator can make consideration so that
the work machine 20 or the like does not enter the passage of the dump truck.
[0059] The management room side communication device 9 receives information regarding the
movable range at a current position of the work machine 20 from each of the plurality
of work machines 20. The movable range at the current position is a movable range
that can be obtained by the slewing of the upper slewing body 22 and the extension
and contraction of the attachment 30 without traveling of the work machine 20. The
management room side control unit 7 superimposes, on the map image 70, and displays,
on the map display device 5, an image indicating a movable range 81 at the current
position of the work machine 20 in association with the position of the work machine
20 on the map image 70. At this time, the image of the movable range 81 is displayed
in a size corresponding to the size of the movable range 81.
[0060] By viewing the map display device 5, the operator in the management room 1 can grasp
the movable range 81 of each of the work machines 20. Therefore, the operator can
make consideration so that a dump truck or the like does not enter the movable range
81 of the work machine 20. When remotely controlling another work machine 20, the
operator can keep this work machine 20 from inadvertently approaching the movable
range 81 of the other work machine 20.
[0061] The management room side communication device 9 receives information regarding the
work range from each of the plurality of work machines 20. The work range is acquired
based on a movement range of the tip end of the bucket 33, for example. The position
of the tip end of the bucket 33 is calculated from the length of the attachment 30
(boom 31, arm 32, and bucket 33) and the posture of the attachment 30. The management
room side control unit 7 superimposes, on the map image 70, and displays, on the map
display device 5, an image indicating a work range 74 of the work machine 20 in association
with the position of the work machine 20 on the map image 70. The work range 74 is
included in the movable range 81. The management room side control unit 7 displays,
on the map display device 5, the image of the work range 74 in a size corresponding
to the size of the work range 74.
[0062] By viewing the map display device 5, the operator in the management room 1 can grasp
the work range 74 of each of the work machines 20. Therefore, the operator can grasp
in how much range the work machine 20 has worked or in how much range it is working.
When remotely controlling another work machine 20, the operator can keep this work
machine 20 from inadvertently approaching the work range 74 of the other work machine
20.
[0063] The work range 74 is displayed on the map display device 5 in a size corresponding
to its size. Therefore, by viewing the map display device 5, the operator in the management
room 1 can grasp the size of the work range 74 of each of the work machines 20.
[0064] The management room side communication device 9 receives information regarding a
progress situation of work in the work range 74 from each of the plurality of work
machines 20. In the present embodiment, the progress situation of work is a worked
range, a working range, and an unworked range. The management room side control unit
7 superimposes, on the map image 70, and displays, on the map display device 5, an
image indicating a progress situation of work in the work range 74 of the work machine
20 in association with the position of the work machine 20 on the map image 70. In
the present embodiment, images indicating the progress situation include a worked
range 82a, a working range 82b, and an unworked range 82c. The images of the worked
range 82a, the working range 82b, and the unworked range 82c are displayed in sizes
corresponding to the sizes of the respective ranges.
[0065] In the present embodiment, the worked range 82a, the working range 82b, and the unworked
range 82c are displayed in different colors. For example, the worked range 82a is
displayed in green, the working range 82b is displayed in yellow, and the unworked
range 82c is displayed in red. By viewing the map display device 5, the operator in
the management room 1 can grasp the progress situation of the work in the work range
74. Note that the present invention is not limited to the color-coded display, and
three ranges may be distinguished by characters or the like.
[0066] The management room side communication device 9 receives information on a workload
in the work range 74 from each of the plurality of work machines 20. In the present
embodiment, information on the workload is the weight of the excavated soil and the
finishing accuracy with respect to a design surface, but may be the volume of the
excavated soil or the like. The weight of the excavated soil is calculated from the
volume of the bucket 33. The management room side control unit 7 superimposes, on
the map image 70, and displays, on the map display device 5, an icon (image) 83 indicating
a workload in the work range 74 of the work machine 20 in association with the position
of the work machine 20 on the map image 70. For example, an image "workload: 1.8 t,
accuracy: 70%" is displayed on an icon 83A in FIG. 4 among the icons 83. An image
of "workload: 1.3 t, accuracy: 55%" is displayed on an icon 83B in FIG. 4. An image
"workload: 2.1 t, accuracy: 75%" is displayed on an icon 83C in FIG. 4. An image "workload:
1.5 t, accuracy: 60%" is displayed on an icon 83D in FIG. 4.
[0067] By viewing the map display device 5, the operator in the management room 1 can grasp
the workload in the work range 74.
[0068] The management room side control unit (deviation determination unit) 7 determines
whether or not the work range 74 is deviated from a predetermined range. In the present
embodiment, the predetermined range is a range taught in advance (range designated
in teaching). When determining that the work range 74 is deviated from the predetermined
range, the management room side control unit (deviation notification unit) 7 notifies
that effect. In the present embodiment, the management room side control unit 7 displays
a warning image in the vicinity of this work range 74 as the notification. The management
room side control unit 7 generates a warning sound from the speaker 6 (see FIG. 3).
[0069] From the above notification content, the operator in the management room 1 can grasp
that the work range 74 is deviated from the predetermined range. Therefore, the operator
can correct the work range 74 by resetting the work range 74.
[0070] The management room side communication device 9 receives information regarding a
stop position of the dump truck with respect to the work machine 20. The stop position
of the dump truck is a position for receiving soil from the work machine 20, and is
created (set) by the work machine side control unit 11, for example. The management
room side control unit 7 superimposes, on the map image 70, and displays, on the map
display device 5, an icon (image) 84 indicating a stop position of a dump truck with
respect to the work machine 20 in association with the position of the work machine
20 on the map image 70.
[0071] By viewing the map display device 5, the operator in the management room 1 can grasp
the stop position of the dump truck with respect to the work machine 20. Then, when
the stop position of the dump truck with respect to the work machine 20 is deviated,
the operator can correct the stop position of the dump truck with respect to the work
machine 20 by re-teaching or the like.
[0072] The management room side control unit (positional deviation determination unit) 7
determines whether or not the stop position of the dump truck is deviated from a predetermined
position. In the present embodiment, the predetermined position is a position having
been taught. When the stop position of the dump truck is deviated from the predetermined
position, the management room side control unit (positional deviation notification
unit) 7 notifies that effect. In the present embodiment, the management room side
control unit 7 displays the warning image in the vicinity of this stop position (icon
84). The management room side control unit 7 generates a warning sound from the speaker
6 (see FIG. 3).
[0073] From the above notification content, the operator in the management room 1 can grasp
that the stop position of the dump truck is deviated from the predetermined position.
Therefore, the operator can correct the stop position of the dump truck by resetting
the stop position of the dump truck.
[0074] The management room side communication device 9 receives information on a manager
of the work machine 20 from each of the plurality of work machines 20. The manager
of the work machine 20 is a person who remotely controls the work machine 20 or a
person who teaches the work machine 20 to perform automatic drive. The information
on the manager is stored in the storage device 13 at the time of teaching or at the
time of remote control. The management room side control unit 7 superimposes, on the
map image 70, and displays, on the map display device 5, an icon (image) 75 indicating
a manager of the work machine 20 in association with the position of the work machine
20 on the map image 70. In the present embodiment, the icon 75 is displayed in the
vicinity of the icon 71, but the present invention is not limited to this as long
as the icon 75 is associated with the icon 71. For example, the icon 75 may be displayed
so as to overlap the icon 71, or the icon 71 and the icon 75 may be connected by a
line.
[0075] By viewing the map display device 5, the operator in the management room 1 can grasp
the manager of each of the work machines 20. Therefore, the operator can grasp how
many work machines 20 are managed by which manager.
[0076] In the example illustrated in FIG. 4, the person who remotely controls the work machine
20 displayed at the center is the same as the person who causes the work machine 20
displayed at the lower left to perform automatic drive. Then, by recognizing the work
history, the workload, and the worked region 77 of the work machine 20, the operator
can grasp how much work the manager is performing.
[0077] The management room side control unit (interference determination unit) 7 determines
whether or not there is a possibility that an object interferes with the work machine
20, for each of the plurality of work machines 20. An object having a possibility
of interfering with the work machine 20 is a dump truck mounted with a GNSS sensor,
a worker carrying the GNSS sensor, or the like. When determining the presence of a
possibility that an object interferes with the work machine 20, the management room
side control unit (interference notification unit) 7 notifies that effect.
[0078] In the example illustrated in FIG. 4, the movable range 81 of the work machine 20
displayed at the center runs off to a road, and a dump truck (icon 90) is traveling
on the road. Therefore, there is a possibility that the dump truck interferes with
this work machine 20. Therefore, the management room side control unit 7 displays
a warning image 85 in the vicinity of this work machine 20. For example, the warning
image 85 of FIG. 4 may include characters "dump truck is approaching" in addition
to characters of "warning". The management room side control unit 7 generates a warning
sound from the speaker 6 (see FIG. 3).
[0079] By viewing the map display device 5, the operator in the management room 1 can grasp
the presence of a possibility that an object interferes with the work machine 20.
Therefore, the operator can take some measures such as stopping the work machine 20
so that the object does not interfere with the work machine 20.
[0080] When determining that there is a possibility that an object interferes with the work
machine 20, the management room side control unit (posture change unit) 7 may change
the posture of the work machine 20. In the example illustrated in FIG. 4, there is
a possibility that the dump truck (icon 90) interferes with the work machine 20 displayed
at the center. Therefore, by remotely operating this work machine 20 to rotate the
boom 31 and the arm 32 of this work machine 20 toward the upper slewing body 22, the
management room side control unit 7 changes the posture of this work machine 20 so
as to reduce the work radius. This can reduce the possibility that an object interferes
with the work machine 20.
[0081] As described above, according to the management system 100 according to the present
embodiment, the icon 72 indicating that the work machine 20 is being automatically
driven is superimposed on the map image 70 and displayed on the map display device
5 in association with the position of the work machine 20 being automatically driven
on the map image 70. Therefore, by viewing the map display device 5, the operator
in the management room 1 can grasp which work machine 20 is being automatically driven.
Therefore, when remotely controlling another work machine 20, the operator can keep
this work machine 20 from inadvertently approaching the work machine 20 being automatically
driven.
[0082] The aspect of the icon 72 indicating that the work machine 20 is being automatically
driven is set to be different in accordance with the motion phase (motion content)
of the work machine 20 being automatically driven. For example, when the work machine
20 being automatically driven performs a series of motions from excavation to soil
removal, the aspect of the icon 72 is different between the excavation and the soil
removal. The operator can recognize whether or not the motion phase is normally switched
from the change in the aspect of the icon 72. As a result, the operator can grasp
whether or not the work machine 20 being automatically driven is normally moving.
[0083] The icon 76 indicating that the work machine 20 is not being automatically driven
is superimposed on the map image 70 and displayed on the map display device 5 in association
with the position of the work machine 20 not being automatically driven on the map
image 70. Therefore, by viewing the map display device 5, the operator in the management
room 1 can grasp which work machine 20 is not being automatically driven. Therefore,
when remotely controlling another work machine 20, the operator can keep this work
machine 20 from inadvertently approaching the work machine 20 not being automatically
driven.
[0084] The icon 73 indicating the work history of the work machine 20 is superimposed on
the map image 70 and displayed on the map display device 5 in association with the
position of the work machine 20 on the map image 70. For example, an image "XX (month)/XX
(day), Work A: X times" is displayed on an icon 73A in FIG. 4 among the icons 73.
An image of "XX (month)/XX (day), Work B: X times" is displayed on an icon 73B in
FIG. 4 among the icons 73. An image "XX (month)/XX (day), Work C: X times" is displayed
on an icon 73C in FIG. 4 among the icons 73. An image "XX (month)/XX (day), Work D:
X times" is displayed on an icon 73D in FIG. 4 among the icons 73. Note that each
of the Xs is an arbitrary value. Therefore, by viewing the map display device 5, the
operator in the management room 1 can grasp the work history of each of the work machines
20. Therefore, the operator can grasp how much work is being performed by which work
machine 20.
[0085] The worked region 77 is superimposed on the map image 70 and displayed on the map
display device 5 on the map image 70. Therefore, by viewing the map display device
5, the operator in the management room 1 can grasp the worked region 77. Therefore,
the operator can grasp in how much region the work has been performed. Then, when
the worked region 77 is a region where the work machine 20 of the automatic drive
has worked, the operator can make a plan so as to perform finishing work on this region
by the work machine 20 of manual driving.
[0086] The unworked region 78 is superimposed on the map image 70 and displayed on the map
display device 5 on the map image 70. Therefore, by viewing the map display device
5, the operator in the management room 1 can grasp the unworked region 78. Therefore,
the operator can grasp in how much region the work remains. Then, the operator can
make a plan which work machine 20 to perform work on the unworked region 78.
[0087] The machine passage 79, which is a passage of each of the plurality of work machines
20, is superimposed on the map image 70 and displayed on the map display device 5
on the map image 70. Therefore, by viewing the map display device 5, the operator
in the management room 1 can grasp the passage of the work machine 20. Therefore,
the operator can make consideration so that a dump truck or the like does not enter
the passage of the work machine 20.
[0088] The dump passage 80, which is a passage of the dump truck, is superimposed on the
map image 70 and displayed on the map display device 5 on the map image 70. Therefore,
by viewing the map display device 5, the operator in the management room 1 can grasp
the passage of the dump truck. Therefore, the operator can make consideration so that
the work machine 20 or the like does not enter the passage of the dump truck.
[0089] The movable range 81 at the current position of the work machine 20 is superimposed
on the map image 70 and displayed on the map display device 5 in association with
the position of the work machine 20 on the map image 70. Therefore, by viewing the
map display device 5, the operator in the management room 1 can grasp the movable
range 81 of each of the work machines 20. Therefore, the operator can make consideration
so that a dump truck or the like does not enter the movable range 81 of the work machine
20. When remotely controlling another work machine 20, the operator can keep this
work machine 20 from inadvertently approaching the movable range 81 of the other work
machine 20.
[0090] The work range 74 of the work machine 20 is superimposed on the map image 70 and
displayed on the map display device 5 in association with the position of the work
machine 20 on the map image 70. Therefore, by viewing the map display device 5, the
operator in the management room 1 can grasp the work range 74 of each of the work
machines 20. Therefore, the operator can grasp in how much range the work machine
20 has worked or in how much range it is working. When remotely controlling another
work machine 20, the operator can keep this work machine 20 from inadvertently approaching
the work range 74 of the other work machine 20.
[0091] The work range 74 is displayed on the map display device 5 in a size corresponding
to its size. Therefore, by viewing the map display device 5, the operator in the management
room 1 can grasp the size of the work range 74 of each of the work machines 20.
[0092] An image (worked range 82a, working range 82b, and unworked range 82c) indicating
the progress situation of work in the work range 74 of the work machine 20 is superimposed
on the map image 70 and displayed on the map display device 5 in association with
the position of the work machine 20 on the map image 70. Therefore, by viewing the
map display device 5, the operator in the management room 1 can grasp the progress
situation of the work in the work range 74.
[0093] The icon 83 indicating the workload in the work range 74 of the work machine 20 is
superimposed on the map image 70 and displayed on the map display device 5 in association
with the position of the work machine 20 on the map image 70. Therefore, by viewing
the map display device 5, the operator in the management room 1 can grasp the workload
in the work range 74.
[0094] When the work range 74 is deviated from the predetermined range, that effect is notified.
From the above notification content, the operator in the management room 1 can grasp
that the work range 74 is deviated from the predetermined range. Therefore, the operator
can correct the work range 74 by resetting the work range 74.
[0095] The icon 84 indicating the stop position of the dump truck with respect to the work
machine 20 is superimposed on the map image 70 and displayed on the map display device
5 in association with the position of the work machine 20 on the map image 70. Therefore,
by viewing the map display device 5, the operator in the management room 1 can grasp
the stop position of the dump truck with respect to the work machine 20. Then, when
the stop position of the dump truck with respect to the work machine 20 is deviated,
the operator can correct the stop position of the dump truck with respect to the work
machine 20 by re-teaching or the like.
[0096] When the stop position of the dump truck is deviated from the predetermined position,
that effect is notified. From the above notification content, the operator in the
management room 1 can grasp that the stop position of the dump truck is deviated from
the predetermined position. Therefore, the operator can correct the stop position
of the dump truck by resetting the stop position of the dump truck.
[0097] The icon 75 indicating the manager of the work machine 20 is superimposed on the
map image 70 and displayed on the map display device 5 in association with the position
of the work machine 20 on the map image 70. Therefore, by viewing the map display
device 5, the operator in the management room 1 can grasp the manager of each of the
work machines 20. Therefore, the operator can grasp how many work machines 20 are
managed by which manager.
[0098] When there is a possibility that an object interferes with the work machine 20, that
effect is notified. Therefore, the operator in the management room 1 can grasp the
presence of a possibility that an object interferes with the work machine 20. Therefore,
the operator can take some measures such as stopping the work machine 20 so that the
object does not interfere with the work machine 20.
[0099] When there is a possibility that an object interferes with the work machine 20, the
posture of the work machine 20 is automatically changed. This can reduce the possibility
that an object interferes with the work machine 20.
[0100] Although one embodiment of the present invention has been described above, only specific
example has been described, and the present invention is not particularly limited
to the embodiment, and a specific configuration and the like can be modified in design
as appropriate. The actions and effects described in the embodiment of the invention
merely recite the most suitable actions and effects resulting from the present invention,
and the actions and effects according to the present invention are not limited to
those described in the embodiment of the present invention.
[0101] The present invention provides a management system. The management system includes:
a display device that displays a map image; a reception device that receives, from
each of a plurality of work machines, position information on the work machine and
information on whether or not the work machine is being automatically driven; and
a display control unit that superimposes, on the map image, and displays, on the display
device, an image indicating that the work machine is being automatically driven in
association with a position of the work machine being automatically driven on the
map image.
[0102] In the above configuration, the reception device may receive information indicating
motion content from the work machine being automatically driven, and the display control
unit may display, on the display device, an image in a different aspect regarding
the image indicating that the work machine is being automatically driven in accordance
with the motion content.
[0103] In the above configuration, the display control unit may superimpose, on the map
image, and display, on the display device, an image indicating that the work machine
is not being automatically driven in association with a position of the work machine
not being automatically driven on the map image.
[0104] In the above configuration, the reception device may receive information regarding
a work history from each of a plurality of the work machines, and the display control
unit may superimpose, on the map image, and display, on the display device, an image
indicating the work history of the work machine in association with a position of
the work machine on the map image.
[0105] In the above configuration, the reception device may receive position information
on a worked region, and the display control unit may superimpose, on the map image,
and display, on the display device, an image indicating the worked region on the map
image.
[0106] In the above configuration, the reception device may receive position information
of an unworked region, and the display control unit may superimpose, on the map image,
and display, on the display device, an image indicating the unworked region on the
map image.
[0107] The above configuration may further include a machine passage acquisition unit that
acquires information on a machine passage from a machine passage management device
that manages information on the machine passage, which is a passage of each of a plurality
of the work machines, and the display control unit may superimpose, on the map image,
and display, on the display device, an image indicating the machine passage on the
map image.
[0108] The above configuration may further include a dump passage acquisition unit that
acquires information on a dump passage from a dump passage management device that
manages information on the dump passage, which is a passage of a dump truck, and the
display control unit may superimpose, on the map image, and display, on the display
device, an image indicating the dump passage on the map image.
[0109] In the above configuration, the reception device may receive information regarding
a movable range at a current position of the work machine from each of a plurality
of the work machines, and the display control unit may superimpose, on the map image,
and display, on the display device, an image indicating the movable range at the current
position of the work machine in association with a position of the work machine on
the map image.
[0110] In the above configuration, the reception device may receive information regarding
a work range from each of a plurality of the work machines, and the display control
unit may superimpose, on the map image, and display, on the display device, an image
indicating the work range of the work machine in association with a position of the
work machine on the map image.
[0111] In the above configuration, the display control unit may display, on the display
device, an image indicating the work range in a size corresponding to a size of the
work range.
[0112] In the above configuration, the reception device may receive information regarding
a progress situation of work in the work range from each of a plurality of the work
machines, and the display control unit may superimpose, on the map image, and display,
on the display device, an image indicating a progress situation of the work in the
work range of the work machine in association with a position of the work machine
on the map image.
[0113] In the above configuration, the reception device may receive information on a workload
in the work range from each of a plurality of the work machines, and the display control
unit may superimpose, on the map image, and display, on the display device, an image
indicating the workload in the work range of the work machine in association with
a position of the work machine on the map image.
[0114] The above configuration may further include: a deviation determination unit that
determines whether or not the work range is deviated from a predetermined range; and
a deviation notification unit that, when the deviation determination unit determines
that the work range is deviated from the predetermined range, notifies that effect.
[0115] In the above configuration, the reception device may receive information regarding
a stop position of a dump truck with respect to the work machine, and the display
control unit may superimpose, on the map image, and display, on the display device,
an image indicating the stop position of the dump truck with respect to the work machine
in association with a position of the work machine on the map image.
[0116] The above configuration may further include: a positional deviation determination
unit that determines whether or not a stop position of the dump truck is deviated
from a predetermined position; and a positional deviation notification unit that,
when the stop position of the dump truck is deviated from the predetermined position,
notifies that effect.
[0117] In the above configuration, the reception device may receive information on a manager
of the work machine from each of a plurality of the work machines, and the display
control unit may superimpose, on the map image, and display, on the display device,
an image indicating the manager of the work machine in association with a position
of the work machine on the map image.
[0118] The above configuration may further include: an interference determination unit that
determines whether or not there is a possibility that an object interferes with the
work machine; and an interference notification unit that, when the interference determination
unit determines that there is a possibility that the object interferes with the work
machine, notifies that effect.
[0119] The above configuration may further include: an interference determination unit that
determines whether or not there is a possibility that an object interferes with the
work machine; and a posture change unit that changes a posture of the work machine
when the interference determination unit determines that there is a possibility that
the object interferes with the work machine.
[0120] According to the present invention, an image indicating that the work machine is
being automatically driven is superimposed on a map image and displayed on the display
device in association with the position of the work machine being automatically driven
on the map image. Therefore, by viewing the display device, the operator of the management
system can grasp which work machine is being automatically driven. Therefore, when
remotely controlling another work machine, the operator can keep this work machine
from inadvertently approaching the work machine being automatically driven.
1. A management system comprising:
a display device that displays a map image;
a reception device that receives, from each of a plurality of work machines, position
information on the work machine and information on whether or not the work machine
is being automatically driven; and
a display control unit that superimposes, on the map image, and displays, on the display
device, an image indicating that the work machine is being automatically driven in
association with a position of the work machine being automatically driven on the
map image.
2. The management system according to claim 1, wherein
the reception device receives information indicating motion content from the work
machine being automatically driven, and
the display control unit displays, on the display device, an image in a different
aspect regarding the image indicating that the work machine is being automatically
driven in accordance with the motion content.
3. The management system according to claim 1 or 2, wherein
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating that the work machine is not being automatically driven
in association with a position of the work machine not being automatically driven
on the map image.
4. The management system according to claim 1 or 2, wherein
the reception device receives information regarding a work history from each of a
plurality of the work machines, and
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating the work history of the work machine in association with
a position of the work machine on the map image.
5. The management system according to claim 1 or 2, wherein
the reception device receives position information on a worked region, and
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating the worked region on the map image.
6. The management system according to claim 1 or 2, wherein
the reception device receives position information of an unworked region, and
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating the unworked region on the map image.
7. The management system according to claim 1 or 2, further comprising:
a machine passage acquisition unit that acquires information on a machine passage
from a machine passage management device that manages information on the machine passage,
which is a passage of each of a plurality of the work machines,
wherein the display control unit superimposes, on the map image, and displays, on
the display device, an image indicating the machine passage on the map image.
8. The management system according to claim 1 or 2, further comprising:
a dump passage acquisition unit that acquires information on a dump passage from a
dump passage management device that manages information on the dump passage, which
is a passage of a dump truck,
wherein the display control unit superimposes, on the map image, and displays, on
the display device, an image indicating the dump passage on the map image.
9. The management system according to claim 1 or 2, wherein
the reception device receives information regarding a movable range at a current position
of the work machine from each of a plurality of the work machines, and
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating the movable range at the current position of the work
machine in association with a position of the work machine on the map image.
10. The management system according to claim 1 or 2, wherein
the reception device receives information regarding a work range from each of a plurality
of the work machines, and
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating the work range of the work machine in association with
a position of the work machine on the map image.
11. The management system according to claim 10, wherein
the display control unit displays, on the display device, an image indicating the
work range in a size corresponding to a size of the work range.
12. The management system according to claim 10, wherein
the reception device receives information regarding a progress situation of work in
the work range from each of a plurality of the work machines, and
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating a progress situation of the work in the work range of
the work machine in association with a position of the work machine on the map image.
13. The management system according to claim 10, wherein
the reception device receives information on a workload in the work range from each
of a plurality of the work machines, and
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating the workload in the work range of the work machine in
association with a position of the work machine on the map image.
14. The management system according to claim 10, further comprising:
a deviation determination unit that determines whether or not the work range is deviated
from a predetermined range; and
a deviation notification unit that, when the deviation determination unit determines
that the work range is deviated from the predetermined range, notifies that effect.
15. The management system according to claim 1 or 2, wherein
the reception device receives information regarding a stop position of a dump truck
with respect to the work machine, and
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating the stop position of the dump truck with respect to the
work machine in association with a position of the work machine on the map image.
16. The management system according to claim 15, further comprising:
a positional deviation determination unit that determines whether or not a stop position
of the dump truck is deviated from a predetermined position; and
a positional deviation notification unit that, when the stop position of the dump
truck is deviated from the predetermined position, notifies that effect.
17. The management system according to claim 1 or 2, wherein
the reception device receives information on a manager of the work machine from each
of a plurality of the work machines, and
the display control unit superimposes, on the map image, and displays, on the display
device, an image indicating the manager of the work machine in association with a
position of the work machine on the map image.
18. The management system according to claim 1 or 2, further comprising:
an interference determination unit that determines whether or not there is a possibility
that an object interferes with the work machine; and
an interference notification unit that, when the interference determination unit determines
that there is a possibility that the object interferes with the work machine, notifies
that effect.
19. The management system according to claim 1 or 2, further comprising:
an interference determination unit that determines whether or not there is a possibility
that an object interferes with the work machine; and
a posture change unit that changes a posture of the work machine when the interference
determination unit determines that there is a possibility that the object interferes
with the work machine.