Unmanned operating machinery

Abstract

The present invention provides an unmanned working machine that can reliably cooperate with a manned working machine and smoothly perform operations. An excavating machine (100) is an unmanned working machine that can cooperate with a handling machine (200) as a manned working machine to perform operations. The excavating machine (100) is characterized by comprising: sound collecting devices (31a, 31b) as receiving devices, which receive notifications related to the operation state of the handling machine (200) or operation instructions to the excavating machine (100) sent from the handling machine (200) through the operation of an operator riding on the handling machine (200); and a control device (10), which controls the operation of the excavating machine (100) based on the received notifications.

Description

Technical Field

[0001] The present invention relates to unmanned working machines. Background Art

[0002] In recent years, in working machines such as hydraulic excavators, the development of unmanned working machines capable of performing operations without an operator on board has been continuously promoted (for example, Patent Document 1).

[0003] Patent Document 1 describes a system for unmanned excavation, particularly a system for performing excavation and loading operations using an unmanned excavation machine.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2000-136549 Summary of the Invention

[0007] In an actual work site of excavation operations and loading operations, an excavation machine such as a hydraulic excavator and a transport machine such as a dump truck cooperate to perform excavation operations and loading operations. In particular, when the transport machine enters a specified position where the excavated material can be loaded, and when the transport machine exits from the specified position after the loading operation by the excavation machine, the cooperation between the excavation machine and the transport machine is essential. In the case where there is no cooperation between the excavation machine and the work machine, a situation where the transport machine cannot stop at an appropriate position and a situation where the transport machine cannot start the transport operation at the optimal timing will occur.

[0008] In Patent Document 1, it is mentioned that an excavation machine performing excavation operations and loading operations plans and autonomously executes the operations based on its surrounding environment information, but no mention is made of the cooperation with a transport machine for loading the excavated material. In particular, in Patent Document 1, the case where one of the excavation machine and the transport machine is a manned working machine and the other is an unmanned working machine is not considered at all.

[0009] The present invention has been made in view of the above circumstances, and an object thereof is to provide an unmanned working machine that can reliably cooperate with a manned working machine and can smoothly execute operations.

[0010] In order to solve the above problems, an unmanned working machine of the present invention is an unmanned working machine capable of cooperating with a manned working machine to perform operations, and is characterized by including: a receiving device that receives a notification related to the operation state of the manned working machine or an operation instruction to the unmanned working machine, which is sent from the manned working machine through an operation of an operator on board the manned working machine; and a control device that controls the operation of the unmanned working machine based on the notification received by the receiving device.

[0011] Advantages of the Invention

[0012] The unmanned working machine of the present invention can reliably cooperate with manned working machines and can smoothly perform operations.

[0013] Problems, structures, and effects other than the above will become clear from the following description of the embodiments. Description of the Drawings

[0014] Figure 1 It is a side view showing the structure of an excavating machine as an unmanned working machine according to Embodiment 1.

[0015] Figure 2 It is a view showing the work site of an excavating machine as an unmanned working machine and a transporting machine as a manned working machine.

[0016] Figure 3 It is an illustration Figure 2 of the cooperative work of the excavating machine and the transporting machine shown.

[0017] Figure 4 It is a view showing Figure 2 the functional structures of the excavating machine and the transporting machine shown.

[0018] Figure 5 It is a flowchart showing Figure 4 the process of processing performed by the excavating machine in the cooperative work of the excavating machine and the transporting machine shown.

[0019] Figure 6 It is a Figure 4 time chart in the cooperative work of the excavating machine and the transporting machine shown.

[0020] Figure 7 It is a view showing the functional structures of an excavating machine as a manned working machine and a transporting machine as an unmanned working machine according to Embodiment 2.

[0021] Figure 8 It is a flowchart showing Figure 7 the process of processing performed by the transporting machine in the cooperative work of the excavating machine and the transporting machine shown.

[0022] Figure 9 It is a Figure 7 time chart in the cooperative work of the excavating machine and the transporting machine shown.

[0023] Figure 10 It is a side view showing the structure of an excavating machine as an unmanned working machine according to Embodiment 3.

[0024] Figure 11It is a diagram showing the work site and the remote operation room of an excavating machine as an unmanned working machine and a transport machine as a manned working machine.

[0025] Figure 12 It is an explanation Figure 11 A diagram showing the cooperative operation of the excavating machine and the transport machine shown.

[0026] Figure 13 It is a diagram showing Figure 11 A diagram showing the functional structures of the excavating machine and the transport machine shown.

[0027] Figure 14 It is a diagram showing the work site and the remote operation room of an excavating machine as a manned working machine and a transport machine as an unmanned working machine in Embodiment 4.

[0028] Figure 15 It is a diagram showing Figure 14 A diagram showing the functional structures of the excavating machine and the transport machine shown. Detailed implementation mode

[0029] Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that structures with the same reference numerals in each embodiment have the same functions in each embodiment unless otherwise specified, so their descriptions are omitted.

[0030] [Embodiment 1]

[0031] Figure 1 It is a side view showing the structure of an excavating machine 100 as an unmanned working machine in Embodiment 1.

[0032] The excavating machine 100 in the present embodiment is an unmanned working machine that can perform operations autonomously without an operator on board. The excavating machine 100 is an unmanned working machine that performs excavation operations on excavated materials and loading operations on excavated materials. The excavating machine 100 is composed of, for example, a hydraulic excavator or the like.

[0033] The excavating machine 100 includes a lower traveling body 101 having a crawler-type traveling device 8 and an upper revolving body 102 rotatably mounted on the lower traveling body 101 via a slewing device 7. Further, the excavating machine 100 includes a front working device 103 rotatably mounted on the front part of the upper revolving body 102 in the vertical direction and a cab 104 mounted on the upper revolving body 102. However, the cab 104 is not essential in the excavating machine 100 of the present embodiment.

[0034] The front working device 103 includes an arm 2 rotatably mounted in the vertical direction at the front of the upper rotating body 102, and a boom 4 rotatably connected to the front end of the arm 2 in the vertical direction or the front-rear direction. Further, the front working device 103 includes a bucket 6 rotatably connected to the front end of the boom 4 in the vertical direction or the front-rear direction, a boom cylinder 1 for driving the arm 2, a boom cylinder 3 for driving the boom 4, and a bucket cylinder 5 for driving the bucket 6.

[0035] Figure 1 The shown excavating machine 100 is a backhoe excavator configured to pull back the bucket 6 rearward by extending the boom cylinder 3 or the bucket cylinder 5.

[0036] Figure 2 It is a diagram showing the work site of the excavating machine 100 as an unmanned work machine and the transport machine 200 as a manned work machine. Figure 3 It is to explain Figure 2 a diagram of the cooperative work of the shown excavating machine 100 and the transport machine 200.

[0037] The excavating machine 100 and the transport machine 200 cooperate to perform work. As Figure 2 shown, the excavating machine 100 stops above the excavation surface 300 and excavates sandy soil from the excavation surface 300. The excavating machine 100 loads excavated materials such as sandy soil onto the transport machine 200 parked below the excavation surface 300. The transport machine 200 in this embodiment is a manned work machine on which an operator rides to perform work. The transport machine 200 is a manned work machine that performs the transport work of the excavated materials loaded by the loading work of the excavating machine 100. The transport machine 200 is composed of, for example, a dump truck or the like.

[0038] Figure 3 The upper part of [] shows the situation where the transport machine 200 enters a specified position as the parking position of the transport machine 200 where excavated materials can be loaded by the loading work of the excavating machine 100. Figure 3 The lower part of [] shows the situation where the transport machine 200 exits from this specified position. The transport machine 200 in this embodiment enters the specified position by reverse driving and exits from the specified position by forward driving. Without being limited to this, it may also be that the transport machine 200 enters the specified position by forward driving and exits from the specified position by reverse driving.

[0039] Figure 4 It is a diagram showing Figure 2 the functional structures of the shown excavating machine 100 and the transport machine 200.

[0040] The handling machine 200 issues a notice related to the operation status of the handling machine 200 or the operation instruction to the excavating machine 100. For example, as the notice issued from the handling machine 200, a parking completion notice and an emergency stop notice can be cited. The parking completion notice is a notice related to the operation status of the handling machine 200, and is a notice indicating the completion of parking of the handling machine 200 at the above-mentioned specified position. The emergency stop notice is a notice related to the operation instruction to the excavating machine 100, and is a notice instructing the excavating machine 100 to perform an emergency stop of the operation. As this notice, the handling machine 200 emits a siren sound from a siren device 43 preset in the handling machine 200. The siren sound is emitted by an operator riding on the handling machine 200 operating the siren device 43.

[0041] The excavating machine 100 is equipped with a sound collecting device 31a, 31b for collecting surrounding sounds, a photographing device 32 for photographing the surrounding images, a siren device 33 for emitting a siren sound, and a control device 10 for controlling the operation of the excavating machine 100.

[0042] The sound collecting devices 31a, 31b constitute a receiving device for receiving the siren sound indicating the above notice emitted from the handling machine 200 through the operation of an operator riding on the handling machine 200. The sound collecting devices 31a, 31b send the signals of the collected sounds to the control device 10. In particular, the sound collecting devices 31a, 31b collect the siren sound as the above notice emitted from the handling machine 200, and send the signals indicating the collected siren sound to the control device 10. The photographing device 32 sends the signals of the acquired images to the control device 10.

[0043] The siren device 33 constitutes a transmitting device for emitting a notice related to the operation status of the excavating machine 100 in a form recognizable by an operator riding on the handling machine 200. For example, as the notice related to the operation status of the excavating machine 100, a work completion notice can be cited. The work completion notice is a notice indicating the completion of the loading operation of the excavated material. The form recognizable by the operator refers to a notice form that can be recognized by the operator's five senses. In this embodiment, a sound form is adopted. The siren device 33 emits a siren sound indicating this notice according to the mode generated by the control device 10. In addition, the siren device 33 can also emit a siren sound indicating a notice related to the operation status of the handling machine 200.

[0044] The control device 10 controls the operation of the excavating machine 100 as an unmanned working machine based on the siren sound indicating the above notice collected by the sound collecting devices 31a, 31b constituting the receiving device. For example, the control device 10 controls the operation of the front working device 103, etc. based on the parking completion notice, and performs the excavation operation and loading operation of the excavated material.

[0045] The control device 10 includes a recognition unit 11, a detection unit 14, an operation execution unit 16, a transmission control unit 17, a pattern generation unit 18, and a pattern setting unit 19.

[0046] The recognition unit 11 recognizes the pattern of the siren sound collected by the sound collection devices 31a and 31b. The recognition unit 11 includes a pattern recognition unit 12 that recognizes the pattern of the siren sound from the sounds collected by the sound collection devices 31a and 31b, and a transmission source determination unit 13 that determines the transmission source of the siren sound recognized by the pattern recognition unit 12. The pattern recognition unit 12 extracts the signal waveform of a pre-specified siren sound from the signal waveforms of the sounds collected by the sound collection devices 31a and 31b, thereby recognizing the pattern of the siren sound. The transmission source determination unit 13 calculates the position coordinates of the transmission source of the siren sound based on the difference between the signal waveform of the sound collected by the sound collection device 31a and the signal waveform of the sound collected by the sound collection device 31b. The transmission source determination unit 13 compares the position coordinates of the transmission source of the siren sound with the image obtained by the imaging device 32, thereby determining the handling machine 200 of the manned work machine that is the transmission source of the siren sound. Thus, even if there are multiple handling machines 200 around the excavator 100, the excavator 100 can reliably determine the handling machine 200 that is the transmission source of the siren sound. The excavator 100 can reliably determine whether the handling machine 200 parked at the above-specified position is the handling machine 200 that is the transmission source of the siren sound. Even at a work site where there are multiple handling machines 200, the excavator 100 can more reliably cooperate with the target handling machine 200. However, the transmission source determination unit 13 can also determine the handling machine 200 that is the transmission source of the siren sound only based on the calculated position coordinates of the transmission source of the siren sound. In particular, when there is only one handling machine 200 around the excavator 100, it is not necessary to compare the position coordinates of the transmission source of the siren sound with the image obtained by the imaging device 32.

[0047] The recognition unit 11 sends the recognition result to the detection unit 14. The recognition result includes the pattern of the siren sound collected by the sound collection devices 31a and 31b and information on the handling machine 200 that is the transmission source of the siren sound. The recognition unit 11 sends the information on the handling machine 200 that is the transmission source of the siren sound to the operation execution unit 16.

[0048] Based on the recognition result of the recognition unit 11, the detection unit 14 detects the content of the notification sent from the handling machine 200, which is a manned operation machine. The detection unit 14 has a table showing the correspondence between the pattern of the siren sound and the content of the notification. The detection unit 14 detects the content of the notification sent from the handling machine 200 by determining, according to this table, the content of the notification corresponding to the pattern of the siren sound sent from the recognition unit 11. When the detected content of the notification is accompanied by the operation of the operation execution unit 16, the detection unit 14 sends the detection result to the operation execution unit 16. When the detected content of the notification is not accompanied by the operation of the operation execution unit 16, the detection unit 14 sends the detection result to the signal transmission control unit 17. In addition, the detection unit 14 can change the setting of the correspondence between the pattern of the siren sound and the content of the notification through the setting unit 15. Thus, even if the correspondence between the pattern of the siren sound and the content of the notification is different for each work site, the setting can be easily changed through the setting unit 15. Therefore, the excavator 100 can cooperate with the handling machine 200 reliably and flexibly at various work sites.

[0049] Based on the detection result of the detection unit 14, the operation execution unit 16 controls the execution of the operation of the excavator 100, which is an unmanned operation machine. The operation execution unit 16 controls the operation of the front work device 103 and the like according to the content of the notification detected by the detection unit 14, thereby controlling the execution of various operations of the excavator 100. For example, when the content of the notification detected by the detection unit 14 is the above-mentioned parking completion notification, the operation execution unit 16 starts the excavation operation and the loading operation of the excavated material. When the content of the notification detected by the detection unit 14 is the above-mentioned emergency stop notification, the operation execution unit 16 immediately stops the operation. In addition, when the loading operation is completed, the operation execution unit 16 sends the main idea to the signal transmission control unit 17.

[0050] The signal transmission control unit 17 controls the emission of the siren sound. The signal transmission control unit 17 determines the content of the notification sent from the excavator 100 and the timing of emission according to the detection result of the detection unit 14 and the progress of the operation of the operation execution unit 16. The signal transmission control unit 17 sends a control signal indicating the content of the notification to be emitted and the timing of emission to the pattern generation unit 18. For example, when the operation execution unit 16 completes the loading operation, the signal transmission control unit 17 sends a control signal indicating the immediate emission of the above-mentioned operation completion notification to the pattern generation unit 18.

[0051] The pattern generation unit 18 generates a siren sound pattern emitted from the siren device 33 based on the control signal transmitted from the transmission control unit 17. The siren sound pattern is preset according to the notification content to be issued. The siren sound pattern generates multiple patterns with different pitches, sounding times, and sounding frequencies by appropriately setting the amplitude and frequency of the signal waveform. When issuing the above-mentioned operation completion notification, the pattern generation unit 18 generates a preset pattern as the siren sound pattern indicating the operation completion notification. The pattern generation unit 18 sends a drive signal of the siren device 33 corresponding to the generated siren sound pattern to the siren device 33.

[0052] The pattern setting unit 19 selects the siren sound pattern generated by the pattern generation unit 18 and the siren sound pattern recognized by the recognition unit 11 from a plurality of preset siren sound patterns, and sets the pattern generation unit 18 and the recognition unit 11. The pattern setting unit 19 can freely set and change the types and numbers of the siren sound patterns generated by the pattern generation unit 18 and the types and numbers of the siren sound patterns recognized by the recognition unit 11 within a preset range. Thus, the excavator 100 can issue and receive notifications of various contents by distinguishing and using multiple siren sound patterns. Since the excavator 100 can mutually transmit various operation states of the excavator 100 and the transporter 200, it can cooperate with the transporter 200 more reliably and firmly at various work sites.

[0053] Figure 5 Indicates in Figure 4 The flowchart shows the process of the excavator 100 in the collaborative operation of the excavator 100 and the transporter 200 shown.

[0054] In step S1, the excavator 100 prepares for the excavation operation and the loading operation, and stands by in a workable state.

[0055] In step S2, the excavator 100 determines whether it has received a parking completion notification sent from the transporter 200. If the excavator 100 has not received the parking completion notification, it transfers to step S1. If the excavator 100 has received the parking completion notification, it transfers to step S3.

[0056] In step S3, the excavator 100 starts the excavation operation and the loading operation of the excavated material. In addition, the excavator 100 only needs to start the loading operation at least based on the parking completion notification. The excavator 100 may also start its own excavation operation before the parking completion notification.

[0057] In step S4, the excavating machine 100 determines whether an emergency stop notification is received. If the excavating machine 100 does not receive the emergency stop notification, it proceeds to step S6. If the excavating machine 100 receives the emergency stop notification, it determines that the operating state is abnormal and proceeds to step S5.

[0058] In step S5, based on the received emergency stop notification, the excavating machine 100 urgently stops the operation of the excavating machine 100. There is a possibility that the emergency stop notification is issued due to an operation error of the operator riding on the transport machine 200. To address this possibility, if no siren sound is emitted from the transport machine 200 after a specified time has elapsed after step S4, the excavating machine 100 may proceed to step S6.

[0059] In step S6, the excavating machine 100 determines whether the loading operation is completed. The excavating machine 100 can determine whether the loading operation is completed by performing image recognition on the image of the loading amount of the transport machine 200 obtained by the imaging device 32. For example, if the loading amount of the transport machine 200 is the maximum loading amount, the excavating machine 100 determines that the loading operation is completed. If the loading amount of the transport machine 200 is not the maximum loading amount, the excavating machine 100 determines that the loading operation is not completed. If the loading operation is not completed, the excavating machine 100 proceeds to step S3. If the loading operation is completed, the excavating machine 100 proceeds to step S7.

[0060] In step S7, the excavating machine 100 issues a job completion notification. Then, the excavating machine 100 proceeds to step S1.

[0061] Figure 6 Yes Figure 4 A timing chart in the collaborative operation of the excavating machine 100 and the transport machine 200 shown.

[0062] At time t0, the transport machine 200 enters the work site and moves towards the above-mentioned specified position, which is the parking position of the transport machine 200 where the excavated material can be loaded. The transport machine 200 continues to move in until it finishes parking at the above-mentioned specified position (time t1). At time t0, the excavating machine 100 prepares for the excavation operation and the loading operation and waits until it receives the parking completion notification from the transport machine 200 (time t2).

[0063] At time t1, the transport machine 200 finishes parking at the above-mentioned specified position. The transport machine 200 drives the siren device 43, which is the signaling device of the transport machine 200, to issue the parking completion notification. Then, the transport machine 200 prepares to exit from the above-mentioned specified position and waits until it receives the job completion notification from the excavating machine 100 (time t4).

[0064] At time t2, the excavating machine 100 receives a parking completion notice from the transporting machine 200. The excavating machine 100 starts the excavation operation and the loading operation of the excavated material. The excavating machine 100 continues the excavation operation and the loading operation until the loading operation is completed (time t3).

[0065] At time t3, the excavating machine 100 completes the loading operation. The excavating machine 100 drives the siren device 33, which is a transmitting device of the excavating machine 100, in order to send a job completion notice. Then, the excavating machine 100 stands by until it receives a parking completion notice sent by a new transporting machine 200 parked at the above-mentioned specified position.

[0066] At time t4, the transporting machine 200 receives the job completion notice from the excavating machine 100. The transporting machine 200 starts to withdraw from the above-mentioned specified position and exits the work site. That is, the transporting machine 200 starts the transporting operation. The transporting machine 200 continues the withdrawal operation until the withdrawal from the above-mentioned specified position is completed (time t5).

[0067] As described above, the excavating machine 100 of Embodiment 1 is an unmanned working machine that can cooperate with the transporting machine 200, which is a manned working machine, and autonomously perform operations. The excavating machine 100 of Embodiment 1 includes a receiving device that receives a notice related to the operation state of the excavating machine 100 or an operation instruction to the transporting machine 200, which is sent from the transporting machine 200 by the operation of an operator riding on the transporting machine 200. The excavating machine 100 of Embodiment 1 includes a control device 10 that controls the operation of the excavating machine 100 based on the received notice.

[0068] Thus, regarding the excavating machine 100 of Embodiment 1, the operation state of the transporting machine 200 grasped by the operator riding on the transporting machine 200 and the operation instruction to the excavating machine 100 can also be shared in the excavating machine 100, and appropriate operations corresponding to the operation state or the operation instruction can be executed. Thus, even though the excavating machine 100 of Embodiment 1 is an unmanned working machine, it can reliably cooperate with the transporting machine 200, which is a manned working machine, and can smoothly execute operations.

[0069] Moreover, the excavating machine 100 of Embodiment 1 includes a transmitting device that sends a notice related to the operation state of the excavating machine 100 in a form that can be recognized by the operator riding on the transporting machine 200.

[0070] Accordingly, the excavating machine 100 of Embodiment 1 can share the operating state of the excavating machine 100 grasped by the excavating machine 100 with the transporting machine 200, and can urge the operator on board the transporting machine 200 to perform appropriate actions corresponding to the operating state. Thus, the excavating machine 100 of Embodiment 1 can reliably cooperate with the transporting machine 200 as a manned working machine and can smoothly execute the work.

[0071] Moreover, the excavating machine 100 of Embodiment 1 receives a parking completion notice indicating that the transporting machine 200 has completed parking at the above-mentioned specified position, and starts the loading operation based on the received parking completion notice.

[0072] Accordingly, the excavating machine 100 of Embodiment 1 can suppress the execution of the loading operation before the transporting machine 200 has completed parking at the above-mentioned specified position. Thus, the excavating machine 100 of Embodiment 1 can reliably cooperate with the transporting machine 200 as a manned working machine and can smoothly execute the work.

[0073] Moreover, the excavating machine 100 of Embodiment 1 issues a work completion notice indicating that the loading operation has been completed.

[0074] Accordingly, the excavating machine 100 of Embodiment 1 can suppress the transporting machine 200 from performing the withdrawal action before the loading operation of the excavating machine 100 has been completed. Thus, the excavating machine 100 of Embodiment 1 can reliably cooperate with the transporting machine 200 as a manned working machine and can smoothly execute the work.

[0075] Moreover, the transporting machine 200 of Embodiment 1 emits a siren sound as a notice from the transporting machine 200. The receiving device of the excavating machine 100 of Embodiment 1 is composed of sound collecting devices 31a and 31b that collect the siren sound. In the excavating machine 100 of Embodiment 1, the control device 10 includes a recognition unit 11 that recognizes the pattern of the siren sound collected by the sound collecting devices 31a and 31b, and a detection unit 14 that detects the content of the notice sent from the transporting machine 200 based on the recognition result of the recognition unit 11. On this basis, in the excavating machine 100 of Embodiment 1, the control device 10 has an operation execution unit 16 that controls the execution of the operation of the excavating machine 100 based on the detection result of the detection unit 14.

[0076] Accordingly, the excavating machine 100 of Embodiment 1 can use the siren sound of the siren device 43 generally provided in the transport machine 200 to mutually transmit information with the transport machine 200. Even if no special device is added to the transport machine 200 which is a manned operation machine, the excavating machine 100 of Embodiment 1 can mutually transmit information with the transport machine 200. Accordingly, the excavating machine 100 of Embodiment 1 can reliably and easily cooperate with the transport machine 200 which is a manned operation machine, and can smoothly execute operations.

[0077] Moreover, the excavating machine 100 of Embodiment 1 further includes a photographing device 32 that acquires images of the surroundings. The recognition unit 11 of the excavating machine 100 of Embodiment 1 determines the transport machine 200 that is the sound source of the siren sound based on the siren sound collected by the sound collection devices 31a and 31b and the images acquired by the photographing device 32.

[0078] Accordingly, even if there are a plurality of transport machines 200 around the excavating machine 100, the excavating machine 100 of Embodiment 1 can easily determine the transport machine 200 that is the sound source of the siren sound. Accordingly, even at a work site where there are a plurality of transport machines 200, the excavating machine 100 of Embodiment 1 can cooperate more reliably with the target transport machine 200 and can smoothly execute operations.

[0079] Moreover, the transmission device of the excavating machine 100 of Embodiment 1 is composed of a siren device 33 that emits a siren sound as a notification from the excavating machine 100. The control device 10 of the excavating machine 100 of Embodiment 1 has a mode setting unit 19 that selects and sets the mode of the siren sound emitted by the siren device 33 and the mode of the siren sound recognized by the recognition unit 11 from a plurality of preset modes.

[0080] Accordingly, by distinguishing and using a plurality of siren sound modes, the excavating machine 100 of Embodiment 1 can mutually transmit notifications of various contents related to each operation state with the transport machine 200. Accordingly, the excavating machine 100 of Embodiment 1 can cooperate more reliably and firmly with the transport machine 200 at various work sites and can smoothly execute operations.

[0081] Moreover, the receiving device of the excavating machine 100 of Embodiment 1 receives an emergency stop notification that instructs the excavating machine 100 to perform an emergency stop of the operation, and the control device 10 causes the excavating machine 100 to perform an emergency stop of the operation based on the received emergency stop notification.

[0082] Accordingly, in the excavating machine 100 of Embodiment 1, when an operator on the handling machine 200 detects an abnormality in the excavating machine 100, the operation of the excavating machine 100 can be urgently stopped. The excavating machine 100 of Embodiment 1 can give a sense of security to the operator on the handling machine 200 and can prompt the cooperation between the excavating machine 100 and the handling machine 200 to the operator. Thus, the excavating machine 100 of Embodiment 1 can cooperate with the handling machine 200, which is a manned operation machine, reliably and smoothly and can execute the operation smoothly.

[0083] In addition, the excavating machine 100 and the handling machine 200 of Embodiment 1 cooperate with each other using a siren sound. The excavating machine 100 and the handling machine 200 may also cooperate with each other using the light of warning lights and illumination lights generally equipped. For example, the handling machine 200 also gives a notice of completion of parking by flashing the hazard warning light of the handling machine 200. The excavating machine 100 acquires an image of the flashing hazard warning light of the handling machine 200 using the photographing device 32 and performs image recognition on the image, thereby being able to grasp the completion of parking of the handling machine 200 at a specified position. Further, for example, the excavating machine 100 may also give a notice of completion of operation by flashing the illumination light of the excavating machine 100. The operator of the handling machine 200 can grasp the completion of the loading operation of the excavating machine 100 by visually recognizing the flashing of the illumination light of the excavating machine 100.

[0084] That is, the transmitting device of the handling machine 200 may be constituted not only by the siren device 43 but also by lights generally equipped on the handling machine 200 such as illumination lights and warning lights. The transmitting device of the excavating machine 100 may be constituted not only by the siren device 33 but also by lights generally equipped on the excavating machine 100 such as illumination lights and warning lights. The receiving device of the excavating machine 100 may be constituted not only by the sound collecting devices 31a and 31b but also by the photographing device 32. In the control device 10 of the excavating machine 100, the recognizing unit 11 may recognize the flashing pattern of the light from the handling machine 200, and the detecting unit 14 may detect the content of the notification based on the recognition result of the flashing pattern of the light. Regarding the pattern generating unit 18 and the pattern setting unit 19 as well, it can be realized by replacing the pattern of the siren sound with the flashing pattern of the light.

[0085] [Embodiment 2]

[0086] Use Figures 7 - 9 , to describe the unmanned operation machine of Embodiment 2. In the description of Embodiment 2, the description of the same structure and operation as in Embodiment 1 is omitted.

[0087] Figure 7FIG. 0 is a diagram showing the functional configurations of the excavator 100 as a manned work machine and the transporter 200 as an unmanned work machine according to Embodiment 2.

[0088] In Embodiment 1, the excavator 100 is an unmanned work machine, and the transporter 200 is a manned work machine. In Embodiment 2, the transporter 200 is an unmanned work machine, and the excavator 100 is a manned work machine.

[0089] The excavator 100 according to Embodiment 2 issues a notification related to the operation state of the excavator 100 or an operation instruction to the transporter 200. For example, as the notification issued from the excavator 100 according to Embodiment 2, a work completion notification and a parking position guidance notification can be cited. The work completion notification is the same as that in Embodiment 1. The parking position guidance notification is a notification related to the operation instruction to the transporter 200, and is a notification for guiding the unmanned transporter 200 to park at the above-mentioned specified position. As this notification, the excavator 100 emits a siren sound from the siren device 33 preset in the excavator 100. The siren sound is emitted by the operator boarding the excavator 100 operating the siren device 33.

[0090] The transporter 200 according to Embodiment 2 issues a notification related to the operation state of the transporter 200. For example, as the notification issued from the transporter 200 according to Embodiment 2, the same parking completion notification as in Embodiment 1 can be cited. As this notification, the transporter 200 emits a siren sound from the siren device 43.

[0091] The transporter 200 according to Embodiment 2 includes a sound collecting device 41a, 41b for collecting surrounding sounds, a photographing device 42 for acquiring surrounding images, a siren device 43 for emitting a siren sound, and a control device 20 for controlling the operation of the transporter 200.

[0092] The sound collecting devices 41a, 41b constitute a receiving device for receiving the siren sound indicating the above notification emitted from the excavator 100 by the operation of the operator boarding the excavator 100. The sound collecting devices 41a, 41b send the signal of the collected sound to the control device 20. The other structures of the sound collecting devices 41a, 41b are the same as those of the sound collecting devices 31a, 31b in Embodiment 1.

[0093] The siren device 43 constitutes a transmitting device for emitting a notification related to the operation state of the transporter 200 in a form of sound that can be recognized by the operator boarding the excavator 100. The siren device 43 emits a siren sound indicating the above notification according to the pattern generated by the control device 20. The other structures of the siren device 43 are the same as those of the siren device 33 in Embodiment 1.

[0094] The control device 20 controls the operation of the transport machine 200, which is an unmanned working machine, based on the siren sound representing the above notification collected by the sound collection devices 41a and 41b that constitute the receiving device. For example, the control device 20 controls the operations of the acceleration device, braking device, steering device, etc. of the transport machine 200 based on the parking position teaching notification, and executes the entry and parking operations to the above specified position. In addition, the control device 20 drives the siren device 43 to issue a parking completion notification. Further, for example, the control device 20 controls the operations of the acceleration device, braking device, steering device, etc. of the transport machine 200 based on the operation completion notification, and executes the exit operation (transport operation) from the above specified position.

[0095] The control device 20 includes a recognition unit 21, a detection unit 24, an operation execution unit 26, a transmission control unit 27, a mode generation unit 28, and a mode setting unit 29. The recognition unit 21, the detection unit 24, the operation execution unit 26, the transmission control unit 27, the mode generation unit 28, and the mode setting unit 29 are the same as the recognition unit 11, the detection unit 14, the operation execution unit 16, the transmission control unit 17, the mode generation unit 18, and the mode setting unit 19 in Embodiment 1, respectively.

[0096] Figure 8 It represents Figure 7 a flowchart showing the process of the transport machine 200 in the cooperative operation of the excavator 100 and the transport machine 200 shown.

[0097] In step S11, the transport machine 200 enters the above specified position, which is the parking position of the transport machine 200 where the excavated material can be loaded.

[0098] In step S12, the transport machine 200 determines whether it has received a parking position teaching notification sent from the excavator 100. If the transport machine 200 has not received the parking position teaching notification, it transfers to step S11. If the transport machine 200 has received the parking position teaching notification, it transfers to step S13.

[0099] In step S13, the transport machine 200 parks at the above specified position and issues a parking completion notification.

[0100] In step S14, the transport machine 200 prepares to exit from the above specified position and waits until the loading operation of the excavated material is completed.

[0101] In step S15, the transport machine 200 determines whether it has received an operation completion notification sent from the excavator 100. If the transport machine 200 has not received the operation completion notification, it transfers to step S14. If the transport machine 200 has received the operation completion notification, it transfers to step S16.

[0102] In step S16, the handling machine 200 exits from the above-mentioned specified position. That is, the handling machine 200 starts the handling operation. Then, the handling machine 200 transfers to step S11.

[0103] Figure 9 Yes Figure 7 It is a time chart in the collaborative operation of the excavating machine 100 and the handling machine 200 shown.

[0104] At time t0, the handling machine 200 enters the work site and enters the above-mentioned specified position, which is the parking position of the handling machine 200 where the excavated material can be loaded. The handling machine 200 continues the entering operation until it receives the parking position teaching notice from the excavating machine 100 (time t12). At time t0, the excavating machine 100 prepares for the excavating operation and the loading operation and stands by until the handling machine 200 enters near the above-mentioned specified position (time t11).

[0105] At time t11, the handling machine 200 enters near the above-mentioned specified position. The excavating machine 100 drives the siren device 33, which is the transmitting device of the excavating machine 100, in order to send out the parking position teaching notice. Then, the excavating machine 100 stands by until it receives the parking completion notice from the handling machine 200 (time t13).

[0106] At time t12, the handling machine 200 completes parking at the above-mentioned specified position. The handling machine 200 drives the siren device 43, which is the transmitting device of the handling machine 200, in order to send out the parking completion notice. Then, the handling machine 200 prepares to exit from the above-mentioned specified position and stands by until it receives the operation completion notice from the excavating machine 100 (time t15).

[0107] At time t13, the excavating machine 100 receives the parking completion notice from the handling machine 200. The excavating machine 100 starts the excavating operation and the loading operation of the excavated material. The excavating machine 100 continues the excavating operation and the loading operation until the loading operation is completed (time t14).

[0108] At time t14, the excavating machine 100 completes the loading operation. The excavating machine 100 drives the siren device 33, which is the transmitting device of the excavating machine 100, in order to send out the operation completion notice. Then, the excavating machine 100 stands by until a new handling machine 200 enters near the above-mentioned specified position.

[0109] At time t15, the transport machine 200 receives a job completion notice from the excavation machine 100. The transport machine 200 starts to withdraw from the above-mentioned specified position and exits the job site. That is, the transport machine 200 starts the transport operation. The transport machine 200 continues the withdrawal operation until the withdrawal from the above-mentioned specified position is completed (time t16).

[0110] As described above, the transport machine 200 of Embodiment 2 is an unmanned operation machine that can cooperate with the excavation machine 100, which is a manned operation machine, and autonomously perform operations. The transport machine 200 of Embodiment 2 is equipped with a receiving device that receives a notice related to the operation state of the excavation machine 100 or an operation instruction to the transport machine 200, which is sent from the excavation machine 100 by the operation of the operator riding on the excavation machine 100. The transport machine 200 of Embodiment 2 is equipped with a control device 20 that controls the operation of the transport machine 200 based on the received notice.

[0111] Thus, regarding the transport machine 200 of Embodiment 2, the operation state of the excavation machine 100 grasped by the operator riding on the excavation machine 100 and the operation instruction to the transport machine 200 can also be shared in the transport machine 200, and appropriate operations corresponding to the operation state can be executed. Thus, even though the transport machine 200 of Embodiment 2 is an unmanned operation machine, it can reliably cooperate with the excavation machine 100, which is a manned operation machine, and can smoothly execute operations.

[0112] Moreover, the receiving device of the transport machine 200 of Embodiment 2 receives a job completion notice indicating the completion of the loading operation of the excavation machine 100, and the control device 20 starts the transport operation based on the received job completion notice.

[0113] Thus, the transport machine 200 of Embodiment 2 can suppress the execution of the transport operation before the loading operation of the excavation machine 100 is completed. Thus, the transport machine 200 of Embodiment 2 can reliably cooperate with the excavation machine 100, which is a manned operation machine, and can smoothly execute operations.

[0114] Moreover, the receiving device of the transport machine 200 of Embodiment 2 receives a parking position teaching notice for teaching the transport machine 200 to park at a specified position, and the control device 20 makes the transport machine 200 park at the specified position based on the received parking position teaching notice. The transmitting device of the transport machine 200 of Embodiment 2 issues a parking completion notice indicating the completion of the parking of the transport machine 200 at the specified position.

[0115] Accordingly, the transport machine 200 of Embodiment 2 can reliably stop at the above-described specified position, and can suppress the execution of the loading operation by the excavator 100 until the stopping of the transport machine 200 at the above-described specified position is completed. Accordingly, the transport machine 200 of Embodiment 2 can reliably cooperate with the excavator 100, which is a manned operation machine, and can smoothly execute the operation.

[0116] [Embodiment 3]

[0117] Use Figures 10 - 13 , to describe the unmanned operation machine of Embodiment 3. In the description of Embodiment 3, the description of the same structures and operations as in Embodiments 1 and 2 is omitted.

[0118] Figure 10 is a side view showing the structure of the excavator 100 as an unmanned operation machine of Embodiment 3.

[0119] The excavator 100 of Embodiment 3 is an unmanned operation machine that operates by remote control without an operator on board. The excavator 100 is an unmanned operation machine that performs an excavation operation on the excavation object and a loading operation on the excavation object. The transport machine 200 of Embodiment 3 is a manned operation machine that operates with an operator on board. The transport machine 200 is a manned operation machine that performs a transport operation on the excavation object loaded by the loading operation of the excavator 100.

[0120] Similar to Embodiment 1, the excavator 100 includes a lower traveling body 101 having a traveling device 8, an upper revolving body 102 rotatably mounted on the lower traveling body 101 via a slewing device 7, a front working device 103 mounted on the front of the upper revolving body 102, and a cab 104 mounted on the upper revolving body 102. Moreover, the excavator 100 of Embodiment 3 includes a communication device 105 that communicates with the remote operation room 400. However, the cab 104 is not essential in the excavator 100 of the present embodiment.

[0121] Figure 11 is a view showing the work site of the excavator 100 as an unmanned operation machine and the transport machine 200 as a manned operation machine and the remote operation room 400. Figure 12 is to explain Figure 11 the cooperative operation of the excavator 100 and the transport machine 200 shown in

[0122] As Figure 11As shown, the excavating machine 100, like in Embodiment 1, operates in cooperation with the transporting machine 200. Similar to Embodiment 1, the excavating machine 100 stops above the excavation surface 300, excavates sand and the like from the excavation surface 300, and loads the excavated materials such as sand onto the transporting machine 200 that stops below the excavation surface 300. The transporting machine 200, like in Embodiment 1, performs the operation of transporting the excavated materials loaded through the loading operation of the excavating machine 100.

[0123] The remote operation room 400 is provided at a remote location away from the work site. The remote operation room 400 includes an antenna 401 for communicating with the excavating machine 100 which is an unmanned work machine, and a remote operation terminal 402 for remotely operating the excavating machine 100 through the input operation of a remote operator. The remote operation terminal 402 receives various information transmitted from the communication device 105 of the excavating machine 100 via the antenna 401, and outputs it to the display, speaker, etc. of the remote operation terminal 402 to notify the remote operator. The remote operation terminal 402 transmits the input information input to the remote operation terminal 402 through the input operation of the remote operator to the communication device 105 of the excavating machine 100 via the antenna 401.

[0124] Figure 12 The upper part shows the situation where the transporting machine 200 enters a specified position which is the parking position of the transporting machine 200 where the excavated materials can be loaded through the loading operation of the excavating machine 100. Figure 12 The lower part shows the situation where the transporting machine 200 exits from this specified position. The transporting machine 200 in Embodiment 3 enters and exits with respect to this specified position in the same manner as in Embodiment 1.

[0125] Figure 13 is a diagram showing Figure 11 the functional structures of the excavating machine 100 and the transporting machine 200 shown.

[0126] The transporting machine 200 in Embodiment 3, like in Embodiment 1, issues a notice related to the operation state of the transporting machine 200 or the operation instruction to the excavating machine 100. For example, as the notice issued from the transporting machine 200, a parking completion notice and an emergency stop notice can be cited. These parking completion notice and emergency stop notice are the same as the parking completion notice and emergency stop notice in Embodiment 1 respectively. The transporting machine 200, like in Embodiment 1, as this notice, emits a siren sound from the siren device 43 pre - installed on the transporting machine 200.

[0127] The excavating machine 100 of Embodiment 3, like that of Embodiment 1, includes sound collection devices 31a and 31b, a photographing device 32, a siren device 33, and a control device 10. Moreover, the excavating machine 100 of Embodiment 3 includes a communication device 105.

[0128] The sound collection devices 31a and 31b, like those of Embodiment 1, constitute a receiving device that receives the siren sound indicating the above-mentioned notification emitted from the handling machine 200 by the operation of the operator riding on the handling machine 200. The sound collection devices 31a and 31b transmit the signal of the collected sound to the communication device 105. In particular, the sound collection devices 31a and 31b collect the siren sound as the above-mentioned notification emitted from the handling machine 200, and transmit the signal of the collected siren sound to the communication device 105. The photographing device 32 transmits the signal of the acquired image to the communication device 105.

[0129] The siren device 33, like that of Embodiment 1, constitutes a transmitting device that emits a notification related to the operating state of the excavating machine 100 in a form recognizable by the operator riding on the handling machine 200. For example, as a notification related to the operating state of the excavating machine 100, a job completion notification can be cited. The job completion notification is the same as the job completion notification of Embodiment 1. The siren device 33, like that of Embodiment 1, emits a siren sound indicating the notification according to the pattern generated by the control device 10. In addition, the siren device 33 can also, like that of Embodiment 1, emit a siren sound indicating a notification related to the operating state of the handling machine 200.

[0130] The communication device 105 transmits the signal of the siren sound indicating the above-mentioned notification collected by the sound collection devices 31a and 31b constituting the receiving device and the signal of the image acquired by the photographing device 32 to the remote operation terminal 402. For example, the communication device 105 transmits the signal of the siren sound indicating the parking completion notification collected by the sound collection devices 31a and 31b to the remote operation terminal 402. In the remote operation terminal 402, based on the siren sound indicating the above-mentioned notification collected by the sound collection devices 31a and 31b constituting the receiving device and the image acquired by the photographing device 32, an input operation of the remote operator is performed. The remote operation terminal 402 transmits the input information of the remote operation terminal 402 input by the remote operator to the communication device 105. For example, the remote operation terminal 402 transmits the input information of the remote operation terminal 402 corresponding to the parking completion notification to the communication device 105. The communication device 105 receives the input information of the remote operation terminal 402 transmitted from the remote operation terminal 402 and transmits it to the control device 10. For example, the communication device 105 receives the input information of the remote operation terminal 402 corresponding to the parking completion notification and transmits it to the control device 10.

[0131] The control device 10 controls the operation of the excavating machine 100, which is an unmanned working machine, based on the input information of the remote operation terminal 402 received by the communication device 105. For example, the control device 10 controls the operation of the front working device 103 and the like based on the input information of the remote operation terminal 402 corresponding to the parking completion notification, so as to execute the excavation operation and the loading operation of the excavated material.

[0132] Similar to the first embodiment, the control device 10 includes a recognition unit 11, a detection unit 14, an operation execution unit 16, a transmission control unit 17, a mode generation unit 18, and a mode setting unit 19.

[0133] Similar to the first embodiment, the recognition unit 11 recognizes the pattern of the siren sound collected by the sound collection devices 31a and 31b. Similar to the first embodiment, the recognition unit 11 includes a pattern recognition unit 12 and a transmission source determination unit 13.

[0134] Similar to the first embodiment, the recognition unit 11 sends the recognition result to the detection unit 14. The recognition unit 11 sends the information of the transport machine 200, which is the transmission source of the siren sound, to the communication device 105.

[0135] Similar to the first embodiment, the detection unit 14 detects the content of the notification sent from the transport machine 200, which is a manned working machine, based on the recognition result of the recognition unit 11. The detection unit 14 sends the detected notification content to the communication device 105. The communication device 105 sends the detected notification content to the remote operation terminal 402, and receives the input information of the remote operation terminal 402 input by the remote operator according to the detected notification content. When the input information of the remote operation terminal 402 is accompanied by the operation based on the operation execution unit 16, the communication device 105 sends the input information to the operation execution unit 16. When the input information is not accompanied by the operation based on the operation execution unit 16, the communication device 105 sends the input information to the transmission control unit 17. In addition, similar to the first embodiment, the detection unit 14 can set and change the correspondence between the pattern of the siren sound and the notification content through the setting unit 15.

[0136] The operation execution unit 16 controls the execution of the operations of the excavating machine 100, which is an unmanned work machine, based on the input information of the remote operation terminal 402 corresponding to the detection result of the detection unit 14. The operation execution unit 16 controls the operations of the front work device 103 and the like based on the input information of the remote operation terminal 402 corresponding to the notification content detected by the detection unit 14, thereby controlling the execution of various operations of the excavating machine 100. For example, when the notification content detected by the detection unit 14 is the above-mentioned parking completion notification, if the input information of the remote operation terminal 402 is an instruction to start the excavation operation and the loading operation of the excavated material, the operation execution unit 16 starts the excavation operation and the loading operation of the excavated material. When the notification content detected by the detection unit 14 is the above-mentioned emergency stop notification, if the input information of the remote operation terminal 402 is an instruction to urgently stop the operation, the operation execution unit 16 urgently stops the operation. In addition, when the loading operation is completed, the operation execution unit 16 sends a work completion notification indicating the completion of the loading operation to the communication device 105. The communication device 105 sends the work completion notification to the remote operation terminal 402, and receives the input information of the remote operation terminal 402 corresponding to the work completion notification, and sends it to the transmission control unit 17.

[0137] The transmission control unit 17 controls the emission of the siren sound. The transmission control unit 17 determines the content and the emission timing of the notification issued from the excavating machine 100 based on the detection result of the detection unit 14 and the input information of the remote operation terminal 402 corresponding to the progress of the operation of the operation execution unit 16. The transmission control unit 17 sends a control signal indicating the content and the emission timing of the issued notification to the pattern generation unit 18. For example, if the input information of the remote operation terminal 402 corresponding to the work completion notification is sent from the communication device 105, the transmission control unit 17 sends a control signal indicating the immediate emission of the above-mentioned work completion notification to the pattern generation unit 18.

[0138] The pattern generation unit 18, in the same manner as in the first embodiment, generates a pattern of the siren sound emitted from the siren device 33 based on the control signal sent from the transmission control unit 17. The pattern generation unit 18, in the same manner as in the first embodiment, sends a drive signal of the siren device 33 corresponding to the generated pattern of the siren sound to the siren device 33.

[0139] The pattern setting unit 19, in the same manner as in the first embodiment, selects the pattern of the siren sound generated by the pattern generation unit 18 and the pattern of the siren sound recognized by the recognition unit 11 from a plurality of preset siren sound patterns, and sets the pattern generation unit 18 and the recognition unit 11. The pattern setting unit 19, in the same manner as in the first embodiment, can freely set and change the types and the number of patterns of the siren sound patterns generated by the pattern generation unit 18 and the types and the number of patterns of the siren sound patterns recognized by the recognition unit 11 within a preset range.

[0140] In Figure 13 In the collaborative operation of the excavating machine 100 and the transporting machine 200 shown, the process of the processing performed by the excavating machine 100 is substantially the same as that of the flowchart shown in Embodiment 1. However, several processes are different as follows. Figure 5 As follows.

[0141] In step S1, the excavating machine 100, similarly to Embodiment 1, prepares for the excavating operation and the loading operation and stands by in a state where the operation can be performed.

[0142] In step S2, the excavating machine 100, similarly to Embodiment 1, determines whether it has received a parking completion notice sent from the transporting machine 200. If the excavating machine 100 has not received the parking completion notice, it transfers to step S1 similarly to Embodiment 1. If the excavating machine 100 has received the parking completion notice, it sends the notice to the remote operation terminal 402, and if it has received the input information of the remote operation terminal 402 corresponding to the notice, it transfers to step S3.

[0143] In step S3, the excavating machine 100 starts the excavating operation and the loading operation of the excavated material based on the input information of the remote operation terminal 402 corresponding to the parking completion notice. In addition, the excavating machine 100 only needs to start the loading operation at least based on the input information of the remote operation terminal 402 corresponding to the parking completion notice. The excavating machine 100 may also start its own excavating operation based on the input information of the remote operation terminal 402 received before the input information of the remote operation terminal 402 corresponding to the parking completion notice.

[0144] In step S4, the excavating machine 100, similarly to Embodiment 1, determines whether it has received an emergency stop notice. If the excavating machine 100 has not received the emergency stop notice, it transfers to step S6 similarly to Embodiment 1. If the excavating machine 100 has received the emergency stop notice, it sends the notice to the remote operation terminal 402, and if it has received the input information of the remote operation terminal 402 corresponding to the notice, it transfers to step S5.

[0145] In step S5, the excavating machine 100 makes the operation of the excavating machine 100 stop urgently based on the input information of the remote operation terminal 402 corresponding to the received emergency stop notice. There is a possibility that the emergency stop notice is issued due to an operation error of the operator riding on the transporting machine 200. To cope with this possibility, if no siren sound is emitted from the transporting machine 200 after a predetermined time has elapsed after step S4, the excavating machine 100 may transfer to step S6.

[0146] In step S6, the excavating machine 100, in the same manner as in Embodiment 1, determines whether the loading operation is completed. Similar to Embodiment 1, the excavating machine 100 can determine whether the loading operation is completed by performing image recognition on the image of the loading amount of the handling machine 200 obtained by the imaging device 32. When the loading operation of the excavating machine 100 is not completed, it transfers to step S3 in the same manner as in Embodiment 1. When the loading operation of the excavating machine 100 is completed, it sends a job completion notice to the remote operation terminal 402. If it receives the input information of the remote operation terminal 402 corresponding to this notice, it transfers to step S7.

[0147] In addition, the determination of whether the loading operation is completed may not be made by the excavating machine 100 based on the image of the loading amount of the handling machine 200 obtained by the imaging device 32, but by the remote operator. In this case, the excavating machine 100 sends the image of the loading amount of the handling machine 200 obtained by the imaging device 32 to the remote operation terminal 402 in real time. The remote operator confirms the progress of the loading operation from this image displayed on the monitor of the remote operation terminal 402. If the loading operation is completed, the remote operator inputs a job completion notice to the remote operation terminal 402 and sends it to the excavating machine 100.

[0148] In step S7, the excavating machine 100 issues a job completion notice based on the input information of the remote operation terminal 402. Then, the excavating machine 100 transfers to step S1 in the same manner as in Embodiment 1.

[0149] Figure 13 The time chart in the collaborative operation of the excavating machine 100 and the handling machine 200 shown is the same as that Figure 6 shown in Embodiment 1.

[0150] As described above, the excavating machine 100 of Embodiment 3 is an unmanned operation machine that operates by remote operation and can cooperate with the handling machine 200, which is a manned operation machine, to perform operations. The excavating machine 100 of Embodiment 3 includes a receiving device that receives a notice related to the operation state of the handling machine 200 or an operation instruction to the excavating machine 100 issued from the handling machine 200 through the operation of the operator riding on the handling machine 200. The excavating machine 100 of Embodiment 3 includes a communication device 105 that sends the above notice received by the receiving device to the remote operation terminal 402 for remote operation and receives the input information of the remote operation terminal 402 input by the remote operator according to this notice. The excavating machine 100 of Embodiment 3 includes a control device 10 that controls the operation of the excavating machine 100 based on the input information of the remote operation terminal 402 received by the communication device 105.

[0151] Thus, regarding the excavation machine 100 of Embodiment 3, the operation state of the transport machine 200 grasped by the operator riding on the transport machine 200 and the operation instructions to the excavation machine 100 can also be shared among the excavation machine 100 and its remote operator, and appropriate actions corresponding to the operation state and the operation instructions can be executed. Thus, even if the excavation machine 100 of Embodiment 3 is an unmanned operation machine, it can reliably cooperate with the transport machine 200 as a manned operation machine and can smoothly execute the operation.

[0152] Moreover, the excavation machine 100 of Embodiment 3 is equipped with a transmission device that can send notifications regarding the operation state of the excavation machine 100 in a form recognizable by the operator riding on the transport machine 200.

[0153] Thus, the excavation machine 100 of Embodiment 3 can share the operation state of the excavation machine 100 grasped by the excavation machine 100 with the transport machine 200, and can urge the operator riding on the transport machine 200 to perform appropriate actions corresponding to the operation state. Thus, the excavation machine 100 of Embodiment 3 can reliably cooperate with the transport machine 200 as a manned operation machine and can smoothly execute the operation.

[0154] Moreover, the excavation machine 100 of Embodiment 3 receives a parking completion notice indicating that the transport machine 200 has completed parking at the above-mentioned specified position, sends the received parking completion notice to the remote operation terminal 402, and receives the input information of the remote operation terminal 402 corresponding to the parking completion notice. The excavation machine 100 of Embodiment 3 starts the loading operation based on the input information of the remote operation terminal 402 received.

[0155] Thus, the excavation machine 100 of Embodiment 3 can inhibit the execution of the loading operation before the transport machine 200 completes parking at the above-mentioned specified position. Thus, the excavation machine 100 of Embodiment 3 can reliably cooperate with the transport machine 200 as a manned operation machine and can smoothly execute the operation.

[0156] Moreover, the excavation machine 100 of Embodiment 3 sends a job completion notice indicating that the loading operation is completed.

[0157] Thus, the excavation machine 100 of Embodiment 3 can inhibit the execution of the withdrawal action by the transport machine 200 before the loading operation of the excavation machine 100 is completed. Thus, the excavation machine 100 of Embodiment 3 can reliably cooperate with the transport machine 200 as a manned operation machine and can smoothly execute the operation.

[0158] Moreover, the transport machine 200 of Embodiment 3 emits a siren sound as a notification from the transport machine 200. The receiving device of the excavator 100 of Embodiment 3 includes sound collecting devices 31a and 31b that collect the siren sound. In the excavator 100 of Embodiment 3, the control device 10 includes a recognition unit 11 that recognizes the pattern of the siren sound collected by the sound collecting devices 31a and 31b, and a detection unit 14 that detects the content of the notification sent from the transport machine 200 based on the recognition result of the recognition unit 11. On this basis, in the excavator 100 of Embodiment 3, the control device 10 has an operation execution unit 16 that controls the execution of the operation of the excavator 100 based on the input information of the remote operation terminal 402 corresponding to the detection result of the detection unit 14.

[0159] Accordingly, the excavator 100 of Embodiment 3 can use the siren sound of the siren device 43 generally provided in the transport machine 200 to mutually transmit information with the transport machine 200. Even without adding a special device to the transport machine 200, which is a manned operation machine, the excavator 100 of Embodiment 3 can mutually transmit information with the transport machine 200. Thus, the excavator 100 of Embodiment 3 can reliably and easily cooperate with the transport machine 200, which is a manned operation machine, and can smoothly execute the operation.

[0160] Moreover, the excavator 100 of Embodiment 3 further includes a photographing device 32 that acquires images of the surroundings. The recognition unit 11 of the excavator 100 of Embodiment 3 determines the transport machine 200 that is the source of the siren sound based on the siren sound collected by the sound collecting devices 31a and 31b and the images acquired by the photographing device 32.

[0161] Accordingly, even if there are multiple transport machines 200 around the excavator 100, the excavator 100 of Embodiment 3 can easily determine the transport machine 200 that is the source of the siren sound. Thus, even at a work site where there are multiple transport machines 200, the excavator 100 of Embodiment 3 can more reliably cooperate with the target transport machine 200 and can smoothly execute the operation.

[0162] Moreover, the transmitting device of the excavator 100 of Embodiment 3 includes a siren device 33 that emits a siren sound as a notification from the excavator 100. The control device 10 of the excavator 100 of Embodiment 3 has a mode setting unit 19 that selects and sets the pattern of the siren sound emitted by the siren device 33 and the pattern of the siren sound recognized by the recognition unit 11 from a plurality of preset patterns.

[0163] Thus, by differentiating and using multiple siren sound patterns, the excavating machine 100 according to Embodiment 3 can mutually transmit notifications of various contents related to respective operation states to and from the transporting machine 200. Thus, the excavating machine 100 according to Embodiment 3 can cooperate with the transporting machine 200 more reliably and firmly in various work sites and can execute operations smoothly.

[0164] Moreover, the receiving device of the excavating machine 100 according to Embodiment 3 receives an emergency stop notification instructing an emergency stop of the operation of the excavating machine 100. The communication device 105 of the excavating machine 100 according to Embodiment 3 transmits the emergency stop notification received by the receiving device to the remote operation terminal 402 and receives input information of the remote operation terminal 402 corresponding to the emergency stop notification. The control device 10 of the excavating machine 100 according to Embodiment 3 causes an emergency stop of the operation of the excavating machine 100 based on the input information of the remote operation terminal 402 received by the communication device 105.

[0165] Thus, in the excavating machine 100 according to Embodiment 3, when an operator riding on the transporting machine 200 discovers an abnormality of the excavating machine 100, the operation of the excavating machine 100 can be emergently stopped. The excavating machine 100 according to Embodiment 3 can give a sense of security to the operator riding on the transporting machine 200 and can urge the cooperation between the excavating machine 100 and the transporting machine 200 to the operator. Thus, the excavating machine 100 according to Embodiment 3 can cooperate with the transporting machine 200, which is a manned operation machine, reliably and smoothly and can execute operations smoothly.

[0166] In addition, the excavating machine 100 and the transporting machine 200 according to Embodiment 3 achieve mutual cooperation using siren sounds. Similar to Embodiment 1, the excavating machine 100 and the transporting machine 200 can also achieve mutual cooperation using the light of warning lights and illuminating lights generally provided.

[0167] That is, similar to the transmitting device of the transport machine 200 in the first embodiment, it is not only composed of the siren device 43, but may also be composed of lights generally equipped on the transport machine 200 such as a lighting lamp and a warning lamp. Similar to the transmitting device of the excavator 100 in the first embodiment, it is not only composed of the siren device 33, but may also be composed of lights generally equipped on the excavator 100 such as a lighting lamp and a warning lamp. Similar to the receiving device of the excavator 100 in the first embodiment, it is not only composed of the sound collecting devices 31a and 31b, but may also be composed of the photographing device 32. In the control device 10 of the excavator 100, similar to the first embodiment, the recognition unit 11 may also recognize the blinking pattern of the light from the transport machine 200, and the detection unit 14 may detect the content of the notification based on the recognition result of the blinking pattern of the light. Regarding the pattern generation unit 18 and the pattern setting unit 19 as well, similar to the first embodiment, it can be realized by replacing the pattern of the siren sound with the blinking pattern of the light.

[0168] [Embodiment 4]

[0169] Use Figures 14 - 15 , to describe the unmanned working machine of the fourth embodiment. In the description of the fourth embodiment, the description of the same structures and operations as those in the first to third embodiments is omitted.

[0170] Figure 14 FIG. is a diagram showing the work site and the remote operation room 400 of the excavator 100 as a manned working machine and the transport machine 200 as an unmanned working machine in the second embodiment. Figure 15 It is shown Figure 14 FIG. is a diagram showing the functional structures of the excavator 100 and the transport machine 200 shown.

[0171] In the third embodiment, the excavator 100 is an unmanned working machine and the transport machine 200 is a manned working machine. In the fourth embodiment, the transport machine 200 is an unmanned working machine and the excavator 100 is a manned working machine.

[0172] Similar to the second embodiment, the excavator 100 in the fourth embodiment issues a notification related to the operation state of the excavator 100 or an operation instruction to the transport machine 200. For example, as the notifications issued from the excavator 100 in the fourth embodiment, a work completion notification and a parking position guidance notification can be cited. These work completion notifications and parking position guidance notifications are the same as the work completion notification and the parking position guidance notification in the second embodiment respectively. Similar to the second embodiment, as this notification, a siren sound is emitted from the siren device 33 preset in the excavator 100.

[0173] The transport machine 200 of Embodiment 4, similar to that of Embodiment 2, issues a notification related to the operating state of the transport machine 200. For example, as the notification issued from the transport machine 200 of Embodiment 4, the same parking completion notification as in Embodiment 2 can be cited. Similar to Embodiment 2, the transport machine 200 emits a siren sound from the siren device 43 as this notification.

[0174] The transport machine 200 of Embodiment 4, similar to that of Embodiment 2, includes sound collection devices 41a and 41b, a photographing device 42, a siren device 43, and a control device 20. Moreover, the transport machine 200 of Embodiment 4 includes a communication device 205 that communicates with the remote operation room 400.

[0175] The sound collection devices 41a and 41b, similar to those of Embodiment 2, constitute a receiving device that receives the siren sound indicating the above notification emitted from the excavator 100 by the operation of the operator riding on the excavator 100. The sound collection devices 41a and 41b send the signals of the collected sounds to the communication device 205. The other structures of the sound collection devices 41a and 41b are the same as those of the sound collection devices 31a and 31b of Embodiment 3.

[0176] The siren device 43, similar to that of Embodiment 2, constitutes a transmitting device that emits a notification related to the operating state of the transport machine 200 in a form of sound that can be recognized by the operator riding on the excavator 100. The siren device 43 emits a siren sound indicating the above notification according to the pattern generated by the control device 20. The other structures of the siren device 43 are the same as those of the siren device 33 of Embodiment 3.

[0177] The communication device 205 sends the siren sound indicating the above notification collected by the sound collection devices 41a and 41b that constitute the receiving device and the signals of the images acquired by the photographing device 42 to the remote operation terminal 402. The communication device 205 receives the input information of the remote operation terminal 402 input by the remote operator and sends it to the control device 20. For example, the communication device 205 sends the job completion notification received by the receiving device to the remote operation terminal 402, and receives the input information of the remote operation terminal 402 corresponding to the job completion notification and sends it to the control device 20. The other structures of the communication device 205 are the same as those of the communication device 105 of Embodiment 3.

[0178] The control device 20 controls the operation of the transport machine 200, which is an unmanned working machine, based on the input information of the remote operation terminal 402 received by the communication device 205. For example, the control device 20 controls the operations of the acceleration device, braking device, steering device, etc. of the transport machine 200 based on the input information of the remote operation terminal 402 corresponding to the parking position teaching notification, so as to execute the entry and parking operations to the above-mentioned specified position. And when the parking of the transport machine 200 at the specified position is completed, the control device 20 sends the main idea to the communication device 205. The communication device 205 sends the parking completion notification to the remote operation terminal 402, and receives the input information of the remote operation terminal 402 corresponding to the parking completion notification and sends it to the control device 20. The control device 20 drives the siren device 43 based on the input information of the remote operation terminal 402 received by the communication device 205 to issue the parking completion notification. In addition, for example, the control device 20 controls the operations of the acceleration device, braking device, steering device, etc. of the transport machine 200 based on the input information of the remote operation terminal 402 corresponding to the operation completion notification, so as to execute the withdrawal operation (transport operation) from the above-mentioned specified position.

[0179] The control device 20 includes a recognition unit 21, a detection unit 24, an operation execution unit 26, a transmission control unit 27, a mode generation unit 28, and a mode setting unit 29. The recognition unit 21, the detection unit 24, the operation execution unit 26, the transmission control unit 27, the mode generation unit 28, and the mode setting unit 29 are the same as the recognition unit 11, the detection unit 14, the operation execution unit 16, the transmission control unit 17, the mode generation unit 18, and the mode setting unit 19 in Embodiment 3 respectively.

[0180] In Figure 15 the collaborative operation of the excavator 100 and the transport machine 200 shown, the process of the processing performed by the transport machine 200 is basically the same as that of Figure 8 the flowchart shown in Embodiment 2. However, several processes are different as follows.

[0181] In step S11, the transport machine 200 enters the above-mentioned specified position, which is the parking position of the transport machine 200 where the excavated material can be loaded, in the same manner as in Embodiment 2.

[0182] In step S12, the transport machine 200 determines whether it has received the parking position teaching notification sent from the excavator 100 in the same manner as in Embodiment 2. If the transport machine 200 has not received the parking position teaching notification, it transfers to step S11 in the same manner as in Embodiment 2. If the transport machine 200 has received the parking position teaching notification, it sends the notification to the remote operation terminal 402, and if it receives the input information of the remote operation terminal 402 corresponding to the notification, it transfers to step S13.

[0183] In step S13, the handling machine 200 parks the handling machine 200 at the above-specified position based on the input information of the remote operation terminal 402 corresponding to the parking position teaching notification. Then, the handling machine 200 sends a parking completion notification to the remote operation terminal 402. And when receiving the input information of the remote operation terminal 402 corresponding to the parking completion notification, the handling machine 200 issues a parking completion notification based on this input information.

[0184] In step S14, the handling machine 200, similarly to Embodiment 2, makes preparations to exit from the above-specified position and stands by until the loading operation of the excavated material is completed.

[0185] In step S15, the handling machine 200, similarly to Embodiment 2, determines whether it has received a job completion notification sent from the excavating machine 100. In the case where the handling machine 200 has not received the job completion notification, it transfers to step S14, similarly to Embodiment 2. In the case where the handling machine 200 has received the job completion notification, it sends this notification to the remote operation terminal 402, and if it receives the input information of the remote operation terminal 402 corresponding to this notification, it transfers to step S16.

[0186] In step S16, the handling machine 200 exits from the above-specified position based on the input information of the remote operation terminal 402 corresponding to the job completion notification. That is, the handling machine 200 starts the handling operation. Then, the handling machine 200 transfers to step S11, similarly to Embodiment 2.

[0187] Figure 15 The timing chart in the cooperative operation of the excavating machine 100 and the handling machine 200 shown is the same as that of Embodiment 2 Figure 9 shown.

[0188] As described above, the transport machine 200 according to the fourth embodiment is an unmanned operation machine that operates by remote control and can cooperate with the excavator 100, which is a manned operation machine, to perform operations. The transport machine 200 according to the fourth embodiment includes a receiving device that receives a notification related to the operation state of the excavator 100 or an operation instruction to the transport machine 200, which is sent from the excavator 100 by the operation of the operator riding on the excavator 100. The transport machine 200 according to the fourth embodiment includes a communication device 205 that sends the above notification received by the receiving device to the remote operation terminal 402 for remote operation, and receives the input information of the remote operation terminal 402 input by the remote operator based on this notification. The transport machine 200 according to the fourth embodiment includes a control device 20 that controls the operation of the transport machine 200 based on the input information of the remote operation terminal 402 received by the communication device 205.

[0189] Accordingly, regarding the transport machine 200 according to the fourth embodiment, the operation state of the excavator 100 grasped by the operator riding on the excavator 100 and the operation instruction to the transport machine 200 can also be shared among the transport machine 200 and its remote operator, and appropriate operations corresponding to the operation state and the operation instruction can be executed. Accordingly, even though the transport machine 200 according to the fourth embodiment is an unmanned operation machine, it can reliably cooperate with the excavator 100, which is a manned operation machine, and can smoothly execute operations.

[0190] Moreover, the receiving device of the transport machine 200 according to the fourth embodiment receives a job completion notification indicating that the loading operation of the excavator 100 has been completed. The communication device 205 of the transport machine 200 according to the fourth embodiment sends the job completion notification received by the receiving device to the remote operation terminal 402, and receives the input information of the remote operation terminal 402 corresponding to the job completion notification. The control device 20 of the transport machine 200 according to the fourth embodiment starts the transport operation based on the input information of the remote operation terminal 402 received by the communication device 205.

[0191] Accordingly, the transport machine 200 according to the fourth embodiment can suppress the execution of the transport operation before the loading operation of the excavator 100 is completed. Accordingly, the transport machine 200 according to the fourth embodiment can reliably cooperate with the excavator 100, which is a manned operation machine, and can smoothly execute operations.

[0192] Moreover, the receiving device of the transport machine 200 according to Embodiment 4 receives a parking position teaching notice for teaching the transport machine 200 to park at a specified position. The communication device 205 transmits the parking position teaching notice received by the receiving device to the remote operation terminal 402, and receives the input information of the remote operation terminal 402 corresponding to the parking position teaching notice. The control device 20 of the transport machine 200 according to Embodiment 4 causes the transport machine 200 to park at the specified position based on the input information of the remote operation terminal 402 received by the communication device 205. The communication device 205 of the transport machine 200 according to Embodiment 4 transmits a parking completion notice indicating that the transport machine 200 has completed parking at the above-mentioned specified position to the remote operation terminal 402, and receives the input information of the remote operation terminal 402 corresponding to the parking completion notice. The transmitting device of the transport machine 200 according to Embodiment 4 issues a parking completion notice indicating that the transport machine 200 has completed parking at the specified position based on the input information of the remote operation terminal 402 received by the communication device 205.

[0193] Thus, the transport machine 200 according to Embodiment 4 can reliably park at the above-mentioned specified position, and can suppress the execution of the loading operation by the excavator 100 before the transport machine 200 completes parking at the above-mentioned specified position. Thus, the transport machine 200 according to Embodiment 4 can reliably cooperate with the excavator 100 as a manned operation machine and can smoothly execute the operation.

[0194] In the above embodiment, the case where one of the manned operation machine and the unmanned operation machine is the excavator 100 and the other is the transport machine 200 has been described. In the present invention, both the manned operation machine and the unmanned operation machine can be the excavator 100, or both can be the transport machine 200. In addition, in the present invention, the manned operation machine and the unmanned operation machine can also be operation machines other than the excavator 100 or the transport machine 200, such as a crane.

[0195] [Other]

[0196] It should be noted that the present invention is not limited to the above embodiments and includes various modification examples. For example, the above embodiments have been described in detail for easy understanding of the present invention, but are not limited to necessarily having all the structures described. In addition, a part of the structure of a certain embodiment can be replaced with the structure of another embodiment, and in addition, the structure of another embodiment can be added to the structure of a certain embodiment. In addition, for a part of the structure of each embodiment, addition, deletion, and replacement of other structures can be performed.

[0197] In addition, some or all of the above structures, functions, processing units, processing elements, etc. can be implemented by hardware through, for example, integrated circuit design. In addition, the above structures, functions, etc. can also be implemented by software through a processor interpreting and executing programs that implement various functions. Information such as programs, tables, and files that implement various functions can be stored in recording devices such as memories, hard disks, SSDs (solid state drives), or recording media such as IC cards, SD cards, and DVDs.

[0198] In addition, control lines and information lines are shown for illustrative purposes, but it is not necessary to show all control lines and information lines on the product. It can be considered that almost all structures are actually interconnected.

[0199] Description of Reference Numerals

[0200] 10, 20... control devices, 11, 21... recognition units, 14, 24... detection units, 16, 26... operation execution units, 19, 29... mode setting units, 31a, 31b, 41a, 41b... sound collection devices (receiving devices), 32, 42... imaging devices, 33, 43... siren devices (transmitting devices), 100... excavation machinery (unmanned operation machinery, manned operation machinery), 105, 205... communication devices, 200... handling machinery (unmanned operation machinery, manned operation machinery), 402... remote operation terminal.

Claims

1. An unmanned working machine capable of collaborating with a manned working machine to perform operations, characterized in that Comprising: a receiving device that receives a notification indicating a state in which a prescribed operation has been completed by the manned work machine, the notification being emitted from the manned work machine in a form recognizable by the operator through the operation of the operator riding on the manned work machine; a control device that controls the operation of the unmanned work machine based on the notification indicating the state in which the prescribed operation has been completed by the manned work machine received by the receiving device; and a transmitting device that emits, in a form recognizable by the operator, a notification indicating a state in which a prescribed operation has been completed by the unmanned work machine based on the notification indicating the state in which the prescribed operation has been completed by the manned work machine.

2. The unmanned work machine according to claim 1, wherein the unmanned work machine can cooperate with the manned work machine to perform operations autonomously.

3. The unmanned work machine according to claim 2, wherein the unmanned work machine is an excavating machine that performs an excavating operation on excavated material and a loading operation on the excavated material, the manned work machine is a transporting machine that performs a transporting operation on the excavated material loaded through the loading operation, the receiving device receives a parking completion notification indicating the completion of parking of the manned work machine at a prescribed position, and the control device starts the loading operation based on the parking completion notification received by the receiving device.

4. The unmanned work machine according to claim 1, wherein the unmanned work machine is an excavating machine that performs an excavating operation on excavated material and a loading operation on the excavated material, the manned work machine is a transporting machine that performs a transporting operation on the excavated material loaded through the loading operation, and the transmitting device emits an operation completion notification indicating the completion of the loading operation.

5. The unmanned work machine according to claim 2, wherein the manned work machine is an excavating machine that performs an excavating operation on excavated material and a loading operation on the excavated material, the unmanned work machine is a transporting machine that performs a transporting operation on the excavated material loaded through the loading operation, the receiving device receives an operation completion notification indicating the completion of the loading operation of the manned work machine, and the control device starts the transporting operation based on the operation completion notification received by the receiving device.

6. The unmanned work machine according to claim 1, wherein the manned work machine is an excavating machine that performs an excavating operation on excavated material and a loading operation on the excavated material, the unmanned work machine is a transporting machine that performs a transporting operation on the excavated material loaded through the loading operation, the receiving device receives a parking position teaching notification for teaching the unmanned work machine to park at a prescribed position, the control device causes the unmanned work machine to park at the prescribed position based on the parking position teaching notification received by the receiving device, and the transmitting device emits a parking completion notification indicating the completion of parking of the unmanned work machine at the prescribed position.

7. The unmanned working machine according to claim 1, wherein as the notification from the manned working machine, the manned working machine emits a siren sound, the receiving device is composed of a sound collecting device that collects the siren sound, the control device has: a recognition unit that recognizes the pattern of the siren sound collected by the sound collecting device; a detection unit that detects the content of the notification sent from the manned working machine based on the recognition result of the recognition unit; and an operation execution unit that controls the execution of the operation of the unmanned working machine based on the detection result of the detection unit.

8. The unmanned working machine according to claim 3, wherein the receiving device receives an emergency stop notification that instructs the emergency stop of the operation of the unmanned working machine, the control device causes the operation of the unmanned working machine to be stopped urgently based on the emergency stop notification received by the receiving device.

9. The unmanned working machine according to claim 1, wherein the unmanned working machine operates through remote operation and can cooperate with the manned working machine to perform operations, the unmanned working machine further includes a communication device that sends the notification received by the receiving device to a remote operation terminal that performs the remote operation, and receives input information of the remote operation terminal input by the remote operator according to the notification, the control device controls the operation of the unmanned working machine based on the input information received by the communication device.

10. The unmanned working machine according to claim 9, wherein the unmanned working machine is an excavating machine that performs an excavating operation on the excavated material and a loading operation on the excavated material, the manned working machine is a transporting machine that performs a transporting operation on the excavated material loaded through the loading operation, the receiving device receives a parking completion notification indicating the completion of parking of the manned working machine at a specified position, the communication device sends the parking completion notification received by the receiving device to the remote operation terminal, and receives the input information of the remote operation terminal corresponding to the parking completion notification, the control device starts the loading operation based on the input information received by the communication device.

11. The unmanned working machine according to claim 9, wherein the unmanned working machine is an excavating machine that performs an excavating operation on the excavated material and a loading operation on the excavated material, the manned working machine is a transporting machine that performs a transporting operation on the excavated material loaded through the loading operation, the communication device sends an operation completion notification indicating the completion of the loading operation to the remote operation terminal, and receives the input information of the remote operation terminal corresponding to the operation completion notification, the transmitting device issues the operation completion notification based on the input information corresponding to the operation completion notification received by the communication device.

12. The unmanned working machine according to claim 9, wherein The manned working machine is an excavating machine that performs an excavation operation on the excavated material and a loading operation on the excavated material. The unmanned working machine is a conveying machine that performs a conveying operation on the excavated material loaded by the loading operation. The receiving device receives a job completion notification indicating completion of the loading operation of the manned working machine. The communication device transmits the job completion notification received by the receiving device to the remote operation terminal, and receives the input information of the remote operation terminal corresponding to the job completion notification. The control device starts the conveying operation based on the input information received by the communication device.

13. The unmanned working machine according to claim 9, characterized in that The manned working machine is an excavating machine that performs an excavation operation on the excavated material and a loading operation on the excavated material. The unmanned working machine is a conveying machine that performs a conveying operation on the excavated material loaded by the loading operation. The receiving device receives a parking position teaching notification instructing the unmanned working machine to park at a specified position. The communication device transmits the parking position teaching notification received by the receiving device to the remote operation terminal, and receives the input information of the remote operation terminal corresponding to the parking position teaching notification. The control device causes the unmanned working machine to park at the specified position based on the input information received by the communication device. The communication device transmits a parking completion notification indicating completion of parking of the unmanned working machine at the specified position to the remote operation terminal, and receives the input information of the remote operation terminal corresponding to the parking completion notification. The transmitting device issues the parking completion notification based on the input information received by the communication device corresponding to the parking completion notification.

14. The unmanned working machine according to claim 9, characterized in that As the notification from the manned working machine, the manned working machine emits a siren sound. The receiving device is composed of a sound collecting device that collects the siren sound. The control device has: A recognition unit that recognizes the pattern of the siren sound collected by the sound collecting device. A detection unit that detects the content of the notification issued from the manned working machine based on the recognition result of the recognition unit. And An operation execution unit that controls the execution of the operation of the unmanned working machine based on the input information of the remote operation terminal corresponding to the detection result of the detection unit.

15. The unmanned working machine according to claim 10, characterized in that The receiving device receives an emergency stop notification instructing an emergency stop of the operation of the unmanned working machine. The communication device transmits the emergency stop notification received by the receiving device to the remote operation terminal, and receives the input information of the remote operation terminal corresponding to the emergency stop notification. The control device causes an emergency stop of the operation of the unmanned work machine based on the input information corresponding to the emergency stop notification received by the communication device.

16. The unmanned work machine according to claim 7 or 14, characterized in that it further includes an imaging device that acquires images of the surroundings, the recognition unit determines the manned work machine that is the sound source of the siren sound based on the siren sound collected by the sound collection device and the image acquired by the imaging device.

17. The unmanned work machine according to claim 7 or 14, characterized in that the transmission device is composed of a siren device that emits a siren sound as the notification from the unmanned work machine, the control device has a mode setting unit that selects and sets the mode of the siren sound emitted by the siren device and the mode of the siren sound recognized by the recognition unit from a plurality of preset modes.

Images