Display device for shovel, display device for construction machinery, and monitoring system for shovel

Abstract

The invention relates to a display device for an excavator, a display device for a construction machine, and a monitoring system of the excavator, which can facilitate management of the excavator under autonomous control. A display device for a shovel according to one embodiment of the present invention is provided with a control unit that, when the shovel sequentially performs a plurality of operations by autonomous control, acquires information relating to the operations from the shovel, and, when it is recognized that the operations of the shovel are switched on the basis of the information, controls the display device to display the operation of the shovel on the basis of the acquired information. The content displayed for the shovel is changed.

Description

Technical Field

[0001] This application claims priority based on Japanese Patent Application No. 2023-108228 filed on June 30, 2023. The entire contents of the Japanese Patent Application are incorporated herein by reference.

[0002] The present invention relates to a display device for an excavator, a display device for a construction machine, and a monitoring system for an excavator. Background Art

[0003] In the past, a shovel that performs autonomous control has been proposed. A remote system that provides a management device in a manner that enables remote control of the status of the shovel when the shovel performs autonomous control has been proposed (see Patent Document 1). In this remote system, a dedicated worker can determine the status of the shovel that performs autonomous control based on the content displayed on the management device.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2022-152970

[0005] However, the system described in Patent Document 1 does not consider what information should be displayed on the display of the management device. That is, it is considered that the state of the shovel can be more easily understood by displaying information corresponding to the movement of the shovel on the display of the management device. Summary of the invention

[0006] In view of the above circumstances, by performing a display corresponding to the operation of the shovel under autonomous control, it is easy to understand the state of the shovel and to manage the shovel under autonomous control.

[0007] A display device for an excavator according to one embodiment of the present invention comprises a control unit, wherein the control unit is configured to obtain information related to the action from the excavator when the excavator performs a plurality of actions in sequence through autonomous control, and to change the content displayed for the excavator when the action switching of the excavator is recognized based on the information.

[0008] Effects of the Invention

[0009] According to one aspect of the present invention, the state of the shovel that is performing autonomous control can be easily recognized, so the shovel that is performing autonomous control can be easily managed. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram showing an example of the remote management system according to the first embodiment.

[0011] Figure 2 It is a side view showing the shovel (excavator) according to the first embodiment.

[0012] Figure 3 It is a diagram showing a configuration example of a drive control system of the shovel according to the first embodiment.

[0013] Figure 4 This is a functional block diagram showing a configuration example of the remote management system according to the first embodiment.

[0014] Figure 5 This is a diagram illustrating a display screen generated by the screen generating unit according to the first embodiment.

[0015] Figure 6 This is a diagram illustrating a display screen generated by the screen generating unit according to the first embodiment.

[0016] Figure 7 This is a diagram illustrating a display screen generated by the screen generating unit according to Modification 1.

[0017] Figure 8 This is a diagram illustrating a display screen generated by the screen generating unit according to Modification 1.

[0018] Fig. 9 This is a diagram illustrating a display screen generated by a screen generating unit according to Modification Example 2.

[0019] Explanation of symbols

[0020] 100-excavator, 1-lower walking body, 2-slewing mechanism, 3-upper slewing body, 4-boom, 5-arm, 6-bucket, S6-camera, S7-space recognition device, S8-positioning device, T1-communication device, DI-display device, 30-excavator controller, 301-acquisition unit, 302-excavator state determination unit, 303-action setting unit, 304-target trajectory generation unit, 305-autonomous control unit, 306-transmission control unit , 307-actuator driving unit, 31-proportional valve, 200-management device, T2-communication device, D1-display device, 230-controller, 231-receiving control unit, 232-action determination unit, 233-screen generating unit, 234-display control unit, 400-fixed-point measuring device, T3-communication device, S40-camera device, S41-space recognition device, 430-controller, 431-sending control unit, 450-position information storage unit. DETAILED DESCRIPTION

[0021] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, the embodiments described below are examples and do not limit the invention, and all features or combinations thereof described in the embodiments are not necessarily essential features or combinations thereof of the invention. In addition, in each of the drawings, the same or corresponding structures are sometimes marked with the same or corresponding symbols, and the description is omitted.

[0022] (First embodiment)

[0023] First, refer to Figure 1 An overview of the remote management system SYS according to the first embodiment will be described. Figure 1 This is a schematic diagram showing an example of the remote management system SYS according to the first embodiment.

[0024] <Equipment that constitutes the remote management system>

[0025] like Figure 1 As shown, the remote management system SYS according to the first embodiment includes a shovel 100 , a fixed-point measurement device 400 , and a management device 200 .

[0026] The shovel 100 , the fixed-point measurement device 400 , and the management device 200 are connected via a communication line NW so as to be able to transmit and receive data. For example, it is assumed that the shovel 100 is capable of wireless communication.

[0027] The shovel 100 is configured to perform work at a construction site by autonomous control.

[0028] There may be one or more shovels 100 . In the remote management system SYS, the shovel 100 can provide information related to the autonomous control of the shovel 100 to the management device 200 .

[0029] The fixed-point measurement device 400 is installed at a construction site where the shovel 100 performs work, and is configured to detect the conditions of the construction site.

[0030] There may be one or more fixed-point measurement devices 400 . Thus, the remote management system SYS can provide the management device 200 with information related to the construction site through the fixed-point measurement device 400 .

[0031] The shovel 100 and the fixed-point measuring device 400 send information related to the shovel 100 and information related to the construction site to the management device 200 via the communication line NW. Therefore, the shovel 100 and the fixed-point measuring device 400 are provided with sensors that can three-dimensionally recognize the position and shape of objects existing at the construction site. For example, the shovel 100 is provided with a space recognition device S7 (described later), and the fixed-point measuring device 400 is provided with a space recognition device S41 (described later). Therefore, the shovel 100 and the fixed-point measuring device 400 can send the three-dimensional measurement results of the construction site to the management device 200.

[0032] In order to photograph the construction site, the space recognition devices S7 and S41 may use LIDAR. LIDAR, for example, measures the distance between the LIDAR and more than 1 million points within the monitoring range. In addition, the present embodiment is not limited to the method using LIDAR, as long as it is a space recognition device that can measure the distance to an object. For example, a stereo camera may be used, or a distance measuring device such as a millimeter wave radar may be used.

[0033] The management device 200 is provided for a manager to manage a construction site including the shovel 100. The management device 200 includes a display device D1.

[0034] The display device D1 displays a screen based on information transmitted from the shovel 100 and the fixed-point measuring device 400. That is, the display device D1 displays information related to the construction site, etc., so that the manager can check the status of the construction site.

[0035] In this way, the management device 200 can present the conditions of the construction site including the shovel 100 from multiple angles based on the detection results from the shovel 100 and the fixed-point measurement device 400. In addition, in the present embodiment, the device for measuring the construction site including the shovel 100 is not limited to the shovel 100 and the fixed-point measurement device 400, but may also be a drone flying over the construction site or a user-carryable space recognition device or other devices.

[0036] In addition, in this embodiment, an example is shown in which a display device for an excavator for monitoring the excavator 100 that performs autonomous control is applied to the management device 200. In this embodiment, the display device for an excavator is not limited to the management device 200, and can also be applied to other devices. For example, it can be displayed on a tablet terminal or the like held by a manager at a construction site, or it can be displayed on a display device in the excavator 100.

[0037] <Example of the structure of an excavator>

[0038] Next, refer to Figure 2The outline of the shovel 100 according to the present embodiment will be described. Figure 2 This is a side view of an excavator 100 as a construction machine according to the first embodiment. An upper revolving body 3 is rotatably mounted on a lower traveling body 1 of the excavator 100 via a revolving mechanism 2. A boom 4 is mounted on the upper revolving body 3. A dipper arm 5 is mounted on the front end of the boom 4, and a bucket 6 as an end attachment is mounted on the front end of the dipper arm 5. The end attachment may be a bucket for slopes or a bucket for dredging, etc.

[0039] The boom 4, the arm 5 and the bucket 6 constitute an excavation attachment as an example of an attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9, respectively. The boom 4 is equipped with a boom angle sensor S1, the arm 5 is equipped with an arm angle sensor S2, and the bucket 6 is equipped with a bucket angle sensor S3. The excavation attachment may also be provided with a bucket tilt mechanism.

[0040] The boom angle sensor S1 detects the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor capable of detecting the boom angle as the rotation angle of the boom 4 relative to the upper swing body 3. The boom angle becomes the minimum angle when the boom 4 is maximally lowered, for example, and increases as the boom 4 is raised.

[0041] The arm angle sensor S2 detects the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor that can detect the arm angle as the rotation angle of the arm 5 relative to the boom 4. The arm angle becomes the minimum angle when the arm 5 is retracted to the maximum, for example, and increases as the arm 5 is opened.

[0042] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor that can detect the bucket angle as the rotation angle of the bucket 6 relative to the boom 5. The bucket angle is, for example, the smallest angle when the bucket 6 is retracted to the maximum, and increases as the bucket 6 is opened.

[0043] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may also be a potentiometer using a variable resistor, a stroke sensor for detecting the stroke amount of the corresponding hydraulic cylinder, or a rotary encoder for detecting the rotation angle around a connecting pin, etc. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 constitute a posture sensor for detecting the posture of the excavating attachment.

[0044] The upper rotating body 3 is equipped with a cab 10 as a cockpit, an engine 11, a fuselage tilt sensor S4, a rotation angular velocity sensor S5, a camera device S6, a space recognition device S7, a positioning device S8, a communication device T1, and the like.

[0045] A shovel controller 30 is provided in the cab 10. Also, a driver's seat, an operating device, and the like are provided in the cab 10.

[0046] The excavator controller 30 is a computing device that performs various operations. The excavator controller 30 is, for example, disposed in the cab 10 to perform drive control of the excavator 100. The functions of the excavator controller 30 can be implemented by any hardware, software, or a combination thereof. For example, the excavator controller 30 is constructed with a microcomputer including a CPU (Central Processing Unit), a RAM (Random Access Memory) and other memory devices, a ROM (Read Only Memory) and other non-volatile auxiliary storage devices, and various input and output interfaces as a center. The excavator controller 30 implements various functions by, for example, executing various programs installed in the non-volatile auxiliary storage device on the CPU.

[0047] The engine 11 is a driving source of the shovel 100. In the present embodiment, the engine 11 is a diesel engine. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

[0048] The body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 relative to a predetermined plane. In the present embodiment, the body tilt sensor S4 is an acceleration sensor that detects the tilt angle of the upper rotating body 3 relative to the horizontal plane around the front-rear axis and the tilt angle around the left-right axis. The front-rear axis and the left-right axis of the upper rotating body 3 are, for example, orthogonal to each other and pass through a point on the rotating axis of the shovel 100, that is, the center point of the shovel.

[0049] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. In the present embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may also be a rotary transformer or a rotary encoder. The rotation angular velocity sensor S5 may also detect the rotation speed. The rotation speed may be calculated from the rotation angular velocity.

[0050] The camera device S6 is configured to acquire images of the periphery of the shovel 100. In the present embodiment, the camera device S6 includes a front camera S6F for photographing the space in front of the shovel 100, a left camera S6L for photographing the space on the left side of the shovel 100, a right camera S6R for photographing the space on the right side of the shovel 100, and a rear camera S6B for photographing the space on the rear side of the shovel 100.

[0051] The camera device S6 may be, for example, a single-lens camera having an imaging element such as a CCD or a CMOS, and outputs the captured image to the display device DI.

[0052] The front camera S6F is installed, for example, on the top of the cab 10. The left camera S6L is installed on the left end of the upper surface of the upper rotating body 3. The right camera S6R is installed on the right end of the upper surface of the upper rotating body 3. The rear camera S6B is installed on the rear end of the upper surface of the upper rotating body 3.

[0053] In the present embodiment, by providing the imaging device S6 in the above-described arrangement, it is possible to capture an image of an object existing around the shovel 100 .

[0054] The space recognition device S7 is configured to recognize the space state around the shovel 100. The space recognition device S7 includes a rear space recognition device S7B that detects the space behind the shovel 100, a left space recognition device S7L that detects the space on the left side of the shovel 100, a right space recognition device S7R that detects the space on the right side of the shovel 100, and a front space recognition device S7F that detects the space in front of the shovel 100.

[0055] The space recognition device S7 can use LIDAR to detect objects existing around the excavator 100. LIDAR, for example, measures the distance between the LIDAR and more than 1 million points within the monitoring range. In addition, the present embodiment is not limited to the method using LIDAR, as long as it is a space recognition device that can measure the distance to the object. For example, a stereo camera can be used, and a distance measuring device such as a range image camera or a millimeter wave radar can also be used. In the case of using a millimeter wave radar or the like as the space recognition device S7, it is also possible to derive the distance and direction of the object based on the reflection signal by sending multiple signals (laser, etc.) from the space recognition device S7 to the object and receiving its reflection signal.

[0056] The rear space recognition device S7B is installed at the rear end of the upper surface of the upper revolving body 3. The left space recognition device S7L is installed at the left end of the upper surface of the upper revolving body 3. The right space recognition device S7R is installed at the right end of the upper surface of the upper revolving body 3. The front space recognition device S7F is installed at the front end of the upper surface of the cab 10.

[0057] The space recognition device S7 may be configured to detect a predetermined object in a predetermined area set around the shovel 100. For example, the space recognition device S7 may have a human detection function configured to detect a human while distinguishing between a human and an object other than a human.

[0058] The positioning device S8 is configured to obtain information related to the position of the excavator 100. In the present embodiment, the positioning device S8 is configured to measure the position and orientation of the excavator 100 in the reference coordinate system. Specifically, the positioning device S8 is a GNSS receiver assembled with an electronic compass, which measures the latitude, longitude and altitude of the current position of the excavator 100, and measures the orientation of the excavator 100. The reference coordinate system involved in the present embodiment is, for example, the world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system with the center of gravity of the earth as the origin, the direction of the intersection of the Greenwich meridian and the equator as the X-axis, the direction of 90 degrees east longitude as the Y-axis, and the direction of the North Pole as the Z-axis.

[0059] The communication device T1 is configured to control communication with a device located outside the shovel 100. In the present embodiment, the communication device T1 is configured to control communication between the communication device T1 and a device located outside the shovel 100 via a communication line NW (including a wireless communication network). The communication device T1 includes, for example, a mobile communication module corresponding to mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), a satellite communication module for connecting to a satellite communication network, and the like.

[0060] Furthermore, the communication device T1 controls wireless communication between, for example, an external GNSS (Global Navigation Satellite System) measurement system and the shovel 100 .

[0061] [Drive control system for excavators]

[0062] Figure 3 Yes means Figure 2 FIG. 1 is a diagram showing a configuration example of a drive control system of an excavator 100. Figure 3 In the figure, the mechanical power transmission system is represented by a double line, the working oil pipeline is represented by a thick solid line, the pilot pipeline is represented by a dotted line, and the electric drive control system is represented by a dotted line.

[0063] The drive system of the excavator 100 according to the present embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve unit 17. As described above, the hydraulic drive system of the excavator 100 according to the present embodiment includes hydraulic actuators such as the travel hydraulic motors 1L and 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, which respectively drive the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6.

[0064] The engine 11 is a main power source in the hydraulic drive system, and is mounted, for example, at the rear of the upper swing body 3. Specifically, the engine 11 rotates constantly at a preset target speed under direct or indirect control of an excavator controller 30 described later, and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses diesel as fuel.

[0065] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (deflection angle) of the swash plate of the main pump 14 according to a control command from the shovel controller 30. As described later, the regulator 13 includes, for example, regulators 13L and 13R.

[0066] The main pump 14 is mounted, for example, at the rear of the upper swing body 3, similarly to the engine 11, and supplies hydraulic oil to the control valve unit 17 through a high-pressure hydraulic line. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the excavator controller 30, the stroke length of the piston is adjusted by adjusting the deflection angle of the swash plate by the regulator 13, thereby controlling the discharge flow rate (discharge pressure). As described later, the main pump 14 includes, for example, main pumps 14L and 14R.

[0067] The control valve unit 17 is a hydraulic control device for controlling the hydraulic system in the excavator 100. In the present embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 is configured to selectively supply the hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, travel hydraulic motors 1L, 1R, and a swing hydraulic motor 2A. More specifically, the control valve 171 corresponds to the left travel hydraulic motor 1L, the control valve 172 corresponds to the right travel hydraulic motor 1R, and the control valve 173 corresponds to the swing hydraulic motor 2A. Furthermore, the control valve 174 corresponds to the bucket cylinder 9 , the control valve 175 corresponds to the boom cylinder 7 , and the control valve 176 corresponds to the arm cylinder 8 .

[0068] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply working oil to the hydraulic control device via a pilot line. In the present embodiment, the pilot pump 15 is a fixed capacity hydraulic pump. However, the pilot pressure generating device can also be implemented by the main pump 14. That is, in addition to the function of supplying working oil to the control valve unit 17 via the working oil pipeline, the main pump 14 can also have the function of supplying working oil to various hydraulic control devices via the pilot line. In this case, the pilot pump 15 can be omitted.

[0069] The operating device 26 is a device for an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0070] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the shovel controller 30.

[0071] The operation sensor 29 is configured to detect the operation content of the operator who uses the operating device 26. In the present embodiment, the operation sensor 29 detects the operation direction and operation amount of the operating device 26 corresponding to each actuator, and outputs the detected value to the excavator controller 30. In the present embodiment, the excavator controller 30 controls the opening area of ​​the proportional valve 31 according to the output of the operation sensor 29. In addition, the excavator controller 30 supplies the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure (pilot pressure) of the working oil supplied to each pilot port is, in principle, a pressure corresponding to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator. In this way, the operating device 26 is configured to be able to supply the working oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0072] The proportional valve 31, which functions as a control valve for controlling the equipment, is arranged in a pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to be able to change the flow path area of ​​the pipeline. In the present embodiment, the proportional valve 31 is operated according to the control command output by the shovel controller 30. Therefore, the shovel controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31 regardless of the operation of the operating device 26 by the operator.

[0073] With this configuration, even when no operation is performed on a specific operating device 26 , the shovel controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 .

[0074] For example, when the excavator controller 30 is set to perform autonomous control on the excavator 100, the following control is performed based on the actions performed through autonomous control: the target rotation angle of the upper rotating body 3, the target angles of the upper rotating body 3, the boom 4, the arm 5 and the bucket 6, and any one or more of the target speed of the engine 11 are set, thereby causing various structures of the excavator 100 to operate.

[0075] Furthermore, for example, the shovel controller 30 outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14 .

[0076] Furthermore, for example, the shovel controller 30 performs control related to a device guidance function that guides the operator's manual operation of the shovel 100 through the operating device 26. Furthermore, the shovel controller 30 performs control related to a device control function that automatically supports the operator's manual operation of the shovel 100 through the operating device 26.

[0077] In addition, part of the functions of the shovel controller 30 may be implemented by other controllers (control devices). That is, the functions of the shovel controller 30 may be implemented in a distributed manner by a plurality of controllers. For example, the equipment guidance function and the equipment control function may be implemented by a dedicated controller (control device).

[0078] <Framework structure of remote management system>

[0079] Figure 4 1 is a functional block diagram showing a configuration example of a remote management system SYS according to the present embodiment. Figure 4 In the illustrated example, the block configurations of the management device 200, the fixed-point measurement device 400, and the shovel 100 included in the remote management system SYS are shown. In addition, the hardware configuration of the shovel 100 is as described above, and thus the description thereof is omitted.

[0080] <Structure of the fixed-point measuring device>

[0081] The fixed-point measurement device 400 includes a communication device T3 , a position information storage unit 450 , a camera device S40 , a space recognition device S41 , and a controller 430 .

[0082] The communication device T3 is an interface for communicating with the management device 200 or other external devices through the communication line NW. The communication device T3 can be any device that can be connected to the communication line NW, for example, a mobile communication module that supports mobile communication standards such as LTE, 4G, and 5G.

[0083] The position information storage unit 450 stores the position information of the fixed-point measuring device 400. The position information is expressed in, for example, the same reference coordinate system as the position information acquired by the GNSS. The reference coordinate system is, for example, the above-mentioned world geodetic system.

[0084] The imaging device S40 is configured to acquire an image of the construction site where the shovel 100 is working. The imaging device S40 is, for example, a single-lens camera having an imaging element such as a CCD or a CMOS.

[0085] The space recognition device S41 detects an object existing in the construction site where the shovel 100 is working. As described above, the space recognition device S41 uses, for example, LIDAR.

[0086] The controller 430 performs control related to the fixed-point measurement device 400. The controller 430 can realize its functions, for example, by any hardware or any combination of hardware and software. The controller 430 can be constructed, for example, with a computer including a processor device such as a CPU, a memory device (main storage device) such as a RAM, and an auxiliary storage device such as a ROM as the center. For example, the controller 430 realizes various functions by loading a program installed in the auxiliary storage device into the memory device and executing it on the CPU.

[0087] <Configuration of Management Device 200>

[0088] The management device 200 includes a controller 230 , a communication device T2 , and a display device D1 .

[0089] The communication device T2 is configured to control communication with the communication device T1 mounted on the shovel 100 and the communication device T3 mounted on the fixed-point measurement device 400 .

[0090] The controller 230 is a computing device that performs various operations. In the present embodiment, the controller 230 is composed of a microcomputer including a CPU and a memory. In addition, various functions of the controller 230 are realized by the CPU executing a program stored in the memory.

[0091] like Figure 1 As shown, the display device D1 may be a multi-screen display composed of four monitors in two vertical rows and two horizontal columns. In this embodiment, by forming the display device D1 with a multi-screen display, the conditions of multiple excavators can be managed. In addition, this embodiment does not limit the number of displays, and the number may be other than four. In addition, it may also be composed of a single display.

[0092] Next, functional blocks of the controller 430 of the fixed-point measurement device 400 , the shovel controller 30 of the shovel 100 , and the controller 230 of the management device 200 will be described.

[0093] <<Functional block diagram of the fixed-point measuring device>>

[0094] The functional blocks in the controller 430 of the fixed-point measuring device 400 are described. The functional blocks in the controller 430 are conceptual and do not necessarily need to be physically configured as shown in the figure. All or part of each functional block can be dispersed and integrated in arbitrary units according to functionality or physicality. All or any part of each processing function performed in each functional block is implemented by a program executed by the CPU. Alternatively, each functional block can also be implemented in the form of hardware based on wired logic. The controller 430 has a transmission control unit 431 by implementing the program.

[0095] The transmission control unit 431 establishes a correspondence between the image information of the camera device S40, the measurement information of the space recognition device S41, and the position information stored in the position information storage unit 450, and transmits them to the management device 200. The transmission of the image information and the measurement information by the transmission control unit 431 is performed at a predetermined interval. For example, the transmission control unit 431 may transmit each time the camera device S40 takes a picture (for example, less than 1 second) or each time the space recognition device S41 performs measurement (for example, less than 1 second).

[0096] <<Functional frame of excavator>>

[0097] The functional blocks in the excavator controller 30 of the excavator 100 are explained. The functional blocks in the excavator controller 30 are conceptual and do not necessarily need to be physically configured as shown in the figure. All or part of each functional block can be configured by being dispersed and integrated in arbitrary units according to functionality or physicality. All or any part of each processing function performed in each functional block is implemented by a program executed by the CPU. Alternatively, each functional block can also be implemented in the form of hardware based on wired logic. The excavator controller 30 includes an acquisition unit 301, an excavator state determination unit 302, an action setting unit 303, a target trajectory generation unit 304, an autonomous control unit 305, a transmission control unit 306 and an actuator drive unit 307 by implementing the program.

[0098] The shovel controller 30 according to the present embodiment realizes autonomous control of the shovel 100. The shovel controller 30 according to the present embodiment can control various operations of the shovel 100. The operations according to the present embodiment are tasks assigned to the shovel 100 at a construction site.

[0099] The shovel 100 according to the present embodiment can perform various operations under the control of the shovel controller 30. Examples of the operations that can be performed include excavation loading and ground leveling operations. In addition, the present embodiment merely shows an example of the operations that can be performed by the shovel 100, and is not limited to excavation loading and ground leveling operations.

[0100] In the present embodiment, the work that the excavator 100 can perform is achieved by one action of the excavator 100 or a combination of multiple actions. For example, in the case where the work is excavation and loading, it is necessary to perform the actions in the order of excavation position evolution, excavation, lifting, and unloading. In other words, these multiple actions are combined to form the work of the excavator 100. The excavation position evolution is the action of moving the bucket 6 to the excavation position, excavation is the action of inserting the bucket into the sand and lifting the sand, lifting is the action of lifting the sand and moving it to the unloading destination, and unloading is the action of unloading the soil from the bucket 6 to a dump truck or the like. The action of the excavator 100 in the present embodiment represents the control of dividing the work performed by the excavator 100 into one or more. In other words, one or more actions are combined to achieve the work of the excavator 100.

[0101] The acquisition unit 301 acquires signals from various detection devices installed in the shovel 100. For example, the acquisition unit 301 acquires detection results of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. In addition, the acquisition unit 301 acquires image information, measurement information, and position information.

[0102] The image information is information captured by the imaging device S6. The measurement information is information measured by the space recognition device S7. The position information is information indicating the position and orientation of the shovel 100 in the reference coordinate system measured by the positioning device S8.

[0103] The excavator state determination unit 302 is configured to determine the state of the excavator 100 based on the signal acquired by the acquisition unit 301. In the present embodiment, the state of the excavator 100 includes the position and orientation of the excavator 100 and the state of the attachments of the excavator 100 (for example, the positions of the boom 4, the arm 5, and the bucket 6). The position of the excavator 100 is, for example, the position in the reference coordinate system of the excavator 100 (the latitude, longitude, and altitude of the reference point of the excavator 100). The excavator state determination unit 302 determines the position and orientation of the excavator 100 based on the output of the positioning device S8.

[0104] The state of the attachment (for example, the position of the boom 4, the arm 5 and the bucket 6) can be determined based on the detection results of the angle sensors (the boom angle sensor S1, the arm angle sensor S2 and the bucket angle sensor S3) and the respective sizes of the boom 4, the arm 5 and the bucket 6.

[0105] The action setting unit 303 sequentially sets the actions to be performed by the shovel 100 according to the work set as autonomous control. In the present embodiment, when the shovel 100 completes one action, the action setting unit 303 sets the next action for realizing the work. By repeatedly performing this setting, a work composed of a combination of multiple actions can be realized. In addition, the setting of the work for the shovel 100 is performed in advance by the manager, etc., and the description thereof is omitted.

[0106] The target trajectory generation unit 304 generates a target trajectory of the shovel 100 for performing the operation set by the operation setting unit 303 .

[0107] For example, the target trajectory for performing the set action is generated based on data related to the target construction surface stored in a nonvolatile storage device (not shown) of the shovel 100. The target trajectory generation unit 304 may also generate the target trajectory for performing the set action based on information related to the terrain around the shovel 100 recognized by the space recognition device S7.

[0108] In order to move along the target trajectory generated by the target trajectory generation unit 304 , the autonomous control unit 305 determines the operation content of the operation element (hydraulic actuator) and generates an operation signal corresponding to the determined operation content, thereby realizing the autonomous driving function of the shovel 100 .

[0109] The transmission control unit 306 performs control for transmitting various information to the management device 200 via the communication device T1.

[0110] For example, the transmission control unit 306 controls transmission of image information captured by the imaging device S6 , measurement information detected by the space recognition device S7 , position information indicating the position and orientation of the shovel 100 , and status information indicating the status of the attachment to the management device 200 .

[0111] Furthermore, the transmission control unit 306 controls the transmission of information related to the action currently being performed by the shovel 100 to the management device 200. In the present embodiment, the following control is performed: the action currently set in the shovel 100 and the information on the items corresponding to the action are transmitted to the management device as information related to the action. In addition, when autonomous control is set for the shovel 100, the transmission control unit 306 may also transmit the type of operation set in the shovel 100 to the management device 200.

[0112] As the type of work set for the shovel 100, for example, excavation loading or ground leveling work is set.

[0113] As the action currently set to the shovel 100, the action constituting the operation is assumed to be an action such as excavation position evolution, excavation, lifting, unloading, etc. In addition, the action of the shovel 100 described in this embodiment is only shown as an example, and it varies according to the embodiment. That is, depending on the operation performed by the shovel 100, the action constituting the operation varies according to the type of construction machine, the installation of the program of the construction machine, or the requirements of the management party who manages the construction machine.

[0114] The item corresponding to the action is, for example, an item indicating the current state that the manager wants to confirm while the excavator 100 is performing the action and an item indicating the target of the action. In this embodiment, the parameter (for example, numerical information) of the item is sent to the management device 200. The item indicating the current state includes, for example, the remaining number of excavations, the actual rotation angle, etc. The item indicating the target of the action includes, for example, the target rotation angle.

[0115] Furthermore, the transmission control unit 306 controls the transmission of information related to the current status of the shovel 100 that is desired to be confirmed, regardless of the operation, to the management device 200. In the present embodiment, the current status includes, for example, the drive mode, travel mode, remaining amount of urea water, remaining amount of fuel, water temperature, and oil temperature of the shovel 100.

[0116] The transmission control unit 306 transmits the information at predetermined intervals. The predetermined interval may be any interval, but is set to be a time interval that allows identification of a situation that has changed due to the operation of the shovel 100. For example, the transmission control unit 306 may transmit the information at intervals of 1 second.

[0117] The actuator driving unit 307 is configured to drive an actuator mounted on the shovel 100. In the present embodiment, the actuator driving unit 307 generates and outputs operation signals for each of the plurality of electromagnetic valves included in the proportional valve 31 based on an operation signal generated by the autonomous control unit 305.

[0118] Each solenoid valve receiving the actuation signal increases or decreases the pilot pressure acting on the pilot port of the corresponding control valve in the control valve unit 17. As a result, the hydraulic actuator corresponding to each control valve operates at a speed corresponding to the stroke amount of the control valve.

[0119] <<Functional frame of management device>>

[0120] The functional blocks in the controller 230 of the management device 200 are described. The functional blocks in the controller 230 are conceptual and do not necessarily need to be physically configured as shown in the figure. All or part of each functional block can be dispersed and integrated in arbitrary units according to functionality or physicality. All or any part of each processing function performed in each functional block is implemented by a program executed by the CPU. Alternatively, each functional block can also be implemented in the form of hardware based on wired logic. The controller 230 includes a receiving control unit 231, an action determination unit 232, a screen generation unit 233 and a display control unit 234 by implementing the program.

[0121] The reception control unit 231 performs control for receiving various information from the fixed-point measurement device 400 and the shovel 100 via the communication device T2 .

[0122] For example, the reception control unit 231 receives image information, measurement information, and position information from a fixed-point measurement device 400 (an example of a device present around the shovel 100 ).

[0123] Furthermore, the receiving control unit 231 receives image information, measurement information, position information, and status information from the excavator 100. The image information is set to be information captured by the camera device S6. The measurement information is set to be information measured by the space recognition device S7. The position information is set to be information indicating the position and orientation of the excavator 100 in the reference coordinate system measured by the positioning device S8. The status information is set to be information indicating the status of the attachment (for example, the position of the boom 4, the arm 5, and the bucket 6).

[0124] Furthermore, the receiving control unit 231 receives (acquires) information related to the action being performed by the shovel 100 from the shovel 100 that is being autonomously controlled. The information related to the action includes the action currently set in the shovel 100 and information about the items corresponding to the action. In addition, when the operation of the shovel 100 starts, the type of operation started (for example, excavation loading or ground leveling operation, etc.) may also be included.

[0125] Furthermore, the reception control unit 231 receives information on the current status of the shovel 100 that is to be confirmed, regardless of the operation, from the shovel 100 .

[0126] The operation determination unit 232 determines whether the operation of the shovel 100 has been switched based on the information received by the reception control unit 231 .

[0127] The screen generation unit 233 generates a display screen to be displayed on the display device D1. The screen generation unit 233 according to the present embodiment generates a display screen for managing the shovel 100 that is under autonomous control. The display screen is updated according to the current operation of the shovel 100.

[0128] When the action determination unit 232 determines that the action has been switched, the screen generation unit 233 changes the content displayed for the shovel 100. In other words, the screen generation unit 233 generates a display screen showing content suitable for the action of the shovel 100.

[0129] When the operation of the shovel 100 is excavation and loading, the shovel 100 repeatedly performs the actions of excavation position evolution, excavation, lifting, and unloading. When an abnormal situation occurs during the repetition of the action, the action is switched to standby. The screen generation unit 233 of the management device 200 of this embodiment generates a display screen in a manner that switches according to these actions. Next, the action of the shovel 100 is described.

[0130] For example, when the action is the evolution of the excavation position, the shovel 100 performs autonomous control as follows: determines the excavation position and controls the attachment to move the bucket 6 to the excavation position. During the action, the screen generator 233 can generate a display screen that displays the ground shape, the target rotation angle, and the actual rotation angle as items corresponding to the action.

[0131] When the action is excavation, the shovel 100 performs control to excavate the ground. During this action, the screen generator 233 may generate a display screen that displays the ground shape of the excavation position, the remaining operation time, and the remaining number of excavations as items corresponding to the action.

[0132] When the action is lifting, the shovel 100 performs control to lift the excavated soil. During this action, the screen generator 233 can generate a display screen that displays the soil shape of the dump truck's cabin, the target rotation angle, and the actual rotation angle as items corresponding to the action.

[0133] When the action is to unload soil, the excavator 100 performs control to unload soil from the lifted attachment. During the action, the screen generation unit 233 can generate a display screen that displays the load weight of the dump truck at the unloading destination as an item corresponding to the action. Furthermore, a display screen that displays the position and posture of the dump truck at the unloading destination and the empty space in the dump truck's compartment can also be generated.

[0134] The items corresponding to the above-mentioned operations are merely shown as examples, and may be different depending on the implementation method when managing the shovel or the requirements of the manager.

[0135] In the present embodiment, the case where the operation of the shovel 100 is excavation loading is described. However, in the present embodiment, the operation of the shovel is not limited to excavation loading, and may be, for example, ground leveling operation. In the ground leveling operation, the shovel 100 continuously performs the ground leveling operation. At this time, the screen generation unit 233 may generate, for example, a display screen including the calculation results of the construction accuracy and the blade tip of the bucket 6 as items corresponding to the ground leveling operation. Next, the screen generated by the screen generation unit 233 is described.

[0136] Figure 5 FIG. 2 is a diagram illustrating a display screen generated by the screen generation unit 233 according to the present embodiment. Figure 5 As shown, the display screen 500 includes an excavation position display column 501 , an excavator status display column 502 , a dump truck compartment display column 503 , an overhead image display column 504 , a work display column 505 , and an action item display column 506 .

[0137] The bird's-eye view image including the surroundings of the shovel 100 is displayed in the bird's-eye view image display column 504. The screen generation unit 233 generates the bird's-eye view image displayed in the bird's-eye view image display column 504 based on the image information of the camera S6 received from the shovel 100 and the image information of the camera S40 received from the fixed-point measurement device 400. An icon 541 representing the shovel 100 is displayed in the bird's-eye view image. The icon 541 is, for example, an image pre-stored by the management device 200 according to the model of the shovel 100. The bird's-eye view image displayed in the bird's-eye view image display column 504 may be a static image or a dynamic image.

[0138] The bird's-eye view image is displayed so as to include the situation around the shovel 100. Therefore, the bird's-eye view image includes the excavation position 542 and the dump truck 543. Thus, when the display screen is displayed, the manager can recognize the positional relationship between the shovel 100, the excavation position 542, and the dump truck 543.

[0139] The excavation position display bar 501 displays the shape of sand at the excavation position excavated by the excavator 100. The screen generation unit 233 generates an image representing the shape of sand displayed in the excavation position display bar 501 based on the measurement information of the equipment that measured the excavation position, such as the measurement information of the space recognition device S7 received from the excavator 100 or the measurement information of the space recognition device S41 received from the fixed-point measurement device 400. In this embodiment, the shape of sand is generated as an image with a predetermined height (for example, the ground surface) as a reference and the height of each sand existing in the working position is represented by color. Thus, the depth (height) of the excavation position 511 can be displayed in the excavation position display bar 501. In addition, the correspondence between the depth (height) and the color is shown in the height indicator 512. The depth (height) can also be expressed in a proportional unit. Thus, the depth of the excavation position 511 can be identified based on the color displayed in the excavation position display bar 501.

[0140] The excavator status display column 502 displays information related to the current status of the excavator 100. For example, the excavator status display column 502 displays a three-dimensional model 321 indicating the current shape of the excavator 100 based on the received status information. Thus, the manager can recognize the current action being performed by the excavator 100. Furthermore, the excavator status display column 502 displays information related to the current status of the excavator 100 that changes regardless of the action. For example, an icon 522 indicating the current drive mode of the excavator 100, an icon 523 indicating the current travel mode of the excavator 100, an indicator 524 indicating the remaining amount of urea water of the excavator 100, an indicator 525 indicating the water temperature of the cooling water of the excavator 100, an indicator 526 indicating the remaining amount of fuel of the excavator 100, and an indicator 527 indicating the temperature of the working oil flowing through the hydraulic drive system of the excavator 100 are displayed. In this way, the screen generator 233 generates an image to be displayed in the shovel status display field 502 based on the state information and the information related to the status of the shovel 100 .

[0141] The dump truck compartment display column 503 displays the sand shape of the compartment of the dump truck, which is the object of the excavator 100 to unload soil. The screen generation unit 233 generates an image representing the sand shape displayed in the area 531 representing the compartment of the dump truck in the dump truck compartment display column 503 based on the measurement information of the equipment that measured the compartment of the dump truck, such as the measurement information of the space recognition device S7 received from the excavator 100 or the measurement information of the space recognition device S41 received from the fixed-point measurement device 400. In this embodiment, the sand shape is generated as an image with a predetermined height (for example, the bottom surface of the compartment) as a reference and the height of each sand in the compartment is represented by color. Thus, the height of the sand loaded in the compartment of the dump truck can be displayed in the dump truck compartment display column 503. In addition, the height indicator 532 shows the corresponding relationship between the height and the color. The height can also be represented by a proportional unit. Thus, the height of the sand loaded in the compartment of the dump truck can be identified.

[0142] Information related to the work set for autonomous control of the shovel 100 is displayed in the work display column 505. Specifically, a plurality of actions constituting the work are displayed in the order in which the actions are performed.

[0143] exist Figure 5 In the example shown, the set operation is "excavation and loading". The operation "excavation and loading" is composed of a plurality of actions including "excavation position evolution" 551, "excavation" 552, "lifting" 553, "unloading" 554, and "waiting" 555. In addition, in the operation display column 505, the frame line display method of the operation currently being performed by the excavator 100 is displayed differently from the frame line display method of other operations. Figure 5 In the example shown, the frame line of "digging" 552 is displayed thicker than other frame lines. Thus, the manager can recognize the action currently being performed by the shovel 100. Figure 5 In the example shown, the frame line is thickened as the display method, but the display method is not limited to the method of thickening the frame line. For example, the color of the frame line of the operation currently being performed by the shovel 100 may be changed or the frame line may be made to flash.

[0144] The operation item display column 506 shows information related to the operation currently being performed by the shovel 100. Specifically, the operation item display column 506 shows, for each item corresponding to the operation currently being performed by the shovel 100, the current parameter (for example, numerical information) of the item.

[0145] exist Figure 5In the example shown, the current action of the shovel 100 is "digging". As items corresponding to the action "digging", "remaining operation time" and "remaining number of digging times" are shown. "Remaining operation time" is the remaining time until the operation is completed, and is represented by "XX minutes". "Remaining number of digging times" is the number of digging times to be performed until the operation is completed, and is represented by "YX (numerical value)".

[0146] The calculation of the parameters indicated in this item may be performed by the management device 200 or by the shovel 100. For example, the management device 200 may calculate the parameters indicated in this item based on the construction plan of the shovel 100 stored in a non-volatile storage device (not shown) and information received from the shovel 100. That is, Figure 5 The calculation of the "remaining operation time" and the "remaining number of excavation times" shown may be performed by the management device 200 or by the shovel 100. The calculation method may be a known method, and the description thereof will be omitted.

[0147] On the display screen, the display mode of the display column corresponding to the current action can be made different from the display mode of other display columns. Figure 5 In the example shown, the action of the shovel 100 is "digging" 552. Therefore, the display column corresponding to "digging" 552, that is, the digging position display column 501, is highlighted. Specifically, the frame line of the digging position display column 501 is displayed in bold compared to other display columns. Thus, the manager can recognize that it is a display column that should be paid attention to according to the current action of the shovel 100.

[0148] The display control unit 234 displays the display screen generated by the screen generation unit 233 on the display device D1 .

[0149] In addition, in the present embodiment, the display control unit 234 may also update various information on the displayed display screen according to the information received from the shovel 100. For example, the information displayed in the shovel status display column 502 and the shape of the three-dimensional model 321 may be updated according to the received status and state information of the shovel 100. Furthermore, the parameters displayed in the action item display column 506 or the bird's-eye view image displayed in the bird's-eye view image display column 504 may be updated according to the received information.

[0150] In this embodiment, when the action determination unit 232 determines that the action has been switched, the screen generation unit 233 generates a display screen with changed displayed content. In response, the display control unit 234 displays the changed display screen on the display device D1. Thus, the displayed content is switched according to the action of the shovel 100.

[0151] For example, when the operation of the shovel 100 is switched from "digging" to "lifting", the display control unit 234 switches the display screen. Next, the display screen when the operation of the shovel 100 is switched from "digging" to "lifting" will be described.

[0152] Figure 6 FIG. 2 is a diagram illustrating a display screen generated by the screen generation unit 233 according to the present embodiment. Figure 6 As shown, the display screen 600 includes an excavation position display column 601, an excavator status display column 502, a dump truck compartment display column 603, an overhead image display column 504, an operation display column 605, and an action item display column 606. Figure 5 The same contents are omitted for explanation. Figure 5 The same display contents are assigned the same symbols, and the description thereof is omitted.

[0153] Figure 6 The display screen shown is a screen generated by the screen generation unit 233 as the operation of the shovel 100 switches from excavation to lifting (of soil and sand).

[0154] and Figure 5 Compared with the display of the job display column 505 shown in FIG. Figure 6 The display of the operation display column 605 shown in the figure changes according to the operation switched in the shovel 100. The operation display column 605 is configured to include "excavation position evolution" 651, "excavation" 652, "lifting" 653, "unloading" 654, and "waiting" 655. Specifically, in Figure 6 In the example shown, the frame line of "lift" 653 is displayed thicker than the frame lines of other actions. Furthermore, the frame line of "dig" 652 is changed to thicker. Figure 5 The frame line of “digging” 552 is thin. Thus, the manager can recognize that the action currently being performed by the shovel 100 is switched from “digging” to “lifting”.

[0155] In this way, the screen generation unit 233 displays the order of the plurality of actions performed by the shovel 100 in the operation display column 605. Then, when the operation switching of the shovel 100 is recognized, the screen generation unit 233 switches the display of the operation display column 605 so that the action performed by the shovel 100 can be recognized. Thus, the manager can recognize the action currently being performed by the shovel 100. Therefore, the manager can easily grasp the current status of the shovel 100.

[0156] The action item display column 606 switches the displayed items according to the action currently being performed by the shovel 100. Specifically, the action item display column 606 displays "target rotation angle" and "actual rotation angle" as items corresponding to "lifting". The "target rotation angle" displays the angle determined according to the target track, and the "actual rotation angle" displays the angle detected by the angle sensor.

[0157] When the action switching of the excavator 100 is recognized, the screen generation unit 233 generates a display screen in which the display bar related to the switched action is changed. Thus, the manager can grasp the detailed status of the current action of the excavator 100. At this time, the screen generation unit 233 also changes the display of the display bar related to other actions ("digging") other than the switched action. In the present embodiment, the screen generation unit 233 generates a display image of the display bar that does not display items related to other actions ("digging"). Thus, the display of the display bar that is not related to the current action of the excavator 100 is suppressed, so the manager can easily confirm the display bar related to the current action, and thus easily recognize the current state of the excavator 100.

[0158] In this way, when the action switching of the shovel 100 is recognized, the screen generation unit 233 generates a display screen in a manner that starts displaying items corresponding to the switched action and does not display items of other actions. Thus, the manager can easily grasp the status related to the current action of the shovel 100 by confirming the content displayed on the display screen, thereby reducing the burden of confirmation.

[0159] When the operation switching of the shovel 100 is recognized, the shovel status display column 502 maintains the display by the screen generation unit 233. In other words, even when the operation is switched, the display related to the status of the shovel 100 that changes regardless of the operation of the shovel 100 is maintained. As a result, the manager does not need to change the confirmation method according to the operation for the information that changes regardless of the operation of the shovel 100, so that the status of the shovel 100 can be easily recognized.

[0160] And, in Figure 6 In the display screen shown, the display mode of the display bar corresponding to the current action is switched. Figure 6 In the example shown, the display column corresponding to "Lift" 653, that is, the dump truck compartment display column 603, is highlighted. Specifically, the frame line of the dump truck compartment display column 603 is displayed thicker than that of other display columns. Figure 5That is, as the action currently being performed by the shovel 100 switches from "digging" to "lifting", the manager can recognize that the dump truck compartment display column 603 needs to be paid more attention to than the digging position display column 601.

[0161] As described above, in the management device 200 according to the present embodiment, it is possible to switch the content displayed on the display screen according to the operation of the shovel 100 that performs autonomous control.

[0162] (Variant 1)

[0163] The above embodiment merely shows an example of a display screen, and the display screen is not limited to the above embodiment. Therefore, in Modification 1, another form of a display screen will be described.

[0164] In the above-described embodiment, an example in which the operation item display column is switched according to the operation of the shovel 100 is described. In contrast, in Modification 1, an example in which all operations are displayed in the display column is described.

[0165] Figure 7 FIG. 2 is a diagram illustrating a display screen generated by the screen generating unit 233 according to this modification. Figure 7 As shown, the display screen 700 includes an excavation position display column 501, an excavator status display column 502, a dump truck compartment display column 703, an overhead image display column 504, an operation display column 505, a rotation position transfer and lifting project display column 706, an excavation project display column 707, and an unloading project display column 708. Figure 5 The same display contents are assigned the same symbols, and the description thereof is omitted.

[0166] Figure 7 The display screen shown is displayed when the work of the shovel 100 is excavation loading and the excavation operation is currently being performed.

[0167] The dump truck compartment display field 703 is a display field that does not correspond to the operation (excavation) currently being performed by the shovel 100 , and is therefore displayed in gray.

[0168] Similarly, the swing position transfer lifting item display field 706 and the earth discharge item display field 708 are display fields that do not correspond to the operation (excavation) currently being performed by the shovel 100 and are therefore displayed in gray.

[0169] The excavation position display field 501 is a display field corresponding to the operation (excavation) currently being performed by the shovel 100, and is therefore displayed in an emphasized manner. Specifically, the frame line of the excavation position display field 501 is displayed thicker than other frame lines.

[0170] The excavation item display field 707 is a display field corresponding to the operation (excavation) currently being performed by the shovel 100, and is therefore highlighted. Specifically, the frame line of the excavation item display field 707 is displayed thicker than other frame lines.

[0171] exist Figure 7 In the illustrated example, a display column corresponding to an operation currently being performed by the shovel 100 is highlighted, and a display column corresponding to an operation not currently being performed by the shovel 100 is grayed out.

[0172] Furthermore, when the operation of the shovel 100 is switched from "digging" to "lifting", the display control unit 234 switches the display screen. Next, the display screen when the operation of the shovel 100 is switched from "digging" to "lifting" will be described.

[0173] Figure 8 FIG. 2 is a diagram illustrating a display screen generated by the screen generating unit 233 according to this modification. Figure 8 As shown, the display screen 800 includes an excavation position display column 801, an excavator status display column 502, a dump truck compartment display column 603, an overhead image display column 504, an operation display column 605, a rotation position transfer and lifting project display column 806, an excavation project display column 807, and an unloading project display column 808. Figure 6 The same display contents are assigned the same symbols, and the description thereof is omitted.

[0174] The excavation position display field 801 is a display field that does not correspond to the operation (lifting) currently being performed by the shovel 100 and is therefore displayed in gray.

[0175] The dump truck compartment display section 603 is a display section corresponding to the operation (lifting) currently being performed by the shovel 100, and is therefore highlighted. Specifically, the frame line of the dump truck compartment display section 703 is displayed thicker than other frame lines.

[0176] Similarly, the swing position transition lifting item display field 806 is a display field corresponding to the action (lifting) currently being performed by the shovel 100, and is therefore highlighted. Specifically, the frame line of the swing position transition lifting item display field 806 is displayed thicker than other frame lines.

[0177] The excavation item display column 807 and the earth removal item display column 808 are display columns that do not correspond to the operation (lifting) currently being performed by the shovel 100 and are therefore displayed in gray.

[0178] In this way, when the action switching of the shovel 100 is recognized, the screen generation unit 233 generates a display screen in which the display bar corresponding to the switched action is emphasized more than the display bar corresponding to other actions. In the present embodiment, as the emphasized display, an example of changing the display method of the frame line of the display bar is set. As a method of changing the display method, it is not limited to the example of thickening the frame line, and the color of the frame line can also be changed. As a result, the manager can easily visually recognize the display bar corresponding to the switched action, so it is easy to confirm the status related to the current action of the shovel 100.

[0179] Furthermore, when the action switching of the shovel 100 is recognized, the screen generation unit 233 generates a display screen in which the display bar that does not correspond to the action after switching is changed to gray. Thus, the display bar that is not related to the action after switching becomes difficult to visually recognize. In other words, the display bar that corresponds to the action is easier to visually recognize than the display bar that does not correspond to the action. Thus, the status related to the current action of the shovel 100 is easy to confirm.

[0180] (Variant 2)

[0181] In Modification 1, as a change in the display method of the display bar, a case where the display method of the frame line of the display bar is changed and the display bar is grayed out is described. However, in Modification 1, the display bar is not limited to the change in the display method of the frame line and the graying out of the display bar. In Modification 2, a case where the display bar is enlarged or reduced is described.

[0182] Fig. 9 FIG. 2 is a diagram illustrating a display screen generated by the screen generating unit 233 according to this modification. Fig. 9 As shown, the display screen 900 includes an excavation position display column 901, an excavator status display column 502, a dump truck compartment display column 903, an overhead image display column 504, an operation display column 605, a rotation position transfer and lifting project display column 906, an excavation project display column 907, and an unloading project display column 908. Figure 8 The same display contents are assigned the same symbols, and the description thereof is omitted.

[0183] The excavation position display field 901 is a display field that does not correspond to the operation (lifting) currently being performed by the shovel 100 , and therefore is displayed in gray and reduced size.

[0184] The dump truck compartment display section 903 is a display section corresponding to the operation (lifting) currently being performed by the shovel 100 , and is therefore enlarged and displayed with a thick frame line from a reduced state (like the excavation position display section 901 ).

[0185] Similarly, the swing position transition lifting item display field 906 is a display field corresponding to the action (lifting) currently being performed by the shovel 100 , and is therefore enlarged and displayed with a bold frame line from a reduced state (like the display areas 907 and 908 ).

[0186] The excavation item display column 907 and the earth discharge item display column 908 are display columns that do not correspond to the operation (lifting) currently being performed by the shovel 100 , and therefore are displayed in gray and reduced size.

[0187] In this way, when the switching of the operation of the shovel 100 is recognized, the screen generator 233 generates a display screen in which the display column corresponding to the switched operation is enlarged with a thicker frame than the display column corresponding to the other operation.

[0188] Furthermore, when the action switching of the excavator 100 is recognized, the screen generation unit 233 generates a display screen in which the display bar that does not correspond to the switched action is reduced on the basis of graying it out. As a result, the display bar that does not correspond to the switched action becomes difficult to visually recognize. In other words, it is easier to visually recognize the display bar corresponding to the action than the display bar that does not correspond to the action. As a result, it is easy to confirm the status related to the current action of the excavator 100. In addition, in this modification, an example of combining the change of the display method of the frame line or graying it out with the enlargement or reduction of the display bar is described. However, this modification is not limited to this combination, and only the enlargement or reduction of the display bar may be performed.

[0189] <Function>

[0190] In the above-described embodiment and modification, the management device 200 switches the display content according to the operation of the shovel 100 under autonomous control. In other words, by performing a display suitable for the operation of the shovel 100, the manager who is managing the shovel 100 through the management device 200 can confirm the state corresponding to the current operation of the shovel 100. That is, the manager can appropriately recognize the current state of the shovel 100, and thus can immediately recognize the abnormality when an abnormality occurs in the shovel 100, thereby achieving improved safety.

[0191] In the above-mentioned embodiments and modified examples, the case where an excavator is used as an example of a construction machine is described. However, the structure shown in the embodiments and modified examples is not limited to the example of being applied to an excavator as a construction machine, and can also be applied to a crane, a forklift, etc. That is, in the above-mentioned embodiments and modified examples, the case of the management device 200 for managing the excavator 100 is described, but it can also be applied as a management device for managing a working device (an example of a display device for a construction machine).

[0192] The above describes an embodiment of an example of a display device for an excavator, a display device for a construction machine, and a monitoring system for an excavator, but the present invention is not limited to the above embodiment, etc. Various changes, corrections, substitutions, additions, deletions, and combinations can be made within the scope of the technical solution. Of course, these contents also belong to the technical scope of the present invention.

Claims

1. A display device for an excavator, wherein: A control unit is provided, wherein the control unit is configured as follows: When the excavator performs a plurality of actions in sequence through autonomous control, information related to the actions is obtained from the excavator, When the operation switching of the shovel is recognized based on the information, the content displayed for the shovel is changed.

2. The display device for a shovel according to claim 1, wherein: The control unit is configured to change display of a field related to the switched action when recognizing the action switching.

3. The display device for a shovel according to claim 2, wherein: The control unit is configured to change display of a column related to an action other than the switched action when recognizing the action switching.

4. The display device for a shovel according to claim 3, wherein: The control unit is configured to, when recognizing the switching of the action, highlight a column related to the action after the switching over columns related to other actions.

5. The display device for a shovel according to claim 4, wherein: The control unit changes the display mode of the frame line of the column related to the switched action or enlarges the column related to the switched action when recognizing the switching of the action.

6. The display device for a shovel according to claim 4, wherein: The control unit changes the bar related to the other action to gray or reduces the bar related to the other action when recognizing the action switching.

7. The display device for a shovel according to claim 3, wherein: The control unit is configured to, when recognizing the switching of the action, start displaying a column related to the switched action and not display a column related to the other action.

8. The display device for a shovel according to any one of claims 1 to 3, wherein: the information acquired from the shovel includes information indicating a condition of the shovel that changes independently of the action, The control unit is configured to maintain display of the bar related to the status of the shovel even when the operation switching is recognized.

9. The display device for a shovel according to any one of claims 1 to 3, wherein: The control unit is configured to display the order of the plurality of operations performed by the shovel, and, when the operation switching is recognized, switch the display so that the operation performed by the shovel can be recognized.

10. A display device for a construction machine, wherein: A control unit is provided, wherein the control unit is configured as follows: When the construction machine performs a plurality of actions in sequence through autonomous control, information is obtained from the construction machine, When the operation switching of the construction machine is recognized based on the information, the content displayed for the construction machine is changed.

11. A monitoring system for an excavator, comprising: An excavator configured to perform a plurality of actions by autonomous control and to transmit information related to the actions; and The control device is configured to receive the information from the shovel, perform a display based on the information received from the shovel, and change the content displayed for the shovel when recognizing the operation switching of the shovel based on the information.

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