Construction machine and remote operation system

Abstract

A hydraulic shovel (1) is provided with: a machine body (10) comprising a lower traveling body (2), an upper rotating body (4) capable of rotating on the lower traveling body (2), and a working device (5) attached to the front center of the upper rotating body (4); and a plurality of fuselage-side antennas (60) attached to the upper revolving body (4). Communication is performed between a radio tower-side antenna (70) disposed outside the fuselage (10) and the plurality of fuselage-side antennas (60). The plurality of body-side antennas (60) are provided with: front antennas (61) that are provided forward of the rotation center (4a) of the upper rotation body (4) in the front-rear direction of the body (10), and that are respectively provided on the left and right sides so as to sandwich the work device (5) in the left-right direction; and at least one rear antenna (62) provided rearward of the rotation center (4a) in the front-rear direction.

Description

Technical Field

[0001] The invention relates to engineering machinery and a remote operation system. Background Art

[0002] To ensure safe and efficient work at a work site, technologies are known for remotely controlling construction machinery by transmitting operating signals corresponding to the work site conditions to the construction machinery. For example, Patent Document 1 describes a remote control system that aligns the radiation direction of radio waves emitted by an antenna mounted on the construction machinery with the reception direction of the radio waves at the remote control room based on the height difference between the construction machinery and the remote control room, thereby extending the communication distance and suppressing signal interference.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2005-204256 Summary of the Invention

[0006] The construction machine described in Patent Document 1 includes a lower traveling structure, an upper revolving structure rotatably mounted on the lower traveling structure, and a working mechanism disposed at the front center of the upper revolving structure. The antenna body is mounted on the upper revolving structure. However, mounting the antenna body on the upper revolving structure in this manner creates the possibility of radio wave obstruction between the antenna body and the antenna in the remote control room due to the working mechanism, necessitating the establishment of stable communication.

[0007] The present invention has been made in view of such a problem, and an object thereof is to provide a construction machine and a remote control system that can better ensure communication stability regardless of the postures of the machine body and the working device.

[0008] In order to achieve the above-mentioned purpose, the engineering machinery of the present invention comprises: a fuselage including a lower traveling body, an upper rotating body capable of rotating on the lower traveling body, and an operating device installed on the front central part of the upper rotating body; and a plurality of fuselage side antennas installed on the upper rotating body, communication is performed between an external antenna arranged outside the fuselage and the plurality of fuselage side antennas, wherein the plurality of fuselage side antennas include: a front antenna, which is arranged in front of the rotation center of the upper rotating body in the front-to-back direction of the fuselage, and at least one is provided on each side of the fuselage in the left-right direction of the fuselage in a manner separated by the operating device; and a rear antenna, which is provided at least one rearward of the rotation center in the front-to-back direction.

[0009] To achieve the above object, the remote operation system of the present invention includes the above-mentioned construction machine and an external antenna arranged outside the machine body, and performs remote operation of the construction machine by communication between the external antenna and the plurality of machine body side antennas.

[0010] Effects of the Invention

[0011] The engineering machinery and remote operation system according to the present invention can better ensure communication stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a side view showing a hydraulic excavator as a construction machine according to the embodiment.

[0013] Figure 2 It is a top view showing a hydraulic excavator.

[0014] Figure 3 It is a perspective view showing a hydraulic excavator.

[0015] Figure 4 This is a schematic diagram showing an example of a remote operation system according to an embodiment.

[0016] Figure 5 This is an explanatory diagram showing blind spots for radio waves transmitted and received by a plurality of body-side antennas.

[0017] Figure 6 This is an explanatory diagram showing blind spots for radio waves transmitted and received by a plurality of body-side antennas when the front antenna is arranged rearward of the swivel center as a comparative example.

[0018] Figure 7 This shows that as a modified example, the rear antenna is connected to Figure 5 An illustration of a blind spot area for radio waves transmitted and received by multiple body-side antennas when the example is shifted to the left and right.

[0019] Figure 8 This is an explanatory diagram showing an example of an arrangement configuration in which four body-side antennas are provided. DETAILED DESCRIPTION

[0020] Hereinafter, one embodiment of the present invention will be described with reference to the accompanying drawings. In the following description, the front-rear direction, left-right direction, and up-down direction of the construction machine and its body are represented with the driver as the main subject.

[0021] (Construction machinery: hydraulic excavator)

[0022] Figure 1 FIG. 1 is a side view showing a hydraulic excavator as a construction machine according to an embodiment of the present invention. Figure 2This is a top view of a hydraulic excavator. Figure 3 This is a perspective view of a hydraulic excavator. The hydraulic excavator 1 is a construction machine used for excavation work at a work site, such as excavating soil and sand. Alternatively, the hydraulic excavator 1 can be configured without an operator on board, with the operator remotely operating the excavator from a remote operating room (not shown) located at a location remote from the location where the hydraulic excavator 1 is operated.

[0023] As shown in the figure, the hydraulic excavator 1 has a body 10, which includes a lower traveling body 2, an upper swing body 4, and a working device 5 mounted on the front center portion of the upper swing body 4. The lower traveling body 2 includes a crawler track 3 driven by a hydraulic motor for traveling (not shown) as a drive device for driving the hydraulic excavator 1. The upper swing body 4 is rotatably mounted on the lower traveling body 2 and is driven by a hydraulic motor for rotating (not shown). A cab 13 for the driver is provided at the front of the upper swing body 4. However, the cab 13 can also be omitted. In addition, a fuel tank, a machine room, and a counterweight are provided at the rear of the upper swing body 4. The machine room is equipped with an engine and a hydraulic pump driven by the engine (all omitted from the figure). The hydraulic pump pressure-feeds the hydraulic oil used to operate the hydraulic motor for traveling, the hydraulic motor for rotating, and the working device 5.

[0024] The working device 5 is a device for performing earth and sand excavation work. The working device 5 is installed at the front center of the upper rotating body 4 and moves along the straight line L1 (refer to Figure 2 ), the straight line L1 including the center of rotation 4a of the upper swing body 4 relative to the lower traveling body 2 and extending in the front-to-rear direction of the machine body 10. The working device 5 includes: a boom 6 mounted vertically and rotatably on the upper swing body 4; an arm 7 mounted vertically and rotatably on the front end of the boom 6; and a bucket 8 mounted vertically and rotatably on the front end of the arm 7. Furthermore, the working device 5 includes a boom cylinder 6a for driving the boom 6, an arm cylinder 7a for driving the arm 7, and a bucket cylinder 8a for driving the bucket 8.

[0025] (Remote Operation System)

[0026] Figure 4 2 is a schematic diagram showing an example of a remote operation system according to an embodiment. The remote operation system 20 includes a machine body system 30, a radio tower 40, and a remote operation room system 50, and is configured as a system for operating the hydraulic excavator 1 by remote operation.

[0027] (Body side system)

[0028] The body-side system 30 includes a plurality of imaging devices 31, an image signal processor 32, a plurality of sensors 33, a sensor signal processor 34, a body controller 35, an operation signal processing unit 36, a wireless transceiver 37, and a plurality of body-side antennas 60. The components of the body-side system 30 are mounted on the body 10.

[0029] Multiple cameras 31 capture images for viewing by remote operators. They are mounted on the machine body 10 so as to capture images of the surrounding area, including the working range and travel range of the hydraulic excavator 1. Each camera 31 may be mounted, for example, inside the cab or on the undercarriage 2. Each camera 31 outputs captured image data to an image signal processor 32. The image signal processor 32 converts the image data captured by each camera 31 into a communication signal.

[0030] Multiple sensors 33 are sensors installed on the hydraulic excavator 1 that detect information related to various devices and operations of the hydraulic excavator 1 that the operator should understand during remote operation. The multiple sensors 33 output detection values ​​to the sensor signal processor 34. The sensor signal processor 34 converts image data captured by each imaging device 31 into a communication signal.

[0031] The aircraft controller 35 receives input, via the operation signal processing unit 36, of remote operation instructions, i.e., operation signals, from an operator in the remote control room system 50. The aircraft controller 35 drives and controls various devices on the aircraft 10 in accordance with the input operation signals, controlling the travel of the lower traveling structure 2, the swing of the upper swing structure 4, and the movement of the working mechanism 5. The operation signal processing unit 36 ​​converts the remote operation instructions from the operator, input as communication signals, into basic operation signals and outputs them to the aircraft controller 35.

[0032] The wireless transceiver 37 receives communication signals of image data from the image signal processor 32 and detection values ​​from the sensor signal processor 34, and transmits these signals to the radio tower 40 via the plurality of fuselage-side antennas 60. Furthermore, the wireless transceiver 37 receives communication signals of remote operation instructions from the radio tower 40 via the plurality of fuselage-side antennas 60, and outputs these signals to the operation signal processing unit 36.

[0033] The plurality of fuselage side antennas 60 (hereinafter referred to as the first front antenna 611, the second front antenna 612, and the rear antenna 62) are used to transmit and receive signals based on radio waves with the plurality of radio tower side antennas 70 (external antennas) installed on the radio tower 40, and are installed on the upper revolving body 4. The plurality of fuselage side antennas 60 transmit various communication signals output from the wireless transceiver 37 to the radio tower 40, and output various communication signals received from the radio tower 40 to the wireless transceiver 37. Figure 2 As shown, three fuselage antennas 60 are mounted on the upper revolving structure 4. Each fuselage antenna 60 can be attached to the upper revolving structure 4 by various methods, such as clamping it to the armrest with a clamping mechanism, providing a fixing bracket, or welding. However, each fuselage antenna 60 is located outside the operating range of the working device 5. Furthermore, each fuselage antenna 60 is preferably located outside the imaging range of each camera 31 so as not to be reflected on the monitor 54 viewed by the operator performing remote operation. Furthermore, each fuselage antenna 60 is preferably installed at the same height.

[0034] (Radio Tower)

[0035] The radio tower 40 is located near the remote operation room and includes multiple tower-side antennas 70. These tower-side antennas 70 transmit and receive radio wave signals between the multiple fuselage-side antennas 60. The tower-side antennas 70 output various communication signals received from the fuselage-side antennas 60 to the remote operation room system 50, and transmit various signals output from the remote operation room system 50 to the fuselage-side antennas 60. The tower-side antennas 70 are provided on the radio tower 40 in the same number (three in this embodiment) as the fuselage-side antennas 60.

[0036] In this way, the remote operation system 20 of this embodiment is provided with multiple antennas on the fuselage 10 and the radio tower 40, thereby being configured to be able to use multiple input multiple output, i.e., MIMO (Multiple Input Multiple Output), as a communication method for communication. In MIMO, by transmitting the divided data at the same time, it is possible to seek to improve the communication speed (throughput). However, the multiple fuselage side antennas 60 may be provided in greater numbers than the multiple radio tower side antennas 70, or the multiple radio tower side antennas 70 may be provided in greater numbers than the multiple fuselage side antennas 60. In addition, multiple radio towers 40 including multiple radio tower side antennas 70 may be provided at locations far away from each other. In addition, the remote operation system 20 is not limited to the use of MIMO, as long as at least three fuselage side antennas 60 are provided on the fuselage 10 and at least one radio tower side antenna 70 is provided.

[0037] (Remote operation room side system)

[0038] The remote operation room system 50 includes a wireless transceiver 51, an image signal processor 52, a sensor signal processor 53, a monitor 54, an operation signal processor 55, and an operator 56. The components of the remote operation room system 50 are installed in a remote operation room (not shown).

[0039] The wireless transceiver 51 is connected to the radio tower 40 via a wired or wireless connection so as to be communicable with the plurality of radio tower antennas 70. The wireless transceiver 51 receives the communication signals of the image data and the detection values ​​of the sensors 33 via the plurality of radio tower antennas 70.

[0040] In addition, the wireless transceiver 51 inputs an operation signal of a remote operation input by the operator 56 and converted into a communication signal by the operation signal processor 55 , and transmits it via a plurality of radio tower side antennas 70 .

[0041] The image signal processor 52 converts the communication signal of the image data into basic image data and outputs it to the monitor 54. Furthermore, the sensor signal processor 53 converts the communication signal of the detection values ​​of each sensor 33 into basic detection values ​​and outputs them to the monitor 54. The monitor 54 is a display device located in a position where the operator can visually confirm the input image data and the detection values ​​of each sensor 33. Furthermore, the monitor 54 may be equipped with separate devices for displaying image data and for displaying the detection values ​​of each sensor 33. The display of image data and detection values ​​may be switched between on a single monitor 54, or they may be displayed on a split screen. The operation signal processor 55 converts the operation signal for remote operation input from the operator 56 into a communication signal and outputs it to the wireless transceiver 37. The operator 56 is a terminal for remote operation used by the operator and includes a plurality of operating levers, etc., for causing the hydraulic excavator 1 to perform various operations.

[0042] (Configuration of the fuselage-side antenna)

[0043] In the hydraulic excavator 1 and remote control system 20 configured as described above, multiple fuselage-side antennas 60 are mounted on the upper swing body 4. This can cause a shadowing effect, where radio waves are blocked by the working mechanism 5, preventing transmission and reception. If a fuselage-side antenna 60 becomes unable to transmit or receive radio waves, data is split and processed, with only the remaining fuselage-side antennas 60 transmitting data. However, to improve communication stability and speed, it is preferable to minimize radio wave shielding. Therefore, multiple fuselage-side antennas 60 are mounted on the upper swing body 4 in the configuration described below.

[0044] like Figure 2As shown, the multiple fuselage-side antennas 60 include two front antennas 61 and a rear antenna 62. The front antenna 61 is located forward of the center of rotation 4a of the upper rotating body 4 in the longitudinal direction of the fuselage 10. Furthermore, one front antenna 61 is located on each left and right of the fuselage 10, sandwiching the center of rotation 4a of the upper rotating body 4 and the working device 5. Specifically, the front antennas 61 include a first front antenna 611 located on the left side of the center of rotation 4a and the working device 5, and a second front antenna 612 located on the right side of the center of rotation 4a and the working device 5. Alternatively, the center of rotation 4a of the upper rotating body 4 and the working device 5 may be spaced apart in the longitudinal direction. In this case, one front antenna 61 is located on each left and right of the fuselage 10, sandwiching the working device 5. The first front antenna 611 and the second front antenna 612 are arranged in the longitudinal direction and positioned at the same position in the longitudinal direction.

[0045] On the other hand, the rear antenna 62 is located behind the center of rotation 4a in the front-to-back direction (and is located behind the straight line L2 extending from the center of rotation 4a in the left-right direction in the front-to-back direction). In addition, the rear antenna 62 is arranged behind the rear end of the working device 5 and is arranged so as to overlap with the working device 5 when viewed from the front-to-back direction. More specifically, the rear antenna 62 is arranged side by side with the working device 5 on the above-mentioned straight line L1 extending in the front-to-back direction so as to include the center of rotation 4a. In addition, the rear antenna 62 only needs to be arranged behind the rear end of the working device 5 and overlap with the working device 5 when viewed from the front-to-back direction.

[0046] In addition, the body antennas 60 are preferably arranged at predetermined intervals to prevent mutual radio wave interference. In this embodiment, they are arranged at equal intervals along concentric circles C (single-dot chain circles in the figure) centered on the rotation center 4a.

[0047] Figure 5 This is an explanatory diagram showing an area that becomes a blind spot for radio waves transmitted and received by the plurality of body-side antennas 60 . Figure 5In the figure, the area surrounded by the dashed line represents the blind spot θ1 of the first front antenna 611 with respect to the working mechanism 5; the area surrounded by the double-dashed line represents the blind spot θ2 of the second front antenna 612 with respect to the working mechanism 5; and the area surrounded by the solid line represents the blind spot θ3 of the rear antenna 62 with respect to the working mechanism 5. Hereinafter, the area where any two of the blind spots θ1, θ2, and θ3 overlap—that is, the area where radio waves cannot be transmitted or received by any two of the first front antenna 611, the second front antenna 612, and the rear antenna 62—is referred to as the first area A1 (the area marked with dotted lines). Furthermore, the area where all of the blind spots θ1, θ2, and θ3 overlap—that is, the area where radio waves cannot be transmitted or received by all of the first front antenna 611, the second front antenna 612, and the rear antenna 62—is referred to as the second area A2 (the area marked with hatching). In the drawings, the first area A1 and the second area A2 are depicted as excluding the portion overlapping with the fuselage 10.

[0048] In contrast, Figure 6 This is an explanatory diagram showing the blind spots of radio waves transmitted and received by the plurality of fuselage-side antennas 60 when the front antenna 61 is positioned rearward relative to the center of rotation 4a as a comparative example. As shown in the figure, if the first front antenna 611 and the second front antenna 612 are positioned rearward relative to the center of rotation 4a, the radio waves transmitted and received by the first front antenna 611 and the second front antenna 612 may be blocked by various structures, devices, etc. on the upper rotating body 4 other than the operating device 5. In addition, the blind spots θ1, θ2 and Figure 5 Compared with the case shown, the angle becomes acute, and the length of the second area A2 is extended.

[0049] In addition, the rear antenna 62 is not limited to being provided at Figure 5 The situation of the position shown. Figure 7 This shows a modified example in which the rear antenna 62 is connected to the Figure 5 The following is an illustration of the blind spot area of ​​radio waves transmitted and received by the plurality of fuselage side antennas 60 when the rear antenna 62 is offset in the left-right direction relative to the working device 5. Figure 5 Compared with the case shown in FIG, the range where radio waves cannot be transmitted and received by the rear antenna 62 is shifted to one side in the left-right direction (here, the left side) and becomes larger. However, the second area A2, that is, the range where radio waves cannot be transmitted and received by all the body side antennas 60 is larger than the second area A2. Figure 5 Likewise suppressed and smaller.

[0050] like Figure 5 as well as Figure 7As shown, among the multiple fuselage side antennas 60 of this embodiment, each front antenna 61 is arranged in front of the rotation center 4a. Therefore, on the upper rotating body 4, compared with the front antenna 61, various structures, devices and other parts other than the working device 5 are not arranged in the front as much as possible, which can prevent the radio waves received and transmitted by each fuselage side antenna 60 from being blocked by these parts. In addition, each front antenna 61 is arranged on the left and right sides in a manner of separating the rotation center 4a and the working device 5, thereby ensuring the range of radio waves that can be received and transmitted on both sides of the left and right directions relative to the working device 5. Moreover, through these structures, Figure 6 Compared to the case shown, the second area A2 can be prevented from expanding. Furthermore, the rear antenna 62 is positioned rearward relative to the center of rotation 4a. This ensures communication between the rear antenna 62 and the multiple tower-side antennas 70, even when the radio tower 40 is located behind the machine body 10. Therefore, the hydraulic excavator 1 (construction machine) and remote control system 20 of this embodiment ensure better communication stability, independent of the posture of the machine body 10 and the working mechanism 5. Consequently, remote control of the hydraulic excavator 1 can be performed stably.

[0051] In addition, the rear antenna 62 is arranged so as to overlap with the working device 5 when viewed from the front-back direction. Figure 5 As shown, the first area A1 can be prevented from becoming larger on one side in the horizontal direction. Furthermore, by reducing the number of body-side antennas 60 to three, an increase in the number of components can be minimized. Furthermore, radio wave interference caused by unnecessary installation of body-side antennas 60 can be minimized, and the amount of data processing required for communication can be minimized.

[0052] Furthermore, the multiple fuselage antennas 60 are arranged along a concentric circle C with the center of rotation 4a. This allows for equalization of the distances between each fuselage antenna 60 and the multiple tower antennas 70, regardless of the orientation of the upper rotating body 4. Consequently, communication between the multiple fuselage antennas 60 and the tower antennas 70 is further stabilized.

[0053] Furthermore, the use of MIMO as a communication method enables high-speed communication. Even when the body-side antenna 60 rotates in conjunction with the rotation of the upper rotating body 4, fluctuations in communication speed (throughput), known as signal fading, can be suppressed. Furthermore, as described above, by minimizing the number of antennas 60 shielded from radio waves, the number of body-side antennas 60 capable of transmitting and receiving radio waves is ensured, further suppressing fluctuations in communication speed.

[0054] The above describes the embodiment, but the present invention is not limited to this embodiment. For example, while this embodiment illustrates a hydraulic excavator 1 as a construction machine, the present invention is also applicable to other construction machines, as long as the construction machine has a lower traveling structure, an upper swing structure, a working mechanism, and multiple body-side antennas, and performs various operations while communicating with an external antenna and the multiple body-side antennas. Furthermore, the information communicated between the external antenna and the multiple body-side antennas is not limited to signals used for remote operation; a variety of information can be used.

[0055] In addition, the number of the plurality of body-side antennas 60 is not limited to the number shown in the embodiment. Figure 8 1 is an explanatory diagram showing an example of a configuration in which four body-side antennas 60 are provided. As shown in the figure, the body-side antenna 60 may also include two front antennas 61 and two rear antennas 62. The front antenna 61 and Figure 5 The example shown similarly includes a first front antenna 611 and a second front antenna 612. Meanwhile, the rear antenna 62 includes a first rear antenna 621 located on the left side of the straight line L1 including the center of rotation 4a, and a second rear antenna 622 located on the right side of the straight line L1.

[0056] In this way, on the basis of the front antenna 61, the rear antenna 62 is arranged behind the rotation center 4a in the front-to-back direction, and one is provided on each side in the left-right direction with the straight line L1 between them. Thus, the range of radio waves that can be received and received can be further expanded by the two rear antennas 62. Moreover, even in this case, the plurality of fuselage-side antennas 60 are more preferably arranged along the concentric circle C of the rotation center 4a. In addition, as long as the two rear antennas 62 are provided on each side in the left-to-right direction with the straight line L1 between them, they can also be provided at a position overlapping with the operating device 5 when viewed from the front-to-back direction. In addition, as Figure 8 As shown, it is preferable that four radio tower side antennas 70 are provided similarly to the fuselage side antennas 60 .

[0057] As described above, the number and placement of the multiple body-side antennas 60 can be adjusted as appropriate. In addition to the configurations described above, for example, three or more front antennas 61 may be provided. However, the number and placement of the body-side antennas 60, as described above, can prevent radio wave interference between them. Furthermore, they are preferably positioned outside the imaging range of the camera 31. Furthermore, to prevent obstructions by obstructions on the upper revolving body 4, the front antenna 61 is preferably positioned as far forward and laterally outward of the upper revolving body 4 as possible.

[0058] Furthermore, in order to reduce the blind spot θ3 while suppressing obstruction by obstructions on the upper revolving body 4 , the rear antenna 62 is preferably disposed as far as possible behind the upper revolving body 4 .

[0059] In addition, in order to realize the above-mentioned preferred arrangement, each fuselage-side antenna 60 may be attached to an arm extending from the upper revolving body 4 .

[0060] Description of Reference Numerals

[0061] 1Hydraulic excavator (construction machinery)

[0062] 2 Lower running body

[0063] 4 upper gyro

[0064] 4a gyration center

[0065] 5. Operating equipment

[0066] 10 fuselage

[0067] 20 Remote Operating System

[0068] 30 fuselage side system

[0069] 50 remote operation room side system

[0070] More than 60 fuselage-side antennas

[0071] 61 front antenna

[0072] 611 No. 1 front antenna

[0073] 612 2nd front antenna

[0074] 62 rear antenna

[0075] 621 No. 1 rear antenna

[0076] 622 2nd rear antenna

[0077] More than 70 radio tower-side antennas (external antennas)

[0078] A1 Area 1

[0079] A2 Area 2

[0080] C concentric circles

[0081] L1, L2 straight line

[0082] θ1, θ2, θ3 blind spots.

Claims

1. A construction machine comprising: a body including a lower traveling body, an upper rotating body capable of rotating on the lower traveling body, and a working device mounted on a front center portion of the upper rotating body; and a plurality of body-side antennas mounted on the upper rotating body, wherein communication is performed between an external antenna disposed on the exterior of the body and the plurality of body-side antennas. The plurality of body-side antennas include: a front antenna disposed forward of the center of rotation of the upper rotating body in the front-rear direction of the fuselage, and at least one antenna disposed on each side of the fuselage in the left-right direction thereof across the operating device; and The rear antenna is provided with at least one rear antenna in the front-to-rear direction relative to the rotation center.

2. The construction machine according to claim 1, wherein: Three of the multiple fuselage side antennas are installed on the upper rotating body. The front antenna is provided on each side in the left-right direction in a manner of sandwiching the working device. The rear antenna is arranged so as to overlap with the working device when viewed from the front-rear direction.

3. The construction machine according to claim 1, wherein: The plurality of body-side antennas are arranged along a concentric circle with the rotation center of the upper rotating body.

4. The construction machine according to claim 1, wherein: Four of the multiple fuselage side antennas are installed on the upper rotating body. The front antenna is provided on each side in the left-right direction in a manner of sandwiching the working device. The rear antenna is provided on each of the left and right sides of a straight line extending in the front-rear direction and passing through the rotation center in the left-right direction.

5. A remote operating system, wherein: have: The construction machine according to any one of claims 1 to 4; and an external antenna disposed outside the fuselage, The construction machine is remotely controlled by communicating between the external antenna and the plurality of fuselage-side antennas.

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