Construction machine, external management device, work management system, work management method, and work management program

Abstract

The construction machine (100) includes a controller (20) that switches, based on an external instruction from an external management device (200), a remote operation mode that allows remote operation, a teaching mode that allows the remote operation and is used to acquire teaching data corresponding to the remote operation, and an automatic driving mode that allows automatic driving using the teaching data.

Description

Technical Field

[0001] This disclosure relates to engineering machinery such as hydraulic excavators and technologies associated with such engineering machinery. Background Technology

[0002] Patent Document 1 discloses a management system comprising: a receiving device for receiving the operating status of multiple construction machines; a display device; and a display control unit for displaying the operating status of each of the multiple construction machines on the display device.

[0003] Patent Document 2 discloses a management system comprising: a display device for displaying a map image; a receiving device for receiving location information of multiple construction machines and information on whether the construction machines are in autonomous driving mode from multiple construction machines; and a display control unit for overlaying an image indicating that the construction machine is in autonomous driving mode onto the map image and displaying it on the display device.

[0004] Patent document 3 discloses an excavator comprising: a cab with an operating device inside; and a control device that, in the control of motion elements based on the operation of an external operating device disposed outside the cab, receives an instruction to switch control of the motion elements based on the operation of the operating device, and switches control of the motion elements to control based on the operation of the operating device.

[0005] Patent document 4 discloses a wirelessly controlled vehicle that can be operated in two modes: passenger driving and wireless control. The electric joystick for passenger driving mode is configured to output control electrical signals to the valve control device according to its rotation direction and rotation angle. The electric joystick for passenger driving mode and the wireless control device are connected to the valve control device via a mode switching relay.

[0006] The first problem in this disclosure is as follows. That is, it is desirable to propose technologies that can be used for remote operation of construction machinery, automatic driving of construction machinery, and teaching of automatic driving.

[0007] Existing technical documents Patent documents Patent Document 1: Japanese Patent Publication No. 2023-70617 Patent Document 2: Japanese Patent Publication No. 2023-71147 Patent Document 3: Japanese Patent Publication No. 2022-152970 Patent document 4: Japanese Patent Publication No. 1-290830. Summary of the Invention

[0008] The first objective of this disclosure is to provide a technology applicable to remote operation of construction machinery, automatic driving of construction machinery, and teaching of automatic driving.

[0009] The first invention for solving the first problem includes the following: engineering machinery, external management equipment, operation management system, operation management method, and operation management program.

[0010] The engineering machinery involved in one aspect of the first invention includes a controller that, based on external instructions from an external management device, switches between a remote operation mode that allows remote operation, a teaching mode that allows said remote operation and is used to obtain teaching data corresponding to said remote operation, and an automatic driving mode that allows automatic driving using said teaching data.

[0011] In another aspect of the first invention, the external management device outputs external instructions for switching the remote operation mode, the teaching mode, and the automatic driving mode in the engineering machinery based on the input operation received by the input device.

[0012] The operation management system according to another aspect of the first invention includes the engineering machinery and the external management equipment.

[0013] The operation management method according to another aspect of the first invention includes: the controller of the construction machinery switching between a remote operation mode that allows remote operation, a teaching mode that allows the remote operation and is used to obtain teaching data corresponding to the remote operation, and an automatic driving mode that allows automatic driving using the teaching data, based on external instructions from an external management device.

[0014] The operation management program according to another aspect of the first invention causes the computer of the external management device to perform the following processing, which causes the external instruction to be output according to the input operation received by the input device of the external management device. The external instruction is used to switch for the construction machinery a remote operation mode that allows remote operation, a teaching mode that allows the remote operation and is used to obtain teaching data corresponding to the remote operation, and an automatic driving mode that allows automatic driving using the teaching data.

[0015] According to the first invention, there is a technology that can be used for remote operation of construction machinery, automatic driving of construction machinery, and teaching of automatic driving. Attached Figure Description

[0016] Figure 1 This is a side view illustrating an example of the engineering machinery involved in an embodiment of the first invention.

[0017] Figure 2 This is a block diagram illustrating the operation management system involved in the implementation method, which shows that the control mode of the construction machinery in the operation management system is set to remote operation mode.

[0018] Figure 3 This is a block diagram representing the job management system, indicating that the control mode is set to teach mode.

[0019] Figure 4 This is a block diagram representing the operation management system, indicating that the control mode is set to automatic driving mode.

[0020] Figure 5 This is a flowchart illustrating the computational processing performed by the external management devices of the operation management system.

[0021] Figure 6 This is a flowchart representing the computational processing performed by the controller of the engineering machinery.

[0022] Figure 7 This is a block diagram representing the job management system and a diagram illustrating a method for confirming connections between devices.

[0023] Figure 8 This is a block diagram illustrating the job management system involved in Variation 1 of the described embodiment.

[0024] Figure 9 This is a block diagram illustrating the job management system involved in Modification 2 of the described embodiment.

[0025] Figure 10 This is a diagram illustrating the work management system involved in an embodiment of the second invention.

[0026] Figure 11 These are diagrams illustrating the job management system according to embodiments of the third, fourth, and sixth inventions.

[0027] Figure 12 This is a diagram illustrating the work management system involved in an embodiment of the fifth invention. Detailed Implementation

[0028] This disclosure includes the first invention for solving the first problem, the second invention for solving the second problem (described later), the third invention for solving the third problem (described later), the fourth invention for solving the fourth problem (described later), the fifth invention for solving the fifth problem (described later), and the sixth invention for solving the sixth problem (described later).

[0029] [Embodiment of the First Invention] First, embodiments of the first invention will be described. The first invention includes multiple embodiments, including the engineering machinery 100, external management equipment 200, operation management system 300, operation management method, and operation management program described below.

[0030] Figure 1 This is a side view illustrating an example of the engineering machinery 100 involved in the embodiment. For example... Figure 1 As shown, the construction machinery 100 includes: a lower traveling body 1, including a traveling device; an upper rotating body 2, supported on the lower traveling body 1 in a manner capable of rotating relative to the lower traveling body 1 about a vertically extending rotating axis Z; and a working device 3, supported on the upper rotating body 2. Although the construction machinery 100 involved in this embodiment is a hydraulic excavator, the construction machinery in this disclosure is not limited to hydraulic excavators, and may also be other construction machinery such as cranes and bulldozers. The traveling device may be... Figure 1 The tracked traveling device shown can also be a tire-equipped traveling device (not shown). The upper slewing body 2 includes a slewing frame that is rotatably supported on the lower traveling body 1, and a driver's cab 9 supported on the slewing frame. Various components such as the driver's seat and the actual machine operating device 10 are arranged in the driver's cab 9.

[0031] The working device 3 includes a boom 4 that is undulatingly mounted on the upper rotating body 2, a stick 5 that is rotatably mounted on the boom 4, and a distal attachment 6 that is rotatably mounted on the stick 5. Although the distal attachment 6 in this embodiment is a bucket 6, the distal attachment 6 may also be other distal attachments such as a grab bucket, forks, a crusher, or a lifting magnet.

[0032] Construction machinery 100 includes a power source 7, a hydraulic pump 8, and multiple actuators. The hydraulic pump 8 is driven by the power source 7. The power source 7 can be, for example, an engine or an electric motor. The electric motor can also be driven by, for example, at least one of a fuel cell and a battery.

[0033] Multiple actuators operate by receiving working oil injected from hydraulic pump 8. The multiple actuators include a working cylinder for raising and lowering boom 4, namely boom working cylinder 35; a working cylinder for rotating stick 5, namely stick working cylinder 36; a working cylinder for rotating remote auxiliary device 6, namely remote auxiliary device working cylinder 37; a hydraulic motor for rotating upper slewing body 2 relative to lower traveling body 1, namely slewing motor 38; and a hydraulic motor for traveling lower traveling body 1, namely traveling motor 39.

[0034] Figure 2 This is a block diagram illustrating the job management system 300 involved in the implementation method. For example... Figure 2As shown, the operation management system 300 includes construction machinery 100 and external management equipment 200.

[0035] The construction machinery 100 includes a machine operation device 10, a controller 20, a controlled object 30, a teaching data acquisition device 40, a power supply 50, a power switch 51, at least one output device 60, a construction machinery communication device 70, and a hub 80.

[0036] The machine operation device 10 is disposed within the cab 9 of the construction machinery 100. The machine operation device 10 includes at least one machine operator that accepts operations performed by an operator. The at least one machine operator may also include, for example, an operating lever that accepts stick operation performed by the operator and an operating pedal that accepts pedal operation performed by the operator.

[0037] The controller 20 controls the operation of the construction machinery 100. The controller 20 includes a computer comprising a processing unit and a memory. The controller 20 is configured such that the processing unit executes a program stored in the memory, thereby controlling the operation of the construction machinery 100. The controller 20 can be configured as follows: Figure 2 As shown, it consists of multiple controllers, including a first controller 21 (remote controller) and a second controller 22 (automatic controller), or it can be described later. Figure 9 As shown in Variation 2, it consists of a single controller (remote automatic controller).

[0038] The controlled object 30 is controlled by the controller 20. The output of the controlled object 30 varies according to the operational quantity input from the controller 20, i.e., the control operational quantity (control input). The controlled object 30 may also include a flow regulator 31 and at least one of the plurality of actuators. The flow regulator 31 adjusts the direction and flow rate of the working oil supplied to at least one of the plurality of actuators according to the control operational quantity input from the controller 20. That is, after the controller 20 inputs the control operational quantity to the flow regulator 31, the flow regulator 31 operates according to the control operational quantity input from the controller 20, thereby supplying working oil from the hydraulic pump 8 to at least one of the plurality of actuators, which then operates.

[0039] The flow regulator 31 may, for example, include multiple proportional valves 32 and control valves 33. The control valves 33 have multiple spools corresponding to the multiple actuators. Each control valve 33 has a pair of pilot ports corresponding to each spool. Each spool is operated by a pilot pressure input through one of the pilot ports corresponding to it, allowing working oil to be supplied to the actuator corresponding to that spool. Multiple proportional valves 32 are respectively configured in an oil passage connecting the pilot port of the spool corresponding to the proportional valve 32 to a pilot pump (not shown), regulating the pilot pressure input to the pilot port. In other words, each proportional valve 32 outputs a secondary pressure corresponding to the operating amount (current value) input from the controller 20, which is input as a pilot pressure to the pilot port corresponding to the proportional valve 32. Each proportional valve 32 adjusts the pilot pressure input to the pilot port corresponding to it to a value corresponding to the operating amount input from the controller 20.

[0040] The plurality of proportional valves 32 may also include a pair of proportional valves 32 (a pair of boom proportional valves 32) for controlling the action of the boom cylinder 35, a pair of proportional valves 32 (a pair of stick proportional valves 32) for controlling the action of the stick cylinder 36, a pair of proportional valves 32 (a pair of remote auxiliary device proportional valves 32) for controlling the action of the remote auxiliary device cylinder 37, a pair of proportional valves 32 (a pair of swing proportional valves 32) for controlling the action of the swing motor 38, and a pair of proportional valves 32 (a pair of travel proportional valves 32) for controlling the travel motor 39.

[0041] The controlled object 30 may also include a switching valve 34. The switching valve 34 is capable of switching between a first state, allowing remote operation and automatic driving of the construction machinery 100, and a second state, allowing operation of the construction machinery 100 based on an operator's action on a physical operating device 10 located within the cab 9 of the construction machinery 100. The switching valve 34 may also switch between the first and second states based on an instruction from a controller 20, in which case the controller 20 may also have a switching indicator that outputs an instruction for switching the state of the switching valve 34 to the switching valve 34. The switching valve 34 may also switch between the first and second states based on the operation of a switch (not shown) located within the cab 9. In this case, the switch can also be operated by the operator.

[0042] When the switching valve 34 is in the first state, the operation of the construction machinery 100 is controlled according to the operating amount input from the controller 20 to the flow regulator 31. On the other hand, when the switching valve 34 is in the second state, the operation of the construction machinery 100 is controlled according to the operation performed by the operator on the actual machine operation device 10 in the cockpit 9 of the construction machinery 100.

[0043] The teaching data acquirer 40 is a device for acquiring teaching data used in autonomous driving. The teaching data acquirer 40 may also include, for example, a motion detector for detecting the movements of the construction machinery 100. The motion detector may include, for example, a posture sensor for detecting at least one movement of the plurality of actuators, or a posture sensor for detecting the posture of the working device 3 and / or the posture of the upper rotating body 2.

[0044] Specifically, the motion detector may also include a boom posture sensor 41 (boom angle sensor), a stick posture sensor 42 (stick angle sensor), and a remote auxiliary device posture sensor 43 (remote auxiliary device angle sensor). The boom posture sensor 41 may be a sensor that detects the movement of the boom cylinder 35 (see reference). Figure 2 It can also be a sensor that detects the posture of boom 4 (see reference). Figure 1 The stick posture sensor 42 can be a sensor that detects the movement of the stick working cylinder 36 (see reference). Figure 2 It can also be a sensor for detecting the posture of the boom 5 (see reference). Figure 1 The remote accessory posture sensor 43 can be a sensor for detecting the movement of the remote accessory working cylinder 37 (see reference). Figure 2 It can also be a sensor that detects the posture of the remote accessory device 6 (see reference). Figure 1 The motion detector may also include a rotation posture sensor 44. The rotation posture sensor 44 may also be a sensor that detects the posture of the upper rotating body 2 relative to the lower walking body 1, specifically, for example, a sensor that detects the rotation angle of the upper rotating body 2 relative to the lower walking body 1.

[0045] The motion detector may include, for example, a camera device that acquires images of the construction machinery 100. The camera device may be, for example, a device capable of acquiring point cloud data, such as LiDAR (Light Detection and Ranging). The camera device can detect the temporal changes in the images of the construction machinery 100, i.e., the movements of the construction machinery 100. The camera device may be positioned at the work site where the construction machinery 100 is operating, capable of acquiring images of the construction machinery 100, or it may be installed on the construction machinery 100 in a manner capable of acquiring images of the working device 3 of the construction machinery 100 (e.g., images of the remote auxiliary device 6). Furthermore, the motion detector may acquire the rotational speed of the travel motor 39, or the rotational speed of the power source 7, such as an engine or electric motor.

[0046] Power supply 50 supplies power to devices such as controller 20 and engineering machinery communication device 70. Power supply 50 can be, for example, a battery such as a lithium-ion battery, or a power generation device such as a fuel cell. For example, ... Figure 2 As shown, power switch 51 is configured on the cable connecting power supply 50 and the target equipment. When power switch 51 is in the ON state, power from power supply 50 is allowed to be supplied to the target equipment; when power switch 51 is in the OFF state, power from power supply 50 is prevented from being supplied to the target equipment. Switching power switch 51 on and off can be based on instructions from controller 20 or on-screen operation by a person involved in the operation performed by the construction machinery 100. Power switch 51 can also be set to ON when the construction machinery 100 is being remotely operated or in automatic driving mode (when switching valve 34 is in state 1). Power switch 51 can also be set to OFF when the operation of the construction machinery 100 based on the operator's control of the machine operating device 10 is permitted (when switching valve 34 is in state 2).

[0047] The person involved in the operation may be an operator riding in the construction machinery 100, an operator remotely operating the construction machinery 100, a manager managing the operation performed by the construction machinery 100, an assistant to the operator and / or manager, or a person other than these individuals.

[0048] The at least one output device 60 is capable of switching whether to supply power from the power supply 50 to the controller 20 based on external instructions from the external management device 200. Figure 2 In the specific example shown, the at least one output device 60 includes a first output device 61 and a second output device 62. The first output device 61 and the second output device 62 will be described below.

[0049] The construction machinery communication device 70 is a device capable of wirelessly or wiredly transmitting and receiving data between itself and the external management device 200. In this case, the external management device 200 may also have a communication device capable of communicating with the construction machinery communication device 70.

[0050] Hub 80 has multiple ports for circuitry used to connect multiple network devices to the construction machinery 100. Figure 2In the specific example shown, hub 80 connects controller 20, the at least one output device 60, and construction machinery communication device 70. Therefore, controller 20 can send and receive signals with construction machinery communication device 70 via hub 80, and the at least one output device 60 can send and receive signals with construction machinery communication device 70 via hub 80. Alternatively, a local area network (LAN) can be constructed in construction machinery 100 to enable data communication between controller 20 (e.g., first controller 21 and second controller 22), output devices 60 (e.g., first output device 61 and second output device 62), construction machinery communication device 70, and hub 80. Hub 80 can also be, for example, an Ethernet (registered trademark) hub.

[0051] The external management device 200 includes an external device controller, which has a computer comprising a processing unit and memory. The external management device 200 performs its functions by executing programs stored in the memory using the processing unit. The external management device 200 can also be configured in a location away from the construction machinery 100 (e.g., remotely).

[0052] External management device 200 may also include a first external device 210 and a second external device 220. In this case, the first external device 210 and the second external device 220 each have a communication device capable of communicating with the engineering machinery communication device 70. The first external device 210 has a first external device controller, which has a computer including an arithmetic processing unit and a memory. The second external device 220 has a second external device controller, which has a computer including an arithmetic processing unit and a memory. The first external device 210 implements its function by executing a program stored in the memory using the arithmetic processing unit, and the second external device 220 implements its function by executing a program stored in the memory using the arithmetic processing unit.

[0053] The first external device 210 may also include the first external device controller 215, remote operator 212, display unit 213, and first input device 214. The first external device controller 215 may also include a first start indicator 211. The second external device 220 may also include the second external device controller 226 and second input device 225. The second external device controller 226 may also include a first start indicator 221, a second start indicator 222, a mode indicator 223, and external device memory 224. Furthermore, when the external management device 200 is composed of a single external device, the functions of the first external device controller and the second external device controller may be integrated into the controller of the single external device (i.e., the external device controller of the external management device 200).

[0054] [Features of the embodiments of the first invention] Next, the features of an embodiment of the first invention for solving the first problem will be described. The first invention includes the following first to seventeenth embodiments.

[0055] The engineering machinery 100 involved in the first method includes a controller 20, which switches between a remote operation mode that allows remote operation, a teaching mode that allows the remote operation and is used to obtain teaching data corresponding to the remote operation, and an automatic driving mode that allows automatic driving using the teaching data, based on external instructions from an external management device 200.

[0056] In this first method, the controller 20 of the construction machinery 100 can switch between remote operation mode, teaching mode, and automatic driving mode based on external instructions from the external management device 200. That is, the controller 20 can set the control mode of the construction machinery 100 to any one of the remote operation mode, teaching mode, and automatic driving mode corresponding to the external instructions.

[0057] Figure 2 This indicates that the control mode of the construction machinery 100 is set to remote operation mode. Figure 3 This indicates that the control mode of the construction machinery 100 is set to teach mode. Figure 4 This indicates that the control mode of the construction machinery 100 is set to automatic driving mode. In each of these diagrams, the parts indicated by the thick arrows represent the signal exchange between the equipment.

[0058] Ideally, the construction machinery 100 involved in the second method also possesses the following structure as described in the construction machinery 100 involved in the first method. That is, in the construction machinery 100 involved in the second method, ideally, the controller 20 includes: a first controller 21, which allows one of the remote operation and the automatic driving based on the external instruction; and a second controller 22, which inputs the operation quantity corresponding to the teaching data, i.e., the automatic driving operation quantity, to the first controller 21 in the automatic driving mode, wherein the first controller 21 inputs the control operation quantity (control input) corresponding to the automatic driving operation quantity to the controlled object 30 in the automatic driving mode.

[0059] In this second method, the first controller 21 enables the automatic driving, the second controller 22 inputs the automatic driving operation quantity to the first controller 21, and the first controller 21 inputs the control operation quantity corresponding to the automatic driving operation quantity to the controlled object 30. Thus, the controller 20 is able to execute the automatic driving of the construction machinery 100 corresponding to the teaching data.

[0060] The first controller 21 and the second controller 22 each have a computer including an arithmetic processing unit and a memory. The first controller 21 implements its function by executing a program stored in the memory through the arithmetic processing unit, and the second controller 22 implements its function by executing a program stored in the memory through the arithmetic processing unit.

[0061] Ideally, the construction machinery 100 involved in the third method also possesses the following structure as described in the construction machinery 100 involved in the second method. That is, in the construction machinery 100 involved in the third method, ideally, the first controller 21 receives the remote operation quantity, i.e., the remote operation quantity input, from the external management device 200 in both the remote operation mode and the teaching mode, and inputs the control operation quantity (control input) corresponding to the remote operation quantity to the controlled object 30.

[0062] In this third method, the first controller 21 inputs a control operation quantity corresponding to the remote operation quantity input from the external management device 200 to the controlled object 30, thereby enabling the controller 20 to perform the remote operation and the teaching performed through the remote operation.

[0063] Specifically, the first controller 21 inputs a control operation quantity (proportional valve current value) corresponding to the remote operation quantity to the proportional valve 32 corresponding to the remote operation. The proportional valve 32 outputs a secondary pressure corresponding to the remote operation quantity, which is input as a pilot pressure to the pilot port (pilot port of control valve 33) corresponding to the proportional valve 32. The control valve 33 opens to allow working oil to be supplied to the actuator corresponding to the remote operation. Thus, the actuator performs the operation quantity corresponding to the remote operation.

[0064] Ideally, the construction machinery 100 involved in the fourth method also possesses the following structure as described in the construction machinery 100 involved in the third method. That is, in the construction machinery 100 involved in the fourth method, ideally, the second controller 22 includes a construction machinery memory 23 (teach pendant memory), which is a memory that stores control quantity-related data related to the output of the controlled object 30 that operates according to the control operation quantity as the teach data in the teach mode.

[0065] In this fourth method, the engineering machinery memory 23 of the second controller 22 can store the control quantity related data as the teaching data. Therefore, the controller 20 can use the teaching data stored in the engineering machinery memory 23 to perform automatic driving of the engineering machinery 100.

[0066] The teaching data corresponds to a series of actions of the construction machinery 100 during the operation to be performed by the construction machinery 100. The operation may also include multiple action steps; in this case, the teaching data corresponds to the actions of the working device 3 and the upper rotating body 2 of the construction machinery 100 during these action steps. The output (control quantity) of the controlled object 30 may, for example, be at least one action of the plurality of actuators. The control quantity related data may, for example, be data representing at least one action of the plurality of actuators in the controlled object 30 (e.g., timing data), or data representing the actions of the working device 3 and the upper rotating body 2 (e.g., timing data). The control quantity related data is acquired by the teaching data acquirer 40, which inputs the acquired data to the controller 20 (in... Figure 2 In a specific example, the second controller 22) and the engineering machinery memory 23 store the input data (control quantity related data).

[0067] When the operation to be performed by the construction machinery 100 is to excavate sand and discharge the sand to a moving destination, the multiple action steps may include, for example, an excavation step, a lifting and rotation step, a soil discharge step, and a reset and rotation step.

[0068] In the excavation step, the action of excavating the object (e.g., land) using the bucket 6 is performed. In this excavation step, for example, the action of bringing the stick 5 closer to the upper rotating body 2, i.e., the stick retraction action, and the action of bringing the far end of the bucket 6 closer to the upper rotating body 2, i.e., the excavation action, are performed.

[0069] During the lifting and slewing step, the bucket 6, which holds the excavated sand, is moved to a position directly above the dumping location. This lifting and slewing step includes, for example, lifting the boom 4 and rotating the upper rotating body 2. The dumping location can be, for example, the loading platform of a dump truck or other transport vehicle, or a sand pit for temporary storage of sand.

[0070] In the soil discharge step, the sand held in the bucket 6 is discharged to the truck's loading platform. This soil discharge step includes, for example, actions such as pushing the boom 5 away from the upper rotating body 2 (boom push action) and moving the distal end of the bucket 6 away from the upper rotating body 2 (soil discharge action).

[0071] During the reset and rotation step, the bucket 6 is returned to the object being excavated. This reset and rotation step may include, for example, lowering the boom 4 and rotating the upper rotating body 2.

[0072] The operations to be performed by the construction machinery 100 are not limited to the specific examples mentioned above; for example, they could also be leveling operations or other operations. The leveling operation is the operation of using the bucket 6 to level the surface of the land or other leveling objects. The leveling operation can be a horizontal retraction leveling operation, a horizontal pushing leveling operation, or a compaction leveling operation.

[0073] Ideally, the construction machinery 100 involved in the fifth method also includes the following structure in any of the methods 2 to 4. That is, the construction machinery 100 involved in the fifth method ideally further includes: a power supply 50; a communication device (construction machinery communication device 70) for receiving external instructions from the external management device 200; a first output device 61 capable of switching whether to supply power from the power supply 50 to the first controller 21 according to the external instructions; and a second output device 62 capable of switching whether to supply power from the power supply 50 to the second controller 22 according to the external instructions.

[0074] In this fifth method, the first output device 61 can switch whether to supply power from the power supply 50 to the first controller 21 according to the external instruction from the external management device 200, and the second output device 62 can switch whether to supply power from the power supply 50 to the second controller 22 according to the external instruction from the external management device 200.

[0075] Specifically, for example, the first output device 61 may also include a port connected to the engineering machinery communication device 70 via the hub 80, namely an external indication input port; a port connected to the power supply 50, namely a power input port; and a port connected to the first controller 21, namely a power output port. The first output device 61 may also be a device (LAN contact output device) capable of switching the state of being connected to the power input port and the power output port, and the state of being disconnected from the power input port and the power output port, according to the external indication input from the external indication input port.

[0076] Similarly, the second output device 62 may also include a port connected to the engineering machinery communication device 70 via the hub 80 (i.e., an external indication input port), a port connected to the power supply 50 (i.e., a power input port), and a port connected to the second controller 22 (i.e., a power output port). The second output device 62 may also be a device (LAN contact output device) capable of switching the state of being connected to the power input port and the power output port, and the state of being disconnected from the power input port and the power output port, based on the external indication input from the external indication input port.

[0077] Ideally, the construction machinery 100 involved in the sixth method also includes the following structure as described in the fifth method: Specifically, the construction machinery 100 involved in the sixth method ideally includes a machine operation device 10 used in the actual machine operation mode, and a switching valve 34 capable of switching from the remote operation mode, the teaching mode, or the automatic driving mode to the actual machine operation mode. In the actual machine operation mode, the first output device 61 prevents power from the power supply 50 from being supplied to the first controller 21, the second output device 62 prevents power from the power supply 50 from being supplied to the second controller 22, and the controlled object 30 operates according to the operation applied by the machine operation device 10.

[0078] In this sixth mode, the actual machine operation mode is the control mode in which the construction machinery 100 is operated by an operator using the actual machine operator of the actual machine operation device 10. In this sixth mode, the switching valve 34 can switch from the remote operation mode, the teaching mode, or the automatic driving mode to the actual machine operation mode. As described above, the switching valve 34 can switch between the first state and the second state according to the instruction input from the switching instruction section of the controller 20, or it can switch between the first state and the second state based on the operation of the switch.

[0079] Ideally, the construction machinery 100 involved in the seventh method also possesses the following structure in any of the methods 2 to 6. That is, in the construction machinery 100 involved in the seventh method, ideally, the first controller 21 allows the automatic driving by receiving an input of an automatic driving mode instruction from the second controller 22 when the first controller 21 is activated.

[0080] In this seventh method, power is supplied to the first controller 21 from the power source 50, and the first controller 21 is activated. If an automatic driving mode instruction is input from the second controller 22 when the first controller 21 is activated, the first controller 21 sets the control mode to automatic driving mode. Alternatively, if no automatic driving mode instruction is input from the second controller 22 when the first controller 21 is activated, the first controller 21 can also set the control mode to remote operation mode.

[0081] Communication between the first controller 21 and the second controller 22 may follow, for example, a communication protocol based on CAN (Controller Area Network) (registered trademark), or other communication protocols.

[0082] like Figures 2-4 As shown, the external management device 200 may also include a first start-up indicator, a second start-up indicator, and a mode indicator. The first start-up indicator outputs an indication for starting the first controller 21, i.e., a first start-up indication (an example of an external indication). The second start-up indicator outputs an indication for starting the second controller 22, i.e., a second start-up indication (an example of an external indication). The mode indicator outputs an indication for switching the control mode of the construction machinery 100, i.e., a mode indication (an example of an external indication). The mode indication may be any one of a teach-mode indication and an automatic driving mode indication, or any one of a remote operation mode indication, a teach-mode indication, and an automatic driving mode indication.

[0083] The first start indicator may be the first start indicator 211 of the first external device 210 (described later) or the first start indicator 221 of the second external device 220 (described later). One of the first start indicator 211 of the first external device 210 and the first start indicator 221 of the second external device 220 may be omitted. The second start indicator may also be the second start indicator 222 of the second external device 220, and the mode indicator may also be the mode indicator 223 of the second external device 220. However, in the external management device 200 as described later... Figure 8As shown in Modification 1, in the case of a single external device, the first start indicator, the second start indicator, and the mode indicator may also be included in that single external device.

[0084] The external management device 200 involved in the eighth method outputs external instructions for switching the remote operation mode, the teaching mode and the automatic driving mode in the engineering machinery 100 involved in any one of the methods 1 to 7, based on the input operation received by the input device.

[0085] In the eighth embodiment, the external management device 200 includes an input device that accepts the input operation. Specifically, the first external device 210 may also include a first input device 214 that accepts the input operation, and the second external device 220 may also include a second input device 225 that accepts the input operation. The external management device 200 outputs the external instruction based on the input operation performed by the person involved in the operation (e.g., the operator), thereby enabling the controller 20 of the construction machinery 100 to switch between remote operation mode, teaching mode, and automatic driving mode based on the external instruction from the external management device 200. That is, the controller 20 can set the control mode of the construction machinery 100 to any one of the remote operation mode, teaching mode, and automatic driving mode corresponding to the external instruction.

[0086] The input device of the external management device 200 can also be a user interface that accepts the input operation. The user interface can be, for example, a touch screen of an information terminal, a keyboard, a mouse, a joystick, an input switch, a device that inputs information based on the line of sight of the person involved in the task, a device that inputs information based on the position information of the person involved in the task in space (e.g., fingers), or other input devices.

[0087] External management device 200, for example, can also be Figure 5 As shown, the output is an external indication used to switch the control mode of the construction machinery 100.

[0088] When the input device receives an input operation for the autonomous driving ( Figure 5 Step S201 is "Yes"), the external management device 200 outputs an external instruction, namely the automatic driving instruction, to switch the control mode of the construction machinery 100 to the automatic driving mode (see reference). Figure 4 (Step S202).

[0089] If the input device does not accept an input operation for the autonomous driving (step S201 is "No"), but the input device accepts an input operation for the remote operation (step S203 is "Yes"), the external management device 200 outputs an external instruction, namely a remote operation instruction, to switch the control mode of the construction machinery 100 to the remote operation mode (see reference). Figure 2 (Step S204).

[0090] If the input device does not accept an input operation for the remote operation (step S203 is "No"), but the input device accepts an input operation for the teaching (step S205 is "Yes"), the external management device 200 outputs an external instruction, namely a teaching instruction, to switch the control mode of the construction machinery 100 to the teaching mode (see reference). Figure 3 (Step S206).

[0091] Figure 4 The external management device 200 shown has an automatic driving instruction ( Figure 5 Step S202 may include, for example, an instruction to start the first controller 21 after starting the second controller 22, and an autonomous driving mode instruction. Specifically, the second start instruction unit of the external management device 200 outputs a second start instruction to start the second controller 22, and then the first start instruction unit of the external management device 200 outputs a first start instruction to start the first controller 21. The mode instruction unit of the external management device 200 outputs an autonomous driving mode instruction. The timing of the output of the autonomous driving mode instruction may be simultaneous with the output of the second start instruction, may be a point in time between the output of the second start instruction and the output of the first start instruction, may be simultaneous with the output of the first start instruction, or may be after the output of the first start instruction (e.g., immediately after the output of the first start instruction). After receiving the autonomous driving mode instruction output by the mode instruction unit of the external management device 200 ( Figure 6 If step S101 is "Yes", the construction machinery 100 is allowed to drive automatically (step S102), and the automatic driving mode instruction is output to the first controller 21. After receiving the automatic driving mode instruction, the first controller 21 sets the control mode of the construction machinery 100 to the automatic driving mode that allows the construction machinery 100 to drive automatically (step S103).

[0092] Figure 2 Remote operation instructions for the external management device 200 shown ( Figure 5Step S204 may, for example, include an instruction to start the first controller 21 without starting the second controller 22. Specifically, the second start instruction unit of the external management device 200 does not output a second start instruction, and the first start instruction unit of the external management device 200 outputs a first start instruction to start the first controller 21. In this case, the automatic driving mode instruction is not input from the second controller 22 to the first controller 21. Figure 6 If step S101 is "No", then the first controller 21 does not allow the construction machinery 100 to operate automatically but allows remote operation of the construction machinery 100 (step S104). In addition, in this case, the teaching mode instruction from the external management device 200 is not input to the controller 20 (step S105 is "No"). Therefore, the controller 20 (specifically the first controller 21) sets the control mode of the construction machinery 100 to remote operation mode instead of teaching mode (step S106).

[0093] Figure 3 The teaching instructions of the external management device 200 shown ( Figure 5 Step S206 may include, for example, an instruction to activate the first controller 21 and the second controller 22, and a teach mode instruction. Specifically, the first activation instruction unit and the second activation instruction unit of the external management device 200 output a first activation instruction and a second activation instruction, respectively, to activate the first controller 21 and the second controller 22. The mode instruction unit of the external management device 200 outputs a teach mode instruction. The timing of the output of the first activation instruction may be simultaneous with the output of the second activation instruction, or it may be before or after the output of the second activation instruction. The timing of the output of the teach mode instruction may be simultaneous with the output of the first activation instruction and / or the second activation instruction, or it may be a point in time between the output of the first activation instruction and the output of the second activation instruction, or it may be after the first activation instruction and the second activation instruction. In this case, the automatic driving mode instruction is not input from the second controller 22 to the first controller 21. Figure 6 If step S101 is "No", then the first controller 21 does not allow the construction machinery 100 to operate automatically but allows remote operation of the construction machinery 100 (step S104). In addition, in this case, a teach mode instruction from the external management device 200 is input to the controller 20 (step S105 is "Yes"), therefore, the controller 20 (specifically the second controller 22) sets the control mode of the construction machinery 100 to teach mode instead of remote operation mode (step S107).

[0094] Furthermore, the method of switching control modes is not limited to the specific examples described above. For instance, it is also possible that when the first controller 21 receives a remote operation mode instruction from the external management device 200, it sets the control mode of the construction machinery 100 to remote operation mode; and when it receives an automatic driving mode instruction from the external management device 200, it sets the control mode of the construction machinery 100 to automatic driving mode. In this case, the first controller 21 can switch between remote operation mode and automatic driving mode at any time. Alternatively, it is also possible that when the first controller 21 receives a remote operation mode instruction from the external management device 200, it sets the control mode of the construction machinery 100 to remote operation mode; when it receives an automatic driving mode instruction from the external management device 200, it sets the control mode of the construction machinery 100 to automatic driving mode; and when it receives a teach mode instruction from the external management device 200, it sets the control mode of the construction machinery 100 to teach mode. In this case, the first controller 21 can switch between remote operation mode, automatic driving mode, and teach mode at any time.

[0095] Ideally, the external management device 200 involved in the ninth method also includes the following structure as described in the eighth method: Specifically, the external management device 200 involved in the ninth method ideally includes: a first external device 210, comprising a remote operator that accepts the remote operation; and a second external device 220, accepting terminal operation and outputting the external instruction according to the terminal operation, wherein at least one of the first external device 210 and the second external device 220 determines whether both the first external device 210 and the second external device 220 have established access to the specific construction machinery 100.

[0096] In this ninth method, even when the operation management system 300 includes multiple construction machines 100, external instructions from the first external device 210 and external instructions from the second external device 220 can be correctly input to the same construction machine 100. That is, it prevents the external management device 200 from mistakenly inputting external instructions to a construction machine 100 that is not the intended recipient. Specifically, if it is determined that both the first external device 210 and the second external device 220 have established access to the same construction machine 100, then the first external device 210 and the second external device 220 output external instructions corresponding to the input operation to that construction machine 100. On the other hand, if it is determined that the first external device 210 and the second external device 220 have not established access to the same construction machine 100, then the first external device 210 and the second external device 220 do not output external instructions corresponding to the input operation to that construction machine 100. In this case, at least one of the first external devices 210 and the second external device 220 may also report the failure to establish proper access to the person involved in the operation.

[0097] The first external device 210 may be, for example, a remote operating device such as a cockpit. The remote operating device includes at least one remote controller 212 that accepts operations performed by an operator, and a display unit 213 that displays an image of the work site including the construction machinery 100. The at least one remote controller 212 may include, for example, a remote control joystick that accepts joystick operations performed by the operator, and a remote control pedal that accepts pedal operations performed by the operator. The display unit 213 may also be a monitor that displays an image of the work site transmitted from a camera device installed at the work site, i.e., an image of the work site. The operator remotely operates the construction machinery 100 by observing the image displayed on the display unit 213 and operating the at least one remote controller 212.

[0098] The second external device 220 can be an information terminal, such as a tablet computer, smartphone, laptop computer, or desktop computer, i.e., a job management information terminal, or a management device such as a server. Alternatively, the second external device 220 can also be a computer provided as a service in a cloud service on a network such as the Internet.

[0099] At least one of the first external device 210 and the second external device 220 can also determine whether both the first external device 210 and the second external device 220 have established access to the specific construction machinery 100 by performing a prescribed connection confirmation action. The connection confirmation action can also be the issuance of a connection confirmation command (e.g., a Ping command). The connection confirmation command is used to confirm whether communication up to the specified destination IP address is possible.

[0100] Specifically, for example, such as Figure 7 As shown, alternatively, in teach mode, a first external device 210 with a first IP address sends connection confirmation commands to a second external device 220 with a second IP address and to the construction machinery 100 with a third IP address. If the first external device 210 receives responses to these connection confirmation commands from both the second external device 220 and the construction machinery 100, it is determined that both the first external device 210 and the second external device 220 have established access to the specific construction machinery 100. Alternatively, in teach mode, the second external device 220 sends connection confirmation commands to both the first external device 210 and the construction machinery 100. If the second external device 220 receives responses to these connection confirmation commands from both the first external device 210 and the construction machinery 100, it is determined that both the first external device 210 and the second external device 220 have established access to the specific construction machinery 100.

[0101] The operation management system 300 involved in the 10th method includes the engineering machinery 100 and the external management equipment 200 involved in any one of the methods 1 to 7.

[0102] In this 10th mode, the controller 20 of the construction machinery 100 can switch between remote operation mode, teaching mode and automatic driving mode based on external instructions from external management device 200.

[0103] Ideally, the job management system 300 involved in the 11th method also includes the following structure as described in the 10th method: That is, in the job management system 300 involved in the 11th method, the external management device 200 may include an external device memory 224 (teach pendant memory), which stores data used for the automatic driving, i.e., external storage data. The controller 20 uses the external storage data to execute the automatic driving in the automatic driving mode.

[0104] In this eleventh method, even before teaching the construction machinery 100 (e.g., the first construction machinery 100), that is, before the teaching data is stored in the construction machinery memory 23 of the first construction machinery 100, the controller 20 can use the external storage data stored in the external device memory 224 to perform automatic driving of the first construction machinery 100. The external storage data stored in the external device memory 224 may be, for example, teaching data based on past teaching of construction machinery 100 other than the first construction machinery 100 (e.g., the second construction machinery 100), or data generated based on methods other than teaching.

[0105] Ideally, the operation management system 300 involved in the 12th embodiment also includes the following structure, as is present in the operation management system 300 involved in the 10th or 11th embodiment. That is, in the operation management system 300 involved in the 12th embodiment, ideally, the controller 20 includes a memory for storing the teaching data, namely, the construction machinery memory 23, and the external management device 200 includes an external device memory 224. The external management device 200 receives the teaching data sent from the construction machinery 100, and the external device memory 224 stores the received teaching data.

[0106] In this 12th method, the external device memory 224 receives and stores the teaching data stored in the construction machinery memory 23 of the construction machinery 100 (e.g., the first construction machinery 100). Thus, the controller 20 of the construction machinery 100 other than the first construction machinery 100 (e.g., the second construction machinery 100) can use the teaching data (external storage data) stored in the external device memory 224 to perform automatic driving of the second construction machinery 100.

[0107] Ideally, the job management system 300 of the 13th embodiment also includes the following structure as described in the 12th embodiment: Specifically, in the job management system 300 of the 13th embodiment, the external management device 200 ideally includes: a first external device 210, comprising a remote operator that accepts the remote operation; and a second external device 220, which accepts terminal operation (input operation) and outputs the external instruction based on the terminal operation.

[0108] As described above, the first external device 210 can be, for example, a remote operating device such as a cockpit, and the second external device 220 can be, for example, an information terminal (job management information terminal). In this case, the operator can remotely operate the construction machinery 100 through the remote operating device (first external device 210), and the person involved in the job (e.g., the operator) can apply an input operation (terminal operation) to the information terminal (second external device 220) to send instructions (external instructions) for switching between remote operation mode, teaching mode, and automatic driving mode from the information terminal to the construction machinery 100. This input operation is applied to the input device of the second external device 220.

[0109] Ideally, the operation management system involved in the 14th method also includes the following structure in the operation management system 300 involved in the 13th method. That is, in the operation management system 300 involved in the 14th method, ideally, at least one of the first external device 210 and the second external device 220 determines whether both the first external device 210 and the second external device 220 have established access to the construction machinery 100.

[0110] In this 14th method, as described above, even when the operation management system 300 includes multiple construction machines 100, external instructions from the first external device 210 and external instructions from the second external device 220 can be correctly input to the same construction machine 100. That is, it can prevent the external management device 200 from mistakenly inputting external instructions to a construction machine 100 among the multiple construction machines 100 that is not the intended recipient of the instruction.

[0111] Ideally, the operation management system 300 involved in the 15th method includes the engineering machinery 100 involved in the 5th or 6th method and the external management device 200. The external management device 200 includes: a first external device 210, which is capable of outputting a first external instruction for controlling the operation of the first output device 61; and a second external device 220, which is capable of outputting a second external instruction for controlling the operation of the first output device 61. The first output device 61 operates based on the instruction first input to the first output device 61 of the first external instruction and the second external instruction.

[0112] In this 15th method, the first external device 210 (e.g., the remote operating device) and the second external device 220 (e.g., the information terminal) each have the function of controlling the operation of the first output device 61. Therefore, the person involved in the operation (e.g., the operator) can instruct either the first external device 210 or the second external device 220 to output an external instruction to control the operation of the first output device 61. The first output device 61 can switch whether to supply power from the power supply 50 to the first controller 21 according to the external instruction from the external management device 200. Specifically, as... Figure 2 As shown, the first external device 210 may also include a first start instruction unit 211 that outputs an instruction for starting the first controller 21, i.e., a first start instruction, and the second external device 220 may include a first start instruction unit 221 that outputs an instruction for starting the first controller 21, i.e., a first start instruction.

[0113] Furthermore, in this 15th mode, the first output device 61 operates based on the first external instruction input to the first output device 61 from the first external instruction from the first external device 210 and the second external instruction from the second external device 220, and does not follow the external instruction input to the first output device 61 later. This prevents repeated switching between a state of supplying power from the power source 50 to the first controller 21 and a state of not supplying power, even when different instructions are input to the first output device 61 from the first external device 210 and the second external device 220. Specifically, for example, when an instruction for supplying power from the power source 50 to the first controller 21 (on instruction) is input from the first external device 210 to the first output device 61, and an instruction for stopping the supply of power from the power source 50 to the first controller 21 (off instruction) is input from the second external device 220 to the first output device 61.

[0114] The operation management method involved in the 16th method includes: the controller 20 of the construction machinery 100 includes: based on external instructions from external management devices, switching between a remote operation mode that allows remote operation, a teaching mode that allows the remote operation and is used to obtain teaching data corresponding to the remote operation, and an automatic driving mode that allows automatic driving using the teaching data.

[0115] In this 16th method, the controller 20 of the construction machinery 100 can switch between remote operation mode, teaching mode, and automatic driving mode based on external instructions from the external management device 200. That is, the controller 20 can set the control mode of the construction machinery 100 to any one of the remote operation mode, teaching mode, and automatic driving mode corresponding to the external instructions.

[0116] The operation management method involved in the 16th method may also have the characteristics of at least one of the methods 1 to 15 mentioned above.

[0117] The operation management program involved in the 17th method is a program for instructing the computer of the external management device 200 to perform the following processing: the processing outputs external instructions based on the input operation received by the input device of the external management device 200. The external instructions are used to switch between a remote operation mode that allows remote operation, a teaching mode that allows the remote operation and is used to obtain teaching data corresponding to the remote operation, and an automatic driving mode that allows automatic driving using the teaching data in the construction machinery.

[0118] In the 17th embodiment, the operation management program is executed in the external management device 200, thereby enabling the controller 20 of the construction machinery 100 to switch between remote operation mode, teach mode, and automatic driving mode based on external instructions from the external management device 200. That is, the controller 20 can set the control mode of the construction machinery 100 to any one of the remote operation mode, teach mode, and automatic driving mode corresponding to the external instructions. The operation management program may also be stored in a storage medium.

[0119] The operation management procedure involved in the 17th method may also have the characteristics of at least one of the methods 1 to 16 mentioned above.

[0120] Figure 8 This is a block diagram illustrating the job management system 300 according to Modification 1 of the implementation method. Figure 8 In the work management system 300 involved in the modified example 1 shown, the external management device 200 consists of a single external device. That is, in Figure 8 In the modified example 1 shown, Figure 2 The functions of the first external device 210 and the second external device 220 shown are integrated into the external management device 200, thus simplifying the structure of the external management device 200.

[0121] The external management device 200 in Modification 1 may also include the first start indicator 221, the second start indicator 222, and the mode indicator 223. Additionally, the external management device 200 in Modification 1 may also include the external device memory (teach memory 224).

[0122] In this variation 1, the external management device 200 can be, for example, a remote operating device such as a cockpit, or it can be the information terminal (the job management information terminal). When the external management device 200 is, for example, an information terminal such as a tablet computer, it is ideal that the information terminal has the function of remotely operating the construction machinery 100. In this case, the operator can remotely operate the construction machinery 100 regardless of the location.

[0123] Figure 9 This is a block diagram illustrating the job management system 300 according to Modified Example 2 of the implementation method. Figure 9 In the work management system 300 involved in the modified example 2 shown, the controller 20 consists of a single controller (remote automatic controller). That is, in Figure 9 In the modified example 2 shown, Figure 2 The functions of the first controller 21 (remote controller) and the second controller 22 (automatic controller) shown are integrated into a single controller 20, and Figure 2One of the outputs, the first output 61 and the second output 62, is omitted, thus simplifying the structure of the controller 20 and the output 60. In this variation 2, the controller 20 can also switch between remote operation mode, teaching mode, and automatic driving mode based on external instructions from the external management device 200.

[0124] While the above description illustrates embodiments of the first invention for solving the first problem, the first invention is not limited to those described herein. Figures 1-9 The described embodiments, variations 1 and 2 are explained.

[0125] [Second Invention] Next, the second invention will be described.

[0126] [The problem to be solved by the second invention] The second problem in this disclosure is as follows. That is, during periods of remote operation of construction machinery or during periods of automatic driving of construction machinery, operators and other personnel involved in the work monitor the situation at the work site while observing images (videos) transmitted from camera devices installed at the work site and displayed on external management equipment (e.g., a cockpit). However, it is not practical for personnel involved in the work to maintain a high level of attention and continuously monitor the situation at the work site during the periods of remote operation or automatic driving (Problem 2).

[0127] [Solution for solving problem 2] The second invention for solving the second problem includes the following external management equipment, operation management system, and operation management method.

[0128] [The first aspect of the second invention] The external management device involved in the first aspect of the second invention includes: The display unit shows images of the work site, i.e., work site images; and External device controller, among which, The external device controller performs control to report incidental information to the relevant personnel, which is information other than the images of the work site, representing information about the condition of the work site.

[0129] [The second aspect of the second invention] The job management system involved in the second aspect of the second invention includes: Construction machinery, and External management equipment, among which, The external management device includes: The display unit shows images of the work site, i.e., work site images; and External device controller, among which, The external device controller performs control to report incidental information to the relevant personnel, which is information other than the images of the work site, representing information about the condition of the work site.

[0130] [The third aspect of the second invention] The operation management method involved in the third aspect of the second invention includes: The image of the work site is displayed on the display unit; and The accompanying information, which is information other than the images of the work site, shall be reported to the relevant personnel as information indicating the condition of the work site.

[0131] [Effects produced by the first to third aspects of the second invention] In each of the first to third methods of the second invention, during the remote operation period or the autonomous driving period, supplementary information other than images of the work site is reported to the person involved in the work, thereby assisting the person involved in the work to monitor the condition of the work site.

[0132] [The fourth aspect of the second invention] The job management system involved in the fourth aspect of the second invention includes: Construction machinery; External management equipment; and The camera device captures an overhead image of the work site, including the construction machinery, wherein... The external management device has a display unit that shows the overhead image.

[0133] [Effects produced by the fourth method of the second invention] In the fourth aspect of the second invention, during the remote operation period or the autonomous driving period, the overhead image that allows for easy monitoring of the large-scale conditions of the work site is displayed on the display unit, thereby assisting the personnel involved in the work to monitor the conditions of the work site.

[0134] [Embodiment of the Second Invention] Figure 10 This is a diagram illustrating the job management system 300 according to an embodiment of the second invention. (See diagram for example.) Figure 10 As shown, the operation management system 300 includes external management equipment 200 and at least one piece of construction machinery 100.

[0135] The engineering machinery 100 in the second embodiment of the invention may be equipped with Figures 1-9The engineering machinery 100 according to the embodiment of the first invention shown may also include all the structures necessary to solve the second problem in the structure of the engineering machinery 100 according to the embodiment of the first invention, and omit other structures.

[0136] The external management device 200 in the embodiment of the second invention may include Figures 1-9 The external management device 200 according to the embodiment of the first invention shown may also include the structure necessary to solve the second problem in the structure of the external management device 200 according to the embodiment of the first invention, and omit other structures.

[0137] The external management device 200 according to the embodiment of the second invention includes a first external device 210 and a second external device 220. The first external device 210 may also be a remote operation device such as a cockpit including at least one remote operator 212, a display unit 213 (e.g., a monitor) that displays an image of the work site, i.e., an image of the work site, and an external device controller 215. The external device controller 215 performs control for reporting incidental information to operators or other work-related personnel. This incidental information is information other than the image of the work site, which is information indicating the condition of the work site.

[0138] The external device controller 215 may report the incidental information to the relevant personnel by displaying it on the display unit 213 (specifically, for example, the dashboard displaying the screen on the display unit 213), or by sound, or by other means to the operator.

[0139] The accompanying information may be, for example, work progress information for monitoring the progress of the work, entry information indicating the positional relationship between a pre-set restricted area FA and the work-related person WP at the work site, error information regarding the deviation between the work target and the actual work in the remote operation or automatic driving of the construction machinery 100, or other information to assist the work-related person in monitoring the conditions of the work site.

[0140] The work progress information may be, for example, the amount of sand excavated and discharged to a mobile destination such as a dump truck (cumulative amount), delay information regarding the delay of the actual performance relative to the target schedule, the number of dump trucks at the work site (e.g., the number of dump trucks that have completed sand loading), or work efficiency. The work progress information may also be sent from the load-bearing construction machinery 100 to the external management device 200. The number of dump trucks may be detected by sensors or input by operators or other relevant personnel into a designated information input device of the work management system 300. The delay information may also be input by operators or other relevant personnel into a designated information input device of the work management system 300. The work efficiency may be input by operators or other relevant personnel into a designated information input device of the work management system 300, or it may be calculated using the load function and at least one of the sensors. The external device controller 215 may also perform control to report the work progress information as supplementary information to operators or other relevant personnel.

[0141] The entry information could be, for example, information about the distance between the restricted area FA and the worker WP. In this case, the worker WP could also wear a sensor SS for detecting the distance. The sensor SS could be, for example, a sensor used to determine the position of the worker WP using satellite positioning systems such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System). Specifically, the sensor SS could be mounted on clothing worn by the worker WP (e.g., a vest), on a lanyard around the neck, or on other parts of the body.

[0142] The entry information may include, for example, information related to the number of work-related personnel (WPs) present at the work site, information related to the number of work-related personnel (WPs) who have entered the restricted area (FA), and information related to the location of work-related personnel (WPs) who have entered the restricted area (FA). The external device controller 215 may also perform control to report the entry information as supplementary information to the operator or other work-related personnel.

[0143] The error information may, for example, be information regarding the error between a pre-set specific part (e.g., the far end of the bucket 6) of the construction machinery 100 during remote operation or automatic driving and the target path during operation. Alternatively, the error information may also be information regarding the error between the operating speed of a pre-set specific part (e.g., the far end of the bucket 6) of the construction machinery 100 during remote operation or automatic driving and the target speed. The external device controller 215 may also perform control such as continuously reporting the error information to the operator or other relevant personnel. Furthermore, the external device controller 215 may also perform control to report the error information as incidental information to the operator or other relevant personnel if the error exceeds a pre-set first reference value. The external device controller 215 may also perform control to stop a predetermined action in the operation of the construction machinery 100 if the error exceeds the first reference value. The predetermined action may, for example, be the operation of the working device 3 or a slewing action.

[0144] The external device controller 215 may display the accompanying information not only on the display unit 213 of the first external device 210, but also on the second external device 220. Furthermore, if the work management system 300 also includes a third external device 230, the external device controller 215 may send the accompanying information to the third external device 230. The third external device 230 may, for example, be a monitoring device configured in a monitoring center. The third external device 230 may store the received accompanying information in a memory, display it on a monitor, or report it to relevant personnel in the management center. Additionally, the external device controller 215 may also send the accompanying information to the construction machinery 100.

[0145] The operation management system 300 according to the second embodiment of the invention may also include: an external management device 200; construction machinery 100; and a camera device 400 for capturing an overhead image of the work site including the construction machinery 100, wherein the external management device 200 includes at least one remote operator 212 and a display unit 213 for displaying the overhead image.

[0146] In this case, during the remote operation period or the autonomous driving period, the overhead image that allows for easy monitoring of the large-scale conditions of the work site is displayed on the display unit 213, thus assisting operators and other work-related personnel in monitoring the conditions of the work site.

[0147] exist Figure 10In the specific example shown, the operation management system 300 includes multiple camera devices 400. Each camera device 400 transmits captured image data to an external management device 200. An external device controller 215 displays information related to the overhead view on the display unit 213 of the first external device 210. The external device controller 215 can also control the operation of the construction machinery 100 based on the information related to the overhead view. Specifically, the external device controller 215 can also control the construction machinery 100 to stop a predetermined action based on the information related to the overhead view. This predetermined action could be, for example, the operation of the working device 3 or a rotational action. Furthermore, the external device controller 215 can also display information related to the overhead view on a second external device 220. Additionally, the external device controller 215 can also transmit information related to the overhead view to a third external device 230.

[0148] Furthermore, multiple camera devices 400 can also transmit the captured image data to the construction machinery 100. In this case, the controller 20 of the construction machinery 100 can also control the operation of the construction machinery 100 based on information related to the overhead image. Additionally, the controller 20 of the construction machinery 100 can also transmit information related to the overhead image to at least one of the following external devices: the first external device 210, the second external device 220, and the third external device 230.

[0149] [Third Invention] Next, the third invention will be described.

[0150] [The problem to be solved by the third invention] The third problem in this disclosure is as follows. That is, sometimes at work sites where construction machinery is remotely operated or where automatic driving of construction machinery is being performed, personnel involved in the work need to enter pre-defined restricted areas within the work site. For this situation, measures such as temporarily and forcibly restricting the movement of the construction machinery 100 by inputting an emergency stop operation by the personnel involved in the work can be considered. The third problem is to provide measures other than emergency stop operations performed by personnel involved in the work.

[0151] [Solution for solving problem 3] The third invention for solving the third problem includes the following engineering machinery, external management equipment, operation management system, and operation management method.

[0152] [The first aspect of the third invention] The engineering machinery involved in the first aspect of the third invention includes a controller that restricts the movement of the engineering machinery based on information about the relative positions of a pre-set restricted area in the work site and the personnel involved in the work.

[0153] [The second aspect of the third invention] The external management device involved in the second aspect of the third invention includes an external device controller that outputs instructions to restrict the movement of construction machinery based on information about the relative positions of pre-set restricted areas and people involved in the work at the work site.

[0154] [The third aspect of the third invention] The job management system involved in the third aspect of the third invention includes: Construction machinery, and External management equipment, among which, The construction machinery includes a controller that restricts the movement of the construction machinery based on information about the relative positions of pre-defined restricted areas and personnel involved in the work at the work site.

[0155] [The fourth aspect of the third invention] The job management system involved in the fourth aspect of the third invention includes: External management equipment, and Construction machinery, among which, The external management device includes an external device controller that outputs instructions to restrict the movement of construction machinery based on information about the relative positions of pre-defined restricted areas and personnel involved in the work at the work site.

[0156] [The fifth aspect of the third invention] The operation management method involved in the fifth aspect of the third invention includes: restricting the movement of construction machinery based on information about the relative positions of pre-set restricted areas and operation-related personnel at the work site.

[0157] [Effects produced by the first to fifth embodiments of the third invention] In each of the first to fifth aspects of the third invention, measures can be provided in cases where the person involved in the work needs to enter a restricted area in the work site, in addition to emergency stop operations performed by the person involved in the work.

[0158] [Implementation of the Third Invention] Figure 11 This is a diagram illustrating the job management system 300 according to an embodiment of the third invention. (See diagram for example.) Figure 11 As shown, the operation management system 300 includes external management equipment 200 and at least one piece of construction machinery 100.

[0159] The engineering machinery 100 in the third embodiment of the invention may be equipped with Figures 1-9 The engineering machinery 100 according to the embodiment of the first invention shown may also include all the structures necessary to solve the third problem in the structure of the engineering machinery 100 according to the embodiment of the first invention, and omit other structures.

[0160] The external management device 200 in the third embodiment of the invention may include Figures 1-9 The external management device 200 according to the embodiment of the first invention shown may also include the structure necessary to solve the third problem in the structure of the external management device 200 according to the embodiment of the first invention, and omit other structures.

[0161] The engineering machinery 100 involved in the embodiment of the third invention may also include a controller 20, which restricts the operation of the engineering machinery 100 based on information about the relative positions of a pre-set restricted area FA in the work site and the work-related personnel WP.

[0162] The external management device 200 in the third embodiment of the invention may also include an external device controller 201 that outputs instructions to restrict the operation of the construction machinery 100 based on information about the relative positions of a pre-set restricted area FA and the work-related person WP at the work site.

[0163] The operation management system 300 according to the third embodiment of the invention includes an external management device 200 and construction machinery 100. In this operation management system 300, the construction machinery 100 may also include a controller 20, which restricts the movement of the construction machinery 100 based on information about the relative position of the restricted area FA and the work-related person WP. The external management device 200 may also include an external device controller 201 that outputs an instruction to restrict the movement of the construction machinery 100 based on information about the relative position of the restricted area FA and the work-related person WP.

[0164] The worker (WP) may also wear a sensor (SS) for detecting the relative position. The sensor (SS) may be, for example, a sensor used to determine the relative position of the worker (WP) relative to the construction machinery 100 using satellite positioning systems such as GPS and GNSS. Specifically, the sensor (SS) may be mounted on clothing worn by the worker (WP) (e.g., a vest), on a lanyard around the neck, or on other parts of the body.

[0165] Based on the detection results input from the sensor SS, the controller 20 or external device controller 201 obtains the distance between the worker WP and the construction machinery 100. Specifically, for example, it obtains the distance L between the worker WP and the rotation center of the construction machinery 100. Furthermore, if the distance falls below a pre-set second reference value, the controller 20 or external device controller 201 may control the movement of the construction machinery 100 to restrict its operation. This control to restrict the movement of the construction machinery 100 may, for example, be a control that stops a predetermined action of the construction machinery 100. The predetermined action may, for example, be the operation of the working device 3 or a rotational action.

[0166] Alternatively, after the controller 20 or the external device controller 201 restricts the movement of the construction machinery 100 when the distance reaches below the second reference value, if the distance reaches above the pre-set third reference value, it may release the restriction on the movement of the construction machinery 100.

[0167] [4th Invention] Next, the fourth invention will be described.

[0168] [The problem to be solved by the fourth invention] The fourth problem in this disclosure is as follows. That is, the fourth problem is to provide a method for confirming that no one is around the construction machinery before starting remote operation of the construction machinery or before the construction machinery starts automatic driving.

[0169] [Solution for solving problem 4] The fourth invention for solving the fourth problem includes the following engineering machinery, external management equipment, operation management system, and operation management method.

[0170] [The first aspect of the fourth invention] The engineering machinery involved in the first aspect of the fourth invention includes a controller that restricts the movement of the engineering machinery based on information about the relative positions of a pre-set restricted area in the work site and the personnel involved in the work.

[0171] [The second aspect of the fourth invention] The external management device involved in the second aspect of the fourth invention includes an external device controller that outputs instructions to restrict the movement of construction machinery based on information about the relative positions of pre-set restricted areas and people involved in the work at the work site.

[0172] [The third aspect of the fourth invention] The job management system involved in the third aspect of the fourth invention includes: External management equipment, and Construction machinery, among which, The construction machinery includes a controller that restricts the movement of the construction machinery based on information about the relative positions of pre-defined restricted areas and personnel involved in the work at the work site.

[0173] [The fourth aspect of the fourth invention] The job management system involved in the fourth aspect of the fourth invention includes: Construction machinery, and External management equipment, among which, The external management device includes an external device controller that outputs instructions to restrict the movement of construction machinery based on information about the relative positions of pre-defined restricted areas and personnel involved in the work at the work site.

[0174] [The fifth aspect of the fourth invention] The operation management method involved in the fifth aspect of the fourth invention includes: restricting the movement of construction machinery based on information about the relative positions of pre-set restricted areas and operation-related personnel at the work site.

[0175] [Effects produced by the first to fifth embodiments of the fourth invention] In each of the first to fifth embodiments of the fourth invention, assuming that there are people around the construction machinery before remote operation begins or before automatic driving begins, the movement of the construction machinery will be restricted, and therefore, the person involved in the operation can recognize that there are people around the construction machinery. On the other hand, if there is no one around the construction machinery before the remote operation begins or before the automatic driving begins, the movement of the construction machinery will not be restricted, and therefore, it can be recognized that there is no one around the construction machinery.

[0176] [The sixth aspect of the fourth invention] The job management system involved in the sixth aspect of the fourth invention includes: External management equipment; Construction machinery; and Multiple camera devices are used to acquire panoramic images of the construction machinery, wherein, The external management device has a display unit that displays the panoramic image.

[0177] [Effects produced by the sixth method of the fourth invention] In the sixth method of the fourth invention, the person involved in the operation can recognize that there is no one around the construction machinery by observing the panoramic image displayed on the display unit before starting the remote operation or before the automatic driving begins.

[0178] [Embodiment of the Fourth Invention] The operation management system 300 according to the fourth embodiment of the invention is equipped with... Figure 11 The operation management system 300 involved in the third embodiment of the invention shown has the same structure. Therefore, assuming that there are people around the construction machinery before remote operation begins or before automatic driving begins, the controller 20 of the construction machinery 100 or the external device controller 201 of the external management device 200 will restrict the movement of the construction machinery, thus allowing the person involved in the operation to recognize that someone is around the construction machinery 100. On the other hand, if there is no one around the construction machinery before the remote operation begins or before automatic driving begins, the controller 20 or the external device controller 201 will not restrict the movement of the construction machinery, thus allowing the person involved in the operation to recognize that no one is around the construction machinery.

[0179] Furthermore, the operation management system according to the fourth embodiment of the invention may also include multiple camera devices (not shown) for acquiring panoramic images of the construction machinery 100, and the external management device 200 may also include a display unit (e.g., a monitor) for displaying panoramic images. In this case, before starting the remote operation or before starting the automatic driving, the operator observes the panoramic image displayed on the display unit (e.g., as shown in the image). Figure 11 The image shown confirms that no one was around the construction machinery.

[0180] [Fifth Invention] Next, the fifth invention will be described.

[0181] [The problem to be solved by the fifth invention] The fifth problem in this disclosure is as follows. Specifically, sometimes, using only images of the work site displayed on external management devices such as cockpits or tablets, it is difficult for operators and other personnel involved in the work to identify the orientation of the undercarriage of the construction machinery at the work site. The fifth problem is to obtain information about the orientation of the undercarriage at the work site where construction machinery is remotely operated or where automatic driving of construction machinery is being performed.

[0182] [Solution for solving problem 5] The fifth invention for solving the fifth problem includes the following engineering machinery, external management equipment, operation management system, and operation management method.

[0183] [The first aspect of the fifth invention] The engineering machinery involved in the first aspect of the fifth invention includes a deviation information acquirer that acquires information about the deviation between a pre-set target direction and the orientation of the lower traveling body.

[0184] [The second aspect of the fifth invention] The external management device according to the second aspect of the fifth invention includes a display unit that displays information about the deviation between a preset target direction and the orientation of the lower traveling body of the construction machinery.

[0185] [The third aspect of the fifth invention] The job management system involved in the third aspect of the fifth invention includes: Construction machinery, and External management equipment, among which, The construction machinery is equipped with a deviation information acquisition device, which acquires information regarding the deviation between a pre-set target direction and the orientation of the lower traveling body. The external management device has a display unit that displays information related to the deviation.

[0186] [The fourth aspect of the fifth invention] The operation management method involved in the fourth aspect of the fifth invention includes: Obtain information about the deviation between the pre-set target direction and the orientation of the lower running gear of the construction machinery; and Information related to the deviation is displayed on the display unit.

[0187] [Effects produced by the first to fourth embodiments of the fifth invention] In each of the first to fourth embodiments of the fifth invention, information can be obtained regarding the deviation between the orientation of the lower walking body and a pre-set target direction at the work site of remotely operated construction machinery or at the work site of automatic driving of construction machinery.

[0188] [Embodiment Implementation of the Fifth Invention] Figure 12 This is a diagram illustrating the job management system 300 according to an embodiment of the fifth invention. (See diagram for example.) Figure 12 As shown, the operation management system 300 includes external management equipment 200 and at least one piece of construction machinery 100.

[0189] The engineering machinery 100 in the fifth embodiment of the invention may have Figures 1-9The engineering machinery 100 according to the embodiment of the first invention shown may also include all the structures necessary to solve the fifth problem in the structure of the engineering machinery 100 according to the embodiment of the first invention, and omit other structures.

[0190] The external management device 200 in the fifth embodiment of the invention may include Figures 1-9 The external management device 200 according to the embodiment of the first invention shown may also include the structure necessary to solve the fifth problem in the structure of the external management device 200 according to the embodiment of the first invention, and omit other structures.

[0191] The engineering machinery 100 according to the fifth embodiment of the invention includes a deviation information acquirer 90, which acquires deviation information about the deviation between a pre-set target direction D1 and the orientation D2 of the lower traveling body 1. The engineering machinery 100 includes a communication device that transmits the acquired deviation information to an external management device 200.

[0192] The external management device 200 according to the fifth embodiment of the invention includes a display unit 202 (e.g., a monitor) for displaying the deviation information.

[0193] The deviation information acquirer 90 may also include a sensor 91 for detecting the orientation of the lower traveling body 1. Additionally, the deviation information acquirer 90 may also include a sensor 91 for detecting the orientation of the lower traveling body 1 and a rotation angle sensor 92 for detecting the rotation angle of the upper rotating body 2 relative to the lower traveling body 1. The sensor 91 may be, for example, a sensor using a satellite positioning system such as GPS or GNSS, or a sensor using other methods.

[0194] The target direction D1 can be set, for example, based on the work object 500 at the work site. Specifically, the construction machinery 100 or the external management equipment 200 may also be equipped with a target setter for setting the target direction D1. The target setter may also set the target direction D1 based on input from the operator or other work-related personnel. When the work object 500 is, for example, an excavation object such as land, the target direction D1 may be along the direction of the excavation object, specifically, along the edge of the excavation object.

[0195] The external device controller 201 of the external management device 200 displays the deviation information on the display unit 202. The external device controller 201 can also display arrows indicating the target direction D1 and the actual orientation of the lower traveling body 1, for example... Figure 12The orientation is displayed on the display unit 202. As a result, operators and other work managers can visually recognize the deviation between the target direction D1 and the actual orientation of the lower traveling body 1.

[0196] The controller 20 of the construction machinery 100 can also perform automatic driving of the construction machinery 100 by reducing the deviation between the target direction D1 and the actual orientation of the lower traveling body 1. Additionally, the external device controller 201 can also output instructions to the construction machinery 100 to reduce the deviation between the target direction D1 and the actual orientation of the lower traveling body 1 for automatic driving. Furthermore, operators and other personnel involved in the operation can remotely operate the construction machinery 100 from the cockpit of the external management device 200 to reduce the deviation between the target direction D1 and the actual orientation of the lower traveling body 1.

[0197] [Sixth Invention] Next, the sixth invention will be described.

[0198] [The problem to be solved by the sixth invention] The sixth problem in this disclosure is as follows. That is, the sixth problem is to provide a method for identifying the location of a dump truck driver at a work site where construction machinery is remotely operated or where construction machinery is being driven automatically.

[0199] [Solution for solving problem 6] The sixth invention for solving the sixth problem includes the following engineering machinery, external management equipment, operation management system, and operation management method.

[0200] [The first aspect of the sixth invention] The engineering machinery involved in the first aspect of the sixth invention has a relative position acquisition device that acquires information about the relative position of a pre-set restricted area in the work site and the work-related personnel.

[0201] [The second aspect of the sixth invention] The external management device involved in the second aspect of the sixth invention includes a display unit that displays information about the relative positions of pre-set restricted areas and work-related personnel at the work site.

[0202] [The third aspect of the sixth invention] The job management system involved in the third aspect of the sixth invention includes: The relative position acquirer obtains information about the relative positions of pre-defined restricted areas and personnel involved in the work at the work site; and External management equipment, equipped with a display unit that shows information related to relative position.

[0203] [The fourth aspect of the sixth invention] The operation management method involved in the fourth aspect of the sixth invention includes: Obtain information regarding the relative locations of pre-defined restricted areas and personnel involved in the work at the work site; and Information related to the relative position is displayed on the display unit.

[0204] [Effects of the sixth invention] In each of the first to fourth embodiments of the sixth invention, a method is provided for confirming the location of the driver of a dump truck at a work site where construction machinery is remotely operated or where automatic driving of construction machinery is performed.

[0205] [The fifth aspect of the sixth invention] The job management system involved in the fifth aspect of the sixth invention includes: Construction machinery; External management equipment; and The camera device captures an overhead image of the work site, including the construction machinery, wherein... The external management device has a display unit that shows the overhead image.

[0206] [Effects produced by the fifth method of the sixth invention] In the fifth aspect of the sixth invention, the overhead view that provides a clear overview of the work site is displayed on the display unit, thus enabling the identification of the dump truck driver's position at the work site.

[0207] [Sixth Embodiment of the Invention] Figure 11 This is a diagram illustrating the job management system 300 according to an embodiment of the sixth invention. (See diagram for example.) Figure 11 As shown, the operation management system 300 includes external management equipment 200 and at least one piece of construction machinery 100.

[0208] The engineering machinery 100 in the sixth embodiment of the invention may have Figures 1-9 The engineering machinery 100 according to the embodiment of the first invention shown may also include all the structures necessary for solving the sixth problem in the structure of the engineering machinery 100 according to the embodiment of the first invention, and omit other structures.

[0209] The external management device 200 in the sixth embodiment of the invention may include Figures 1-9The external management device 200 according to the embodiment of the first invention shown may also include the structure necessary to solve the sixth problem in the structure of the external management device 200 according to the embodiment of the first invention, and omit other structures.

[0210] The engineering machinery 100 according to the sixth embodiment of the invention includes a sensor SS as a relative position acquirer, which acquires information about the relative position of a pre-set restricted area FA in the work site and a work-related person WP (e.g., a dump truck driver).

[0211] The external management device 200 according to the sixth embodiment of the invention includes a display unit 202 (e.g., a monitor) that displays information about the relative positions of the restricted area FA and the work-related person WP.

[0212] The construction machinery 100 may also be equipped with a controller 20 that restricts the movement of the construction machinery 100.

[0213] External management device 200 may also have an external device controller 201 that outputs instructions that restrict the movement of construction machinery 100 based on information about the relative position of the restricted area FA and the person WP involved in the operation.

[0214] The worker (WP) may also wear a sensor (SS) for detecting the relative position. The sensor (SS) may also function as a permit for entering the work site. For example, the sensor (SS) may be a sensor used to determine the relative position of the worker (WP) relative to the construction machinery 100 using satellite positioning systems such as GPS and GNSS. Specifically, the sensor (SS) may be mounted on clothing worn by the worker (WP) (e.g., a vest), on a lanyard around the neck, or on other parts of the body.

[0215] Based on the detection results input from the sensor SS, the controller 20 or external device controller 201 obtains the distance between the worker WP and the construction machinery 100. Specifically, for example, it obtains the distance L between the worker WP and the rotation center of the construction machinery 100. Furthermore, if the distance falls below a pre-set second reference value, the controller 20 or external device controller 201 may control the movement of the construction machinery 100 to restrict its operation. This control to restrict the movement of the construction machinery 100 may, for example, be a control that stops a predetermined action of the construction machinery 100. The predetermined action may, for example, be the operation of the working device 3 or a rotational action.

[0216] Alternatively, after the controller 20 or the external device controller 201 restricts the movement of the construction machinery 100 when the distance reaches below the second reference value, if the distance reaches above the pre-set third reference value, it may release the restriction on the movement of the construction machinery 100.

[0217] The work management system 300 may also include a camera device 400, which captures an overhead image of the work site including the construction machinery 100. The display unit 213 of the external management device 200 may also display the overhead image. Furthermore, the external device controller 201 may control the display unit 213 to display multiple parts of the overhead image in a segmented manner (e.g., divided into two, four, eight, etc.). Additionally, the external device controller 201 may control the display unit 213 based on input from operators or other work-related personnel to switch between images of the multiple parts of the overhead image on the display unit 213.

[0218] The operation management system 300 may also include multiple camera devices 400. Each camera device 400 transmits captured image data to an external management device 200. An external device controller 215 displays information related to the overhead view on the display unit 213 of the first external device 210. The external device controller 215 may also control the operation of the construction machinery 100 based on the information related to the overhead view. Specifically, the external device controller 215 may also control the construction machinery 100 to stop a predetermined action based on the information related to the overhead view. This predetermined action may be, for example, the operation of the working device 3 or a rotational action. Furthermore, the external device controller 215 may also display information related to the overhead view on a second external device 220. Additionally, the external device controller 215 may also transmit information related to the overhead view to a third external device 230.

Claims

1. An engineering machinery, characterized in that, The system includes a controller that, based on external instructions from an external management device, switches between a remote operation mode that allows remote operation, a teaching mode that allows the remote operation and is used to obtain teaching data corresponding to the remote operation, and an autonomous driving mode that allows the use of the teaching data for autonomous driving.

2. The engineering machinery according to claim 1, characterized in that, The controller includes: The first controller, based on the external instruction, allows one of the remote operation and the autonomous driving; and The second controller, in the autonomous driving mode, inputs the autonomous driving operation quantities corresponding to the teaching data to the first controller, wherein... In the autonomous driving mode, the first controller inputs the control operation quantity corresponding to the autonomous driving operation quantity to the controlled object.

3. The engineering machinery according to claim 2, characterized in that, The first controller receives the remote operation quantity (i.e., the remote operation quantity) input from the external management device in both the remote operation mode and the teaching mode, and inputs the control operation quantity corresponding to the remote operation quantity to the controlled object.

4. The engineering machinery according to claim 3, characterized in that, The second controller includes an engineering machinery memory, which is a memory that stores control quantity-related data, i.e., control quantities, related to the output of the controlled object that operates according to the control operation quantity, as the teaching data in the teaching mode.

5. The engineering machinery according to any one of claims 2 to 4, characterized in that... Also includes: power supply; The communication device receives the external instructions from the external management device. The first output device is capable of switching whether to supply power from the power source to the first controller according to the external indication; and The second output device is capable of switching whether to supply power from the power source to the second controller according to the external indication.

6. The engineering machinery according to claim 5, characterized in that... Also includes: The actual machine operating device is used in the actual machine operating mode; as well as The switching valve can switch from the remote operation mode, the teaching mode, or the automatic driving mode to the actual machine operation mode, wherein... In the actual operation mode, the first output device prevents power from the power source from being supplied to the first controller, the second output device prevents power from the power source from being supplied to the second controller, and the controlled object operates according to the operation applied by the actual operation device.

7. The engineering machinery according to any one of claims 2 to 6, characterized in that, When the first controller is activated, it enables autonomous driving by accepting input from the second controller indicating the autonomous driving mode.

8. An external management device, characterized in that, Based on the input operation received by the input device, the external instruction for switching the remote operation mode, the teaching mode and the automatic driving mode in the engineering machinery according to any one of claims 1 to 7 is output.

9. The external management device according to claim 8, characterized in that... include: The first external device includes a remote operator that receives the remote operation; as well as The second external device receives terminal operations and outputs external instructions based on the terminal operations, wherein... At least one of the first external device and the second external device determines whether both the first external device and the second external device have established access to the construction machinery.

10. A job management system, characterized in that... include: The engineering machinery according to any one of claims 1 to 7, and The external management device.

11. The job management system according to claim 10, characterized in that, The external management device includes an external device memory, which stores data used for the autonomous driving process, i.e., external storage data. In the autonomous driving mode, the controller uses the externally stored data to perform the autonomous driving.

12. The job management system according to claim 10 or 11, characterized in that, The controller includes a memory for storing the teaching data, namely, an engineering machinery memory. The external management device includes an external device memory. The external management device receives the teaching data sent from the engineering machinery, and the external device memory stores the received teaching data.

13. The job management system according to claim 12, characterized in that, The external management device includes: The first external device includes a remote operator that receives the remote operation; and The second external device accepts terminal operations and outputs external instructions based on the terminal operations.

14. The job management system according to claim 13, characterized in that, At least one of the first external device and the second external device determines whether both the first external device and the second external device have established access to the construction machinery.

15. A job management system, characterized in that... include: The engineering machinery as described in claim 5 or 6, and The external management device, wherein The external management device includes: The first external device is capable of outputting a first external instruction for controlling the operation of the first output device; and The second external device is capable of outputting a second external instruction for controlling the operation of the first output device, wherein... The first output device operates based on the instruction first input to the first output device, whichever of the first external instruction and the second external instruction is first input to the first output device.

16. A job management method, characterized in that... include: The controller of the construction machinery switches between a remote operation mode that allows remote operation, a teaching mode that allows the remote operation and is used to obtain teaching data corresponding to the remote operation, and an automatic driving mode that allows the use of the teaching data, based on external instructions from external management equipment.

17. A job management program, characterized in that, The computer of the external management device is instructed to perform the following process, which outputs an external instruction based on the input operation received by the input device of the external management device. The external instruction is used to switch between a remote operation mode that allows remote operation, a teaching mode that allows the remote operation and is used to obtain teaching data corresponding to the remote operation, and an automatic driving mode that allows automatic driving using the teaching data in the construction machinery.

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