Work machine, external management apparatus, work management system, work management method, and work management program

Abstract

To propose technology that can be used for remote control of a work machine, automatic operation of a work machine, and teaching for automatic operation.SOLUTION: A work machine (100) is equipped with a controller (20) that switches between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and obtains teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, based on external instructions from an external management apparatus (200).SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a working machine such as a hydraulic excavator and technologies related to the working machine.

Background Art

[0002] Patent Document 1 discloses a management system including a receiving device that receives operation statuses from each of a plurality of working machines, a display device, and display control means for causing the display device to display the operation statuses of each of the plurality of working machines.

[0003] Patent Document 2 discloses a management system including a display device that displays a map image, a receiving device that receives, from each of a plurality of working machines, position information of the working machine and information indicating whether or not the working machine is being automatically operated, and display control means for superimposing, on the map image, an image indicating that the working machine is being automatically operated in association with the position of the working machine being automatically operated and causing the display device to display the superimposed image.

[0004] Patent Document 3 discloses an excavator including a cab in which an operating device is provided, and a control device that receives a switching instruction to control an operating element based on an operation of the operating device during control of the operating element based on an operation of an external operating device provided outside the cab and switches the control of the operating element to the control based on the operation of the operating device.

[0005] Patent Document 4 discloses a radio-controlled vehicle that can be operated in both a ride-on operation mode and a radio control mode. The electric operation lever device for the ride-on operation mode is configured to output a control electric signal to a valve control device according to the rotation direction and rotation angle thereof, and the electric operation lever device for the ride-on operation mode and the radio control device are connected to the valve control device via a mode switching relay.

Prior Art Documents

Patent Documents

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2023-70617 [Patent Document 2] Japanese Patent Application Laid-Open No. 2023-71147 [Patent Document 3] Japanese Patent Application Laid-Open No. 2022-152970 [Patent Document 4] Japanese Patent Application Laid-Open No. 1-290830 [Summary of the Invention] [Problems to be Solved by the Invention]

[0007] The first problem in the present disclosure is as follows. That is, it is desired to propose a technology that can be used for remote operation of a work machine, automatic operation of a work machine, and teaching for automatic operation. [Means for Solving the Problems]

[0008] The first object in the present disclosure is to provide a technology that can be used for remote operation of a work machine, automatic operation of a work machine, and teaching for automatic operation.

[0009] The first invention for solving the above-mentioned first problem includes the following work machine, external management device, work management system, work management method, and work management program.

[0010] The work machine according to one aspect of the first invention includes a controller that switches between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, based on an external instruction from an external management device.

[0011] The external management device according to another aspect of the first invention is configured to output the external instruction for switching between the remote operation mode, the teaching mode, and the automatic operation mode in the work machine in response to an input operation received by an input device.

[0012] A work management system according to still another aspect of the first invention includes the work machine and the external management device.

[0013] A work management method according to still another aspect of the first invention includes a controller of a work machine switching between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data based on an external instruction from an external management device.

[0014] A work management program according to still another aspect of the first invention causes a computer of the external management device to execute processing for outputting, in response to an input operation received by an input device of the external management device, an external instruction for switching between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data in the work machine.

Advantages of the Invention

[0015] According to the first invention, a technology that can be used for remote operation of a work machine, automatic operation of the work machine, and teaching for automatic operation is provided.

Brief Description of the Drawings

[0016]

Figure 1

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Figure 12

Embodiments for Carrying Out the Invention

[0017] The present 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.

[0018] [Embodiment of the First Invention] First, an embodiment of the first invention will be described. The first invention includes a plurality of embodiments, and the plurality of embodiments include a working machine 100, an external management device 200, a work management system 300, a work management method, and a work management program, which will be described below.

[0019] FIG. 1 is a side view showing an example of a working machine 100 according to an embodiment. As shown in FIG. 1, the working machine 100 includes a lower traveling body 1 including a traveling device, an upper slewing body 2 supported by the lower traveling body 1 so as to be slewingable about a slewing axis Z extending vertically, and a working device 3 supported by the upper slewing body 2. The working machine 100 according to the present embodiment is a hydraulic excavator, but the working machine in the present disclosure is not limited to a hydraulic excavator, and may be other working machines such as a crane and a bulldozer. The traveling device may be the crawler traveling device shown in FIG. 1 or a traveling device having tires (not shown). The upper slewing body 2 includes a slewing frame rotatably supported by the lower traveling body 1 and a cab 9 supported by the slewing frame. Various components such as a driver's seat and an actual machine operating device 10 are arranged in the cab 9.

[0020] The working device 3 includes a boom 4 attached to the upper slewing body 2 so as to be able to rise and fall, an arm 5 attached to the boom 4 so as to be rotatable, and a tip attachment 6 attached to the arm 5 so as to be rotatable. The tip attachment 6 in the present embodiment is a bucket 6, but the tip attachment may be other tip attachments such as a grapple, a fork, a crusher, and a lifting magnet.

[0021] The working machine 100 includes a power source 7, a hydraulic pump 8, and a plurality of actuators. The hydraulic pump 8 is driven by the power source 7. The power source 7 may be, for example, an engine or an electric motor. The electric motor may be driven by, for example, at least one of a fuel cell and a battery.

[0022] Each of the plurality of actuators operates by receiving the supply of hydraulic oil discharged from the hydraulic pump 8. The plurality of actuators includes a boom cylinder 35 which is a cylinder for raising and lowering the boom 4, an arm cylinder 36 which is a cylinder for rotating the arm 5, a tip attachment cylinder 37 which is a cylinder for rotating the tip attachment 6, a swing motor 38 which is a hydraulic motor for swinging the upper swing body 2 with respect to the lower traveling body 1, and a traveling motor 39 which is a hydraulic motor for traveling the lower traveling body 1.

[0023] FIG. 2 is a block diagram showing a work management system 300 according to an embodiment. As shown in FIG. 2, the work management system 300 includes a working machine 100 and an external management device 200.

[0024] The working machine 100 includes an actual machine operating device 10, a controller 20, a control target 30, a teaching data acquirer 40, a power supply 50, a power switch 51, at least one output device 60, a working machine communicator 70, and a hub 80.

[0025] The actual machine operating device 10 is disposed inside the cab 9 of the working machine 100. The actual machine operating device 10 includes at least one actual machine operator that receives an operation by an operator. The at least one actual machine operator may include, for example, an operation lever that receives a lever operation by an operator and an operation pedal that receives a pedal operation by an operator.

[0026] The controller 20 controls the operation of the machine tool 100. The controller 20 includes a computer including an arithmetic processing unit and a memory. The controller 20 is configured to control the operation of the machine tool 100 by the arithmetic processing unit executing a program stored in the memory. The controller 20 may be composed of a plurality of controllers including a first controller 21 (remote controller) and a second controller 22 (automatic controller) as shown in FIG. 2, or may be composed of a single controller (remote automatic controller) as in the modification example 2 shown in FIG. 9 described later.

[0027] The controlled object 30 is an object controlled by the controller 20. The output of the controlled object 30 changes according to the control operation amount (control input), which is the operation amount input from the controller 20. The controlled object 30 may include a flow rate regulator 31 and at least one of the plurality of actuators. The flow rate regulator 31 adjusts the direction and flow rate of the hydraulic oil supplied to at least one of the plurality of actuators according to the control operation amount input from the controller 20. That is, when the controller 20 inputs a control operation amount to the flow rate regulator 31, the flow rate regulator 31 operates according to the control operation amount input from the controller 20, whereby the hydraulic oil from the hydraulic pump 8 is supplied to at least one of the plurality of actuators, and the actuator operates.

[0028] The flow regulator 31 may include, for example, a plurality of proportional valves 32 and a control valve 33. The control valve 33 has a plurality of spools corresponding to the plurality of actuators. The control valve 33 has a pair of pilot ports corresponding to each spool. Each of the plurality of spools operates when a pilot pressure is input to either of the pair of pilot ports corresponding to that spool, allowing hydraulic oil to be supplied to the actuator corresponding to that spool. Each of the plurality of proportional valves 32 is disposed in an oil passage connecting the pilot port of the spool corresponding to that proportional valve 32 and a pilot pump (not shown), and adjusts the pilot pressure input to the pilot port. In other words, each of the plurality of proportional valves 32 outputs a secondary pressure corresponding to the operation amount (current value) input from the controller 20, and this secondary pressure is input as a pilot pressure to the pilot port corresponding to that proportional valve 32. Each of the plurality of proportional valves 32 adjusts the pilot pressure input to the pilot port corresponding to that proportional valve 32 to a magnitude corresponding to the operation amount input from the controller 20.

[0029] The plurality of proportional valves 32 may include a pair of proportional valves 32 (a pair of boom proportional valves 32) for controlling the operation of the boom cylinder 35, a pair of proportional valves 32 (a pair of arm proportional valves 32) for controlling the operation of the arm cylinder 36, a pair of proportional valves 32 (a pair of tip attachment proportional valves 32) for controlling the operation of the tip attachment cylinder 37, a pair of proportional valves 32 (a pair of swing proportional valves 32) for controlling the operation 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.

[0030] The controlled object 30 may further include a switching valve 34. The switching valve 34 can switch between a first state that permits remote operation of the working machine 100 and automatic operation of the working machine 100, and a second state that permits the operation of the working machine 100 based on an operation given by an operator to the actual machine operating device 10 disposed in the cab 9 of the working machine 100. The switching valve 34 may, for example, switch between the first state and the second state based on an instruction from the controller 20. In this case, the controller 20 may have a switching instruction unit that outputs an instruction for switching the state of the switching valve 34 to the switching valve 34. The switching valve 34 may, for example, switch between the first state and the second state based on the operation of a schematic switch disposed in the cab 9. In this case, the switch may be configured to be operable by the operator.

[0031] When the state of the switching valve 34 is the first state, the operation of the working machine 100 is controlled according to the operation amount input from the controller 20 to the flow regulator 31. On the other hand, when the state of the switching valve 34 is the second state, the operation of the working machine 100 is controlled according to the operation by the operator given to the actual machine operating device 10 in the cab 9 of the working machine 100.

[0032] The teaching data acquirer 40 is a device for acquiring teaching data used for automatic operation. The teaching data acquirer 40 may, for example, include an operation detector for detecting the operation of the working machine 100. The operation detector may, for example, include an attitude sensor for detecting the operation of at least one of the plurality of actuators, or may include an attitude sensor for detecting the attitude of the working device 3 and / or the upper swing body 2.

[0033] Specifically, the operation detector may include a boom attitude sensor 41 (boom angle sensor), an arm attitude sensor 42 (arm angle sensor), and a tip attachment attitude sensor 43 (tip attachment angle sensor). The boom attitude sensor 41 may be a sensor that detects the operation of the boom cylinder 35 (see FIG. 2), or may be a sensor that detects the attitude of the boom 4 (see FIG. 1). The arm attitude sensor 42 may be a sensor that detects the operation of the arm cylinder 36 (see FIG. 2), or may be a sensor that detects the attitude of the arm 5 (see FIG. 1). The tip attachment attitude sensor 43 may be a sensor that detects the operation of the tip attachment cylinder 37 (see FIG. 2), or may be a sensor that detects the attitude of the tip attachment 6 (see FIG. 1). The operation detector may further include a slewing attitude sensor 44. The slewing attitude sensor 44 may be a sensor that detects the attitude of the upper slewing body 2 with respect to the lower traveling body 1, specifically, for example, the slewing angle of the upper slewing body 2 with respect to the lower traveling body 1.

[0034] The operation detector may include, for example, an imaging device that acquires an image of the working machine 100. The imaging device may be a device capable of acquiring point cloud data such as LiDAR (Light Detection and Ranging). The imaging device can detect the change over time of the image of the working machine 100, that is, the operation of the working machine 100. The imaging device may be installed, for example, at a location where it is possible to acquire an image of the working machine 100 at the work site where the working machine 100 performs work, or may be attached to the working machine 100 so as to be able to acquire an image of the working device 3 of the working machine 100 (for example, an image of the tip attachment 6). Further, the operation detector may acquire the rotation speed of the traveling motor 39, or may acquire the rotation speed of a power source 7 such as an engine or an electric motor.

[0035] The power supply 50 supplies power (electricity) to target devices such as the controller 20 and the machine tool communication device 70. The power supply 50 may be a battery such as a lithium-ion battery, or may be a power generation device such as a fuel cell. The power switch 51 is arranged, for example, as shown in FIG. 2, in a cable connecting the power supply 50 and the target device, and permits the power of the power supply 50 to be supplied to the target device when the power switch 51 is in the ON state, and blocks the power of the power supply 50 from being supplied to the target device when the power switch 51 is in the OFF state. The switching between ON and OFF of the power switch 51 may be performed based on an instruction from the controller 20, or may be performed based on a switch operation by a worker who is a person related to the operation of the machine tool 100. When remote operation of the machine tool 100 or automatic operation of the machine tool 100 is performed (when the state of the switching valve 34 is the first state), the power switch 51 may be set to the ON state. When the operation of the machine tool 100 based on the operation by the operator on the actual machine operation device 10 is permitted (when the state of the switching valve 34 is the second state), the power switch 51 may be set to the OFF state.

[0036] The said worker may be an operator who boards the machine tool 100, may be an operator who remotely operates the machine tool 100, may be a manager who manages the work by the machine tool 100, may be an assistant who assists the operator and / or the manager, or may be other related persons.

[0037] The said at least one output device 60 is configured to be able to switch whether the power from the power supply 50 is supplied to the controller 20 according to an external instruction from the external management device 200. In the specific example shown in FIG. 2, the said 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 later.

[0038] The work machine communication device 70 is a device capable of wirelessly or wiredly transmitting and receiving data between this work machine communication device 70 and an external management device 200. In this case, the external management device 200 may have a communication device capable of communicating with the work machine communication device 70.

[0039] The hub 80 has a plurality of ports for connecting a plurality of network devices in the circuit of the work machine 100. In the specific example shown in FIG. 2, the controller 20, the at least one output device 60, and the work machine communication device 70 are connected to the hub 80. Therefore, the controller 20 can transmit and receive signals to and from the work machine communication device 70 via the hub 80, and the at least one output device 60 can transmit and receive signals to and from the work machine communication device 70 via the hub 80. In the work machine 100, a local area network (LAN) may be constructed that enables mutual data communication among the controller 20 (for example, the first controller 21 and the second controller 22), the output device 60 (for example, the first output device 61 and the second output device 62), the work machine communication device 70, and the hub 80. The hub 80 may be, for example, an Ethernet (registered trademark) hub.

[0040] The external management device 200 includes an external device controller having a computer including an arithmetic processing unit and a memory. The external management device 200 realizes the functions of the external management device 200 by the arithmetic processing unit executing a program stored in the memory. The external management device 200 may be arranged at a location away from the work machine 100 (for example, a remote location).

[0041] The external management device 200 may 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 machine tool communication device 70. The first external device 210 includes a first external device controller having a computer including an arithmetic processing unit and a memory. The second external device 220 includes a second external device controller having a computer including an arithmetic processing unit and a memory. The first external device 210 realizes the functions of the first external device 210 by the arithmetic processing unit executing a program stored in the memory, and the second external device 220 realizes the functions of the second external device 220 by the arithmetic processing unit executing a program stored in the memory.

[0042] The first external device 210 may include the first external device controller 215, a remote controller 212, a display unit 213, and a first input device 214. The first external device controller 215 may include a first activation instruction unit 211. The second external device 220 may include the second external device controller 226 and a second input device 225. The second external device controller 226 may include a first activation instruction unit 221, a second activation instruction unit 222, a mode instruction unit 223, and an external device storage 224. When the external management device 200 is configured by a single external device, the functions of the first external device controller and the functions of the second external device controller may be aggregated in a controller of the single external device (that is, the external device controller of the external management device 200).

[0043] [Features of the Embodiment of the First Invention] Next, the features of the embodiment of the first invention for solving the first problem will be described. The first invention includes the following first to seventeenth aspects.

[0044] The working machine 100 according to the first aspect includes a controller 20 that switches among a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, based on an external instruction from an external management device 200.

[0045] In this first aspect, the controller 20 of the working machine 100 can switch among the remote operation mode, the teaching mode, and the automatic operation mode based on an external instruction from the external management device 200. That is, the controller 20 can set the control mode of the working machine 100 to any mode corresponding to the external instruction among the remote operation mode, the teaching mode, and the automatic operation mode.

[0046] FIG. 2 shows a state in which the control mode of the working machine 100 is set to the remote operation mode, FIG. 3 shows a state in which the control mode of the working machine 100 is set to the teaching mode, and FIG. 4 shows a state in which the control mode of the working machine 100 is set to the automatic operation mode. In each of these figures, the portion indicated by the thick arrow represents that signal exchange is taking place between devices.

[0047] The working machine 100 according to the second aspect preferably further includes the following configuration in the working machine 100 according to the first aspect. That is, in the working machine 100 according to the second aspect, the controller 20 includes a first controller 21 that permits one of the remote operation and the automatic operation based on the external instruction, and a second controller 22 that inputs, to the first controller 21, an automatic operation amount that is an operation amount corresponding to the teaching data in the automatic operation mode. The first controller 21 is preferably configured to input, to a control target 30, a control operation amount (control input) corresponding to the automatic operation amount in the automatic operation mode.

[0048] In this second aspect, the first controller 21 permits the automatic operation, the second controller 22 inputs the automatic operation amount to the first controller 21, and the first controller 21 inputs a control operation amount corresponding to the automatic operation amount to the control target 30. Thus, the controller 20 can execute the automatic operation of the working machine 100 according to the teaching data.

[0049] Each of the first controller 21 and the second controller 22 includes a computer including an arithmetic processing unit and a memory. The functions of the first controller 21 are realized when the arithmetic processing unit executes a program stored in the memory, and the functions of the second controller 22 are realized when the arithmetic processing unit executes a program stored in the memory.

[0050] The working machine 100 according to the third aspect preferably further includes the following configuration in the working machine 100 according to the second aspect. That is, in the working machine 100 according to the third aspect, the first controller 21 is preferably configured to receive an input of a remote operation amount, which is an operation amount of the remote operation, from the external management device 200 in each of the remote operation mode and the teaching mode, and input a control operation amount (control input) corresponding to the remote operation amount to the control target 30.

[0051] In this third aspect, when the first controller 21 inputs a control operation amount corresponding to the remote operation amount input from the external management device 200 to the control target 30, the controller 20 can execute the remote operation and the teaching by the remote operation.

[0052] Specifically, the first controller 21 inputs a control operation amount (proportional valve current value) corresponding to the remote operation amount to the proportional valve 32 corresponding to the remote operation. The proportional valve 32 outputs a secondary pressure corresponding to the remote operation amount, and the secondary pressure is input as a pilot pressure to a pilot port (pilot port of the control valve 33) corresponding to the proportional valve 32. The control valve 33 opens to allow hydraulic oil to be supplied to the actuator corresponding to the remote operation. As a result, the actuator performs an operation corresponding to the operation amount of the remote operation.

[0053] The working machine 100 according to the fourth aspect preferably further includes the following configuration in the working machine 100 according to the third aspect. That is, in the working machine 100 according to the fourth aspect, the second controller 22 preferably includes a working machine memory 23 (teaching memory), which is a memory that stores control amount correlation data correlated with a control amount that is an output of a control target 30 that operates according to the control operation amount as the teaching data in the teaching mode.

[0054] In this fourth aspect, since the working machine memory 23 of the second controller 22 can store the control amount correlation data as the teaching data, the controller 20 can perform automatic operation of the working machine 100 using the teaching data stored in the working machine memory 23.

[0055] The teaching data is data corresponding to a series of movements of the working machine 100 in the work to be performed by the working machine 100. The work may include a plurality of operation steps. In this case, the teaching data is data corresponding to the movements of the working device 3 and the upper swing body 2 of the working machine 100 in these operation steps. The output (control amount) of the control target 30 may be, for example, the movement of at least one of the plurality of actuators. The control amount correlation data may be, for example, data (e.g., time series data) representing the movement of at least one of the plurality of actuators among the control targets 30, or data (e.g., time series data) representing the movements of the working device 3 and the upper swing body 2. The control amount correlation data is acquired by the teaching data acquirer 40. The teaching data acquirer 40 inputs the acquired data to the controller 20 (in the specific example of FIG. 2, the second controller 22), and the working machine storage 23 stores the input data (control amount correlation data).

[0056] When the work to be performed by the working machine 100 is work for excavating earth and sand and discharging the earth and sand to a destination, the plurality of operation steps may include, for example, an excavation step, a lifting and swinging step, a discharging step, and a returning swing step.

[0057] In the excavation step, an operation of excavating an excavation target (e.g., ground) using the bucket 6 is performed. In this excavation step, for example, an arm pulling operation that is an operation of bringing the arm 5 closer to the upper swing body 2 and an excavation operation that is an operation of bringing the tip of the bucket 6 closer to the upper swing body 2 are performed.

[0058] In the lifting and swinging step, an operation of moving the bucket 6 that holds the excavated earth and sand directly above the discharging location is performed. In this lifting and swinging step, for example, an operation of raising the boom 4 and a swinging operation of the upper swing body 2 are performed. The discharging location may be, for example, the loading platform of a transport vehicle such as a dump truck, or a sand pit for temporarily storing earth and sand.

[0059] In the dumping step, an operation of dumping the earth and sand held in the bucket 6 onto the truck bed is performed. In this dumping step, for example, an arm pushing operation that moves the arm 5 away from the upper swing body 2 and a dumping operation that moves the tip of the bucket 6 away from the upper swing body 2 are performed.

[0060] In the return swing step, an operation of returning the bucket 6 to the excavation target is performed. In this return swing step, for example, an operation of lowering the boom 4 and a swing operation of the upper swing body 2 are performed.

[0061] The work to be performed by the work machine 100 is not limited to the above specific examples, and may be other work such as leveling work. The leveling work is work of leveling a leveling target such as the surface of the ground with the bucket 6. The leveling work may be horizontal pulling leveling work, horizontal pushing leveling work, or pressing leveling work.

[0062] The work machine 100 according to the fifth aspect preferably further includes the following configuration in the work machine 100 according to any one of the second to fourth aspects. That is, the work machine 100 according to the fifth aspect includes a power source 50, a communication device (work machine communication device 70) that receives the external instruction from the external management device 200, and a first output device 61 configured to be able to switch whether or not power from the power source 50 is supplied to the first controller 21 according to the external instruction, and a second output device 62 configured to be able to switch whether or not power from the power source 50 is supplied to the second controller 22 according to the external instruction.

[0063] In this fifth aspect, the first output device 61 can switch whether or not power from the power source 50 is supplied 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 or not power from the power source 50 is supplied to the second controller 22 according to the external instruction from the external management device 200.

[0064] Specifically, for example, the first output device 61 may have an external instruction input port which is a port connected to the work machine communication device 70 via the hub 80, a power input port which is a port connected to the power supply 50, and a power output port which is a port connected to the first controller 21. The first output device 61 may be a device (LAN connection point output device) capable of switching between a state in which the power input port and the power output port are connected and a state in which the power input port and the power output port are not connected according to the external instruction input from the external instruction input port.

[0065] Similarly, the second output device 62 may have an external instruction input port which is a port connected to the work machine communication device 70 via the hub 80, a power input port which is a port connected to the power supply 50, and a power output port which is a port connected to the second controller 22. The second output device 62 may be a device (LAN connection point output device) capable of switching between a state in which the power input port and the power output port are connected and a state in which the power input port and the power output port are not connected according to the external instruction input from the external instruction input port.

[0066] The work machine 100 according to the sixth aspect preferably further has the following configuration in the work machine 100 according to the fifth aspect. That is, the work machine 100 according to the sixth aspect includes an actual 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 operation mode to the actual machine operation mode. In the actual machine operation mode, the first output device 61 is configured to prevent the power from the power supply 50 from being supplied to the first controller 21, the second output device 62 is configured to prevent the power from the power supply 50 from being supplied to the second controller 22, and it is preferable that the control target 30 is configured to operate according to the operation given to the actual machine operation device 10.

[0067] In this sixth aspect, the actual machine operation mode is a control mode when the operator operates the actual machine operator of the actual machine operation device 10 to move the working machine 100. In this sixth aspect, the switching valve 34 can switch from the remote operation mode, the teaching mode, or the automatic operation mode to the actual machine operation mode. As described above, the switching valve 34 may switch between the first state and the second state according to an instruction input from the switching instruction unit of the controller 20, or may switch between the first state and the second state based on the operation of the switch.

[0068] The working machine 100 according to the seventh aspect preferably further has the following configuration in the working machine 100 according to any one of the second to sixth aspects. That is, in the working machine 100 according to the seventh aspect, the first controller 21 is preferably configured to permit the automatic operation by receiving an automatic operation mode instruction input from the second controller 22 when the first controller 21 is activated.

[0069] In this seventh aspect, when the first controller 21 is activated by supplying power from the power supply 50 to the first controller 21, and an automatic operation mode instruction is input from the second controller 22 at the time of this activation, the first controller 21 sets the control mode to the automatic operation mode. Also, when an automatic operation mode instruction is not input from the second controller 22 at the time of activation of the first controller 21, the first controller 21 may set the control mode to the remote operation mode.

[0070] The communication between the first controller 21 and the second controller 22 may be performed according to a communication protocol based on, for example, CAN (Controller Area Network) (registered trademark), or may be performed according to other communication protocols.

[0071] As shown in FIGS. 2 to 4, the external management device 200 may include a first startup instruction unit, a second startup instruction unit, and a mode instruction unit. The first startup instruction unit outputs a first startup instruction (an example of an external instruction), which is an instruction for starting the first controller 21. The second startup instruction unit outputs a second startup instruction (an example of an external instruction), which is an instruction for starting the second controller 22. The mode instruction unit outputs a mode instruction (an example of an external instruction), which is an instruction for switching the control mode of the working machine 100. The mode instruction may be either a teaching mode instruction or an automatic driving mode instruction, or may be any one of a remote operation mode instruction, a teaching mode instruction, and an automatic driving mode instruction.

[0072] The first startup instruction unit may be the first startup instruction unit 211 of the first external device 210 described later, or may be the first startup instruction unit 221 of the second external device 220 described later. One of the first startup instruction unit 211 of the first external device 210 and the first startup instruction unit 221 of the second external device 220 may be omitted. The second startup instruction unit may be the second startup instruction unit 222 of the second external device 220, and the mode instruction unit may be the mode instruction unit 223 of the second external device 220. However, when the external management device 200 is configured by a single external device as in the first modification example shown in FIG. 8 described later, the first startup instruction unit, the second startup instruction unit, and the mode instruction unit may be included in the single external device.

[0073] The external management device 200 according to the eighth aspect is configured to output the external instruction for switching between the remote operation mode, the teaching mode, and the automatic driving mode in the working machine 100 according to any one of the first to seventh aspects in response to an input operation received by the input device.

[0074] In the eighth aspect, the external management device 200 includes the input device that receives the input operation. Specifically, the first external device 210 may include a first input device 214 that receives the input operation, and the second external device 220 may include a second input device 225 that receives the input operation. By the external management device 200 outputting the external instruction according to the input operation by the worker (for example, the operator), the controller 20 of the working machine 100 can switch the remote operation mode, the teaching mode, and the 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 working machine 100 to any mode corresponding to the external instruction among the remote operation mode, the teaching mode, and the automatic driving mode.

[0075] The input device of the external management device 200 may be a user interface that receives the input operation. The user interface may be, for example, a touch panel of an information terminal, a keyboard, a mouse, a joystick, an input switch, a device that inputs information based on the line-of-sight information of the worker, a device that inputs information based on the position information of the hand (for example, a finger) of the worker in space, or other input devices.

[0076] The external management device 200 may output an external instruction for switching the control mode of the working machine 100 as shown in FIG. 5, for example.

[0077] When the input device receives an input operation for the automatic driving (YES in step S201 of FIG. 5), the external management device 200 outputs an automatic driving instruction (see FIG. 4), which is an external instruction for switching the control mode of the working machine 100 to the automatic driving mode (step S202).

[0078] If the input device does not receive an input operation for the automatic driving (NO in step S201) and the input device receives an input operation for the remote operation (YES in step S203), the external management device 200 outputs a remote operation instruction (see FIG. 2), which is an external instruction for switching the control mode of the working machine 100 to the remote operation mode (step S204).

[0079] If the input device does not receive an input operation for the remote operation (NO in step S203) and the input device receives an input operation for the teaching (YES in step S205), the external management device 200 outputs a teaching instruction (see FIG. 3), which is an external instruction for switching the control mode of the working machine 100 to the teaching mode (step S206).

[0080] The automatic driving instruction of the external management device 200 shown in FIG. 4 (step S202 in FIG. 5) may include, for example, an instruction to start the second controller 22 first and then start the first controller 21, and an automatic 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 automatic driving mode instruction. The timing of the output of the automatic driving mode instruction may be the same as the output of the second start instruction, may be at a point in time between the output of the second start instruction and the output of the first start instruction, may be the same as the output of the first start instruction, or may be after the output of the first start instruction (for example, immediately after the output of the first start instruction). When the second controller 22 receives the automatic driving mode instruction output by the mode instruction unit of the external management device 200 (YES in step S101 in FIG. 6), it permits the automatic driving of the working machine 100 (step S102) and outputs an automatic driving mode instruction to the first controller 21. When the first controller 21 receives this automatic driving mode instruction, it sets the control mode of the working machine 100 to the automatic driving mode that permits the automatic driving of the working machine 100 (step S103).

[0081] The remote operation instruction of the external management device 200 shown in FIG. 2 (step S204 in FIG. 5) may include, for example, an instruction to start the first controller 21 without starting the second controller 22. Specifically, the second startup instruction unit of the external management device 200 does not output a second startup instruction, and the first startup instruction unit of the external management device 200 outputs a first startup instruction to start the first controller 21. In this case, since no automatic operation mode instruction is input to the first controller 21 from the second controller 22 (NO in step S101 of FIG. 6), the first controller 21 does not permit automatic operation of the working machine 100 and permits remote operation of the working machine 100 (step S104). Also, in this case, since no teaching mode instruction is input to the controller 20 from the external management device 200 (NO in step S105), the controller 20 (specifically, the first controller 21) sets the control mode of the working machine 100 to the remote operation mode instead of the teaching mode (step S106).

[0082] The teaching instruction (step S206 in FIG. 5) of the external management device 200 shown in FIG. 3 may include, for example, an instruction for starting the first controller 21 and the second controller 22, and a teaching mode instruction. Specifically, the first start instruction unit and the second start instruction unit of the external management device 200 output a first start instruction and a second start instruction, respectively, to start the first controller 21 and the second controller 22, respectively. The mode instruction unit of the external management device 200 outputs a teaching mode instruction. The timing of output of the first start instruction may be the same as the output of the second start instruction, or may be before or after the output of the second start instruction. The timing of output of the teaching mode instruction may be the same as the output of the first start instruction and / or the second start instruction, may be at a point in time between the output of the first start instruction and the output of the second start instruction, or may be after the output of the first start instruction and the second start instruction. In this case, since an automatic operation mode instruction is not input to the first controller 21 from the second controller 22 (NO in step S101 of FIG. 6), the first controller 21 does not permit automatic operation of the working machine 100 and permits remote operation of the working machine 100 (step S104). Also, in this case, since a teaching mode instruction from the external management device 200 is input to the controller 20 (YES in step S105), the controller 20 (specifically, the second controller 22) sets the control mode of the working machine 100 to the teaching mode instead of the remote operation mode (step S107).

[0083] Note that the method for switching the control mode is not limited to the above specific examples. For example, when the first controller 21 receives a remote operation mode instruction from the external management device 200, it may be configured to set the control mode of the working machine 100 to the remote operation mode, and when it receives an automatic operation mode instruction from the external management device 200, it may be configured to set the control mode of the working machine 100 to the automatic operation mode. In this case, the first controller 21 can switch between the remote operation mode and the automatic operation mode at any timing. Also, the first controller 21 may be configured to set the control mode of the working machine 100 to the remote operation mode when it receives a remote operation mode instruction from the external management device 200, set the control mode of the working machine 100 to the automatic operation mode when it receives an automatic operation mode instruction from the external management device 200, and set the control mode of the working machine 100 to the teaching mode when it receives a teaching mode instruction from the external management device 200. In this case, the first controller 21 can switch between the remote operation mode, the automatic operation mode, and the teaching mode at any timing.

[0084] The external management device 200 according to the ninth aspect preferably further has the following configuration in the external management device 200 according to the eighth aspect. That is, the external management device 200 according to the ninth aspect includes a first external device 210 including a remote operator for receiving the remote operation, and a second external device 220 for receiving a terminal operation and outputting the external instruction according to the terminal operation. At least one of the first external device 210 and the second external device 220 is preferably configured to determine whether both the first external device 210 and the second external device 220 have established access to a specific working machine 100.

[0085] In this ninth aspect, even when the work management system 300 includes a plurality of work machines 100, it is possible for the external instruction from the first external device 210 and the external instruction from the second external device 220 to be correctly input to the same work machine 100. That is, the external management device 200 can prevent an external instruction from being erroneously input to a work machine 100 that is not the target of the instruction among the plurality of work machines 100. Specifically, when it is determined that both the first external device 210 and the second external device 220 have established access to the same work machine 100, the first external device 210 and the second external device 220 output an external instruction corresponding to the input operation to that work machine 100. On the other hand, when it is determined that both the first external device 210 and the second external device 220 have not established access to the same work machine 100, the first external device 210 and the second external device 220 do not output an external instruction corresponding to the input operation to that work machine 100. In this case, at least one of the first external device 210 and the second external device 220 may notify the worker, for example, that correct access has not been established.

[0086] The first external device 210 may be, for example, a remote control device such as a cockpit. The remote control device includes at least one remote controller 212 that receives an operation by an operator, and a display unit 213 that displays an image of the work site including the work machine 100. The at least one remote controller 212 may include, for example, a remote control lever that receives a lever operation by an operator and a remote control pedal that receives a pedal operation by an operator. The display unit 213 may be a display that displays a work site image, which is an image of the work site transmitted from an imaging device installed at the work site. The operator remotely operates the work machine 100 by operating the at least one remote controller 212 while viewing the image displayed on the display unit 213.

[0087] The second external device 220 may be a work management information terminal which is an information terminal such as a tablet computer, a smart phone, a laptop personal computer, or a desktop personal computer, or may be a management device such as a server. Further, the second external device 220 may be a computer in a cloud service provided as a service on a network such as the Internet.

[0088] At least one of the first external device 210 and the second external device 220 may determine whether both the first external device 210 and the second external device 220 have established access to a specific working machine 100 by executing a predetermined connection confirmation operation. The connection confirmation operation may be to issue a connection confirmation command (for example, a Ping command). The connection confirmation command is for checking whether communication to the specified destination IP address is possible.

[0089] Specifically, for example, as shown in FIG. 7, in the teaching mode, when the first external device 210 having the first IP address transmits connection confirmation commands to the second external device 220 having the second IP address and the working machine 100 having the third IP address, respectively, and the first external device 210 can receive responses to the connection confirmation commands from the second external device 220 and the working machine 100, it may be determined that both the first external device 210 and the second external device 220 have established access to a specific working machine 100. Also, in the teaching mode, when the second external device 220 transmits connection confirmation commands to the first external device 210 and the working machine 100, respectively, and the second external device 220 can receive responses to the connection confirmation commands from the first external device 210 and the working machine 100, it may be determined that both the first external device 210 and the second external device 220 have established access to a specific working machine 100.

[0090] The work management system 300 according to the 10th aspect includes a work machine 100 according to any one of the 1st to 7th aspects and an external management device 200.

[0091] In this 10th aspect, the controller 20 of the work machine 100 can switch between a remote operation mode, a teaching mode, and an automatic driving mode based on an external instruction from the external management device 200.

[0092] The work management system 300 according to the 11th aspect preferably further has the following configuration in the work management system 300 according to the 10th aspect. That is, in the work management system 300 according to the 11th aspect, the external management device 200 includes an external device memory 224 (teaching memory), and the external device memory 224 is configured to store external storage data that is data for the automatic driving, and the controller 20 may be configured to execute the automatic driving using the external storage data in the automatic driving mode.

[0093] In this 11th aspect, even before teaching is performed in the work machine 100 (for example, the first work machine 100), that is, before teaching data is stored in the work machine memory 23 of the first work machine 100, the controller 20 can perform automatic driving of the first work machine 100 using the external storage data stored in the external device memory 224. The external storage data stored in the external device memory 224 may be, for example, teaching data based on teaching performed in the past in a work machine 100 other than the first work machine 100 (for example, the second work machine 100), or data generated based on a method other than teaching.

[0094] The work management system 300 according to the 12th aspect preferably further includes the following configuration in the work management system 300 according to the 10th or 11th aspect. That is, in the work management system 300 according to the 12th aspect, the controller 20 includes a work machine memory 23 which is a memory for storing the teaching data, the external management device 200 includes an external device memory 224, the external management device 200 receives the teaching data transmitted from the work machine 100, and the external device memory 224 is preferably configured to store the received teaching data.

[0095] In this 12th aspect, by receiving and storing the teaching data stored in the work machine memory 23 of the work machine 100 (for example, the first work machine 100) in the external device memory 224, the controller 20 of a work machine 100 other than the first work machine 100 (for example, the second work machine 100) can perform automatic operation of the second work machine 100 using the teaching data (external storage data) stored in the external device memory 224.

[0096] The work management system 300 according to the 13th aspect preferably further includes the following configuration in the work management system 300 according to the 12th aspect. That is, in the work management system 300 according to the 13th aspect, the external management device 200 preferably includes a first external device 210 including a remote operator for receiving the remote operation, and a second external device 220 for receiving a terminal operation and outputting the external instruction according to the terminal operation.

[0097] As described above, the first external device 210 may be a remote operation device such as a cockpit, and the second external device 220 may be an information terminal (work management information terminal), for example. In this case, the operator can remotely operate the working machine 100 with the remote operation device (the first external device 210), and the worker (for example, the operator) can give an input operation to the information terminal so that an instruction (external instruction) for switching between the remote operation mode, the teaching mode, and the automatic operation mode is transmitted from the information terminal (the second external device 220) to the working machine 100. This input operation is given to the input device of the second external device 220.

[0098] The work management system according to the 14th aspect preferably further has the following configuration in the work management system 300 according to the 13th aspect. That is, in the work management system 300 according to the 14th aspect, at least one of the first external device 210 and the second external device 220 is preferably configured to determine whether both the first external device 210 and the second external device 220 have established access to the working machine 100.

[0099] In this 14th aspect, as described above, even when the work management system 300 includes a plurality of working machines 100, it becomes possible to correctly input the external instruction from the first external device 210 and the external instruction from the second external device 220 to the same working machine 100. That is, the external management device 200 can prevent an external instruction from being erroneously input to a working machine 100 that is not the target of the instruction among the plurality of working machines 100.

[0100] The work management system 300 according to the 15th aspect includes the work machine 100 according to the 5th or 6th aspect and an external management device 200. The external management device 200 includes a first external device 210 configured to be able to output a first external instruction for controlling the operation of the first output device 61, and a second external device 220 configured to be able to output a second external instruction for controlling the operation of the first output device 61. The first output device 61 is preferably configured to operate based on the instruction that is input to the first output device 61 first among the first external instruction and the second external instruction.

[0101] In this 15th aspect, since each of the first external device 210 (for example, the remote operation device) and the second external device 220 (for example, the information terminal) has a function for controlling the operation of the first output device 61, the worker (for example, the operator) can output an external instruction for controlling the operation of the first output device 61 from either the first external device 210 or the second external device 220. The first output device 61 can switch whether power from the power supply 50 is supplied to the first controller 21 in response to the external instruction from the external management device 200. Specifically, as shown in FIG. 2, the first external device 210 may include a first activation instruction unit 211 that outputs a first activation instruction, which is an instruction for activating the first controller 21, and the second external device 220 may include a first activation instruction unit 221 that outputs a first activation instruction, which is an instruction for activating the first controller 21.

[0102] Also, in this 15th aspect, the first output device 61 operates based on the external instruction that is input to the first output device 61 earlier among 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 that is input later to the first output device 61. Thereby, 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 (ON instruction) for supplying power from the power supply 50 to the first controller 21 is input to the first output device 61, and an instruction (OFF instruction) for stopping the supply of power from the power supply 50 to the first controller 21 is input to the first output device 61 from the second external device 220, it is possible to prevent the ON and OFF from repeatedly and alternately switching between the state where power is supplied from the power supply 50 to the first controller 21 and the state where power is not supplied.

[0103] The work management method according to the 16th aspect includes the controller 20 of the work machine 100 switching between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, based on an external instruction from an external management device.

[0104] In this 16th aspect, the controller 20 of the work machine 100 can switch between the remote operation mode, the teaching mode, and the automatic operation mode based on an external instruction from the external management device 200. That is, the controller 20 can set the control mode of the work machine 100 to any mode corresponding to the external instruction among the remote operation mode, the teaching mode, and the automatic operation mode.

[0105] The work management method according to this 16th aspect may further include at least one feature of the above-described 1st to 15th aspects.

[0106] The work management program according to the 17th aspect is a program for causing a computer of an external management device 200 to execute processing for outputting, in response to an input operation received by an input device of the external management device 200, an external instruction for switching, in a working machine, between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic driving mode that permits automatic driving using the teaching data.

[0107] In the 17th aspect, when the work management program is executed in the external management device 200, the controller 20 of the working machine 100 can switch between the remote operation mode, the teaching mode, and the automatic driving mode based on an external instruction from the external management device 200. That is, the controller 20 can set the control mode of the working machine 100 to any mode corresponding to the external instruction among the remote operation mode, the teaching mode, and the automatic driving mode. The work management program may be stored in a storage medium.

[0108] The work management program according to this 17th aspect may further include at least one feature of the above-described 1st to 16th aspects.

[0109] FIG. 8 is a block diagram showing a work management system 300 according to Modification Example 1 of the embodiment. In the work management system 300 according to Modification Example 1 shown in FIG. 8, the external management device 200 is configured by a single external device. That is, in Modification Example 1 shown in FIG. 8, since the functions of the first external device 210 and the second external device 220 shown in FIG. 2 are integrated into the external management device 200, the configuration of the external management device 200 can be simplified.

[0110] The external management device 200 in Modification Example 1 may include the first activation instruction unit, the second activation instruction unit, and the mode instruction unit. Further, the external management device 200 in Modification Example 1 may include the external device storage (teaching storage).

[0111] In this first modification example, the external management device 200 may be a remote operation device such as a cockpit, or may be the information terminal (the work management information terminal), for example. When the external management device 200 is an information terminal such as a tablet computer, it is preferable that this information terminal has a function for remotely operating the work machine 100. In this case, the operator can remotely operate the work machine 100 regardless of the location.

[0112] FIG. 9 is a block diagram showing a work management system 300 according to a second modification example of the embodiment. In the work management system 300 according to the second modification example shown in FIG. 9, the controller 20 is composed of a single controller (remote automatic controller). That is, in the second modification example shown in FIG. 9, the functions of the first controller 21 (remote controller) and the second controller 22 (automatic controller) shown in FIG. 2 are aggregated into a single controller 20, and one of the first output device 61 and the second output device 62 shown in FIG. 2 is omitted, so that the configurations of the controller 20 and the output device 60 can be simplified. Also in this second modification example, the controller 20 can switch between a remote operation mode, a teaching mode, and an automatic operation mode based on an external instruction from the external management device 200.

[0113] As described above, the embodiments of the first invention for solving the first problem have been described. However, the first invention is not limited to the embodiments, the first modification example, and the second modification example described with reference to FIGS. 1 to 9.

[0114] [Second Invention] Next, the second invention will be described.

[0115] [Problems to be Solved by the Second Invention] The second problem in the present disclosure is as follows. That is, during the time period when the work machine is remotely operated or during the time period when the work machine is automatically operated, a worker such as an operator monitors the situation at the work site while viewing an image (video) transmitted from an imaging device installed at the work site and displayed on an external management device (for example, a cockpit). However, it is not realistic for a worker to continuously monitor the situation at the work site while maintaining high attention during the time period of the remote operation or the time period of the automatic operation (second problem).

[0116] [Means for Solving the Second Problem] The second invention for solving the second problem includes the following external management device, work management system, and work management method.

[0117] [First Aspect of the Second Invention] The external management device according to the first aspect of the second invention is a display unit that displays a work site image that is an image of the work site, and an external device controller, and the external device controller is configured to perform control for notifying a worker of additional information that is information indicating the situation at the work site and is other than the work site image.

[0118] [Second Aspect of the Second Invention] The work management system according to the second aspect of the second invention is a work machine, and an external management device, and the external management device is a display unit that displays a work site image that is an image of the work site, and an external device controller, and the external device controller is configured to perform control for notifying a worker of additional information that is information indicating the situation at the work site and is other than the work site image.

[0119] [Third Aspect of the Second Invention] The work management method according to the third aspect of the second invention is as follows: displaying, on a display unit, a work site image that is an image of the work site; and notifying a worker of supplementary information that is information indicating the situation of the work site and that is other than the work site image.

[0120] [Effects according to the first to third aspects of the second invention] In each of the first to third aspects of the second invention, since supplementary information other than the work site image is notified to the worker during the time period of the remote operation or the time period of the automatic driving, it is possible to assist the worker in monitoring the situation of the work site.

[0121] [Fourth aspect of the second invention] The work management system according to the fourth aspect of the second invention is as follows: a work machine; an external management device; and an imaging device that captures an aerial view image of the work site including the work machine, wherein the external management device includes a display unit that displays the aerial view image.

[0122] [Effects according to the fourth aspect of the second invention] In the fourth aspect of the second invention, since the aerial view image, which makes it easy to grasp the situation of a wide range of the work site, is displayed on the display unit during the time period of the remote operation or the time period of the automatic driving, it is possible to assist the worker in monitoring the situation of the work site.

[0123] [Mode for implementing the second invention]

[0124] FIG. 10 is a diagram for explaining a work management system 300 according to an embodiment of the second invention. As shown in FIG. 10, the work management system 300 includes an external management device 200 and at least one work machine 100.

[0125] The working machine 100 in the embodiment of the second invention may include all the configurations of the working machine 100 according to the embodiment of the first invention shown in FIGS. 1 to 9. Among the configurations of the working machine 100 according to the embodiment of the first invention, it may include the configurations necessary to solve the second problem, and the other configurations may be omitted.

[0126] The external management device 200 in the embodiment of the second invention may include all the configurations of the external management device 200 according to the embodiment of the first invention shown in FIGS. 1 to 9. Among the configurations of the external management device 200 according to the embodiment of the first invention, it may include the configurations necessary to solve the second problem, and the other configurations may be omitted.

[0127] 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 be a remote operation device such as a cockpit including at least one remote controller 212, a display unit 213 for displaying a work site image which is an image of the work site, and an external device controller 215. The external device controller 215 is configured to perform control for notifying a worker such as an operator of additional information which is information indicating the situation of the work site and is other than the work site image.

[0128] The external device controller 215 may notify the worker by displaying the additional information on the display unit 213 (specifically, for example, the dashboard of the display screen displayed on the display unit 213), may notify the worker of the additional information by sound, or may notify the operator of the additional information by other means.

[0129] The attached information may be, for example, work progress information for monitoring the progress of work, entry information indicating the positional relationship between a pre-set restricted access area FA at the work site and a worker WP, error information regarding the deviation between the work target and the actual work in the remote operation of the work machine 100 or the automatic driving of the work machine 100, or other information for assisting a worker in monitoring the situation at the work site.

[0130] The work progress information may be, for example, the amount of earth and sand (cumulative amount) excavated and discharged to a dumping site such as a dump truck, delay information regarding the delay in performance compared to the target schedule, the number of dump trucks at the work site (for example, the number of dump trucks that have completed loading earth and sand), or the work efficiency. The work progress information may be transmitted from the work machine 100 equipped with a payload function to the external management device 200. The number of dump trucks may be detected by a sensor or input by a worker such as an operator into a predetermined information input device of the work management system 300. The delay information may be input by a worker such as an operator into a predetermined information input device of the work management system 300. The work efficiency may be input by a worker such as an operator into a predetermined information input device of the work management system 300 or may be calculated using at least one of the payload function and the sensor. The external device controller 215 may perform control for notifying a worker such as an operator of the work progress information as the attached information.

[0131] The entry information may be, for example, information regarding the distance between the restricted access area FA and the worker WP. In this case, a sensor SS for detecting the distance may be attached to the worker WP. The sensor SS may be a sensor for identifying the position of the worker WP using a satellite positioning system such as GPS or GNSS. Specifically, for example, the sensor SS may be attached to the clothes (e.g., vest) worn by the worker WP, may be attached to a strap worn around the neck, or may be attached to other parts.

[0132] The entry information may include, for example, information regarding the number of workers WP present at the work site, may include information regarding the number of workers WP entering the restricted access area FA, or may include information regarding the positions of the workers WP entering the restricted access area FA. The external device controller 215 may perform control to notify a worker such as an operator of the entry information as the additional information.

[0133] The error information may be, for example, information regarding the error between a preset specific part (e.g., the tip of the bucket 6) of the work machine 100 and the target path in the remote operation of the work machine 100 or the automatic driving of the work machine 100. Further, the error information may be, for example, information regarding the error between the operating speed of a preset specific part (e.g., the tip of the bucket 6) of the work machine 100 and the target speed in the remote operation of the work machine 100 or the automatic driving of the work machine 100. The external device controller 215 may perform control to constantly notify a worker such as an operator of the error information. Further, when the error exceeds a preset first reference value, the external device controller 215 may perform control to notify a worker such as an operator of the error information as the additional information. When the error exceeds the first reference value, the external device controller 215 may perform control to stop a predetermined operation among the operations of the work machine 100. The predetermined operation may be, for example, the operation of the work device 3 or the turning operation.

[0134] The external device controller 215 may not only display the attached information on the display unit 213 of the first external device 210, but also cause it to be displayed on the second external device 220. Further, when the work management system 300 further includes a third external device 230, the external device controller 215 may transmit the attached information to the third external device 230. The third external device 230 may be, for example, a monitoring device disposed in a monitoring center. The third external device 230 may store the received attached information in a memory, may display it on a display, or may notify a worker in the management center. Further, the external device controller 215 may transmit the attached information to the work machine 100.

[0135] The work management system 300 according to the embodiment of the second invention includes an external management device 200, a work machine 100, and an imaging device 400 that captures an aerial view image of a work site including the work machine 100. The external management device 200 may include at least one remote controller 212 and a display unit 213 that displays the aerial view image.

[0136] In this case, since the aerial view image that easily allows the situation of a wide range of the work site to be grasped is displayed on the display unit 213 during the time period of the remote operation or the time period of the automatic driving, it is possible to assist the monitoring of the situation of the work site by a worker such as an operator.

[0137] In the specific example shown in FIG. 10, the work management system 300 includes a plurality of imaging devices 400. Each of the plurality of imaging devices 400 transmits the captured image data to the external management device 200. The external device controller 215 causes the display unit 213 of the first external device 210 to display information regarding the overhead image. The external device controller 215 may control the operation of the work machine 100 based on the information regarding the overhead image. Specifically, the external device controller 215 may perform control to stop a predetermined operation among the operations of the work machine 100 based on the information regarding the overhead image. The predetermined operation may be, for example, the operation of the work device 3 or the turning operation. Further, the external device controller 215 may cause the second external device 220 to display the information regarding the overhead image. Further, the external device controller 215 may transmit the information regarding the overhead image to the third external device 230.

[0138] Note that each of the plurality of imaging devices 400 may transmit the captured image data to the work machine 100. In this case, the controller 20 of the work machine 100 may control the operation of the work machine 100 based on the information regarding the overhead image. Further, the controller 20 of the work machine 100 may transmit the information regarding the overhead image to at least one of the first external device 210, the second external device 220, and the third external device 230.

[0139] [Third Invention] Next, the third invention will be described.

[0140] [Problems to be Solved by the Third Invention] The third problem in the present disclosure is as follows. That is, at a work site where remote operation of a work machine is performed, or at a work site where automatic driving of a work machine is performed, a worker may need to enter a restricted access area preset at the work site. For such a case, for example, a countermeasure of temporarily and forcibly restricting the operation of the work machine 100 by an emergency stop operation input by the worker can be considered. The third problem is to provide a countermeasure other than the worker performing an emergency stop operation.

[0141] [Means for Solving the Third Problem] The third invention for solving the above-mentioned third problem includes the following work machine, external management device, work management system, and work management method.

[0142] [First Aspect of the Third Invention] The work machine according to the first aspect of the third invention includes a controller that restricts the operation of the work machine based on information regarding the relative position between a restricted access area preset at the work site and a worker.

[0143] [Second Aspect of the Third Invention] The external management device according to the second aspect of the third invention includes an external device controller that outputs an instruction to restrict the operation of the work machine based on information regarding the relative position between a restricted access area preset at the work site and a worker.

[0144] [Third Aspect of the Third Invention] The work management system according to the third aspect of the third invention includes a work machine, and an external management device, and the work machine includes a controller that restricts the operation of the work machine based on information regarding the relative position between a restricted access area preset at the work site and a worker.

[0145] [Fourth Aspect of the Third Invention] The work management system according to the fourth aspect of the third invention is as follows: an external management device, a work machine, and the external management device includes an external device controller that outputs an instruction to restrict the operation of the work machine based on information regarding the relative position between a restricted access area preset at the work site and a worker.

[0146] [Fifth Aspect of the Third Invention] The work management method according to the fifth aspect of the third invention includes restricting the operation of a work machine based on information regarding the relative position between a restricted access area preset at the work site and a worker.

[0147] [Effects of the First to Fifth Aspects of the Third Invention] In each of the first to fifth aspects of the third invention, as a countermeasure when it becomes necessary for a worker to enter a restricted access area at the work site, it is possible to provide a countermeasure other than the worker performing an emergency stop operation.

[0148] [Mode for Carrying Out the Third Invention] FIG. 11 is a diagram for explaining a work management system 300 according to an embodiment of the third invention. As shown in FIG. 11, the work management system 300 includes an external management device 200 and at least one work machine 100.

[0149] The work machine 100 in the embodiment of the third invention may include all the configurations of the work machine 100 according to the embodiment of the first invention shown in FIGS. 1 to 9, and among the configurations of the work machine 100 according to the embodiment of the first invention, it may include the configurations necessary to solve the third problem, and the other configurations may be omitted.

[0150] The external management device 200 in the embodiment of the third invention may include all the configurations of the external management device 200 according to the embodiment of the first invention shown in FIGS. 1 to 9. Among the configurations of the external management device 200 according to the embodiment of the first invention, it may include the configurations necessary to solve the third problem, and the other configurations may be omitted.

[0151] The working machine 100 according to the embodiment of the third invention may include a controller 20 that restricts the operation of the working machine 100 based on information regarding the relative position between the access restriction area FA preset at the work site and the worker WP.

[0152] The external management device 200 according to the embodiment of the third invention may include an external device controller 201 that outputs an instruction to restrict the operation of the working machine 100 based on information regarding the relative position between the access restriction area FA preset at the work site and the worker WP.

[0153] The work management system 300 according to the embodiment of the third invention includes an external management device 200 and a working machine 100. In this work management system 300, the working machine 100 may include a controller 20 that restricts the operation of the working machine 100 based on information regarding the relative position between the access restriction area FA and the worker WP, and the external management device 200 may include an external device controller 201 that outputs an instruction to restrict the operation of the working machine 100 based on information regarding the relative position between the access restriction area FA and the worker WP.

[0154] A sensor SS for detecting the relative position may be attached to the worker WP. The sensor SS may be a sensor for specifying the relative position of the worker WP with respect to the working machine 100 using a satellite positioning system such as GPS or GNSS, for example. Specifically, for example, the sensor SS may be attached to the clothes (such as a vest) worn by the worker WP, may be attached to a strap worn around the neck, or may be attached to other parts.

[0155] The controller 20 or the external device controller 201 acquires the distance between the worker WP and the working machine 100, specifically, for example, the distance L between the worker WP and the turning center of the working machine 100, based on the detection result input from the sensor SS. Then, when the distance becomes equal to or less than a second reference value set in advance, the controller 20 or the external device controller 201 may perform control to limit the operation of the working machine 100. The control to limit the operation of the working machine 100 may be, for example, control to stop a predetermined operation among the operations of the working machine 100. The predetermined operation may be, for example, the operation of the working device 3 or a turning operation.

[0156] On the other hand, after the controller 20 or the external device controller 201 performs control to limit the operation of the working machine 100 when the distance becomes equal to or less than the second reference value, when the distance becomes equal to or greater than a third reference value set in advance, the controller 20 or the external device controller 201 may perform control to release the restriction on the operation of the working machine 100.

[0157] [Fourth Invention] Next, the fourth invention will be described.

[0158] [Problems to be Solved by the Fourth Invention] The fourth problem in the present disclosure is as follows. That is, the fourth problem is to provide a method for confirming that there are no people around the working machine before starting the remote operation of the working machine or before starting the automatic driving of the working machine.

[0159] [Means for Solving the Fourth Problem] The fourth invention for solving the fourth problem includes the following working machine, external management device, work management system, and work management method.

[0160] [First Aspect of the Fourth Invention] The working machine according to the first aspect of the fourth invention includes a controller that restricts the operation of the working machine based on information regarding the relative position between the entry restriction area preset at the work site and the worker.

[0161] [Second Aspect of the Fourth Invention] The external management device according to the second aspect of the fourth invention includes an external device controller that outputs an instruction to restrict the operation of the work machine based on information regarding the relative position between the access restriction area preset at the work site and the workers involved in the work.

[0162] [Third Aspect of the Fourth Invention] The work management system according to the third aspect of the fourth invention includes an external management device and a work machine, and the work machine includes a controller that restricts the operation of the work machine based on information regarding the relative position between the access restriction area preset at the work site and the workers involved in the work.

[0163] [Fourth Aspect of the Fourth Invention] The work management system according to the fourth aspect of the fourth invention includes a work machine and an external management device, and the external management device includes an external device controller that outputs an instruction to restrict the operation of the work machine based on information regarding the relative position between the access restriction area preset at the work site and the workers involved in the work.

[0164] [Fifth Aspect of the Fourth Invention] The work management method according to the fifth aspect of the fourth invention includes restricting the operation of the work machine based on information regarding the relative position between the access restriction area preset at the work site and the workers involved in the work.

[0165] [Effects of the First to Fifth Aspects of the Fourth Invention] In each of the first to fifth aspects of the fourth invention, before the start of the remote operation of the work machine or before the start of the automatic driving of the work machine, if there is a person around the work machine, the operation of the work machine is restricted, so that the worker can recognize that there is a person around the work machine. On the other hand, before the start of the remote operation or before the start of the automatic driving, if there is no person around the work machine, the operation of the work machine is not restricted, so that it can be recognized that there is no person around the work machine.

[0166] [Sixth aspect of the fourth invention] The work management system according to the sixth aspect of the fourth invention is an external management device, a work machine, and a plurality of imaging devices for acquiring an around-view image of the work machine, wherein the external management device includes a display unit for displaying the around-view image.

[0167] [Effect according to the sixth aspect of the fourth invention] In the sixth aspect of the fourth invention, before the start of the remote operation or before the start of the automatic driving, the worker can confirm that there is no person around the work machine by viewing the around-view image displayed on the display unit.

[0168] [Mode for carrying out the fourth invention] The work management system 300 according to the embodiment of the fourth invention has the same configuration as the work management system 300 according to the embodiment of the third invention shown in FIG. 11. Thus, before the start of the remote operation of the work machine or before the start of the automatic driving of the work machine, if there is a person around the work machine, the controller 20 of the work machine 100 or the external device controller 201 of the external management device 200 restricts the operation of the work machine, so that the worker can recognize that there is a person around the work machine 100. On the other hand, before the start of the remote operation or before the start of the automatic driving, if there is no person around the work machine, the controller 20 or the external device controller 201 does not restrict the operation of the work machine, so that the worker can recognize that there is no person around the work machine.

[0169] Further, the work management system according to the embodiment of the fourth invention may include a plurality of imaging devices (not shown) for acquiring an around view image of the work machine 100, and the external management device 200 may include a display unit for displaying the around view image. In this case, before the start of the remote operation or before the start of the automatic driving, the worker can confirm that there is no person around the work machine by viewing the around view image (for example, an image as shown in FIG. 11) displayed on the display unit.

[0170] [Fifth Invention] Next, the fifth invention will be described.

[0171] [Problems to be Solved by the Fifth Invention] The fifth problem in the present disclosure is as follows. That is, it may be difficult for a worker such as an operator to recognize the direction of the lower traveling body of the work machine at the work site only from the image of the work site displayed on an external management device such as a cockpit or a tablet. The fifth problem is to obtain information regarding the direction of the lower traveling body at the work site where the remote operation of the work machine is performed or at the work site where the automatic driving of the work machine is performed.

[0172] [Means for Solving the Fifth Problem] The fifth invention for solving the fifth problem includes the following working machine, external management device, work management system, and work management method.

[0173] [The first aspect of the fifth invention] The working machine according to the first aspect of the fifth invention includes a deviation information acquirer that acquires information regarding the deviation between a preset target direction and the direction of the lower traveling body. [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 regarding the deviation between a preset target direction and the direction of the lower traveling body of the working machine. [The third aspect of the fifth invention] The work management system according to the third aspect of the fifth invention includes a working machine, and an external management device, and the working machine includes a deviation information acquirer that acquires information regarding the deviation between a preset target direction and the direction of the lower traveling body, and the external management device includes a display unit that displays the information regarding the deviation.

[0174] [The fourth aspect of the fifth invention] The work management method according to the fourth aspect of the fifth invention includes acquiring information regarding the deviation between a preset target direction and the direction of the lower traveling body of the working machine, and displaying the information regarding the deviation on a display unit.

[0175] [Effects according to the first to fourth aspects of the fifth invention] In each of the first to fourth aspects of the fifth invention, it is possible to acquire information regarding the deviation between the direction of the lower traveling body at the work site where remote operation of the working machine is performed or at the work site where automatic operation of the working machine is performed and a preset target direction.

[0176] [Embodiments for implementing the fifth invention] FIG. 12 is a diagram for explaining a work management system 300 according to an embodiment of the fifth invention. As shown in FIG. 12, the work management system 300 includes an external management device 200 and at least one work machine 100.

[0177] The work machine 100 in the embodiment of the fifth invention may include all the configurations of the work machine 100 according to the embodiment of the first invention shown in FIGS. 1 to 9. Among the configurations of the work machine 100 according to the embodiment of the first invention, the configurations necessary to solve the fifth problem may be provided, and other configurations may be omitted.

[0178] The external management device 200 in the embodiment of the fifth invention may include all the configurations of the external management device 200 according to the embodiment of the first invention shown in FIGS. 1 to 9. Among the configurations of the external management device 200 according to the embodiment of the first invention, the configurations necessary to solve the fifth problem may be provided, and other configurations may be omitted.

[0179] The work machine 100 according to the embodiment of the fifth invention includes a deviation information acquirer 90 that acquires deviation information, which is information regarding the deviation between a preset target direction D1 and the direction D2 of the lower traveling body 1. The work machine 100 includes a communicator that transmits the acquired deviation information to the external management device 200.

[0180] The external management device 200 according to the embodiment of the fifth invention includes a display unit 202 that displays the deviation information.

[0181] The deviation information acquirer 90 may include a sensor 91 that detects the direction of the lower traveling body 1. Further, the deviation information acquirer 90 may include a sensor 91 that detects the direction of the upper slewing body 2 and a slewing angle sensor 92 that detects the slewing angle of the upper slewing body 2 with respect to the lower traveling body 1. The sensor 91 may be a sensor using a satellite positioning system such as GPS or GNSS, or may be a sensor using other methods.

[0182] The target direction D1 may be set, for example, based on the work target 500 at the work site. Specifically, the work machine 100 or the external management device 200 may be provided with a target setter for setting the target direction D1. The target setter may set the target direction D1 based on an input by a worker such as an operator. When the work target 500 is an excavation target such as the ground, the target direction D1 may be a direction along the excavation target, specifically, a direction along the edge of the excavation target.

[0183] The external device controller 201 of the external management device 200 causes the display unit 202 to display the deviation information. The external device controller 201 may cause the display unit 202 to display, for example, as shown in FIG. 12, an arrow indicating the target direction D1 and an arrow indicating the direction of the actual lower traveling body 1. As a result, a work manager such as an operator can visually recognize the deviation between the target direction D1 and the direction of the actual lower traveling body 1.

[0184] The controller 20 of the work machine 100 may perform automatic operation of the work machine 100 so that the deviation between the target direction D1 and the direction of the actual lower traveling body 1 becomes small. Further, the external device controller 201 may output an instruction for automatic operation to the work machine 100 in order to reduce the deviation between the target direction D1 and the direction of the actual lower traveling body 1. Further, a worker such as an operator may remotely operate the work machine 100 in the cockpit of the external management device 200 so that the deviation between the target direction D1 and the direction of the actual lower traveling body 1 becomes small.

[0185] [Sixth Invention] Next, the sixth invention will be described.

[0186] [Problems to be Solved by the Sixth Invention] The sixth problem in the present disclosure is as follows. That is, the sixth problem is to provide a method for confirming the position of the driver of a dump truck at a work site where remote operation of a work machine is performed or at a work site where automatic operation of a work machine is performed.

[0187] [Means for Solving the Sixth Problem] The sixth invention for solving the sixth problem includes the following working machine, external management device, work management system, and work management method.

[0188] [First Aspect of the Sixth Invention] The working machine according to the first aspect of the sixth invention includes a relative position acquirer that acquires information regarding the relative position between a restricted access area preset at the work site and a worker. [Second Aspect of the Sixth Invention] The external management device according to the second aspect of the sixth invention includes a display unit that displays information regarding the relative position between a restricted access area preset at the work site and a worker. [Third Aspect of the Sixth Invention] The work management system according to the third aspect of the sixth invention includes a relative position acquirer that acquires information regarding the relative position between a restricted access area preset at the work site and a worker, and an external management device that includes a display unit that displays information regarding the relative position. [Fourth Aspect of the Sixth Invention] The work management method according to the fourth aspect of the sixth invention includes acquiring information regarding the relative position between a restricted access area preset at the work site and a worker, and displaying the information regarding the relative position on a display unit. [Effect of the Sixth Invention] In each of the first to fourth aspects of the sixth invention, a method for confirming the position of the driver of a dump truck at a work site where remote operation of a working machine is performed or at a work site where automatic driving of a working machine is performed is provided. [Fifth Aspect of the Sixth Invention] The work management system according to the fifth aspect of the sixth invention includes a working machine, an external management device, An imaging device that captures an aerial image of a work site including the work machine, and The external management device includes a display unit that displays the aerial image.

[0189] [Effect according to the fifth aspect of the sixth invention] In the fifth aspect of the sixth invention, since the aerial image that makes it easy to grasp the situation of a wide area of the work site is displayed on the display unit, the position of the driver of the dump truck at the work site can be confirmed.

[0190] [Mode for implementing the sixth invention] FIG. 11 is a diagram for explaining a work management system 300 according to an embodiment of the sixth invention. As shown in FIG. 11, the work management system 300 includes an external management device 200 and at least one work machine 100.

[0191] The work machine 100 in the embodiment of the sixth invention may include all the configurations of the work machine 100 according to the embodiment of the first invention shown in FIGS. 1 to 9, and among the configurations of the work machine 100 according to the embodiment of the first invention, it may include the configurations necessary to solve the sixth problem, and other configurations may be omitted.

[0192] The external management device 200 in the embodiment of the sixth invention may include all the configurations of the external management device 200 according to the embodiment of the first invention shown in FIGS. 1 to 9, and among the configurations of the external management device 200 according to the embodiment of the first invention, it may include the configurations necessary to solve the sixth problem, and other configurations may be omitted.

[0193] The work machine 100 according to the embodiment of the sixth invention includes a sensor SS as a relative position acquirer that acquires information regarding the relative position between an entry restriction area FA preset at the work site and a work-related person WP (for example, the driver of a dump truck).

[0194] The external management device 200 according to the embodiment of the sixth invention includes a display unit 202 that displays information regarding the relative position between the access restricted area FA and the worker WP.

[0195] The working machine 100 may include a controller 20 that restricts the operation of the working machine 100.

[0196] The external management device 200 may include an external device controller 201 that outputs an instruction to restrict the operation of the working machine 100 based on information regarding the relative position between the access restricted area FA and the worker WP.

[0197] A sensor SS for detecting the relative position may be attached to the worker WP. The sensor SS may function as a permit for entering the work site. The sensor SS may be a sensor for specifying the relative position of the worker WP with respect to the working machine 100 using a satellite positioning system such as GPS or GNSS, for example. Specifically, for example, the sensor SS may be attached to the clothes (such as a vest) worn by the worker WP, may be attached to a strap worn around the neck, or may be attached to other parts.

[0198] The controller 20 or the external device controller 201 acquires the distance between the worker WP and the working machine 100 based on the detection result input from the sensor SS. Specifically, for example, the distance L between the worker WP and the turning center of the working machine 100. Then, when the distance becomes equal to or less than a second reference value set in advance, the controller 20 or the external device controller 201 may perform control to restrict the operation of the working machine 100. The control to restrict the operation of the working machine 100 may be, for example, control to stop a predetermined operation among the operations of the working machine 100. The predetermined operation may be, for example, the operation of the working device 3 or a turning operation.

[0199] On the other hand, after the controller 20 or the external device controller 201 performs control to limit the operation of the working machine 100 when the distance becomes equal to or less than the second reference value, if the distance becomes equal to or greater than a preset third reference value, control may be performed to release the limitation on the operation of the working machine 100.

[0200] The work management system 300 may include an imaging device 400 that captures an aerial image of the work site including the working machine 100. The display unit 213 of the external management device 200 may display the aerial image. Further, the external device controller 201 may control the display unit 213 to display, in the display unit 213, images of a plurality of locations included in the aerial image divided into a plurality (for example, two divisions, four divisions, eight divisions, etc.). Further, the external device controller 201 may control the display unit 213 to switch images of a plurality of locations included in the aerial image in the display unit 213 based on an input from a worker such as an operator.

[0201] The work management system 300 may include a plurality of imaging devices 400. Each of the plurality of imaging devices 400 transmits the captured image data to the external management device 200. The external device controller 215 causes the display unit 213 of the first external device 210 to display information regarding the aerial image. The external device controller 215 may control the operation of the working machine 100 based on the information regarding the aerial image. Specifically, the external device controller 215 may perform control to stop a predetermined operation among the operations of the working machine 100 based on the information regarding the aerial image. The predetermined operation may be, for example, the operation of the working device 3 or a turning operation. Further, the external device controller 215 may cause the second external device 220 to display the information regarding the aerial image. Further, the external device controller 215 may transmit the information regarding the aerial image to the third external device 230.

Explanation of Signs

[0202] 20: Controller 21: First Controller 22: Second Controller 23: Construction machine memory 30: Controlled object 31: Flow regulator 32: Proportional valve 33: Control valve 34: Changeover valve 40: Teaching data acquirer 41: Boom attitude sensor 42: Arm attitude sensor 43: Tip attachment attitude sensor 44: Swing attitude sensor 50: Power supply 51: Power switch 60: Output device 61: First output device 62: Second output device 70: Construction machine communicator 80: Hub 100: Construction machine 200: External management device 202: Display unit 210: First external device 212: Remote controller 213: Display unit 220: Second external device 224: External device memory 300: Work management system

Claims

1. A working machine comprising a controller that switches, based on an external instruction from an external management device, between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data.

2. The controller includes: a first controller that permits one of the remote operation and the automatic operation based on the external instruction; and a second controller that inputs, in the automatic operation mode, an automatic operation amount corresponding to the teaching data to the first controller, wherein the first controller is configured to input, in the automatic operation mode, a control operation amount corresponding to the automatic operation amount to a control target. The working machine according to claim 1.

3. The first controller is configured to receive, in each of the remote operation mode and the teaching mode, an input of a remote operation amount that is an operation amount of the remote operation from the external management device, and input a control operation amount corresponding to the remote operation amount to a control target. The working machine according to claim 2.

4. The second controller includes a working machine memory that is a memory for storing, in the teaching mode, control amount correlation data that correlates with a control amount that is an output of the control target operating according to the control operation amount as the teaching data. The working machine according to claim 3.

5. a power supply; a communication device that receives the external instruction from the external management device; a first output device configured to be able to switch, according to the external instruction, whether power from the power supply is supplied to the first controller; and a second output device configured to be able to switch, according to the external instruction, whether power from the power supply is supplied to the second controller. The working machine according to claim 2.

6. a real machine operation device used in a real machine operation mode; and a switching valve capable of switching from the remote operation mode, the teaching mode, or the automatic operation mode to the real machine operation mode. In the actual machine operation mode, the first output device is configured to prevent the power from the power supply from being supplied to the first controller, the second output device is configured to prevent the power from the power supply from being supplied to the second controller, and the control target is configured to operate according to an operation given to the actual machine operation device. The working machine according to claim 5.

7. The first controller is configured to permit the automatic operation by receiving an input of an automatic operation mode instruction from the second controller when the first controller is started. The working machine according to claim 2.

8. An external management device configured to output an external instruction for switching between the remote operation mode, the teaching mode, and the automatic operation mode in the working machine according to any one of claims 1 to 7 in response to an input operation received by an input device.

9. A first external device including a remote controller that receives the remote operation, A second external device that receives a terminal operation and outputs the external instruction according to the terminal operation, and At least one of the first external device and the second external device is configured to determine whether both the first external device and the second external device have established access to the working machine. The external management device according to claim 8.

10. A working machine according to any one of claims 1 to 7, and The external management device. A working management system comprising

11. The external management device includes an external device memory, and the external device memory is configured to store external storage data that is data for the automatic operation. The controller is configured to execute the automatic operation using the external storage data in the automatic operation mode. The working management system according to claim 10.

12. The controller includes a working machine memory that is a memory for storing the teaching data, The external management device includes an external device memory, and The external management device receives the teaching data transmitted from the working machine, and the external device memory is configured to store the received teaching data. The working management system according to claim 10.

13. The external management device A first external device including a remote controller that receives the remote operation, A work management system according to claim 12, comprising: a second external device that receives a terminal operation and outputs the external instruction according to the terminal operation.

14. The work management system according to claim 13, wherein at least one of the first external device and the second external device is configured to determine whether both the first external device and the second external device have established access to the work machine.

15. A work machine according to claim 5 or 6, and the external management device, wherein the external management device includes a first external device configured to be able to output a first external instruction for controlling the operation of the first output device, and a second external device configured to be able to output a second external instruction for controlling the operation of the first output device, and the first output device is configured to operate based on an instruction that is input to the first output device earlier among the first external instruction and the second external instruction.

16. A work management method, including switching, by a controller of a work machine, between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data according to the remote operation, and an automatic driving mode that permits automatic driving using the teaching data, based on an external instruction from an external management device.

17. A work management program that causes a computer of the external management device to execute a process of outputting, in response to an input operation received by an input device of the external management device, an external instruction for switching, in a work machine, between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data according to the remote operation, and an automatic driving mode that permits automatic driving using the teaching data.

Images