Construction machinery motion control system

Abstract

To provide an operation control system of a construction machine which can designate a construction machine to be operated further securely and which can confirm whether or not a command to a right operation object is issued further easily and in a shorter period of time.SOLUTION: A construction management terminal 100 identifies a construction machine present in a construction site space corresponding to an input coordinate value designated by an operation device 103 as an operation object in a state where a peripheral image output by a camera 111 is displayed in a terminal display device, and generates stop control information stopping the identified construction machine.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a construction machine operation control system that is applied to a construction machine such as a hydraulic excavator. [Background technology]

[0002] As a technology for automatically operating multiple construction machines performing different tasks at a construction site, for example, Patent Document 1 discloses a construction method for multiple construction machines performing different tasks, each of which has an automatic driving function and which is managed by a construction management unit, the construction method comprising a construction information transmitting step in which the construction management unit transmits construction position information for each of the construction machines to the construction machines, a construction information receiving step in which the construction machines receive the construction position information transmitted in the construction information transmitting step for each of the construction machines, and an automatic driving work step in which the construction machines perform work in automatic driving using the construction position information received in the construction information receiving step for each of the construction machines. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-132912 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, the construction management unit transmits construction position information to each of the multiple construction machines at the construction site. The multiple construction machines at the construction site perform work by automatic driving based on the construction position information they receive. This allows the multiple construction machines to operate by automatic driving under the management of the construction management unit.

[0005] In addition, when an operator who operates the construction system visually checks the area where the construction machines are working and recognizes that an unusual situation has occurred, the operator issues a command to the construction machines to stop working according to the situation, i.e., a work stop command. The work stop command is transmitted from the construction management unit to each construction machine via a transmitting / receiving device, and causes the construction machines to stop working. This makes it possible to avoid a decrease in construction efficiency due to the occurrence of an unusual situation during work by construction machines.

[0006] However, in the above conventional technology, the correspondence between the target of the command on the system and the actual construction machine to which the command is applied is not clearly stated. In particular, when there are multiple construction machines of the same type and they are working in parallel, it takes time to identify the target to which the command is to be issued, which may reduce construction efficiency. In addition, since the target of the command is determined based on the operator's visual inspection, there is a possibility that the target may be misjudged and a command may be issued to a different construction machine, resulting in unintended results. Furthermore, in order to confirm whether the command has been issued to the correct target, it is necessary to wait until the target construction machine actually starts operating according to the command, which may reduce construction efficiency.

[0007] The present invention has been made in consideration of the above, and aims to provide a construction machine operation control system that can more reliably specify the construction machine to be operated, and can more easily and quickly confirm whether a command has been issued to the correct operation target. [Means for solving the problem]

[0008] The present application includes a plurality of means for solving the above-mentioned problems. One example of the means is a construction management terminal having a terminal control device that creates control information for operating a construction machine, a terminal display device that displays the control information created by the terminal control device, a terminal operation device that detects coordinates of the designated control information as input coordinate values ​​and outputs the detected input coordinate values ​​when an operator designates at least a part of the control information displayed on the terminal display device, and a terminal transmission / reception device that transmits and receives the control information, and a construction machine having a machine transmission / reception device that transmits and receives the control information, a machine position detection device that acquires the position of the construction machine within a construction site space and outputs it as machine position information, a machine control device that outputs a control signal according to the input control information, and a control target that is a control mechanism of the construction machine that operates in response to the control signal input from the machine control device, the construction management terminal being configured to detect the direction of the construction management terminal within the construction site space and output the detected input coordinate values. and a terminal position detection device which detects the position of the construction management terminal within the construction site space and outputs it as terminal position information; a terminal camera which is provided integrally with the construction management terminal and captures the situation around the construction management terminal and outputs it as a surrounding image; and a terminal state calculation device which calculates and outputs terminal state information indicating the state of the construction management terminal based on the terminal attitude information detected by the terminal attitude detection device and the terminal position information detected by the terminal position detection device, and identifies, as an operation target, the construction machine present within the construction site space corresponding to the input coordinate value specified by the terminal operation device based on the input coordinate value specified by the terminal display device and the terminal state information detected by the terminal state calculation device when the image detected by the terminal camera is displayed on the terminal display device, and generates stop control information which is control information for stopping the construction machine identified as the operation target. Effect of the Invention

[0009] According to the present invention, the construction machine to be operated can be specified more reliably, and it can be confirmed more easily and in a shorter time whether a command has been issued to the correct operation target. [Brief description of the drawings]

[0010] [Figure 1] 1 is a functional block diagram illustrating a schematic configuration of a motion control system for a construction machine according to a first embodiment. [Diagram 2] 3 is a flowchart showing the processing of the operation control system for a construction machine according to the first embodiment. [Diagram 3] FIG. 1 is a diagram illustrating an example of a construction machine operating at a construction site. [Figure 4] 1A and 1B are diagrams illustrating the basic principle of camera attitude detection. [Diagram 5] FIG. 2 is a diagram showing how a construction machine is designated by the operation device according to the first embodiment. [Figure 6] FIG. 13 is a diagram showing a construction machine displayed on a display device of a construction management terminal. [Figure 7] FIG. 13 is a diagram for explaining the principle of determining whether or not a construction machine can be stopped, and illustrates a case where the zero moment point is inside an indication polygon. [Figure 8] FIG. 11 is a diagram showing an example of information displayed on a display device of the construction management terminal. [Figure 9] FIG. 13 is a diagram for explaining the principle of determining whether or not a construction machine can be stopped, and illustrates a case where the zero moment point is outside the instruction polygon. [Figure 10] FIG. 11 is a diagram showing an example of information displayed on a display device of the construction management terminal. [Figure 11] FIG. 11 is a diagram showing how a construction machine is designated by an operation device according to a second embodiment. [Figure 12] 10 is a flowchart showing the processing of a construction machine operation control system according to a second embodiment. [Figure 13] FIG. 13 is a diagram showing how a construction machine is designated by an operation device according to a third embodiment. [Figure 14] 13 is a flowchart showing the processing of a construction machine operation control system according to a third embodiment. [Figure 15] FIG. 13 is a diagram showing how a construction machine is designated by an operation device according to a fourth embodiment. [Figure 16] 13 is a flowchart showing the processing of a construction machine operation control system according to a fourth embodiment. [Figure 17] FIG. 13 is a diagram showing an example of a display of an estimated vertical error on a display device according to a fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a hydraulic excavator will be described as an example of a construction machine, but the present invention is not limited to this and can be applied to other construction machines operating at a construction site.

[0012] <First embodiment> A first embodiment of the present invention will be described with reference to FIGS.

[0013] FIG. 1 is a functional block diagram showing a schematic configuration of a construction machine operation control system according to this embodiment.

[0014] In FIG. 1, the construction machinery operation control system allows a user to operate a specified construction machinery by specifying the construction machinery on a camera image, and has functional units provided in a construction machinery 300 (e.g., a hydraulic excavator) operating at a construction site and functional units provided in a construction management terminal 100 operated by a user who operates the construction machinery 300.

[0015] The construction management terminal 100 is a device (e.g., a mobile terminal such as a tablet or smartphone) carried and operated by a user, such as a site manager who manages multiple construction machines (in Figure 1, construction machine 300 is shown as a representative) operating at a construction site, and is roughly composed of a control device 101, a display device 102, an operation device 103, a transmission / reception device 104, an attitude detection device 109, a position detection device 110, a camera 111, and a status calculation device 112.

[0016] The control device 101 and the state calculation device 112 are configured by, for example, an arithmetic device having an input interface provided in the construction management terminal 100, a central processing unit (CPU) which is a processor, a read only memory (ROM) or random access memory (RAM) which is a storage device, an output interface, etc. In other words, each function of the control device 101 and the state calculation device 112 is configured by performing a predetermined arithmetic process on signals input via the input interface and information stored in the ROM and RAM, etc., according to a control program stored in the ROM, and outputting the result via the output interface.

[0017] The control device 101 (terminal control device) performs calculations based on operational input by the user, the status of the construction management terminal, camera images, information input from the construction machinery, etc., and creates control information for operating the construction machinery 300, for example, and outputs the result.

[0018] The display device 102 (terminal display device) displays on a screen the information created and output by the control device 101 for a user (operator). The display device 102 is, for example, a liquid crystal monitor.

[0019] The operation device 103 (terminal operation device) detects input from a user and inputs the detected information to the control device 101. The operation device 103 is an input device such as a touch panel, and is arranged on the surface of the display device 102 to form a GUI (Graphical User Interface) together with the display device 102.

[0020] The attitude detection device 109 (terminal attitude detection device) detects the direction in which the construction management terminal is physically facing in a coordinate system set in the construction site space, and outputs the detection result as terminal attitude information. As the attitude detection device 109, for example, a magnetic sensor that detects geomagnetism, an acceleration sensor, an angular velocity sensor (gyro sensor), an inertial measurement unit (IMU), or other sensors can be used alone or in combination.

[0021] The position detection device 110 (terminal position detection device) detects the position of the construction management terminal in the construction site space and outputs the detection result as terminal position information. The position detection device 110 is, for example, a GNSS (Global Navigation Satellite System).

[0022] The camera 111 (terminal camera) is attached to the construction management terminal, captures images within the construction site space, and outputs the captured images to the control device 101. The camera 111 is, for example, a photographing device using a CMOS image sensor or the like.

[0023] The state calculation device 112 calculates the position and attitude of the construction management terminal within the construction site space based on the terminal attitude information input from the attitude detection device 109 and the terminal position information input from the position detection device 110, and outputs the calculation result to the control device 101 as terminal state information.

[0024] The transmitting / receiving device 104 transmits information (such as control information described later) output by the control device 101 to the transmitting / receiving device 105 of the construction machine 300 via the network 200, and also receives information (such as unstoppable information described later) output from the transmitting / receiving device 105 of the construction machine 300 and inputs it to the control device 101. The transmitting / receiving device 104 is, for example, a communication device that performs wireless communication.

[0025] The construction machine 300 is, for example, a work machine such as a hydraulic excavator operating at a construction site, and is roughly composed of a transmitting / receiving device 105, a position detection device 106, a control device 107, a controlled object 108, an operating status detection device 113, and a stoppability determination device 114.

[0026] The control device 107, the movable state detection device 113, and the stoppability determination device 114 are configured by, for example, an arithmetic device having an input interface provided on the construction machine 300, a central processing unit (CPU) which is a processor, a memory device such as a read only memory (ROM) or a random access memory (RAM), an output interface, etc. In other words, each function of the control device 107, the movable state detection device 113, and the stoppability determination device 114 is configured by performing a predetermined arithmetic process on signals input via the input interface and information stored in the ROM and RAM, etc., according to a control program stored in the ROM, and outputting the result via the output interface.

[0027] The transmitting / receiving device 105 (machine transmitting / receiving device) receives information (such as control information described later) output from the transmitting / receiving device 104 of the construction management terminal 100 via the network 200 and inputs it to the control device 107, and also transmits information generated by the construction machine 300 (such as unstoppable information described later) to the transmitting / receiving device 104 of the construction management terminal 100. The transmitting / receiving device 105 is, for example, a communication device that performs wireless communication.

[0028] The position detection device 106 (machine position detection device) detects the position of the construction machine in the construction site space and outputs the resulting position information. The position detection device 106 is, for example, a GNSS (Global Navigation Satellite System).

[0029] The control device 107 (machine control device) generates a control amount according to the input control information in order to operate the construction machine 300, and outputs the control amount as a signal including the control amount to each device (control target) of the vehicle body that can be operated.

[0030] The controlled object 108 is a control mechanism of the construction machine that operates based on a control amount input from the control device 107. In the case of a hydraulic excavator exemplified as the construction machine 300 in this embodiment, the controlled object includes, for example, an engine and various hydraulic cylinders.

[0031] The operating status detection device 113 (machine operating status detection device) detects the status of each part of the construction machine 300 and the posture of the construction machine 300, and outputs as the detection result machine operating status information consisting of machine posture information, which is information indicating the posture of the construction machine 300, and the control amount currently being applied.

[0032] The stoppability determination device 114 determines, based on the machine operation status information output by the operation status detection device 113, whether the construction machine 300 is in a state where stopping its operation would result in unstable behavior that may lead to tipping or slipping, and if the determined result is a state where stopping its operation would result in unstable behavior, it outputs stoppable information to the transmission / reception device 105, and if the determination is that stopping its operation would not result in unstable behavior, it outputs stop control information to the control device 107.

[0033] In the construction machinery operation control system configured as described above, the operator designates the desired construction machinery 300 on the construction management terminal 100, and it is determined whether the operating status of the designated construction machinery 300 can be stopped, and the operation is stopped according to the determination result.

[0034] FIG. 2 is a flowchart showing the processing of the operation control system for a construction machine.

[0035] In FIG. 2, when the construction management terminal 100 starts its operation, it first detects an input from the operation device 103 (step S201).

[0036] FIG. 3 is a diagram illustrating a state in which construction machines are operating at a construction site.

[0037] FIG. 3 illustrates a case where a total of three shovels, a first shovel 301, a second shovel 302, and a third shovel 303, are present within the construction site space.

[0038] In this state, the construction management terminal is equipped with a liquid crystal display as the display device 102, which displays the image of the construction site space input from the camera 111. Also, a touch panel is provided as the operation device 103, overlaid on the surface of the display device 102. By operating the operation device 103, the user can specify a point on the image of the construction site space captured by the camera 111. As a result of the specification, the operation device 103 detects this input.

[0039] Next, the attitude of the camera 111 is calculated (step S202).

[0040] FIG. 4 is a diagram for explaining the basic principle of camera attitude detection.

[0041] As shown in Fig. 4, the position (xc, yc, zc) of the camera 111 on the construction management terminal in the coordinate system indicating the construction site space is called the camera position 401. The camera position 401 is obtained using the position detection device 110. For example, the position detection device 110 may calculate the position in the construction site space from the latitude and longitude on the earth obtained using a GPS (Global Positioning System). As another example, a total station or the like may be used to obtain the position in the construction site space.

[0042] Moreover, the direction vector (xe, ye, ze) indicating the direction of the camera 111 is called a camera direction vector 402. The camera direction vector 402 is obtained using the orientation detection device 109. In the orientation detection device 109, a method of calculating the direction from sensors such as a geomagnetic sensor or an angle sensor can be considered.

[0043] Next, the position designated by the user (the operator of the construction management terminal 100) through the operation device 103 is calculated from the position on the display device 102 designated by the user within the construction site space (step S203).

[0044] FIG. 5 is a diagram showing how a construction machine is designated by the operation device.

[0045] In Fig. 5, the camera 111 is attached to the back of the construction management terminal. The candidate construction machine is assumed to be the construction machine photographed at the position of a point on the display device 102 that is specified by the user by operating the operation device 103. This point is called the specified point 501. The coordinates of the specified point 501 on the display device 102 are called Ps. The candidate construction machine indicated by the specified point 501 exists on a half line extending from the focal position of the camera 111 in the direction corresponding to the specified point 501. This half line is called the specified line 502. The construction machine having an intersection with the specified line 502 is assumed to be the construction machine to be operated (the construction machine to be operated 503). In the subsequent processing, the construction machine to be operated 503 will be acquired, and the specified point 501 used for this purpose is processed as the position specified by the user.

[0046] Next, it is determined whether or not the verification process has been carried out for all the construction machines connected to the network 200 (step S204), and if the determination result is YES, the process proceeds to step S212.

[0047] If the determination result in step S204 is NO, that is, if it is determined that there is a construction machine for which verification processing has not been carried out, the position of one construction machine to be the subject of verification processing is obtained (step S205).

[0048] The position information of the construction machine detected by the position detection device 106 of one of the construction machines connected to the network 200 is transmitted by the transmission / reception device 105 of the construction machine, and is received by the transmission / reception device 104 of the construction management terminal 100 via the network 200 and input to the control device 101. The control device 101 converts the received position of the construction machine from the three-dimensional coordinate system of the construction site space to the coordinate system of the camera 111 using the camera position 401, the camera direction vector 402, and the geometric characteristics of the lens and image sensor held by the camera 111. The coordinate system of the camera 111 is equivalent to the coordinate system indicated by the planar image of the construction site space displayed on the display device 102.

[0049] FIG. 6 is a diagram showing the construction machines displayed on the display device of the construction management terminal.

[0050] As shown in FIG. 6, the position of the construction machine detected by the position detection device 106 is expressed as a position 601 of the construction machine on the image in the coordinate system of the camera 111.

[0051] Next, it is determined whether or not the position 601 of the construction machine on the image of the display device 102 overlaps with the specified point 501 (step S206).

[0052] A construction machine occupies a certain space in the construction site space. This is called the occupied space V. In the example of FIG. 6, the occupied space V is represented by a rectangular parallelepiped, but in reality, it represents the space occupied when the shape of the current construction machine 503 to be operated, obtained from the information output by the operating state detection device 113 of the construction machine 503 to be operated, is placed at the position obtained from the information output by the position detection device 106 of the construction machine 503 to be operated. When this occupied space V is projected onto the coordinate system of the camera 111, it occupies a certain area on the two-dimensional image displayed on the display device 102, as shown in FIG. 6. This is called the occupation area 602 of the construction machine on the image. It is represented by a symbol A. The relationship between A and the occupied space V can be expressed as A=P(V). Here, P is the projection from the occupied space V, which is a three-dimensional space, to A, which is a two-dimensional area. If the specified point 501 is included within an occupation area 602 of the construction machine on the image, that is, if Ps ⊂ A, it is determined that the two overlap.

[0053] If the determination result in step S206 is NO, that is, if it is determined that the position of the construction machine on the image does not overlap with the specified point, the process returns to step S204.

[0054] Furthermore, if the determination result in step S206 is YES, information to be used for operational control of the construction machine 503 to be operated that has been determined to overlap with the specified point 501, such as the current position of the construction machine 503 to be operated obtained from the position detection device 106, is obtained (step S207).

[0055] Next, the operating status of the construction machine 503 to be operated is acquired (step S208). The operating status detection device 113 acquires information such as the positions of the boom, arm, and bucket of the shovel, the rotation angle of the upper rotating body, and the inclination of the lower traveling body.

[0056] Next, it is determined whether or not it is possible to stably stop the operation target construction machine 503 in the current processing (step S209).

[0057] FIG. 7 is a diagram for explaining the principle of determining whether or not a construction machine can be stopped, and illustrates a case where the zero moment point is inside the indication polygon.

[0058] FIG. 7 illustrates an example in which the construction machine 503 to be operated is descending a slope. The ground contact position 701 of the construction machine 503 to be operated is the position where a pair of parallel tracks of the construction machine 503 to be operated, which is obtained from the operating state detection device 113, contacts the ground. In this state, the support polygon 702 of the construction machine 503 to be operated indicates a rectangular area including the space between the parallel tracks. Next, the center of gravity 703 of the construction machine 503 to be operated is obtained from the state of the boom, arm, bucket, upper rotating body, lower traveling body, etc. of the construction machine 503 to be operated, which is input from the operating state detection device 113. The center of gravity 703 is used to obtain a ZMP (Zero Moment Point) 704, which is the center of pressure of the floor reaction force. When the ZMP 704 exists within the area of ​​the support polygon 702, it can be said that the construction machine 503 to be operated is in a stable state. In the example of FIG. 7, the ZMP 704 exists within the area of ​​the support polygon 702. When the construction machine 503 to be operated is in this state, it is determined that the construction machine 503 to be operated can be stopped stably.

[0059] If the determination result in step S209 is YES, that is, if it is determined that the construction machine can be stopped, the control device 107 sends a stop signal (a control amount equivalent to stopping) to the controlled object 108, and stops the construction machine 503 to be operated (step S210).

[0060] FIG. 8 is a diagram showing an example of information displayed on the display device of the construction management terminal.

[0061] As shown in Fig. 8, when stop control information is sent from the construction management terminal 100 to the construction machine 503 to be operated, a display content (message) 901 indicating that the transmission of the specified operation signal (i.e., the stop control signal) has been completed is displayed near the position 601 of the construction machine on the image on the display device 102. This allows the operator of the construction management terminal to more easily and in a shorter time to check whether a command has been issued to the correct operation target.

[0062] Furthermore, if the judgment result in step S209 is NO, that is, if it is judged that stopping the construction machine is not possible, the reason why operation of the construction machine 503 to be operated is not possible is sent to the control device 101 via the transmission / reception device 105 of the construction machine, the network 200, and the transmission / reception device 104 of the construction management terminal 100 (step S211).

[0063] FIG. 9 is a diagram for explaining the principle of determining whether or not a construction machine can be stopped, and illustrates a case where the zero moment point is outside the instruction polygon.

[0064] In FIG. 9, the construction machine 503 to be operated is shown descending a slope with a greater angle than that shown in FIG. 7. Based on the center of gravity 801 in the different state, a ZMP 802 in the different state is found. The ZMP 802 in the different state exists outside the area of ​​the support polygon 702. This result is sent to the control device 101. The transmitted message 803 includes a name that identifies the construction machine that sent the message 803, operation feasibility information that indicates whether a stop operation can be performed, and, if a stop operation cannot be performed, the reason for this. When the control device 101 receives this message 803, it displays the contents on the display device 102.

[0065] FIG. 10 is a diagram showing an example of information displayed on the display device of the construction management terminal.

[0066] In Fig. 10, display content (message) 902 created based on the telegram 803 is displayed near the position 601 of the construction machine on the image on the display device 102. This makes it possible to show the user the reason why the construction machine 503 being operated is not in a stopped state, and to encourage the user to take other measures.

[0067] When the processing of step S210 or step S211 is completed, it is then determined whether or not to terminate the operation of the construction machine operation control system (step S212).

[0068] For example, it is possible to determine that the operation is to be terminated by the user turning off the power of the construction management terminal. If the determination result in step S212 is YES, that is, if it is determined that the operation is to be terminated, the system is terminated. If the determination result in step S212 is NO, the process returns to step S201.

[0069] In this embodiment, the case where the ZMP 704 is used to determine whether the construction machine 503 to be operated can be stopped is shown as an example, but it is also possible to use other methods for the determination. This type of processing stops the construction machine 503 to be operated designated by the user, or if stopping the construction machine 503 to be operated would cause the operation of the construction machine 503 to become unstable, it does not stop the machine and displays the reason to the user, making it possible to operate the construction machine stably.

[0070] In the present embodiment configured as described above, a construction management terminal 100 having a terminal control device (control device 101) that creates control information for operating a construction machine, a terminal display device (display device 102) that displays the control information created by the terminal control device, a terminal operation device (operation device 103) that detects the coordinates of the specified control information as input coordinate values ​​and outputs the detected input coordinate values ​​when an operator specifies at least a part of the control information displayed on the terminal display device, and a terminal transmission / reception device (transmission / reception device 104) that transmits and receives the control information, a machine transmission / reception device (transmission / reception device 105) that transmits and receives the control information, a machine position detection device (position detection device 106) that acquires the position of the construction machine in the construction site space and outputs it as machine position information, a machine control device (control device 107) that outputs a control signal according to the input control information, and a construction machine having a control target that is a control mechanism of the construction machine that operates in response to the control signal input from the machine control device, in the operation control system for a construction machine, the construction management terminal detects the orientation of the construction management terminal in the construction site space and outputs it as terminal attitude information. The construction management terminal further includes a detection device (attitude detection device 109), a terminal position detection device (position detection device 110) that acquires the position of the construction management terminal within the construction site space and outputs it as terminal position information, a terminal camera (camera 111) that is provided integrally with the construction management terminal and captures the situation around the construction management terminal and outputs it as an ambient image, and a terminal state calculation device (state calculation device 112) that calculates and outputs terminal state information indicating the state of the construction management terminal based on the terminal attitude information detected by the terminal attitude detection device and the terminal position information detected by the terminal position detection device, and is configured to identify, as an operation target, a construction machine present within the construction site space corresponding to the input coordinate value specified by the terminal operation device based on the input coordinate value specified by the terminal display device and the terminal state information calculated by the terminal state calculation device when the ambient image output by the terminal camera is displayed on the terminal display device, and generate stop control information, which is control information for stopping the construction machine identified as the operation target. Therefore, the construction machine to be operated can be more reliably specified, and it can be confirmed more easily and in a shorter time whether a command to the correct operation target has been issued.

[0071] <Second embodiment> A second embodiment of the present invention will be described with reference to FIGS.

[0072] This embodiment shows a case where, when there are multiple construction machines to be operated at a location specified by a user (the operator of the construction management terminal), one machine is extracted from the multiple machines and processed.

[0073] Fig. 11 is a diagram showing how a construction machine is designated by an operating device. Fig. 12 is a flowchart showing the processing of the construction machine operation control system. In Fig. 11 and Fig. 12, the same reference numerals are used for the same members as in the first embodiment, and the description thereof will be omitted.

[0074] In FIG. 11, a point on the display device 102 that is specified by the user by operating the operating device 103 is called a specified point 1001 in the second example. The coordinates of the specified point 1001 in the second example on the display device 102 are P's. The candidate construction machine indicated by the position where the specified point 1001 in the second example exists is on a half line extending from the focal position of the camera 111 in a direction corresponding to the specified point 1001 in the second example. This half line is called a specified line 1002 in the second example. In this example, there are three construction machines that have an intersection with the specified line 1002 in the second example. These have a spatial anteroposterior relationship on the specified line 1002 in the second example. This is because a physical object such as a construction machine cannot exist simultaneously in exactly the same position in space. In the image captured by the camera 111, the construction machine that exists in the position closest to the camera 111 in the construction site space is shown. That is, in this case, the user specifies the construction machine that is closest to the construction management terminal. This construction machine to be operated is called the construction machine to be operated 1003 in the second example.

[0075] In FIG. 12, when the construction management terminal 100 starts its operation, it first detects an input from the operation device 103 (step S201).

[0076] Next, the attitude of the camera 111 is calculated (step S202).

[0077] Next, the position designated by the user (the operator of the construction management terminal 100) through the operation device 103 is calculated from the position on the display device 102 designated by the user within the construction site space (step S203).

[0078] Next, it is determined whether or not the verification process has been carried out for all the construction machines connected to the network 200 (step S204), and if the determination result is YES, the process proceeds to step S212.

[0079] If the determination result in step S204 is NO, that is, if it is determined that there is a construction machine for which verification processing has not been carried out, the position of one construction machine to be the target of verification processing is obtained (step S205).

[0080] Next, it is determined whether or not the position 601 of the construction machine on the image of the display device 102 overlaps with the specified point 501 (step S206). If the specified point 1001 in the second example is included in the occupation area 602 of the construction machine on the image, that is, if P's ⊂ A, it is determined that the two overlap.

[0081] When the determination result in step S206 is YES, the position in the construction site space where the construction machine is present, where P's ⊂ A, is stored in the control device 101 (step S1101), and the process returns to step S204.

[0082] If the determination result in step S206 is NO, the process returns to step S204.

[0083] If the determination result in step S204 is YES, the construction machine closest to the position of the camera 111 is extracted from the information on the construction machines stored in step S1101 as the construction machine 1003 to be operated in the second example (step S207).

[0084] Next, the operating status of the construction machine to be operated is acquired (step S208).

[0085] Next, it is determined whether or not it is possible to stably stop the construction machine being operated in the current processing (step S209).

[0086] If the determination result in step S209 is YES, that is, if it is determined that the construction machine can be stopped, the control device 107 sends a stop signal (a control amount equivalent to stopping) to the controlled object 108, and stops the construction machine being operated (step S210).

[0087] Furthermore, if the judgment result in step S209 is NO, that is, if it is judged that stopping the construction machine is not possible, the reason why operation of the construction machine to be operated is not possible is sent to the control device 101 via the transmission / reception device 105 of the construction machine, the network 200, and the transmission / reception device 104 of the construction management terminal 100 (step S211).

[0088] When the processing of step S210 or step S211 is completed, it is then determined whether or not to terminate the operation of the construction machine operation control system (step S212).

[0089] If the determination in step S212 is YES, that is, if it is determined that the process should be terminated, the system is terminated. If the determination in step S212 is NO, the process returns to step S201.

[0090] The other configurations are similar to those of the first embodiment.

[0091] The present embodiment configured as above can also provide the same effects as the first embodiment.

[0092] In addition, when there are multiple construction machines on the specified line 1002 of the second example obtained by specifying the specified point 1001 of the second example, it is possible to obtain the construction machine displayed at the position of the specified point 1001 of the second example on the construction management terminal as the construction machine 1003 to be operated in the second example, making it possible to operate the construction machine specified from the user's viewpoint without error.

[0093] <Third embodiment> A third embodiment of the present invention will be described with reference to FIGS.

[0094] This embodiment shows a case where, when there are a plurality of construction machines to be operated within an area designated by a user (an operator of a construction management terminal), these are extracted and processed.

[0095] Fig. 13 is a diagram showing how a construction machine is designated by an operating device. Fig. 14 is a flowchart showing the processing of the construction machine operation control system. In Fig. 13 and Fig. 14, the same reference numerals are used for the same members as those in the first and second embodiments, and the description thereof will be omitted.

[0096] In FIG. 13, the area on the display device 102 that is specified by operating the operation device 103 is called the specified area 1201 of the third example. The specified area 1201 of the third example is symbolically represented as Rs. The specified area 1201 of the third example can be expressed, for example, as a rectangular area, and can be expressed as a rectangle with two points specified on the display device 102 as the vertices of the upper left corner and the lower right corner, respectively. The candidate construction machine indicated by the position where the specified area 1201 of the third example exists is inside a quadrangular pyramid that is extended from the focal position of the camera 111 in the direction corresponding to the specified area 1201 of the third example. This quadrangular pyramid is called the specified quadrangular pyramid 1202 of the third example. In this example, there are two construction machines that intersect with the specified quadrangular pyramid 1202 of the third example. These construction machines to be operated are called the first operation target construction machine 1203 of the third example and the second operation target construction machine 1204 of the third example, respectively.

[0097] The first operation target construction machine 1203 of the third example and the second operation target construction machine 1204 of the third example occupy a certain area on the two-dimensional image displayed on the display device 102, similar to the explanation of Fig. 6 in the first embodiment. The occupied area of ​​the first operation target construction machine 1203 of the third example is represented symbolically as A1, and the occupied area of ​​the second operation target construction machine 1204 of the third example is represented symbolically as A2. Here, neither A1∩Rs nor A2∩Rs is an empty set.

[0098] In FIG. 14, when the construction management terminal 100 starts its operation, it first detects an input from the operation device 103 (step S201).

[0099] Next, the attitude of the camera 111 is calculated (step S202).

[0100] Next, the designated area 1201 of the third example is calculated (step S1301). As described above, two points are designated on the display device 102, and the area Rs is expressed by a rectangle with these points as the upper left and lower right corners.

[0101] Next, it is determined whether or not the verification process has been carried out for all the construction machines connected to the network 200 (step S204), and if the determination result is YES, the process proceeds to step S212.

[0102] If the determination result in step S204 is NO, that is, if it is determined that there is a construction machine for which verification processing has not been carried out, the position of one construction machine to be the target of verification processing is obtained (step S205).

[0103] Next, it is determined whether or not the designated area 1201 of the third example overlaps with the occupied area (step S1302). For the construction machine acquired in step S205, the occupied area on the two-dimensional image displayed on the display device 102 is set as A, and A∩Rs is calculated. If A∩Rs is not an empty set, it is determined that the designated area 1201 of the third example overlaps with the occupied area.

[0104] If the determination result in step S1302 is YES, the position in the construction site space where the construction machine exists, where P's ⊂ A, is stored in the control device 101 (step S1101), and the process returns to step S204.

[0105] If the determination result in step S1302 is NO, the process returns to step S204.

[0106] If the determination result in step S204 is YES, the information on the construction machines stored in step S1101 is extracted one by one (step S207).

[0107] Next, the operating status of the construction machine to be operated is acquired (step S208).

[0108] Next, it is determined whether or not it is possible to stably stop the construction machine being operated in the current processing (step S209).

[0109] If the determination result in step S209 is YES, that is, if it is determined that the construction machine can be stopped, the control device 107 sends a stop signal (a control amount equivalent to stopping) to the controlled object 108, and stops the construction machine being operated (step S210).

[0110] Furthermore, if the judgment result in step S209 is NO, that is, if it is judged that stopping the construction machine is not possible, the reason why operation of the construction machine to be operated is not possible is sent to the control device 101 via the transmission / reception device 105 of the construction machine, the network 200, and the transmission / reception device 104 of the construction management terminal 100 (step S211).

[0111] When the processing of step S210 or step S211 is completed, it is then determined whether all information has been extracted in step S207 from the information on the construction machines stored in step S1101, i.e., the first operation target construction machine 1203 in the third example in Figure 13 and the second operation target construction machine 1204 in the third example, i.e., whether all targets have been verified (step S1303).

[0112] If the determination result in step S1303 is NO, the process returns to step S207. If the determination result in step S1303 is YES, a determination is made as to whether or not to terminate the operation of the construction machine operation control system (step S212).

[0113] If the determination in step S212 is YES, that is, if it is determined that the process is to be terminated, the system is terminated. If the determination in step S212 is NO, the process returns to step S201.

[0114] The other configurations are similar to those of the first and second embodiments.

[0115] The present embodiment configured as above can also provide the same effects as the first embodiment.

[0116] In addition, when there are multiple construction machines on the specified pyramid 1202 of the third example obtained by specifying the specified area 1201 of the third example, it becomes possible to operate all of the relevant construction machines, making it possible to quickly avoid events that may occur due to the related operations of multiple construction machines.

[0117] <Fourth embodiment> A fourth embodiment of the present invention will be described with reference to FIGS.

[0118] This embodiment shows a case where there are multiple construction machines to be operated in an area specified by a user (operator of the construction management terminal), and the user selects the construction machine to be operated from among these.

[0119] Fig. 15 is a diagram showing how a construction machine is designated by an operating device. Fig. 16 is a flowchart showing the processing of the construction machine operation control system. In Fig. 15 and Fig. 16, the same reference numerals are used for the same members as those in the first to third embodiments, and the description thereof will be omitted.

[0120] In FIG. 15, the area on the display device 102 designated by operating the operation device 103 is called a designated area 1401 of the fourth example. The designated area 1401 of the fourth example is symbolically represented as R's. The designated area 1401 of the fourth example can be expressed, for example, as a rectangular area, and can be expressed as a rectangle with two points designated on the display device 102 as the vertices of the upper left corner and the lower right corner, respectively. The construction machine candidate indicated by the position where the designated area 1401 of the fourth example exists is inside a quadrangular pyramid that is stretched from the focal position of the camera 111 in the direction corresponding to the designated area 1401 of the fourth example. This quadrangular pyramid is called a designated quadrangular pyramid 1402 of the fourth example. In this example, there are three construction machines that intersect with the designated quadrangular pyramid 1402 of the fourth example. These construction machines to be operated are respectively referred to as a first construction machine to be operated 1403 in the fourth example, a second construction machine to be operated 1404 in the fourth example, and a third construction machine to be operated 1405 in the fourth example.

[0121] The first operation target construction machine 1203 of the third example and the second operation target construction machine 1204 of the third example occupy a certain area on the two-dimensional image displayed on the display device 102, similar to the explanation of FIG. 6 in the first embodiment. The occupation area of ​​the first operation target construction machine 1403 of the fourth example is written as A'1 by symbol, named M1, and the distance from the camera 111 is 5 m. Similarly, the occupation area of ​​the second operation target construction machine 1404 of the fourth example is written as A'2 by symbol, named M2, and the distance from the camera 111 is 12 m. Moreover, the occupation area of ​​the third operation target construction machine 1405 of the fourth example is written as A'3 by symbol, named M3, and the distance from the camera 111 is 6 m. Here, A'1∩R's, A'2∩R's, and A'3∩R's are not empty sets. The information on each of the above-mentioned construction machines is displayed as a construction machine list 1406 on the display device 102. In this example, the name of each construction machine and the distance from the camera 111 are shown, and a check mark indicates whether each construction machine has been selected. Also, an execution button for executing an operation is provided.

[0122] In FIG. 16, when the construction management terminal 100 starts its operation, it first detects an input from the operation device 103 (step S201).

[0123] Next, the attitude of the camera 111 is calculated (step S202).

[0124] Next, the designated area 1201 of the third example is calculated (step S1301). As described above, two points are designated on the display device 102, and the area Rs is expressed by a rectangle with these points as the upper left and lower right corners.

[0125] Next, it is determined whether or not the verification process has been carried out for all the construction machines connected to the network 200 (step S204), and if the determination result is YES, the process proceeds to step S212.

[0126] If the determination result in step S204 is NO, that is, if it is determined that there is a construction machine for which verification processing has not been carried out, the position of one construction machine to be the target of verification processing is obtained (step S205).

[0127] Next, it is determined whether or not the designated area 1201 of the third example overlaps with the occupied area (step S1302). For the construction machine acquired in step S205, the occupied area on the two-dimensional image displayed on the display device 102 is set as A, and A∩Rs is calculated. If A∩Rs is not an empty set, it is determined that the designated area 1201 of the third example overlaps with the occupied area.

[0128] If the determination result in step S1302 is YES, the position in the construction site space where the construction machine exists, where P's ⊂ A, is stored in the control device 101 (step S1101), and the process returns to step S204.

[0129] If the determination result in step S1302 is NO, the process returns to step S204.

[0130] Furthermore, if the determination result in step S204 is YES, the information on the construction machines stored in the control device 101 in step S1101 is displayed in list form on the display device 102 (step S501). This results in a display content such as construction machine list 1406. The user operates the operation device 103 to switch check marks in the construction machine list 1406 on or off. Here, the construction machines with the check marks on are the construction machines to be operated. In this example, the check marks are on in the rows for the first operation target construction machine 1403 in the fourth example and the third operation target construction machine 1405 in the fourth example, and these construction machines are the construction machines to be operated. Next, the execute button is pressed to proceed to the next process.

[0131] Next, the information on the construction machines stored in step S1101 is extracted one by one (step S207).

[0132] Next, the operating status of the construction machine to be operated is acquired (step S208).

[0133] Next, it is determined whether or not it is possible to stably stop the construction machine being operated in the current processing (step S209).

[0134] If the determination result in step S209 is YES, that is, if it is determined that the construction machine can be stopped, the control device 107 sends a stop signal (a control amount equivalent to stopping) to the controlled object 108, and stops the construction machine being operated (step S210).

[0135] Furthermore, if the judgment result in step S209 is NO, that is, if it is judged that stopping the construction machine is not possible, the reason why operation of the construction machine to be operated is not possible is sent to the control device 101 via the transmission / reception device 105 of the construction machine, the network 200, and the transmission / reception device 104 of the construction management terminal 100 (step S211).

[0136] When the processing of step S210 or step S211 is completed, it is then determined whether all information has been extracted in step S207 from the information on the construction machines stored in step S1101, i.e., the first operation target construction machine 1203 in the third example in Figure 13 and the second operation target construction machine 1204 in the third example, i.e., whether all targets have been verified (step S1303).

[0137] If the determination result in step S1303 is NO, the process returns to step S207. If the determination result in step S1303 is YES, a determination is made as to whether or not to terminate the operation of the construction machine operation control system (step S212).

[0138] If the determination in step S212 is YES, that is, if it is determined that the process is to be terminated, the system is terminated. If the determination in step S212 is NO, the process returns to step S201.

[0139] The other configurations are the same as those of the first to third embodiments.

[0140] The present embodiment configured as above can also provide the same effects as the first embodiment.

[0141] Furthermore, it becomes possible to specify only the construction machine selected by the user from among the construction machines that were selected as candidates before executing step S1501, and to operate it. When operating multiple construction machines, construction machines that are assumed to be out of range, for example construction machines that are significantly far away from the camera 111, can be excluded from the operation targets, enabling efficient operation of the construction machines.

[0142] <Fifth embodiment> A fifth embodiment of the present invention will be described with reference to FIG.

[0143] This embodiment shows a case where a construction machine is operated using equipment other than the camera 111 mounted on the construction management terminal.

[0144] 17 is a functional block diagram showing the schematic configuration of a construction machine operation control system according to this embodiment. In the figure, the same members as those in the first embodiment are given the same reference numerals and the description thereof will be omitted.

[0145] In this embodiment, a case where imaging equipment is added to the configuration of the first embodiment (see FIG. 1) is shown.

[0146] In FIG. 17, the imaging facility 400 is generally composed of a transmitting / receiving device 1601 (facility transmitting / receiving device), a camera 1602 (facility camera), an attitude detection device 1603 (facility attitude detection device), and a position detection device 1604 (facility position detection device).

[0147] A transmitting / receiving device 1601 included in the imaging facility transmits information acquired by the imaging facility to the construction management terminal via the network 200 .

[0148] The camera 1602 captures images within the construction site space and outputs the results to the transmitting / receiving device 1601 .

[0149] The orientation detection device 1603 detects the direction in which the imaging equipment is physically facing, and outputs information on the orientation.

[0150] The position detection device 1604 detects the position of the imaging equipment within the construction site space, and outputs the resulting position information.

[0151] The control device 101 of the construction management terminal 100 acquires the position and posture of the imaging equipment and the image captured by the camera 1602 via the transmitting / receiving device 104 , the network 200 , and the transmitting / receiving device 1601 .

[0152] The processing performed by the construction management terminal 100 using the information received uses, for example, the image captured by the camera 111 and the information output by the attitude detection device 109 and the position detection device 110, as explained in the first embodiment using Figure 2, but these are replaced with the image captured by the camera 1602 and the information output by the attitude detection device 1603 and the position detection device 1604 to perform the processing.

[0153] The other configurations are similar to those of the first embodiment.

[0154] The present embodiment configured as above can also provide the same effects as the first embodiment.

[0155] In addition, it becomes possible to operate operating construction machinery in places where a construction management terminal is not present, for example, in remote locations where imaging equipment is present but out of the user's line of sight, which eliminates the need for the user to carry a construction management terminal around with them, enabling operations to be performed efficiently.

[0156] <Additional Notes> The present invention is not limited to the above-described embodiment, and includes various modifications and combinations within the scope of the gist of the present invention. Furthermore, the present invention is not limited to those having all of the configurations described in the above-described embodiment, and includes those in which some of the configurations are omitted.

[0157] For example, in the fifth embodiment, an example is shown of an operator at a construction site operating a designated construction machine by operating the construction management terminal 100, but this is not limited to this. A terminal having some of the functions of the construction management terminal 100 (control device 101, display device 102, operation device 103, transmission / reception device 104, status calculation device 112) may be installed in a management office at the construction site, and the construction machine may be operated from the management office using information from the imaging equipment 400.

[0158] In addition, the above-mentioned configurations, functions, etc. may be realized in part or in whole by designing, for example, an integrated circuit, etc. In addition, the above-mentioned configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. [Explanation of symbols]

[0159] 100...construction management terminal, 101...control device, 102...display device, 103...operation device, 104...transmitter / receiver, 105...transmitter / receiver, 106...position detection device, 107...control device, 108...control target, 109...posture detection device, 110...position detection device, 111...camera, 112...status calculation device, 113...operation status detection device, 114...stop possibility determination device, 200...network, 300...construction machinery, 1601...transmitter / receiver, 1602...camera, 1603...posture detection device, 1604...position detection device

Claims

1. A construction machine operation control system including a construction management terminal that creates control information for operating a construction machine, and a machine control device that controls the operation of the construction machine based on the control information, A terminal attitude detection device provided in the construction management terminal and detecting an orientation of the construction management terminal; A terminal position detection device provided in the construction management terminal and detecting the position of the construction management terminal; A machine position detection device is provided on the construction machine and detects position information of the construction machine within a construction site space, The construction management terminal has a terminal camera that photographs the construction site, a terminal display device that displays the construction site photographed by the terminal camera as a surrounding image, a terminal operation device that allows an operator to specify a predetermined position within the surrounding image displayed on the terminal display device, and a terminal control device that creates the control information, the terminal display device displays the control information created by the terminal control device; the terminal operation device, when an operator designates at least a part of the control information displayed on the terminal display device, detects coordinates of the designated control information as input coordinate values, and outputs the detected input coordinate values; The transmission and reception of the control information is performed by a terminal transmission / reception device of the construction management terminal and a machine transmission / reception device of the construction machine, The machine control device is provided in the construction machine, and outputs a control signal corresponding to the control information input via the machine transmitting / receiving device; The control signal input from the machine control device operates a control target, which is a control mechanism of the construction machine, The construction management terminal includes: calculates a position of a designated area at the construction site corresponding to the predetermined position specified by the terminal operation device based on the predetermined position in the surrounding image corresponding to the input coordinate value specified by an operator using the terminal operation device while the surrounding image output by the terminal camera is displayed on the terminal display device, and based on terminal state information indicating a state of the construction management terminal calculated based on the orientation of the construction management terminal detected by the terminal attitude detection device and the position of the construction management terminal detected by the terminal position detection device; determining whether the construction machine is present within the designated area based on the position of the designated area and position information of the construction machine detected by the machine position detection device; A construction machinery operation control system characterized in that, when it is determined that the construction machinery is present within the designated area, stop control information for stopping the construction machinery is created as the control information, and the stop control information is output to the machinery control device.

2. 2. The construction machine operation control system according to claim 1, a machine operation state detection device that detects the posture of the construction machine and machine operation information consisting of the control information for operating the construction machine; Further equipped with the machine control device, the machine position detection device, and the machine operating state detection device are attached to the construction machine, The terminal control device includes: Calculating an outer shape of the construction machine from the machine operation information detected by the machine operation state detection device; determining whether the outer shape is within the designated area based on the position of the designated area, the position information of the construction machine, and the outer shape; A construction machine operation control system characterized in that, when the outer shape is present within the designated area, it is determined that the construction machine is present within the designated area.

3. 2. The construction machine operation control system according to claim 1, a machine operation state detection device that detects the posture of the construction machine and machine operation information consisting of the control information for operating the construction machine; a stop possibility determination device that determines whether the construction machine can be stopped stably based on the machine operation information detected by the machine operation state detection device; Further equipped with the machine control device, the machine position detection device, the machine operation state detection device, and the stop possibility determination device are attached to the construction machine, The stop possibility determination device includes: When the machine control device receives the stop control information, it determines whether the construction machine can be stopped stably, When it is determined that the construction machine can be stopped stably, the machine control device is caused to stop the construction machine; A construction machine operation control system characterized in that, when it is determined that the construction machine is stable and cannot be stopped, unstoppable information indicating that the construction machine is in an unstoppable state is transmitted to the construction management terminal.

4. 2. The construction machine operation control system according to claim 1, The terminal control device includes: A construction machinery operation control system characterized in that when it is determined that there are multiple construction machines within the designated area, stop control information is output to stop the construction machine among the multiple construction machines that is located closest to the construction management terminal based on the position of the construction management terminal detected by the terminal position detection device and the position information of the multiple construction machines detected by the machine position detection device.

5. 2. The construction machine operation control system according to claim 1, The terminal control device includes: A construction machinery operation control system characterized by outputting stop control information for stopping all of the construction machines determined to be present within the designated area when it is determined that multiple construction machines are present within the designated area.

6. 2. The construction machine operation control system according to claim 1, The terminal control device includes: When it is determined that a plurality of the construction machines are present within the designated area, information of all the construction machines determined to be present within the designated area is output to the terminal display device, and the information of the construction machines is displayed in a list; A construction machine operation control system characterized by outputting stop control information for stopping a construction machine selected by the operator from the list display by using the terminal operation device among the plurality of construction machines.

7. A construction machine operation control system including a construction management terminal that creates control information for operating a construction machine, and a machine control device that controls the operation of the construction machine based on the control information, A camera to photograph the construction site, a camera attitude detection device provided in the camera and detecting an orientation of the camera; a camera position detection device provided in the camera and detecting a position of the camera; A machine position detection device is provided on the construction machine and detects position information of the construction machine within a construction site space, The construction management terminal has a terminal display device that displays the construction site photographed by the camera as a surrounding image, a terminal operation device for an operator to specify a predetermined position in the surrounding image displayed on the terminal display device, and a terminal control device that creates the control information, the terminal display device displays the control information created by the terminal control device; the terminal operation device, when an operator designates at least a part of the control information displayed on the terminal display device, detects coordinates of the designated control information as input coordinate values, and outputs the detected input coordinate values; The transmission and reception of the control information is performed by a terminal transmission / reception device of the construction management terminal and a machine transmission / reception device of the construction machine, The machine control device is provided in the construction machine, and outputs a control signal corresponding to the control information input via the machine transmitting / receiving device; The control signal input from the machine control device operates a control target, which is a control mechanism of the construction machine, The terminal control device includes: Calculate the position of a designated area at the construction site corresponding to the predetermined position specified by the terminal operation device based on the predetermined position in the surrounding image corresponding to the input coordinate value specified by an operator using the terminal operation device when the surrounding image output by the camera is displayed on the terminal display device, and based on terminal state information indicating the state of the construction management terminal calculated based on the orientation of the camera detected by the camera attitude detection device and the position of the camera detected by the camera position detection device; determining whether the construction machine is present within the designated area based on the position of the designated area and position information of the construction machine detected by the machine position detection device; A construction machinery operation control system characterized in that, when it is determined that the construction machinery is present within the designated area, stop control information for stopping the construction machinery is created as the control information, and the stop control information is output to the machinery control device.

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