Construction machinery management system

Abstract

To provide a management system for construction machines allowing states of a plurality of the construction machines to be managed.SOLUTION: A construction support system SYS as a management system for construction machines includes a plurality of shovels 100 connected through wireless communication and a controller 50 installed in a control center 200 as a processing unit. A display device D2 connected to the controller 50 is installed in the control center 200. And, a management screen MS is displayed on the display device D2 to manage the plurality of construction machines.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a construction machine management system. [Background technology]

[0002] BACKGROUND ART Conventionally, a monitoring system capable of determining the properties of fuel supplied to a shovel is known (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-203408 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned system is only configured to determine the properties of fuel supplied to one specific excavator, and is not configured to be able to manage the status of multiple excavators.

[0005] Therefore, it is desirable to provide a management system that can manage the status of multiple construction machines. [Means for solving the problem]

[0006] A construction machine management system according to an embodiment of the present invention is a construction machine management system including a plurality of construction machines connected via wireless communication and a computing device installed in a management center, wherein a display device connected to the computing device is installed in the management center, and a management screen for managing the plurality of construction machines is displayed on the display device, and the management screen includes: Information regarding the progress of work performed by each of the multiple construction machines; and a software button for initiating communication between a manager at the control center and an operator of the construction machine; at the same time It is displayed. [Effects of the Invention]

[0007] The above-mentioned management system can manage the status of multiple construction machines. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. [Figure 2] 2 is a diagram showing an example of the configuration of a drive system mounted on the excavator of FIG. 1. [Figure 3] FIG. 2 is a diagram showing an example of the configuration of an electrical system mounted on the excavator of FIG. 1. [Figure 4] FIG. 2 is a diagram showing the relationship between a coordinate system related to a remote control room and a coordinate system related to a shovel. [Figure 5] FIG. 1 is a schematic diagram illustrating a configuration example of a construction support system. [Figure 6] FIG. 1 is a block diagram illustrating a configuration example of a construction support system. [Figure 7] FIG. 10 is a diagram illustrating an example of the configuration of a management screen. [Figure 8] FIG. 10 is a functional block diagram showing another example of the configuration of the construction support system. [Figure 9] FIG. 10 is a functional block diagram showing yet another example configuration of the construction support system. [Figure 10] FIG. 1 is a side view of a shovel at a work site. [Figure 11] FIG. 10 is a functional block diagram showing yet another example configuration of the construction support system. [Figure 12] FIG. 10 is a diagram illustrating another example of the configuration of the management screen. DETAILED DESCRIPTION OF THE INVENTION

[0009] Non-limiting exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which:

[0010] Fig. 1 shows a shovel 100 as an excavator according to an embodiment of the present invention. An upper rotating body 3 is rotatably mounted on a lower traveling body 1 of the shovel 100 via a rotating mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.

[0011] The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

[0012] A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket link. A swing angular velocity sensor S4 is attached to the upper swing structure 3.

[0013] The boom angle sensor S1 is one of the attitude detection sensors and is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is a stroke sensor that detects the stroke amount of the boom cylinder 7, and derives the rotation angle of the boom 4 around the boom foot pin that connects the upper rotating body 3 and the boom 4 based on the stroke amount of the boom cylinder 7.

[0014] The arm angle sensor S2 is one of the posture detection sensors and is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is a stroke sensor that detects the stroke amount of the arm cylinder 8, and derives the rotation angle of the arm 5 around the connecting pin that connects the boom 4 and the arm 5 based on the stroke amount of the arm cylinder 8.

[0015] The bucket angle sensor S3 is one of the posture detection sensors and is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is a stroke sensor that detects the stroke amount of the bucket cylinder 9, and derives the rotation angle of the bucket 6 around the connecting pin that connects the arm 5 and the bucket 6 based on the stroke amount of the bucket cylinder 9.

[0016] Each of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be a rotary encoder, an acceleration sensor, a potentiometer (variable resistor), an inclination sensor, an inertial measurement unit, etc. The inertial measurement unit may be configured, for example, by combining an acceleration sensor and a gyro sensor.

[0017] The rotation angular velocity sensor S4 is configured to detect the rotation angular velocity of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S4 is a gyro sensor. The rotation angular velocity sensor S4 may be configured to calculate a rotation angle based on the rotation angular velocity. The rotation angular velocity sensor S4 may also be configured with other sensors such as a rotary encoder.

[0018] The upper rotating body 3 is equipped with a cabin 10 as a driver's room, an engine 11, a positioning device 18, a sound collection device A1, a spatial recognition device C1, a communication device T1, etc. A controller 30 is also installed inside the cabin 10. A driver's seat, operating devices, etc. are also installed inside the cabin 10. However, the excavator 100 may be an unmanned excavator (automatically operated excavator) in which the cabin 10 is omitted.

[0019] The engine 11 is a drive source of the excavator 100. In this embodiment, the engine 11 is a diesel engine. An output shaft of the engine 11 is connected to input shafts of the main pump 14 and the pilot pump 15, respectively.

[0020] The positioning device 18 is configured to measure the position of the excavator 100. In this embodiment, the positioning device 18 is a GNSS compass, and is configured to be able to measure the position and orientation of the upper rotating body 3.

[0021] The sound collector A1 is configured to collect sounds generated around the excavator 100. In this embodiment, the sound collector A1 is a microphone attached to the upper rotating body 3.

[0022] The spatial recognition device C1 is configured to be able to recognize the space around the excavator 100. In this embodiment, the spatial recognition device C1 is an imaging device such as a monocular camera, a stereo camera, or an infrared camera. Specifically, the spatial recognition device C1 includes a rear camera C1B attached to the rear end of the upper surface of the upper rotating body 3, a front camera C1F attached to the front end of the upper surface of the cabin 10, a left camera C1L attached to the left end of the upper surface of the upper rotating body 3, and a right camera C1R attached to the right end of the upper surface of the upper rotating body 3. The spatial recognition device C1 may be a spherical camera installed at a predetermined position within the cabin 10. The predetermined position is, for example, a position corresponding to the eye position of an operator seated in a driver's seat installed within the cabin 10.

[0023] The space recognition device C1 may be a LIDAR, an ultrasonic sensor, a millimeter wave radar, an infrared sensor, or the like (hereinafter referred to as "LIDAR, etc.").

[0024] The communication device T1 is configured to control communication with devices external to the shovel 100. In this embodiment, the communication device T1 is configured to control wireless communication between the communication device T1 and devices external to the shovel 100 via a wireless communication network.

[0025] The controller 30 is a calculation device that executes various calculations. In this embodiment, the controller 30 is configured as a microcomputer including a CPU and a memory 30a. The various functions of the controller 30 are realized by the CPU executing programs stored in the memory 30a.

[0026] Fig. 2 is a block diagram showing an example of the configuration of the drive system of the excavator 100 of Fig. 1. In Fig. 2, mechanical power transmission lines are indicated by double lines, hydraulic oil lines by thick solid lines, pilot lines by dashed lines, and electrical control lines by dotted lines.

[0027] The drive system of the excavator 100 is made up of an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, a controller 30, and a solenoid valve unit 45. The engine 11 is drive-controlled by an engine control unit 74.

[0028] The main pump 14 supplies hydraulic oil to a control valve unit 17 via a hydraulic oil line 16. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0029] The regulator 13 is configured to control the discharge amount of the main pump 14. In this embodiment, the regulator 13 is configured to adjust the tilt angle of the swash plate of the main pump 14 in response to the discharge pressure of the main pump 14 or a control signal from the controller 30. The discharge amount (displacement volume) of the main pump 14 per rotation is controlled by the regulator 13.

[0030] The pilot pump 15 is configured to supply hydraulic oil to various hydraulic control devices via a pilot line 25. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function of the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to the solenoid valve unit 45 and the like via a throttle or the like, in addition to the function of supplying hydraulic oil to the control valve unit 17.

[0031] The control valve unit 17 is configured to selectively supply hydraulic oil received from the main pump 14 to one or more hydraulic actuators. In this embodiment, the control valve unit 17 includes a plurality of control valves corresponding to the plurality of hydraulic actuators. The control valve unit 17 is configured to selectively supply hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators. The hydraulic actuators include, for example, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-side traveling hydraulic motor 1L, a right-side traveling hydraulic motor 1R, and a swing hydraulic motor 2A.

[0032] The controller 30 is configured to control the solenoid valve unit 45 based on an operation signal received through the communication device T1. In this embodiment, the operation signal is transmitted from a remote control room. That is, the excavator 100 functions as a remotely operated excavator. However, the operation signal may be generated by an operation device provided in the cabin 10. That is, the excavator 100 can also function as a normal manned excavator.

[0033] The solenoid valve unit 45 includes a plurality of solenoid valves arranged in the pilot lines 25 that connect the pilot pump 15 to the pilot ports of the control valves in the control valve unit 17 .

[0034] In this embodiment, the controller 30 can control the pilot pressure acting on the pilot port of each control valve by individually controlling the opening area of each of the multiple solenoid valves. Therefore, the controller 30 can control the flow rate of hydraulic oil flowing into each hydraulic actuator and the flow rate of hydraulic oil flowing out of each hydraulic actuator, and therefore can control the movement of each hydraulic actuator.

[0035] In this way, the controller 30 can raise and lower the boom 4, open and close the arm 5, open and close the bucket 6, rotate the upper rotating body 3, and move the lower traveling body 1, etc., in response to operation signals from outside, such as a remote control room.

[0036] Fig. 3 is a diagram showing an example of the configuration of an electrical system mounted on the excavator of Fig. 1. As shown in Fig. 3, the engine 11 is connected to an engine control unit 74. Various data indicating the state of the engine 11 is transmitted from the engine control unit 74 to the controller 30. The controller 30 is configured to be able to store various data indicating the state of the engine 11 in a memory 30a.

[0037] The battery 70 is configured to supply power to various electrical loads mounted on the excavator 100. The alternator 11a (generator), starter 11b, controller 30, electrical components 72, etc. are configured to operate on the power stored in the battery 70. The starter 11b is configured to be driven by the power stored in the battery 70 and start the engine 11. The battery 70 is also configured to be charged with the power generated by the alternator 11a.

[0038] The water temperature sensor 11c transmits data related to the temperature of the engine coolant to the controller 30. The regulator 13 transmits data related to the swash plate tilt angle to the controller 30. The discharge pressure sensor 14b transmits data related to the discharge pressure of the main pump 14 to the controller 30. The positioning device 18 transmits data related to the position of the excavator 100 to the controller 30.

[0039] An oil temperature sensor 14c is provided in a pipe 14-1 between the main pump 14 and a hydraulic oil tank that stores hydraulic oil to be sucked by the main pump 14. The oil temperature sensor 14c transmits data relating to the temperature of the hydraulic oil flowing through the pipe 14-1 to the controller 30.

[0040] A urea water remaining amount sensor 21a provided in the urea water tank 21 transmits data relating to the remaining amount of urea water to the controller 30. A fuel remaining amount sensor 22a provided in the fuel tank 22 transmits data relating to the remaining amount of fuel to the controller 30.

[0041] The communication device T1 is configured to transmit and receive information to and from a communication device T2 installed in a remote control room RC via wireless communication. In this embodiment, the communication device T1 and the communication device T2 are configured to transmit and receive information via a sixth generation mobile communication line (6G line), a fifth generation mobile communication line (5G line), a fourth generation mobile communication line (4G line), an LTE line, a satellite line, or the like.

[0042] The remote control room RC is equipped with a remote controller 40, a sound output device A2, an indoor space recognition device C2, a display device D1, a communication device T2, etc. The remote control room RC is also equipped with a driver's seat DS where an operator OP who remotely operates the excavator 100 sits.

[0043] The remote controller 40 is a computing device that executes various calculations. In this embodiment, the remote controller 40 is configured with a microcomputer including a CPU and memory, similar to the controller 30. The various functions of the remote controller 40 are realized by the CPU executing programs stored in the memory.

[0044] The sound output device A2 is configured to output sound. In this embodiment, the sound output device A2 is a speaker and is configured to play back the sound collected by the sound collection device A1 attached to the shovel 100.

[0045] The interior space recognition device C2 is configured to be able to recognize the space inside the remote control room RC. In this embodiment, the interior space recognition device C2 is a camera installed inside the remote control room RC, and is configured to capture an image of the operator OP seated in the driver's seat DS.

[0046] The communication device T2 is configured to control wireless communication with the communication device T1 attached to the excavator 100.

[0047] In this embodiment, the driver's seat DS has the same structure as a driver's seat installed in the cabin of a normal excavator. Specifically, a left console box is disposed on the left side of the driver's seat DS, and a right console box is disposed on the right side of the driver's seat DS. A left operation lever is disposed on the front end of the top surface of the left console box, and a right operation lever is disposed on the front end of the top surface of the right console box. A travel lever and a travel pedal are also disposed in front of the driver's seat DS. Furthermore, a dial 75 is disposed in the center of the top surface of the right console box. The left operation lever, right operation lever, travel lever, travel pedal, and dial 75 each constitute an operation device 26.

[0048] The dial 75 is a dial for adjusting the rotation speed of the engine 11, and is configured to be able to switch the engine rotation speed in four stages, for example.

[0049] Specifically, the dial 75 is configured to be able to switch the engine speed among four modes: SP mode, H mode, A mode, and idling mode. The dial 75 transmits data relating to the setting of the engine speed to the controller 30.

[0050] The SP mode is a rotation speed mode selected when the operator OP wants to prioritize work volume, and uses the highest engine rotation speed. The H mode is a rotation speed mode selected when the operator OP wants to balance work volume and fuel efficiency, and uses the second highest engine rotation speed. The A mode is a rotation speed mode selected when the operator OP wants to operate the excavator at low noise while prioritizing fuel efficiency, and uses the third highest engine rotation speed. The idling mode is a rotation speed mode selected when the operator OP wants to idle the engine, and uses the lowest engine rotation speed. The engine 11 is then constantly controlled at the engine rotation speed of the rotation speed mode selected via the dial 75.

[0051] The operation device 26 is provided with an operation sensor 29 for detecting the operation content of the operation device 26. The operation sensor 29 is, for example, an inclination sensor that detects the inclination angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever around the swing axis. The operation sensor 29 may be configured with other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 29 outputs information regarding the detected operation content of the operation device 26 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the shovel 100. The operation sensor 29 may be configured to generate an operation signal. In this case, the operation sensor 29 may output the operation signal to the communication device T2 without passing through the remote controller 40.

[0052] The display device D1 is configured to display information about the situation around the shovel 100. The display device D1 may be a touch panel. In this embodiment, the display device D1 is a multi-display made up of nine monitors arranged in three rows and three columns, and is configured to be able to display the state of the space in front of, to the left of, and to the right of the shovel 100. Each monitor is a liquid crystal monitor, an organic EL monitor, or the like. However, the display device D1 may be made up of one or more curved monitors, or may be made up of a projector.

[0053] The display device D1 may be a display device that can be worn by the operator OP. For example, the display device D1 may be a head-mounted display (VR goggles) configured to be able to transmit and receive information to and from the remote controller 40 via wireless communication. The head-mounted display may be connected to the remote controller 40 by wire. The head-mounted display may be a transparent head-mounted display or a non-transparent head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.

[0054] The display device D1 is configured to display an image that enables the operator OP in the remote control room RC to visually recognize the surroundings of the shovel 100. In other words, the display device D1 displays an image so that the operator can confirm the situation around the shovel 100 as if he or she were inside the cabin 10 of the shovel 100, even though he or she is in the remote control room RC.

[0055] Next, the relationship between a first coordinate system having a reference point R1 in the remote control room RC as its origin and a second coordinate system having a reference point R2 in the excavator 100 as its origin will be described with reference to Fig. 4. In the following description, the first coordinate system will be referred to as the control room coordinate system, and the second coordinate system will be referred to as the excavator coordinate system. Fig. 4 is a diagram showing the relationship between the control room coordinate system and the excavator coordinate system.

[0056] The control room coordinate system is a three-dimensional UVW Cartesian coordinate system with the reference point R1 in the remote control room RC as its origin, and has a U axis that extends parallel to the front-to-back direction of the driver's seat DS, a V axis that extends parallel to the left-to-right direction of the driver's seat DS, and a W axis that is perpendicular to the U axis and V axis.

[0057] The excavator coordinate system is a three-dimensional XYZ Cartesian coordinate system with a reference point R2 on the upper rotating body 3 as its origin, and has an X axis extending parallel to the front-to-rear direction of the upper rotating body 3, a Y axis extending parallel to the left-to-right direction of the upper rotating body 3, and a Z axis perpendicular to the X and Y axes. In the example of FIG. 4, the reference point R2 is a point on the rotation axis, the XY plane is a horizontal plane, and the Z axis is a vertical axis. That is, in the example of FIG. 4, the ground surface, which is a virtual plane on which the excavator 100 is located, is a horizontal plane. The X axis corresponds to the U axis of the control room coordinate system, the Y axis corresponds to the V axis of the control room coordinate system, and the Z axis corresponds to the W axis of the control room coordinate system.

[0058] In this embodiment, each three-dimensional coordinate in the control room coordinate system is previously associated with one of the three-dimensional coordinates in the shovel coordinate system. Therefore, once the three-dimensional coordinates of the operator viewpoint E1, which is the eye position of the operator OP in the remote control room RC, are determined, the three-dimensional coordinates of the virtual operator viewpoint E1', which is the eye position of the virtual operator in the shovel 100, are uniquely determined. Note that the eye position of the operator OP is, for example, the midpoint between the left eye position and the right eye position of the operator OP. However, the eye position of the operator OP may be a preset position. In other words, the operator viewpoint E1 and the virtual operator viewpoint E1' may be fixed points.

[0059] In the above-described embodiment, the display device D1 is installed in front, left front, and right front of the operator OP, but it may be installed in a rectangular or cylindrical shape so as to surround the operator OP. That is, the display device D1 may include a monitor installed behind the operator OP. Alternatively, the display device D1 may be installed in a hemispherical shape so as to surround the operator OP. That is, the display device D1 may include a monitor installed directly above the operator OP.

[0060] Next, a configuration example of a construction support system SYS for an excavator 100, which is an example of a construction machine management system, will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a schematic diagram showing a configuration example of the construction support system SYS. Fig. 6 is a functional block diagram showing a configuration example of the construction support system SYS.

[0061] The construction support system SYS is mainly composed of a positioning device 18, a controller 30, a solenoid valve unit 45, a sound collection device A1, a spatial recognition device C1, and a communication device T1 mounted on the shovel 100, an operation sensor 29, a remote controller 40, a sound output device A2, an indoor spatial recognition device C2, a display device D1, and a communication device T2 installed in the remote control room RC, and a controller 50, a display device D2, and a communication device T3 installed in the management center 200.

[0062] In the example shown in Fig. 5, the construction support system SYS is composed of an shovel 100a, an shovel 100b, a remote control room RCa for the shovel 100a, a remote control room RCb for the shovel 100b, a spatial recognition device C3 installed at the work site, and a management center 200. The shovel 100a, the shovel 100b, the remote control room RCa, the remote control room RCb, and the spatial recognition device C3 are each connected to the management center 200 via a 4G line. Note that, for clarity, Fig. 6 omits the illustration of the shovel 100b, which has the same configuration as the shovel 100a, and the illustration of the remote control room RCb, which has the same configuration as the remote control room RCa.

[0063] The space recognition device C3 is configured to be able to recognize the space within the work site. In this embodiment, the space recognition device C3 is a camera installed at the work site and configured to capture images of the work site.

[0064] First, the functions of the controller 30 mounted on the shovel 100a will be described. As shown in Fig. 6, the controller 30 has, as functional blocks, an image generation unit 31, an shovel state identification unit 32, and an actuator driving unit 33. The same applies to the shovel 100b. Although the image generation unit 31, the shovel state identification unit 32, and the actuator driving unit 33 are depicted as being distinct for the sake of convenience of explanation, they do not need to be physically distinct and may be configured, in whole or in part, by common software or hardware components.

[0065] The image generation unit 31 is configured to generate a surrounding image including an image displayed on the display device D1. The surrounding image is an image used when displaying on the display device D1. Typically, the surrounding image is an image representing the surroundings of the excavator 100 that the operator would see if he were inside the cabin 10. In this embodiment, the surrounding image is generated based on an image captured by an imaging device serving as the spatial recognition device C1. Specifically, the image generation unit 31 generates a first virtual viewpoint image as the surrounding image based on images captured by each of the rear camera C1B, the front camera C1F, the left camera C1L, and the right camera C1R. However, the image generation unit 31 may also generate the first virtual viewpoint image as the surrounding image based on images captured by at least one of the rear camera C1B, the front camera C1F, the left camera C1L, and the right camera C1R. The first virtual viewpoint, which is the virtual viewpoint of the first virtual viewpoint image, is a virtual operator viewpoint E1′ (see FIG. 4 ) corresponding to the position of the operator's eyes if the operator were sitting in the driver's seat inside the cabin 10. However, the virtual operator viewpoint E1′ may be outside the cabin 10.

[0066] In this embodiment, the coordinates of the virtual operator viewpoint E1', which is the first virtual viewpoint, are derived based on the operator viewpoint E1 (see FIG. 4), which is the eye position of the operator OP when the operator OP is seated in the driver's seat DS of the remote control room RC. The coordinates of the operator viewpoint E1 are transmitted from the remote controller 40. The image generation unit 31 can derive the coordinates of the virtual operator viewpoint E1' by converting the coordinates of the operator viewpoint E1 in the control room coordinate system into coordinates in the excavator coordinate system. However, the coordinates of the operator viewpoint E1 may be preset fixed values.

[0067] Furthermore, in this embodiment, the first virtual viewpoint image corresponds to an image projected onto the inner peripheral surface of a virtual cylindrical virtual projection surface surrounding the first virtual viewpoint. The virtual projection surface may be the inner surface of a virtual sphere or hemisphere surrounding the first virtual viewpoint, or may be the inner surface of a virtual rectangular parallelepiped or cube surrounding the first virtual viewpoint. By viewing the first virtual viewpoint image generated in this manner, the operator OP can grasp the situation around the excavator 100 in three dimensions. That is, by viewing the first virtual viewpoint image, the operator OP can more accurately grasp, for example, the depth of the bed of a dump truck located in front of the excavator 100, the height of a mound on the ground, or the depth of a hole in the ground.

[0068] The image derived from the first virtual viewpoint image displayed on the display device D1 is a part of the first virtual viewpoint image generated by the image generation unit 31.

[0069] If the display device D1 is a head-mounted display, the area of the image displayed on the display device D1 relative to the entire area of the first virtual viewpoint image may be determined based on the line-of-sight direction of the operator OP seated in the driver's seat DS in the remote control room RC. In this case, information regarding the line-of-sight direction of the operator OP is transmitted from the remote controller 40. The image generation unit 31 generates the first virtual viewpoint image as a surrounding image based on the image output by the spatial recognition device C1 and the coordinates of the operator's viewpoint E1 transmitted from the remote controller 40. Then, the image generation unit 31 cuts out a part of the generated first virtual viewpoint image as a partial surrounding image based on the information regarding the line-of-sight direction of the operator OP transmitted from the remote controller 40, and transmits the cut-out partial surrounding image to the display device D1 in the remote control room RC.

[0070] The shovel state identifying unit 32 is configured to identify the state of the shovel 100. In this embodiment, the state of the shovel 100 includes the position and orientation of the shovel 100. The position of the shovel 100 is, for example, the latitude, longitude, and altitude of a reference point R2 on the shovel 100. The shovel state identifying unit 32 identifies the position and orientation of the shovel based on the output of the positioning device 18.

[0071] The actuator driving unit 33 is configured to drive the actuators mounted on the shovel 100. In this embodiment, the actuator driving unit 33 generates and outputs actuation signals for each of the plurality of solenoid valves included in the solenoid valve unit 45, based on an operation signal transmitted from the remote controller 40.

[0072] Each solenoid valve that receives the actuation signal increases or decreases the pilot pressure acting on the pilot port of the corresponding control valve in the control valve unit 17. As a result, the hydraulic actuator corresponding to each control valve operates at a speed that corresponds to the stroke amount of the control valve.

[0073] Next, the functions of the remote controller 40 installed in the remote control room RC will be described. The remote controller 40 has, as functional blocks, an operator state identification unit 41, an image synthesis unit 42, and an operation signal generation unit 43. For convenience of explanation, the operator state identification unit 41, the image synthesis unit 42, and the operation signal generation unit 43 are depicted as separate units, but they do not need to be physically separate units, and may be configured entirely or partially using common software or hardware components.

[0074] The operator state identification unit 41 is configured to identify the state of the operator OP in the remote control room RC. The state of the operator OP includes the eye position and line of sight of the operator OP. The operator state identification unit 41 identifies the eye position and line of sight of the operator OP based on the output of the indoor space recognition device C2. Specifically, the operator state identification unit 41 performs various image processing on the image captured by the imaging device serving as the indoor space recognition device C2, and identifies the coordinates of the eye position of the operator OP in the control room coordinate system as the coordinates of the operator viewpoint E1 (see FIG. 4). In addition, the operator state identification unit 41 performs various image processing on the image captured by the imaging device serving as the indoor space recognition device C2, and identifies the line of sight of the operator OP in the control room coordinate system.

[0075] The operator state identification unit 41 may derive the coordinates of the operator viewpoint E1 and the line of sight of the operator OP based on the output of a device other than the indoor space recognition device C2, such as a LIDAR or the like installed in the remote control room RC, or an inertial measurement unit attached to the head-mounted display as the display device D1. The inertial measurement unit may include a positioning device.

[0076] Then, the operator state identification unit 41 transmits information relating to the coordinates of the operator viewpoint E1 and the direction of the line of sight of the operator OP to the shovel 100 via the communication device T2.

[0077] The image synthesis unit 42 is configured to synthesize the partial surrounding image transmitted from the controller 30 with another image to generate a synthetic image.

[0078] The other image may be a design surface image, which is an image generated based on the design surface information DG. The design surface information DG is, for example, information about the design surface, which is the ground surface after construction is completed. In this embodiment, the image composition unit 42 superimposes a graphic, such as computer graphics, representing the position of the design surface on the partial surrounding image based on the design surface information DG pre-stored in a non-volatile storage device constituting the remote controller 40 as the design surface image. The design surface is the ground surface when excavation work using the shovel 100 is completed. By viewing the design surface, the operator can understand the state of the surroundings of the shovel 100 when the excavation work is completed, even before the excavation work is completed. In this case, the image composition unit 42 determines the position at which the design surface image should be superimposed on the partial surrounding image, based on the position and orientation of the shovel identified by the shovel state identification unit 32.

[0079] The operation signal generating unit 43 is configured to generate an operation signal. In this embodiment, the operation signal generating unit 43 is configured to generate an operation signal based on the output of the operation sensor 29.

[0080] Next, the functions of the controller 50 installed in the management center 200 serving as an information center will be described. The controller 50 is a computing device that executes various calculations. In this embodiment, the controller 50 is configured as a microcomputer including a CPU and memory, similar to the controller 30 and the remote controller 40. The various functions of the controller 50 are realized by the CPU executing programs stored in the memory.

[0081] In this embodiment, the controller 50 has, as functional blocks, a determination unit 51, an operation simulator 54, and a display unit 55. For convenience of explanation, the determination unit 51, the operation simulator 54, and the display unit 55 are depicted as being distinct from one another, but they do not need to be physically distinct from one another and may be configured entirely or partially using common software or hardware components.

[0082] The determination unit 51 is configured to determine, based on information from an operation simulator 54 (described later), whether or not there is any matter to be notified to a manager regarding the situation around the shovel 100 when the shovel 100 performs work. In this embodiment, the determination unit 51 is configured to determine, based on at least one of an image or a distance image (hereinafter referred to as "image, etc.") captured by a spatial recognition device C1 (as an information acquisition device attached to the shovel 100) acquired by the operation simulator 54, the position, posture, and operation details of the shovel 100. The distance image is, for example, an image generated based on the output of a LIDAR or the like (as the spatial recognition device C1). The determination unit 51 may be configured to determine at least one of the position, posture, and operation details of the shovel 100 based on the image, etc. captured by the spatial recognition device C1. The determination unit 51 may also be configured to determine, based on an image, etc. captured by the spatial recognition device C3 or construction terrain information (terrain data), whether or not there is any matter to be notified to a manager when the shovel 100 performs work. Furthermore, the determination unit 51 may be configured to be able to determine at least one of the position, posture, and operation details of other construction machines based on images, etc. captured by the spatial recognition device C3. The determination unit 51 may determine whether or not there is any matter that should be notified to the manager when the shovel 100 performs work, based on the situation around the shovel 100 and the position, posture, and operation details of the shovel 100 derived from images, etc. acquired by the spatial recognition device C1 and the spatial recognition device C3. Whether or not there is any matter that should be notified may be determined by comparing past cases and determining whether or not there is an identical or similar situation.

[0083] The determination unit 51 may detect a person based on the output of an imaging device, LIDAR, or the like serving as a spatial recognition device C3 installed at the work site. In this case, the spatial recognition device C3 may be, for example, a hemispherical camera attached to the tip of a pole installed at the work site. Note that the spatial recognition device C3 may be an imaging device, LIDAR, or the like attached to another work machine, or may be an imaging device, LIDAR, or the like attached to an aircraft such as a multicopter (drone) flying above the work site.

[0084] Alternatively, when the determination unit 51 detects the presence of an electric wire in the work area, it may determine that there is an item that should be notified to the manager. For example, when the determination unit 51 detects the presence of an electric wire above the shovel 100, it determines that there is an item that should be notified to the manager. In this case, the determination unit 51 may detect the electric wire based on the output of the spatial recognition device C1. Alternatively, the determination unit 51 may detect the electric wire based on an image captured by the spatial recognition device C3, etc. The determination unit 51 transmits the determination result to the operation simulator 54, and the operation simulator 54 simulates the operation again based on the determination result.

[0085] Alternatively, when the determination unit 51 determines, based on the construction terrain information (terrain data), that there is a downslope ahead when the shovel 100 performs work, it determines that there is something that should be notified to the manager. For example, when the determination unit 51 detects that there is a downslope in the path of the shovel 100, it determines that there is something that should be notified to the manager. The determination unit 51 may detect a downslope based on construction terrain information (terrain data) that is stored in advance in a non-volatile storage medium or the like attached to the controller 50.

[0086] When the shovel 100 determines that there is an item that should be notified to the manager when performing work, the determination unit 51 calls the manager's attention based on information from the operation simulator 54. In this embodiment, the determination unit 51 transmits information regarding the item that should be notified to the remote controller 40.

[0087] The operation simulator 54 is configured to be able to perform a simulation of the operation of the shovel 100. The operation of the shovel 100 constitutes various operations, such as excavation work performed by the shovel 100. For example, excavation work is made up of one or more excavation operations. One excavation operation is made up of multiple individual operations, such as an arm closing operation, a bucket closing operation, and a boom raising operation. In the example shown in FIG. 6, the operation simulator 54 starts a simulation of the operation of the shovel 100 in response to a start command from the remote control room RC. Specifically, the operation simulator 54 constructs a virtual work site, which is a virtual model of the work site, based on environmental information. The environmental information is information about the work environment and includes, for example, information output by at least one of the spatial recognition device C1, the spatial recognition device C3, the positioning device 18, and the attitude detection sensor. The environmental information may also include design surface information DG.

[0088] The virtual work site is an example of a virtual environment, such as a virtual space in which the current topography of an actual work site is virtually reproduced. The operation simulator 54 then transmits an image of the virtual work site to the display device D1 so that the operator OP in the remote control room RC can visually recognize the situation of the virtual work site. The image of the virtual work site is typically a three-dimensional topographical image corresponding to the topography of the actual work site and is constructed using computer graphics. However, the image of the virtual work site may also be generated, at least in part, using an image captured by an imaging device. The display device D1 that receives the image of the virtual work site can display the image of the virtual work site.

[0089] The image related to the virtual work site typically includes an image of a virtual shovel. For example, at the time when a simulation of the operation of the shovel 100 is started, the virtual shovel corresponds to the shovel 100 at the actual work site. In other words, the position, attitude, etc. of the virtual shovel at the virtual work site at the time when the simulation is started correspond to the position, attitude, etc. of the shovel 100 at the actual work site. The position, attitude, etc. of the virtual shovel at the virtual work site at the time when the simulation is started are determined based on the output of at least one of the spatial recognition device C1 and the spatial recognition device C3, for example. However, the position, attitude, etc. of the virtual shovel at the virtual work site at the time when the simulation is started may also be determined or adjusted based on the output of at least one of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, swing angular velocity sensor S4, machine body inclination sensor, and positioning device 18, etc., mounted on the shovel 100.

[0090] Thereafter, the operation simulator 54 receives from the remote operation room RC an operation signal generated when the operator OP in the remote operation room RC operates the operating device 26, and operates the virtual shovel in the virtual work site in accordance with the received operation signal. The topography of the virtual work site changes in accordance with the movement of the virtual shovel. For example, the topography of the virtual work site changes in accordance with the virtual excavation work performed by the virtual shovel.

[0091] When the simulation is being performed, the operation signal is not transmitted to the shovel 100 at the actual work site. In other words, the operator OP in the remote control room RC cannot operate the shovel 100 at the actual work site when the simulation is being performed.

[0092] 6, a start command for starting a simulation is generated by the remote controller 40 when an operator OP in the remote control room RC operates a predetermined start button, and is transmitted from the remote controller 40 to the controller 50 in the management center 200. The start button is located, for example, on the top surface of the right console box.

[0093] For example, when the operator OP determines that there is a high probability that an undesirable event will occur due to the movement of the shovel 100, the operator OP operates a predetermined start button to start a simulation. An example of an undesirable event is the collapse of a cliff when excavating the cliff. Here, a cliff refers to, for example, ground including a slope with an inclination angle equal to or greater than the angle of repose. By performing virtual excavation work using a virtual shovel at a virtual work site, the operator OP can confirm how the cliff will collapse if excavated in a certain way. In other words, by virtually trying out multiple excavation work, the operator OP can confirm which parts of the cliff should be excavated, in what order, and to what extent in order to prevent the cliff from collapsing. In other words, the operator OP can derive a problem-free way to proceed with excavation work before actually performing the excavation work (without actually performing the excavation work).

[0094] Specifically, after virtually attempting a single excavation operation, the operator OP can operate a predetermined reset button to return the terrain of the virtual work site, which has changed as a result of the attempt, to its original terrain. The reset button is located, for example, on the top surface of the right console box. The original terrain is, for example, the terrain of the virtual work site at the time the start button is operated, and corresponds to the current terrain of the actual work site. However, the terrain of the virtual work site may be returned to the terrain at any time during the simulation. This configuration allows the operator OP to efficiently try out various excavation operations.

[0095] Then, the operator OP ends the simulation after confirming that the excavation work is unlikely to cause cliff collapse. In the example shown in Fig. 6, the operator OP can end the simulation by operating a predetermined end button. The end button may be the same button as the start button used to start the simulation, or may be a button different from the start button.

[0096] When the simulation is completed, the image of the virtual work site displayed on the display device D1 is switched to an image of the actual work site based on an image captured by an imaging device or the like mounted on the shovel 100. Then, the operator OP can operate the operation device 26 to move the shovel 100 and perform actual excavation work.

[0097] In this state, the operator OP can perform the excavation work that is considered optimal as confirmed by the simulation, and excavate the cliff at the actual work site.

[0098] With this configuration, the controller 50 can, for example, prevent cliff collapses that may occur when excavating a cliff, thereby improving the safety of excavation work by the shovel 100.

[0099] Alternatively, the controller 50 may be configured to stop the movement of the shovel 100 and prompt the operator OP to run a simulation when it is determined that there is a high probability that an undesirable event will occur in response to the movement of the shovel 100. An undesirable event is, for example, a cliff collapse that may occur during cliff excavation.

[0100] For example, if the controller 50 determines, based on the output of the spatial recognition device C1 or the like, that the operator OP is about to excavate a cliff, it may be configured to stop the movement of the shovel 100 and prompt the operator OP to perform a simulation.

[0101] The display unit 55 is configured to generate a management screen that is a screen displayed on the display device D2. In this embodiment, the display unit 55 is configured to generate the management screen based on information received from each of the multiple shovels including the shovel 100a and the shovel 100b.

[0102] Specifically, the display device D2 is configured to be able to display information relating to a plurality of excavators 100. The display device D2 may be a touch panel. In this embodiment, the display device D2 is a multi-display configured with a plurality of monitors. Each monitor is a liquid crystal monitor, an organic EL monitor, or the like. However, the display device D2 may be configured with a single monitor, may be configured with one or more curved monitors, or may be configured with a projector.

[0103] Alternatively, the display device D2 may be a display device that can be worn by the manager. For example, the display device D2 may be a transparent head-mounted display or a non-transparent head-mounted display. Furthermore, the display device D2 may be a monocular head-mounted display or a binocular head-mounted display.

[0104] Furthermore, display device D2 may display the same image as the image displayed on display device D1, or may display an image different from the image displayed on display device D1. When the same image as the image displayed on display device D1 is displayed on display device D2, display unit 55 may use the image generated by image generation unit 31 as is.

[0105] In the construction support system SYS shown in Figure 6, the shovels 100 (shovel 100a and shovel 100b) connected to the management center 200 are both remotely operated shovels, but the shovels 100 connected to the management center 200 may be manned shovels or automatically operated shovels.

[0106] That is, in the construction support system SYS shown in Fig. 6, the shovel 100 is operated by an operator OP in a remote control room RC, but may also be operated by an operator in the cabin 10. In this case, the start button, reset button, and end button are installed in the cabin 10. Alternatively, the shovel 100 may be an automatically operated shovel that does not require operation by an operator. In this case, the start button, reset button, and end button may be omitted.

[0107] 6, the shovels 100 (shovel 100a and shovel 100b) connected to the management center 200 are all shovels working at the same work site, but the shovels 100 connected to the management center 200 may also include shovels working at different work sites. The same applies to the spatial recognition device C3 installed at the work site.

[0108] Next, an example of the configuration of the management screen MS displayed on the display device D2 will be described with reference to Fig. 7. Fig. 7 is a diagram showing an example of the configuration of the management screen MS.

[0109] 7, the management screen MS includes six shovel information windows G1 to G6 corresponding to the six shovels 100, respectively. Specifically, the shovel information window G1 includes information related to a first shovel working at work site A, the shovel information window G2 includes information related to a second shovel working at work site A, and the shovel information window G3 includes information related to a third shovel working at work site A. Furthermore, the shovel information window G4 includes information related to a fourth shovel working at work site B, the shovel information window G5 includes information related to a fifth shovel working at work site B, and the shovel information window G6 includes information related to a sixth shovel working at work site C.

[0110] The excavator information window G1 includes identification information G11, date and time information G12, setting information G13, operation information G14, progress information G15, and image information G16.

[0111] The identification information G11 is information relating to identification, and includes identification information of the first shovel, identification information of the work site, and identification information of the operator, etc. The identification information of the first shovel includes the model number and owner of the first shovel, etc. The identification information of the work site includes the name and location information (latitude, longitude, and altitude) of the work site, etc. The identification information of the operator includes the name and affiliation of the operator, etc.

[0112] The date and time information G12 is information relating to the date and time, and includes the current date and time, the date and time when the construction work started, the date and time when the construction work is scheduled to be completed, and information relating to holidays and the like.

[0113] The setting information G13 is information relating to the settings of the first shovel, and includes information relating to the current rotation speed mode, information relating to the type of end attachment attached to the attachment, information relating to the operating mode of the engine 11, and the like.

[0114] The operation information G14 is information relating to the operation of the first excavator, and includes information relating to the current work content, operation time, and fuel consumption. The current work content is, for example, excavation work, loading work, leveling work, etc.

[0115] The progress information G15 is information relating to the progress of work by the first shovel. In the example shown in FIG. 7, the progress information G15 includes information relating to the progress of work based on the amount of work done by the first shovel. The amount of work is expressed, for example, as the volume of earth and sand excavated by the first shovel. However, the amount of work may also be expressed as the area of the finished form (the area of the ground finished by the first shovel) or the weight of the earth and sand excavated by the first shovel. The volume of earth and sand, the area of the finished form, and the weight of earth and sand are typically calculated based on the outputs of various sensors attached to the first shovel.

[0116] Specifically, the progress information G15 includes a first bar graph G15a, a second bar graph G15b, and a third bar graph G15c. The first bar graph G15a represents the target value of the amount of work for today. The second bar graph G15b represents the amount of work up to the current time for today. The third bar graph G15c represents the estimated value of the amount of work at the end of today's work, estimated from the amount of work up to the current time for today. In other words, when the height of the first bar graph G15a is higher than the height of the second bar graph G15b, it indicates that the target value of the amount of work for today will not be achieved at the current work pace.

[0117] The image information G16 is information related to images, and includes images captured by the spatial recognition device C1, images captured by the indoor spatial recognition device C2, images captured by the spatial recognition device C3, and images generated based on these images. The image information G16 may include identification information of the device that captured the image to be displayed.

[0118] 7, the excavator information windows G2 to G6 have the same configuration as the excavator information window G1. However, the excavator information windows G1 to G6 may have different configurations. For example, the excavator information windows G1 to G6 may have different configurations for each work site.

[0119] With this configuration, the manager looking at the management screen MS displayed on the display device D2 installed in the management center 200 can see information different from the information seen by the operator of the first shovel through the display device D1. The information different from the information seen by the operator of the first shovel through the display device D1 is, for example, information about other shovels (the second shovel and the third shovel) working at the same work site. Therefore, the manager can, for example, communicate to the operator of the first shovel something that the manager has noticed but that the operator of the first shovel is not likely to have noticed.

[0120] The controller 50 of the management center 200 may have a function for facilitating communication between the manager and the operator of the first shovel. For example, the display unit 55 of the controller 50 may display a software button in the shovel information window G1 for starting a voice call, video call, chat, or the like (hereinafter referred to as "voice call, etc.") between the manager and the operator of the first shovel. The manager can start a voice call, etc. between the manager and the operator of the first shovel by operating this software button.

[0121] The controller 50 may also have a function that allows an administrator to intervene in the operation of the shovel 100. For example, the display unit 55 of the controller 50 may display a software button in the shovel information window G1 for generating an operation signal to slow down or stop the movement of the first shovel. By operating this software button, the administrator can transmit an operation signal to the first shovel to slow down or stop the movement of the first shovel. In this case, the operation signal based on the operation by the operator of the first shovel is invalidated. The controller 50 may also be configured to notify the operator of the first shovel that an administrator has intervened when the administrator has intervened. Specifically, the controller 50 may transmit a control signal to the remote controller 40, causing a text message informing the operator that the administrator has intervened to be displayed on the display device D1, or an audio message informing the operator that the administrator has intervened to be output from the sound output device A2.

[0122] The display device D2 may display information about a transport vehicle for transporting the earth and sand excavated by the shovel 100. The transport vehicle is an example of a construction machine, and is typically a dump truck. In this case, the information about the transport vehicle may be displayed as a dump truck information window having a configuration similar to that of the shovel information window G1. The dump truck information window may also display a software button for starting a voice call or the like between the manager and the dump truck driver, or a software button for generating an operation signal to slow down or stop the movement of the dump truck.

[0123] Next, another example of the configuration of the construction support system SYS of the excavator 100 will be described with reference to Fig. 8. Fig. 8 is a functional block diagram showing another example of the configuration of the construction support system SYS, and corresponds to Fig. 6.

[0124] The construction support system SYS shown in Fig. 8 differs from the construction support system SYS shown in Fig. 6 in that all of the multiple excavators 100 connected to the controller 50 of the management center 200 are automatically operated excavators, that is, in that the remote control room RC is not connected to the controller 50, but in other respects it is the same as the construction support system SYS shown in Fig. 6. Therefore, in the following, a description of the common parts will be omitted and the different parts will be described in detail.

[0125] The shovel 100 as an automatically operated shovel differs from the shovel 100 as a remotely operated shovel or a manned shovel in that the controller 30 has a target trajectory generating unit 34. This point is also the same for the shovel 100 as an automatically operated shovel connected to the controller 50 constituting the construction support system SYS shown in Fig. 6.

[0126] The shovel 100, as an autonomous shovel, is configured to perform work by utilizing operation commands, which are commands related to a predetermined series of operations. For example, in the case of excavation work, the predetermined series of operations consists of one or more excavation operations. The operation commands are basically determined based on the work setup. Therefore, the operation commands are also referred to as setup commands. Determining the work setup means determining the order in which the shovel 100 is to perform certain operations. For example, determining the work setup means determining which parts of the work site are to be excavated and in what order, taking into account various factors such as work efficiency and work safety. The various factors include where the stakes are installed, how the construction area for the day is set up, and the order in which parts of the construction area are to be constructed. Furthermore, when multiple shovels 100 are working at the same work site, the work setups of the multiple shovels 100 need to be determined so that the work setups of one shovel 100 and the work setups of the other shovels 100 do not contradict each other.

[0127] At work sites where general manned excavators are used, work setups are typically determined based on the empirical judgment of a skilled operator. At work sites where autonomous excavators are used, work setups are basically determined to be similar to setups determined based on the empirical judgment of a skilled operator. Therefore, work setups at work sites where autonomous excavators are used are determined based on information about the work site and various past data. At this time, machine learning technologies such as deep learning may be used.

[0128] In this embodiment, the controller 50 in the management center 200 generates operation commands corresponding to each of the multiple shovels 100 working at the same work site, based on the design surface information DG and the like stored in advance in a nonvolatile storage device constituting the controller 50. Then, the controller 50 transmits the generated operation commands to the target trajectory generating unit 34 of the controller 30 mounted on each of the shovels 100 as automatically operated shovels.

[0129] Specifically, the controller 50 generates operation commands for the multiple shovels 100 simultaneously in parallel, and transmits operation commands corresponding to each of the multiple shovels 100 to each of the multiple shovels 100 simultaneously in parallel.

[0130] The target trajectory generating unit 34 is configured to be able to generate a target trajectory. The target trajectory is a trajectory that a predetermined portion, such as the toe of the bucket 6, follows. The target trajectory can be generated by any method. For example, the target trajectory may be generated based on data related to past trajectories. The data related to past trajectories is, for example, data related to the trajectory that the toe of the bucket 6 followed in excavation work that was performed in the past. Machine learning such as deep learning may be used to generate the target trajectory. Typically, the target trajectory generated based on one operation command is a target trajectory related to multiple excavation operations.

[0131] Furthermore, the target trajectory generating unit 34 is configured to be able to generate an operation signal based on the generated target trajectory. In this embodiment, the target trajectory generating unit 34 is configured to be able to repeatedly generate an operation signal at each predetermined control period so that the position of the toe of the bucket 6 moves along the target trajectory when excavation work is performed.

[0132] 8, when the target trajectory generating unit 34 receives an operation command from the controller 50, it repeatedly generates an operation signal at each predetermined control period so that the shovel 100 can automatically operate in accordance with the operation command. Then, the target trajectory generating unit 34 outputs the generated operation signal to the actuator driving unit 33.

[0133] The operation signal is generated, for example, based on a target trajectory. In the example shown in Fig. 8, the target trajectory generation unit 34 generates a target trajectory based on the operation command received from the management center 200 and the output of the spatial recognition device C1. Specifically, the target trajectory generation unit 34 generates a target trajectory based on the operation command received from the management center 200 and the current shape of the ground to be excavated. Then, the target trajectory generation unit 34 generates an operation signal so that the toe of the bucket 6 can be moved along the generated target trajectory.

[0134] The target trajectory generating unit 34 may calculate the current position of the toe of the bucket 6 based on the output of a posture detection sensor attached to the shovel 100, and may feedback control the position of the toe of the bucket 6 so that the deviation between the target trajectory and the current position of the toe of the bucket 6 becomes zero.

[0135] Alternatively, the target trajectory generating unit 34 may estimate the hardness of the ground to be excavated from an excavation reaction force or the like calculated based on the outputs of various sensors attached to the shovel 100. Then, the target trajectory generating unit 34 may adjust the target trajectory according to the estimated hardness of the ground. In this case, typically, the target trajectory is adjusted so that the harder the ground is, the shallower the target trajectory (the closer to the ground surface).

[0136] Next, another configuration example of the construction support system SYS for the shovel 100 will be described with reference to Fig. 9. Fig. 9 is a functional block diagram showing yet another configuration example of the construction support system SYS, and corresponds to Fig. 8. In the construction support system SYS shown in Fig. 9, the shovel 100 and the spatial recognition device C3 are each connected to the management center 200 via a 5G line or a 6G line.

[0137] The construction support system SYS shown in Fig. 9 differs from the construction support system SYS shown in Fig. 8 in that the controller 50 of the management center 200 has a target trajectory generating unit 56 and the controller 30 of the shovel 100 does not have a target trajectory generating unit 34, but in other respects it is the same as the construction support system SYS shown in Fig. 8. Therefore, in the following, a description of the common parts will be omitted and the different parts will be described in detail.

[0138] In the example shown in Fig. 9, the target trajectory generating unit 56 is configured to be able to generate a target trajectory, similar to the target trajectory generating unit 34 in the construction support system SYS shown in Fig. 8. However, the target trajectory generating unit 56 differs from the target trajectory generating unit 34 in the controller 30 of the shovel 100 in that the target trajectory generating unit 56 generates target trajectories for a plurality of shovels 100 simultaneously in parallel.

[0139] Specifically, the target trajectory generating unit 56 receives the output of the spatial recognition device C1 attached to the shovel 100 via the communication device T1 attached to the shovel 100. Then, the target trajectory generating unit 56 generates a target trajectory based on the operation command generated by the controller 50 and the output of the spatial recognition device C1. More specifically, the target trajectory generating unit 56 generates a target trajectory based on the operation command generated by the controller 50 and the current shape of the ground to be excavated received through the communication devices T1 and T3. Then, the target trajectory generating unit 56 generates an operation signal so as to move the toe of the bucket 6 along the generated target trajectory.

[0140] Thereafter, the target trajectory generating unit 56 transmits the operation signal repeatedly generated at a predetermined control period to the actuator driving unit 33 in the controller 30 of the shovel 100 via the communication device T3.

[0141] The target trajectory generating unit 56 may calculate the current position of the toe of the bucket 6 based on the output of a posture detection sensor attached to the shovel 100, and may perform feedback control of the position of the toe of the bucket 6 so that the deviation between the target trajectory and the current position of the toe of the bucket 6 becomes zero.

[0142] Alternatively, the target trajectory generating unit 56 may estimate the hardness of the ground to be excavated from an excavation reaction force or the like calculated based on the outputs of various sensors attached to the shovel 100. Then, the target trajectory generating unit 56 may adjust the target trajectory according to the estimated hardness of the ground. In this case, typically, the target trajectory is adjusted so that the harder the ground is, the shallower the target trajectory (the closer to the ground surface).

[0143] In this way, the target trajectory generating unit 56 can simultaneously realize automatic operation of a plurality of shovels 100 by simultaneously executing the above-mentioned processing for each of the plurality of shovels 100 in parallel.

[0144] Furthermore, the operation simulator 54 constituting the controller 50 may perform a simulation of the operations that constitute the work performed by the shovel 100 before the actual work is performed by the shovel 100.

[0145] For example, the operation simulator 54 can virtually confirm the changes in the terrain from the start to the completion of work by the shovel 100 by virtually executing the operations that constitute work by the shovel 100 based on information regarding the operation commands and information regarding the current terrain of the actual work site.

[0146] In this case, the operation simulator 54 can recognize in advance problems (things requiring attention) that may occur when the shovel 100 is operated in accordance with the operation command. That is, the operation simulator 54 can extract things requiring attention. Therefore, the operation simulator 54 can correct the operation command as necessary.

[0147] When correcting the operation command, the operation simulator 54 can find an optimal operation command by simulating the operation of the shovel 100 in accordance with the multiple new operation commands. Machine learning such as deep learning may be used to generate the multiple new operation commands, as in the case of the initial operation command.

[0148] Furthermore, the operation simulator 54 may be configured to simulate what kind of event will occur a predetermined time in the future when actual work is being performed by the shovel 100 as an autonomously operated shovel. With this configuration, the operation simulator 54 can perform virtual work (virtual operation) a predetermined time in advance of the actual work, and can recognize in advance the occurrence of an undesirable event. Then, when the operation simulator 54 recognizes in advance that an undesirable event will occur, it can correct the operation command to prevent the occurrence of such an undesirable event.

[0149] Furthermore, the operation simulator 54 may be configured to redo the simulation of the operation of the shovel 100 that constitutes the subsequent work when an event different from the expected event occurs. For example, the operation simulator 54 may be configured to redo the simulation of the operation of the shovel 100 that constitutes the subsequent work when it is determined that the soil is more clayey or sandy than expected based on the output of various sensors mounted on the shovel 100. This is because sandy ground is more likely to crumble than clayey ground, and affects the estimated results of topography that changes due to excavation work, etc. In other words, simulation results derived under the assumption that the soil is clayey will be inappropriate for soil that is actually sandier.

[0150] For example, the controller 50 can derive the amount of soil that collapses from the sides of an excavation hole, which is a hole formed by actual excavation work, and accumulates at the bottom of the excavation hole, based on the output of the spatial recognition device C1. Then, the controller 50 can derive the characteristics of the ground on which the work is being carried out, based on the amount of soil that accumulates at the bottom of the excavation hole. The characteristics of the ground include, for example, the degree of sandiness or the degree of clayiness. Typically, the controller 50 can determine that the greater the amount of soil that accumulates at the bottom of the excavation hole, the greater the degree of sandiness.

[0151] With this configuration, the controller 50 can improve the accuracy of the simulation results relating to work performed by the shovel 100, and can improve the work efficiency of the shovel 100 as an autonomously operated shovel. In addition, the controller 50 can improve the safety of work performed by the shovel 100 as an autonomously operated shovel.

[0152] 8 (a configuration in which the controller 30 mounted on the shovel 100 has the target trajectory generating unit 34), this configuration can reduce the manufacturing cost of the shovel 100. This is because the required specifications of the controller 30 can be relaxed by reducing the calculation load on the controller 30 related to the automatic operation of the shovel 100.

[0153] In the example shown in FIG. 9 , the controller 30 of the shovel 100 has an image generating unit 31, an shovel state identifying unit 32, and an actuator driving unit 33, but at least one of the image generating unit 31, the shovel state identifying unit 32, and the actuator driving unit 33 may be realized as a function of the controller 50 of the management center 200. In this case, of the image generating unit 31, the shovel state identifying unit 32, and the actuator driving unit 33 in the controller 30 of the shovel 100, those realized as functions of the controller 50 of the management center 200 may be omitted from the controller 30. Alternatively, all of the functions of the controller 30 may be realized as functions of the controller 50. In this case, the controller 30 may be omitted. These configurations can further reduce the manufacturing cost of the shovel 100.

[0154] Next, the effect of the simulation executed by the operation simulator 54 in the controller 50 will be described with reference to Fig. 10. Fig. 10 is a side view of the shovel 100.

[0155] If the excavator 100 is a remote-operated excavator, an operator OP of the excavator 100 is about to perform excavation work to excavate cliff CL1 and expose design surface TS. The operator OP remotely controls the excavator 100 using an operating device 26 installed in a remote control room RC. Before excavating cliff CL1, the operator OP presses a start button installed in the remote control room RC to start a simulation.

[0156] When the start button is pressed, the remote controller 40 installed in the remote operation room RC generates a start command and transmits the start command to the controller 50 (operation simulator 54) in the management center 200. The operation simulator 54, which has received the start command, recognizes the topography of the actual work site around the shovel 100 based on the output of the LIDAR serving as the spatial recognition device C1 attached to the shovel 100, and generates a three-dimensional topographical image of a virtual work site corresponding to the topography of the work site.

[0157] The three-dimensional terrain image generated by the motion simulator 54 is transmitted to a display device D1 installed in the remote control room RC and displayed on the display device D1.

[0158] The operator OP can operate the virtual shovel by operating the operating device 26 while viewing the three-dimensional terrain image displayed on the display device D1.

[0159] In the example shown in Figure 10, the operator OP can simulate, for example, a first excavation operation in which the soil portion SP1 delimited by the dotted line is first excavated, and a second excavation operation in which the soil portion SP2 delimited by the dotted line is first excavated.

[0160] Then, when the operator OP tries out the first excavation work, he or she can confirm that if the soil portion SP1 is excavated first, the soil portion SP3 shown with diagonal lines will collapse. Furthermore, when the operator OP tries out the second excavation work, he or she can confirm that even if the soil portion SP2 is excavated first, the collapse of other soil portions will not occur. In this case, the operator OP may execute the second excavation work as the excavation work to be carried out at the actual work site based on the results of the simulation. Alternatively, the operator OP may execute the first excavation work as the excavation work to be carried out at the actual work site in order to proactively take advantage of the collapse of the soil portion SP3.

[0161] When the shovel 100 is an autonomous shovel, the shovel 100 operates autonomously in response to an operation command or an operation signal from the controller 50. The operation simulator 54 automatically starts a simulation before excavating the cliff CL1.

[0162] In the example shown in Figure 10, the operation simulator 54 can simulate, for example, a first excavation operation in which the soil portion SP1 delimited by the dotted line is first excavated, and a second excavation operation in which the soil portion SP2 delimited by the dotted line is first excavated.

[0163] When the operation simulator 54 tests the first excavation operation, it can confirm that if the soil portion SP1 is excavated first, the soil portion SP3 shown by the diagonal lines will collapse. Furthermore, when the operation simulator 54 tests the second excavation operation, it can confirm that even if the soil portion SP2 is excavated first, the collapse of other soil portions will not occur. In this case, the operation simulator 54 may select the second excavation operation as the excavation operation to be performed at the actual work site based on the results of the simulation. Alternatively, the operation simulator 54 may select the first excavation operation as the excavation operation to be performed at the actual work site in order to proactively utilize the collapse of the soil portion SP3.

[0164] Next, still another example of the configuration of the construction support system SYS of the excavator 100 will be described with reference to Fig. 11. Fig. 11 is a functional block diagram showing another example of the configuration of the construction support system SYS, and corresponds to Fig. 9.

[0165] The construction support system SYS shown in Fig. 11 differs from the construction support system SYS shown in Fig. 9 in that the controller 30 mounted on the excavator 100 has an abnormality detection unit 35, but in other respects it is the same as the construction support system SYS shown in Fig. 9. Therefore, in the following, a description of the common parts will be omitted and the different parts will be described in detail.

[0166] The abnormality detection unit 35 is configured to detect an abnormal event occurring around the shovel 100. In the example shown in Fig. 11, the abnormality detection unit 35 is configured to detect an abnormal event occurring around the shovel 100 in advance based on the output of the spatial recognition device C1. This is to prevent the occurrence of an abnormal event before it occurs. Abnormal events that occur around the shovel 100 include, for example, the shovel 100 falling off a cliff CL2 (see Fig. 10), contact between the excavation attachment AT of the shovel 100 and an electric wire EW (see Fig. 10), the shovel 100 falling into a hole newly formed by excavation work, and contact between the shovel 100 and building materials or the like that have been temporarily placed around the shovel 100 by a crane or the like.

[0167] The abnormality detection unit 35 recognizes the existence of cliff CL2 based on the output of the spatial recognition device C1, for example, and determines that there is a risk of the ground near cliff CL2 collapsing if the shovel 100 enters within a predetermined distance from the cliff CL2. The predetermined distance may be a value that is set in advance based on at least one of data on past cases, characteristics of the soil and sand that make up the ground, and data on the weight of the shovel 100, or may be a value that is determined dynamically.

[0168] When the shovel 100 approaches within a predetermined distance from the cliff CL2, the abnormality detection unit 35 may alert the manager at the management center 200, slow down the movement of the shovel 100, or stop the movement of the shovel 100.

[0169] Alternatively, the abnormality detection unit 35 recognizes the presence of the electric wire EW based on the output of the spatial recognition device C1, for example, and determines that there is a risk that the excavation attachment AT will come into contact with the electric wire EW when the upper end of the excavation attachment AT (arm 5) enters within a predetermined distance from the electric wire EW. The predetermined distance may be a value set in advance based on data on past cases, or may be a value that is dynamically determined.

[0170] When the upper end of the excavation attachment AT approaches within a predetermined distance from the electric wire EW, the abnormality detection unit 35 may alert the manager at the management center 200, slow down the movement of the excavation attachment AT, or stop the movement of the excavation attachment AT.

[0171] Alternatively, the abnormality detection unit 35 may recognize the existence of a hole newly formed by excavation work, for example, based on the output of the spatial recognition device C1, and determine that there is a risk of the ground near the hole collapsing if the shovel 100 enters within a predetermined distance from the hole.

[0172] When the shovel 100 enters within a predetermined distance from the hole, the abnormality detection unit 35 may alert the manager at the management center 200, slow down the movement of the excavation attachment AT, or stop the movement of the excavation attachment AT.

[0173] Alternatively, the abnormality detection unit 35 may recognize the presence of new building materials that have been temporarily placed around the shovel 100 by a crane or the like, for example, based on the output of the spatial recognition device C1, and determine that there is a risk that the shovel 100 will come into contact with the building materials when the shovel 100 enters within a predetermined distance from the building materials.

[0174] When the shovel 100 enters within a predetermined distance from the building material, the abnormality detection unit 35 may alert the manager at the management center 200, slow down the movement of the excavation attachment AT, or stop the movement of the excavation attachment AT.

[0175] The abnormality detection unit 35 may be configured to transmit information relating to the recognition results of objects present around the shovel 100 and information relating to the determination result as to whether or not an abnormal event is likely to occur to the management center 200. This is to enable the operation simulator 54 in the management center 200 to use the information.

[0176] Next, another configuration example of the management screen MS displayed on the display device D2 will be described with reference to Fig. 12. Fig. 12 is a diagram showing another configuration example of the management screen MS. Specifically, Fig. 12 shows an example of the configuration of the management screen MS displayed on the display device D2 when the abnormality detection unit 35 in the controller 30 of the shovel 100 (first shovel) constituting the construction support system SYS shown in Fig. 11 determines that there is a risk of an abnormal event occurring around the first shovel. Note that in the example shown in Fig. 12, the same management screen MS as the management screen MS shown in Fig. 7 is displayed on the display device D2 until the abnormality detection unit 35 determines that there is a risk of an abnormal event occurring around the first shovel.

[0177] Specifically, on the management screen MS shown in Fig. 12, the excavator information window G1E is displayed so as to cover the excavator information windows G1 to G4 (see Fig. 7). The excavator information window G1E includes information about the first excavator working at the work site A, and is larger in size than the excavator information window G1 (see Fig. 7). This difference in size allows the administrator to distinguish between information about the first excavator, of the six excavators 100, in which an abnormality has been detected, and information about five excavators (the second to sixth excavators), of the six excavators 100, in which no abnormality has been detected. The excavator information window G1E may be displayed on the entire screen.

[0178] However, the excavator information window G1E does not need to be larger in size than the excavator information window G1 (see FIG. 7) as long as the administrator can distinguish between them. For example, the excavator information window G1E may be configured to flash entirely while having the same size as the excavator information window G1 (see FIG. 7).

[0179] More specifically, the excavator information window G1E includes identification information G17, warning information G18, and image information G19.

[0180] The identification information G17 is information related to identification, and corresponds to the identification information G11 in Fig. 7. In this embodiment, the identification information G17 includes more detailed information than the identification information G11 in Fig. 7. This is to enable the administrator to more accurately identify the first shovel.

[0181] The warning information G18 is information relating to details of an abnormal event that has been determined to be likely to occur. Specifically, the warning information G18 includes a text message informing that there is a risk of the first shovel falling off a cliff CL2 (see FIG. 10), or a text message informing that there is a risk of contact between the excavation attachment AT of the first shovel and the electric wire EW (see FIG. 10).

[0182] The image information G19 is information related to an image and corresponds to the image information G16 in FIG. 7. In this embodiment, the image information G19 includes images captured by the spatial recognition device C1, images captured by the spatial recognition device C3, and images generated based on these images. Typically, the image information G19 includes images related to an abnormal event that has been determined to be likely to occur. For example, the image information G19 includes an image representing the positional relationship between the first shovel and a cliff CL2 (see FIG. 10), or an image representing the positional relationship between the excavation attachment AT of the first shovel and an electric wire EW (see FIG. 10).

[0183] By viewing this management screen MS, the manager at the management center 200 can quickly recognize that an abnormal event may occur, and can therefore quickly take necessary measures, such as stopping the movement of the first shovel or slowing down the movement of the first shovel.

[0184] As described above, the construction machine management system (construction support system SYS) according to the embodiment of the present invention includes a plurality of construction machines (shovels 100) connected via wireless communication and a computing device (controller 50) installed in the management center 200. The management center 200 is also equipped with a display device D2 connected to the controller 50, and the display device D2 displays a management screen MS for managing the plurality of excavators 100. With this configuration, the construction support system SYS can manage the status of the plurality of construction machines. An administrator at the management center 200 can manage the status of the plurality of construction machines by viewing the management screen displayed on the display device D2.

[0185] The management screen MS may display information regarding the progress of work performed by each of the multiple shovels 100. Furthermore, the management screen MS may highlight information regarding a shovel 100 among the multiple shovels 100 in which an abnormality has been detected. That is, the management screen MS may display information regarding a shovel 100 among the multiple shovels 100 in which an abnormality has been detected so as to be distinguishable from information regarding a shovel 100 among the multiple shovels 100 in which an abnormality has not been detected. With this configuration, the manager at the management center 200 can easily identify the shovel 100 in which an abnormality has been detected, and can take necessary measures early on.

[0186] The controller 50 may be configured to execute a simulation of the operation of the shovel 100 in a virtual environment that is set based on the work environment of the shovel 100. Specifically, the controller 50 may be configured to set a virtual work site, which is an example of a virtual environment, based on information about the work site where the shovel 100 is located, and to execute a simulation of virtual operations that constitute virtual excavation work by the virtual shovel in the virtual work site. More specifically, the controller 50 may be configured to be able to derive how the virtual work site will change when certain virtual operations are performed.

[0187] With this configuration, the construction support system SYS can reflect the situation at the actual work site when supporting construction by the shovel 100 by performing a simulation of work by the shovel 100 based on information about the actual work site.

[0188] The controller 50 may execute a simulation based on the output of a spatial recognition device that recognizes the space around the shovel 100. The spatial recognition device may be mounted on the shovel 100 or may be installed outside the shovel 100. The controller 50 may execute a simulation based on the output of one spatial recognition device, or may execute a simulation based on the output of multiple spatial recognition devices. The spatial recognition device may be, for example, a spatial recognition device C1 mounted on the shovel 100. Alternatively, the spatial recognition device may be a spatial recognition device C3 installed outside the shovel 100. Specifically, the spatial recognition device C3 may be attached to a pole installed at the work site, or may be attached to another shovel other than the shovel 100, or may be attached to an aircraft flying above the work site.

[0189] The construction support system SYS may have a display device that displays the results of the simulation performed by the controller 50.

[0190] The controller 50 may be configured to be able to recognize, in advance, by simulation, events that may occur when the shovel 100 is actually operated. With this configuration, the construction support system SYS can recognize in advance undesirable events that may occur when the shovel 100 is actually operated, and can prevent such undesirable events from actually occurring.

[0191] The shovel 100 may be an autonomous shovel. In this case, the controller 50 may generate an operation signal based on information related to a preset operation command. The shovel 100 may then be configured to operate in accordance with the operation signal. Furthermore, the controller 50 may be configured to be able to change the operation command based on the results of a simulation.

[0192] With this configuration, the construction support system SYS can reflect the actual situation at the work site when supporting construction by the shovel 100, even if the shovel 100 is an automatically operated shovel.

[0193] The controller 50 may be configured to continuously derive, through simulation, a future state of the work site after a predetermined time has elapsed, which will be realized by the shovel 100 operating in accordance with the operation command.

[0194] With this configuration, the construction support system SYS can actually operate the shovel 100 and derive in real time the state of the work site at a predetermined time in the future through simulation. Therefore, the construction support system SYS can detect in advance that the state of the work site at a predetermined time in the future will become undesirable. In this case, the construction support system SYS can prevent such undesirable state from actually occurring by switching the currently used operation command to a different operation command.

[0195] The controller 50 may be configured to redo the simulation when the preconditions for the simulation change. A precondition for the simulation is, for example, that the sandiness of the soil to be worked on is within a predetermined range. The sandiness of the soil is derived, for example, based on the output of a spatial recognition device. This is because if the results of a simulation based on a changed precondition are used, the work site may end up in an undesirable state.

[0196] With this configuration, if the construction support system SYS determines that the assumptions for the simulation have changed, it will redo the simulation, thereby more appropriately reflecting the actual work site conditions when supporting construction by the shovel 100.

[0197] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise.

[0198] For example, in the above embodiment, the operation simulator 54 is realized as a function of the controller 50 installed in the management center 200, but it may also be realized as a function of the controller 30 or as a function of the remote controller 40. Alternatively, the operation simulator 54 may be realized as a function of a computing device separate from each of the controller 30, the remote controller 40, and the controller 50.

[0199] In the above embodiment, the excavator 100 and a dump truck as a transport vehicle are given as examples of construction machines connected to the management center 200 that constitutes the construction support system SYS. However, the construction machines connected to the management center 200 may include other construction machines such as a crane. [Explanation of symbols]

[0200] 1···Undercarriage 1L···Left-side travel hydraulic motor 1R···Right-side travel hydraulic motor 2···Slewing mechanism 2A···Slewing hydraulic motor 3···Upper rotating body 4···Boom 5···Arm 6···Bucket 7···Boom cylinder 8···Arm cylinder 9···Bucket cylinder 10···Cabin 11···Engine 11a···Alternator 11b···Starter 11c···Water temperature sensor 13···Regulator 14···Main pump 14b···Discharge pressure sensor 14c···Oil temperature sensor 15···Pilot pump 16···Hydraulic oil line 17···Control valve unit 18···Positioning device 21···Urea tank 21a···Urea remaining amount sensor 22···Fuel tank 22a...Fuel level sensor 25...Pilot line 26...Operation device 29...Operation sensor 30...Controller 30a...Memory 31...Image generation unit 32...Excavator state identification unit 33...Actuator drive unit 34...Target trajectory generation unit 35...Abnormality detection unit 40...Remote controller 41...Operator state identification unit 42...Image synthesis unit 43...Operation signal generation unit 45...Solenoid valve unit 50...Controller 51...Judgment unit 54...Motion simulator 55...Display unit 56...Target trajectory generation unit 70...Battery 72...Electrical equipment 74...Engine control unit 75...Dial 100, 100a, 100b...Excavator 200···Management center A1···Sound collection device A2···Sound output device C1···Spatial recognition device C1B···Rear camera C1F···Front camera C1L···Left camera C1R···Right camera C2···Interior spatial recognition device C3···Spatial recognition device D1, D2···Display device DG···Design surface information DS···Driver's seat E1···Operator's viewpoint E1'···Virtual operator's viewpoint MS···Management screen OP···Operator RC, RCa, RCb···Remote control room S1···Boom angle sensor S2···Arm angle sensor S3···Bucket angle sensor S4···Swing angular velocity sensor SYS···Construction support system T1, T2, T3···Communication device

Claims

1. A construction machine management system including a plurality of construction machines connected via wireless communication and a computing device installed in a management center, a display device connected to the computing device is installed in the management center; a management screen for managing a plurality of the construction machines is displayed on the display device, the management screen simultaneously displays information regarding the progress of work performed by each of the plurality of construction machines, and a software button for starting communication between a manager at the management center and an operator of the construction machine. Construction machinery management system.

2. the computing device has a function that enables a manager at the management center to intervene in the operation of the construction machine; The construction machine management system according to claim 1.

3. On the management screen, information relating to a construction machine in which an abnormality has been detected among the plurality of construction machines is highlighted. The construction machine management system according to claim 1 or 2.

4. the arithmetic unit generates an operation signal based on information about an operation command; The construction machine is an autonomous shovel and is configured to operate in response to the operation signal.

4. A construction machine management system according to claim 1.

5. A construction machine management system including a plurality of construction machines connected via wireless communication and a computing device installed in a management center, a display device connected to the computing device is installed in the management center; a management screen for managing a plurality of the construction machines is displayed on the display device, a software button for starting communication between a manager at the management center and an operator of the construction machine is displayed on the management screen; the computing device executes a simulation of the operation of the construction machine in a virtual environment set based on the work environment of the construction machine at the actual work site in response to a simulation operation signal generated when an operator of the construction machine at the actual work site operates an operation device; When the simulation is being executed, the operator of the construction machine cannot operate the construction machine at an actual work site. Construction machinery management system.

6. the computing device is configured to recognize, in advance, events that will occur when the construction machine is actually operated, through the simulation. The construction machine management system according to claim 5.

Images