Construction Machinery Monitoring System

Abstract

To adaptively change a communication frequency between a construction machine and a terminal at a remote place and optimize a communication amount when monitoring the construction machine.SOLUTION: A construction machine monitoring system comprises: a plurality of construction machines 10 each comprising a construction machine control device; an information terminal 70 provided at a remote place from the construction machines 10; and a management device 40 that includes a management control device 50, being communicable with the construction machines 10 and the information terminal 70. The construction machine control device includes: a position information acquisition unit that acquires position information on the construction machine 10; a posture information acquisition unit that acquires posture information on the construction machine 10; and a communication control unit that transmits construction machine condition information Ds related to a condition of the construction machine 10 including the position information and the posture information at a predetermined transmission interval. The management control device 50 includes: a communication control unit 52 that transmits to the information terminal the construction machine condition information Ds transmitted from the construction machine control devices; a road surface condition determination unit 60 that determines a road surface condition of a road surface on which each construction machine 10 travels, on the basis of the position information and the posture information; and a transmission interval setting unit 66 that updates and sets the transmission interval on the basis of the road surface condition.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] There is a system that allows for monitoring information about construction machinery on a remote terminal by transmitting information about the machinery's location, status, etc. from the machinery deployed at a construction site to the remote terminal. This makes it possible to check in real time whether the machinery is being operated safely on the remote terminal. In such a system, the machinery must transmit information to the remote terminal at short intervals in order to grasp the constantly changing status of the machinery in real time. However, transmitting information at a high frequency poses problems such as an increase in communication volume and a lack of communication bandwidth.

[0003] As a technology for changing communication frequency depending on the situation, for example, Patent Document 1 discloses a vehicle control device that reduces communication load by shortening the communication cycle when a functional unit corresponding to multiple devices related to the vehicle's behavior receives a control request, and lengthening the communication cycle when another functional unit receives a control request. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-22793 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when construction machinery travels on roads at construction sites, the road surface is often uneven, causing greater bumps than when traveling on paved asphalt. When construction machinery travels on road surfaces with greater bumps, there is a high risk of the loaded earth and sand falling or the machinery tipping over. Therefore, it is preferable to frequently update the status information of the construction machinery in order to grasp its condition.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a construction machinery monitoring system that can adaptively change the frequency of communication between a construction machinery and a remote terminal when monitoring the construction machinery, thereby optimizing the amount of communication. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, a construction machinery monitoring system according to one embodiment of the present disclosure comprises a plurality of construction machines each equipped with a construction machinery control device, an information terminal installed remotely from the construction machines, and a management device including a management control device capable of communicating with the construction machines and the information terminal, wherein the construction machinery control device comprises: a position information acquisition unit that acquires position information of the construction machines; an attitude information acquisition unit that acquires attitude information of the construction machines; and a construction machinery communication control unit that transmits construction machinery status information regarding the status of the construction machines, including the position information and the attitude information, at a predetermined transmission interval, and the management control device comprises: a management communication control unit that acquires the construction machinery status information transmitted from the construction machinery control device and transmits it to the information terminal; a road surface condition determination unit that determines the road surface conditions on which the construction machines are traveling based on the position information and the attitude information; and a transmission interval setting unit that updates and sets the transmission interval based on the road surface conditions.

[0008] In a preferred embodiment of the construction machinery monitoring system, the management control device further includes a driving condition determination unit that determines the driving conditions, including the driving speed, of the construction machinery based on the location information, and the transmission interval setting unit updates and sets the transmission interval based on the driving conditions.

[0009] In a preferred embodiment of the construction machinery monitoring system, the construction machinery status information includes cargo information including the weight of the cargo loaded on the construction machinery, the management control device further includes a cargo status determination unit that determines the cargo status of the construction machinery based on the cargo information, and the transmission interval setting unit updates and sets the transmission interval based on the cargo status.

[0010] In a desirable aspect of the construction machinery monitoring system, the construction machinery status information includes drive information indicating the drive status of each part of the construction machinery, the management control device further includes an operation status determination unit that determines the operation status of the construction machinery based on the drive information, and the transmission interval setting unit updates and sets the transmission interval based on the operation status.

[0011] In a preferred embodiment of the construction machinery monitoring system, the construction machinery status information includes obstacle information including the positions and movement speeds of obstacles around the construction machinery, the management control device further includes an obstacle status determination unit that determines the obstacle status around the construction machinery based on the obstacle information, and the transmission interval setting unit updates and sets the transmission interval based on the obstacle status.

[0012] In a preferred embodiment of the construction machinery monitoring system, the management control device further includes an other machinery status determination unit that determines the other machinery status indicating the status of other construction machinery relative to a specified construction machinery based on the position information of multiple construction machinery, and the transmission interval setting unit updates and sets the transmission interval based on the other machinery status.

[0013] In a preferred embodiment of the construction machinery monitoring system, when the management control device receives an instruction signal requesting the start of transmission of the construction machinery status information, it starts transmitting the construction machinery status information to the information terminal each time it is transmitted from the construction machinery control device at the transmission interval. [Effects of the Invention]

[0014] According to the present disclosure, when monitoring a construction machine, the frequency of communication between the construction machine and a remote terminal can be adaptively changed to optimize the amount of communication. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a block diagram showing an example of a construction machine monitoring system according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of a system configuration of the construction machine shown in FIG. [Figure 3]FIG. 3 is a block diagram illustrating an example of a system configuration of the management device illustrated in FIG. [Figure 4] FIG. 4 is a block diagram showing an example of a system configuration of the information terminal shown in FIG. [Figure 5] FIG. 5 is a flowchart showing an example of the flow of an initial setting process of a transmission interval by a management control device. [Figure 6] FIG. 6 is a flowchart showing an example of the flow of the process of generating construction machine status information by the construction machine control device. [Figure 7] FIG. 7 is a flowchart showing an example of the flow of the transmission process by the construction machine control device. [Figure 8] FIG. 8 is a flowchart showing an example of the flow of a transmission interval setting process performed by the management control device. DETAILED DESCRIPTION OF THE INVENTION

[0016] The present disclosure will be described in detail below with reference to the drawings. Note that the present disclosure is not limited to the description of the following embodiments. Furthermore, the components in the following embodiments include those that are replaceable and easy for those skilled in the art, or those that are substantially identical. Furthermore, the components in the embodiments described below can be variously omitted, replaced, or modified without departing from the gist of the present disclosure. In the following embodiments, components necessary for illustrating the embodiments of the present disclosure will be described, and other components will be omitted.

[0017] (Embodiment) [Configuration of construction machinery monitoring system] Using Figure 1, a construction machine monitoring system 1 including a plurality of construction machines 10 equipped with a construction machine control device 20 (see Figure 2) according to an embodiment of the present disclosure will be described. Figure 1 is a block diagram showing an example of a construction machine monitoring system 1 according to an embodiment. The construction machine monitoring system 1 is a system that transmits information about the construction machines 10 deployed at a construction site via the construction machine control device 20 shown in Figure 2, and can be monitored from a remote information terminal 70.

[0018] The construction machine monitoring system 1 comprises n (n is an integer of 1 or more) construction machines 10-1, 10-2, ..., 10-i (i is an integer of 1 or more and n or less), ..., 10-n, a management device 40, and an information terminal 70. In the following description, when it is not necessary to distinguish between the n construction machines 10-1, 10-2, ..., 10-i, ..., 10-n, they will be referred to as construction machines 10. Furthermore, the number n of construction machines 10 to be monitored in the construction machine monitoring system 1 can increase or decrease depending on the work progress at the construction site.

[0019] The construction machines 10 are various types of construction machinery, such as hydraulic excavators, backhoes, and crawler dump trucks, that are deployed at construction sites and used for construction work. In the embodiment, the construction machines 10 are assumed to be construction vehicles that move within the construction site. Each construction machine 10 is capable of communicating with a management device 40 via a communication network (WAN or the Internet). The system configuration of the construction machines 10 will be described in detail below.

[0020] The management device 40 is provided in a device installed remotely from the construction site, a server on the Internet, a cloud server, or the like. The management device 40 is capable of communicating with each construction machine 10 via a communication network (WAN or Internet). The management device 40 is also capable of communicating with each information terminal 70 via a communication network (LAN, WAN, or Internet). The system configuration of the management device 40 will be described in detail later.

[0021] The information terminal 70 is a device that is installed remotely from the construction site and monitors the construction machine 10 deployed at the construction site. The information terminal 70 is, for example, a personal computer, tablet terminal, smartphone, etc. that is operated by an observer who monitors the construction machine 10 using the information terminal 70. The information terminal 70 is capable of communicating with the management device 40 via a communication network (LAN, WAN, or the Internet). The information terminal 70 is capable of monitoring the position and status of the construction machine 10 via the management device 40. The information terminal 70 may be configured as a part of the management device 40. Furthermore, there may be multiple information terminals 70. The system configuration of the information terminal 70 will be described in detail below.

[0022] [Construction machinery system configuration] The detailed system configuration of the construction machine 10 will be described using Fig. 2. Fig. 2 is a block diagram showing an example of the system configuration of the construction machine 10 shown in Fig. 1. The construction machine 10 of the embodiment includes a position detection unit 11, an attitude detection unit 12, a cargo detection unit 13, an obstacle detection unit 14, actuators 15 for each unit, a communication unit 17, and a construction machine control device 20.

[0023] The position detection unit 11 detects the position of the construction machine 10 at a construction site. The position detection unit 11 includes, for example, a GNSS receiver (GNSS sensor) that detects the position of the construction machine 10 using a Global Navigation Satellite System (GNSS), and detects the position of the construction machine 10 in a global coordinate system. The position detection unit 11 outputs the position information of the construction machine 10 to a position information acquisition unit 21 of the construction machine control device 20, which will be described later.

[0024] The attitude detection unit 12 detects the attitude of the construction machine 10. The attitude includes, for example, a roll angle, a pitch angle, and a yaw angle. The attitude detection unit 12 includes, for example, an inertial measurement unit (IMU) that detects three-dimensional angular velocity and acceleration using a three-axis gyro sensor and a three-directional acceleration sensor. The attitude detection unit 12 outputs attitude information of the construction machine 10 to an attitude information acquisition unit 22 of the construction machine control device 20, which will be described later.

[0025] The load detection unit 13 detects the presence and weight of a load loaded on the construction machine 10. The load detection unit 13 includes, for example, a weighing scale. The load detection unit 13 outputs load information of the construction machine 10 to a load information acquisition unit 23 of the construction machine control device 20, which will be described later. Note that the load information is not limited to that in the embodiment in which the presence and weight of an actual load are detected by the load detection unit 13, such as a weighing scale, but may also be predicted based on a prior operation schedule and the current process, using operation instruction information Dc acquired by an operation instruction acquisition unit 26, which will be described later, drive information (operation feedback information) indicating the drive status of the actuators 15 of each part acquired by the actuator control unit 25, etc.

[0026] The obstacle detection unit 14 detects the positions and movement speeds of obstacles around the construction machine 10. The obstacle detection unit 14 includes, for example, an imaging device such as a visible light camera or an infrared (IR) camera, or a measuring instrument such as a range sensor, a laser scanner, an LRF (Laser Range Finder), or a LIDAR (Light Detection and Ranging). When the obstacle detection unit 14 includes an imaging device, for example, a plurality of obstacle detection units 14 are arranged so as to be able to capture images in all directions around the construction machine 10, capture images of the surroundings of the construction machine 10, and can obtain obstacle information about the construction machine 10 from the captured images. When the obstacle detection unit 14 includes a measuring instrument, for example, the obstacle detection unit 14 radiates multiple laser beams toward the surroundings, receives light reflected from the surfaces of surrounding objects, and obtains point cloud information, which is a collection of points indicating the positions of the surfaces of the objects, based on the direction of irradiation and the time required from irradiation to reception of light. The obstacle detection unit 14 obtains this point cloud information as obstacle information for the construction machine 10. The obstacle detection unit 14 outputs the obstacle information around the construction machine 10 to an obstacle information acquisition unit 24 of the construction machine control device 20, which will be described later.

[0027] In this embodiment, the actuators 15 of each section include actuators 15 for moving the construction machine 10 and performing construction work. Construction work includes, for example, loading, waste soil, excavation, etc. The actuators 15 perform predetermined control based on control signals output from an actuator control unit 25 of the construction machine control device 20, which will be described later. The actuators 15 output drive information (operation feedback information) indicating the drive status of the actuators 15 to the actuator control unit 25.

[0028] The communication unit 17 executes data communication for exchanging various data with the management device 40 via a communication network. The communication unit 17 transmits various data to the management device 40 based on a communication control signal output from a communication control unit 27 of the construction machine control device 20 described below. The communication unit 17 transmits, for example, construction machine information Dv and construction machine status information Ds. The communication unit 17 outputs various data received from the management device 40 to the communication control unit 27. The communication unit 17 receives, for example, operation instruction information Dc and transmission interval instruction information Dt.

[0029] The construction machine information Dv is, for example, information that is stored in advance in a storage device of the construction machine control device 20 described below. The construction machine information Dv includes, for example, the model name, type name, and weight and other specifications of the construction machine 10, the planned traveling speed, the type of work, whether the construction machine is manned or unmanned, etc. In other words, the communication unit 17 transmits the construction machine information Dv of the construction machine 10 itself on which the communication unit 17 is mounted.

[0030] The construction machine status information Ds is information generated by a construction machine status information generation unit 29 of the construction machine control device 20, which will be described later. The construction machine status information Ds includes at least position information indicating the current position of the construction machine 10 and attitude information indicating the attitude status of the construction machine 10. The construction machine status information Ds may include, for example, travel information including the movement speed of the construction machine 10, the load status of earth and sand being transported to the construction machine 10, obstacle information including the positions and movement speeds of obstacles around the construction machine 10, and drive information (feedback information) indicating the drive status of the actuators 15 of each part of the construction machine 10. In other words, the communication unit 17 transmits the construction machine status information Ds of the construction machine 10 itself on which the communication unit 17 is mounted.

[0031] The operation instruction information Dc includes a scenario operation instruction specified for the construction machine 10. A scenario describes the operations to be executed by the construction machine 10 in a sequence. The operations included in the operation instruction information Dc received by the construction machine 10-1 are, for example, "travel to point A," "dig at point B," "load the construction machine 10-2," and "travel to point C." The operations included in the operation instruction information Dc received by the construction machine 10-2 are, for example, "travel to point B," "load at point B," "travel to point D," "dump soil at point D," and "travel to point E." In other words, the communication unit 17 receives the operation instruction information Dc that is instructed to the construction machine 10 on which the communication unit 17 is mounted.

[0032] The transmission interval instruction information Dt is instruction information that sets a transmission interval ST at which the communication unit 17 transmits the construction machine status information Ds to the management device 40. The transmission interval ST is set in the management device 40.

[0033] The construction machine control device 20 includes an arithmetic processing device that executes a predetermined control program, a storage device that stores various control programs and data used for various control processes, and an input / output interface device that serves as a means of communicating with various devices of the construction machine 10. The construction machine control device 20 is implemented with one or more arithmetic processing devices, one or more storage devices, and multiple input / output interfaces.

[0034] The arithmetic processing device may be implemented by a processor such as a CPU (Central Processing Unit), an MCU (Micro Controller Unit), a microprocessor, a microcomputer, a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), or a system LSI (Large Scale Integration). The storage device may be implemented by a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), an HDD (Hard Disk Drive), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD (Digital Versatile Disc).

[0035] The construction machinery control device 20 includes a position information acquisition unit 21, an attitude information acquisition unit 22, a cargo information acquisition unit 23, an obstacle information acquisition unit 24, an actuator control unit 25, an operation instruction acquisition unit 26, a communication control unit 27, a transmission interval memory unit 28, and a construction machinery status information generation unit 29.

[0036] The position information acquisition unit 21 acquires, from the position detection unit 11, position information of the construction machine 10 at the construction site acquired by the position detection unit 11. The position information acquisition unit 21 outputs the acquired position information to the construction machine status information generation unit 29.

[0037] The attitude information acquisition unit 22 acquires, from the attitude detection unit 12, the attitude information of the construction machine 10 acquired by the attitude detection unit 12. The attitude information acquisition unit 22 outputs the acquired attitude information to the construction machine status information generation unit 29.

[0038] The cargo information acquisition unit 23 acquires, from the cargo detection unit 13, the cargo information of the construction machine 10 acquired by the cargo detection unit 13. The cargo information acquisition unit 23 outputs the acquired cargo information to the construction machine status information generation unit 29.

[0039] The obstacle information acquisition unit 24 acquires, from the obstacle detection unit 14, obstacle information around the construction machine 10 acquired by the obstacle detection unit 14. The obstacle information acquisition unit 24 outputs the acquired obstacle information to the construction machine status information generation unit 29.

[0040] The actuator control unit 25 outputs control signals for controlling the actuators 15 of each part in accordance with the operation instruction information Dc acquired by the operation instruction acquisition unit 26 described below. That is, the actuator control unit 25 outputs drive signals for driving the actuators 15 of each part in order to realize the operation of each part of the construction machine 10 in accordance with the scenario described in the operation instruction information Dc. The actuator control unit 25 acquires drive information (operation feedback information) from the actuators 15 that indicates the drive status of the actuators 15 of each part of the construction machine 10. The actuator control unit 25 outputs the acquired drive information to the construction machine status information generation unit 29.

[0041] The operation instruction acquisition unit 26 acquires and stores the operation instruction information Dc received by the communication unit 17. When the communication unit 17 receives new operation instruction information Dc, the operation instruction acquisition unit 26 adds the new operation instruction information Dc to the already stored operation instruction information Dc and stores it, or overwrites the already stored operation instruction information Dc with the new operation instruction information Dc and stores it.

[0042] The communication control unit 27 controls communication in the communication unit 17. The communication control unit 27 outputs communication information including construction machine information Dv of the construction machine 10 to the communication unit 17, for example, when the construction machine 10 is started up or when the construction machine 10 joins the monitoring targets in the construction machine monitoring system 1. The communication control unit 27, for example, causes the communication unit 17 to transmit the construction machine information Dv to the management device 40. The communication control unit 27, for example, outputs operation instruction information Dc received by the communication unit 17 to the operation instruction acquisition unit 26. The communication control unit 27, for example, outputs transmission interval instruction information Dt received by the communication unit 17 to the transmission interval storage unit 28. The communication control unit 27, for example, acquires construction machine status information Ds output from the construction machine status information generation unit 29. The communication control unit 27 outputs communication information including the acquired construction machine status information Ds to the communication unit 17. The communication control unit 27 causes the communication unit 17 to transmit the construction machine status information Ds to the management device 40 at the transmission interval ST stored in the transmission interval storage unit 28.

[0043] The transmission interval storage unit 28 stores the transmission interval ST based on the transmission interval instruction information Dt received by the communication unit 17. When the communication unit 17 receives new transmission interval instruction information Dt, the transmission interval storage unit 28 sets a new updated transmission interval ST based on the new transmission interval instruction information Dt. Note that the new updated transmission interval ST may be stored by overwriting the old one.

[0044] The construction machine status information generation unit 29 generates construction machine status information Ds to be transmitted to the management device 40. The construction machine status information generation unit 29 acquires position information of the construction machine 10 at the construction site acquired by the position information acquisition unit 21. The construction machine status information generation unit 29 acquires posture information of the construction machine 10 acquired by the posture information acquisition unit 22 from the posture information acquisition unit 22. The construction machine status information generation unit 29 acquires load information of the construction machine 10 acquired by the load information acquisition unit 23 from the load information acquisition unit 23. The construction machine status information generation unit 29 acquires obstacle information around the construction machine 10 acquired by the obstacle information acquisition unit 24 from the obstacle information acquisition unit 24. The construction machine status information generation unit 29 acquires drive information indicating the drive status of the actuators 15 of each part of the construction machine 10 acquired by the actuator control unit 25. The construction machine status information generating unit 29 generates construction machine status information Ds based on the acquired position information, attitude information, cargo information, obstacle information, and drive information. The construction machine status information generating unit 29 outputs the generated construction machine status information Ds to the communication control unit 27.

[0045] [Management device system configuration] The detailed system configuration of the management device 40 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of the system configuration of the management device 40 shown in Fig. 1. The management device 40 includes a storage unit 41, a communication unit 42, and a management control device 50.

[0046] The memory unit 41 includes a storage device that stores various control programs of the management device 40, data used in various control processes, and data related to targets monitored by the construction machine monitoring system 1. The storage device may be implemented, for example, by a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a HDD, a flash memory, an EPROM, or an EEPROM (registered trademark), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD. The memory unit 41 stores map information Dm and construction machine information Dv. The map information Dm includes information in which the construction target object, material storage area, waste soil storage area, and travel route of the work area of ​​the construction machine 10 at the construction site are mapped. The map information Dm is stored in advance in the memory unit 41. The map information Dm can be updated by a data update unit 51 of the management control device 50, which will be described later. The updated map information Dm includes, for example, information in which road surface information and obstacle information of the construction site are mapped based on construction machine status information Ds received from the construction machine 10. The construction machine information Dv stored in the storage unit 41 is information received by the communication unit 42 from each of the multiple construction machines 10 via the communication network.

[0047] The communication unit 42 executes data communication for exchanging various data with the multiple construction machines 10 and the information terminal 70 via a communication network. The communication unit 42 outputs various data received from the multiple construction machines 10 and the information terminal 70 to the communication control unit 52. The communication unit 42 receives, for example, construction machine information Dv and construction machine status information Ds from each of the construction machines 10. The communication unit 42 receives, for example, operation instruction information Dc from the information terminal 70. The communication unit 42 transmits various data to the multiple construction machines 10 and the information terminal 70 based on a communication control signal output from the communication control unit 52 of the management control device 50, which will be described later. The communication unit 42 transmits, for example, map information Dm, construction machine information Dv and construction machine status information Ds of each of the construction machines 10, and site information Df to the information terminal 70. The communication unit 42 transmits, for example, operation instruction information Dc and transmission interval instruction information Dt to each of the construction machines 10.

[0048] The site information Df is information generated by a site information generating unit 56 of the management control device 50, which will be described later. The site information Df includes information on the construction site based on the construction machine status information Ds transmitted from each construction machine 10, linked to the coordinate information of the map information Dm. The site information Df includes, for example, road surface information such as unevenness, dampness, and puddles, information on objects not included in the map information Dm, and information on changes in material storage areas, waste soil storage areas, travel routes, etc., which are included in the map information Dm. The site information Df may also include, for example, weather information.

[0049] The communication unit 42 transmits, for example, map information Dm stored in advance in the memory unit 41 to the information terminal 70. The communication unit 42 receives, for example, construction machine information Dv from each construction machine 10. The communication unit 42 transmits, for example, the construction machine information Dv received from each construction machine 10 and stored in the memory unit 41 to the information terminal 70. The communication unit 42 receives, for example, operation instruction information Dc and transmission interval instruction information Dt for each construction machine 10 from the information terminal 70. The communication unit 42 transmits, for example, the operation instruction information Dc and the transmission interval instruction information Dt to each construction machine 10. The communication unit 42 receives, for example, construction machine status information Ds from each construction machine 10. The communication unit 42 transmits, for example, the construction machine status information Ds and updated job site information Df of each construction machine 10 to the information terminal 70.

[0050] The management control device 50 includes a processing unit that executes predetermined control programs for realizing various functions of the management device 40. The processing unit may be implemented by a processor such as a CPU, an MCU, a microprocessor, a microcomputer, a GPU, a DSP, or a system LSI.

[0051] The management control device 50 includes a data update unit 51, a communication control unit 52, an operation instruction acquisition unit 53, a construction machinery status information acquisition unit 54, an instruction information generation unit 55, a site information generation unit 56, a road surface condition judgment unit 60, a driving status judgment unit 61, a cargo status judgment unit 62, an obstacle status judgment unit 63, an operation status judgment unit 64, an other machinery status judgment unit 65, and a transmission interval setting unit 66.

[0052] The data update unit 51 overwrites or accumulates new data on data including map information Dm and construction machine information Dv stored in the memory unit 41. The data update unit 51 acquires site information Df from the site information generation unit 56. The data update unit 51 stores the acquired site information Df in association with the coordinate information of the map information Dm stored in the memory unit 41. When a new construction machine 10 joins the monitoring targets in the construction machine monitoring system 1 and the communication unit 17 receives construction machine information Dv of the new construction machine 10 from the new construction machine 10, the data update unit 51 accumulates and stores the construction machine information Dv of the construction machine 10 in the construction machine information Dv of the memory unit 41.

[0053] The communication control unit 52 controls communication in the communication unit 42. For example, when the communication unit 42 receives an instruction signal requesting transmission of predetermined map information Dm, the communication control unit 52 outputs communication information including the requested map information Dm and transmits it to the information terminal 70. The timing at which the communication control unit 52 requests the map information Dm is, for example, when the construction machine monitoring system 1 is started up, when monitoring of the construction machine 10 placed at the construction site is started, or when the user operating the information terminal 70 performs a predetermined operation.

[0054] For example, when the communication control unit 52 receives an instruction signal requesting transmission of construction machine information Dv from the information terminal 70, it transmits the requested construction machine information Dv to the information terminal 70. The timing at which the communication control unit 52 is requested for the construction machine information Dv is, for example, when the construction machine monitoring system 1 is started, when monitoring of a construction machine 10 placed at a construction site begins, when a new construction machine 10 is placed at a construction site, or when a user operating the information terminal 70 performs a predetermined operation.

[0055] For example, when the communication control unit 52 receives an instruction signal requesting the start of transmission of the construction machine status information Ds, the communication control unit 52 starts transmitting the construction machine status information Ds to the information terminal 70, and transmits the construction machine status information Ds transmitted from each construction machine 10 at a predetermined transmission interval ST to the information terminal 70 each time. The timing at which the communication control unit 52 is requested to start transmitting the construction machine status information Ds is, for example, when the construction machine monitoring system 1 is started, when monitoring of a construction machine 10 deployed at a construction site is started, when a new construction machine 10 is deployed at a construction site, or when a user operating the information terminal 70 performs a predetermined operation.

[0056] The communication control unit 52 may, for example, transmit the job site information Df to the information terminal 70 at the same timing as the construction machine status information Ds. For example, if the job site information Df is updated while the communication control unit 52 is periodically transmitting the construction machine status information Ds, the communication control unit 52 may transmit the job site information Df to the information terminal 70.

[0057] The operation instruction acquisition unit 53 acquires the operation instruction information Dc received by the communication unit 42. The operation instruction acquisition unit 53 outputs the acquired operation instruction information Dc to the instruction information generation unit 55.

[0058] The construction machine status information acquisition unit 54 acquires the construction machine status information Ds received by the communication unit 42. The construction machine status information acquisition unit 54 outputs the acquired construction machine status information Ds to the road surface status determination unit 60, the traveling status determination unit 61, the cargo status determination unit 62, the obstacle status determination unit 63, the operation status determination unit 64, the other machine status determination unit 65, and the transmission interval setting unit 66.

[0059] The instruction information generation unit 55 generates instruction information including operation instruction information Dc and transmission interval instruction information Dt to be transmitted to each construction machine 10. The instruction information generation unit 55 acquires operation instruction information Dc including operation instructions for each construction machine 10 acquired by the operation instruction acquisition unit 53. The instruction information generation unit 55 acquires transmission interval instruction information Dt including the transmission interval ST corresponding to each construction machine 10 set by the transmission interval setting unit 66. The instruction information generation unit 55 generates the acquired operation instruction information Dc and transmission interval instruction information Dt as instruction information to be transmitted to each construction machine 10. The instruction information generation unit 55 outputs the generated instruction information to the communication control unit 52.

[0060] The site information generation unit 56 generates site information Df including various current status information of the construction site whose map is stored in the map information Dm. The site information generation unit 56 acquires the construction machine status information Ds of each construction machine 10 acquired by the construction machine status information acquisition unit 54. The site information generation unit 56 generates site information Df of the construction site linked to the coordinate information of the map information Dm based on the construction machine status information Ds of the multiple construction machines 10. The site information generation unit 56 outputs the generated site information Df to the data update unit 51 and the communication control unit 52.

[0061] The road surface condition judgment unit 60 acquires the position information of each construction machine 10 at the construction site acquired by the position information acquisition unit 21 of that construction machine 10 from the construction machine condition information acquisition unit 54. The road surface condition judgment unit 60 acquires the attitude information of that construction machine 10 acquired by the attitude information acquisition unit 22 of that construction machine 10 from the construction machine condition information acquisition unit 54. The road surface condition judgment unit 60 judges the road surface condition of the road surface on which that construction machine 10 is traveling based on the acquired position information and attitude information. More specifically, the road surface condition judgment unit 60 judges the road surface condition, including the unevenness of the road surface on which that construction machine 10 is traveling and the degree of tortuosity of the passage, based on the position of that construction machine 10 detected by the position detection unit 11 of that construction machine 10 and the three-dimensional angular velocity and acceleration of that construction machine 10 detected by the attitude detection unit 12 of that construction machine 10. The road surface condition determining unit 60 may, for example, prepare a correspondence table in advance between each detected measurement value or a value calculated by a predetermined formula based on each measurement value and an index indicating an index of the road surface condition, and determine the road surface condition based on the correspondence table. The road surface condition determining unit 60 outputs the determination result of the road surface condition to the transmission interval setting unit 66.

[0062] The traveling condition determination unit 61 acquires the position information of each construction machine 10 at the construction site acquired by the position information acquisition unit 21 of that construction machine 10 from the construction machine condition information acquisition unit 54. The traveling condition determination unit 61 determines the traveling condition, including the traveling speed, of that construction machine 10 based on the acquired position information. The traveling condition determination unit 61 outputs the determination result of the traveling condition to the transmission interval setting unit 66.

[0063] The load status determination unit 62 acquires the load information of each construction machine 10 acquired by the load information acquisition unit 23 of that construction machine 10 from the construction machine status information acquisition unit 54. The load status determination unit 62 determines the load status including the weight of the load loaded on that construction machine 10 based on the acquired load information. The load status determination unit 62 outputs the determination result of the load information to the transmission interval setting unit 66.

[0064] The obstacle situation determination unit 63 obtains obstacle information around the construction machine 10 obtained by the obstacle information acquisition unit 24 of each construction machine 10 from the construction machine situation information acquisition unit 54. The obstacle information includes, for example, the presence or absence of an object within a predetermined distance, the moving speed and moving direction of the object, and other information regarding the risk of a collision or the like if the construction machine 10 continues to operate. The obstacle situation determination unit 63 determines the obstacle situation around the construction machine 10, including the position and moving speed of obstacles, based on the obtained obstacle information. The obstacle situation determination unit 63 outputs the obstacle situation determination result to the transmission interval setting unit 66.

[0065] The operation status determination unit 64 acquires, from the construction machine status information acquisition unit 54, drive information indicating the drive status of the actuators 15 of each part of the construction machine 10, acquired by the actuator control unit 25 of each construction machine 10. The operation status determination unit 64 determines the operation status of the construction machine 10 based on the acquired drive information. The operation status indicates the state of operation of the construction machine 10 caused by the actuators 15 of each part of the construction machine 10, such as while turning, excavating, stopped, or while the arm is extending or retracting. The operation status determination unit 64 determines the operation range of the construction machine 10 caused by the operation of the actuators 15 of each part, such as whether the operation has a low impact on the surroundings of the construction machine 10, such as while turning, excavating, or stopped, or whether the operation has a high impact on the surroundings of the construction machine 10, such as while the arm is extending. The operation status determination unit 64 outputs the determination result of the operation status to the transmission interval setting unit 66.

[0066] The other machine status determination unit 65 obtains the position information of each construction machine 10 at the construction site obtained by the position information acquisition unit 21 of each construction machine 10 from the construction machine status information acquisition unit 54. The other machine status determination unit 65 obtains drive information indicating the drive status of the actuators 15 of each part of each construction machine 10 obtained by the actuator control unit 25 of each construction machine 10 from the construction machine status information acquisition unit 54. The other machine status determination unit 65 determines the other machine status relative to the construction machine 10 based on the position information and drive information of an arbitrary construction machine 10 and the position information and drive information of construction machines 10 other than the construction machine 10 in question. The other machine status determination unit 65 outputs the determination result of the other machine status to the transmission interval setting unit 66.

[0067] The transmission interval setting unit 66 sets the transmission interval ST at which the communication unit 17 transmits the construction machine status information Ds under the control of the communication control unit 27 of each construction machine 10. The transmission interval setting unit 66 sets the transmission interval ST based on the transmission interval initial value STinit of each construction machine 10, for example, when the construction machine monitoring system 1 is started up or when the construction machine 10 joins the monitoring targets in the construction machine monitoring system 1. The transmission interval initial value STinit is, for example, a value that is set in advance for each construction machine 10. The transmission interval initial value STinit may be, for example, included in the construction machine information Dv that is stored in advance in the storage device of the construction machine control device 20 of the construction machine 10, or may be set by being input from outside. The initial value of the transmission interval ST is calculated, for example, by the formula ST=STinit. The initial value of the transmission interval ST-i of the construction machine 10-i (see FIG. 1) is calculated, for example, by the formula ST-i=STinit-i.

[0068] The transmission interval setting unit 66 acquires the judgment result of the road surface condition from the road surface condition judgment unit 60. The transmission interval setting unit 66 updates and sets the transmission interval ST of each construction machine 10 based on at least the road surface condition. The transmission interval setting unit 66 acquires the judgment result of the traveling condition from the traveling condition judgment unit 61. The transmission interval setting unit 66 acquires the judgment result of the load information from the load condition judgment unit 62. The transmission interval setting unit 66 acquires the judgment result of the obstacle condition from the obstacle condition judgment unit 63. The transmission interval setting unit 66 acquires the judgment result of the operating condition from the operating condition judgment unit 64. The transmission interval setting unit 66 acquires the judgment result of the other machine status from the other machine status judgment unit 65. The transmission interval setting unit 66 may update and set the transmission interval ST based on at least one of the traveling condition, the load condition, the obstacle condition, the operating condition, and the other machine status. The transmission interval setting unit 66 outputs the set transmission interval ST to the instruction information generating unit 55.

[0069] [Information terminal system configuration] The detailed system configuration of the information terminal 70 will be described with reference to Fig. 4. Fig. 4 is a block diagram showing an example of the system configuration of the information terminal 70 shown in Fig. 1. The information terminal 70 includes an operation unit 71, a display unit 72, a communication unit 73, and a calculation unit 74.

[0070] The operation unit 71 can accept various operations to the calculation unit 74. The operation unit 71 can accept, for example, an operation to request the management device 40 for map information Dm of the construction site, site information Df, and construction machine information Dv of multiple construction machines 10. The operation unit 71 can accept, for example, an operation to request the management device 40 to start regular transmission of construction machine status information Ds of multiple construction machines 10. The operation unit 71 can accept an operation to specify each construction machine 10 and instruct a scenario operation. The operation unit 71 outputs an operation signal corresponding to the accepted operation to the calculation unit 74. The operation unit 71 can be realized by, for example, a physical switch, a keyboard, or a touch panel provided on the display unit 72.

[0071] The display unit 72 displays various images based on the video signal output from the calculation unit 74. The display unit 72 displays, for example, map information Dm of the construction site, mapping information in which the position information of the construction machine 10 is superimposed on the map information Dm, the operating status of the construction machine 10, road surface conditions, etc. The display unit 72 may include a display device such as a liquid crystal display (LCD), an organic electro-luminescence display (ELD), or an inorganic electro-luminescence display (IELD). The display unit 72 may include an input device such as a touch screen.

[0072] The communication unit 73 executes data communication for exchanging various data with the management device 40 via the communication network. The communication unit 73 outputs various data received from the management device 40 to the calculation unit 74. The communication unit 73 transmits various data to the management device 40 based on a communication control signal output from the calculation unit 74. The communication unit 73 transmits, for example, operation instruction information Dc input from the operation unit 71 to the management device 40. The communication unit 73 receives, for example, map information Dm, construction machine information Dv of each construction machine 10, construction machine status information Ds of each construction machine 10, and site information Df of the construction site from the management device 40.

[0073] The calculation unit 74 includes a calculation processing unit that executes predetermined control programs for realizing various functions of the information terminal 70. The calculation processing unit may be implemented by a processor such as a CPU, MCU, microprocessor, microcomputer, GPU, DSP, or system LSI. The calculation unit 74 can receive various operation signals from the operation unit 71. The calculation unit 74 controls the display unit 72 and the communication unit 73.

[0074] [Processing by construction equipment control device and management control device] The processing flow by the construction machine control device 20 and the management control device 50 will be described using Figures 5 to 8. First, using Figure 5, the processing flow for initially setting the transmission interval ST at which the construction machine 10 transmits construction machine status information Ds, which indicates information about the status of the construction machine 10 including position information and attitude information of the construction machine 10, to the management device 40 will be described. Figure 5 is a flowchart showing an example of the processing flow for initially setting the transmission interval ST by the management control device 50. The processing shown in Figure 5 is executed by the management control device 50 based on a predetermined control program and data. For example, when the construction machine monitoring system 1 is started up or a new construction machine 10 joins the monitoring targets in the construction machine monitoring system 1, the management control device 50 proceeds to step S11 shown in Figure 5 and starts processing.

[0075] In the first step S11, the management control device 50 resets i, which indicates the ordinal number of the construction machine 10 for which the initial setting process of the transmission interval ST is to be performed, to 1 (i←1). The management control device 50 repeatedly executes the processes from step S11 to step S14 until i>n is satisfied in step S11. In other words, the management control device 50 performs the initial setting process of the transmission interval ST for the multiple construction machines 10 that are the monitoring targets in the construction machine monitoring system 1. The management control device 50 proceeds to step S12.

[0076] In step S12, the transmission interval setting unit 66 of the management control device 50 sets the transmission interval initial value STinit for the construction machine 10-i. The transmission interval initial value STinit for the construction machine 10-i is calculated using the formula STinit=STinit-i. The transmission interval initial value STinit-i is a value specific to the construction machine 10-i, and is included in, for example, the construction machine information Dv that is stored in advance in the storage device of the construction machine control device 20 of the construction machine 10-i. In this case, the transmission interval setting unit 66 calls up and sets the transmission interval initial value STinit-i from the construction machine information Dv. The management control device 50 proceeds to step S13.

[0077] In step S13, the transmission interval setting unit 66 of the management control device 50 sets the transmission interval ST based on the transmission interval initial value STinit. In this embodiment, the transmission interval setting unit 66 calculates the transmission interval ST using the formula ST=STinit. The management control device 50 proceeds to step S14.

[0078] In step S14, the management control device 50 sets i←i+1, returns to step S11, and repeatedly executes the loop process from step S11 to step S14 until i>n is satisfied in step S11. If i>n is satisfied in step S11, the management control device 50 ends the process of the flowchart shown in FIG.

[0079] Next, using Figure 6, we will explain the flow of the generation process for generating construction machine status information Ds that indicates information about the status of the construction machine 10, including position information and attitude information of the construction machine 10. Figure 6 is a flowchart showing an example of the flow of the generation process of the construction machine status information Ds by the construction machine control device 20. The process shown in Figure 6 is executed by the construction machine control device 20 based on a predetermined control program and data. The construction machine control device 20 repeatedly executes the process shown in Figure 6 at a predetermined cycle, for example, the same cycle as the transmission interval ST. The construction machine control device 20 transitions to step S21 shown in Figure 6 and starts processing, for example, when the construction machine 10 is started, the construction machine 10 joins the monitoring targets in the construction machine monitoring system 1, or a predetermined cycle has passed since the construction machine status information Ds was last generated.

[0080] In step S21, the construction machine control device 20 acquires the position information of the construction machine 10. Specifically, the position information acquisition unit 21 acquires, from the position detection unit 11, the position information of the construction machine 10 at the construction site acquired by the position detection unit 11, and the construction machine status information generation unit 29 acquires the position information from the position information acquisition unit 21. The construction machine control device 20 proceeds to step S22.

[0081] In step S22, the construction machine control device 20 acquires posture information of the construction machine 10. Specifically, the posture information acquisition unit 22 acquires the posture information of the construction machine 10 acquired by the posture detection unit 12 from the posture detection unit 12, and the construction machine status information generation unit 29 acquires the posture information from the posture information acquisition unit 22. The construction machine control device 20 proceeds to step S23.

[0082] In step S23, the construction machine control device 20 acquires load information including the weight of the load loaded on the construction machine 10. Specifically, the load information acquisition unit 23 acquires the load information of the construction machine 10 acquired by the load detection unit 13 from the load detection unit 13, and the construction machine status information generation unit 29 acquires the load information from the load information acquisition unit 23. The construction machine control device 20 proceeds to step S24.

[0083] In step S24, the construction machine control device 20 acquires obstacle information including the positions and movement speeds of obstacles around the construction machine 10. Specifically, the obstacle information acquisition unit 24 acquires, from the obstacle detection unit 14, the obstacle information around the construction machine 10 acquired by the obstacle detection unit 14, and the construction machine status information generation unit 29 acquires the obstacle information from the obstacle information acquisition unit 24. The construction machine control device 20 proceeds to step S25.

[0084] In step S25, the construction machine control device 20 acquires drive information of the construction machine 10. Specifically, the actuator control unit 25 acquires drive information (operation feedback information) indicating the drive status of the actuator 15 of each part of the construction machine 10 from the actuator 15, and the construction machine status information generation unit 29 acquires the drive information from the actuator control unit 25. The construction machine control device 20 proceeds to step S26.

[0085] In step S26, the construction machine control device 20 generates construction machine status information Ds. Specifically, the construction machine status information generation unit 29 generates the construction machine status information Ds based on the acquired position information, attitude information, cargo information, obstacle information, and drive information. The construction machine status information generation unit 29 outputs the generated construction machine status information Ds to the communication control unit 27. The construction machine control device 20 ends the processing of the flowchart shown in FIG. 6.

[0086] Next, the flow of a transmission process for transmitting construction machine status information Ds, which indicates information related to the status of the construction machine 10 including position information and attitude information of the construction machine 10, to the management device 40 will be described using Fig. 7. Fig. 7 is a flowchart showing an example of the flow of a transmission process by the construction machine control device 20. The process shown in Fig. 7 is executed by the construction machine control device 20 based on a predetermined control program and data. The construction machine control device 20 starts processing by proceeding to step S31 shown in Fig. 7, for example, when the construction machine 10 is started up or when the construction machine 10 joins the monitoring targets in the construction machine monitoring system 1.

[0087] In step S31, the construction machine control device 20 resets the elapsed time t to 0 (t=0) and starts a count-up timer. The construction machine control device 20 proceeds to step S32.

[0088] The construction machine control device 20 executes the loop process from step S32 to step S39 until the transmission process is completed. The construction machine control device 20 proceeds to step S33.

[0089] The construction machine control device 20 executes the loop process from step S33 to step S37 until the elapsed time t exceeds the transmission interval ST, that is, until t>ST is satisfied. The construction machine control device 20 proceeds to step S34.

[0090] In step S34, the construction machine control device 20 determines whether or not to end the transmission process. The construction machine control device 20 ends the transmission process when monitoring by the construction machine monitoring system 1 ends, the construction machine 10 leaves the construction site, or a predetermined end signal is received from the information terminal 70. If the transmission process is to be ended (step S34; Yes), the construction machine control device 20 ends the processing of the flowchart shown in Fig. 7. If the transmission process is not to be ended (step S34; No), the construction machine control device 20 proceeds to step S35.

[0091] In step S35, the construction machine control device 20 determines whether or not to update the transmission interval ST. Specifically, it determines whether or not the transmission interval storage unit 28 has stored a new transmission interval ST set by processing the flowchart shown in Fig. 8, which will be described later. If the transmission interval ST is to be updated (step S35; Yes), the construction machine control device 20 proceeds to step S36. If the transmission interval ST is not to be updated (step S35; No), the construction machine control device 20 proceeds to step S37.

[0092] If the transmission interval ST has been updated (Step S35; Yes), the construction machine control device 20 updates the transmission interval ST in Step S36. Specifically, the construction machine control device 20 newly references the updated transmission interval ST as the transmission interval ST for the transmission interval ST stored in the transmission interval storage unit 28. The construction machine control device 20 proceeds to Step S37.

[0093] If t>ST is not satisfied in step S37, the construction machine control device 20 returns to step S33 and repeatedly executes the loop processing from step S33 to step S37 until t>ST is satisfied. If t>ST is satisfied in step S37, the construction machine control device 20 proceeds to step S38.

[0094] The construction machine control device 20 executes a transmission process in step S38. Specifically, the communication control unit 27 acquires the construction machine status information Ds generated by the processing of the flowchart shown in Fig. 6 from the construction machine status information generation unit 29, outputs communication information including the acquired construction machine status information Ds to the communication unit 17, and causes the construction machine status information Ds to be transmitted to the management device 40. The construction machine control device 20 proceeds to step S39.

[0095] In step S39, the construction machine control device 20 resets the elapsed time t to 0 (t←0), returns to step S32, and repeatedly executes the processes from step S32 to step S39 until the transmission process is ended in step S34.

[0096] Next, using Figure 8, we will explain the processing flow for setting the transmission interval ST at which the construction machine 10 transmits construction machine status information Ds, which indicates information about the status of the construction machine 10 including position information and attitude information of the construction machine 10, to the management device 40. Figure 8 is a flowchart showing an example of the processing flow for setting the transmission interval ST by the management control device 50. The processing shown in Figure 8 is executed by the management control device 50 based on a predetermined control program and data. The management control device 50 repeatedly executes the processing shown in Figure 8 at a predetermined cycle. The management control device 50 proceeds to step S41 shown in Figure 8 and starts processing, for example, when the construction machine monitoring system 1 is started, a new construction machine 10 joins the monitoring targets in the construction machine monitoring system 1, or a predetermined cycle has passed since the previous transmission interval ST was set.

[0097] In step S41, the transmission interval setting unit 66 of the management control device 50 resets the scaling factor k to 1 (k=1). The management control device 50 then proceeds to step S42.

[0098] In the first step S42, the management control device 50 resets i, which indicates the ordinal number of the construction machine 10 for which the setting process of the transmission interval ST is performed, to 1 (i←1). The management control device 50 repeatedly executes the processes from step S42 to step S72 until i>n is satisfied in step S42. In other words, the management control device 50 performs the setting process of the transmission interval ST for the multiple construction machines 10 that are the monitoring targets in the construction machine monitoring system 1. The management control device 50 proceeds to step S43.

[0099] In step S43, the transmission interval setting unit 66 of the management control device 50 sets the transmission interval initial value STinit for the construction machine 10-i. The transmission interval initial value STinit for the construction machine 10-i is calculated by the formula STinit=STinit-i. The management control device 50 proceeds to step S44.

[0100] In step S44, the transmission interval setting unit 66 of the management control device 50 acquires magnification coefficients k1-i, k2-i, k3-i, k4-i, k5-i, and k6-i. The magnification coefficients k1-i, k2-i, k3-i, k4-i, k5-i, and k6-i are values ​​specific to the construction machine 10-i and are stored in advance in the storage device of the construction machine control device 20 of the construction machine 10-i, for example. The magnification coefficients k1-i, k2-i, k3-i, k4-i, k5-i, and k6-i are values ​​that are set in advance for each item that causes a change in the transmission interval ST, and may be different values ​​for each construction machine 10.

[0101] The scaling factors k1-i, k2-i, k3-i, k4-i, k5-i, and k6-i may all be different values, or some or all of them may be the same value. When transmitting the construction machine status information Ds, if the same frequency band is used and the transmission interval ST is changed by thinning out the data to be transmitted, it is preferable that the scaling factors k1-i, k2-i, k3-i, k4-i, k5-i, and k6-i are powers of 2. The management control device 50 proceeds to step S51.

[0102] In step S51, the management control device 50 determines whether or not there is a load on the construction machine 10-i. Specifically, the load status determination unit 62 acquires the load information of the construction machine 10-i acquired by the load information acquisition unit 23 of the construction machine 10-i from the construction machine status information acquisition unit 54, and determines the load status, including the weight of the load loaded on the construction machine 10-i, based on the acquired load information. The load status determination unit 62 outputs the load information determination result to the transmission interval setting unit 66. Note that the presence of a load indicates, for example, that there is a load of more than a predetermined weight, and does not include cases where a small amount of soil remains on the construction machine 10-i after soil dumping. If there is a load on the construction machine 10-i (step S51; Yes), the management control device 50 proceeds to step S52. If there is no load on the construction machine 10-i (step S51; No), the management control device 50 proceeds to step S53.

[0103] In step S52, the transmission interval setting unit 66 of the management control device 50 updates the scaling factor k to k1-i (k=k1-i), and the management control device 50 proceeds to step S71.

[0104] In step S53, the management control device 50 determines whether the vibrations acting on the construction machine 10-i are equal to or greater than a predetermined value. Specifically, the road surface condition determination unit 60 acquires, from the construction machine condition information acquisition unit 54, the position information of the construction machine 10-i at the construction site acquired by the position information acquisition unit 21 of the construction machine 10-i, and the attitude information of the construction machine 10-i acquired by the attitude information acquisition unit 22, from the attitude information acquisition unit 22, and determines the road surface conditions of the road surface on which the construction machine 10-i is traveling based on the acquired position information and attitude information. The road surface condition determination unit 60 outputs the determination result of the road surface conditions to the transmission interval setting unit 66. Note that the vibrations include, for example, values ​​calculated using a predetermined formula from each measured value, such as acceleration, acting on the construction machine 10-i. If the vibrations acting on the construction machine 10-i are equal to or greater than the predetermined value (step S53; Yes), the management control device 50 proceeds to step S54. If the vibration acting on the construction machine 10-i is not equal to or greater than the predetermined value (step S53; No), the management control device 50 proceeds to step S55.

[0105] In step S54, the transmission interval setting unit 66 of the management control device 50 updates the scaling factor k to k2-i (k=k2-i), and the management control device 50 proceeds to step S71.

[0106] In step S55, the management control device 50 determines whether the traveling speed of the construction machine 10-i is equal to or greater than a predetermined value. Specifically, the traveling situation determination unit 61 acquires, from the construction machine status information acquisition unit 54, the position information of the construction machine 10-i at the construction site acquired by the position information acquisition unit 21 of the construction machine 10-i, and determines the traveling speed of the construction machine 10-i based on the acquired position information. The traveling situation determination unit 61 outputs the determination result of the traveling speed to the transmission interval setting unit 66. If the traveling speed of the construction machine 10-i is equal to or greater than the predetermined value (step S55; Yes), the management control device 50 proceeds to step S56. If the traveling speed of the construction machine 10-i is not equal to or greater than the predetermined value (step S55; No), the management control device 50 proceeds to step S57.

[0107] In step S56, the transmission interval setting unit 66 of the management control device 50 updates the scaling factor k to k3-i (k=k3-i), and the management control device 50 proceeds to step S71.

[0108] In step S57, the management control device 50 determines whether the construction machine 10-i is traveling. Specifically, the traveling status determination unit 61 determines the traveling status of the construction machine 10-i based on the location information acquired in step S55. The determination result of the traveling status is output to the transmission interval setting unit 66. If the construction machine 10-i is traveling (step S57; Yes), the management control device 50 proceeds to step S58. If the construction machine 10-i is not traveling (step S57; No), the management control device 50 proceeds to step S59.

[0109] In step S58, the transmission interval setting unit 66 of the management control device 50 updates the scaling factor k to k4-i (k=k4-i), and the management control device 50 proceeds to step S71.

[0110] In step S59, the management control device 50 determines whether or not there is an obstacle around the construction machine 10-i. Specifically, the obstacle situation determination unit 63 obtains obstacle information around the construction machine 10-i, which is obtained by the obstacle information acquisition unit 24 of the construction machine 10-i, from the construction machine situation information acquisition unit 54, and determines the obstacle situation around the construction machine 10-i, including the position and movement speed of the obstacle, based on the obtained obstacle information. Note that the presence of an obstacle indicates, for example, that an obstacle is present within a predetermined first distance, that an obstacle is present within a predetermined second distance longer than the first distance and is approaching the construction machine 10-i, or that an obstacle is present within a predetermined third distance longer than the second distance and is approaching the construction machine 10-i at a predetermined speed or faster. Note that other machines may also be included as obstacles. In other words, the other machine situation determination unit 65 may determine the situation of other machines based on the position information and drive information of construction machines 10 other than the construction machine 10-i, and may regard them as obstacles. If there is an obstacle around the construction machine 10-i (step S59; Yes), the management control device 50 proceeds to step S60. If there is no obstacle around the construction machine 10-i (step S59; No), the management control device 50 proceeds to step S61.

[0111] In step S60, the transmission interval setting unit 66 of the management control device 50 updates the scaling factor k to k5-i (k=k5-i), and the management control device 50 proceeds to step S71.

[0112] In step S61, the management control device 50 determines whether the actuators 15 of each part of the construction machine 10-i are operating in a way that has a significant impact on the surrounding area. Specifically, the operation status determination unit 34 acquires drive information of the actuators 15 of each part of the construction machine 10-i acquired by the actuator control unit 25 of the construction machine 10-i from the construction machine status information acquisition unit 54, and determines the operation status including the operating range of the construction machine 10-i based on the acquired drive information. If the operating range of the construction machine 10-i is equal to or greater than a predetermined value (step S61; Yes), the management control device 50 proceeds to step S62. If the operating range of the construction machine 10-i is not equal to or greater than the predetermined value (step S61; No), the management control device 50 proceeds to step S71.

[0113] In step S62, the transmission interval setting unit 66 of the management control device 50 updates the scaling factor k to k6-i (k=k6-i), and the management control device 50 proceeds to step S63.

[0114] In step S71, the transmission interval setting unit 66 of the management control device 50 sets the transmission interval ST-i for the construction machine 10-i. Specifically, the transmission interval ST-i is calculated by the formula ST-i=STinit×k. That is, if the scaling factor k is updated in step S52, step S54, step S56, step S58, step S60, or step S62, the transmission interval ST-i is updated in accordance with the updated scaling factor k. The transmission interval setting unit 66 outputs the set transmission interval ST-i to the instruction information generation unit 55. The management control device 50 proceeds to step S72.

[0115] In step S72, the management control device 50 sets i←i+1, resets the scaling factor k to 1 (k←1), returns to step S42, and repeatedly executes the loop process from step S42 to step S72 until i>n is satisfied in step S42. If i>n is satisfied in step S42, the management control device 50 ends the process of the flowchart shown in FIG.

[0116] (Effects of the embodiment) As described above, the construction machinery monitoring system 1 of the embodiment comprises a plurality of construction machines 10 each equipped with a construction machinery control device 20, an information terminal 70 installed remotely from the construction machines 10, and a management device 40 including a management control device 50 and capable of communicating with the construction machines 10 and the information terminal 70, the construction machinery control device 20 comprising a position information acquisition unit 21 that acquires position information of the construction machines 10, an attitude information acquisition unit 22 that acquires attitude information of the construction machines 10, and a communication control unit 27 that transmits construction machinery status information Ds regarding the status of the construction machines 10 including position information and attitude information at a predetermined transmission interval ST, and the management control device 50 comprises a communication control unit 52 that causes the construction machinery status information Ds transmitted from the construction machinery control device 20 to be transmitted to the information terminal 70, a road surface condition judgment unit 60 that judges the road surface conditions of the road surface on which the construction machines 10 are traveling based on the position information and attitude information, and a transmission interval setting unit 66 that updates and sets the transmission interval ST based on the road surface conditions.

[0117] The road surface at a construction site where the construction machine 10 works is uneven, due to unevenness, stones, and soil variations, making it more bumpy than when traveling on a regular paved road. When traveling over such bumpy roads, the risk of accidents, such as the dropping of loaded earth and sand, or tipping over, increases. The construction machine monitoring system 1 of the embodiment changes the transmission interval ST based on the road conditions on which each construction machine 10 travels. That is, for example, when a household construction machine 10 passes through a bumpy area where the risk of accidents increases, the transmission interval ST of the construction machine 10 can be shortened and the construction machine status information Ds can be output frequently. This allows a monitor monitoring the status of the construction machine 10 from a remote information terminal 70 to receive the construction machine status information Ds frequently and grasp the situation in real time. On the other hand, when a specific construction machine 10 is traveling over a relatively bumpy area, the transmission interval ST of the construction machine 10 can be lengthened and the construction machine status information Ds can be output less frequently, thereby reducing communication traffic. Therefore, the construction machine monitoring system 1 of the embodiment can adaptively change the frequency of communication between the multiple construction machines 10 and the remote information terminal 70, and can optimize the amount of communication.

[0118] In addition, in the construction machinery monitoring system 1 of this embodiment, the management control device 50 further includes a traveling condition determination unit 61 that determines the traveling conditions, including the traveling speed, of the construction machinery 10 based on the position information, and the transmission interval setting unit 66 updates and sets the transmission interval ST based on the traveling conditions. When the traveling speed of the construction machinery 10 is high, the distance traveled between transmission intervals ST increases. In other words, the continuity of the position information included in the construction machinery status information Ds output at each transmission interval ST decreases. In this case, the transmission interval ST is changed based on the traveling speed of each construction machinery 10. In other words, for example, when the traveling speed of a specific construction machinery 10 is high, the transmission interval ST of that construction machinery 10 can be shortened, and the construction machinery status information Ds can be output frequently. This allows a monitor monitoring the status of the construction machinery 10 from a remote information terminal 70 to receive the position information of the construction machinery 10 frequently and continuously grasp the movement footprint of the construction machinery 10. On the other hand, when the traveling speed of a given construction machine 10 is low, the transmission interval ST of the construction machine 10 is lengthened and construction machine status information Ds is output less frequently, thereby reducing the amount of communication traffic.

[0119] Furthermore, in the construction machine control device 20 of the embodiment, the construction machine status information Ds includes load information, including the weight of the load loaded on the construction machine 10. The management control device 50 further includes a load status determination unit 62 that determines the load status of the construction machine 10 based on the load information. The transmission interval setting unit 66 updates and sets the transmission interval ST based on the load status. When the construction machine 10 is loaded or the load is heavy, the incidence of accidents such as the load dropping or tipping over due to even a small bump increases. In this case, the transmission interval ST is changed based on the load status of the construction machine 10. That is, for example, when a specific construction machine 10 is loaded or the load is heavy, the transmission interval ST of the construction machine 10 can be shortened to output the construction machine status information Ds at a high frequency. This allows a monitor monitoring the status of the construction machine 10 from a remote information terminal 70 to receive the construction machine status information Ds of the construction machine 10 at a high frequency, enabling real-time status monitoring. On the other hand, when a specific construction machine 10 has no cargo or the weight of the cargo is small, the transmission interval ST of the construction machine 10 can be lengthened and construction machine status information Ds can be output less frequently, thereby reducing the amount of communication.

[0120] Furthermore, in the construction machine control device 20 of the embodiment, the construction machine status information Ds includes drive information indicating the drive status of each part of the construction machine 10, and the management control device 50 further includes an operation status determination unit 64 that determines the operation status of the construction machine 10 based on the drive information, and the transmission interval setting unit 66 updates and sets the transmission interval ST based on the operation status. When the construction machine 10 is performing an operation such as digging or turning, or is stopped, the occurrence rate of accidents decreases. In this case, the transmission interval ST is changed based on the operation status of the construction machine 10. In other words, for example, when a specific construction machine 10 or the actuators 15 of each part are not moving around the construction machine 10, the transmission interval ST of the construction machine 10 is lengthened and the construction machine status information Ds is output less frequently, thereby reducing the amount of communication traffic.

[0121] Furthermore, in the construction machine control device 20 of the embodiment, the construction machine status information Ds includes obstacle information including the position and movement speed of obstacles around the construction machine 10. The management control device 50 further includes an obstacle status determination unit 63 that determines the obstacle status around the construction machine 10 based on the obstacle information. The transmission interval setting unit 66 updates and sets the transmission interval ST based on the obstacle status. When there is an obstacle around the construction machine 10, when the construction machine 10 is approaching an obstacle, or when the obstacle is moving, the occurrence rate of accidents such as contact with an obstacle increases. In this case, the transmission interval ST is changed based on the obstacle status around the construction machine 10. That is, for example, when there is an obstacle load around a specific construction machine 10, the transmission interval ST of the construction machine 10 can be shortened, and the construction machine status information Ds can be output frequently. This allows a monitor monitoring the status of the construction machine 10 from a remote information terminal 70 to receive the construction machine status information Ds of the construction machine 10 frequently, enabling real-time situation understanding. On the other hand, if there are no obstacles around a specific construction machine 10, the transmission interval ST of the construction machine 10 can be lengthened and construction machine status information Ds can be output less frequently, thereby reducing the amount of communication.

[0122] In addition, in the construction machinery monitoring system 1 of the embodiment, the management control device 50 further includes an other machinery status determination unit 65 that determines the other machinery status, which indicates the status of other construction machinery 10 relative to a specific construction machinery 10, based on the position information of multiple construction machinery 10. The transmission interval setting unit 66 updates and sets the transmission interval ST based on the other machinery status. When other construction machinery 10 (other machinery) are present around a specific construction machinery 10, when the specific construction machinery 10 is approaching another machinery, or when the other machinery is moving, the occurrence rate of accidents such as contact with another machinery increases. In this case, the transmission interval ST is changed based on the other machinery status around the construction machinery 10. In other words, for example, when another machinery is approaching a specific construction machinery 10, the transmission interval ST of the construction machinery 10 can be shortened, and construction machinery status information Ds can be output frequently. This allows a monitor monitoring the status of the construction machinery 10 from a remote information terminal 70 to receive the construction machinery status information Ds of the construction machinery 10 frequently, enabling real-time situation assessment. On the other hand, when there are no other machines around a specific construction machine 10, the transmission interval ST of the construction machine 10 can be lengthened and construction machine status information Ds can be output less frequently, thereby reducing the amount of communication.

[0123] Furthermore, in the construction machine monitoring system 1 of the embodiment, when the management control device 50 receives an instruction signal requesting the start of transmission of the construction machine status information Ds, the management control device 50 starts transmitting the construction machine status information Ds transmitted from the construction machine control device 20 at transmission intervals ST to the information terminal 70 each time. This makes it possible to suppress communication in situations where monitoring is not necessary, and to reduce the amount of communication.

[0124] It should be noted that the present disclosure is not limited to the above-described embodiment, and can be implemented in various modifications without departing from the gist of the present disclosure.

[0125] For example, if the obstacle situation determination unit 63 determines that there is an obstacle that poses a risk of collision or the like if the construction machine 10 continues to operate, the construction machine control device 20 may output a control signal to make an emergency stop of the actuator 15 of the construction machine 10. Furthermore, the construction machine control device 20 may further be capable of receiving a control signal that updates and sets the transmission interval ST stored in the transmission interval storage unit 28 to the transmission interval ST set by the user, based on a predetermined operation by the user operating the information terminal 70.

[0126] Furthermore, in the processing of the flowchart shown in Figure 8, one threshold value is set for each judgment, and the magnification coefficient k is explained as being either changed or not changed, but multiple threshold values ​​may be set for each judgment, and the magnification coefficient k may be changed to a different value at each stage.

[0127] Furthermore, the components of the illustrated construction machine control device 20, construction machine 10 including the construction machine control device 20, management control device 50, management device 40 including the management control device 50, information terminal 70, and construction machine monitoring system 1 are functional concepts and do not necessarily have to be physically configured as shown in the figure. In other words, the specific forms of the construction machine control device 20, construction machine 10 including the construction machine control device 20, management control device 50, management device 40 including the management control device 50, information terminal 70, and construction machine monitoring system 1 are not limited to those illustrated, and all or part of them may be functionally or physically distributed or integrated in any unit depending on the processing load, usage status, etc. of the construction machine control device 20, construction machine 10 including the construction machine control device 20, management control device 50, management device 40 including the management control device 50, information terminal 70, and construction machine monitoring system 1.

[0128] Furthermore, for example, the construction machine control device 20 may be configured to be retrofittable to the construction machine 10, so that the construction machine 10 can operate even when the construction machine control device 20 is not installed. In this case, for example, in the configuration shown in Fig. 2, this is realized by distributing the functions of the actuator control unit 25 between the existing construction machine 10 and the construction machine control device 20. Specifically, this is realized by having the existing construction machine 10 have a drive control unit that controls the drive of the actuator 15, and having the construction machine control device 20 have a drive information acquisition unit that acquires drive information (operation feedback information) of the actuator 15.

[0129] The configurations of the construction machine control device 20, the construction machine 10 including the construction machine control device 20, the management control device 50, the management device 40 including the management control device 50, the information terminal 70, and the construction machine monitoring system 1 are realized, for example, as software, by programs loaded into memory. In the above embodiment, these have been described as functional blocks realized by the cooperation of these hardware and software. In other words, these functional blocks can be realized in various forms using only hardware, only software, or a combination of these. [Explanation of symbols]

[0130] 1 Construction machinery monitoring system 10 Construction machinery 11 Position detection unit 12 Attitude detection unit 13 Load detection unit 14 Obstacle detection unit 15 Actuators 17 Communications Department 20 Construction machinery control device 21 Location information acquisition section 22 Posture information acquisition unit 23 Cargo Information Acquisition Department 24 Obstacle information acquisition unit 25 Actuator control section 26 Operation instruction acquisition section 27 Communication control unit (construction equipment communication control unit) 28 Transmission interval memory unit 29 Construction Machinery Status Information Generation Unit 40 Management device 41 Storage section 42 Communications Department 50 Management control device 51 Data Update Section 52 Communication control unit (management communication control unit) 53 Operation instruction acquisition unit 54 Construction Machinery Status Information Acquisition Department 55 Instruction information generation section 56 Field information generation department 60 Road Condition Judgment Unit 61 Driving condition judgment unit 62 Cargo Status Judgment Department 63 Obstacle Situation Judgment Unit 64 Operation status determination unit 65 Other aircraft situation assessment section 66 Transmission interval setting section 70 Information terminal 71 Operation section 72 Display section 73 Communications Department 74 Arithmetic section Dm Map Information DV Construction Machinery Information Ds Construction Machinery Status Information DC operation instruction information Df field information Dt Transmission interval instruction information

Claims

1. A plurality of construction machines each equipped with a construction machine control device; an information terminal provided remotely from the construction machine; a management device including a management control device and capable of communicating with the construction machine and the information terminal; Equipped with The construction machine control device a location information acquisition unit that acquires location information of the construction machine; a posture information acquisition unit that acquires posture information of the construction machine; a construction machine communication control unit that transmits construction machine status information regarding the status of the construction machine, including the position information and the attitude information, at a predetermined transmission interval; Including, The management control device a management communication control unit that acquires the construction machine status information transmitted from the construction machine control device and transmits it to the information terminal; a road surface condition determination unit that determines the road surface condition on which the construction machine travels based on the position information and the attitude information; a transmission interval setting unit that updates and sets the transmission interval based on the road surface condition; Construction machinery monitoring system, including

2. The management control device further includes a traveling condition determination unit that determines the traveling condition of the construction machine, including the traveling speed, based on the position information, the transmission interval setting unit updates and sets the transmission interval based on the traveling status. The construction machine monitoring system according to claim 1 .

3. The construction machine status information includes cargo information including the weight of the cargo loaded on the construction machine, The management control device further includes a cargo status determination unit that determines the cargo status of the construction machine based on the cargo information, the transmission interval setting unit updates and sets the transmission interval based on the cargo status; The construction machine monitoring system according to claim 1 or 2.

4. The construction machine status information includes drive information indicating the drive status of each part of the construction machine, The management control device further includes an operation status determination unit that determines the operation status of the construction machine based on the drive information, the transmission interval setting unit updates and sets the transmission interval based on the operating status. The construction machine monitoring system according to any one of claims 1 to 3.

5. the construction machine status information includes obstacle information including the positions and moving speeds of obstacles around the construction machine, The management control device further includes an obstacle situation determination unit that determines an obstacle situation around the construction machine based on the obstacle information, the transmission interval setting unit updates and sets the transmission interval based on the obstacle status. The construction machine monitoring system according to any one of claims 1 to 4.

6. The management control device further includes an other machine status determination unit that determines the status of other construction machines relative to a specific construction machine based on the position information of the plurality of construction machines, the transmission interval setting unit updates and sets the transmission interval based on the status of the other device. The construction machine monitoring system according to any one of claims 1 to 5.

7. When the management control device receives an instruction signal requesting the start of transmission of the construction machine status information, the management control device starts transmitting the construction machine status information to the information terminal each time the construction machine status information is transmitted from the construction machine control device at the transmission interval. The construction machine monitoring system according to claim 6.

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