Actual machine management device and actual machine management system

Abstract

To grasp the respective residual power amounts of a plurality of stand-by work machines 400 and 500 when performing remote control of the work machines 400 and 500, and to properly manage the power storage amounts in power storing devices 440 and 540.SOLUTION: An actual machine management device 300 manages a plurality of work machines 400, 500 that are remote-controlled and include power storing devices 440, 540 and communication devices 421, 521 capable of transmitting power storage information about the residual power amounts in the power storing devices 440, 540, respectively. On the basis of power storage information transmitted from respective communication devices 421, 521 of stand-by work machines 400, 500 in a stand-by state of being not operated by remote-control among the work machines 400, 500, the actual machine management device 300 transmits the power storage information for reporting the residual power amount in the power storing devices 440, 540 to reporting devices 221, 225 at a timing when a power storage threshold previously defined for respective stand-by work machines 400, 500 is reached or a timing when the power storage threshold is estimated to be reached.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a machine management device for managing a plurality of remotely operated work machines. , and Actual machine management device Equipped with The present invention relates to an actual machine management system, and more particularly to an actual machine management device and an actual machine management system that can appropriately manage the remaining amount of stored electricity in the electricity storage device of a standby work machine. [Background technology]

[0002] In recent years, inventions have been made relating to remote control devices for remotely operating work machines. With such remote control devices, an operator remotely controls the work machine from a location away from the work machine while viewing images of the surrounding area transmitted from the work machine. In addition to images of the surrounding area, the work machine also transmits information related to the work machine, such as information about the operating status of the engine installed therein, to the remote control device. The operator operates the work machine while recognizing this information. The work machine is also equipped with a power storage device. The power storage device supplies power to various electronic devices, as well as to the starter motor used to start the engine and the engine control device, so it is necessary to maintain the remaining charge of the power storage device at a certain level or above. Patent Document 1 discloses a management device that manages the remaining charge of a work machine used for construction work.

[0003] Furthermore, when multiple work machines are remotely operated, work is carried out by switching between the work machines being operated, and while one work machine is being remotely operated to work, the other work machine is placed on standby. When a work command is received on a standby work machine, the electronic devices, including the control devices, are kept powered and the standby work machine is in a standby state so that it can start work immediately. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-111808 Summary of the Invention [Problem to be solved by the invention]

[0005] However, if electronic devices remain powered for a long time, power is gradually consumed, causing the remaining charge in the power storage device to decrease, potentially dropping below a required predetermined level. In particular, when remotely operating multiple work machines, the operator may be distracted by operating the work machines in operation and not notice the decrease in the remaining charge of a standby work machine. If this state continues, the remaining charge may drop below the predetermined level without the operator's knowledge, causing the engine to stop starting and requiring charging. Patent Document 1 discloses an invention related to the management of remaining charge, but does not disclose a case where multiple work machines are remotely operated. Therefore, the problem of not being able to detect a decrease in the remaining charge in the power storage device of a standby work machine when multiple work machines are remotely operated remains.

[0006] The present invention has been made to solve the above-mentioned problems, and according to the present invention, even when multiple work machines are remotely operated, it is possible to know the remaining amount of electricity stored in each standby work machine, and to appropriately manage the amount of electricity stored in the electricity storage device. [Means for solving the problem]

[0007] The actual machine management device of the present invention is an actual machine management device that manages a plurality of remotely operated work machines, each of which is equipped with a power storage device and a communication device capable of transmitting power storage information related to the remaining amount of power stored in the power storage device, and is characterized in that the actual machine management device transmits a notification regarding the remaining amount of power stored in the power storage device to the notification device based on the power storage information transmitted from each communication device of a standby work machine among the plurality of work machines that is in a standby state and not operating by remote control, when the power storage information reaches a predetermined power storage threshold for each standby work machine, or when it is estimated that the predetermined power storage threshold has been reached.

[0008] The actual machine management device of the present invention issues an alert regarding the remaining amount of stored power in the power storage device when a predetermined power storage threshold is reached for each standby work machine, or when it is estimated that a predetermined power storage threshold has been reached. Therefore, even when multiple work machines are remotely operated, it is possible to know when the remaining amount of stored power in each standby work machine is decreasing, and the remaining amount of stored power in the power storage device can be appropriately managed.

[0009] The working machine management device of the present invention is preferably capable of simultaneously outputting to the notification device the power storage information of two or more working machines, including at least one standby working machine, out of a plurality of remotely operated working machines.

[0010] The actual machine management device of the present invention can simultaneously output power storage information for two or more work machines, including at least a standby work machine, to a notification device, so even when multiple work machines are remotely operated, the remaining power storage capacity of each standby work machine can be reliably known. As a result, the remaining power storage capacity of the power storage device can be appropriately managed.

[0011] In the actual machine management device of the present invention, the power storage information output by the actual machine management device includes an icon having a graphic, and it is preferable that the icon showing the power storage information of a work machine that has fallen below a power storage threshold is displayed with the icon display changing over time for at least a portion of the icon.

[0012] The actual machine management device of the present invention displays an icon indicating power storage information that changes over time, so even if the operator is operating the work machine while looking at an image of the surrounding area, the operator can easily notice the icon notifying the operator of a low charge. This makes it easy to know the remaining power storage amount of the standby work machine, and allows the remaining power storage amount of the power storage device to be managed appropriately.

[0013] Furthermore, in the actual machine management device of the present invention, it is preferable that the power storage information is transmitted when the remaining amount of power stored in the power storage device of each standby work machine falls below a power storage threshold value that is predetermined for each work machine, and that the actual machine management device transmits the power storage information to the notification device as soon as it receives the power storage information.

[0014] In the actual machine management device of the present invention, when the remaining amount of stored power in the power storage device of each standby work machine falls below a power storage threshold value determined for each work machine, a notification is sent and a report is issued. Therefore, when the remaining amount of stored power falls below the power storage threshold value for each standby work machine, it is possible to know the decrease in the remaining amount of stored power.

[0015] Furthermore, in the actual machine management device of the present invention, it is preferable that the power storage information is transmitted when the standby work machine transitions to a standby state, and that while the standby work machine is in a standby state, power from the power storage device is supplied only to the communication device that transmits and receives data to and from the actual machine management device.

[0016] Actual machine management of the present invention Device In the standby state, when a work machine is in standby mode, power from the power storage device is supplied only to the communication device that transmits and receives data to and from the actual machine management device, so power consumption during standby can be minimized, and the amount of power stored in the power storage device can be appropriately managed.

[0017] Furthermore, the actual machine management device of the present invention preferably has an estimation means for estimating the time until the remaining amount of stored power in the power storage device of the standby work machine falls to a power storage threshold determined for each work machine, based on the received power storage information and the power consumption characteristics of the standby work machine that transmitted the power storage information, and the actual machine management device preferably transmits the power storage information to the alarm device when the time estimated by the estimation means has elapsed.

[0018] The actual machine management device of the present invention has an estimation means for estimating the time it will take for the remaining amount of stored power in the power storage device of a standby work machine to fall to a power storage threshold value determined for each work machine. Therefore, even in a state in which power from the power storage device is supplied only to the communication device that sends and receives data to and from the actual machine management device in order to reduce power consumption, it is possible to know the decrease in the remaining amount of stored power for each standby work machine at the time when the remaining amount of stored power falls to the power storage threshold value.

[0019] Furthermore, in the actual machine management device of the present invention, it is preferable that a charging start command is sent in response to a charging start operation performed by an operator remotely operating the work machine, and the drive source possessed by the standby work machine is activated to charge the storage device of the standby work machine.

[0020] Actual machine management of the present invention Device In this case, charging can be performed by an operator, so the amount of stored electricity in the electricity storage device can be appropriately managed.

[0021] Furthermore, in the actual machine management device of the present invention, it is preferable that after the drive source of the standby work machine has been operated for a predetermined time, a charge end command is transmitted to stop the drive source, and charge end information is transmitted to the notification device.

[0022] The actual machine management device of the present invention can stop the drive source after a predetermined period of operation and transmit charging completion information to the notification device, thereby notifying the operator that charging of the power storage device has been completed, thereby enabling appropriate management of the amount of stored electricity in the power storage device.

[0023] Furthermore, it is preferable that the machine management system of the present invention comprises at least one of a machine management device, a notification device, and a plurality of work machines.

[0024] The actual machine management system of the present invention is equipped with an actual machine management device, an alarm device, and at least one of a plurality of work machines, and therefore can appropriately control each of them and appropriately manage the amount of electricity stored in the electricity storage device. [Brief explanation of the drawings]

[0025] [Figure 1] FIG. 1 is a schematic diagram showing an actual machine management system according to a first embodiment. [Figure 2] FIG. 2 is a schematic diagram showing the remote control device of FIG. 1. [Figure 3] FIG. 2 is a flow diagram showing a flow of remote control in the actual machine management system of FIG. [Figure 4]1. FIG. 4 is a flowchart showing the process of managing the remaining amount of stored electricity according to the first embodiment and the second embodiment of a standby work machine in the actual machine management system of FIG. [Figure 5] 1. FIG. 6 is a flowchart showing the process of managing the remaining amount of stored electricity of a standby work machine according to a third embodiment in the actual machine management system of FIG. [Figure 6] 10 is a flowchart showing the process of managing the remaining amount of stored electricity of a standby work machine according to a fourth embodiment in the actual machine management system of FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0026] First Embodiment [Configuration of the actual machine management system 100] The actual machine management system 100 will be described with reference to Figure 1. The actual machine management system 100 comprises a remote control device 200, an actual machine management device 300, and one or more work machines 400, 500 that can be remotely controlled via the remote control device 200. The number of work machines 400, 500 that are remotely controlled may be two, or may be three or more. Furthermore, the present invention can also be applied to each individual work machine 400, as long as there is a certain amount of standby time for the work machine 400. Only one of the remote control device 200 and the work machines 400, 500 may be a component of the actual machine management system 100.

[0027] The remote operation device 200, actual machine management device 300, and work machines 400, 500 are configured to be able to communicate with each other via a network 110. The network through which the remote operation device 200 and actual machine management device 300 communicate with each other and the network through which the actual machine management device 300 and work machines 400, 500 communicate with each other may be the same system or different systems. Furthermore, the network 110 may be included as a system specific to the actual machine management system 100, or an existing network system may be used.

[0028] [Configuration of the actual machine management device 300] The actual machine management device 300 includes a database 310, a first support processing element 320, and a second support processing element 330. The actual machine management device 300 may be configured as a support server that supports the actual machine management system. The database 310 stores and holds power storage information, captured image data, etc. of the work machines 400, 500. The database 310 may be configured as a database server separate from the actual machine management device 300. Each of the support processing elements 320, 330 is configured by an arithmetic processing device, for example, a single-core processor or a multi-core processor, or processor cores that make up such a processor, reads necessary data and software from a storage device such as a memory, and performs arithmetic processing on the data in accordance with the software.

[0029] [Configuration of remote control device 200] The remote operation device 200 includes a remote control device 230, a remote input interface 210, and a remote output interface 220, all of which are not shown. 3 0 is composed of a processing unit, such as a single-core processor or a multi-core processor, or the processor cores that make up such a processor, and reads the necessary data and software from a storage device such as memory, and performs calculations on the data in accordance with the software.

[0030] The remote input interface 210 includes a remote control mechanism 211. The remote output interface 220 includes a remote image output device 221, a remote audio output device 225, and a remote wireless communication device 229.

[0031] The remote control mechanism 211 will be described with reference to Figure 2. The remote control mechanism 211 includes a travel control device, a swing control device, a boom control device, an arm control device, and a bucket control device. Each control device has an operation lever that is rotated. The operation lever (travel lever) of the travel control device is operated to move the undercarriage of the work machine 400, 500. The travel lever may also serve as a travel pedal. For example, a travel pedal may be provided that is fixed to the base or lower end of the travel lever. The operation lever (swing lever) of the swing control device is operated to move a hydraulic swing motor that makes up the swing mechanism of the work machine 400, 500.

[0032] The control lever (boom lever) of the boom control device is operated to move the boom cylinder of the work machines 400, 500. The control lever (arm lever) of the arm control device is operated to move the arm cylinder of the work machines 400, 500. The control lever (bucket lever) of the bucket control device is operated to move the bucket cylinder of the work machines 400, 500.

[0033] The operating levers constituting the remote control mechanism 211 are arranged around a seat 251 on which the operator sits, as shown in Fig. 2, for example. The seat 251 is in the form of a high-back chair with armrests. Alternatively, the seat 251 may be in any form that allows the operator to sit, such as a low-back chair without a headrest or a chair without a backrest.

[0034] A pair of left and right travel levers 212 corresponding to the left and right crawlers of the lower traveling body are arranged side by side in front of the seat 251. The travel lever 212 may be configured so that one operating lever serves as multiple operating levers. Also, operating levers 213, 213 that function as a swing operating device for the upper rotating body of the work machines 400, 500, a boom operating device, an arm operating device, and a bucket operating device are arranged on the left and right sides of the seat 251, respectively.

[0035] 2, the remote image output devices 221 include a central remote image output device 222, a left remote image output device 223, and a right remote image output device 224, each having a substantially rectangular screen, and are respectively arranged in front of, diagonally forward left from, and diagonally forward right from the seat 251. The screens (image display areas) of the central remote image output device 222, the left remote image output device 223, and the right remote image output device 224 may have the same shape and size. Alternatively, the central remote image output device 222 may be larger than the others, and the left remote image output device 223 and the right remote image output device 224 may be smaller than the central remote image output device 222.

[0036] As shown in Figure 2, the right edge of the left remote image output device 223 is adjacent to the left edge of the central remote image output device 222 so that the screens of the central remote image output device 222 and the left remote image output device 223 form an inclination angle θ1 (e.g., 120°≦θ1≦150°). As shown in Figure 2, the left edge of the right remote image output device 224 is adjacent to the right edge of the central remote image output device 222 so that the screens of the central remote image output device 222 and the right remote image output device 224 form an inclination angle θ2 (e.g., 120°≦θ2≦150°). The inclination angles θ1 and θ2 are the same. Alternatively, the inclination angles θ1 and θ2 may be different.

[0037] The screens of the central remote image output device 222, the left remote image output device 223, and the right remote image output device 224 may be parallel to the vertical direction or may be tilted relative to the vertical direction. At least one of the central remote image output device 222, the left remote image output device 223, and the right remote image output device 224 may be composed of multiple divided image output devices. For example, the central remote image output device 222 may be composed of a pair of image output devices adjacent to each other at the top and bottom, each having a substantially rectangular screen.

[0038] Remote audio output device 225 is configured with one or more speakers, and is configured, for example, as shown in Fig. 2, with a central audio output device 226, a left audio output device 227, and a right audio output device 228 arranged behind seat 251, behind the left armrest, and behind the right armrest, respectively. Central audio output device 226, left audio output device 227, and right audio output device 228 may each be the same device. Alternatively, central audio output device 226, left audio output device 227, and right audio output device 228 may each be audio output devices with different sizes or characteristics.

[0039] [Configuration of work machines 400 and 500] The work machines 400, 500 are remotely operated at a construction site. The type, size, and number of work machines 400, 500 to be used are selected appropriately depending on the work content, scale, etc. FIG. 1 shows a case where two work machines 400, 500 are used. The two work machines 400, 500 are remotely operated alternately by a single operator in accordance with the progress of the work. While one work machine 400, 500 is in a working state, the other work machine 400, 500 is in a standby state. There may be three or more work machines 400, 500, and while one work machine 400 is in a working state, the other work machine is in a standby state. The work machines 400, 500 are driven by an internal combustion engine, a hybrid mechanism of an internal combustion engine and an electric motor, or the like (not shown).

[0040] The work machines 400, 500 are, for example, crawler excavators, which are construction machines. As shown in FIG. 1 , a crawler excavator comprises a crawler-type lower traveling body and an upper rotating body that is rotatably mounted on the lower traveling body via a rotating mechanism. A cab, which serves as an operator's compartment, is provided on the front left side of the upper rotating body. A work attachment is provided in the front center of the upper rotating body. The work machines 400, 500 are equipped with machine input interfaces 410, 510, machine output interfaces 420, 520, work attachments 430, 530, power storage devices 440, 540, charging devices 450, 550, safety devices 460, 560, alarm devices 470, 570, and machine control devices 480, 580 that control them. When there are three or more work machines to be remotely operated, the above devices are provided for each work machine. The shapes and locations of the above-mentioned devices arranged on the work machines 400, 500 are not shown in the figures.

[0041] The actual machine input interface 410, 510 includes an actual machine operation mechanism 411, 511, an actual machine imaging device 414, 514, and an actual machine surroundings monitoring device 415, 515. The actual machine operation mechanism 411, 511 includes multiple operation levers arranged around a seat inside the cab in a similar manner to the remote operation mechanism 211. A drive mechanism or robot is provided in the cab that receives signals corresponding to the operation of the remote operation mechanism 211 and moves the actual machine operation levers based on the received signals. The actual machine imaging device 414, 514 is installed, for example, inside the cab and captures images of the surrounding environment, including at least a portion of the work attachment 430, 530, through the front window and a pair of left and right side windows. Some or all of the window frames of the front window and side windows may be outside the imaging range and not be captured. The actual machine surroundings monitoring device 415, 515 is composed of a distance measurement sensor etc. for detecting the presence of a target object (e.g., a worker, other work machine and / or vehicle, etc.) in a real space area outside the imaging range of the actual machine imaging device 414, 514 (e.g., the right area, left area and / or rear area and / or blind spot area of ​​the cab).

[0042] The actual device output interfaces 420, 520 are equipped with actual device wireless communication devices 421, 521, which are communication devices. The actual device wireless communication devices 421, 521 are connected to the remote control device 200 and the actual device management device 300 via the network 110, and receive actual device operation signals and transmit captured images of the surrounding environment, power storage information of the power storage devices 440, 540, etc.

[0043] The work attachments 430, 530 are equipped with a boom that is mounted on the upper rotating body so that it can be raised and lowered, an arm that is rotatably connected to the tip of the boom, and a bucket that is rotatably connected to the tip of the arm. The work attachments 430, 530 are equipped with a boom cylinder, arm cylinder, and bucket cylinder that are made up of extendable hydraulic cylinders.

[0044] The boom cylinder is connected between the boom and the upper rotating body so as to extend and retract when supplied with hydraulic oil to rotate the boom in the hoisting direction. The arm cylinder is connected between the arm and the boom so as to extend and retract when supplied with hydraulic oil to rotate the arm about a horizontal axis relative to the boom. The bucket cylinder is connected between the bucket and the arm so as to extend and retract when supplied with hydraulic oil to rotate the bucket about a horizontal axis relative to the arm.

[0045] The power storage devices 440, 540 are devices that supply the necessary power to the work machines 400, 500. When the work machines 400, 500 under remote control are not in the middle of work but are in a standby state, power is supplied from the power storage devices 440, 540 to the actual wireless communication devices 421, 521, actual machine control devices 480, 580, etc. The power storage devices 440, 540 are, for example, batteries.

[0046] The charging devices 450, 550 are devices that charge the power storage devices 440, 540 when the remaining amount of electricity stored in the power storage devices 440, 540 falls below a predetermined value. The charging devices 450, 550 are, for example, generators driven by the internal combustion engines provided in the work machines 400, 500.

[0047] The safety devices 460, 560 are devices that lock at least one or more of the control levers, including the travel lever, of the work machines 400, 500 so that they cannot be operated. When charging is started remotely without a rider on the work machines 400, 500, the safety devices 460, 560 are activated before charging starts, locking the control levers in the non-travel position of the work machines 400, 500 or the non-operating position of the work attachments 430, 530. By locking the control levers in these positions, it is possible to prevent the work machines 400, 500 or work attachments 430, 530 from suddenly starting to move when the internal combustion engine of the work machines 400, 500 is operating.

[0048] The alarm devices 470, 570 are devices that activate prior to the start of charging when charging of the work machines 400, 500 begins under remote control, and notify those in the vicinity that charging has begun. When charging begins by remote control, the alarm devices are designed to prevent people in the vicinity from being surprised or trying to get on the work machines 400, 500 in a panic to stop them when the internal combustion engine of the unmanned work machines 400, 500 begins to move in response to a command signal.

[0049] The actual machine control devices 480, 580 are devices that control the above-mentioned devices provided on the work machines 400, 500. The actual machine control devices 480, 580 have stored power amount acquisition devices 481, 581 that detect the amount of stored power in the power storage devices 440, 540. The stored power amount acquisition devices 481, 581 detect the amount of stored power in the power storage devices 440, 540 of the respective work machines 400, 500 under predetermined conditions, and transmit the power storage information via the actual machine wireless communication devices 421, 521.

[0050] [Flow for remotely operating multiple work machines 400, 500] 3 and 4, a flow for remotely operating a plurality of work machines 400, 500 in the first embodiment will be described. The first embodiment includes a process for notifying the remaining amount of stored power of a standby work machine 400. Based on the notified information, the operator switches the work target to the work machine 400 and charges the work machine 400 while working, before the remaining amount of stored power of the work machine 400 drops to a predetermined value. FIG. 3 is a flow diagram showing a flow for remotely operating a first work machine 400 out of a plurality of work machines 400, 500. FIG. 4 is a flow diagram showing a process for starting remote operation with a second work machine 500 in place of the first work machine 400 shown in FIG. 3, and managing the remaining amount of stored power in the power storage device 440 of the first work machine 400 that has been put into a standby state.

[0051] In the flow diagrams of Figures 3 to 6, blocks such as "C201", "C301", and "C401" represent the transmission and / or reception of data, and conditional branches in which processing in the branching direction is executed based on the transmission and / or reception of the data.

[0052] The main switch of the work machine 400 to be remotely operated is turned on and set to a standby state (STEP 100). Although not shown in Figure 3, this is a task that must be performed before remote operation begins. The main switch provided on the work machine 400 to be remotely operated is manually turned on to put the work machine 400 into a standby state where it can be remotely operated. The standby state is a state in which the internal combustion engine that drives the work machine 400 has not been started, and the actual machine wireless communication device 421 and the actual machine control device 480 having the stored power acquisition device 481 are powered and can receive commands from the remote operation device 200. By sending a start command from the remote operation device 200 to the work machine 400 in the standby state, the internal combustion engine of the work machine 400 can be started and work can begin.

[0053] When multiple work machines 400, 500 are remotely operated, the main switches of both work machines 400, 500 can be turned on simultaneously to put them into standby mode. On the other hand, when the first work machine 400 to be used starts work, only the first work machine 500 can be put into standby mode, and the main switch of the second work machine 500 can be turned on just before the second work machine 500 starts work. Doing so can contribute to saving power in the power storage device 540 of the second work machine 500. The work of turning on the main switches can be performed by a worker who goes to the work site where the work machines 400, 500 are located, rather than by an operator who operates the remote control device 200 located in a remote location.

[0054] In response to an operation by the operator, the remote operation device 200 transmits a start-up command to the actual machine management device 300 via the remote wireless communication device 229 (STEP 201). The start-up command is received by the actual machine management device 300 (C301). In response to this, the start-up command is transmitted from the actual machine management device 300 to the work machine 400 and received therein (C401).

[0055] After receiving a start command, when the internal combustion engine of the work machine 400 is started, the actual machine control device 480 of the work machine 400 begins a self-diagnosis of the vehicle condition (STEP 401). The work machine 400 acquires first information including the results of the diagnosis, as well as images captured by the actual machine imaging device 414 and the actual machine periphery monitoring device 415, and transmits these to the actual machine management device 300. The first information and the captured images are received by the actual machine management device 300 (C302). In response, the first information and the captured images are transmitted to and received by the remote operation device 200 (C201). The self-diagnosis is a predetermined check that is performed at the start of work immediately after starting the internal combustion engine, such as confirming that the internal combustion engine has started, checking the oil pressure of the internal combustion engine, checking the remaining fuel level, checking the operation of electronic devices such as the actual machine operation mechanism 411 at startup, and checking the charge state of the power storage device 440. The first information is the various items of the self-diagnosis. The first information and the captured image are transmitted immediately after the work machine 400 is started up, and are continuously transmitted thereafter.

[0056] The remote operation device 200 notifies the received first information and the captured image via the remote image output device 221 and / or the remote sound output device 225 (STEP 203). The operator uses this information to check whether there is an abnormality in the work machine 400 and to check detailed information, such as the remaining amount of electricity stored in the electricity storage device 440.

[0057] When the work machine 400 is started up without any abnormalities, the operator operates the remote control device 200 to send a work command to the actual machine management device 300 (STEP 205). The work command is received by the actual machine management device 300 (C303). In response, the work command is sent to the work machine 400 and received therein (C402).

[0058] When the work machine 400 receives the work command, it transmits second information to the actual machine management device 300 (STEP 403). The second information is a reception confirmation signal transmitted from the work machine 400 when a work command is received. Furthermore, if a drive amount detection device is attached to the actual machine operation mechanism 411 of the work machine 400, the second information can include a detected value of the drive amount, or a drive confirmation signal indicating that the actual machine operation mechanism 411 has actually been driven. The transmitted second information is received by the actual machine management device 300 (C304). In response to this, the second information is transmitted from the actual machine management device 300 to the remote operation device 200, where it is received (C202).

[0059] The second information received by the remote operation device 200 is notified by the remote image output device 221 and / or the remote sound output device 225 and is confirmed by the operator (STEP 206).

[0060] After the work machine 400 has performed the work of the transmitted work command, if it is to continue work, the operator transmits the next work command (STEP 207). The above steps from STEP 205 to STEP 207 are repeated until the scheduled work is completed.

[0061] When a scheduled period of work has been completed on the work machine 400, or when the work of the work machine 400 needs to be interrupted and put into a standby state for some reason, the operator operates the remote control device 200 to send a standby command to the actual machine management device 300 (STEP 209). The standby command is received by the actual machine management device 300 (C305). In response to this, a standby command is sent from the actual machine management device 300 to the work machine 400 and received therein (C403). As a result, the work machine 400 goes into a standby state.

[0062] Next, referring to FIG. 4, the switching of the work target remotely operated by the remote operation device 200 from the work machine 400 to the work machine 500, and step 1 of managing the remaining stored power of the power storage device 440 of the standby work machine 400 after the switching will be described. The remaining stored power management step 1 is a step of constantly transmitting the remaining stored power of the power storage device 440 from the work machine 400 to the actual machine management device 300. In order to switch to the work machine 500, as in STEP 100 above, the main switch of the work machine 500 to be used is set to standby in advance. Thereafter, in STEP 211, the remote operation device 200 transmits a start-up command to the actual machine management device 300. The start-up command is received by the actual machine management device 300 (C306). In response to this, the start-up command is transmitted from the actual machine management device 300 to the work machine 500 and received therein (C501). By the above operation, the work machine 500 is started and becomes ready to work. From this point on, when switching between the work machines 400, 500 to perform work, the work machine 400, 500 currently in operation is put into standby mode by remote control, and the standby work machine 400, 500 is started up by repeating this operation, and the work is performed by the selected work machine 400, 500.

[0063] The work machine 400 that has received the standby command stops the internal combustion engine, acquires power storage information of the power storage device 440, and transmits the acquired power storage information to the actual machine management device 300 (STEP 421). In response to this, the actual machine management device 300 receives the power storage information (C307).

[0064] The work machine 400 that has been put into a standby state by a standby command is in a state in which the internal combustion engine is stopped. Furthermore, the actual machine control device 480, which has the actual machine wireless communication device 421 and the stored electricity amount acquisition device 481, is always powered and can receive commands from the remote operation device 200. The powered stored electricity amount acquisition device 481 is always detecting the stored electricity amount of the electricity storage device 440. The stored electricity amount of the electricity storage device 440 is the voltage value between the connection terminals of the electricity storage device 440. Furthermore, the stored electricity information is a value corresponding to the voltage between the connection terminals of the electricity storage device 440.

[0065] The actual machine management device 300 uses the acquired power storage information to calculate a power storage threshold arrival time T, which is the time from the time the power storage information is acquired until the amount of stored power decreases and reaches the power storage threshold. Here, the power storage threshold is a value obtained by adding a margin value to a limit power storage threshold, which is the limit value of the amount of stored power at which the internal combustion engine of the work machine 400 can be started. Then, it is determined whether the amount of stored power in the power storage device 440 has not yet reached the power storage threshold, i.e., whether the power storage threshold arrival time T is greater than 0 (STEP 321). The actual machine management device 300 stores the power storage threshold and the hourly power consumption value in a standby state for each work machine 400, and calculates the power storage threshold arrival time T based on the acquired power storage information and these. The power storage threshold arrival time T, which is the time it takes for the power storage threshold for each power storage device 440 to be reached, varies depending on influencing factors such as temperature and the accumulated usage time of the power storage device 440. Therefore, the state of these influencing factors may be detected using a detector provided therein, or the cumulative usage time of the power storage device 440 of the work machine 400 stored in the actual machine management device 300 may be calculated, and the power storage threshold arrival time T may be corrected based on a correspondence table between the influencing factors and the power storage threshold arrival time T stored in the actual machine management device 300, to determine the corrected power storage threshold arrival time T.

[0066] If the result of calculating the power storage threshold arrival time T in STEP 321 shows that the power storage threshold has not yet been reached, that is, if the power storage threshold arrival time T is greater than 0, the actual machine management device 300 transmits the calculated power storage threshold arrival time T to the remote operation device 200 (STEP 323). In response, the remote operation device 200 receives the transmitted power storage threshold arrival time T (C203).

[0067] The remote operation device 200 notifies the operator of the received information regarding the power storage threshold arrival time T (STEP 221). The notification device includes the remote image output device 221 and the remote audio output device 225 of the remote operation device 200, and notifies the operator by at least one of them. The remote image output device 221 displays at least one of the time until the power storage device 440 reaches the power storage threshold and the time at which the power storage device 440 reaches the power storage threshold on the screen of the remote image output device 221, according to the received power storage threshold arrival time T. In addition, the remote image output device 221 generates a voice or sound message corresponding to at least one of the above time and the above time.

[0068] The actual machine management device 300 can simultaneously output the power storage information of two or more work machines 400, 500, including at least standby work machines, out of the multiple work machines 400, 500 that are being remotely operated, to an alarm device, i.e., the remote image output device 221 and / or the remote audio output device 225. Furthermore, if there are three or more work machines being remotely operated, the power storage information of each can be output simultaneously in a similar manner. The remote image output device 221 displays the power storage information as one or more numbers, figures, or combinations thereof. Furthermore, the remote audio output device 225 outputs the power storage information as voice and / or non-voice sound associated with the power storage information. The notifications from the remote image output device 221 and / or the remote sound output device 225 can include one or more of the following: the model name, control number, name, and other unique information of the work machines 400, 500 that are remotely operated by the remote control device 200; and the respective statuses of the work machines 400, 500, such as working, waiting, charging, etc.

[0069] The power storage information output by the actual machine management device 300 to the remote image output device 221 may include icons with graphics, and icons indicating the power storage information of work machines 400, 500 that have fallen below the power storage threshold may be displayed with at least a portion of the icon display changing over time. Examples of icons include polygons such as triangles and rectangles, circles including ovals, straight lines, pattern displays of areas including part of a certain area, and combinations thereof. At least a portion or at least multiple portions of the icons may change over time, for example, blinking, changing shape, or changing color. These changes may be configured to occur in two states, either when the remaining power has reached the power storage threshold or has not, relative to the other state. Alternatively, the icons may change continuously in accordance with the continuous change in the remaining power. Notification of power storage information using icon display or sound is easier to understand than numerical notifications, making it easier to recognize the notification while working.

[0070] The notification device may be a mobile terminal such as a smartphone or a tablet, in addition to the remote control device 200. In addition to or instead of the remote control device 200, the actual machine management device 300 can transmit the power storage threshold arrival time T to the mobile terminal to notify the owner of the mobile terminal.

[0071] After STEP 323, the remote control device 200 transmits a power storage information acquisition command to the work machine 400 (STEP 327). In response to this, the work machine 400 receives the power storage information acquisition command (C404). Having received the power storage information acquisition command, the work machine 400 returns to STEP 421 above, acquires power storage information of the power storage device 440, and transmits the acquired power storage information to the actual machine management device 300. The actual machine management device 300 acquires new power storage information, and the notification of the power storage information to the operator is repeated according to STEPs 321, 323, and 221 above. Because power storage information of a standby work machine 400 can be constantly acquired, accurate power storage information can be notified to the operator.

[0072] If the remaining amount of stored power in the power storage device 440 has reached the power storage threshold, the actual machine management device 300 transmits to the remote operation device 200 a notification that the power storage threshold has been reached (STEP 329). In response to this, the remote operation device 200 receives the notification that the power storage threshold has been reached (C204).

[0073] The remote control device 200 notifies the operator by the notification device that the remaining amount of stored power in the power storage device 440 has reached the power storage threshold (STEP 223).

[0074] After the remaining stored power amount is notified in STEP 223, the operator operates the remote control device 200 to transmit a standby command for the work machine 500 to the actual machine management device 300 (STEP 217), which is received by the actual machine management device 300 (C308). In response to this, a standby command is transmitted from the actual machine management device 300, and the standby command is received by the work machine 500 (C502). As a result, the work machine 500 that is working is placed in a standby state.

[0075] In response to an operation by the operator, the remote control device 200 transmits a start command to the actual machine management device 300 to start up the work machine 400 (STEP 219), which is received by the actual machine management device 300 (C309). In response to this, a start command is transmitted from the actual machine management device 300, which receives the start command (C405), causing the work machine 400 to start up its internal combustion engine (STEP 219). Starting the internal combustion engine of the work machine 400 activates the charging device 450, and charging of the power storage device 440 begins. As described above, by putting the work machine 500 into a standby state while working, and starting and charging the work machine 400 whose remaining amount of stored power in the power storage device 440 has reached the power storage threshold, the remaining amount of stored power in the power storage device 440 of the work machine 400 can be managed so as to always be maintained above the power storage threshold.

[0076] The timing for reporting the remaining amount of stored power in the power storage device is when the power storage threshold value predetermined for each standby work machine is reached, or when it is estimated that the predetermined power storage threshold value has been reached. Alternatively, the reporting may be made within a predetermined time range relative to these times. The reporting may be made before the power storage threshold value is reached, or a predetermined time before it is estimated that the power storage threshold value will be reached. For example, the reporting may be made in advance, such as 5 minutes, 10 minutes, or 15 minutes before the power storage threshold value is reached, or before it is estimated that the power storage threshold value will be reached. This prevents the operator from being forced to make sudden changes to the work they are doing. It should be noted that if it is not necessary to switch the work target of remote operation by the remote operation device 200 to the work machine 500, the transmission of a standby command (STEP 217) and a start command (STEP 219) are not performed. In this case, the work machine 400 may transmit power storage information to the remote operation device 200 via the actual machine management device 300 when the amount of stored power in the power storage device 440 decreases and reaches the limit power storage threshold, and an alarm device of the remote operation device 200 may be configured to alarm that the remaining amount of stored power in the power storage device 440 has reached the limit power storage threshold. Also, the work machine 400 may stop power supply to the actual machine control device 480 when the amount of stored power in the power storage device 440 decreases and reaches the limit power storage threshold, thereby preventing a decrease in the amount of stored power in the power storage device 440.

[0077] Second Embodiment Next, a remaining stored power amount management process 2 of the second embodiment will be described. In the first embodiment, the real wireless communication device 421 and the real machine control device 480 having the stored power amount acquisition device 481 are always energized, and the stored power amount acquisition device 481 detects the amount of stored power in the power storage device 440 and always transmits stored power information to the real machine management device 300. In contrast, in the second embodiment, only the real wireless communication device 421 is always energized, and the real machine control device 480 having the stored power amount acquisition device 481 is only intermittently energized, which is different from the first embodiment.

[0078] In the remaining stored power amount management process 2 of the second embodiment, the actual machine management device 300 intermittently transmits a power storage information acquisition command to the work machine 400 (STEP 327). The actual machine management device 300 periodically transmits the power storage information acquisition command at any time interval, for example, every 30 minutes, every hour, every two hours, or every three hours. When the work machine 400 receives the power storage information acquisition command, the actual machine wireless communication device 421 energizes the stored power amount acquisition device 481. Each time the stored power amount acquisition device 481 is energized, it detects the amount of stored power in the power storage device 440 and transmits the power storage information to the actual machine management device 300, as in STEP 421. Thereafter, the above process is repeated. With this configuration, power consumption is reduced compared to when the stored power amount acquisition device 481 is constantly energized, thereby making it possible to extend the standby time of the power storage device 440. As an alternative to the method of periodically acquiring the power storage information of the power storage device 440, the actual machine wireless communication device 421 or the actual machine control device 480 may be provided with a timer circuit or the like, and configured so that the power storage information of the power storage device 440 is repeatedly transmitted periodically from the work machine 400, rather than receiving periodic commands from the actual machine management device 300.

[0079] <Third embodiment> With reference to Fig. 5, a remaining stored power amount management process 3 of the third embodiment will be described. In the remaining stored power amount management process 1 of the first embodiment, the actual wireless communication device 421 and the actual machine control device 480 having the stored power amount acquisition device 481 are always powered on, and the stored power amount acquisition device 481 detects the amount of stored power in the power storage device 440 and always transmits the stored power information to the actual machine management device 300. In contrast, in the third embodiment, only the actual wireless communication device 421 that receives a remote operation command is always powered on. In this respect, the stored power amount management process 3 of the third embodiment differs from the stored power amount management process 1 of the first embodiment. The stored power amount acquisition device 481 detects the amount of stored power in the power storage device 440 when it enters a standby state, and when it transmits the stored power information to the actual machine management device 300, the power supply to the stored power amount acquisition device 481 is cut off. Thereafter, the power storage threshold arrival time T is periodically notified to the remote operation device 200 based on the power storage information received when the actual device management device 300 enters the standby state.

[0080] 5, similarly to the first and second embodiments, steps 321 and 323 are performed. The power storage threshold arrival time T is calculated, transmitted to the remote control device 200, and notified to the operator, and then these steps are repeated.

[0081] After transmitting the power storage threshold arrival time T to the remote control device 200, the actual device management device 300 waits for a predetermined time to elapse (STEP 325).

[0082] The actual machine management device 300 recalculates the power storage threshold arrival time T based on the time elapsed since the previous calculation (STEP 321).

[0083] After this, steps 323, 221, and 325 are repeated until the remaining amount of stored power in the power storage device 440 reaches the power storage threshold. After the remaining amount of stored power in the power storage device 440 reaches the power storage threshold, the process proceeds to step 329, and steps 223, 217, and 219 are performed, as in the first embodiment. In the remaining amount of stored power management step 3 of the third embodiment, only the actual wireless communication device 421 that receives the remote operation command is constantly powered, so that power consumption is reduced more than in the first and second embodiments, and the standby time of the power storage device 440 can be extended.

[0084] <Fourth embodiment> A fourth embodiment will be described with reference to Fig. 6. In the first embodiment, if the remaining amount of stored power in the power storage device 440 has reached the power storage threshold, the operator sends a start-up command to the standby work machine 400, starts the standby work machine 400, starts the internal combustion engine, and charges the power storage device 440 of the work machine 400. In the fourth embodiment, the working work machine 500 continues to work, and the standby work machine 400 starts its internal combustion engine while remaining in standby and charges while idling. That is, in the first embodiment, the power storage device 440 is charged by interrupting work on the work machine 500 and starting the work machine 400 that has reached the power storage threshold, but the fourth embodiment differs from the first embodiment in that the internal combustion engine of the standby work machine 400 is started without interrupting work on the work machine 500, and charges while idling.

[0085] In the fourth embodiment, the process up to when the actual machine management device 300 in the first embodiment notifies the remote control device 200 that the remaining amount of stored power has reached the power storage threshold (STEP 329 in FIG. 4) is the same as in the first embodiment and is therefore omitted. In the fourth embodiment, when making this notification, the remote control device 200 starts up the standby work machine 400, starts the internal combustion engine, and notifies the operator by displaying on the remote image output device 221 that charging will be performed. The remote image output device 221 displays, for example, "The battery capacity of excavator A is low. Remote charging will begin."

[0086] In FIG. 6, the actual machine management device 300 transmits a charge start condition confirmation command (STEP 331) to the work machine 400 that has determined that the remaining amount of stored power has reached the power storage threshold (STEP 329 in FIG. 4) in the first embodiment. In response, the work machine 400 receives the charge start condition confirmation command (C405). The charge start condition is a confirmation condition for whether or not the conditions for starting charging are met when starting charging of an unmanned work machine 400 by remote operation. The charge start condition is, for example, whether a safety device that locks the operation lever of a standby work machine 400 is operating normally, and whether an emergency stop operation has not been performed by an emergency stop unit owned by a site manager at the construction site. The safety device that locks the operation lever is activated when the work machine 400 receives the charge start condition confirmation command, and locks the operation lever. Whether the safety device has operated normally can be detected by a detection device. Furthermore, whether or not an emergency stop operation has been performed by an emergency stop unit owned by a site manager can be detected by the actual machine wireless communication device 421.

[0087] After checking the status of the charging start conditions, the work machine 400 transmits the results of checking the charging start requirements to the actual machine management device 300 (STEP 431). In response, the actual machine management device 300 receives the results of checking the charging start requirements (C309).

[0088] The actual device management device 300 determines whether the charging start conditions are met. If any of the charging start conditions are not met, the actual device management device 300 transmits to the remote operation device 200 a message that charging will not be started (STEP 333). In response, the remote operation device 200 receives the message that charging will not be started (C205).

[0089] The remote control device 200 notifies the operator that charging will not be started (STEP 231).

[0090] If the charging start conditions are met, the actual machine management device 300 transmits a charging start command to the work machine 400 (STEP 335). In response, the work machine 400 receives the charging start command (C406). The actual machine management device 300 also transmits a charging start command to the remote operation device 200 (STEP 335). In response, the remote operation device 200 receives the charging start command (C206).

[0091] The remote operation device 200 notifies the user that charging has started by displaying on the remote image output device 221 (STEP 233). For example, the remote image output device 221 displays "Remote charging of shovel A has started." At this time, the remote operation device 200 also notifies the user of the planned charging operation time that is predetermined for each work machine 400 along with the above notification content.

[0092] The work machine 400 that has received the charging start command activates the alarm device 470 (STEP 433). Thereafter, the internal combustion engine is started and the power storage device 440 is charged while idling. The alarm device 470 is a device that optically and / or acoustically notifies those around the work machine 400 that the internal combustion engine of the work machine 400 has started and charging has begun. The alarm device 470 is, for example, a lighting device such as a rotating light or lamp, or a flashing device. Alternatively, the alarm device 470 is, for example, an acoustic device such as a horn or siren.

[0093] After the alarm device 470 is activated, the internal combustion engine of the work machine 400 is started, the charging device 450 begins to function, and charging of the power storage device 440 begins (STEP 435).

[0094] After charging for a predetermined time, the work machine 400 stops idling and ends charging (STEP 437).

[0095] The work machine 400 transmits the end of charging to the actual machine management device 300 (STEP 439). In response, the actual machine management device 300 receives the end of charging (C310). The end of charging is also transmitted to the remote operation device 200, which receives it (C207).

[0096] The remote operation device 200 notifies the operator that charging has been completed by displaying the message on the remote image output device 221 (STEP 235).

[0097] According to the fourth embodiment, the power storage device 440 of the standby work machine 400 can be charged, and therefore the work of the working machine 500 can continue without being interrupted by the power storage state of the work machine 400. Furthermore, even before the power storage threshold is reached, the power storage device 440 of the standby work machine 400 can be charged as needed, for example by charging it in advance.

[0098] Although the fourth embodiment has been described as being configured to automatically start charging after a notification that charging will begin, charging may also be configured to begin manually by an operator. For example, if the actual machine management device 300 receives the results of checking the charging start requirements (C309) and determines that the charging start conditions are met, the remote image output device 221 may display, for example, "The battery capacity of shovel A is low. Do you want to start remote charging?" to prompt the operator to perform a manual operation. If a manual instruction to start charging is issued after this display, the actual machine management device 300 transmits a charging start command to the work machine 400 (STEP 335). The start instruction is issued, for example, by tapping a selection item displayed on the display screen of the remote image output device 221 or the like, or by operating a button on one of multiple operation levers. This configuration prevents the internal combustion engine of the work machine 400 from being started unnecessarily when there are no plans to use the work machine 400. As long as the work machine 400 is in a standby state, charging can be started manually at any time, regardless of the amount of electricity stored in the power storage device 440. Charging may also be manually terminated at any time.

[0099] According to the present invention, even when a plurality of work machines are remotely operated, it is possible to know the remaining amount of electricity stored in each of the standby work machines, and it is possible to appropriately manage the amount of electricity stored in the electricity storage device. [Explanation of symbols]

[0100] 100 actual machine management system, 200 remote operation device, 221 remote image output device (alarm device), 225 remote sound output device (alarm device), 300 actual machine management device, 400, 500 work machine, 421 actual machine wireless communication equipment (communication device), 440 power storage device.

Claims

1. 1. A machine management device for managing a plurality of remotely operated work machines, the machine management device comprising: a power storage device; and a communication device capable of transmitting power storage information relating to a remaining amount of power stored in the power storage device, The actual machine management device transmits the power storage information to the alarm device to cause the alarm device to issue a notification regarding the remaining amount of power stored in the power storage device when the remaining amount of power stored in the power storage device reaches a predetermined power storage threshold for each standby work machine, or when it is estimated that the remaining amount of power stored in the power storage device has reached a predetermined power storage threshold, based on the power storage information transmitted from the communication device of each standby work machine that is not operating by remote control among the plurality of work machines.

2. 2. The actual machine management device according to claim 1, wherein the actual machine management device is capable of simultaneously outputting to the alarm device the power storage information of two or more of the plurality of remotely operated work machines, the power storage information including at least the standby work machine.

3. 3. The actual machine management device according to claim 1 or 2, wherein the power storage information output by the actual machine management device includes an icon having a graphic, and the icon indicating the power storage information of the work machine that has fallen below the power storage threshold is displayed with the icon display changing over time for at least a portion of the icon.

4. the actual machine management device transmits the power storage information to the notification device to cause the notification device to issue a notification regarding the remaining amount of power stored in the power storage device when the remaining amount of power stored in the power storage device reaches a predetermined power storage threshold for each standby work machine, or when it is estimated that the remaining amount of power stored in the power storage device has reached the predetermined power storage threshold, based on the power storage information transmitted from the communication device of each standby work machine that is not operating by remote control among the plurality of work machines, the power storage information is transmitted from the actual machine management device to the notification device when the remaining amount of power stored in the power storage device of each of the standby work machines becomes equal to or less than a power storage threshold value that is predetermined for each of the work machines, The actual machine management device described in any one of claims 1 to 3, wherein the actual machine management device receives the storage information transmitted from the communication device and transmits the storage information to the notification device to notify the user of the remaining storage capacity of the storage device.

5. the actual machine management device transmits the power storage information to the notification device to cause the notification device to issue a notification regarding the remaining amount of power stored in the power storage device when the remaining amount of power stored in the power storage device reaches the power storage threshold predetermined for each standby work machine, or when it is estimated that the remaining amount of power stored in the power storage device has reached the predetermined power storage threshold, based on the power storage information transmitted from the communication device of each standby work machine that is not operating by remote control among the plurality of work machines, the electricity storage information is transmitted when each of the standby work machines transitions to the standby state, An actual machine management device as described in any one of claims 1 to 3, wherein, in the standby work machine during the standby state, power from the storage device is supplied only to the communication device that transmits and receives data to and from the actual machine management device.

6. the actual machine management device has an estimation means for estimating the time until the remaining amount of stored power in the power storage device of the standby work machine will decrease to the power storage threshold value determined for each work machine, based on the received power storage information and the power consumption characteristics of the standby work machine that transmitted the power storage information, The actual machine management device according to claim 5 , wherein the actual machine management device transmits the stored power information to the notification device when the time estimated by the estimation means has elapsed.

7. The actual machine management device according to any one of claims 1 to 6, wherein the actual machine management device transmits a charging start command in response to a charging start operation performed by an operator remotely operating the work machine, and activates a drive source possessed by the standby work machine to charge the storage device of the standby work machine.

8. 8. The actual machine management device according to claim 7, wherein after operating the drive source of the standby work machine for a predetermined time, the actual machine management device transmits a charging end command to stop the drive source, and transmits charging end information to the notification device.

9. An actual machine management system comprising the actual machine management device according to any one of claims 1 to 8, at least the notification device, and any one of the plurality of work machines.

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