Management System

Abstract

To provide a control system which can figure out which work machines are in automatic operation.SOLUTION: A control system of the invention comprises: a display unit that displays a map image 70; a receiver unit which receives, from each of multiple work machines, information on the locations of the work machines and information as to whether the work machines are in automatic operation; and display control means that, on the map image 70, causes the display unit to display an icon 72 indicating that the work machines are in automatic operation superimposed on the map image 70 in association with the locations of the work machines in automatic operation.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a management system for managing a plurality of work machines.

Background Art

[0002] Patent Document 1 discloses a management system for industrial vehicles that causes a display device to display a map image in which symbols indicating the positions of a plurality of industrial vehicles are superimposed. The display mode of the symbols is made different according to the operating time of the industrial vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the management system of Patent Document 1, although the position and operating time of each work machine can be known, it is not possible to grasp which work machine is being automatically operated. It is desirable that an operator in the cockpit can grasp which of the work machines around the work machine being remotely operated is being automatically operated while looking at the display device.

[0005] An object of the present invention is to provide a management system capable of grasping which work machine is being automatically operated.

Means for Solving the Problems

[0006] The present invention is characterized by comprising: a display device for displaying a map image; a receiving device for receiving location information of a work machine and information on whether or not the work machine is being operated automatically from each of a plurality of work machines; and a display control means for displaying on the display device an image indicating that a work machine is being operated automatically, associated with the location of the work machine being operated automatically on the map image, by superimposing that image onto the map image. [Effects of the Invention]

[0007] According to the present invention, an image indicating that a work machine is being operated automatically is superimposed on the map image and displayed on the display device, associated with the location of the automatically operated work machine on the map image. Therefore, the operator of the management system can understand which work machines are being operated automatically by looking at the display device. Thus, the operator can avoid inadvertently approaching a work machine that is being operated automatically when remotely controlling another work machine. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram of the management system. [Figure 2] This is a diagram showing a group of displays. [Figure 3] This is a circuit diagram of the management system. [Figure 4] This is a diagram showing a map image. [Modes for carrying out the invention]

[0009] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0010] (Management system configuration) The management system 100 according to an embodiment of the present invention manages a plurality of work machines 20, as shown in Figure 1. The management system 100 comprises a plurality of work machines 20 and a control room 1. The control room 1 is, for example, a cockpit. An operator in the control room 1 remotely teaches the operation of each of the several work machines 20. Then, while the taught work machine 20 is operating automatically, the operator remotely controls the other work machines 20.

[0011] As shown in Figure 2, the control room 1 has a display group 2. The display group 2 has multiple displays, including a display device 3, a remote control display device 4, and a map display device 5. The control room 1 also has a speaker 6 (see Figure 3).

[0012] (Configuration of the work machine) As shown in Figure 1, the work machine 20 is a machine that performs work with an attachment 30, such as a hydraulic excavator. The work machine 20 has a machine body 25 equipped with a lower traveling body 21 and an upper rotating body 22, an attachment 30, and a cylinder 40.

[0013] The lower traveling body 21 is the part on which the work machine 20 travels, and is equipped with, for example, crawler tracks. The upper slewing body 22 is rotatably mounted on top of the lower traveling body 21 via a slewing device 24. A cab (operator's cabin) 23 is provided at the front of the upper slewing body 22.

[0014] Attachment 30 is mounted on the upper slewing body 22 so as to be rotatable in the vertical direction. Attachment 30 comprises a boom 31, an arm 32, and a bucket 33. The boom 31 is mounted on the upper slewing body 22 so as to be rotatable (launchable) in the vertical direction. The arm 32 is mounted on the boom 31 so as to be rotatable in the vertical direction. The bucket 33 is mounted on the arm 32 so as to be rotatable in the front-rear direction. The bucket 33 is the tip attachment of attachment 30 and is the part that performs tasks such as excavating, leveling, and scooping soil and sand. Note that the work object held by the bucket 33 is not limited to soil and sand, but may also be stones or waste (such as industrial waste). Furthermore, the tip attachment is not limited to the bucket 33, but may also be a grapple or a lifting magnet, etc.

[0015] The cylinder 40 is capable of hydraulically rotating the attachment 30. The cylinder 40 is a hydraulic telescopic cylinder. The cylinder 40 comprises a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

[0016] The boom cylinder 41 rotates the boom 31 relative to the upper slewing body 22. The base end of the boom cylinder 41 is rotatably attached to the upper slewing body 22. The tip end of the boom cylinder 41 is rotatably attached to the boom 31.

[0017] The arm cylinder 42 rotates the arm 32 relative to the boom 31. The base end of the arm cylinder 42 is rotatably attached to the boom 31. The tip end of the arm cylinder 42 is rotatably attached to the arm 32.

[0018] The bucket cylinder 43 rotates the bucket 33 relative to the arm 32. The base end of the bucket cylinder 43 is rotatably attached to the arm 32. The tip end of the bucket cylinder 43 is rotatably attached to a link member 34, which is rotatably attached to the bucket 33.

[0019] The work machine 20 also has an angle sensor 52 and an inclination angle sensor 60.

[0020] The angle sensor 52 detects the turning angle of the upper swing body 22 with respect to the lower traveling body 21. The angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor. In the present embodiment, the turning angle of the upper swing body 22 when the front of the upper swing body 22 coincides with the front of the lower traveling body 21 is set to 0°.

[0021] The inclination angle sensor 60 detects the attitude of the attachment 30. The inclination angle sensor 60 includes a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a bucket inclination angle sensor 63.

[0022] The boom inclination angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31. The boom inclination angle sensor 61 is a sensor that acquires the inclination angle of the boom 31 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor or the like. Note that the boom inclination angle sensor 61 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (base end of the boom) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0023] The arm inclination angle sensor 62 is attached to the arm 32 and detects the attitude of the arm 32. The arm inclination angle sensor 62 is a sensor that acquires the inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor or the like. Note that the arm inclination angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connection pin (base end of the arm) or a stroke sensor that detects the stroke amount of the arm cylinder 42.

[0024] The bucket tilt angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33. The bucket tilt angle sensor 63 is a sensor that acquires the tilt angle of the bucket 33 with respect to the horizontal line, and is, for example, a tilt (acceleration) sensor. The bucket tilt angle sensor 63 may also be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43.

[0025] Furthermore, the work machine 20 has a camera 55. The camera 55 is attached to the boom 31, but it may also be attached to the upper slewing body 22. The camera 55 captures images of the area in front of the upper slewing body 22, etc., from the same viewpoint as inside the cab 23.

[0026] Furthermore, the work machine 20 is equipped with a GNSS sensor 56. The GNSS (Global Navigation Satellite System) sensor 56 is mounted on the upper rotating body 22 and detects the coordinates of the upper rotating body 22 within the work site. The GNSS sensor 56 is a positioning sensor such as a GPS sensor and acquires the position of the work machine 20 (upper rotating body 22) in a global coordinate system. Note that a distance measuring sensor such as a total station may be used instead of the GNSS sensor 56.

[0027] (Circuit configuration of the management system) As shown in Figure 3, which is a circuit diagram of the management system 100, the work machine 20 includes a work machine side controller 11, a work machine side communication device 12, and a storage device 13.

[0028] The work machine controller 11 receives information regarding the slewing angle (attitude) of the upper slewing body 22 relative to the lower traveling body 21, as detected by the angle sensor 52. The work machine controller 11 also receives information regarding the attitude of the boom 31, as detected by the boom tilt angle sensor 61. The work machine controller 11 also receives information regarding the attitude of the arm 32, as detected by the arm tilt angle sensor 62. The work machine controller 11 also receives information regarding the attitude of the bucket 33, as detected by the bucket tilt angle sensor 63.

[0029] Furthermore, the work machine controller 11 receives image data captured by the camera 55. The work machine controller 11 also receives position information acquired by the GNSS sensor 56.

[0030] When the work machine 20 is operated automatically, the work machine controller 11 automatically controls the work machine 20. The work machine controller 11 controls the upper slewing body 22 and the attachment 30 so that they perform a series of operations. The work machine controller 11 automatically operates the slewing device 24 and the attachment 30 based on the detected values ​​of the angle sensor 52 and the tilt angle sensor 60. In this embodiment, the series of operations is the operation of excavating and removing soil.

[0031] On the other hand, when the work machine 20 is remotely controlled, the work machine controller 11 controls the upper rotating body 22 and the attachment 30 according to instructions from the control room 1.

[0032] The machine-side communication device 12 can communicate with the control room-side communication device 9, which will be described later, located in the control room 1. The storage device 13 stores the work content that has been remotely taught from the control room 1.

[0033] Control room 1 includes a controller 7, an operating device 8, and a control room-side communication device 9.

[0034] The control device 8 includes devices necessary for remotely operating the work machine 20, such as control levers and control buttons. The control room side communication device 9 can communicate with the work machine side communication device 12 of the work machine 20.

[0035] When teaching is performed from control room 1, the work machine 20 is set to teaching mode via remote control from control room 1. Once the work machine 20 is set to teaching mode, the operator remotely controls the work machine 20 by operating the control device 8. When the work machine 20 is remotely controlled, the scenery captured by camera 55 is displayed on the display group 2. The details of the remote control operations are stored in the storage device 13. Subsequently, the work machine 20 is set to automatic operation mode via remote control from control room 1. Once the work machine 20 is set to automatic operation mode, the work machine 20 operates automatically.

[0036] In this embodiment, the series of operations performed by the work machine 20 involves repeatedly excavating soil from a soil pit (not shown) with the bucket 33 (excavation), rotating the upper slewing body 22 toward a dump truck (not shown) while holding the soil (lifting and rotating), discharging the soil onto the dump truck's bed (not shown) (discharging soil), and rotating the upper slewing body 22 toward the soil pit (returning and rotating).

[0037] A series of operations performed by an automated vehicle has multiple operation phases (operational content). In the series of operations described above, from excavating soil to removing it, the operation phases are excavation, lifting and rotating, soil removal, and returning and rotating.

[0038] While each of the multiple work machines 20 is operating automatically, the operator in the control room 1 remotely controls the other work machines 20 by operating the control device 8. At that time, the controller 7 displays images captured by the camera 55 mounted on the remotely controlled work machine 20 on the remote control display device 4. The operator in the control room 1 can suitably control the remotely controlled work machine 20 while viewing the remote control display device 4.

[0039] As shown in Figure 4, the map display device 5 displays the map image 70. The control room communication device (receiving device) 9 receives location information of each of the multiple work machines 20, and information on whether or not the work machine 20 is operating automatically. The location information of the work machine 20 is acquired by the GNSS sensor 56. The automatic operation mode is an example of information indicating that the work machine 20 is operating automatically.

[0040] The controller 7 displays an icon 71 representing the work machine 20 on the map image 70, superimposed on the map image 70, on the map display device 5. This allows the controller 7 to determine the location of each of the multiple work machines 20 on the map image 70.

[0041] Furthermore, the controller (display control means) 7 displays an icon (image) 72 on the map image 70, superimposed on the map image 70, to indicate that the work machine 20 is being operated automatically, and to the map display device 5. In this embodiment, the icon 72 is displayed near the icon 71, but is not limited to this as long as the icon 72 is associated with the icon 71. For example, the icon 72 may be displayed overlapping the icon 71, or the icon 71 and the icon 72 may be connected by a line.

[0042] The operator in control room 1 can see which work machine 20 is being operated automatically by looking at the map display device 5. Therefore, the operator can avoid inadvertently approaching a work machine 20 that is being operated automatically when remotely controlling another work machine 20.

[0043] Here, the control room communication device 9 receives the operation phase from the automatically operated work machine 20. As described above, the operation phases of the series of operations are excavation, lifting and slewing, soil removal, and return slewing. The controller 7 changes the appearance of the icon 72 according to the operation phase.

[0044] For example, as shown in Figure 4, if the operation phase is soil removal, an icon 72a representing soil removal is displayed on the map display device 5. This indicates that the automatically operated work machine 20 is currently performing soil removal. If the operation phase is excavation, an icon 72b representing excavation is displayed on the map display device 5. The displayed icon 72 also changes as the operation phase changes.

[0045] The operator can recognize whether the operation phase has switched correctly from the change (switching) of the icon 72. As a result, the operator can determine whether the automatically operated work machine 20 is functioning correctly.

[0046] Furthermore, the controller 7 displays an icon (image) 76 on the map display device 5, superimposed on the map image 70, indicating that the work machine 20 is not being operated automatically, and associating the icon 76 with the location of the work machine 20 that is not being operated automatically. In this embodiment, the icon 76 is displayed near the icon 71, but is not limited to this as long as the icon 76 is associated with the icon 71. For example, the icon 76 may be displayed so as to overlap the icon 71, or the icon 71 and the icon 76 may be connected by a line.

[0047] The operator in control room 1 can see which work machines 20 are not operating automatically by looking at the map display device 5. Therefore, when the operator is remotely controlling another work machine 20, they can avoid inadvertently approaching a work machine 20 that is not operating automatically.

[0048] Furthermore, the control room communication device 9 receives location information from each of the dump trucks. The location information of the dump trucks is obtained by GNSS sensors mounted on the dump trucks. The dump trucks may be operated automatically or manually.

[0049] The controller 7 displays an icon 90 representing a dump truck on the map image 70, superimposed on the map image 70, on the map display device 5. This allows the location of each of the multiple dump trucks on the map image 70 to be determined.

[0050] Furthermore, the control room communication device 9 receives work history from each of the multiple work machines 20. The work history is information indicating when, what kind of work, and how many times (for how many hours) it was performed, and is created by the work machine controller 11. The work performed by the work machines 20 includes slope finishing work, trench excavation work, and leveling work. The controller 7 displays icons (images) 73 representing the work history of the work machine 20 on the map image 70, superimposed on the map image 70, on the map display device 5, in association with the location of the work machine 20. In this embodiment, icons 73 are displayed near icons 71, but are not limited to this as long as icons 73 are associated with icons 71. For example, icons 73 may be displayed overlapping icons 71, or icons 71 and 73 may be connected by a line.

[0051] The operator in control room 1 can view the map display device 5 to understand the work history of each work machine 20. Therefore, the operator can understand which work machine 20 is performing and to what extent.

[0052] Furthermore, the control room communication device 9 receives location information of the completed work area. The location information of the completed work area is the location information of the area where the work machine 20 has finished working, and is created, for example, by the work machine controller 11. The controller 7 displays the completed work area 77 on the map display device 5 by superimposing it on the map image 70. The completed work area 77 is displayed at a size corresponding to its size.

[0053] The operator in control room 1 can see the completed areas 77 by looking at the map display device 5. Therefore, the operator can understand how much work has been done. If the completed areas 77 are areas that have been worked on by the automated work machine 20, the operator can then plan to perform finishing work on these areas using the manually operated work machine 20.

[0054] Furthermore, the control room communication device 9 receives location information of unworked areas. The location information of unworked areas is the location information of the area where the work machine 20 will perform work, and is created, for example, by the work machine controller 11 based on the work plan. The controller 7 displays the unworked areas 78 on the map display device 5 by superimposing them on the map image 70. The unworked areas 78 are displayed at a size corresponding to their area.

[0055] The operator in control room 1 can see the map display device 5 to determine which areas 78 are unworked. Therefore, the operator can understand how much work remains. Then, they can plan which work machine 20 to use to work on the unworked areas 78. In other words, if there is a work machine 20 that is idle or about to finish work near the unworked areas 78, the operator can plan to dispatch this work machine 20 to the unworked areas 78 to perform the work. The controller 7 may automatically determine which work machine 20 to use for the unworked areas 78 based on the work status of each of the multiple work machines 20.

[0056] Furthermore, the controller (machine pathway acquisition means) 7 acquires machine pathway information from a machine pathway management device that manages information on the machine pathways of each of the multiple work machines 20. The machine pathway management device may be a storage device connected to the controller 7 in the control room 1, or it may be a server or the like located outside the control room 1 that communicates with the control room side communication device 9. The controller 7 displays the machine pathways 79 on the map display device 5 by superimposing them onto the map image 70.

[0057] The operator in control room 1 can understand the pathways of the work machine 20 by looking at the map display device 5. Therefore, the operator can take precautions to prevent dump trucks and other vehicles from entering the pathways of the work machine 20.

[0058] Furthermore, the controller (dump lane acquisition means) 7 acquires information on dump lane routes from a dump lane management device that manages information on dump lane routes, which are the routes used by dump trucks. The dump lane management device may be a storage device connected to the controller 7 in the control room 1, or it may be a server or the like located outside the control room 1 that communicates with the control room side communication device 9. The controller 7 displays the dump lane routes 80 on the map display device 5 by superimposing them onto the map image 70.

[0059] The operator in control room 1 can understand the dump truck's route by looking at the map display device 5. Therefore, the operator can take care to prevent work machinery 20 and other equipment from entering the dump truck's route.

[0060] Furthermore, the control room communication device 9 receives the range of motion of each of the multiple work machines 20 at their current positions. The range of motion at the current position is the range of motion that the work machine 20 can achieve by rotating the upper rotating body 22 and extending / retracting the attachment 30 without moving. The controller 7 displays the range of motion 81 of the work machine 20 at its current position on the map display device 5, superimposed on the map image 70, in relation to the position of the work machine 20. The range of motion 81 is displayed with a size corresponding to its width.

[0061] The operator in control room 1 can understand the range of motion 81 of each work machine 20 by looking at the map display device 5. Therefore, the operator can take care to prevent dump trucks or other vehicles from entering the range of motion 81 of the work machine 20. In addition, when the operator is remotely controlling another work machine 20, they can take care to prevent this work machine 20 from inadvertently approaching the range of motion 81 of the other work machine 20.

[0062] Furthermore, the control room communication device 9 receives the working range from each of the multiple work machines 20. The working range is obtained, for example, from the movement range of the tip of the bucket 33. The position of the tip of the bucket 33 is calculated from the length of the attachment 30 (boom 31, arm 32, bucket 33) and the posture of the attachment 30. The controller 7 displays the working range 74 of the work machine 20 on the map display device 5, superimposed on the map image 70 in relation to the position of the work machine 20. The working range 74 is included in the movable range 81. The controller 7 displays the working range 74 on the map display device 5 with a size appropriate to its size.

[0063] The operator in control room 1 can understand the working range 74 of each work machine 20 by looking at the map display device 5. Therefore, the operator can understand which work machine 20 has worked in what area, or what area it is currently working in. In addition, when the operator is remotely controlling another work machine 20, they can prevent that work machine 20 from inadvertently approaching the working range 74 of the other work machine 20.

[0064] Furthermore, the work area 74 is displayed on the map display device 5 in a size corresponding to its size. Therefore, the operator in the control room 1 can understand the size of each work area 74 of the work machine 20 by looking at the map display device 5.

[0065] Furthermore, the control room communication device 9 receives the progress status of work within the work area 74 from each of the multiple work machines 20. In this embodiment, the progress status of work includes completed areas, areas in progress, and areas that have not yet been worked on. The controller 7 overlays an image on the map image 70, associated with the location of the work machine 20, showing the progress status of work within the work area 74 of that work machine 20, and displays it on the map display device 5. In this embodiment, the images showing the progress status include completed areas 82a, areas in progress 82b, and areas that have not yet been worked on 82c. The completed areas 82a, areas in progress 82b, and areas that have not yet been worked on 82c are each displayed with a size corresponding to their respective size.

[0066] In this embodiment, the completed area 82a, the area in progress 82b, and the uncompleted area 82c are displayed in different colors. For example, the completed area 82a is displayed in green, the area in progress 82b is displayed in yellow, and the uncompleted area 82c is displayed in red. The operator in the control room 1 can understand the progress of the work in the work area 74 by looking at the map display device 5. Note that the three areas are not limited to color coding, and may also be distinguished by text or other means.

[0067] Furthermore, the control room communication device 9 receives information on the amount of work done within the work range 74 from each of the multiple work machines 20. In this embodiment, the information on the amount of work done is the weight of the excavated soil and the finishing accuracy relative to the design surface, but it may also be the volume of the excavated soil. The weight of the excavated soil is calculated from the volume of the bucket 33. The controller 7 displays icons (images) 83 indicating the amount of work done within the work range 74 of the work machine 20, associated with the position of the work machine 20, on the map image 70 on the map display device 5.

[0068] The operator in control room 1 can understand the workload within the work area 74 by looking at the map display device 5.

[0069] Furthermore, the controller (deviation detection means) 7 determines whether the work area 74 is deviating from a predetermined range. In this embodiment, the predetermined range is the taught range. If the controller (deviation notification means) 7 determines that the work area 74 is deviating from the predetermined range, it notifies the controller of this fact. In this embodiment, the controller 7 displays a warning image near the work area 74. The controller 7 also generates a warning sound from the speaker 6 (see Figure 3).

[0070] The operator in control room 1 can understand from the notification content that the work area 74 is deviating from the predetermined range. Therefore, the operator can correct the work area 74 by resetting it.

[0071] Furthermore, the control room communication device 9 receives the stopping position of the dump truck relative to the work machine 20. The stopping position of the dump truck is created, for example, by the work machine controller 11. The controller 7 overlays an icon (image) 84 indicating the stopping position of the dump truck relative to the work machine 20 on the map image 70 and displays it on the map display device 5.

[0072] The operator in control room 1 can determine the stopping position of the dump truck relative to the work machine 20 by looking at the map display device 5. If the stopping position of the dump truck is incorrect relative to the work machine 20, the operator can correct the stopping position of the dump truck relative to the work machine 20 by re-teaching the machine.

[0073] Furthermore, the controller (position deviation determination means) 7 determines whether the dump truck's stopping position is deviated from a predetermined position. In this embodiment, the predetermined position is the taught position. The controller (position deviation notification means) 7 notifies the controller if the dump truck's stopping position is deviated from the predetermined position. In this embodiment, the controller 7 displays a warning image near this stopping position (icon 84). The controller 7 also generates a warning sound from the speaker 6 (see Figure 3).

[0074] The operator in control room 1 can understand from the notification that the dump truck's stopping position is off from its designated position. Therefore, the operator can correct the dump truck's stopping position by resetting the stopping position.

[0075] Furthermore, the control room communication device 9 receives information about the administrator of each of the multiple work machines 20. The administrator of a work machine 20 is the person who remotely operates the work machine 20 or the person who teaches the work machine 20 to operate it automatically. The administrator's information is stored in the storage device 13 during teaching or remote operation. The controller 7 displays an icon (image) 75 representing the administrator of the work machine 20 on the map image 70, superimposed on the map image 70, in association with the location of the work machine 20, on the map display device 5. In this embodiment, the icon 75 is displayed near the icon 71, but is not limited to this as long as the icon 75 is associated with the icon 71. For example, the icon 75 may be displayed overlapping the icon 71, or the icon 71 and the icon 75 may be connected by a line.

[0076] The operator in control room 1 can see the map display device 5 and identify the manager of each work machine 20. Therefore, the operator can understand which manager is in charge of how many work machines 20.

[0077] In the example shown in Figure 4, the person remotely controlling the work machine 20 displayed in the center is the same person operating the work machine 20 displayed in the lower left on an automated system. By recognizing the work history, workload, and completed areas 77 of these work machines 20, it is possible to understand how much work this manager is performing.

[0078] Furthermore, the controller (determination means) 7 determines for each of the multiple work machines 20 whether or not there is a possibility of an object interfering with the work machine 20. Objects that may interfere with the work machine 20 include dump trucks equipped with GNSS sensors and workers carrying GNSS sensors. If the controller (notification means) 7 determines that there is a possibility of an object interfering with the work machine 20, it notifies the controller (notification means) of that fact.

[0079] In the example shown in Figure 4, the movable range 81 of the work machine 20 displayed in the center extends onto the road, and a dump truck (icon 90) is traveling on that road. Therefore, there is a possibility that the dump truck will interfere with the work machine 20. To address this, the controller 7 displays a warning image 85 near the work machine 20. The controller 7 also emits a warning sound from the speaker 6 (see Figure 3).

[0080] The operator in control room 1 can see the map display device 5 and understand that there is a possibility of an object interfering with the work machine 20. Therefore, the operator can take some measures, such as stopping the work machine 20, to prevent the object from interfering with it.

[0081] Furthermore, the controller (attitude changing means) 7 changes the attitude of the work machine 20 if it determines that there is a possibility of an object interfering with the work machine 20. In the example shown in Figure 4, there is a possibility that a dump truck (icon 90) will interfere with the work machine 20 displayed in the center. Therefore, the controller 7 remotely operates the work machine 20 and rotates the boom 31 and arm 32 of the work machine 20 toward the upper slewing body 22, thereby changing the attitude of the work machine 20 so that its working radius is reduced. This reduces the possibility of an object interfering with the work machine 20.

[0082] (effect) As described above, according to the management system 100 of this embodiment, an icon 72 indicating that a work machine 20 is being operated automatically is superimposed on the map image 70 and displayed on the map display device 5, associated with the location of the work machine 20 being operated automatically. Therefore, an operator in the control room 1 can understand which work machine 20 is being operated automatically by looking at the map display device 5. Thus, when an operator is remotely controlling another work machine 20, they can avoid inadvertently approaching a work machine 20 that is being operated automatically.

[0083] Furthermore, the appearance of the icon 72 indicating that the work machine 20 is operating automatically differs depending on the operation phase (operation content) of the automatically operated work machine 20. For example, when the automatically operated work machine 20 is performing a series of operations from excavation to soil removal, the appearance of the icon 72 differs between excavation and soil removal. The operator can recognize whether the operation phase has switched normally from the change in the appearance of the icon 72. As a result, the operator can understand whether the automatically operated work machine 20 is operating normally.

[0084] Furthermore, on the map image 70, an icon 76 indicating that a work machine 20 is not being operated automatically is superimposed on the map image 70 and displayed on the map display device 5, associated with the location of the work machine 20 that is not being operated automatically. Therefore, the operator in the control room 1 can see which work machines 20 are not being operated automatically by looking at the map display device 5. Thus, when the operator is remotely controlling another work machine 20, they can avoid inadvertently approaching a work machine 20 that is not being operated automatically.

[0085] Furthermore, icons 73, which are associated with the location of each work machine 20 and indicate the work history of that work machine 20, are superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can understand the work history of each work machine 20 by looking at the map display device 5. Thus, the operator can understand which work machine 20 is performing and how much work it has done.

[0086] Furthermore, the completed areas 77 are superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can see the completed areas 77 by looking at the map display device 5. Thus, the operator can understand how much work has been done. If the completed areas 77 are areas that have been worked on by the automated work machine 20, then a plan can be made to perform finishing work on these areas using the manually operated work machine 20.

[0087] Furthermore, the unworked areas 78 are superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can see the unworked areas 78 by looking at the map display device 5. Thus, the operator can understand how much work remains to be done. And they can then plan which work machine 20 to use to perform the work on the unworked areas 78.

[0088] Furthermore, on the map image 70, the machine passages 79, which are the individual passages for each of the multiple work machines 20, are superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can understand the passages of the work machines 20 by looking at the map display device 5. Thus, the operator can take precautions to prevent dump trucks and other vehicles from entering the passages of the work machines 20.

[0089] Furthermore, the dump truck lane 80, which is the lane for dump trucks, is superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can understand the dump truck lane by looking at the map display device 5. Thus, the operator can take care to prevent work machinery 20 and other equipment from entering the dump truck lane.

[0090] Furthermore, on the map image 70, the movable range 81 of the work machine 20 at its current position is superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can understand the movable range 81 of each work machine 20 by looking at the map display device 5. Thus, the operator can take care to prevent dump trucks, etc., from entering the movable range 81 of the work machine 20. In addition, when the operator is remotely controlling another work machine 20, they can take care to prevent this work machine 20 from inadvertently approaching the movable range 81 of the other work machine 20.

[0091] Furthermore, on the map image 70, the working range 74 of each working machine 20 is superimposed on the map image 70 and displayed on the map display device 5, associated with the location of each working machine 20. Therefore, the operator in the control room 1 can understand the working range 74 of each working machine 20 by looking at the map display device 5. Thus, the operator can understand which working machine 20 has worked in what area, or what area it is currently working in. In addition, when the operator is remotely controlling another working machine 20, they can prevent that machine 20 from inadvertently approaching the working range 74 of the other working machine 20.

[0092] Furthermore, the work area 74 is displayed on the map display device 5 in a size corresponding to its size. Therefore, the operator in the control room 1 can understand the size of each work area 74 of the work machine 20 by looking at the map display device 5.

[0093] Furthermore, on the map image 70, images showing the progress of work within the work area 74 of the work machine 20 (completed area 82a, working area 82b, unworked area 82c), associated with the location of the work machine 20, are superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can understand the progress of work within the work area 74 by looking at the map display device 5.

[0094] Furthermore, icons 83, which are associated with the location of the work machine 20 and indicate the amount of work within the work area 74 of the work machine 20, are superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can understand the amount of work within the work area 74 by looking at the map display device 5.

[0095] Furthermore, if the work range 74 deviates from the predetermined range, a notification will be issued. The operator in control room 1 can understand from the notification that the work range 74 has deviated from the predetermined range. Therefore, the operator can correct the work range 74 by resetting it.

[0096] Furthermore, on the map image 70, an icon 84 indicating the stopping position of the dump truck relative to the work machine 20 is superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can understand the stopping position of the dump truck relative to the work machine 20 by looking at the map display device 5. If the stopping position of the dump truck relative to the work machine 20 is incorrect, the stopping position of the dump truck relative to the work machine 20 can be corrected by re-teaching or other means.

[0097] Furthermore, if the dump truck's stopping position deviates from the designated position, a notification will be issued. The operator in control room 1 can understand from the notification that the dump truck's stopping position has deviated from the designated position. Therefore, the operator can correct the dump truck's stopping position by resetting the stopping position, etc.

[0098] Furthermore, on the map image 70, icons 75 indicating the manager of each work machine 20, associated with the location of each machine, are superimposed on the map image 70 and displayed on the map display device 5. Therefore, the operator in the control room 1 can identify the manager of each work machine 20 by looking at the map display device 5. Thus, the operator can understand which manager is in charge of how many work machines 20.

[0099] Furthermore, if there is a possibility of an object interfering with the work machine 20, a notification will be sent. Therefore, the operator in the control room 1 will be aware that there is a possibility of an object interfering with the work machine 20. Thus, the operator can take some measures, such as stopping the work machine 20, to prevent the object from interfering with it.

[0100] Furthermore, if there is a possibility of an object interfering with the work machine 20, the posture of the work machine 20 is changed. This reduces the possibility of an object interfering with the work machine 20.

[0101] Although embodiments of the present invention have been described above, these are merely illustrative examples and do not particularly limit the present invention. Specific configurations and other aspects can be modified as appropriate. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most preferred actions and effects resulting from the present invention, and the actions and effects according to the present invention are not limited to those described in the embodiments. [Explanation of symbols]

[0102] 1 Management room 2 Display Groups 3 Display device 4. Remote control display device 5. Map display device (display device) 6 speakers 7. Controller (display control means, machine path acquisition means, dump path acquisition means, displacement detection means, displacement notification means, position displacement detection means, position displacement notification means, detection means, notification means, attitude change means) 8 Control device 9. Communication equipment (receiving device) on the control room side 11. Work machine side controller 12. Communication device on the work machine side 13 Storage device 20 Working Machines 21 Lower running body 22 Upper rotating body 23 Cab 24 Swivel device 25 Machine body 30 Attachments 31 Boom 32 Arms 33 buckets 34 Link members 40 cylinders 41 Boom Cylinder 42 Arm Cylinder 43 Bucket Cylinder 52 Angle Sensor 55 Camera 56 GNSS sensors 60 Tilt Angle Sensor 61 Boom tilt angle sensor 62 Arm tilt angle sensor 63 Bucket tilt angle sensor 70 Map Images 71, 72, 73, 75, 76, 83, 84, 90 Icons 74 Working range 77 completed areas 78 Unworked Areas 79 Machine aisle 80 Dump truck lane 81 Range of motion 82a Work completed 82b Working range 82c Unworked area 85 Warning Images 100 Management Systems

Claims

1. A display device that displays map images, A receiving device that receives location information of each of the multiple work machines, and information on whether or not the work machine is operating automatically, Display control means for displaying on the display device an image indicating that the work machine is being operated automatically, associated with the position of the work machine being operated automatically on the map image, A management system characterized by having the following features.

2. The receiving device receives the operation details from the work machine which is being operated automatically. The management system according to claim 1, characterized in that the display control means causes the image indicating that the work machine is being operated automatically to change according to the operation content.

3. The management system according to claim 1 or 2, characterized in that the display control means displays on the display device an image indicating that the work machine is not operating automatically, associated with the location of the work machine that is not operating automatically on the map image, by superimposing the image onto the map image.

4. The receiving device receives work history from each of the multiple work machines. The management system according to claim 1 or 2, characterized in that the display control means displays on the display device an image showing the work history of the work machine, associated with the position of the work machine on the map image, superimposed on the map image.

5. The receiving device receives location information of the area that has been worked on, The management system according to claim 1 or 2, characterized in that the display control means displays the completed area on the map image superimposed on the map image on the display device.

6. The receiving device receives location information of the unworked area. The management system according to claim 1 or 2, characterized in that the display control means displays the unworked area on the map image superimposed on the map image on the display device.

7. The system includes a machine path acquisition means that acquires machine path information from a machine path management device that manages information on machine path information for each of the multiple aforementioned work machines, The management system according to claim 1 or 2, characterized in that the display control means displays the machine passage on the map image superimposed on the map image on the display device.

8. The system includes a dump truck access means that acquires information about dump truck access points from a dump truck access point management device that manages information about dump truck access points, The management system according to claim 1 or 2, characterized in that the display control means displays the dump road on the map image superimposed on the map image on the display device.

9. The receiving device receives the range of motion of each of the work machines at its current position from each of the plurality of work machines. The management system according to claim 1 or 2, characterized in that the display control means displays the movable range of the work machine at its current position on the map image, in relation to the position of the work machine on the map image, superimposed on the map image and displayed on the display device.

10. The receiving device receives the work range from each of the multiple work machines. The management system according to claim 1 or 2, characterized in that the display control means displays the working range of the working machine superimposed on the map image on the display device, in relation to the position of the working machine on the map image.

11. The management system according to claim 10, characterized in that the display control means causes the work area to be displayed on the display device in a size corresponding to its width.

12. The receiving device receives the progress status of the work in the work area from each of the plurality of work machines. The management system according to claim 10, characterized in that the display control means superimposes an image on the map image, in association with the position of the work machine, an image showing the progress of work within the work area of ​​the work machine, onto the map image and displays it on the display device.

13. The receiving device receives information on the amount of work in the work area from each of the plurality of work machines. The management system according to claim 10, characterized in that the display control means displays on the display device an image on the map image that shows the amount of work in the working range of the working machine, in relation to the position of the working machine on the map image, by superimposing it on the map image.

14. A deviation determination means for determining whether the work range deviates from a predetermined range, When the deviation determination means determines that the work range is deviating from the predetermined range, a deviation notification means provides notification to that effect. The management system according to claim 10, characterized by having the following features.

15. The receiving device receives the stopping position of the dump truck relative to the work machine. The management system according to claim 1 or 2, characterized in that the display control means displays on the display device an image on the map image that shows the stopping position of the dump truck relative to the work machine, in relation to the position of the work machine on the map image, by superimposing the image on the map image.

16. A position deviation determination means for determining whether the stopping position of the dump truck is deviated from a predetermined position, A position deviation notification means that notifies the dump truck if its stopping position is deviated from the predetermined position, The management system according to claim 15, characterized by having the following features.

17. The receiving device receives information about the operator of each of the multiple work machines, The management system according to claim 1 or 2, characterized in that the display control means displays on the display device an image indicating the manager of the work machine, associated with the location of the work machine on the map image, superimposed on the map image.

18. A determination means for determining whether or not an object may interfere with the aforementioned work machine, If the determination means determines that the object may interfere with the work machine, a notification means provides notification to that effect. The management system according to claim 1 or 2, characterized by having the following features.

19. A determination means for determining whether or not an object may interfere with the aforementioned work machine, If the determination means determines that the object may interfere with the work machine, the posture changing means changes the posture of the work machine. The management system according to claim 1 or 2, characterized by having the following features.

Images