Excavator remote control device

Abstract

To provide a shovel remote operation device which can support to identify the cause of a shovel not performing its assumed normal operation.SOLUTION: A shovel remote operation device remotely operates an actuator, and a shovel including an object operated by the actuator. By operating operation means, a command to drive the actuator is input. A control part transmits the command input by the operation means to the shovel through a communication part. The control part receives actuator drive information indicating a drive state of the actuator from the shovel through the communication part, and displays the drive state of the actuator on a display part on the basis of the received actuator drive information.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a remote control device for an excavator. Place

Background Art

[0002] A construction support system for an excavator that remotely operates an excavator is known (Patent Document 1). This construction support system generates a surrounding image based on an image captured by an imaging device attached to the excavator. This image is displayed on a display device installed in a remote operation room outside the excavator. Further, based on the information acquired by an object detection device attached to the excavator, it alerts the operator operating in the remote operation room.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When operating an excavator while on board, if for some reason the operation does not perform the action expected from the operation content, it is possible to identify the cause of the abnormality by vibration, sound, visual inspection, etc. However, when remotely operating an excavator, generally, it is only possible to recognize the occurrence of an abnormality from the surrounding images acquired by a camera mounted on the excavator. It would be good if there was also information useful for identifying the cause of the abnormality other than the surrounding images.

[0005] An object of the present invention is to provide a remote control device for an excavator that can provide support for identifying the cause when the excavator does not perform the expected normal operation. Place

Means for Solving the Problems

[0006] According to one aspect of the present invention, A remote control device for remotely operating an excavator including an actuator and an object operated by the actuator, An operating means for inputting a command to drive the actuator, A communication unit that communicates with the aforementioned shovel, Display unit and A control unit transmits the command input by the operating means to the shovel via the communication unit. It is equipped with, The control unit, Actuator drive information indicating the drive state of the actuator is received from the shovel via the communication unit. Based on the received actuator drive information, the drive status of the actuator is displayed on the display unit. death, The actuator is a hydraulic motor that rotates the crawler, The control unit displays information indicating the rotation state of the crawler on the display unit based on the drive state of the actuator. A remote control device for the shovel is provided.

[0007] According to another aspect of the present invention A function to command the shovel to move, The function receives drive information indicating the drive state of the excavator's hydraulic motor and travel state information reflecting the travel state of the excavator from the excavator, and determines whether or not the excavator's crawler is slipping based on the received drive information and travel state information. A remote control device for an excavator is provided. [Effects of the Invention]

[0009] If the excavator is not performing the expected operation based on the operation, the actuator drive status displayed on the display unit provides useful information for determining whether the expected operation is not being performed due to an abnormal actuator drive status or for some other reason.

Brief Description of the Drawings

[0010] [Figure 1] FIG. 1 is a side view of an excavator according to this embodiment. [Figure 2] FIG. 2 is a block diagram of the excavator according to the embodiment shown in FIG. 1. [Figure 3] FIG. 3 is a schematic diagram and a block diagram of a remote control device for an excavator according to the embodiment shown in FIG. 1. [Figure 4] FIG. 4 is a flowchart showing operations performed by an operator on the excavator remote control device shown in FIG. 1, procedures executed by a control unit, and procedures executed by a controller of the excavator. [Figure 5] FIGS. 5A to 5D are diagrams showing display examples of information representing the rotation state of a crawler based on the operation of a travel hydraulic motor. [Figure 6] FIG. 6 is a flowchart showing operations performed by an operator according to another embodiment, procedures executed by a control unit of an excavator remote control device, and procedures executed by a controller of the excavator. [[ID=2...]] [Figure 7] FIGS. 7A and 7B are diagrams showing an example of a character string displayed on a display unit when a control unit of an excavator remote control device notifies an operator of an abnormality. [Figure 8] FIG. 8 is a flowchart showing operations performed by an operator according to yet another embodiment, procedures executed by a control unit of an excavator remote control device, and procedures executed by a controller of the excavator.

Modes for Carrying Out the Invention

[0011] Referring to FIGS. 1 to 5D, an excavator and an excavator remote control device according to an embodiment will be described.

[0012] FIG. 1 is a side view of the excavator 10 according to the present embodiment. The excavator 10 according to the present embodiment includes a lower traveling body 12, an upper revolving body 11 mounted on the lower traveling body 12 so as to be revolvable via a revolving mechanism 13, a boom 21, an arm 22, a bucket 23, and a blade 24.

[0013] The lower traveling body 12 includes, for example, a pair of left and right crawlers 14, and each crawler 14 travels by being hydraulically driven by a traveling hydraulic motor described later.

[0014] The upper revolving body 11 revolves with respect to the lower traveling body 12 by being driven by a revolving hydraulic motor described later. The upper revolving body 11 includes a cab 15. When directly operating the excavator 10, an operator boards the cab 15.

[0015] The boom 21 is attached to the front center of the upper revolving body 11 so as to be swingable in the vertical direction. An arm 22 is attached to the tip of the boom 21 so as to be swingable in the front-rear direction. A bucket 23 is attached to the tip of the arm 22 so as to be operable to open and close. The boom 21, the arm 22, and the bucket 23 are each hydraulically driven by a boom cylinder 25, an arm cylinder 26, and a bucket cylinder 27, which are hydraulic cylinders. The bucket 23 is an example of an end attachment, and another end attachment may be attached to the tip of the arm 22 instead of the bucket 23 according to the work content or the like.

[0016] The blade 24 is attached to the front of the lower traveling body 12 so as to be swingable in the vertical direction. The blade 24 is driven by a blade cylinder 28, which is a hydraulic cylinder.

[0017] The excavator 10 operates the lower traveling body 12, the upper revolving body 11, the boom 21, the arm 22, the bucket 23, and the blade 24 according to the operation of an operator boarding the cab 15. Also, the lower traveling body 12, the upper revolving body 11, the boom 21, the arm 22, the bucket 23, and the blade 24 can be operated according to a command from a remote operation device described later.

[0018] Next, referring to Figure 2, the configuration of the shovel 10, focusing on its functions, will be described. Figure 2 is a block diagram of the shovel 10. In Figure 2, mechanical power lines are shown with double lines, high-pressure hydraulic lines with thick solid lines, pilot lines with thick dashed lines, power lines with thin solid lines, and control lines with thin dashed lines.

[0019] The battery module 50 includes a high-voltage energy storage device 50B and a battery controller 50C. The high-voltage energy storage device 50B is normally charged via a charging AC / DC converter 91 from a normal charging vehicle inlet 90. The high-voltage energy storage device 50B is also rapidly charged by connecting the charging gun of the charging station to a rapid charging vehicle inlet 92. Normal and rapid charging are controlled by the battery controller 50C. For example, a lithium-ion battery or lithium-ion capacitor can be used as the high-voltage energy storage device 50B.

[0020] The power converter 51 boosts the power supplied from the high-voltage energy storage device 50B and supplies it to the inverter 57. The inverter 57 drives the pump motor 58 under the control of the controller 60. For example, an IPM (Interior Permanent Magnet) motor is used for the pump motor 58. Alternatively, an internal combustion engine, such as a diesel engine or gasoline engine, may be used instead of the pump motor 58.

[0021] Next, we will describe the hydraulic drive system driven by the electric motor 58 for the pump. The main pump 70 and pilot pump 71 are driven by the electric motor 58 for the pump. The main pump 70 supplies hydraulic fluid to the control valve 73 through the high-pressure hydraulic line. For example, a variable displacement hydraulic pump is used as the main pump 70.

[0022] The pilot pump 71 supplies pilot pressure to the pressure control valve 72 (e.g., a proportional valve) via the pilot line. The pressure control valve 72, under the control of the controller 60, supplies pilot pressure to the control valve 73 according to the operation command. For example, a fixed-displacement hydraulic pump is used as the pilot pump 71.

[0023] The control valve 73 selectively supplies hydraulic fluid from the main pump 70 to multiple hydraulic actuators according to the pilot pressure from the pressure control valve 72. The multiple hydraulic actuators include a boom cylinder 25, an arm cylinder 26, a bucket cylinder 27, a blade cylinder 28, travel hydraulic motors 29 and 30, and a slewing hydraulic motor 31. For example, the control valve 73 includes multiple hydraulic control valves (directional control valves) that control the flow rate and direction of the hydraulic fluid supplied from the main pump 70 to each of the hydraulic actuators. The travel hydraulic motors 29 and 30 rotate the left and right crawlers 14 (Figure 1) of the lower travel body 12, respectively. The slewing hydraulic motor 31 rotates the upper slewing body 11. A slewing electric motor may be used instead of the slewing hydraulic motor 31.

[0024] Next, I will explain the control system. The operating device 38 includes multiple operating levers, operating pedals, and other operating means. When an operator in the cabin 15 (Figure 1) operates the operating means, an electrical signal corresponding to the operation is received by the controller 60. The controller 60 controls the pressure control valve 72 and the inverter 57 according to the operation.

[0025] The shovel 10 is further equipped with a surrounding information acquisition device 32, a communication device 33, an acceleration sensor 34, an angular acceleration sensor 35, and a GNSS receiver 36.

[0026] The surrounding information acquisition device 32 consists of, for example, a camera mounted on the upper rotating body 11 of the shovel 10. For example, the surrounding information acquisition device 32 includes a camera that captures an image of the front of the shovel 10 from the operator's perspective, and cameras that capture images of the rear and sides of the shovel 10. Images of the rear and sides of the shovel 10 are taken in by the controller 60, which then synthesizes an overhead view image (overhead image) from these images. The overhead image is displayed on a display device inside the cabin 15.

[0027] The communication device 33 communicates data with the shovel remote control device, described later, under the control of the controller 60. A private network, a public network, or the like can be used for communication with the shovel remote control device.

[0028] The acceleration sensor 34 and the angular acceleration sensor 35 are attached to the upper rotating body 11. For example, the acceleration sensor 34 and the angular acceleration sensor 35 can measure acceleration in three axes and angular acceleration in three axes. The measurement results are input to the controller 60.

[0029] The GNSS receiver 36 determines the current position of the shovel 10. The current position information obtained by the GNSS receiver 36 is input to the controller 60.

[0030] Next, we will explain the remote control device for the shovel with reference to Figure 3. Figure 3 shows a schematic diagram and block diagram of the shovel remote control device 80. The shovel remote control device 80 includes an operator's seat 81, operating means 82 such as multiple operating levers and operating pedals, a display unit 84, a control unit 85, and a communication unit 86. The communication unit 86 communicates data with the communication device 33 of the shovel 10.

[0031] The operator remotely controls the shovel 10 by sitting in the control seat 81 and operating the control means 82. The display unit 84 is positioned in front of the operator seated in the control seat 81. For example, a multi-display consisting of nine monitors arranged in a 3x3 grid is used as the display unit 84. The display unit 84 displays images captured by the surrounding information acquisition device 32 (Figure 2) mounted on the shovel 10, for example, images seen from the operator's perspective while riding in the shovel 10. In addition, a bird's-eye view image of the area around the shovel 10 may be displayed on a portion of the display unit 84. Furthermore, the display unit 84 displays drive information for the shovel 10's actuators and various messages to notify the operator.

[0032] Figure 4 is a flowchart showing the operations performed by the operator on the shovel remote control device 80, the procedures executed by the control unit 85 (Figure 3), and the procedures executed by the controller 60 (Figure 2) of the shovel 10. The operator, seated in the operator's seat 81, operates the operating means 82 (step SR1). The following describes the case where the crawler 14 (Figure 1) is rotated to move the shovel 10.

[0033] The control unit 85 of the shovel remote control device 80 detects the operation content of the operating means 82 and transmits a command to the shovel 10 to drive the travel hydraulic motors 29 and 30 (step SR2). When the controller 60 of the shovel 10 receives this command, it drives the travel hydraulic motors 29 and 30 according to the operation content (step SS1). The controller 60 acquires drive information indicating the drive status of the travel hydraulic motors 29 and 30, and surrounding image information (step SS2). Subsequently, it transmits the drive information of the travel hydraulic motors 29 and 30 and the surrounding image information to the shovel remote control device 80 (step SS3).

[0034] As driving information for the travel hydraulic motors 29 and 30, for example, the flow rate of the hydraulic fluid flowing into the travel hydraulic motors 29 and 30 can be used. The flow rate of the hydraulic fluid can be measured by a flow sensor inserted into the hydraulic circuit. Alternatively, the discharge pressure of the main pump 70 may be used instead of the flow rate of the hydraulic fluid. When the travel hydraulic motors 29 and 30 are driven and other hydraulic actuators are not driven, the flow rate of the hydraulic fluid flowing into the travel hydraulic motors 29 and 30 changes according to the discharge pressure of the main pump 70, so the discharge pressure of the main pump 70 can be used as driving information for the travel hydraulic motors 29 and 30.

[0035] The control unit 85 of the excavator remote control device 80 receives drive information from the excavator 10 indicating the drive status of the travel hydraulic motors 29 and 30, and image information acquired from the surrounding information acquisition device 32 (step SR3). Subsequently, the control unit 85 displays the drive information of the travel hydraulic motors 29 and 30 and the image information as images on the display unit 84 (step SR4). For example, the drive information of the travel hydraulic motors 29 and 30 is displayed as an image showing the rotation status of the crawler 14.

[0036] Figures 5A to 5D are diagrams illustrating examples of image displays showing the rotation state of the crawler 14 based on the operation of the hydraulic motors 29 and 30. Figures 5A and 5C show examples of displays when the hydraulic motors 29 and 30 are operating normally, while Figures 5B and 5D show examples of displays when the hydraulic motors 29 and 30 are not operating normally. In the example shown in Figure 5A, a shovel icon is displayed and an arrow is added along the crawler to indicate that the crawler 14 is rotating normally. Alternatively, instead of adding an arrow along the crawler 14, or in addition to adding an arrow, an animation of the crawler 14 rotating may be displayed. In the example shown in Figure 5B, the arrow along the crawler 14 is made a dashed line and an "x" mark is added to the arrow to indicate that the crawler 14 is not rotating.

[0037] In the example shown in Figure 5C, the text "Crawler rotating" is displayed, while in the example shown in Figure 5D, the text "Crawler not rotating" is displayed.

[0038] Next, the excellent effects of the above embodiment will be described. When an operator attempts to move the shovel 10 by operating the operating means 82 (Figure 3) of the shovel remote control device 80, if the image of the area around the shovel 10 displayed on the display unit 84 does not change, it is determined that the shovel 10 is not moving as expected. However, it is difficult to distinguish from the image of the area around the shovel 10 alone whether the crawler 14 (Figure 1) is not rotating, or whether the crawler 14 is rotating but the shovel 10 is not moving.

[0039] For example, if the ground at the work site is muddy, the crawler tracks may slip even if the operator operates the travel lever, preventing the machine from moving. If the operator is on board the excavator, they can recognize that the tracks are slipping by the sound and vibration. However, if the operator is operating remotely, they can only recognize that the machine is not moving properly because the surrounding image does not change even when the travel lever is operated. It becomes difficult to determine whether the reason for the machine not moving is the crawler tracks slipping or some other malfunction.

[0040] In the above embodiment, the operator can look at the information (Figures 5A to 5D) displayed on the display unit 84 indicating the driving status of the travel hydraulic motors 29 and 30 to determine whether the reason the shovel 10 is not moving is because the crawler 14 is not rotating, or whether the crawler 14 is rotating but the shovel is not moving due to some other reason.

[0041] If the crawler 14 is not rotating, it can be determined that there is some kind of malfunction in the remote control system or in the drive system of the hydraulic motors 29 and 30 of the excavator 10. If the crawler 14 is rotating but the excavator 10 is not moving, it can be determined that the crawler 14 is slipping due to reasons such as muddy ground.

[0042] Next, with reference to Figures 6 to 7B, a remote-controlled shovel device and shovel according to another embodiment will be described. The following description will omit details of components common to the remote-controlled shovel device and shovel described above with reference to Figures 1 to 5D.

[0043] Figure 6 is a flowchart showing the operations performed by the operator in this embodiment, the procedures executed by the control unit 85 of the shovel remote control device 80, and the procedures executed by the controller 60 of the shovel 10. Figures 7A and 7B show examples of strings of characters displayed on the display unit 84 when the control unit 85 of the shovel remote control device 80 notifies the operator of an abnormality.

[0044] Steps SR1 to SR4 and SS1 to SS3 are the same as those shown in Figure 4. In the embodiment shown in Figure 4, the operator looks at the image of the area around the shovel 10 and the display showing the actuator drive status displayed on the display unit 84 (Figure 3) of the shovel remote control device 80 and determines whether or not an abnormality has occurred.

[0045] In the embodiment shown in Figure 6, the control unit 85 of the shovel remote control device 80 determines whether the drive state of the travel hydraulic motors 29 and 30 is normal or not (step SR5). If it determines that there is an abnormality, it notifies the operator that an abnormality has occurred in the remote control system or the travel hydraulic motor drive system (step SR6). For example, as shown in Figure 7A, the string "An abnormality has occurred in the remote control system or the travel hydraulic motor drive system" is displayed on the display unit 84.

[0046] If the travel hydraulic motors 29 and 30 are operating normally, the control unit 85 determines whether the travel state is normal or not (step SR7). The travel state can be determined, for example, by analyzing images of the area around the shovel 10. For example, by performing optical flow estimation from changes in the images of the area around the shovel 10, it is possible to determine whether the shovel 10 is traveling normally or not. In other words, the image information is used as travel state information that forms the basis for determining the travel state of the shovel 10.

[0047] If the shovel 10 is not moving normally, the control unit 85 notifies the operator that the crawler is slipping (step SR8). For example, as shown in Figure 7B, the display unit 84 displays the string "Crawler slipping occurred".

[0048] Next, we will describe the excellent effects of this embodiment. In this embodiment, the operator is notified of any abnormalities in the remote control system or the hydraulic motor drive system, or of the crawler slipping, so the operator can easily notice these abnormalities.

[0049] Next, a modified example of this embodiment of a remote-controlled shovel device will be described. In the embodiment shown in Figure 6, the control unit 85 of the shovel remote control device 80 determines the travel state of the shovel 10 from the image of the area around the shovel 10. Alternatively, the shovel 10 may transmit its current position information, obtained by the GNSS receiver 36 (Figure 2) mounted on the shovel 10, to the shovel remote control device 80. The control unit 85 of the shovel remote control device 80 may also determine whether the travel state of the shovel 10 is normal or not based on the movement status of the shovel 10's current position, which is represented by the current position information of the shovel 10. For example, if the shovel 10 has hardly moved even after a period of time has passed, it may be determined that the travel state is abnormal. In other words, the current position information obtained by the GNSS receiver 36 is used as travel state information representing the travel state of the shovel 10.

[0050] Next, with reference to Figure 8, we will describe a remote-controlled shovel device and shovel according to another embodiment. Hereafter, we will omit explanations of components common to the remote-controlled shovel devices described above with reference to Figures 1 to 5D.

[0051] Figure 8 is a flowchart showing the operations performed by the operator in this embodiment, the procedures executed by the control unit 85 of the shovel remote control device 80, and the procedures executed by the controller 60 of the shovel 10.

[0052] Similar to the embodiment shown in Figure 4, the operator operates the operating means 82 (Figure 3) (step SR1). In this embodiment, operations are performed on the boom 21, arm 22, bucket 23, blade 24, and upper slewing body 11 (Figure 2). The control unit 85 (Figure 3) transmits a drive command for the actuator corresponding to the operation to the shovel 10 (step SR10). For example, if the object to be operated is the boom 21, a drive command for the boom cylinder 25 is transmitted.

[0053] The controller 60 of the shovel 10 drives the actuator in response to the received drive command (step SS11). Subsequently, the controller 60 acquires actuator drive information and motion information of the object driven by the actuator (step SS12). For example, if the actuator is a hydraulic cylinder such as a boom cylinder 25, the measured value (detection result) of the pressure sensor attached to the hydraulic cylinder may be used as actuator drive information. If the actuator is a slewing hydraulic motor 31, the measured value of the flow rate of the hydraulic fluid flowing into the slewing hydraulic motor 31 may be used as actuator drive information.

[0054] If the objects driven by the actuator are a boom 21, arm 22, bucket 23, and blade 24, it is preferable to use image information that includes the boom 21, arm 22, bucket 23, and blade 24 as the motion information of the objects. By analyzing the images, the motion state of the boom 21, arm 22, bucket 23, and blade 24 can be detected. Alternatively, angle information of the joints of the boom 21, arm 22, bucket 23, and blade 24 may be used as motion information of the objects.

[0055] If the object is an upper rotating body 11, it is preferable to use angular acceleration information measured by an angular acceleration sensor 35 attached to the upper rotating body as the motion information of the object. The angular acceleration information can be used to determine whether or not the upper rotating body 11 is rotating normally.

[0056] The controller 60 of the shovel 10 transmits actuator drive information and object movement information to the shovel remote control device 80 (step SS13). The control unit 85 of the shovel remote control device 80 receives the actuator drive information and object movement information (step SR11).

[0057] The control unit 85 determines whether the actuator's drive state is normal based on the received actuator drive information (step SR12). For example, if the actuator is a hydraulic cylinder, the control unit 85 determines whether the actuator's drive state is normal based on the measured hydraulic pressure of the hydraulic fluid by a pressure sensor attached to the hydraulic cylinder. If the actuator is a slewing hydraulic motor 31, the control unit 85 determines whether the slewing hydraulic motor 31's drive state is normal based on the measured flow rate of the hydraulic fluid flowing into the slewing hydraulic motor 31.

[0058] If the actuator's drive state is not normal, the control unit 85 notifies the operator that an abnormality has occurred in the remote control system or the actuator drive system (step SR13). For example, the display unit 84 displays a message notifying the operator of the abnormality.

[0059] If the actuator is operating normally, the control unit 85 determines whether the object is operating normally (step SR14). If the actuator is a boom cylinder 25, the control unit 85 determines whether the boom 21 is operating normally by analyzing the image in which the boom 21 is captured. Alternatively, it determines whether the boom 21 is operating normally from the measurement results of an angle sensor attached to the base of the boom 21. If the actuator is a slewing hydraulic motor 31, the control unit 85 determines whether the upper slewing body 11 is slewing normally based on the angular acceleration information of the upper slewing body 11.

[0060] If the object's operating state is not normal, the control unit 85 notifies the operator that the actuator is being driven but is operating abnormally (step SR15). For example, the display unit 84 displays a message notifying the operator of the abnormality.

[0061] Next, we will describe the excellent effects of this embodiment. In this embodiment, when an actuator is remotely operated, if the expected operation based on the operation is not performed, it is possible to easily determine whether the actuator is not being driven properly, or whether the actuator is being driven properly but the object is not functioning correctly due to some other reason.

[0062] Each embodiment is illustrative, and it goes without saying that partial substitution or combination of the configurations shown in different embodiments is possible. Similar effects and benefits from similar configurations in multiple embodiments will not be mentioned sequentially for each embodiment. Furthermore, the present invention is not limited to the embodiments described above. For example, it will be obvious to those skilled in the art that various modifications, improvements, and combinations are possible. [Explanation of Symbols]

[0063] 10 Shovels 11 Upper rotating body 12 Lower running body 13. Swivel mechanism 14 Crawler 15 cabins 21 Boom 22 Arms 23 buckets 24 blades 25 Boom Cylinder 26 Arm Cylinder 27 Bucket Cylinder 28 Blade Cylinder 29, 30 Hydraulic motor for travel 31 Swivel hydraulic motor 32 Surrounding Condition Acquisition Device 33 Communication equipment 34. Accelerometer 35-angular accelerometer 36 GNSS receivers 38 Operating device 50 Battery Modules 50B High-Voltage Energy Storage Device 50C Battery Controller 51 Power converter 57 Inverter 58 Electric motor for pumps 60 Controllers 70 Main pump 71 Pilot pump 72 Pressure control valve 73 Control valve 80. Remote control device for excavators 81 Control seat 82 Operating means 84 Display device 85 Control Unit 86 Communications Department 90 Standard charging vehicle inlet 91 AC / DC converter for charging 92 Vehicle inlet for rapid charging

Claims

1. A remote control device for remotely operating an excavator including an actuator and an object operated by the actuator, An operating means for inputting a command to drive the actuator, A communication unit that communicates with the aforementioned shovel, Display unit and A control unit transmits the command input by the operating means to the shovel via the communication unit. It is equipped with, The control unit, Actuator drive information indicating the drive state of the actuator is received from the shovel via the communication unit. Based on the received actuator drive information, the drive status of the actuator is displayed on the display unit. The actuator is a hydraulic motor that rotates the crawler, The control unit is a remote excavator control device that displays information indicating the rotation state of the crawler on the display unit based on the drive state of the actuator.

2. The control unit receives information from the shovel via the communication unit that reflects the shovel's movement status, and determines whether or not the shovel is moving based on the received information. The remote excavator control device according to claim 1, which notifies that the crawler is slipping when the excavator is not moving despite the driving state of the hydraulic motor being normal.

3. A remote control device for remotely operating an excavator including an actuator and an object operated by the actuator, An operating means for inputting a command to drive the actuator, A communication unit that communicates with the aforementioned shovel, Display unit and A control unit transmits the command input by the operating means to the shovel via the communication unit. It is equipped with, The control unit, Actuator drive information indicating the drive state of the actuator is received from the shovel via the communication unit. Based on the received actuator drive information, the drive status of the actuator is displayed on the display unit. The control unit, The excavator receives operation information that reflects the operating state of the object driven by the actuator. Based on the actuator drive information, it is determined whether or not the actuator is being driven. Based on the aforementioned operation information, it is determined whether or not the object is operating. A remote excavator control device that notifies of an abnormality if it determines that the object is not moving despite the actuator being driven.

4. The actuator is a hydraulic motor for rotating the upper rotating body of the shovel, The remote excavator control device according to claim 3, wherein the operation information is an image captured by a camera attached to the upper rotating body, or angular acceleration information from an angular acceleration sensor attached to the upper rotating body.

5. The actuator is a hydraulic cylinder, The object driven by the actuator is at least one of the boom, arm, bucket, and blade of the shovel. The remote control device for a shovel according to claim 3, wherein the operation information is image information in which the object is captured or angle information of the joint portion of the object.

6. A function to command the shovel to move, The function receives drive information indicating the drive state of the excavator's hydraulic motor and travel state information reflecting the travel state of the excavator from the excavator, and determines whether or not the excavator's crawler is slipping based on the received drive information and travel state information. A remote control device for excavators.

Images