Work machine, external management device, work management system, work management method, and work management program

Abstract

A work machine (100) comprises a controller (20) that switches, on the basis of an external instruction from an external management device (200), a remote operation mode in which remote operation is permitted, a teaching mode in which the remote operation is permitted and teaching data corresponding to the remote operation is acquired, and an automatic operation mode in which automatic operation using the teaching data is permitted.

Description

Work machine, external management device, work management system, work management method, and work management program

[0001] The present disclosure relates to a work machine such as a hydraulic excavator and techniques related to the work machine.

[0002] Patent Document 1 discloses a management system having a receiving device that receives operating status from each of a plurality of work machines, a display device, and a display control means that displays the operating status of each of the plurality of work machines on the display device.

[0003] Patent Document 2 discloses a management system having a display device that displays a map image, a receiving device that receives, from each of a plurality of work machines, position information of the work machine and information as to whether the work machine is being driven automatically, and a display control means that causes the display device to superimpose an image on the map image indicating that the work machine is being driven automatically, in association with the position of the work machine that is being driven automatically.

[0004] Patent Document 3 discloses a shovel having a driver's cab with an operating device installed inside, and a control device that, while controlling an operating element based on the operation of an external operating device installed outside the driver's cab, receives an instruction to switch to control of the operating element based on the operation of the operating device, and switches control of the operating element to control based on the operation of the operating device.

[0005] Patent Document 4 discloses a radio-controlled vehicle that can be operated in both on-board driving and radio-controlled modes, in which an electric control lever device for the on-board driving mode is configured to output a control electrical signal to a valve control device depending on the rotation direction and rotation angle of the electric control lever device, and the electric control lever device for the on-board driving mode and the radio-controlled control device are connected to the valve control device via a mode switching relay.

[0006] A first problem of the present disclosure is as follows: It is desirable to propose technology that can be used for remote control of a work machine, automatic driving of a work machine, and teaching for automatic driving.

[0007] JP 2023-70617 A JP 2023-71147 A JP 2022-152970 A JP 1-290830 A

[0008] A first object of the present disclosure is to provide technology that can be used for remote operation of a work machine, automatic operation of a work machine, and teaching for automatic operation.

[0009] A first invention for solving the first problem includes the following work machine, external management device, work management system, work management method, and work management program.

[0010] A work machine according to one aspect of the first invention includes a controller configured to switch between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, based on external instructions from an external management device.

[0011] An external management device according to another aspect of the first invention is configured to output the external instruction for switching the work machine between the remote operation mode, the teaching mode, and the automatic driving mode in response to an input operation received by an input device.

[0012] A work management system according to yet another aspect of the first invention includes the work machine and the external management device.

[0013] A work management method according to yet another aspect of the first invention includes a controller of a work machine switching between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, based on an external instruction from an external management device.

[0014] A work management program according to yet another aspect of the first invention causes a computer of the external management device to execute processing to output, in response to input operations received by an input device of the external management device, external instructions for switching the work machine between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data.

[0015] According to the first aspect of the present invention, a technique is provided that can be used for remotely controlling a work machine, automatically driving a work machine, and teaching for automatic driving.

[0016] FIG. 1 is a side view showing an example of a work machine according to an embodiment of the first invention. FIG. 2 is a block diagram showing a work management system according to an embodiment, showing a state in which the control mode of a work machine in the work management system is set to remote operation mode. FIG. 3 is a block diagram showing the work management system, showing a state in which the control mode is set to teaching mode. FIG. 4 is a block diagram showing the work management system, showing a state in which the control mode is set to automatic operation mode. FIG. 5 is a flowchart showing calculation processing performed by an external management device of the work management system. FIG. 6 is a flowchart showing calculation processing performed by a controller of the work machine. FIG. 7 is a block diagram showing the work management system, and a diagram for explaining a method of checking connections between devices. FIG. 8 is a block diagram showing a work management system according to a first modification of the embodiment. FIG. 9 is a block diagram showing a work management system according to a second modification of the embodiment. FIG. 10 is a diagram for explaining a work management system according to an embodiment of the second invention. FIG. 11 is a diagram for explaining a work management system according to a third embodiment of the invention, a work management system according to a fourth embodiment of the invention, and a work management system according to a sixth embodiment of the invention. FIG. 12 is a diagram for explaining a work management system according to a fifth embodiment of the invention.

[0017] The present disclosure includes the first invention for solving the first problem, the second invention for solving the second problem described below, the third invention for solving the third problem described below, the fourth invention for solving the fourth problem described below, the fifth invention for solving the fifth problem described below, and the sixth invention for solving the sixth problem described below.

[0018] [Embodiment of the First Invention] First, an embodiment of the first invention will be described. The first invention includes a plurality of embodiments, and the plurality of embodiments include a work machine 100, an external management device 200, a work management system 300, a work management method, and a work management program, which will be described below.

[0019] FIG. 1 is a side view showing an example of a work machine 100 according to an embodiment. As shown in FIG. 1 , the work machine 100 includes a lower traveling body 1 including a traveling device, an upper rotating body 2 supported on the lower traveling body 1 so as to be rotatable relative to the lower traveling body 1 about a vertically extending rotation axis Z, and a working device 3 supported on the upper rotating body 2. The work machine 100 according to this embodiment is a hydraulic excavator, but the work machine in the present disclosure is not limited to hydraulic excavators and may be other work machines such as a crane or a bulldozer. The traveling device may be a crawler traveling device as shown in FIG. 1 or a traveling device having tires (not shown). The upper rotating body 2 includes a rotating frame rotatably supported on the lower traveling body 1 and a cab 9 supported on the rotating frame. Various components such as a driver's seat and a machine operating device 10 are arranged in the cab 9.

[0020] The work device 3 includes a boom 4 that is attached to the upper rotating body 2 so as to be able to rise and fall, an arm 5 that is attached to the boom 4 so as to be able to rotate, and a tip attachment 6 that is attached to the arm 5 so as to be able to rotate. In this embodiment, the tip attachment 6 is a bucket 6, but the tip attachment may be another tip attachment such as a grapple, fork, crusher, or lifting magnet.

[0021] The work machine 100 includes a power source 7, a hydraulic pump 8, and a plurality of actuators. The hydraulic pump 8 is driven by the power source 7. The power source 7 may be, for example, an engine or an electric motor. The electric motor may be driven by, for example, at least one of a fuel cell and a battery.

[0022] Each of the multiple actuators operates by receiving a supply of hydraulic oil discharged from the hydraulic pump 8. The multiple actuators include a boom cylinder 35 which is a cylinder for raising and lowering the boom 4, an arm cylinder 36 which is a cylinder for rotating the arm 5, a tip attachment cylinder 37 which is a cylinder for rotating the tip attachment 6, a swing motor 38 which is a hydraulic motor for rotating the upper swing body 2 relative to the lower traveling body 1, and a traveling motor 39 which is a hydraulic motor for traveling the lower traveling body 1.

[0023] 2 is a block diagram showing a work management system 300 according to the embodiment. As shown in FIG. 2, the work management system 300 includes a work machine 100 and an external management device 200.

[0024] The work machine 100 comprises a real machine operating device 10, a controller 20, a controlled object 30, a teaching data acquisition device 40, a power supply 50, a power switch 51, at least one output device 60, a work machine communication device 70, and a hub 80.

[0025] The actual machine operating device 10 is disposed in the cab 9 of the work machine 100. The actual machine operating device 10 includes at least one actual machine operating device that is operated by an operator. The at least one actual machine operating device may include, for example, an operating lever that is operated as a lever by the operator, and an operating pedal that is operated as a pedal by the operator.

[0026] The controller 20 controls the operation of the work machine 100. The controller 20 is equipped with a computer including an arithmetic processing unit and memory. The controller 20 is configured so that the arithmetic processing unit executes a program stored in the memory to control the operation of the work machine 100. The controller 20 may be made up of multiple controllers including a first controller 21 (remote controller) and a second controller 22 (automatic controller) as shown in Figure 2, or may be made up of a single controller (remote automatic controller) as in Modification 2 shown in Figure 9 described below.

[0027] The controlled object 30 is an object controlled by the controller 20. The output of the controlled object 30 changes in accordance with a control operation amount (control input), which is an operation amount input from the controller 20. The controlled object 30 may include a flow rate regulator 31 and at least one of the plurality of actuators. The flow rate regulator 31 adjusts the direction and flow rate of hydraulic oil supplied to at least one of the plurality of actuators in accordance with the control operation amount input from the controller 20. In other words, when the controller 20 inputs a control operation amount to the flow rate regulator 31, the flow rate regulator 31 operates in accordance with the control operation amount input from the controller 20, and thereby hydraulic oil from the hydraulic pump 8 is supplied to at least one of the plurality of actuators, and the actuator is operated.

[0028] The flow rate regulator 31 may include, for example, a plurality of proportional valves 32 and a control valve 33. The control valve 33 has a plurality of spools corresponding to the plurality of actuators. The control valve 33 has a pair of pilot ports corresponding to each spool. Each of the plurality of spools is actuated by inputting a pilot pressure to one of the pair of pilot ports corresponding to that spool, thereby allowing hydraulic oil to be supplied to the actuator corresponding to that spool. Each of the plurality of proportional valves 32 is disposed in an oil passage connecting the pilot port of the spool corresponding to that proportional valve 32 to a pilot pump (not shown) and adjusts the pilot pressure input to the pilot port. In other words, each of the plurality of proportional valves 32 outputs a secondary pressure corresponding to the operation amount (current value) input from the controller 20, and the secondary pressure is input as a pilot pressure to the pilot port corresponding to that proportional valve 32. Each of the plurality of proportional valves 32 adjusts the pilot pressure input to the pilot port corresponding to that proportional valve 32 to a magnitude corresponding to the operation amount input from the controller 20.

[0029] The plurality of proportional valves 32 may include a pair of proportional valves 32 (a pair of boom proportional valves 32) for controlling the operation of the boom cylinder 35, a pair of proportional valves 32 (a pair of arm proportional valves 32) for controlling the operation of the arm cylinder 36, a pair of proportional valves 32 (a pair of tip attachment proportional valves 32) for controlling the operation of the tip attachment cylinder 37, a pair of proportional valves 32 (a pair of swing proportional valves 32) for controlling the operation of the swing motor 38, and a pair of proportional valves 32 (a pair of travel proportional valves 32) for controlling the travel motor 39.

[0030] The controlled object 30 may further include a changeover valve 34. The changeover valve 34 is capable of switching between a first state that allows remote operation of the work machine 100 and automatic operation of the work machine 100, and a second state that allows operation of the work machine 100 based on operations given by an operator to a machine operating device 10 located in the cab 9 of the work machine 100. The changeover valve 34 may switch between the first state and the second state based on instructions from the controller 20, for example. In this case, the controller 20 may have a changeover instruction unit that outputs instructions to the changeover valve 34 for switching the state of the changeover valve 34. The changeover valve 34 may switch between the first state and the second state based on operation of a switch (not shown) that is located in the cab 9, for example. In this case, the switch may be configured to be operable by the operator.

[0031] When the state of the changeover valve 34 is the first state, the operation of the work machine 100 is controlled in accordance with the operation amount input from the controller 20 to the flow rate regulator 31. On the other hand, when the state of the changeover valve 34 is the second state, the operation of the work machine 100 is controlled in accordance with the operation by the operator applied to the machine operating device 10 inside the cab 9 of the work machine 100.

[0032] The teaching data acquirer 40 is a device for acquiring teaching data used for automatic operation. The teaching data acquirer 40 may include, for example, a motion detector for detecting the motion of the work machine 100. The motion detector may include, for example, an attitude sensor that detects the motion of at least one of the plurality of actuators, or may include an attitude sensor that detects the attitude of the work implement 3 and / or the attitude of the upper rotating body 2.

[0033] Specifically, the motion detector may include a boom posture sensor 41 (boom angle sensor), an arm posture sensor 42 (arm angle sensor), and a tip attachment posture sensor 43 (tip attachment angle sensor). The boom posture sensor 41 may be a sensor that detects the operation of the boom cylinder 35 (see FIG. 2 ), or may be a sensor that detects the posture of the boom 4 (see FIG. 1 ). The arm posture sensor 42 may be a sensor that detects the operation of the arm cylinder 36 (see FIG. 2 ), or may be a sensor that detects the posture of the arm 5 (see FIG. 1 ). The tip attachment posture sensor 43 may be a sensor that detects the operation of the tip attachment cylinder 37 (see FIG. 2 ), or may be a sensor that detects the posture of the tip attachment 6 (see FIG. 1 ). The motion detector may further include a swing posture sensor 44. The swing posture sensor 44 may be a sensor that detects the posture of the upper swing body 2 relative to the lower traveling body 1, specifically, for example, the swing angle of the upper swing body 2 relative to the lower traveling body 1.

[0034] The motion detector may include, for example, an imaging device that acquires images of the work machine 100. The imaging device may be a device capable of acquiring point cloud data, such as LiDAR (Light Detection and Ranging). The imaging device is capable of detecting changes over time in images of the work machine 100, i.e., the motion of the work machine 100. The imaging device may be installed, for example, at a location at the work site where the work machine 100 performs work so that images of the work machine 100 can be acquired, or may be attached to the work machine 100 so as to be able to acquire images of the work implement 3 of the work machine 100 (for example, images of the tip attachment 6). The motion detector may also acquire the rotation speed of the travel motor 39, or the rotation speed of the power source 7, such as an engine or electric motor.

[0035] The power supply 50 supplies power (electricity) to target devices such as the controller 20 and the work machine communication device 70. The power supply 50 may be a battery such as a lithium-ion battery, or a power generation device such as a fuel cell. As shown in FIG. 2 , for example, the power switch 51 is arranged on a cable connecting the power supply 50 and the target devices, and when the power switch 51 is in the ON position, it allows power from the power supply 50 to be supplied to the target devices, and when the power switch 51 is in the OFF position, it prevents power from the power supply 50 from being supplied to the target devices. The power switch 51 may be switched ON and OFF based on an instruction from the controller 20, or may be switched on and off based on a switch operation by a person involved in work performed by the work machine 100. When the work machine 100 is remotely operated or automatically operated (when the changeover valve 34 is in the first position), the power switch 51 may be set to the ON position. When operation of the work machine 100 based on operation by the operator on the actual machine operation device 10 is permitted (when the state of the changeover valve 34 is the second state), the power switch 51 may be set to the OFF state.

[0036] The person involved in the work may be an operator on board the work machine 100, an operator that remotely operates the work machine 100, a manager that manages work performed by the work machine 100, an assistant that assists the operator and / or manager, or any other person involved.

[0037] The at least one output device 60 is configured to be able to switch whether or not power from the power supply 50 is supplied to the controller 20 in response to an external instruction from the external management device 200. In the specific example shown in Fig. 2, the at least one output device 60 includes a first output device 61 and a second output device 62. The first output device 61 and the second output device 62 will be described later.

[0038] The work machine communication device 70 is a device that is capable of transmitting and receiving data wirelessly or via a wire between this work machine communication device 70 and the external management device 200. In this case, the external management device 200 may have a communication device that is capable of communicating with the work machine communication device 70.

[0039] The hub 80 has a plurality of ports for connecting a plurality of network devices in the circuit of the work machine 100. In the specific example shown in Fig. 2, the controller 20, the at least one output device 60, and the work machine communication device 70 are connected to the hub 80. Therefore, the controller 20 can transmit and receive signals to and from the work machine communication device 70 via the hub 80, and the at least one output device 60 can transmit and receive signals to and from the work machine communication device 70 via the hub 80. In the work machine 100, a local area network (LAN) may be configured that allows mutual data communication between the controller 20 (e.g., the first controller 21 and the second controller 22), the output device 60 (e.g., the first output device 61 and the second output device 62), the work machine communication device 70, and the hub 80. The hub 80 may be, for example, an Ethernet (registered trademark) hub.

[0040] The external management device 200 includes an external device controller having a computer including an arithmetic processing unit and a memory. The external management device 200 realizes its functions by having the arithmetic processing unit execute a program stored in the memory. The external management device 200 may be placed in a location separate from the work machine 100 (for example, a remote location).

[0041] The external management device 200 may include a first external device 210 and a second external device 220. In this case, the first external device 210 and the second external device 220 each have a communication device capable of communicating with the work machine communication device 70. The first external device 210 includes a first external device controller having a computer including an arithmetic processing device and a memory. The second external device 220 includes a second external device controller having a computer including an arithmetic processing device and a memory. The first external device 210 realizes its functions by having the arithmetic processing device execute a program stored in the memory, and the second external device 220 realizes its functions by having the arithmetic processing device execute a program stored in the memory.

[0042] The first external device 210 may include the first external device controller 215, a remote control 212, a display unit 213, and a first input unit 214. The first external device controller 215 may include a first startup instruction unit 211. The second external device 220 may include the second external device controller 226 and a second input unit 225. The second external device controller 226 may include a first startup instruction unit 221, a second startup instruction unit 222, a mode instruction unit 223, and an external device storage unit 224. Note that when the external management device 200 is configured by a single external device, the functions of the first external device controller and the second external device controller may be integrated into the controller of the single external device (i.e., the external device controller of the external management device 200).

[0043] [Features of the First Invention] Next, features of the first invention for solving the first problem will be described. The first invention includes the following first to seventeenth aspects.

[0044] The work machine 100 according to the first aspect is equipped with a controller 20 that switches between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, based on an external instruction from an external management device 200.

[0045] In this first aspect, the controller 20 of the work machine 100 can switch between remote operation mode, teaching mode, and automatic driving mode based on an external instruction from the external management device 200. In other words, the controller 20 can set the control mode of the work machine 100 to any one of the remote operation mode, teaching mode, and automatic driving mode that corresponds to the external instruction.

[0046] Figure 2 shows a state in which the control mode of the work machine 100 is set to remote operation mode, Figure 3 shows a state in which the control mode of the work machine 100 is set to teaching mode, and Figure 4 shows a state in which the control mode of the work machine 100 is set to automatic operation mode. In each of these figures, the parts indicated by thick arrows represent the exchange of signals between devices.

[0047] It is preferable that the work machine 100 according to the second aspect further comprises the following configuration in addition to the work machine 100 according to the first aspect: That is, in the work machine 100 according to the second aspect, the controller 20 includes a first controller 21 that permits one of the remote operation and the automatic driving based on the external instruction, and a second controller 22 that inputs an automatic driving operation amount, which is an operation amount corresponding to the teaching data, to the first controller 21 in the automatic driving mode, and the first controller 21 is preferably configured to input a control operation amount (control input) corresponding to the automatic driving operation amount to the controlled object 30 in the automatic driving mode.

[0048] In this second aspect, the first controller 21 permits the automatic driving, the second controller 22 inputs the automatic driving operation amount to the first controller 21, and the first controller 21 inputs a control operation amount corresponding to the automatic driving operation amount to the controlled object 30, thereby allowing the controller 20 to execute the automatic driving of the work machine 100 according to the teaching data.

[0049] Each of the first controller 21 and the second controller 22 includes a computer including an arithmetic processing unit and a memory. The first controller 21 realizes its functions by causing the arithmetic processing unit to execute a program stored in the memory, and the second controller 22 realizes its functions by causing the arithmetic processing unit to execute a program stored in the memory.

[0050] It is preferable that the work machine 100 according to the third aspect further comprises the following configuration in the work machine 100 according to the second aspect: That is, in the work machine 100 according to the third aspect, it is preferable that the first controller 21 is configured to receive an input of a remote operation amount, which is the operation amount of the remote operation, from the external management device 200 in each of the remote operation mode and the teaching mode, and to input a control operation amount (control input) corresponding to the remote operation amount to the controlled object 30.

[0051] In this third aspect, the first controller 21 inputs a control operation amount corresponding to the remote operation amount input from the external management device 200 to the control object 30, so that the controller 20 can perform the remote operation and teaching by the remote operation.

[0052] Specifically, the first controller 21 inputs a control operation amount (proportional valve current value) corresponding to the remote operation amount to the proportional valve 32 corresponding to the remote operation, the proportional valve 32 outputs a secondary pressure corresponding to the remote operation amount, the secondary pressure is input as a pilot pressure to a pilot port (pilot port of the control valve 33) corresponding to the proportional valve 32, and the control valve 33 opens to allow hydraulic oil to be supplied to the actuator corresponding to the remote operation. As a result, the actuator operates according to the operation amount of the remote operation.

[0053] It is preferable that the work machine 100 pertaining to the fourth aspect further comprises the following configuration in addition to the work machine 100 pertaining to the third aspect: In other words, in the work machine 100 pertaining to the fourth aspect, it is preferable that the second controller 22 includes a work machine memory 23 (teaching memory) that is a memory that stores, as the teaching data, control amount correlation data that correlates with the control amount, which is the output of the controlled object 30 that operates in accordance with the control operation amount, in the teaching mode.

[0054] In this fourth aspect, the work machine memory 23 of the second controller 22 can store the control quantity correlation data as the teaching data, and the controller 20 can perform automatic operation of the work machine 100 using the teaching data stored in the work machine memory 23.

[0055] The teaching data is data corresponding to a series of movements of the work machine 100 in the work that is to be performed by the work machine 100. The work may include a plurality of operation steps, in which case the teaching data is data corresponding to the movements of the work implement 3 and upper rotating body 2 of the work machine 100 in these operation steps. The output (control amount) of the control object 30 may be, for example, the movement of at least one of the plurality of actuators. The control amount correlation data may be, for example, data (e.g., time-series data) representing the movement of at least one of the plurality of actuators of the control object 30, or data (e.g., time-series data) representing the movements of the work implement 3 and upper rotating body 2. The control amount correlation data is acquired by a teaching data acquirer 40, which inputs the acquired data to the controller 20 (second controller 22 in the specific example of FIG. 2 ), and the work machine memory 23 stores the input data (control amount correlation data).

[0056] If the work to be performed by the work machine 100 is to excavate earth and dump the earth at a destination, the multiple operating steps may include, for example, an excavation step, a lifting and swinging step, an earth dumping step, and a return swinging step.

[0057] In the excavation step, an operation is performed to excavate an excavation target (e.g., the ground) using the bucket 6. In this excavation step, for example, an arm pulling operation, which is an operation to bring the arm 5 closer to the upper rotating body 2, and an excavation operation, which is an operation to bring the tip of the bucket 6 closer to the upper rotating body 2, are performed.

[0058] In the lifting and swinging step, the bucket 6 holding the excavated soil is moved directly above the soil discharge location. In this lifting and swinging step, for example, the boom 4 is raised and the upper swing body 2 is swung. The soil discharge location may be, for example, the bed of a transport vehicle such as a dump truck, or a soil pit for temporarily storing soil.

[0059] In the soil discharging step, an operation is performed to discharge the soil held in the bucket 6 onto the bed of the truck. In this soil discharging step, for example, an arm pushing operation is performed to move the arm 5 away from the upper rotating body 2, and an soil discharging operation is performed to move the tip of the bucket 6 away from the upper rotating body 2.

[0060] In the return swing step, an operation of returning the bucket 6 to the excavation target is performed. In this return swing step, for example, an operation of lowering the boom 4 and an operation of swinging the upper swing body 2 are performed.

[0061] The work to be performed by the work machine 100 is not limited to the specific example described above, and may be other work such as leveling. The leveling work is work in which an object to be leveled, such as the surface of the ground, is leveled using the bucket 6. The leveling work may be leveling pulling work, leveling pushing work, or pushing leveling work.

[0062] It is preferable that the work machine 100 pertaining to the fifth aspect further comprises the following configuration in addition to the work machine 100 pertaining to any one of the second to fourth aspects. That is, it is preferable that the work machine 100 pertaining to the fifth aspect further comprises a power source 50, a communication device (work machine communication device 70) that receives the external instruction from the external management device 200, a first output device 61 configured to be able to switch, in accordance with the external instruction, whether or not power from the power source 50 is supplied to the first controller 21, and a second output device 62 configured to be able to switch, in accordance with the external instruction, whether or not power from the power source 50 is supplied to the second controller 22.

[0063] In this fifth aspect, the first output device 61 can switch whether or not power is supplied from the power source 50 to the first controller 21 in accordance with the external instruction from the external management device 200, and the second output device 62 can switch whether or not power is supplied from the power source 50 to the second controller 22 in accordance with the external instruction from the external management device 200.

[0064] Specifically, for example, the first output device 61 may have an external instruction input port that is a port connected to the work machine communication device 70 via the hub 80, a power input port that is a port connected to the power source 50, and a power output port that is a port connected to the first controller 21. The first output device 61 may be a device (LAN contact output device) that can switch between a state in which the power input port and the power output port are connected and a state in which the power input port and the power output port are not connected, in accordance with the external instruction input from the external instruction input port.

[0065] Similarly, the second output device 62 may have an external instruction input port that is a port connected to the work machine communication device 70 via the hub 80, a power input port that is a port connected to the power source 50, and a power output port that is a port connected to the second controller 22. The second output device 62 may be a device (LAN contact output device) that can switch between a state in which the power input port and the power output port are connected and a state in which the power input port and the power output port are not connected, in accordance with the external instruction input from the external instruction input port.

[0066] It is preferable that the work machine 100 pertaining to the sixth aspect further comprises the following configuration in addition to the work machine 100 pertaining to the fifth aspect. That is, the work machine 100 pertaining to the sixth aspect comprises an actual machine operation device 10 used in an actual machine operation mode, and a changeover valve 34 that is capable of switching from the remote operation mode, the teaching mode or the automatic driving mode to the actual machine operation mode, and in the actual machine operation mode, it is preferable that the first output device 61 is configured to prevent power from the power source 50 from being supplied to the first controller 21, the second output device 62 is configured to prevent power from the power source 50 from being supplied to the second controller 22, and the controlled object 30 is configured to operate in response to an operation given to the actual machine operation device 10.

[0067] In this sixth aspect, the real machine operation mode is a control mode in which an operator operates the real machine operating device of the real machine operating device 10 to move the work machine 100. In this sixth aspect, the changeover valve 34 can switch from the remote operation mode, the teaching mode, or the automatic operation mode to the real machine operation mode. As described above, the changeover valve 34 may switch between the first state and the second state in response to an instruction input from the switching instruction unit of the controller 20, or may switch between the first state and the second state based on operation of the switch.

[0068] It is preferable that the work machine 100 pertaining to the seventh aspect further comprises the following configuration in the work machine 100 pertaining to any one of the second to sixth aspects. That is, in the work machine 100 pertaining to the seventh aspect, it is preferable that the first controller 21 is configured to permit the automatic operation by receiving an automatic operation mode instruction from the second controller 22 when the first controller 21 is started up.

[0069] In the seventh aspect, the first controller 21 is started up by being supplied with power from the power supply 50, and if an automatic driving mode instruction is input from the second controller 22 at the time of startup, the first controller 21 sets the control mode to the automatic driving mode. Furthermore, if an automatic driving mode instruction is not input from the second controller 22 at the time of startup of the first controller 21, the first controller 21 may set the control mode to the remote operation mode.

[0070] The communication between the first controller 21 and the second controller 22 may be performed according to a communication protocol based on, for example, CAN (Controller Area Network) (registered trademark), or according to another communication protocol.

[0071] 2 to 4, the external management device 200 may have a first activation instruction unit, a second activation instruction unit, and a mode instruction unit. The first activation instruction unit outputs a first activation instruction (an example of an external instruction) that is an instruction to activate the first controller 21. The second activation instruction unit outputs a second activation instruction (an example of an external instruction) that is an instruction to activate the second controller 22. The mode instruction unit outputs a mode instruction (an example of an external instruction) that is an instruction to switch the control mode of the work machine 100. The mode instruction may be either a teaching mode instruction or an automatic driving mode instruction, or may be any one of a remote operation mode instruction, a teaching mode instruction, and an automatic driving mode instruction.

[0072] The first startup instruction unit may be a first startup instruction unit 211 of the first external device 210 described later, or may be a first startup instruction unit 221 of the second external device 220 described later. One of the first startup instruction unit 211 of the first external device 210 and the first startup instruction unit 221 of the second external device 220 may be omitted. The second startup instruction unit may be a second startup instruction unit 222 of the second external device 220, and the mode instruction unit may be a mode instruction unit 223 of the second external device 220. However, when the external management device 200 is configured by a single external device as in Modification 1 shown in FIG. 8 described later, the first startup instruction unit, the second startup instruction unit, and the mode instruction unit may be included in the single external device.

[0073] The external management device 200 according to the eighth aspect is configured to output the external instruction for switching between the remote operation mode, the teaching mode, and the automatic driving mode in the work machine 100 according to any one of the first to seventh aspects in response to an input operation received by an input device.

[0074] In an eighth aspect, the external management device 200 is provided with the input device that receives the input operation. Specifically, the first external device 210 may be provided with a first input device 214 that receives the input operation, and the second external device 220 may be provided with a second input device 225 that receives the input operation. The external management device 200 outputs the external instruction in response to the input operation by the person involved in the work (e.g., an operator), and the controller 20 of the work machine 100 can switch between remote operation mode, teaching mode, and automatic driving mode based on the external instruction from the external management device 200. In other words, the controller 20 can set the control mode of the work machine 100 to any one of the remote operation mode, teaching mode, and automatic driving mode that corresponds to the external instruction.

[0075] The input device of the external management device 200 may be a user interface that receives the input operation. The user interface may be, for example, a touch panel of an information terminal, a keyboard, a mouse, a joystick, an input switch, a device that inputs information based on information about the line of sight of a worker involved in the work, a device that inputs information based on position information of the worker's hand (e.g., finger) in space, or another input device.

[0076] The external management device 200 may output an external instruction for switching the control mode of the work machine 100, for example, as shown in FIG.

[0077] When the input device receives an input operation for the automatic driving (YES in step S201 of Figure 5), the external management device 200 outputs an automatic driving instruction (see Figure 4), which is an external instruction for switching the control mode of the work machine 100 to the automatic driving mode (step S202).

[0078] If the input device does not receive an input operation for the automatic driving (NO in step S201) but receives an input operation for the remote operation (YES in step S203), the external management device 200 outputs a remote operation instruction (see Figure 2), which is an external instruction for switching the control mode of the work machine 100 to the remote operation mode (step S204).

[0079] If the input device does not receive an input operation for the remote control (NO in step S203) but receives an input operation for the teaching (YES in step S205), the external management device 200 outputs a teaching instruction (see Figure 3), which is an external instruction for switching the control mode of the work machine 100 to the teaching mode (step S206).

[0080] The automatic operation instruction of the external management device 200 shown in FIG. 4 (step S202 in FIG. 5 ) may include, for example, an instruction to start the second controller 22 first and then start the first controller 21, and an automatic operation mode instruction. Specifically, the second startup instruction unit of the external management device 200 outputs the second startup instruction to start the second controller 22, and then the first startup instruction unit of the external management device 200 outputs the first startup instruction to start the first controller 21. The mode instruction unit of the external management device 200 outputs the automatic operation mode instruction. The timing of outputting the automatic operation mode instruction may be simultaneous with the output of the second startup instruction, may be a point in time between the output of the second startup instruction and the output of the first startup instruction, may be simultaneous with the output of the first startup instruction, or may be after the output of the first startup instruction (e.g., immediately after the output of the first startup instruction). When the second controller 22 receives an automatic operation mode instruction output by the mode instruction unit of the external management device 200 (YES in step S101 of FIG. 6), it permits automatic operation of the work machine 100 (step S102) and outputs an automatic operation mode instruction to the first controller 21. When the first controller 21 receives this automatic operation mode instruction, it sets the control mode of the work machine 100 to an automatic operation mode that permits automatic operation of the work machine 100 (step S103).

[0081] The remote operation instruction of the external management device 200 shown in Fig. 2 (step S204 in Fig. 5) may include, for example, an instruction to start the first controller 21 without starting the second controller 22. Specifically, the second start-up instruction unit of the external management device 200 does not output a second start-up instruction, and the first start-up instruction unit of the external management device 200 outputs a first start-up instruction to start the first controller 21. In this case, since an automatic operation mode instruction is not input from the second controller 22 to the first controller 21 (NO in step S101 in Fig. 6), the first controller 21 does not permit automatic operation of the work machine 100 but permits remote operation of the work machine 100 (step S104). Also, in this case, since a teaching mode instruction is not input from the external management device 200 to the controller 20 (NO in step S105), the controller 20 (specifically the first controller 21) sets the control mode of the work machine 100 to the remote operation mode rather than the teaching mode (step S106).

[0082] The teaching instruction of the external management device 200 shown in FIG. 3 (step S206 in FIG. 5 ) may include, for example, an instruction to start up the first controller 21 and the second controller 22, and a teaching mode instruction. Specifically, the first startup instruction unit and the second startup instruction unit of the external management device 200 output the first startup instruction and the second startup instruction, respectively, to start up the first controller 21 and the second controller 22, respectively. The mode instruction unit of the external management device 200 outputs the teaching mode instruction. The timing of outputting the first startup instruction may be simultaneous with the output of the second startup instruction, or may be before or after the output of the second startup instruction. The timing of outputting the teaching mode instruction may be simultaneous with the output of the first startup instruction and / or the second startup instruction, or may be a point between the output of the first startup instruction and the output of the second startup instruction, or may be after the first startup instruction and the second startup instruction. In this case, since no automatic operation mode instruction is input from the second controller 22 to the first controller 21 (NO in step S101 in Fig. 6), the first controller 21 does not permit automatic operation of the work machine 100, but permits remote operation of the work machine 100 (step S104). Also, in this case, since a teaching mode instruction is input from the external management device 200 to the controller 20 (YES in step S105), the controller 20 (specifically the second controller 22) sets the control mode of the work machine 100 to the teaching mode rather than the remote operation mode (step S107).

[0083] The method of switching the control mode is not limited to the above specific example. For example, the first controller 21 may be configured to set the control mode of the work machine 100 to the remote operation mode when a remote operation mode instruction is received from the external management device 200, and to set the control mode of the work machine 100 to the automatic driving mode when an automatic driving mode instruction is received from the external management device 200. In this case, the first controller 21 can switch between the remote operation mode and the automatic driving mode at any timing. Furthermore, the first controller 21 may be configured to set the control mode of the work machine 100 to the remote operation mode when a remote operation mode instruction is received from the external management device 200, to set the control mode of the work machine 100 to the automatic driving mode when an automatic driving mode instruction is received from the external management device 200, and to set the control mode of the work machine 100 to the teaching mode when a teaching mode instruction is received from the external management device 200. In this case, the first controller 21 can switch between the remote operation mode, the automatic driving mode, and the teaching mode at any timing.

[0084] It is preferable that the external management device 200 according to the ninth aspect further comprises the following configuration in addition to the external management device 200 according to the eighth aspect: That is, the external management device 200 according to the ninth aspect comprises a first external device 210 including a remote controller that receives the remote operation, and a second external device 220 that receives terminal operation and outputs the external instruction in response to the terminal operation, and it is preferable that at least one of the first external device 210 and the second external device 220 is configured to determine whether or not both the first external device 210 and the second external device 220 have established access to a specific work machine 100.

[0085] In this ninth aspect, even if the work management system 300 includes a plurality of work machines 100, it is possible for external instructions from the first external device 210 and external instructions from the second external device 220 to be correctly input to the same work machine 100. In other words, the external management device 200 can prevent an external instruction from being erroneously input to a work machine 100 among the plurality of work machines 100 that is not the target of the instruction. Specifically, if it is determined that both the first external device 210 and the second external device 220 have established access to the same work machine 100, the first external device 210 and the second external device 220 output an external instruction in response to the input operation to that work machine 100. On the other hand, if it is determined that both the first external device 210 and the second external device 220 have not established access to the same work machine 100, the first external device 210 and the second external device 220 do not output an external instruction in response to the input operation to that work machine 100. In this case, at least one of the first external device 210 and the second external device 220 may, for example, notify the person involved in the work that proper access has not been established.

[0086] The first external device 210 may be, for example, a remote control device such as a cockpit. The remote control device includes at least one remote controller 212 operated by an operator, and a display unit 213 that displays an image of a work site including the work machine 100. The at least one remote controller 212 may include, for example, a remote control lever that receives lever operation by the operator, and a remote control pedal that receives pedal operation by the operator. The display unit 213 may be a display that displays a work site image that is an image of the work site transmitted from an imaging device installed at the work site. The operator remotely controls the work machine 100 by operating the at least one remote controller 212 while viewing the image displayed on the display unit 213.

[0087] The second external device 220 may be, for example, a work management information terminal such as a tablet computer, a smartphone, a laptop personal computer, or a desktop personal computer, or may be, for example, a management device such as a server. Furthermore, the second external device 220 may be, for example, a computer in a cloud service provided as a service over a network such as the Internet.

[0088] At least one of the first external device 210 and the second external device 220 may execute a predetermined connection confirmation operation to determine whether or not both the first external device 210 and the second external device 220 have established access to a specific work machine 100. The connection confirmation operation may be to issue a connection confirmation command (for example, a Ping command). The connection confirmation command is for confirming whether communication up to the IP address of a specified destination is possible.

[0089] 7 , in the teaching mode, a first external device 210 having a first IP address transmits connection confirmation commands to a second external device 220 having a second IP address and to a work machine 100 having a third IP address, and if the first external device 210 is able to receive responses to the connection confirmation commands from the second external device 220 and the work machine 100, it may be determined that both the first external device 210 and the second external device 220 have established access to the specific work machine 100. Furthermore, in the teaching mode, if the second external device 220 transmits connection confirmation commands to the first external device 210 and the work machine 100, and if the second external device 220 is able to receive responses to the connection confirmation commands from the first external device 210 and the work machine 100, it may be determined that both the first external device 210 and the second external device 220 have established access to the specific work machine 100.

[0090] The work management system 300 according to the tenth aspect comprises the work machine 100 according to any one of the first to seventh aspects, and an external management device 200.

[0091] In this tenth aspect, the controller 20 of the work machine 100 can switch between the remote operation mode, the teaching mode, and the automatic operation mode based on an external instruction from the external management device 200.

[0092] The work management system 300 according to the eleventh aspect preferably further comprises the following configuration in addition to the work management system 300 according to the tenth aspect: That is, in the work management system 300 according to the eleventh aspect, the external management device 200 may include an external device memory 224 (teaching memory), the external device memory 224 may be configured to store external memory data that is data for the automatic driving, and the controller 20 may be configured to perform the automatic driving using the external memory data in the automatic driving mode.

[0093] In this eleventh aspect, even before teaching is performed on a work machine 100 (for example, the first work machine 100), i.e., before teaching data is stored in the work machine memory 23 of the first work machine 100, the controller 20 can perform automatic operation of the first work machine 100 using the externally stored data stored in the external device memory 224. The externally stored data stored in the external device memory 224 may be, for example, teaching data based on teaching previously performed on a work machine 100 other than the first work machine 100 (for example, the second work machine 100), or it may be data generated based on a method other than teaching.

[0094] It is preferable that the work management system 300 according to the twelfth aspect further comprises the following configuration in addition to the work management system 300 according to the tenth or eleventh aspect. That is, in the work management system 300 according to the twelfth aspect, it is preferable that the controller 20 includes a work machine memory 23 which is a memory that stores the teaching data, the external management device 200 includes an external device memory 224, the external management device 200 receives the teaching data transmitted from the work machine 100, and the external device memory 224 is configured to store the received teaching data.

[0095] In this twelfth aspect, the teaching data stored in the work machine memory 23 of a work machine 100 (for example, the first work machine 100) is received and stored by the external device memory 224, and the controller 20 of a work machine 100 (for example, the second work machine 100) other than the first work machine 100 can automatically operate the second work machine 100 using the teaching data (externally stored data) stored in the external device memory 224.

[0096] The work management system 300 according to the thirteenth aspect preferably further comprises the following configuration in addition to the work management system 300 according to the twelfth aspect: That is, in the work management system 300 according to the thirteenth aspect, the external management device 200 preferably includes a first external device 210 including a remote controller that receives the remote operation, and a second external device 220 that receives a terminal operation (input operation) and outputs the external instruction in response to the terminal operation.

[0097] As described above, the first external device 210 may be, for example, a remote control device such as a cockpit, and the second external device 220 may be, for example, an information terminal (work management information terminal). In this case, the operator can remotely control the work machine 100 using the remote control device (first external device 210), and the person involved in the work (for example, the operator) can provide an input operation (terminal operation) to the information terminal (second external device 220) so that an instruction (external instruction) to switch between remote control mode, teaching mode, and automatic driving mode is transmitted from the information terminal to the work machine 100. This input operation is provided to the input device of the second external device 220.

[0098] It is preferable that the work management system according to the fourteenth aspect further comprises the following configuration in addition to the work management system 300 according to the thirteenth aspect. That is, in the work management system 300 according to the fourteenth aspect, it is preferable that at least one of the first external device 210 and the second external device 220 is configured to determine whether or not both the first external device 210 and the second external device 220 have established access to the work machine 100.

[0099] In this fourteenth aspect, as described above, even if the work management system 300 includes multiple work machines 100, it is possible for an external instruction from the first external device 210 and an external instruction from the second external device 220 to be correctly input to the same work machine 100. In other words, the external management device 200 can prevent an external instruction from being erroneously input to a work machine 100 out of the multiple work machines 100 that is not the target of the instruction.

[0100] The work management system 300 according to the fifteenth aspect comprises the work machine 100 according to the fifth or sixth aspect, and an external management device 200, wherein the external management device 200 includes a first external device 210 configured to be capable of outputting a first external instruction for controlling the operation of a first output device 61, and a second external device 220 configured to be capable of outputting a second external instruction for controlling the operation of the first output device 61, and it is preferable that the first output device 61 is configured to operate based on the instruction out of the first external instruction and the second external instruction which is input to the first output device 61 first.

[0101] In this fifteenth aspect, the first external device 210 (e.g., the remote control device) and the second external device 220 (e.g., the information terminal) each have a function for controlling the operation of the first output device 61, so that the person involved in the work (e.g., an operator) can output an external instruction for controlling the operation of the first output device 61 from either the first external device 210 or the second external device 220. The first output device 61 can switch whether or not power is supplied from the power supply 50 to the first controller 21 in response to the external instruction from the external management device 200. Specifically, as shown in FIG. 2 , the first external device 210 may include a first startup instruction unit 211 that outputs a first startup instruction that is an instruction to start up the first controller 21, and the second external device 220 may include a first startup instruction unit 221 that outputs the first startup instruction that is an instruction to start up the first controller 21.

[0102] Furthermore, in this fifteenth aspect, the first output device 61 operates based on the external instruction that is input to the first output device 61 first, out of the first external instruction from the first external device 210 and the second external instruction from the second external device 220, and does not follow the external instruction that is input later to the first output device 61. As a result, even when different instructions are input to the first output device 61 from the first external device 210 and the second external device 220, specifically, for example, even when an instruction (ON instruction) to supply power from the power supply 50 to the first controller 21 is input to the first output device 61 from the first external device 210 and an instruction (OFF instruction) to stop the supply of power from the power supply 50 to the first controller 21 is input to the first output device 61 from the second external device 220, repeated ON and OFF switching between a state in which power is supplied to the first controller 21 from the power supply 50 and a state in which power is not supplied is prevented.

[0103] The work management method according to the sixteenth aspect includes the controller 20 of the work machine 100 switching between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and acquires teaching data corresponding to the remote operation, and an automatic driving mode that permits automatic driving using the teaching data, based on an external instruction from an external management device.

[0104] In this sixteenth aspect, the controller 20 of the work machine 100 can switch between the remote operation mode, teaching mode, and automatic driving mode based on an external instruction from the external management device 200. In other words, the controller 20 can set the control mode of the work machine 100 to any one of the remote operation mode, teaching mode, and automatic driving mode that corresponds to the external instruction.

[0105] The work management method according to the sixteenth aspect may further include at least one feature of the first to fifteenth aspects described above.

[0106] The work management program according to the seventeenth aspect is a program for causing the computer of the external management device 200 to execute a process of outputting external instructions for switching the work machine between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and also acquires teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, in response to input operations received by the input device of the external management device 200.

[0107] In a seventeenth aspect, the work management program is executed in the external management device 200, thereby enabling the controller 20 of the work machine 100 to switch between remote operation mode, teaching mode, and automatic driving mode based on an external instruction from the external management device 200. In other words, the controller 20 can set the control mode of the work machine 100 to any one of the remote operation mode, teaching mode, and automatic driving mode that corresponds to the external instruction. The work management program may be stored in a storage medium.

[0108] The work management program according to the seventeenth aspect may further include at least one of the features of the first to sixteenth aspects described above.

[0109] Fig. 8 is a block diagram showing a work management system 300 according to a first modification of the embodiment. In the work management system 300 according to the first modification shown in Fig. 8, the external management device 200 is configured as a single external device. That is, in the first modification shown in Fig. 8, the functions of the first external device 210 and the second external device 220 shown in Fig. 2 are integrated into the external management device 200, thereby simplifying the configuration of the external management device 200.

[0110] The external management device 200 in the first modification may include the first startup instruction unit 221, the second startup instruction unit 222, and the mode instruction unit 223. Furthermore, the external management device 200 in the first modification may include the external device memory (teaching memory 224).

[0111] In this modified example 1, the external management device 200 may be, for example, a remote control device such as a cockpit, or may be, for example, the information terminal (the work management information terminal). If the external management device 200 is, for example, an information terminal such as a tablet computer, it is preferable that this information terminal has a function for remotely controlling the work machine 100. In this case, the operator can remotely control the work machine 100 regardless of location.

[0112] FIG. 9 is a block diagram showing a work management system 300 according to a second modification of the embodiment. In the work management system 300 according to the second modification shown in FIG. 9, the controller 20 is configured as a single controller (remote automatic controller). That is, in the second modification shown in FIG. 9, the functions of the first controller 21 (remote controller) and the second controller 22 (automatic controller) shown in FIG. 2 are integrated into the single controller 20, and one of the first output device 61 and the second output device 62 shown in FIG. 2 is omitted, thereby simplifying the configuration of the controller 20 and the output device 60. In this second modification, the controller 20 can also switch between a remote operation mode, a teaching mode, and an automatic operation mode based on an external instruction from the external management device 200.

[0113] The above describes an embodiment of the first invention for solving the first problem, but the first invention is not limited to the embodiment, variant 1, and variant 2 described with reference to Figures 1 to 9.

[0114] [Second Invention] Next, the second invention will be described.

[0115] [Problem to be Solved by the Second Invention] The second problem of the present disclosure is as follows. That is, during times when a work machine is remotely operated or when the work machine is automatically driven, workers such as operators monitor the situation at the work site by viewing images (video) transmitted from an imaging device installed at the work site and displayed on an external management device (e.g., a cockpit). However, during times when the work machine is remotely operated or automatically driven, it is not realistic for workers to continue to monitor the situation at the work site while maintaining a high level of attention (second problem).

[0116] [Means for Solving the Second Problem] A second invention for solving the second problem includes the following external management device, work management system, and work management method.

[0117] [First aspect of the second invention] The external management device according to the first aspect of the second invention comprises: a display unit that displays a work site image, which is an image of the work site; and an external device controller, wherein the external device controller is configured to perform control to notify related parties of additional information, which is information indicating the status of the work site and is information other than the work site image.

[0118] [Second Aspect of the Second Invention] A work management system according to a second aspect of the second invention comprises: a work machine; and an external management device, wherein the external management device comprises: a display unit that displays a work site image, which is an image of the work site; and an external device controller, wherein the external device controller is configured to perform control to notify those involved in the work of additional information, which is information indicating the status of the work site and is information other than the work site image.

[0119] [Third Aspect of the Second Invention] A work management method according to the third aspect of the second invention includes displaying a work site image on a display unit, which is an image of the work site, and notifying persons involved in the work of additional information that is information indicating the status of the work site and is information other than the work site image.

[0120] [Effects of the first to third aspects of the second invention] In each of the first to third aspects of the second invention, during the time period of the remote operation or the time period of the automatic driving, additional information other than images of the work site is notified to those involved in the work, thereby assisting those involved in the work in monitoring the situation at the work site.

[0121] [Fourth aspect of the second invention] A work management system according to a fourth aspect of the second invention comprises: a work machine; an external management device; and an imaging device that captures an overhead image of a work site including the work machine, wherein the external management device comprises a display unit that displays the overhead image.

[0122] [Effects of the fourth aspect of the second invention] In the fourth aspect of the second invention, during the time period of the remote operation or the time period of the automatic driving, the bird's-eye view image that makes it easy to grasp the situation over a wide area of ​​the work site is displayed on the display unit, thereby assisting those involved in the work in monitoring the situation at the work site.

[0123] [Second embodiment of the invention]

[0124] 10 is a diagram for explaining a work management system 300 according to an embodiment of the second invention. As shown in FIG. 10, the work management system 300 comprises an external management device 200 and at least one work machine 100.

[0125] The work machine 100 in the embodiment of the second invention may have all of the configurations of the work machine 100 in the embodiment of the first invention shown in Figures 1 to 9, or may have only the configurations of the work machine 100 in the embodiment of the first invention that are necessary to solve the second problem, with other configurations being omitted.

[0126] The external management device 200 in the embodiment of the second invention may have all of the configurations of the external management device 200 in the embodiment of the first invention shown in Figures 1 to 9, or may have the configurations of the external management device 200 in the embodiment of the first invention that are necessary to solve the second problem, with other configurations being omitted.

[0127] The external management device 200 according to the second embodiment of the present invention includes a first external device 210 and a second external device 220. The first external device 210 may be a remote control device such as a cockpit that includes at least one remote controller 212, a display unit 213 (e.g., a display) that displays a work site image, which is an image of the work site, and an external device controller 215. The external device controller 215 is configured to perform control for notifying related parties, such as an operator, of supplementary information that is information indicating the status of the work site and is information other than the work site image.

[0128] The external device controller 215 may notify the workers involved in the work of the additional information by displaying it on the display unit 213 (specifically, for example, a dashboard on the display screen displayed on the display unit 213), may notify the workers of the additional information by sound, or may notify the operator of the additional information by other means.

[0129] The additional information may be, for example, work progress information for monitoring the progress of the work, entry information indicating the positional relationship between an entry restricted area FA set in advance at the work site and the work-related persons WP, error information relating to the deviation between the work target and the actual work in the remote control of the work machine 100 or the automatic operation of the work machine 100, or other information for assisting the work-related persons in monitoring the situation at the work site.

[0130] The work progress information may be, for example, the amount (cumulative amount) of earth and sand excavated and discharged to the destination of a dump truck or the like, delay information regarding actual delays relative to a target schedule, the number of dump trucks at the work site (e.g., the number of dump trucks that have completed loading of earth and sand), or work efficiency. The work progress information may be transmitted from a work machine 100 equipped with a payload function to an external management device 200. The number of dump trucks may be detected by a sensor, or may be input into a predetermined information input device of the work management system 300 by a work participant such as an operator. The delay information may be input into a predetermined information input device of the work management system 300 by a work participant such as an operator, or may be calculated using at least one of the payload function and the sensor. The external device controller 215 may perform control to notify work participants such as an operator of the work progress information as the additional information.

[0131] The entry information may be, for example, information regarding the distance between the entry restricted area FA and the work related person WP. In this case, a sensor SS for detecting the distance may be attached to the work related person WP. The sensor SS may be a sensor for identifying the position of the work related person WP using a satellite positioning system such as GPS or GNSS. Specifically, for example, the sensor SS may be attached to clothing (e.g., a vest) worn by the work related person WP, a strap worn around the neck, or another part of the body.

[0132] The entry information may include, for example, information on the number of work-related persons WP present at the work site, information on the number of work-related persons WP entering the entry-restricted area FA, or information on the location of the work-related persons WP entering the entry-restricted area FA. The external device controller 215 may perform control to notify the work-related persons such as the operator of the entry information as the additional information.

[0133] The error information may be, for example, information regarding the error between a predetermined specific part of the work machine 100 (e.g., the tip of the bucket 6) and a target path for work, during the remote operation of the work machine 100 or the automatic operation of the work machine 100. The error information may also be, for example, information regarding the error between the operating speed of a predetermined specific part of the work machine 100 (e.g., the tip of the bucket 6) and a target speed, during the remote operation of the work machine 100 or the automatic operation of the work machine 100. The external equipment controller 215 may perform control to constantly notify the operator or other relevant personnel of the error information. Furthermore, when the error exceeds a predetermined first reference value, the external equipment controller 215 may perform control to notify the operator or other relevant personnel of the error information as the incidental information. When the error exceeds the first reference value, the external equipment controller 215 may perform control to stop a predetermined operation of the work machine 100. The predetermined operation may be, for example, the operation of the work implement 3, or a swing operation.

[0134] The external device controller 215 may not only display the incidental information on the display unit 213 of the first external device 210, but may also display the incidental information on the second external device 220. Furthermore, if the work management system 300 further includes a third external device 230, the external device controller 215 may transmit the incidental information to the third external device 230. The third external device 230 may be, for example, a monitoring device disposed in a monitoring center. The third external device 230 may store the received incidental information in a memory, display it on a display, or notify work-related personnel at the management center. Furthermore, the external device controller 215 may transmit the incidental information to the work machine 100.

[0135] The work management system 300 according to the second embodiment of the present invention comprises an external management device 200, a work machine 100, and an imaging device 400 that captures an overhead image of a work site including the work machine 100, and the external management device 200 may comprise at least one remote controller 212 and a display unit 213 that displays the overhead image.

[0136] In this case, during the period of remote operation or the period of automatic operation, the bird's-eye view image that makes it easy to grasp the situation over a wide area of ​​the work site is displayed on the display unit 213, thereby assisting operators and other work-related personnel in monitoring the situation at the work site.

[0137] In the specific example shown in FIG. 10 , the work management system 300 includes a plurality of imaging devices 400. Each of the plurality of imaging devices 400 transmits captured image data to the external management device 200. The external device controller 215 displays information related to the overhead image on the display unit 213 of the first external device 210. The external device controller 215 may control the operation of the work machine 100 based on the information related to the overhead image. Specifically, the external device controller 215 may perform control to stop a predetermined operation of the work machine 100 based on the information related to the overhead image. The predetermined operation may be, for example, the operation of the work implement 3 or a swing operation. The external device controller 215 may also display information related to the overhead image on the second external device 220. The external device controller 215 may also transmit information related to the overhead image to a third external device 230.

[0138] Each of the multiple imaging devices 400 may transmit captured image data to the work machine 100. In this case, the controller 20 of the work machine 100 may control the operation of the work machine 100 based on information related to the overhead image. The controller 20 of the work machine 100 may also transmit information related to the overhead image to at least one of the first external device 210, the second external device 220, and the third external device 230.

[0139] [Third Invention] Next, the third invention will be described.

[0140] [Problem to be Solved by the Third Invention] The third problem to be solved by the present disclosure is as follows. That is, at a work site where a work machine is remotely operated or where a work machine is automatically driven, workers may need to enter a restricted access area that is set in advance at the work site. For such cases, one possible measure is to temporarily and forcibly restrict the operation of the work machine 100 by an emergency stop operation input by the workers. The third problem is to provide a measure other than the workers performing the emergency stop operation.

[0141] [Means for Solving the Third Problem] A third invention for solving the third problem includes the following work machine, external management device, work management system, and work management method.

[0142] [First Aspect of the Third Invention] A work machine according to a first aspect of the third invention includes a controller configured to restrict the operation of the work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at the work site.

[0143] [Second Aspect of the Third Invention] The external management device according to the second aspect of the third invention includes an external device controller configured to output instructions to restrict the operation of a work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at the work site.

[0144] [Third Aspect of the Third Invention] A work management system according to a third aspect of the third invention comprises a work machine and an external management device, wherein the work machine comprises a controller configured to restrict the operation of the work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at a work site.

[0145] [Fourth Aspect of the Third Invention] A work management system according to a fourth aspect of the third invention comprises an external management device and a work machine, wherein the external management device comprises an external device controller configured to output instructions to restrict the operation of the work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at the work site.

[0146] [Fifth Aspect of the Third Invention] A work management method according to a fifth aspect of the third invention includes restricting the operation of a work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at a work site.

[0147] [Effects of the first to fifth aspects of the third invention] In each of the first to fifth aspects of the third invention, it is possible to provide measures other than the emergency stop operation by the work personnel when it becomes necessary for the work personnel to enter an access-restricted area at the work site.

[0148] [Embodiment for carrying out the third invention] Fig. 11 is a diagram for explaining a work management system 300 according to an embodiment of the third invention. As shown in Fig. 11, the work management system 300 comprises an external management device 200 and at least one work machine 100.

[0149] The work machine 100 in the embodiment of the third invention may have all of the configurations of the work machine 100 in the embodiment of the first invention shown in Figures 1 to 9, or may have only the configurations of the work machine 100 in the embodiment of the first invention that are necessary to solve the third problem, with other configurations being omitted.

[0150] The external management device 200 in the embodiment of the third invention may have all of the configurations of the external management device 200 in the embodiment of the first invention shown in Figures 1 to 9, or may have the configurations of the external management device 200 in the embodiment of the first invention that are necessary to solve the third problem, with other configurations being omitted.

[0151] The work machine 100 according to the third embodiment of the present invention may be equipped with a controller 20 configured to restrict the operation of the work machine 100 based on information relating to the relative positions of the work-related persons WP and a restricted access area FA that is preset at the work site.

[0152] The external management device 200 according to the embodiment of the third invention may include an external device controller 201 configured to output instructions to restrict the operation of the work machine 100 based on information relating to the relative positions of the access restriction area FA, which is set in advance at the work site, and the work-related personnel WP.

[0153] The work management system 300 according to the embodiment of the third invention comprises an external management device 200 and a work machine 100. In this work management system 300, the work machine 100 may be equipped with a controller 20 configured to restrict the operation of the work machine 100 based on information relating to the relative position between the access restricted area FA and the work related party WP, and the external management device 200 may be equipped with an external device controller 201 configured to output instructions to restrict the operation of the work machine 100 based on information relating to the relative position between the access restricted area FA and the work related party WP.

[0154] The work related person WP may be equipped with a sensor SS for detecting the relative position. The sensor SS may be a sensor for identifying the relative position of the work related person WP with respect to the work machine 100 by utilizing a satellite positioning system such as GPS or GNSS. Specifically, for example, the sensor SS may be attached to clothing worn by the work related person WP (for example, a vest), a strap worn around the neck, or another part of the body.

[0155] The controller 20 or the external equipment controller 201 acquires the distance between the work related party WP and the work machine 100, specifically, for example, the distance L between the work related party WP and the center of rotation of the work machine 100, based on the detection results input from the sensor SS. Then, the controller 20 or the external equipment controller 201 may perform control to limit the operation of the work machine 100 when the distance becomes equal to or less than a preset second reference value. The control to limit the operation of the work machine 100 may be, for example, control to stop a predetermined operation of the work machine 100. The predetermined operation may be, for example, the operation of the work implement 3, or a swing operation.

[0156] On the other hand, the controller 20 or the external device controller 201 may perform control to restrict the operation of the work machine 100 when the distance becomes less than the second reference value, and then perform control to release the restriction on the operation of the work machine 100 when the distance becomes equal to or greater than a preset third reference value.

[0157] [Fourth Invention] Next, the fourth invention will be described.

[0158] [Problem to be Solved by Fourth Invention] The fourth problem of the present disclosure is as follows: That is, the fourth problem is to provide a method for confirming that no one is present in the vicinity of a work machine before remote operation of the work machine is started or before automatic operation of the work machine is started.

[0159] [Means for Solving the Fourth Problem] A fourth invention for solving the fourth problem includes the following work machine, external management device, work management system, and work management method.

[0160] [First Aspect of the Fourth Invention] A work machine according to a first aspect of the fourth invention includes a controller configured to restrict the operation of the work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at the work site.

[0161] [Second Aspect of the Fourth Invention] The external management device according to the second aspect of the fourth invention includes an external device controller configured to output instructions to restrict the operation of a work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at the work site.

[0162] [Third Aspect of the Fourth Invention] A work management system according to a third aspect of the fourth invention comprises: an external management device; and a work machine, wherein the work machine comprises a controller configured to restrict the operation of the work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at a work site.

[0163] [Fourth Aspect of the Fourth Invention] A work management system according to a fourth aspect of the fourth invention comprises a work machine; and an external management device, wherein the external management device comprises an external device controller configured to output instructions to restrict the operation of the work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at the work site.

[0164] [Fifth Aspect of the Fourth Invention] A work management method according to a fifth aspect of the fourth invention includes restricting the operation of a work machine based on information relating to the relative positions of people involved in the work and a restricted access area that is set in advance at a work site.

[0165] [Effects of the first to fifth aspects of the fourth invention] In each of the first to fifth aspects of the fourth invention, if there is a person in the vicinity of the work machine before remote operation of the work machine begins or before automatic operation of the work machine begins, the operation of the work machine is restricted, allowing people involved in the work to recognize that there is a person in the vicinity of the work machine. On the other hand, if there is no person in the vicinity of the work machine before the remote operation begins or the automatic operation begins, the operation of the work machine is not restricted, allowing people involved in the work to recognize that there is no person in the vicinity of the work machine.

[0166] [Sixth Aspect of the Fourth Invention] A work management system according to a sixth aspect of the fourth invention comprises: an external management device; a work machine; and a plurality of imaging devices for acquiring around-view images of the work machine, wherein the external management device comprises a display unit for displaying the around-view images.

[0167] [Effects of the sixth aspect of the fourth invention] In the sixth aspect of the fourth invention, before the remote operation or the automatic driving starts, the people involved in the work can confirm that there are no people around the work machine by looking at the around view image displayed on the display unit.

[0168] [Mode for carrying out the fourth invention] A work management system 300 according to an embodiment of the fourth invention has a configuration similar to that of the work management system 300 according to the embodiment of the third invention shown in Fig. 11. As a result, if there is a person in the vicinity of the work machine before remote operation of the work machine begins or before automatic driving of the work machine begins, the controller 20 of the work machine 100 or the external equipment controller 201 of the external management device 200 will restrict the operation of the work machine, allowing people involved in the work to recognize that there is a person in the vicinity of the work machine 100. On the other hand, if there is no person in the vicinity of the work machine before the remote operation begins or before the automatic driving begins, the controller 20 or the external equipment controller 201 will not restrict the operation of the work machine, allowing people involved in the work to recognize that there is no person in the vicinity of the work machine.

[0169] Furthermore, the work management system according to the embodiment of the fourth invention may be equipped with a plurality of imaging devices (not shown) for acquiring around view images of the work machine 100, and the external management device 200 may be equipped with a display unit (e.g., a display) that displays the around view images. In this case, before the remote operation or the automatic driving is started, people involved in the work can confirm that no one is around the work machine by looking at the around view image (e.g., an image as shown in FIG. 11 ) displayed on the display unit.

[0170] [Fifth Invention] Next, the fifth invention will be described.

[0171] [Problem to be Solved by the Fifth Invention] The fifth problem to be solved by the present disclosure is as follows. That is, it may be difficult for operators and other related parties to recognize the orientation of the undercarriage of a work machine at a work site based solely on an image of the work site displayed on an external management device such as a cockpit or a tablet. The fifth problem is to obtain information regarding the orientation of the undercarriage at a work site where a work machine is remotely operated or where a work machine is automatically driven.

[0172] [Means for Solving the Fifth Problem] A fifth invention for solving the fifth problem includes the following work machine, external management device, work management system, and work management method.

[0173] [First Aspect of the Fifth Invention] A work machine according to the first aspect of the fifth invention comprises a deviation information acquirer that acquires information relating to the deviation between a preset target direction and the orientation of the undercarriage. [Second Aspect of the Fifth Invention] An external management device according to the second aspect of the fifth invention comprises a display unit that displays information relating to the deviation between a preset target direction and the orientation of the undercarriage of the work machine. [Third Aspect of the Fifth Invention] A work management system according to the third aspect of the fifth invention comprises a work machine and an external management device, wherein the work machine comprises a deviation information acquirer that acquires information relating to the deviation between a preset target direction and the orientation of the undercarriage, and the external management device comprises a display unit that displays information relating to the deviation.

[0174] [Fourth Aspect of the Fifth Invention] A work management method according to the fourth aspect of the fifth invention includes acquiring information relating to a deviation between a predetermined target direction and the orientation of the undercarriage of the work machine, and displaying the information relating to the deviation on a display unit.

[0175] [Effects of the first to fourth aspects of the fifth invention] In each of the first to fourth aspects of the fifth invention, it is possible to obtain information relating to the deviation between the orientation of the lower traveling body and a predetermined target direction at a work site where a work machine is remotely operated or where a work machine is automatically driven.

[0176] [Embodiment for Implementing the Fifth Invention] Fig. 12 is a diagram for explaining a work management system 300 according to an embodiment of the fifth invention. As shown in Fig. 12, the work management system 300 comprises an external management device 200 and at least one work machine 100.

[0177] The work machine 100 in the embodiment of the fifth invention may have all of the configurations of the work machine 100 in the embodiment of the first invention shown in Figures 1 to 9, or may have only the configurations of the work machine 100 in the embodiment of the first invention that are necessary to solve the fifth problem, with other configurations being omitted.

[0178] The external management device 200 in the embodiment of the fifth invention may have all of the configurations of the external management device 200 in the embodiment of the first invention shown in Figures 1 to 9, or may have the configurations of the external management device 200 in the embodiment of the first invention that are necessary to solve the fifth problem, with other configurations being omitted.

[0179] The work machine 100 according to the embodiment of the fifth invention includes a deviation information acquirer 90 that acquires deviation information, which is information relating to the deviation between a preset target direction D1 and the orientation D2 of the lower traveling structure 1. The work machine 100 includes a communication device that transmits the acquired deviation information to the external management device 200.

[0180] The external management device 200 according to the embodiment of the fifth invention includes a display unit 202 (for example, a display) that displays the deviation information.

[0181] The deviation information acquirer 90 may include a sensor 91 that detects the orientation of the lower running structure 1. The deviation information acquirer 90 may also include a sensor 91 that detects the orientation of the lower running structure 1 and a rotation angle sensor 92 that detects the rotation angle of the upper rotating structure 2 relative to the lower running structure 1. The sensor 91 may be a sensor that uses a satellite positioning system such as GPS or GNSS, or may be a sensor that uses another method.

[0182] The target direction D1 may be set, for example, based on a work object 500 at a work site. Specifically, the work machine 100 or the external management device 200 may be equipped with a target setter for setting the target direction D1. The target setter may set the target direction D1 based on input from a person involved in the work, such as an operator. If the work object 500 is an object to be excavated, such as the ground, the target direction D1 may be a direction along the object to be excavated, specifically a direction along the direction of the edge of the object to be excavated.

[0183] The external device controller 201 of the external management device 200 displays the deviation information on the display unit 202. The external device controller 201 may display an arrow indicating the target direction D1 and an arrow indicating the actual orientation of the undercarriage 1 on the display unit 202, as shown in Fig. 12, for example. This allows a work manager such as an operator to visually recognize the deviation between the target direction D1 and the actual orientation of the undercarriage 1.

[0184] The controller 20 of the work machine 100 may perform automatic operation of the work machine 100 so as to reduce the deviation between the target direction D1 and the actual orientation of the undercarriage 1. Furthermore, the external device controller 201 may output to the work machine 100 an instruction for automatic operation to reduce the deviation between the target direction D1 and the actual orientation of the undercarriage 1. Furthermore, a person involved in the work, such as an operator, may remotely operate the work machine 100 in the cockpit of the external management device 200 so as to reduce the deviation between the target direction D1 and the actual orientation of the undercarriage 1.

[0185] [Sixth Invention] Next, the sixth invention will be described.

[0186] [Problem to be Solved by the Sixth Invention] The sixth problem of the present disclosure is as follows: That is, the sixth problem is to provide a method for confirming the position of a dump truck driver at a work site where a work machine is remotely operated or where a work machine is automatically driven.

[0187] [Means for Solving the Sixth Problem] A sixth invention for solving the sixth problem includes the following work machine, external management device, work management system, and work management method.

[0188] [First Aspect of the Sixth Invention] A work machine according to the first aspect of the sixth invention comprises a relative position acquirer that acquires information regarding the relative positions of the work participants and restricted access areas that are preset at the work site. [Second Aspect of the Sixth Invention] An external management device according to the second aspect of the sixth invention comprises a display that displays information regarding the relative positions of the work participants and restricted access areas that are preset at the work site. [Third Aspect of the Sixth Invention] A work management system according to the third aspect of the sixth invention comprises: a relative position acquirer that acquires information regarding the relative positions of the work participants and restricted access areas that are preset at the work site; and an external management device that comprises a display that displays information regarding the relative positions. [Fourth Aspect of the Sixth Invention] A work management method according to the fourth aspect of the sixth invention includes: acquiring information regarding the relative positions of the work participants and restricted access areas that are preset at the work site; and displaying the information regarding the relative positions on a display. [Effects of the Sixth Invention] Each of the first to fourth aspects of the sixth invention provides a method for confirming the position of a dump truck driver at a work site where a work machine is remotely operated or where a work machine is automatically driven. [Fifth Aspect of the Sixth Invention] A work management system according to the fifth aspect of the sixth invention comprises: a work machine; an external management device; and an imaging device that captures an overhead image of a work site including the work machine, wherein the external management device comprises a display unit that displays the overhead image.

[0189] [Effect of the fifth aspect of the sixth invention] In the fifth aspect of the sixth invention, the bird's-eye view image, which makes it easy to grasp the situation over a wide area of ​​the work site, is displayed on the display unit, so that the position of the dump truck driver at the work site can be confirmed.

[0190] [Embodiment for Implementing the Sixth Invention] Fig. 11 is a diagram for explaining a work management system 300 according to an embodiment of the sixth invention. As shown in Fig. 11, the work management system 300 comprises an external management device 200 and at least one work machine 100.

[0191] The work machine 100 in the embodiment of the sixth invention may have all of the configurations of the work machine 100 in the embodiment of the first invention shown in Figures 1 to 9, or may have only the configurations of the work machine 100 in the embodiment of the first invention that are necessary to solve the sixth problem, with other configurations being omitted.

[0192] The external management device 200 in the sixth embodiment of the invention may have all of the configurations of the external management device 200 in the first embodiment of the invention shown in Figures 1 to 9, or may have only the configurations of the external management device 200 in the first embodiment of the invention that are necessary to solve the sixth problem, and may omit other configurations.

[0193] The work machine 100 according to the embodiment of the sixth aspect of the invention is provided with a sensor SS as a relative position acquirer that acquires information regarding the relative position between a restricted access area FA that is set in advance at the work site and a person involved in the work (e.g., a dump truck driver).

[0194] The external management device 200 according to the embodiment of the sixth invention includes a display unit 202 (for example, a display) that displays information relating to the relative positions of the access-restricted area FA and the work-related person WP.

[0195] Work machine 100 may include a controller 20 configured to limit operation of work machine 100 .

[0196] The external management device 200 may include an external device controller 201 configured to output instructions to restrict the operation of the work machine 100 based on information regarding the relative positions of the access restricted area FA and the work related person WP.

[0197] The work party WP may be equipped with a sensor SS for detecting the relative position. The sensor SS may function as a pass for entering the work site. The sensor SS may be a sensor for identifying the relative position of the work party WP with respect to the work machine 100 by utilizing a satellite positioning system such as GPS or GNSS. Specifically, for example, the sensor SS may be attached to clothing (e.g., a vest) worn by the work party WP, a strap worn around the neck, or another part of the body.

[0198] The controller 20 or the external equipment controller 201 acquires the distance between the work related party WP and the work machine 100, specifically, for example, the distance L between the work related party WP and the center of rotation of the work machine 100, based on the detection results input from the sensor SS. Then, the controller 20 or the external equipment controller 201 may perform control to limit the operation of the work machine 100 when the distance becomes equal to or less than a preset second reference value. The control to limit the operation of the work machine 100 may be, for example, control to stop a predetermined operation of the work machine 100. The predetermined operation may be, for example, the operation of the work implement 3, or a swing operation.

[0199] On the other hand, the controller 20 or the external device controller 201 may perform control to restrict the operation of the work machine 100 when the distance becomes less than the second reference value, and then perform control to release the restriction on the operation of the work machine 100 when the distance becomes equal to or greater than a preset third reference value.

[0200] The work management system 300 may be equipped with an imaging device 400 that captures an overhead image of a work site including the work machine 100. The display unit 213 of the external management device 200 may display the overhead image. Furthermore, the external device controller 201 may control the display unit 213 so that images of multiple locations included in the overhead image are divided into multiple parts and displayed on the display unit 213 (for example, divided into two, four, eight, etc.). Furthermore, the external device controller 201 may control the display unit 213 so that images of multiple locations included in the overhead image are switched on the display unit 213 based on input from a person involved in the work, such as an operator.

[0201] The work management system 300 may include a plurality of imaging devices 400. Each of the plurality of imaging devices 400 transmits captured image data to the external management device 200. The external device controller 215 displays information related to the overhead image on the display unit 213 of the first external device 210. The external device controller 215 may control the operation of the work machine 100 based on the information related to the overhead image. Specifically, the external device controller 215 may perform control to stop a predetermined operation of the work machine 100 based on the information related to the overhead image. The predetermined operation may be, for example, the operation of the work implement 3 or a swing operation. The external device controller 215 may also display information related to the overhead image on the second external device 220. The external device controller 215 may also transmit information related to the overhead image to a third external device 230.

Claims

1. A work machine equipped with a controller configured to switch between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and obtains teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, based on an external instruction from an external management device.

2. The work machine described in claim 1, wherein the controller includes: a first controller that permits one of the remote operation and the automatic driving based on the external instruction; and a second controller that inputs an automatic driving operation amount corresponding to the teaching data in the automatic driving mode to the first controller, and the first controller is configured to input a control operation amount corresponding to the automatic driving operation amount to a controlled object in the automatic driving mode.

3. A work machine as described in claim 2, wherein the first controller is configured to receive an input of a remote operation amount, which is an operation amount of the remote operation, from the external management device in each of the remote operation mode and the teaching mode, and to input a control operation amount corresponding to the remote operation amount to the controlled object.

4. A work machine as described in claim 3, wherein the second controller includes a work machine memory which is a memory for storing, as the teaching data, control amount correlation data which correlates with a control amount which is an output of the controlled object that operates in response to the control operation amount in the teaching mode.

5. A work machine as described in any one of claims 2 to 4, further comprising: a power source; a communication device that receives the external instruction from the external management device; a first output device configured to be able to switch whether or not power from the power source is supplied to the first controller in response to the external instruction; and a second output device configured to be able to switch whether or not power from the power source is supplied to the second controller in response to the external instruction.

6. A work machine as described in claim 5, further comprising: an actual machine operation device used in an actual machine operation mode; and a switching valve capable of switching from the remote operation mode, the teaching mode or the automatic driving mode to the actual machine operation mode, wherein in the actual machine operation mode, the first output device is configured to prevent power from the power source from being supplied to the first controller, the second output device is configured to prevent power from the power source from being supplied to the second controller, and a controlled object is configured to operate in response to an operation applied to the actual machine operation device.

7. A work machine according to any one of claims 2 to 6, wherein the first controller is configured to permit the automatic driving by receiving an automatic driving mode instruction input from the second controller when the first controller is started up.

8. An external management device configured to output the external instruction for switching between the remote operation mode, the teaching mode, and the automatic driving mode in a work machine as defined in any one of claims 1 to 7 in response to an input operation received by an input device.

9. An external management device as described in claim 8, comprising: a first external device including a remote control unit that receives the remote operation; and a second external device that receives a terminal operation and outputs the external instruction in response to the terminal operation, wherein at least one of the first external device and the second external device is configured to determine whether or not both the first external device and the second external device have established access to the work machine.

10. A work management system comprising: a work machine according to any one of claims 1 to 7; and the external management device.

11. The work management system described in claim 10, wherein the external management device includes an external device memory, the external device memory is configured to store external memory data which is data for the automatic driving, and the controller is configured to execute the automatic driving using the external memory data in the automatic driving mode.

12. A work management system as described in claim 10 or 11, wherein the controller includes a work machine memory which is a memory for storing the teaching data, the external management device includes an external device memory, the external management device receives the teaching data transmitted from the work machine, and the external device memory is configured to store the received teaching data.

13. The work management system of claim 12, wherein the external management device includes: a first external device including a remote control device that receives the remote operation; and a second external device that receives a terminal operation and outputs the external instruction in response to the terminal operation.

14. The work management system of claim 13, wherein at least one of the first external device and the second external device is configured to determine whether both the first external device and the second external device have established access to the work machine.

15. A work management system comprising: a work machine according to claim 5 or 6; and the external management device, wherein the external management device includes a first external device configured to be capable of outputting a first external instruction for controlling the operation of the first output device; and a second external device configured to be capable of outputting a second external instruction for controlling the operation of the first output device, and the first output device is configured to operate based on one of the first external instruction and the second external instruction which is input first to the first output device.

16. A work management method including a controller of a work machine switching, based on an external instruction from an external management device, between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and obtains teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data.

17. A work management program that causes a computer of an external management device to execute a process to output external instructions for switching a work machine between a remote operation mode that permits remote operation, a teaching mode that permits the remote operation and also obtains teaching data corresponding to the remote operation, and an automatic operation mode that permits automatic operation using the teaching data, in response to an input operation received by an input unit of the external management device.

Images