JP2022169312A - Monitoring system of work machine - Google Patents

Abstract

To provide a monitoring system of a work machine, which can prevent a work machine from being thieved at a work area or the like.SOLUTION: A monitoring system of a work machine comprises: a position-measuring device that measures a position of the work machine on the basis of a signal from a position-measurement satellite; an area setting part that sets a work area at which the work machine performs work; and a monitoring part that performs notification when the position of the work machine measured by the position-measuring device is out of the work area and when a degrees of fluctuation at which the position of the work machine measured by the position-measuring device fluctuates into and out of the work area is less than a predetermined value, and does not perform notification even if the position of the work machine measured by the position-measuring device is out of the work area, when the degree of fluctuation is equal to or above the predetermined value.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work machine monitoring system.

2. Description of the Related Art Conventionally, an operating system for a working machine disclosed in Patent Document 1 is known.
In Patent Literature 1, an area (store area) in which a work machine is placed is determined in advance, and when a work machine leaves the area, a warning or the like is generated, or the operation of the work machine is restricted, whereby the work is performed. It is a system that prevents theft of the machine.

JP 2012-71776 A

In Japanese Patent Laid-Open No. 2002-100001, an area in which working machines are placed is set in advance around a store, and theft prevention is performed in the event that the working machine is stolen from the area even though the working machine is not for sale. there is
By the way, a working machine such as a backhoe is generally used for construction work in various places, and the working machine is sometimes left at the site or the like until the construction work is completed. For this reason, it is desired to prevent theft even when the work machine performs construction work in various places.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a work machine monitoring system capable of preventing theft at a place where the work machine is being operated.

A work machine monitoring system according to an aspect of the present invention includes a positioning device that measures a position of a work machine based on a signal from a positioning satellite; an area setting unit that sets a work area in which the work machine performs work; The position of the working machine positioned by the positioning device is outside the work area, and the degree of fluctuation of the position of the working machine positioned by the positioning device to the inside and outside of the work area is less than a predetermined value. a monitoring unit that reports when the degree of fluctuation is equal to or greater than a predetermined value and does not report even if the position of the working machine measured by the positioning device is outside the work area; It has

Advantageous Effects of Invention According to the present invention, it is possible to prevent theft at a place where a working machine is working.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the whole view of the monitoring system of a working machine. It is a figure which shows an example of map information and a work area. It is an example of a setting screen displayed on the mobile terminal. FIG. 10 is a diagram showing an example in which the positioning sensitivity of the positioning device is suddenly decreased; FIG. 10 is a diagram showing an example in which the positioning sensitivity of the positioning device has suddenly increased; FIG. 10 is a diagram showing an example in which the machine body position is indicated at a place where the work machine cannot move; It is a figure which shows the change of the body position in a work area. FIG. 4 is an explanatory diagram for determining the traveling direction of the working machine; It is a side view of a working machine.

An embodiment of the present invention will be described below with appropriate reference to the drawings.
[First embodiment]
FIG. 1 shows an overall view of a work machine monitoring system 200 . As shown in FIG. 1, a work machine monitoring system 200 is a system that can monitor work machines 1 such as construction machines such as backhoes and loaders, agricultural machines such as tractors, combine harvesters, and rice transplanters. Hereinafter, for the sake of convenience, the work machine monitoring system 200 is simply referred to as the "monitoring system 200".

First, the working machine 1 will be described.
FIG. 8 is a side view of the working machine 1. FIG. In this embodiment, a backhoe, which is a turning work machine, is shown as an example of the work machine 1 . However, the working machine 1 is not limited to a backhoe, and may be a construction machine such as a loader, a tractor, a combine harvester, an agricultural machine such as a rice transplanter.
As shown in FIG. 8 , the working machine 1 includes a machine body (swivel base) 2 , a traveling device 3 , and a working device 4 . A cabin 5 is mounted on the airframe 2 . A driver's seat 6 is provided inside the cabin 5 .

In this embodiment, the front side of the driver (operator) seated in the driver's seat 6 of the work machine 1 (direction of arrow A1 in FIG. 8) is forward, the rear side of the operator (direction of arrow A2 in FIG. 8) is rearward, The left side of the driver (front side in FIG. 8) will be described as the left side, and the right side of the driver (back side in FIG. 8) will be described as the right side.
Also, the horizontal direction, which is a direction orthogonal to the front-rear direction K1, will be described as the body width direction. The direction from the central portion in the width direction of the airframe 2 to the right or left will be described as the outer side of the airframe. In other words, the outer side of the fuselage is the width direction of the fuselage and the direction away from the center of the fuselage 2 in the width direction. The direction opposite to the outer side of the fuselage will be described as the inner side of the fuselage. In other words, the inward direction of the machine body is the width direction of the machine body and the direction toward the center of the machine body 2 in the width direction.

As shown in FIG. 8, the traveling device 3 has a traveling body 3L provided on the left side and a traveling body 3R provided on the right side. The running body 3L and the running body 3R include a driving wheel 11a, a driven wheel 11b, a plurality of rolling wheels 11e, a frame 11c that rotatably supports the driving wheels 11a, the driven wheels 11b, and the rolling wheels 11e, and driving wheels. 11a, a driven wheel 11b, and a belt 11d stretched over rollers 11e. A first traveling motor ML is supported on the frame 11c of the traveling body 3L. The power of the first traveling motor ML is transmitted to the driving wheels 11a of the traveling body 3L. A second traveling motor MR is supported by the frame 11c of the traveling body 3R. The power of the second traveling motor MR is transmitted to the driving wheels 11a of the traveling body 3R.

A dozer device 7 is attached to the front portion of the traveling device 3 . The dozer device 7 can move up and down (raise and lower the blade) by extending and contracting the dozer cylinder. Note that the work machine 1 may be configured without the dozer device 7 .
The machine body 2 is supported on the travel device 3 via a swivel bearing 8 so as to be swivelable about a vertical axis (an axis extending in the vertical direction). The machine body 2 is driven to turn by a turning motor MT that is a hydraulic motor (hydraulic actuator). The fuselage 2 has a turning base plate 9 that turns around a vertical axis and a weight 10 . The swivel base plate 9 is made of a steel plate or the like, and is connected to the swivel bearing 8 . A weight 10 is provided at the rear portion of the airframe 2 . A prime mover 20 is mounted in the rear portion of the body 2 . Prime mover 20 is, for example, a diesel engine. The prime mover 20 may be an electric motor, or may be a hybrid prime mover using both a diesel engine and an electric motor.

The fuselage 2 has a support bracket 13 at the front portion slightly rightward of the center in the width direction of the fuselage. A swing bracket 14 is attached to the support bracket 13 so as to be swingable about a vertical axis (an axis extending in the vertical direction). A working device 4 is attached to the swing bracket 14 .
The working device 4 has working bodies such as a boom 15, an arm 16, and a bucket (working tool) 17. As shown in FIG. The base of the boom 15 is pivotally attached to the swing bracket 14 so as to be rotatable about a horizontal axis (an axis extending in the width direction of the machine body). This allows the boom 15 to swing vertically. The arm 16 is pivotally attached to the tip side of the boom 15 so as to be rotatable about the horizontal axis. This allows the arm 16 to swing back and forth or up and down. The bucket 17 is provided on the tip side of the arm 16 so as to be able to scoop and dump. Instead of the bucket 17, or in addition to the bucket 17, the work machine 1 can be equipped with another working tool (preliminary attachment) that can be driven by a hydraulic actuator. Other working tools (preliminary attachments) include hydraulic breakers, hydraulic crushers, angle blooms, earth augers, pallet forks, sweepers, mowers, snow blowers, and the like.

The swing bracket 14 is swingable by extension and contraction of a swing cylinder C2 provided in the body 2. As shown in FIG. The boom 15 is swingable by extension and contraction of the boom cylinder C3. The arm 16 is swingable by extension and contraction of the arm cylinder C4. The bucket 17 is capable of scooping and dumping operations by extending and contracting a bucket cylinder (working tool cylinder) C5. The dozer cylinder, swing cylinder C2, boom cylinder C3, arm cylinder C4, and bucket cylinder C5 are configured by hydraulic cylinders (hydraulic actuators). Note that the working device 4 may be provided on the machine body 2 and may have components other than the boom 15 , the arm 16 and the bucket (working tool) 17 . A boom cylinder C3, an arm cylinder C4, a bucket cylinder C5, and the like are hydraulic actuators that drive the work device 4. As shown in FIG.

As shown in FIG. 1 , the working machine 1 includes a control device 60 , a communication device 61 and a positioning device 62 . The control device 60 includes a CPU (Central Processing Unit) that executes program instructions, a ROM (read only memory) that stores computer programs, a RAM (random access memory) that develops various control programs, various control programs and various It is composed of a storage unit (recording medium) such as a memory for storing data. The control device 60 performs various controls of the work implement 1 . For example, the control device 60 controls control valves (not shown) that control the swing cylinder C2, the boom cylinder C3, the arm cylinder C4, and the bucket cylinder C5 according to the operation of an operation member (not shown) provided on the work machine 1. etc. (hydraulic control), and the number of revolutions of the prime mover 20 is controlled.

The communication device 61 is a communication device (communication module) that performs either direct communication or indirect communication with an external device (not shown). Fidelity (registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), LPWAN (Low-Power Wide-Area Network), and the like can be used for wireless communication. Also, the communication device 61 may be a communication device (communication module) that performs wireless communication via a mobile phone communication network, a data communication network, or the like.

The positioning device 62 is a device that detects its own position (positioning information including latitude and longitude) using a satellite positioning system. That is, the positioning device 62 receives radio waves (signals) transmitted from a positioning satellite (not shown), and superimposes the signals (signals indicating the position of the positioning satellite, transmission time, correction information, etc.) on the received radio waves. Based on this, it detects its own position (latitude, longitude). Further, the positioning device 62 receives a signal transmitted from a base station (reference station; not shown) capable of receiving radio waves from a positioning satellite, and corrects the position based on the correction information indicated by the signal. position (latitude, longitude). Alternatively, the positioning device 62 may have an inertial measuring device such as a gyro sensor or an acceleration sensor, and detect the position corrected by the inertial measuring device as its own position. Since the positioning device 62 is mounted on the work machine 1, the position measured by the positioning device 62 can be regarded as the position of the work machine 1 (body position). That is, the positioning device 62 measures the position of the work implement 1 .

The monitoring system 200 includes an area setting section 100 and a monitoring device 101 . The area setting unit 100 is provided in a server installed at a predetermined location, a stationary computer such as a personal computer, or a portable computer such as a tablet, smart phone, or laptop computer. In this embodiment, the area setting unit 100 is provided in a portable terminal 102, which is a portable computer. Also, the area setting unit 100 is configured by a software program or hardware provided in the mobile terminal 102 .

The monitoring device 101 is a fixed or portable computer such as a server installed at a predetermined location or a personal computer. In this embodiment, the monitoring device 101 is composed of a server. Monitoring device 101 is an example of a monitoring unit that monitors work implement 1 .
Note that the monitoring unit may be configured by a software program or an application program provided in an electronic device instead of an electronic device such as the monitoring device 101, or may be configured by an application program or the like provided on the cloud. may Also, the area setting unit 100 may be configured by an electronic device, or may be configured by an application program or the like provided on the cloud. Furthermore, the area setting unit 100 may be provided in the monitoring device 101 .

Portable terminal 102 includes, in addition to area setting unit 100, display unit 103 configured from an organic EL or liquid crystal panel, etc., and storage unit 104 configured from a non-volatile memory or the like. The display unit 103 displays various information. Various information such as map information is stored in the storage unit 104 .
The storage unit 104 stores, as map information, the shapes and positions of topography 71 such as rivers 71a, mountains, valleys, lakes and forests, buildings 72 such as houses and buildings, roads 73, parks, and steel towers, as shown in FIG. , utility poles, land 74, and other buildings (structures) are stored. The storage unit 104 also stores information about roads 73 under construction, land 74 under construction, and the like. The map information may be map information obtained from a map providing company that provides maps, or may be map information created by an administrator of the work machine 1 or a user who uses the work machine 1. Good, but not limited to:

The area setting unit 100 is configured by an electrical/electronic circuit provided in the mobile terminal 102 or a software program stored in the storage unit 104 of the mobile terminal 102 . The area setting unit 100 sets a work area in which the work machine 1 works based on the content of the work to be done by the work machine 1 and the map information.
Specifically, for example, when an administrator or a user who manages the work machine 1 performs a predetermined operation using an interface (not shown) such as operation keys, a touch pad, or a microphone provided in the mobile terminal 102, area setting is performed. The unit 100 causes the display unit 103 to display an area setting screen M1 as shown in FIG. At this time, the area setting unit 100 refers to the storage unit 104, reads the map information stored in the storage unit 104, and causes the display unit 103 to display the map information on the area setting screen M1. Note that the configuration is not limited to storing the map information in the storage unit 104 of the mobile terminal 102, and the mobile terminal 102 may acquire the map information from an external device through communication as necessary.

The area setting screen M1 includes a map display portion 110 for displaying map information, a date input portion 111 for inputting the work day when work is to be performed by the work machine 1, a time input portion 112 for inputting work hours, and a work content input portion. and a work input unit 113 to perform. Map display unit 110 can display a map included in the map information read from storage unit 104 .
The machine body position W1 positioned by the positioning device 62 of the working machine 1 is transmitted by the communication device 61 to the mobile terminal 102 or the monitoring device 101 at predetermined intervals. The mobile terminal 102 acquires (receives) the aircraft position W1 from the communication device 61 or the monitoring device 101 at predetermined intervals. When acquiring the aircraft position W1, the area setting unit 100 extracts map information around the aircraft position W1 from the map information stored in the storage unit 104, and displays the map indicated by the map information and the aircraft position W1. The display unit 103 is caused to display as shown in the unit 110 . That is, the map display unit 110 can display the machine body position W1 and a map around the working machine 1 including the machine body position W1.

The range of the map displayed on the map display unit 110 can be changed by operating the interface of the mobile terminal 102 . After aircraft position W1 and a map of its surroundings are once displayed on map display section 110, the aircraft position W1 is displayed on map display section 110 each time area setting section 100 acquires aircraft position W1 at a predetermined cycle. The position is updated by the display unit 103 .
By operating the interface of the mobile terminal 102, the date input unit 111 can input the year, month, day, etc. indicating the work day, and the time input unit 112 can input work start time, work end time, and working hours can be input, and the work input section 113 can input work contents such as road construction, construction inside a building, construction outside a building, and river construction.

After the user or the like inputs the work date, work hours, work content, etc. on the area setting screen M1, the decision button 114 is selected. Then, the area setting unit 100 refers to the machine body position (referred to as the selected machine body position) W1 indicating the position of the working machine 1 when the decision button 114 is selected, and the map information around the selected machine body position W1. Map information around the selected aircraft position W1, which is a narrower predetermined range, is extracted from the map information. Then, the area setting unit 100 selects the map information in the vicinity of the selected machine body position W1 and the work content of the work machine 1 (road construction, construction inside the building, construction outside the building, river construction) input to the work input unit 113. If there is a relationship, the work areas E1 to E4 are set on the map displayed on the map display unit 110. FIG.

More specifically, for example, the area setting unit 100, based on the map information in the vicinity of the selected aircraft position W1, selects areas such as rivers 71a, valleys, lakes, roads 73, parks, steel towers, utility poles, and land 74 in the vicinity of the selected aircraft position W1. If there is a non-shielding object and it is confirmed that the work content of the working machine 1 is related to the construction of the non-shielding object, an area including the non-shielding object and the selected machine body position W1 is set as the work area.

The non-shielding objects are structures, natural objects, and other objects that do not block positioning radio waves transmitted from positioning satellites to a predetermined level or more. On the other hand, a shielding object is a structure, natural object, or other object that shields positioning radio waves transmitted from a positioning satellite at a predetermined level or more. Shields include, for example, mountains, forests, buildings such as houses and buildings, and the like.

For example, as shown in the lower part of FIG. A surrounding area is set as a work area E1 for road construction. The size (horizontal width, vertical width) of the work area E1 may be set in advance. Alternatively, for example, by operating the interface of the mobile terminal 2, the width and height of the work area E1 shown in the map display portion 110 (FIG. 3) of the area setting screen M1 may be changed. The sizes of other work areas may be similarly set or changed, but the method of setting the size of the work area is not limited to the above.

Also, as shown in the upper center of FIG. If it is confirmed that there is, the area surrounded by the outline (boundary portion) of the land 74 is set as the work area E2 for the exterior work.
Also, as shown in the upper right of FIG. 2, the area setting unit 100 confirms that the selected machine body position W1 is near the river 71a and the work content of the working machine 1 is river construction. An embankment of the river 71a (the river 71a may also be included) in the vicinity of the machine body position W1 is set as a work area E3 for river construction.

On the other hand, when the area setting unit 100 confirms that there is a shield such as a mountain, a forest, or a building near the selected machine body position W1 and that the work performed by the work implement 1 is related to the construction of the shield, Set the area containing the obstruction as the work area. For example, as shown on the left side of FIG. 2, the area setting unit 100 has confirmed that the selected machine body position W1 overlaps with the building 72, which is a shielding object, and that the work content of the working machine 1 is construction inside the building. In this case, the area occupied by the building 72 is set as the work area E4 for the construction inside the building.

As described above, the area setting unit 100 sets the selected machine body position W1 when the work content of the work machine 1 is determined on the area setting screen M1, and the map information (river 71a, mountain, valley, etc.) around the selected machine body position W1. , lakes, forests, houses, buildings 72, roads 73, parks, steel towers, utility poles, and land 74), and the work contents are compared, and the selected aircraft position W1, the map information, and the work contents are related. automatically set work areas E1 to E4.

Also, the area setting unit 100 confirms whether or not there is a shield in the vicinity of the work areas E1 to E4 based on the map information in the vicinity of the selected aircraft position W1. It is determined whether the environment is in a shielded environment in which radio waves are easily shielded or in a non-shielded environment in which the radio waves are difficult to be shielded. Specifically, for example, the area setting unit 100 determines that the work area E4 having the shielding structure (the building 72) is in the shielding environment as described above. Also, the area setting unit 100 determines that the work areas E1 to E3, which do not have the shielding structure, are in the non-shielding environment, as described above.

Then, the area setting unit 100 indicates the set work areas E1 to E4, the positions (latitude and longitude) of the work areas E1 to E4, and whether the work areas E1 to E4 are in a shielded environment or a non-shielded environment. Work area information is set (created), and the work area information is stored in the storage unit 104 . Further, the area setting unit 100 sets work information indicating the positions of the set work areas E1 to E4, input work days, work hours, work contents, etc., and stores the work information in the storage unit 104. Furthermore, the area setting unit 100 transmits the work area information and the work information stored in the storage unit 104 from the mobile terminal 102 to the monitoring device 101 .

In the above-described embodiment, the work areas E1 to E4 are automatically set, but the user or the like may manually set the work areas E1 to E4 through the interface of the portable terminal 102. FIG. In this case, for example, the area setting unit 100 first displays the selected aircraft position W1 on the map displayed on the map display unit 110 of the area setting screen M1. The administrator, user, or the like operates the interface of the mobile terminal 2 to select an area (for example, an area corresponding to the work content) including the selected aircraft position W1 on the map displayed on the map display section 110 of the area setting screen M1. is specified, and the decision button 114 is selected. Thereby, the area setting unit 100 sets the specified area as the work area.

Further, the area setting unit 100 confirms whether or not the area designated by the user or the like matches the work content of the work machine 1 input to the work input unit 113, and sets the work area according to the confirmation result. May be set. Specifically, when confirming that the designated area matches the work content of work machine 1 input to work input unit 113, area setting unit 100 sets the area as the work area.

When the area setting unit 100 confirms that the area designated by the user or the like does not match the work content of the work machine 1, the area setting unit 100 does not set the area as the work area. For example, if the user or the like designates an area that does not include the building 72 even though the work is construction inside a building, or if the user designates an area that does not include the road 73 even though the work is road construction. , etc., the area setting unit 100 does not set the specified area as the work area. In these cases, the area setting unit 100 may display a warning (message or the like) on the area setting screen M1 indicating that the specified area does not match the work content and cannot be set as the work area.

When the monitoring device 101 acquires (receives) the work area information and the work information set by the mobile terminal 102 , the monitoring device 101 monitors the working machine 1 . At this time, the monitoring device 101 acquires (receives) the machine body position W1 measured by the positioning device 62 of the working machine 1 and transmitted by the communication device 61 at a predetermined cycle, and acquires (receives) the machine body position W1 in advance from map information. correspond to Also, the monitoring device 101 determines whether or not the machine position W1 is within the work areas E1 to E4 indicated by the work area information.

For example, after the monitoring device 101 confirms that the aircraft position W1 is located in one of the work areas E1 to E4, the aircraft position W1 is continuously located outside the work area E1 to E4 for a predetermined time or longer. When it is confirmed, it is determined that the work machine 1 is outside the work areas E1 to E4 and is separated from the work areas E1 to E4. Further, after confirming that the machine body position W1 is located in one of the work areas E1 to E4, the monitoring device 101 confirms that the machine body position W1 is at a position separated from the work area E1 to E4 by a predetermined distance or more. is confirmed, it is determined that the work machine 1 is outside the work areas E1 to E4 and is separated from the work areas E1 to E4. Then, the monitoring device 101 issues a notification (warning) indicating the determination result.

Specifically, the monitoring device 101 sends a notification signal indicating that the work machine 1 is outside the work areas E1 to E4 and is separated from the work areas E1 to E4. Send to control device 60 . When the mobile terminal 102 receives the notification signal, the mobile terminal 102 gives a notification (warning) through the display unit 103 or the like based on the notification signal. At this time, for example, in the mobile terminal 102 , the content indicated by the notification signal or a message indicating a warning may be displayed on the screen of the display unit 103 . Alternatively, the content indicated by the notification signal, the warning sound, or the sound indicating the warning may be output (displayed) from a speaker or the like provided in the mobile terminal 102 .

Upon receiving the notification signal, the control device 60 of the work machine 1 issues a notification (warning) using a display device or the like provided in the work machine 1 based on the notification signal. At this time, the content indicated by the notification signal, a message indicating a warning, or the like may be displayed on the screen of the display device provided in the work machine 1 . Alternatively, the content indicated by the notification signal, the warning sound, or the sound indicating the warning may be output (displayed) from a buzzer, speaker, or the like provided in the work machine 1 .

According to the above, in a state where the machine body position W1 can be detected by the positioning device 62, that is, in a situation where the machine body position W1 can be positioned, while the work machine 1 is not working, the work machine 1 moves from the work area E1 to the work area E1. Even if it is taken out from E4, the monitoring device 101, the portable terminal 102, or the work machine 1 will notify the user, thereby attracting the attention of the user and people around the work machine 1, and suppressing the theft of the work machine 1. It becomes possible to

In addition, the monitoring device 101 has confirmed that at least one of the plurality of machine body positions W1 obtained from the communication device 61 of the working machine 1 at predetermined intervals is a position where the working machine 1 cannot move (immovable position). In this case, even if the machine position W1 is outside the work areas E1 to E4, the notification may not be performed. Specifically, the monitoring device 101 compares (associates) each of the plurality of acquired aircraft positions W1 with the map information, and determines that at least one of the aircraft positions W1 is an immovable position as shown in FIG. If it is in a certain river 71a, it is excluded from the determination of whether or not the aircraft position W1 is within the work area E3. As a result, the monitoring device 101 or the like does not perform notification.

Further, while the monitoring device 101 is monitoring the working machine 1, the communication device 61 transmits the positioning result when the positioning device 62 performs positioning of the machine body position W1 at a predetermined cycle, and the monitoring device 101 transmits the positioning result. get. Then, the monitoring device 101 determines the positioning state of the positioning device 62 based on the work area information and the positioning result of the positioning device 62 .
As described above, the work area information indicates work areas E1 to E4 and whether the work areas E1 to E4 are in a shielded environment or a non-shielded environment. Therefore, based on the work area information, the monitoring device 101 confirms whether the work area with the aircraft position W1 is in a shielded environment or a non-shielded environment, and based on the confirmation result, the positioning device 62 performs positioning. Judge (predict) the state. That is, the monitoring device 101 determines the positioning state of the positioning device 62 corresponding to the work area information of the work area where the aircraft position W1 is located.

When the positioning device 62 receives radio waves from the positioning satellites, the strength of the reception is high, and the aircraft position W1 can be determined. and the measured reception strength of radio waves (signal reception strength; RSSI). On the other hand, when the positioning device 62 receives radio waves from the positioning satellites, the strength of the reception is low, and if the aircraft position W1 cannot be determined, the positioning result of the positioning device 62 includes the aircraft position W1. is not included, but the received strength of radio waves measured by the positioning device 62 is included. Therefore, the monitoring device 101 determines the positioning state when the positioning device 62 actually measures the aircraft position W1 based on the reception intensity of radio waves included in the positioning result of the positioning device 62 .

For example, as shown in FIG. 2, if the aircraft position W1 is in one of the work areas E1 to E3 where there are no obstacles nearby, the monitoring device 101 determines that the work areas E1 to E3 are located in the work areas E1 to E3 based on the work area information. It confirms that it is in a non-shielded environment, and determines that the positioning sensitivity of the positioning device 62 is high.
In addition, when the aircraft position W1 is in one of the work areas E1 to E3 where there are no obstacles in the vicinity, the positioning device 62 can easily receive radio waves from the positioning satellites. becomes higher. At this time, the monitoring device 101 regards the reception intensity of the radio wave included in the positioning result of the positioning device 62 as the positioning sensitivity, and the positioning state when the positioning device 62 actually performs the positioning of the aircraft position W1 is the period shown in FIG. 4A. As indicated by T1, it is determined that the positioning sensitivity is higher than the predetermined value G1.

After that, for example, when the work machine 1 is taken out of one of the work areas E1 to E3 in which it was working to a place in a shielded environment, the positioning device 62 becomes difficult to receive radio waves from the positioning satellites. As shown at point P1 in 4A, the positioning sensitivity when the positioning device 62 actually performs positioning drops sharply and becomes less than the predetermined value G1. In this way, the monitoring device 101 determines the actual positioning state of the work areas E1 to E3 based on the positioning result of the positioning device 62 with respect to the positioning state of the positioning device 62 corresponding to the work area information of the work areas E1 to E3. When there is a predetermined change in the positioning state as described above, a notification signal is transmitted to the mobile terminal 102 or the control device 60 indicating that the work machine 1 is away from the work areas E1 to E3 in which work was being performed. do.

As another example, after the monitoring device 101 communicates with the control device 60 via the communication device 61 to confirm whether or not the working machine 1 is in a state of being driven, the positioning device 62 is actually activated. It is also possible to check the change in the positioning sensitivity when positioning the body position W1 is performed in . Further, in this case, after monitoring device 101 confirms that working machine 1 is in a state of being driven, positioning device 62 actually performs positioning as shown in period T2 after point P1 in FIG. 4A. The monitoring device 101 may transmit a notification signal to the mobile terminal 102 or the control device 60 when the positioning sensitivity becomes less than the predetermined value G1.

On the other hand, for example, as shown in FIG. 2, when the aircraft position W1 is in a work area E4 with a shield or the like nearby (covered by a building 72 that is a shield), the monitoring device 101 determines that the work area information Based on this, it confirms that the work area E4 is in a shielded environment, and determines that the positioning sensitivity of the positioning device 62 is low. In addition, since it is difficult for the side positioning device 62 to receive radio waves from the positioning satellites, the strength of the radio waves received by the side positioning device 62 is low. At this time, the monitoring device 101, based on the reception intensity of the radio wave included in the positioning result of the positioning device 62, determines the positioning state when the positioning device 62 actually measures the aircraft position W1 during the period T3 in FIG. 4B. As shown, it is determined that the positioning sensitivity is lower than a predetermined value G1.

After that, for example, when the work machine 1 is taken out from the work area E4 where it was working to a place in a non-shielded environment, and the positioning device 62 becomes more likely to receive radio waves from the positioning satellites, the time point P2 in FIG. 4B is reached. , the positioning sensitivity when the positioning device 62 actually performs positioning rises sharply and becomes equal to or greater than the predetermined value G1. In this case, the monitoring device 101 transmits to the mobile terminal 102 or the control device 60 a notification signal indicating that the working machine 1 is away from the work area E4 where the work was being performed.

As another example, after the monitoring device 101 confirms that the working machine 1 is in a driving state, the positioning device 62 actually performs positioning as shown in a period T4 from time P2 in FIG. 4B. The monitoring device 101 may transmit a notification signal to the mobile terminal 102 or the control device 60 when the positioning sensitivity reaches a predetermined value G1 or more.
The working machine monitoring system 200 of the first embodiment described above includes a positioning device 62 that measures the position of the working machine 1 based on radio waves from positioning satellites, and work areas E1 to E4 in which work is performed by the working machine 1. An area setting unit 100 for setting work area information indicating whether the work area is in a shielded environment in which radio waves are likely to be shielded or in a non-shielded environment in which radio waves are difficult to be shielded. and a monitoring unit (monitoring device) 101 for judging the positioning state of the work area information and notifying the determined positioning state when there is a predetermined change in the positioning state corresponding to the work area information. According to this, with respect to the positioning state of the positioning device 62 corresponding to the work area information indicating whether the work areas E1 to E4 are in either a non-shielded environment or a shielded environment, based on the positioning result of the positioning device 62 If there is a predetermined change in the determined positioning state of the positioning device 62, a notification is made. It is possible to prevent theft at a place where

Further, in the first embodiment, the positioning device 62 is mounted on the work machine 1 , and the area setting unit 100 displays the work contents of the work machine 1 and a map around the position of the work machine 1 positioned by the positioning device 62 . Information is obtained, and work area information of work areas E1 to E4 is set based on the work content and map information. According to this, work areas E1 to E4 that match the work performed by the work machine 1 and the position of the work machine 1, and whether the work areas E1 to E4 are in a radio wave shielding environment or a radio wave non-shielding environment. You can set the work area information to show. In addition, the positioning state of the positioning device 62 is regarded as the positioning state of the position where the working machine 1 exists, and when the working machine 1 is moved by a malicious third party and a predetermined change occurs in the positioning state, It is possible to prevent the work machine 1 from being stolen by reporting.

Further, in the first embodiment, the monitoring unit 101 determines that the positioning sensitivity is low as the positioning state when the work area E4 is in a shielded environment, and the positioning sensitivity when the positioning device 62 performs positioning is , when it becomes greater than or equal to the predetermined value G1 from less than the predetermined value G1, notification is performed. According to this, the positioning sensitivity of the positioning device 62 is low in a situation where the working machine 1 is placed near an obstacle such as a building. In this situation, when the positioning sensitivity of positioning device 62 changes from less than predetermined value G1 to greater than or equal to predetermined value G1, work implement 1 is moved from the shielded environment near the shield such as a building to another location. Therefore, it is possible to prevent the work machine 1 from being stolen in a shielded environment.

Further, in the first embodiment, the monitoring unit 101 determines that the positioning state has high sensitivity when the work areas E1 to E3 are in a non-shielded environment, When the sensitivity changes from a predetermined value G1 or more to less than a predetermined value G1, notification is given. According to this, the positioning sensitivity of the positioning device 62 is increased in a situation where the work implement 1 is placed in a non-shielded environment such as a road or a river. In this situation, if the positioning sensitivity of the positioning device 62 changes from the predetermined value G1 or more to less than the predetermined value G1, the working machine 1 is moved from the surrounding unshielded environment such as a road or river to another place. Therefore, it is possible to prevent the work machine 1 from being stolen in a non-shielded environment.

In addition, in the first embodiment, when the working machine 1 is driven and the sensitivity of positioning when the positioning device 62 performs positioning changes from the predetermined value G1 or more to less than the predetermined value G1, the monitoring unit 101 Notify. According to this, it is possible to quickly grasp that the work machine 1 is driven and traveled and is away from the work area.
In addition, in the first embodiment, the area setting unit 100 acquires map information indicating whether or not there is a shield that blocks radio waves in the work areas E1 to E4, and the details of the work performed by the work machine 1. If there is a shielding object in the area and the work content is related to construction in a shielded environment, the work area information is set as if the work area is in a shielded environment. According to this, it is possible to easily set the work area corresponding to the construction work performed in the shielded environment and the work area information indicating the environment.

In addition, in the first embodiment, the area setting unit 100 acquires map information indicating whether or not there is a shield that blocks radio waves in the work areas E1 to E4, and the details of the work performed by the work machine 1. When there is no shielding object in the area and the work content is related to construction in a non-shielding environment, the work area information is set to indicate that the work area is in the non-shielding environment. According to this, it is possible to easily set a work area corresponding to construction work performed in a non-shielded environment and work area information indicating the environment.

Furthermore, in the first embodiment, the monitoring unit 101 associates the position of the working machine 1 measured by the positioning device 62 with the map information, and the position associated with the place where the working machine 1 cannot move indicated by the map information. If there is, do not notify. According to this, when the position (body position) W1 of the work implement 1 measured by the positioning device 62 is located in a place such as a river where the work implement 1 cannot move, the position of the work implement 1 is not notified. Inadvertent notification due to errors can be suppressed.
[Second embodiment]
In the second embodiment, the monitoring device 101 issues a notification (warning) based on the degree of fluctuation indicating the degree of fluctuation of the machine body position W1 measured by the positioning device 62 in and out of the work areas E1 to E4. In the second embodiment, description of the same configuration as in the first embodiment is omitted.

The monitoring device 101 acquires the machine body position W1 positioned by the positioning device 62 of the working machine 1 from the communication device 61, and based on the machine body position W1, sends a notification signal to the mobile terminal 102 or the control device 60 of the working machine 1. Determine whether to send or not.
FIG. 6 shows changes in the aircraft position W1 in each of the work areas E1 to E4. As shown in FIG. 6, the aircraft position W1 measured by the positioning device 62 at predetermined intervals may fluctuate between the inner and outer sides of the work areas E1 to E4. When monitoring the working machine 1, the monitoring device 101 calculates the degree of fluctuation of the machine body position W1 in and out of the work areas E1 to E4.

For example, the monitoring device 101 calculates a plurality of aircraft positions W1i (i: measurement order of the aircraft position (i=1, 2, 3, 4, . , the traveling direction of the working machine 1 (orientation of the working machine) is obtained. When the monitoring device 101 obtains the machine body positions W11, W12, W13, and W14 shown in FIG. A vector directed toward position W13 is assumed to be the traveling direction X2 of work implement 1, and a vector directed from machine body position W13 to machine body position W14 is assumed to be traveling direction X3 of work machine 1. FIG.

The monitoring device 101 refers to the traveling directions X1 to X3, and when confirming that the directions of the traveling directions X1 to X3 change continuously and are different from each other, determines that the degree of fluctuation is equal to or greater than a predetermined value. do. That is, when the traveling directions X1 to X3 are reversed in a short period of time, or when the traveling directions X1 to X3 continue to differ, the monitoring device 101 moves the body position W1 to the work area E2 in a short period of time. , the degree of fluctuation is large and is determined to be greater than or equal to a predetermined value. Thus, when the degree of fluctuation is equal to or greater than the predetermined value, the monitoring device 101 notifies (warns) the mobile terminal 102 or the control device 60 even if it confirms that the machine body position W1i is positioned outside the work area E2. Do not send a signal (do not broadcast).

On the other hand, when the monitoring device 101 acquires the machine body positions W110 to W115 in the order of positioning, the vectors pointing to the machine body positions 110 to W115 in the order of the positioning are taken as the traveling directions X10 to X14 of the work implement 1 in the same manner as described above. The monitoring device 101 refers to the traveling directions X10 to X14 of the working machine 1 and confirms that the traveling directions X10 and X11 are different, but the traveling directions X12 to X14 are continuously the same. , the degree of fluctuation is small and less than a predetermined value. In this way, when the degree of fluctuation is less than the predetermined value, the monitoring device 101 sends a notification signal to the mobile terminal 102 or the control device 60 when confirming that the machine body position W1i is located outside the work area E2. to send (announce).

As another example, when the monitoring device 101 is monitoring the work machine 1, it checks whether the work machine 1 is in a driving state, A notification signal may be transmitted to the mobile terminal 102 or the control device 60 when the traveling direction of the working machine 1 does not change by a predetermined angle or more for a predetermined time or longer. Note that in other cases, the monitoring device 101 does not transmit the notification signal.

Further, when the monitoring device 101 refers to the traveling directions X10 to X14 of the work implement 1, the vectors indicating the traveling directions X10 to X14 of the work implement 1 continue for a certain period of time or more and move away from the work areas E1 to E4. , a notification signal may be transmitted to the mobile terminal 102 or the control device 60 . Note that in other cases, the monitoring device 101 does not transmit the notification signal.

Further, the monitoring device 101 may transmit a notification signal to the mobile terminal 102 or the control device 60 when the machine body position W1i measured by the positioning device 62 is separated from the work areas E1 to E4 by a predetermined distance or more. Further, as the predetermined distance in this case, for example, a distance is set according to the positioning accuracy of the positioning device 62, at which it can be reliably detected that the work implement 1 is actually positioned outside the work areas E1 to E4. may Note that in other cases, the monitoring device 101 does not transmit the notification signal.

Furthermore, the monitoring device 101 obtains the movement speed of the work implement 1 based on the amount of change (movement distance) in the machine body position W1i per unit time, and if the movement speed is equal to or greater than a predetermined value (for example, the work implement 1 movement speed exceeds the maximum speed of the working machine 1 ), the notification signal may be transmitted to the mobile terminal 102 or the control device 60 . As the predetermined value in this case, for example, a value equal to or higher than the maximum moving speed of the work implement 1 may be set. Note that in other cases, the monitoring device 101 does not transmit the notification signal.

The work machine monitoring system 200 of the second embodiment described above includes a positioning device 62 that measures the position of the work machine 1 based on a signal (radio wave) from a positioning satellite, and a work area E1 in which the work machine 1 works. The area setting unit 100 for setting E4, the position W1i of the working machine 1 measured by the positioning device 62 is outside the work areas E1 to E4, and the position of the working machine 1 measured by the positioning device 62 (body position ) W1i fluctuates inside and outside of work areas E1 to E4 When the degree of fluctuation is less than a predetermined value, a notification is given, and when the degree of fluctuation is greater than or equal to a predetermined value, the position of the working machine 1 measured by the positioning device 62 and a monitoring unit (monitoring device) 101 that does not report even if W1i is outside the work areas E1 to E4.

For example, even when the work machine 1 is positioned within the work areas E1 to E4, when the work machine 1 is working near the periphery of the work areas E1 to E4, the positioning device 62 Due to positioning errors or the like, the aircraft position W1i may fluctuate and be positioned outside the work areas E1 to E4. Even in such a case, according to the configuration described above, it is possible to prevent the monitoring unit 101 from judging that the degree of fluctuation is equal to or greater than the predetermined value, and from inadvertently issuing a notification. On the other hand, if the work implement 1 is likely to be stolen from the work areas E1 to E4, even if the machine position W1i measured by the positioning device 62 is outside the work areas E1 to E4, the machine position W1i is not moved. The monitoring unit 101 can determine that the movement is not caused by fluctuations caused by positioning errors or the like, and notify that the working machine 1 is likely to be stolen. That is, it is possible to prevent theft at a place where the working machine 1 is working.

In addition, in the second embodiment, the monitoring unit 101 obtains the traveling direction of the work implement 1 based on a plurality of positions W1i of the work implement 1 measured by the positioning device 62, and determines the state in which the work implement 1 is not driven. When a state in which the traveling direction of the working machine 1 does not change by a predetermined angle or more continues for a predetermined time or more, the notification is given. According to this, by obtaining the traveling direction of the working machine 1, the monitoring unit 101 can easily determine whether or not the working machine 1 is likely to be stolen from the work areas E1 to E4. That is, when the working machine 1 is not driven, the machine body position W1i stays near the work areas E1 to E4. A state in which the traveling direction of the work implement 1 does not change by a predetermined angle or more does not continue for a predetermined time or longer. Therefore, careless notification can be suppressed. On the other hand, in a situation where the work implement 1 is placed on a transport vehicle such as a truck and is about to be stolen, if the traveling direction of the work implement 1 is determined based on the machine body position W1i, the machine body position A state in which W1i moves and the traveling direction of the work implement 1 does not change by a predetermined angle or more may continue for a certain period of time or longer. Therefore, it is possible to notify that the working machine 1 is likely to be stolen.

In addition, in the second embodiment, the monitoring unit 101 obtains the traveling direction of the working machine 1 based on a plurality of positions W1i of the working machine 1 measured by the positioning device 62, and determines that the traveling direction of the working machine 1 is within the work area. When the state of facing away from E1 to E4 continues for a certain period of time or more, notification is given. According to this, the fact that the working machine 1 is placed on the transport vehicle and is likely to be stolen is notified to attract the attention of the user, etc., and the theft is prevented at the place where the working machine 1 is operated. becomes possible.

In addition, in the second embodiment, the monitoring unit 101 obtains the moving speed of the work implement 1 based on a plurality of positions W1i of the work implement 1 measured by the positioning device 62, and determines if the moving speed is equal to or greater than a predetermined value. In that case, we will notify you. In this way, the fact that the working machine 1 is placed on a transport vehicle and is likely to be stolen is also reported to attract the attention of the user, etc., and to prevent theft at the place where the working machine 1 is working. becomes possible.

Furthermore, in the second embodiment, the monitoring unit 101 notifies when the position of the working machine 1 measured by the positioning device 62 is separated from the work areas E1 to E4 by a predetermined distance or more. According to this, it is possible to notify that the work machine 1 is stolen and removed from the work areas E1 to E4, attract the attention of the user, etc., and prevent theft at the place where the work machine 1 is operated. becomes.
It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

Reference Signs List 1: working machine 62: positioning device 100: area setting unit 101: monitoring device (monitoring unit)
200: Work machine monitoring system E1-E4: Work area W1: Machine body position W11-W14: Machine body position W110-W115: Machine body position W1i: Machine body position X1-X3, X10-X14: Direction of travel

Claims (5)

a positioning device for positioning the work machine based on signals from positioning satellites;
an area setting unit for setting a work area in which the work machine works;
The position of the working machine positioned by the positioning device is outside the work area, and the degree of fluctuation of the position of the working machine positioned by the positioning device to the inside and outside of the work area is less than a predetermined value. a monitoring unit that reports when the degree of fluctuation is equal to or greater than a predetermined value and does not report even if the position of the working machine measured by the positioning device is outside the work area;
A monitoring system for implements equipped with The monitoring unit obtains the traveling direction of the working machine based on the plurality of positions of the working machine measured by the positioning device, and determines the traveling direction of the working machine under the condition that the working machine is not driven. 2. The working machine monitoring system according to claim 1, wherein a notification is given when a state in which the angle does not change by a predetermined angle or more continues for a predetermined time or longer. The monitoring unit obtains a traveling direction of the working machine based on a plurality of positions of the working machine measured by the positioning device, and the state in which the traveling direction of the working machine faces a direction away from the work area is determined. 3. The working machine monitoring system according to claim 1, wherein a notification is given when the operation continues for a certain period of time or longer. 2. The monitoring unit obtains a moving speed of the working machine based on a plurality of positions of the working machine measured by the positioning device, and notifies the operator when the moving speed is equal to or higher than a predetermined value. 4. The work machine monitoring system according to any one of 1 to 3. The work machine monitor according to any one of claims 1 to 4, wherein the monitoring unit notifies when the position of the work machine measured by the positioning device is separated from the work area by a predetermined distance or more. system.

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