JP7472075B2 - Work equipment monitoring system - Google Patents

Description

The present invention relates to a monitoring system for a work machine.

2. Description of the Related Art A conventional operating system for a work machine is disclosed in Japanese Patent Application Laid-Open No. 2003-233696.
Patent Document 1 describes a system in which an area (store area) in which work machines are placed is determined in advance, and if the work machine leaves the area, a warning is issued or the operation of the work machine is restricted, thereby preventing the theft of the work machine.

JP 2012-71776 A

In Patent Document 1, an area in which work machines are placed is designated in advance around a store, and theft prevention is provided in the event that the work machines are stolen from the area even though they are not for sale.
By the way, a work machine such as a backhoe is generally used for construction work etc. in various locations, and the work machine may be left at the site etc. until the work is completed. For this reason, it is desirable to provide a method for preventing theft even when the work machine is used for construction work etc. in various locations.

In view of the above problems, the present invention aims to provide a monitoring system for work equipment that can prevent theft in places where work equipment is being used.

A work machine monitoring system according to one embodiment of the present invention comprises a positioning device that locates 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; and a monitoring unit that issues an alert when the position of the work machine positioned by the positioning device is outside the work area and the degree of fluctuation of the position of the work machine positioned by the positioning device within and outside the work area is less than a predetermined value, and does not issue an alert when the degree of fluctuation is equal to or greater than the predetermined value even if the position of the work machine positioned by the positioning device is outside the work area. The monitoring unit determines the direction of travel of the work machine based on multiple positions of the work machine positioned by the positioning device, and issues an alert when the work machine is not driven and the direction of travel of the work machine does not change by more than a predetermined angle continues for a certain period of time or more .

The present invention makes it possible to prevent theft in places where work equipment is being used.

FIG. 1 is a diagram showing an overall view of a monitoring system for a work machine. FIG. 4 is a diagram showing an example of map information and a work area. 13 is an example of a setting screen displayed on a mobile terminal. 1A and 1B are diagrams illustrating an example in which the positioning sensitivity of a positioning device suddenly drops. 1A and 1B are diagrams illustrating an example in which the positioning sensitivity of a positioning device suddenly increases. FIG. 13 is a diagram showing an example in which the machine body position is displayed in a place where the work machine cannot move. FIG. 11 is a diagram showing changes in the aircraft position in a work area. FIG. 11 is an explanatory diagram for determining the traveling direction of a work machine. FIG.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[First embodiment]
Fig. 1 shows an overall view of a work machine monitoring system 200. As shown in Fig. 1, the work machine monitoring system 200 is a system capable of monitoring a work machine 1 such as a construction machine such as a backhoe or loader, or an agricultural machine such as a tractor, a combine harvester, or a rice transplanter. Hereinafter, for convenience, the work machine monitoring system 200 will be simply referred to as the "monitoring system 200".

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

In this embodiment, the front side (the direction of arrow A1 in FIG. 8 ) of the driver (operator) seated in the driver's seat 6 of the work machine 1 will be described as the front, the rear side of the driver (the direction of arrow A2 in FIG. 8 ) as the rear, the left side of the driver (the front side in FIG. 8 ) as the left side, and the right side of the driver (the back side in FIG. 8 ) as the right side.
Moreover, the horizontal direction perpendicular to the front-rear direction K1 will be described as the width direction of the aircraft. The direction from the center of the width direction of the aircraft 2 to the right or left will be described as the outside of the aircraft. In other words, the outside of the aircraft is the direction in the width direction of the aircraft that moves away from the center of the width direction of the aircraft 2. The direction opposite to the outside of the aircraft is described as the inside of the aircraft. In other words, the inside of the aircraft is the direction in the width direction of the aircraft that moves closer to the center of the width direction of the aircraft 2.

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 traveling body 3L and the traveling body 3R are crawler-type traveling devices having a driving wheel 11a, a driven wheel 11b, a plurality of rollers 11e, a frame 11c that supports the driving wheel 11a, the driven wheel 11b, and the rollers 11e so that they can rotate freely, and a belt 11d that is stretched across the driving wheel 11a, the driven wheel 11b, and the 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 wheel 11a of the traveling body 3L. A second traveling motor MR is supported on the frame 11c of the traveling body 3R. The power of the second traveling motor MR is transmitted to the driving wheel 11a of the traveling body 3R.

A dozer device 7 is attached to the front of the traveling device 3. The dozer device 7 can be raised and lowered (raised and lowered the blade) by extending and contracting a dozer cylinder. Note that the work machine 1 does not necessarily have to be provided with the dozer device 7.
The machine body 2 is supported on the traveling device 3 via a swivel bearing 8 so as to be freely rotatable around a vertical axis (an axis extending in the up-down direction). The machine body 2 is driven to rotate by a swivel motor MT consisting of a hydraulic motor (hydraulic actuator). The machine body 2 has a swivel base plate 9 that rotates around the vertical axis, and a weight 10. The swivel base plate 9 is formed from a steel plate or the like, and is connected to the swivel bearing 8. The weight 10 is provided at the rear of the machine body 2. A prime mover 20 is mounted at the rear of the machine body 2. The prime mover 20 is, for example, a diesel engine. The prime mover 20 may be constituted by an electric motor, or may be constituted by a hybrid prime mover that uses a diesel engine and an electric motor in combination.

The machine body 2 has a support bracket 13 at the front, slightly to the right of the center in the width direction of the machine body. A swing bracket 14 is attached to the support bracket 13 so as to be able to swing freely about a vertical axis (an axis extending in the up-down direction). The working device 4 is attached to the swing bracket 14.
The working device 4 has a working body such as a boom 15, an arm 16, and a bucket (working tool) 17. The base of the boom 15 is pivotally attached to the swing bracket 14 so as to be rotatable around a horizontal axis (an axis extending in the width direction of the machine body). This allows the boom 15 to swing up and down. The arm 16 is pivotally attached to the tip side of the boom 15 so as to be rotatable around a horizontal axis. This allows the arm 16 to swing back and forth or up and down. The bucket 17 is provided at the tip side of the arm 16 so as to be capable of scooping and dumping. The working machine 1 can be equipped with another working tool (spare attachment) that can be driven by a hydraulic actuator instead of or in addition to the bucket 17. Examples of other working tools (spare attachments) include a hydraulic breaker, a hydraulic crusher, an angle broom, an earth auger, a pallet fork, a sweeper, a mower, and a snow blower.

The swing bracket 14 is made to swing freely by the extension and retraction of a swing cylinder C2 provided in the machine body 2. The boom 15 is made to swing freely by the extension and retraction of a boom cylinder C3. The arm 16 is made to swing freely by the extension and retraction of an arm cylinder C4. The bucket 17 is made to perform scooping and dumping operations by the extension and retraction of a bucket cylinder (work tool cylinder) C5. The dozer cylinder, swing cylinder C2, boom cylinder C3, arm cylinder C4, and bucket cylinder C5 are composed of hydraulic cylinders (hydraulic actuators). Note that the work device 4 may include other components than the boom 15, arm 16, and bucket (work tool) 17 as long as they are provided on the machine body 2. The boom cylinder C3, arm cylinder C4, bucket cylinder C5, etc. are hydraulic actuators that drive the work device 4.

As shown in FIG. 1, the work 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 a computer program, a RAM (random access memory) that expands various control programs, and a storage unit (recording medium) such as a memory that stores various control programs and various data. The control device 60 performs various controls on the work machine 1. For example, the control device 60 controls (hydraulic control) the control valves (not shown) that control the swing cylinder C2, boom cylinder C3, arm cylinder C4, and bucket cylinder C5, and controls the rotation speed of the prime mover 20 in response to the operation of an operating member (not shown) provided on the work machine 1.

The communication device 61 is a communication device (communication module) that performs either direct communication or indirect communication with an external device (not shown), and can perform wireless communication using, for example, the IEEE 802.11 series of communication standards such as Wi-Fi (Wireless Fidelity, registered trademark), BLE (Bluetooth (registered trademark) Low Energy), LPWA (Low Power, Wide Area), and LPWAN (Low-Power Wide-Area Network). The communication device 61 may also be a communication device (communication module) that performs wireless communication using a mobile phone communication network or a data communication network.

The positioning device 62 is a device that detects its own position (positioning information including latitude and longitude) by a satellite positioning system. That is, the positioning device 62 receives radio waves (signals) transmitted from a positioning satellite (not shown) and detects its own position (latitude, longitude) based on signals (signals indicating the position of the positioning satellite, transmission time, correction information, etc.) superimposed on the received radio waves. The positioning device 62 may also receive signals transmitted from a base station (reference station; not shown) that can receive radio waves from a positioning satellite and detect a position corrected based on the correction information indicated by the signal as its own position (latitude, longitude). The positioning device 62 may also have an inertial measurement device such as a gyro sensor or an acceleration sensor, and detect a position corrected by the inertial measurement device as its own position. Since the positioning device 62 is mounted on the working machine 1, the position determined by the positioning device 62 can be considered as the position of the working machine 1 (machine position). That is, the positioning device 62 determines the position of the working machine 1.

The monitoring system 200 includes an area setting unit 100 and a monitoring device 101. The area setting unit 100 is provided in a server installed at a predetermined location, a fixed computer such as a personal computer, or a portable computer such as a tablet, a smartphone, or a notebook computer. In this embodiment, the area setting unit 100 is provided in a mobile terminal 102, which is a portable computer. The area setting unit 100 is also composed of a software program or hardware provided in the mobile terminal 102.

The monitoring device 101 is a server installed at a predetermined location, a fixed or portable computer such as a personal computer, etc. In this embodiment, the monitoring device 101 is configured as a server. The monitoring device 101 is an example of a monitoring unit that monitors the work machine 1.
The monitoring unit may be configured, for example, as a software program or an application program provided in an electronic device, or as an application program provided on a cloud, rather than an electronic device such as the monitoring device 101. The area setting unit 100 may be configured as an electronic device, or as an application program provided on a cloud. Furthermore, the area setting unit 100 may be provided in the monitoring device 101.

In addition to the area setting unit 100, the mobile terminal 102 includes a display unit 103 configured with an organic EL or liquid crystal panel or the like, and a storage unit 104 configured with a non-volatile memory or the like. The display unit 103 displays various information. The storage unit 104 stores various information such as map information.
2, information on the shapes and positions of terrain 71 such as rivers 71a, mountains, valleys, lakes and marshes, and forests, buildings 72 such as houses and buildings, roads 73, parks, steel towers, utility poles, land 74, and other structures (structures) is stored in the memory unit 104. Information on roads under construction 73 and land under construction 74 is also stored in the memory unit 104. The map information may be map information obtained from a map provider that provides maps, or may be map information created by the manager of the work machine 1 or a user who uses the work machine 1, but is not limited to these.

The area setting unit 100 is composed of an electric/electronic circuit provided in the mobile terminal 102, or a software program stored in a memory unit 104 of the mobile terminal 102. The area setting unit 100 sets a work area in which the work machine 1 will perform work, based on the work content to be performed by the work machine 1 and map information.
Specifically, for example, when an administrator or a user managing the work machine 1 performs a predetermined operation using an interface (not shown) such as an operation key, a touch pad, or a microphone provided on the mobile terminal 102, the area setting unit 100 displays an area setting screen M1 as shown in Fig. 3 on the display unit 103. At that time, the area setting unit 100 refers to the memory unit 104, reads out map information stored in the memory unit 104, and displays the map information on the display unit 103 so as to be represented on the area setting screen M1. Note that the configuration is not limited to storing map information in the memory unit 104 of the mobile terminal 102, and the mobile terminal 102 may acquire map information from an external device by communication as necessary.

The area setting screen M1 includes a map display unit 110 that displays map information, a date input unit 111 that inputs the work date on which work will be performed by the work machine 1, a time input unit 112 that inputs work time, and a work input unit 113 that inputs work content. The map display unit 110 is capable of displaying a map included in the map information read out from the memory unit 104.
The machine position W1 measured by the positioning device 62 of the work machine 1 is transmitted at a predetermined cycle to the mobile terminal 102 or the monitoring device 101 by the communication device 61. The mobile terminal 102 acquires (receives) the machine position W1 from the communication device 61 or the monitoring device 101 at a predetermined cycle. When the area setting unit 100 acquires the machine position W1, it extracts map information of the periphery of the machine position W1 from the map information stored in the memory unit 104, and displays the map indicated by the map information and the machine position W1 on the map display unit 110 on the display unit 103. That is, the map display unit 110 is capable of displaying the machine position W1 and a map of the periphery of the work machine 1 including the machine 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 the aircraft position W1 and the map of its surroundings are once displayed on the map display unit 110, the display unit 103 updates the display position of the aircraft position W1 on the map display unit 110 every time the area setting unit 100 acquires the aircraft position W1 at a predetermined period.
By operating the interface of the mobile terminal 102, the year, month, day, etc. indicating the work date can be input into the date input section 111, the work start time, work end time, work duration, etc. can be input into the time input section 112, and the work content such as road construction, work inside the building, work outside the building, and river construction can be input into the work input section 113.

After the user or the like inputs the work date, work time, work content, etc. on the area setting screen M1, the user selects the decision button 114. The area setting unit 100 then references the machine position W1 (referred to as the selected machine position) indicating the position of the work machine 1 at the time the decision button 114 was selected and map information around the selected machine position W1, and extracts map information around the selected machine position W1, which is a narrower predetermined range, from the map information. Then, if there is a correlation between the map information around the selected machine position W1 and the work content of the work machine 1 input to the work input unit 113 (road construction, work inside a building, work outside a building, river construction), the area setting unit 100 sets work areas E1 to E4 on the map displayed on the map display unit 110.

For example, when the area setting unit 100 determines based on map information about the vicinity of the selected machine position W1 that there is an unobstructed object such as a river 71a, a valley, a lake, a road 73, a park, a steel tower, a utility pole, or land 74 near the selected machine position W1 and that the work content of the work machine 1 is related to construction work on the unobstructed object, the area including the unobstructed object and the selected machine position W1 is set as the work area.

Note that non-obstructions refer to structures, natural objects, and other objects that do not block the positioning radio waves transmitted from the positioning satellites to a certain level or more. In contrast, obstructions refer to structures, natural objects, and other objects that block the positioning radio waves transmitted from the positioning satellites to a certain level or more. Obstructions include, for example, mountains, forests, and buildings such as houses and buildings.

For example, as shown in the lower part of FIG. 2, when the area setting unit 100 confirms that the road 73a and the selected machine position W1 overlap and that the work content of the work machine 1 is road construction, it sets the area around the road 73a as the work area E1 in which road construction will be carried out. The size (width, height) of the work area E1 may be set in advance. Alternatively, the width and height of the work area E1 shown on the map display unit 110 (FIG. 3) of the area setting screen M1 may be changed, for example, by operating the interface of the mobile terminal 2. The size of other work areas may be set or changed in a similar manner, but the method of setting the size of the work area is not limited to the above.

Furthermore, when the area setting unit 100 confirms that the selected machine position W1 does not overlap the building 72 but overlaps the land 74, as shown in the upper center of Figure 2, and that the work content of the work machine 1 is outside the building work, it sets the area surrounded by the outline (boundary portion) of the land 74 as the work area E2 where outside the building work will be performed.
Furthermore, as shown in the upper right corner of Figure 2, when the area setting unit 100 confirms that the selected machine position W1 is near a river 71a and the work content of the work machine 1 is river construction, it sets the banks of the river 71a near the selected machine position W1 (which may include the river 71a) as the work area E3 where river construction will be performed.

On the other hand, if the area setting unit 100 determines that there is an obstruction such as a mountain, forest, or building near the selected machine position W1 and that the work content of the work machine 1 is related to construction work on the obstruction, it sets the area including the obstruction as the work area. For example, as shown on the left side of Figure 2, if the area setting unit 100 determines that the selected machine position W1 overlaps with a building 72, which is an obstruction, and that the work content of the work machine 1 is construction work inside the building, it sets the area occupied by the building 72 as the work area E4 where the work inside the building will be performed.

As described above, the area setting unit 100 compares the selected machine position W1 when the work content of the work machine 1 is determined using the area setting screen M1 with the map information (rivers 71a, mountains, valleys, lakes, forests, houses, buildings 72, roads 73, parks, steel towers, utility poles, land 74) around the selected machine position W1 and the work content, and automatically sets the work areas E1 to E4 if there is a correlation between the selected machine position W1, the map information, and the work content.

The area setting unit 100 also checks whether there are any obstructions near the work areas E1 to E4 based on map information in the vicinity of the selected aircraft position W1, and determines whether the work areas E1 to E4 are in a blocked environment where radio waves from the positioning satellites are easily blocked, or in a non-blocking environment where the radio waves are not easily blocked. Specifically, for example, the area setting unit 100 determines that the work area E4, which has a blocking structure (building 72) as described above, is in a blocked environment. The area setting unit 100 also determines that the work areas E1 to E3, which do not have a blocking structure as described above, are in a non-blocking environment.

The area setting unit 100 then sets (creates) work area information indicating the set work areas E1 to E4, the positions (latitude, longitude) of the work areas E1 to E4, and whether the work areas E1 to E4 are in a shielded or unshielded environment, and stores the work area information in the memory unit 104. The area setting unit 100 also sets work information indicating the positions of the set work areas E1 to E4, the input work date, work time, work content, etc., and stores the work information in the memory unit 104. Furthermore, the area setting unit 100 transmits the work area information and work information stored in the memory unit 104 from the mobile terminal 102 to the monitoring device 101.

In the above embodiment, the automatic setting of the work areas E1 to E4 has been described, but the user, etc. may manually set the work areas E1 to E4 using the interface of the mobile terminal 102. In this case, for example, the area setting unit 100 first displays the selected aircraft position W1 on the map displayed in the map display unit 110 of the area setting screen M1. The administrator or user, etc. operates the interface of the mobile terminal 2 to specify an area (e.g., an area corresponding to the work content) that includes the selected aircraft position W1 on the map displayed in the map display unit 110 of the area setting screen M1, and selects the decision button 114. This causes the area setting unit 100 to set the specified area as the work area.

The area setting unit 100 may also check whether an area specified by a user or the like is compatible with the work content of the work machine 1 input to the work input unit 113, and set the work area according to the confirmation result. Specifically, when the area setting unit 100 checks that the specified area is compatible with the work content of the work machine 1 input to the work input unit 113, it sets the area as the work area.

Furthermore, if the area setting unit 100 determines that the area specified by the user, etc. is not suitable for the work content of the work machine 1, the area setting unit 100 does not set the area as a work area. For example, if the work content is work inside a building but the user, etc. specifies an area that does not include the building 72, or if the work content is road construction but the user, etc. specifies an area that does not include the road 73, the area setting unit 100 does not set the specified area as a work area. In these cases, the area setting unit 100 may display a warning (message, etc.) on the area setting screen M1 to the effect that the specified area is not suitable for the work content and therefore cannot be set as a work area.

When the monitoring device 101 acquires (receives) the work area information and work information set on the mobile terminal 102, it monitors the work machine 1. At this time, the monitoring device 101 acquires (receives) the machine position W1, which is measured by the positioning device 62 of the work machine 1 and transmitted by the communication device 61, at a predetermined cycle, and associates the machine position W1 with the map information acquired in advance. The monitoring device 101 also determines whether the machine position W1 is within the work areas E1 to E4 indicated by the work area information.

For example, if the monitoring device 101 confirms that the machine position W1 is located in one of the work areas E1 to E4, and then confirms that the machine position W1 has been continuously located outside the work area E1 to E4 for a predetermined period of time or more, it determines that the work machine 1 is outside the work area E1 to E4 and away from the work area E1 to E4. Also, if the monitoring device 101 confirms that the machine position W1 is located in a position away from the work area E1 to E4 by a predetermined distance or more after confirming that the machine position W1 is located in one of the work areas E1 to E4, it determines that the work machine 1 is outside the work area E1 to E4 and away from the work area E1 to E4. Then, the monitoring device 101 issues a notification (warning) indicating the determination result.

Specifically, the monitoring device 101 transmits an alarm signal indicating that the work machine 1 is outside the work areas E1-E4 and away from the work areas E1-E4 to the mobile terminal 102 or the control device 60 of the work machine 1. When the mobile terminal 102 receives the alarm signal, it issues an alarm (warning) using the display unit 103 or the like based on the alarm signal. At this time, for example, the mobile terminal 102 may display the content indicated by the alarm signal or a message indicating the warning on the screen of the display unit 103. Alternatively, the content indicated by the alarm signal, an alarm sound, or a voice indicating the warning may be output (displayed) from a speaker or the like provided in the mobile terminal 102.

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

As described above, when the positioning device 62 can detect the machine position W1, that is, when the machine position W1 can be determined, even if the work machine 1 is taken out of the work area E1 to E4 while no work is being performed with the work machine 1, a warning is issued by the monitoring device 101, the mobile terminal 102, or the work machine 1, which attracts the attention of users or people around the work machine 1 and makes it possible to prevent theft of the work machine 1.

In addition, when the monitoring device 101 confirms that at least one of the multiple machine positions W1 acquired at a predetermined period from the communication device 61 of the work machine 1 is a position to which the work machine 1 cannot move (immovable position), the monitoring device 101 may not issue an alert even if the machine position W1 is outside the work areas E1 to E4. In detail, the monitoring device 101 compares (matches) each of the multiple acquired machine positions W1 with the map information, and if at least one machine position W1 is in a river 71a, which is an immovable position as shown in FIG. 5, for example, the machine position W1 is excluded from the determination of whether it is within the work area E3. As a result, an alert is not issued by the monitoring device 101, etc.

Furthermore, while the monitoring device 101 is monitoring the work machine 1, the communication device 61 transmits the positioning result when the positioning device 62 measures the machine position W1 at a predetermined period, and the positioning result is acquired by the monitoring device 101. 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 the work areas E1 to E4 and whether the work areas E1 to E4 are in a shielded environment or a non-shielded environment. Therefore, the monitoring device 101 confirms whether the work area in which the aircraft position W1 is located is in a shielded environment or a non-shielded environment based on the work area information, and determines (predicts) the positioning state of the positioning device 62 based on the confirmation result. 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 in which the aircraft position W1 is located.

If the reception strength when the positioning device 62 receives radio waves from a positioning satellite is high and the aircraft position W1 can be located, the positioning result of the positioning device 62 includes the aircraft position W1 and the reception strength of the radio waves measured by the positioning device 62 (signal reception strength; RSSI). On the other hand, if the reception strength when the positioning device 62 receives radio waves from a positioning satellite is low and the aircraft position W1 cannot be located, the positioning result of the positioning device 62 does not include the aircraft position W1, but includes the reception strength of the radio waves measured by the positioning device 62. For this reason, the monitoring device 101 determines the positioning state when the positioning device 62 actually located the aircraft position W1, based on the reception strength of the radio waves included in the positioning result of the positioning device 62.

For example, as shown in FIG. 2, when the aircraft position W1 is in any of the work areas E1 to E3 where there are no obstructions or the like nearby, the monitoring device 101 confirms, based on the work area information, that the work area E1 to E3 is in an unobstructed environment, and determines that the positioning state of the positioning device 62 has high positioning sensitivity.
Furthermore, when the aircraft position W1 is in any of the work areas E1 to E3 that are not nearby any obstructions, the positioning device 62 can easily receive radio waves from the positioning satellites, and the radio wave reception strength of the positioning device 62 increases. At this time, the monitoring device 101 regards the radio wave reception strength included in the positioning result of the positioning device 62 as the positioning sensitivity, and determines that the positioning sensitivity is higher than a predetermined value G1 as the positioning state when the positioning device 62 actually performs positioning of the aircraft position W1, as shown in the period T1 in FIG. 4A.

If the positioning device 62 subsequently has difficulty receiving radio waves from the positioning satellites, for example because the work machine 1 is taken out of one of the work areas E1-E3 where it was working and into a location in an obstructed environment, the positioning sensitivity when the positioning device 62 actually performs positioning drops sharply to below the predetermined value G1, as shown at time P1 in FIG. 4A. In this way, when there is a predetermined change as described above in the actual positioning state of the work areas E1-E3 determined based on the positioning results 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-E3, the monitoring device 101 transmits to the mobile terminal 102 or the control device 60 a notification signal indicating that the work machine 1 has moved away from the work areas E1-E3 where it was working.

As another example, the monitoring device 101 may communicate with the control device 60 via the communication device 61 to confirm whether the work machine 1 is in an operating state, and then confirm the change in the positioning sensitivity when the positioning device 62 actually performs positioning of the machine body position W1. In this case, the monitoring device 101 may be configured to transmit a notification signal to the mobile terminal 102 or the control device 60 when the positioning sensitivity when the positioning device 62 actually performs positioning falls below a predetermined value G1, as shown in the period T2 from time point P1 onward in FIG. 4A, after confirming that the work machine 1 is in an operating state.

On the other hand, for example, as shown in FIG. 2, when the aircraft position W1 is in a work area E4 where there is an obstruction or the like nearby (covered by a building 72 that is an obstruction), the monitoring device 101 confirms that the work area E4 is in an obstructed environment based on the work area information, and determines that the positioning sensitivity of the positioning device 62 is low as the positioning state of the positioning device 62. Also, because the positioning device 62 has difficulty receiving radio waves from the positioning satellite, the reception strength of the radio waves by the positioning device 62 is low. At this time, based on the reception strength of the radio waves included in the positioning result of the positioning device 62, the monitoring device 101 determines that the positioning sensitivity is lower than a predetermined value G1 as shown in period T3 of FIG. 4B as the positioning state when the positioning device 62 actually performed positioning of the aircraft position W1.

After that, for example, when the work machine 1 is taken out of the work area E4 where it was working and into an unobstructed environment, making it easier for the positioning device 62 to receive radio waves from the positioning satellite, the positioning sensitivity when the positioning device 62 actually performs positioning increases rapidly and becomes equal to or greater than the predetermined value G1, as shown at time P2 in FIG. 4B. In this case, the monitoring device 101 transmits a notification signal to the mobile terminal 102 or the control device 60, indicating that the work machine 1 has left the work area E4 where it was working.

As another example, after the monitoring device 101 confirms that the work machine 1 is in an operating state, when the positioning sensitivity when the positioning device 62 actually performs positioning becomes equal to or greater than a predetermined value G1, as shown in the period T4 from time P2 in Figure 4B onwards, the monitoring device 101 may transmit an alarm signal to the mobile terminal 102 or the control device 60.
The monitoring system 200 for the work machine of the first embodiment described above includes a positioning device 62 that measures the position of the work machine 1 based on radio waves from a positioning satellite, an area setting unit 100 that sets work area information indicating whether the work areas E1 to E4 in which the work machine 1 performs work are in a shielded environment where the radio waves are easily blocked or in a non-shielded environment where the radio waves are not easily blocked, and a monitoring unit (monitoring device) 101 that determines the positioning state of the positioning device 62 based on the positioning result of the positioning device 62 and issues a notification when a predetermined change occurs in the determined positioning state for the work area information. According to this, if there is a predetermined change in the positioning state of the positioning device 62 determined based on the positioning result of the positioning device 62 for the positioning state of the positioning device 62 corresponding to the work area information indicating whether the work areas E1 to E4 are in a non-shielded environment or a shielded environment, a notification is issued, so that the user or the like can be quickly notified that the work machine 1 may have been stolen, and it is possible to prevent theft at the place where the work machine 1 is performed.

In the first embodiment, the positioning device 62 is mounted on the work machine 1, and the area setting unit 100 acquires the work content of the work machine 1 and map information of the surrounding area of the position of the work machine 1 measured by the positioning device 62, and sets work area information for the work areas E1 to E4 based on the work content and map information. This makes it possible to set work areas E1 to E4 that match the work content performed by the work machine 1 and the position of the work machine 1, and work area information indicating whether the work areas E1 to E4 are in a radio wave shielded environment or a non-shielded environment. In addition, the positioning state of the positioning device 62 is regarded as the positioning state of the work machine 1, and when a predetermined change occurs in the positioning state, such as when the work machine 1 is moved by a malicious third party, an alert is issued, thereby preventing the theft of the work machine 1.

In the first embodiment, when the work area E4 is in a shielded environment, the monitoring unit 101 determines that the positioning sensitivity is low as the positioning state, and issues an alert when the positioning sensitivity when the positioning device 62 performs positioning changes from less than the predetermined value G1 to equal to or greater than the predetermined value G1. According to this, for example, when the work machine 1 is placed near a shield such as a building, the positioning sensitivity of the positioning device 62 becomes low. In this situation, when the positioning sensitivity of the positioning device 62 changes from less than the predetermined value G1 to equal to or greater than the predetermined value G1, it can be determined that the work machine 1 has been moved from a shielded environment near a shield such as a building to another location, and it becomes possible to prevent theft of the work machine 1 in a shielded environment.

In the first embodiment, when the work areas E1 to E3 are unobstructed environments, the monitoring unit 101 determines that the positioning sensitivity is high as the positioning state, and issues a notification when the positioning sensitivity when the positioning device 62 performs positioning falls from a predetermined value G1 or more to less than the predetermined value G1. According to this, when the work machine 1 is placed in a surrounding unobstructed environment such as a road or a river, for example, the positioning sensitivity of the positioning device 62 becomes high. In this situation, when the positioning sensitivity of the positioning device 62 falls from a predetermined value G1 or more to less than the predetermined value G1, it can be determined that the work machine 1 has been moved from the surrounding unobstructed environment such as a road or a river to another location, and it becomes possible to prevent theft of the work machine 1 in an unobstructed environment.

In the first embodiment, the monitoring unit 101 issues a notification when the working machine 1 is driven and the positioning sensitivity when the positioning device 62 performs positioning falls from a predetermined value G1 or more to a value less than the predetermined value G1. This makes it possible to quickly grasp that the working machine 1 is driven and traveling and has left the work area.
In the first embodiment, the area setting unit 100 acquires map information indicating whether or not there is an obstruction that blocks radio waves in the work areas E1 to E4, and the work content to be performed by the work machine 1, and if an obstruction is present in the work area and the work content is related to construction in a blocked environment, sets the work area information as if the work area is in a blocked environment. This makes it possible to easily set a work area corresponding to construction to be performed in a blocked environment and work area information indicating that environment.

In addition, in the first embodiment, the area setting unit 100 acquires map information indicating whether or not there are any obstructions that block radio waves in the work areas E1 to E4, and the work content to be performed by the work machine 1, and if there are no obstructions in the work area and the work content is related to construction in an unobstructed environment, sets work area information indicating that the work area is in an unobstructed environment. This makes it possible to easily set a work area corresponding to construction to be performed in an unobstructed environment and work area information indicating that environment.

Furthermore, in the first embodiment, the monitoring unit 101 associates the position of the work machine 1 measured by the positioning device 62 with map information, and does not issue an alert when there is a position associated with a place where the work machine 1 cannot move, which is indicated in the map information. According to this, by not issuing an alert when the position (machine position) W1 of the work machine 1 measured by the positioning device 62 is in a place such as a river where the work machine 1 cannot move, it is possible to suppress inadvertent alerts due to positioning errors of the positioning device 62.
[Second embodiment]
In the second embodiment, the monitoring device 101 issues a notification (warning) based on the degree of fluctuation indicating the degree to which the machine position W1 measured by the positioning device 62 fluctuates within and outside the work areas E1 to E4. In the second embodiment, a description of the same configuration as in the first embodiment will be omitted.

The monitoring device 101 acquires the machine position W1 measured by the positioning device 62 of the work machine 1 from the communication device 61, and determines whether or not to send an alarm signal to the mobile terminal 102 or the control device 60 of the work machine 1 based on the machine position W1.
Fig. 6 shows the change in the machine body position W1 in each of the work areas E1 to E4. The machine body position W1 measured at a predetermined cycle by the positioning device 62 may fluctuate so as to go back and forth between the inside and outside of the work areas E1 to E4, as shown in Fig. 6. When monitoring the work machine 1, the monitoring device 101 calculates the degree of fluctuation of the machine body position W1 between the inside and outside of the work areas E1 to E4.

For example, the monitoring device 101 determines the traveling direction (work machine orientation) of the work machine 1 from multiple machine positions W1i (i: machine position measurement order (i = 1, 2, 3, 4, ...)) measured at a predetermined cycle as the degree of fluctuation of the machine position W1. When the monitoring device 101 acquires machine positions W11, W12, W13, and W14 shown in FIG. 7 in the order of positioning, the vector from machine position W11 to machine position W12 is set as the traveling direction X1 of the work machine 1, the vector from machine position W12 to machine position W13 is set as the traveling direction X2 of the work machine 1, and the vector from machine position W13 to machine position W14 is set as the traveling direction X3 of the work machine 1.

The monitoring device 101 refers to the travel directions X1 to X3, and when it confirms that the directions X1 to X3 are continuously changing and different from each other, it determines that the degree of fluctuation is equal to or greater than a predetermined value. In other words, when the directions X1 to X3 reverse direction in a short time or the directions X1 to X3 continue to differ, the monitoring device 101 determines that the degree of fluctuation is large and equal to or greater than a predetermined value because the aircraft position W1 is located inside and outside the work area E2 in a short time. In this way, when the degree of fluctuation is equal to or greater than a predetermined value, even if the monitoring device 101 confirms that the aircraft position W1i is located outside the work area E2, it does not transmit a notification (warning) signal to the mobile terminal 102 or the control device 60 (does not issue a notification).

On the other hand, when the monitoring device 101 acquires the machine positions W110-W115 in the order of positioning, it determines the vector pointing toward the machine positions 110-W115 in the order of positioning as the traveling directions X10-X14 of the work machine 1, in the same manner as in the method described above. When the monitoring device 101 checks the traveling directions X10-X14 of the work machine 1 and confirms that the traveling directions X10 and X11 are different in orientation but the traveling directions X12-X14 are consecutive and the same orientation, it determines that 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 transmits a notification signal (performs a notification) to the mobile terminal 102 or the control device 60 when it confirms that the machine position W1i is located outside the work area E2.

As another example, when the monitoring device 101 is monitoring the work machine 1, it may check whether the work machine 1 is in a driven state, and if the work machine 1 is not in a driven state and the state in which the traveling direction of the work machine 1 does not change by more than a predetermined angle continues for more than a certain period of time, it may transmit a notification signal to the mobile terminal 102 or the control device 60. Note that in other cases, the monitoring device 101 does not transmit a notification signal.

In addition, when the monitoring device 101 refers to the travel direction X10-X14 of the work machine 1, if the vector indicating the travel direction X10-X14 of the work machine 1 continues for a certain period of time or more and points in a direction away from the work areas E1-E4, the monitoring device 101 may transmit a notification signal to the mobile terminal 102 or the control device 60. In any other case, the monitoring device 101 does not transmit a notification signal.

The monitoring device 101 may also be configured to transmit a notification signal to the mobile terminal 102 or the control device 60 when the machine position W1i measured by the positioning device 62 is a predetermined distance or more away from the work areas E1 to E4. In this case, the predetermined distance may be set to a distance that can reliably detect that the work machine 1 is actually located outside the work areas E1 to E4, for example, depending on the positioning accuracy of the positioning device 62. In any other case, the monitoring device 101 does not transmit a notification signal.

Furthermore, the monitoring device 101 may determine the movement speed of the work machine 1 based on the amount of change (movement distance) of the machine position W1i per unit time, and transmit a notification signal to the mobile terminal 102 or the control device 60 when the movement speed is equal to or greater than a predetermined value (for example, when the movement speed of the work machine 1 exceeds the maximum speed of the work machine 1). The predetermined value in this case may be set to, for example, a value equal to or greater than the maximum value of the self-propelled movement speed of the work machine 1. In other cases, the monitoring device 101 does not transmit a notification signal.

The monitoring system 200 for the work machine of the second embodiment described above includes a positioning device 62 that determines the position of the work machine 1 based on a signal (radio wave) from a positioning satellite, an area setting unit 100 that determines the work area E1 to E4 in which the work machine 1 performs work, and a monitoring unit (monitoring device) 101 that issues an alert when the position W1i of the work machine 1 determined by the positioning device 62 is outside the work area E1 to E4 and the degree of fluctuation of the position (machine position) W1i of the work machine 1 determined by the positioning device 62 between inside and outside the work area E1 to E4 is less than a predetermined value, and does not issue an alert when the degree of fluctuation is equal to or greater than the predetermined value, even if the position W1i of the work machine 1 determined by the positioning device 62 is outside the work area E1 to E4.

For example, even if the work machine 1 is located 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 machine position W1i may fluctuate due to a positioning error of the positioning device 62 and be located outside the work areas E1 to E4. Even in such a case, the above configuration allows the monitoring unit 101 to determine that the degree of fluctuation is equal to or greater than a predetermined value, and to suppress inadvertent notification. On the other hand, if the work machine 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 monitoring unit 101 can determine that the movement of the machine position W1i is not due to fluctuation caused by a positioning error or the like, and can notify that the work machine 1 is in a state where it is likely to be stolen. In other words, theft can be prevented in places where the work machine 1 is working.

In the second embodiment, the monitoring unit 101 determines the traveling direction of the work machine 1 based on the multiple positions W1i of the work machine 1 measured by the positioning device 62, and issues an alert when the work machine 1 is not being driven and the traveling direction of the work machine 1 does not change by a predetermined angle or more for a certain period of time. According to this, by determining the traveling direction of the work machine 1, the monitoring unit 101 can easily determine whether the work machine 1 is likely to be stolen from the work areas E1 to E4. In other words, when the work machine 1 is not being driven, the machine body position W1i remains near the work areas E1 to E4, so when the traveling direction of the work machine 1 is determined based on the machine body position W1i, the traveling direction of the work machine 1 does not change by a predetermined angle or more for a certain period of time due to fluctuations. This makes it possible to suppress careless alerts. On the other hand, in a situation where the working machine 1 is loaded onto a transport vehicle such as a truck and is about to be stolen, if the traveling direction of the working machine 1 is determined based on the machine body position W1i, the machine body position W1i may move as the transport vehicle moves, and the traveling direction of the working machine 1 may not change by more than a predetermined angle for a certain period of time. For this reason, it is possible to notify that the working machine 1 is in a state where it is about to be stolen.

In the second embodiment, the monitoring unit 101 determines the direction of travel of the work machine 1 based on the multiple positions W1i of the work machine 1 measured by the positioning device 62, and issues an alert when the direction of travel of the work machine 1 continues to face away from the work areas E1 to E4 for a certain period of time or more. This makes it possible to alert the user that the work machine 1 is on a transport vehicle and is in a state where it may be stolen, attracting the attention of the user, etc., and preventing theft in places where the work machine 1 is being used.

In the second embodiment, the monitoring unit 101 determines the movement speed of the work machine 1 based on the multiple positions W1i of the work machine 1 measured by the positioning device 62, and issues an alert when the movement speed is equal to or greater than a predetermined value. This also makes it possible to notify the user that the work machine 1 is placed on a transport vehicle and is in a state where it may be stolen, attracting the attention of the user, etc., and preventing theft in places where the work machine 1 is being used.

Furthermore, in the second embodiment, the monitoring unit 101 issues an alert when the position of the work machine 1 measured by the positioning device 62 moves away from the work areas E1 to E4 by a predetermined distance or more. This makes it possible to alert the user that the work machine 1 is about to be stolen and taken away from the work areas E1 to E4, thereby attracting the attention of the user and preventing theft in places where the work machine 1 is performed.
The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims.

1: Work machine 62: Positioning device 100: Area setting unit 101: Monitoring device (monitoring unit)
200: Work machine monitoring system E1-E4: Work area W1: Machine position W11-W14: Machine position W110-W115: Machine position W1i: Machine position X1-X3, X10-X14: Direction of travel

Claims (5)

a positioning device that determines the position of the 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;
a monitoring unit that issues a notification when the position of the work machine measured by the positioning device is outside the work area and a fluctuation degree of the position of the work machine measured by the positioning device fluctuating inside and outside the work area is less than a predetermined value, and does not issue a notification when the fluctuation degree is equal to or greater than the predetermined value even if the position of the work machine measured by the positioning device is outside the work area ,
The monitoring unit determines the direction of travel of the work machine based on multiple positions of the work machine determined by the positioning device, and issues an alert when the work machine is not in operation and the direction of travel of the work machine does not change by more than a predetermined angle for a certain period of time or more. a positioning device that determines the position of the 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;
a monitoring unit that issues an alert to prevent theft when the position of the work machine measured by the positioning device is outside the work area and the degree of fluctuation of the position of the work machine measured by the positioning device inside and outside the work area due to a positioning error of the positioning device is less than a predetermined value, and does not issue the alert when the degree of fluctuation is equal to or greater than the predetermined value even if the position of the work machine measured by the positioning device is outside the work area;
A monitoring system for a work machine comprising: The monitoring system for a work machine according to claim 1 or 2, wherein the monitoring unit determines the direction of travel of the work machine based on the multiple positions of the work machine measured by the positioning device, and issues an alert when the direction of travel of the work machine continues to face away from the work area for a certain period of time or more. The monitoring system for a work machine according to any one of claims 1 to 3, wherein the monitoring unit determines the movement speed of the work machine based on the multiple positions of the work machine measured by the positioning device, and issues an alert when the movement speed is equal to or greater than a predetermined value. The monitoring system for a work machine according to any one of claims 1 to 4, wherein the monitoring unit issues an alert when the position of the work machine measured by the positioning device is a predetermined distance or more away from the work area.

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