JP7756494B2 - Excavators, excavator management systems - Google Patents

Description

The present invention relates to an excavator and an excavator management system.

Construction machinery that has the ability to switch between on-board control and radio control has been known for some time.

Patent No. 3375092

The above-mentioned conventional technology describes switching between control methods, but does not describe which control method should be prioritized depending on the situation. As a result, with conventional technology, there is a possibility that the construction machine may be controlled in a way that is not the control method that should be prioritized.

Therefore, in light of the above circumstances, the aim is to improve safety.

A shovel according to an embodiment of the present invention includes a driver's cab having an operation device provided therein, and a control device that, during control of an operation element based on operation of an external operation device provided outside the driver's cab, receives a switch instruction to switch to control of the operation element based on operation of the operation device, and switches control of the operation element to control based on operation of the operation device, wherein the switch instruction includes a switch instruction generated based on operation of the external operation device and a switch instruction generated based on operation of the operation device, and when the switch instruction is generated based on operation of the operation device, the control device transmits a notification indicating the switch, which includes a request for change to control of the operation element based on operation of the external operation device, to an external control device that controls the external operation device, and when the switch instruction is generated based on operation of the external operation device, receives a notification indicating the switch, which includes a request for change to control of the operation element based on operation of the operation device, from the external control device that controls the external operation device.

Also, there is provided a management system for an shovel including a shovel and an external operation device provided outside the shovel, wherein the shovel has a driver's cab with an operation device provided therein, and a control device that, during control of an operation element based on an operation signal received from the external operation device, receives a switch instruction to control the operation element based on the operation of the operation device and switches the control of the operation element to control based on the operation of the operation device, the switch instruction including a switch instruction generated based on the operation of the external operation device and a switch instruction generated based on the operation of the operation device, when the switch instruction is generated based on the operation of the operation device, the control device transmits a notification indicating the switch including a request for change to control of the operation element based on the operation of the external operation device to an external control device that controls the external operation device, and when the switch instruction is generated based on the operation of the external operation device, the control device receives a notification indicating the switch including a request for change to control of the operation element based on the operation of the operation device from the external control device that controls the external operation device.

Safety can be improved.

1 is a diagram showing a shovel according to an embodiment of the present invention. FIG. FIG. 2 is a block diagram showing an example of the configuration of a drive system of a shovel. FIG. 2 is a diagram illustrating an example of the configuration of an electrical system mounted on the excavator. FIG. 2 is a plan view of the area around the driver's seat in the cabin seen from above. FIG. 1 is a first diagram illustrating an example of a remote control room. FIG. 10 is a second diagram illustrating an example of a remote control room. 1 is a first flowchart illustrating the operation of a shovel. 10 is a second flowchart illustrating the operation of the shovel. FIG. 10 is a diagram illustrating another example of a management system for an excavator.

Non-limiting exemplary embodiments of the present invention will now be described with reference to the accompanying drawings.

Figure 1 shows an excavator according to an embodiment of the present invention. An upper rotating body 3 is rotatably mounted on a lower traveling body 1 of the excavator 100 via a rotating mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.

The boom 4, arm 5, and bucket 6 make up an excavation attachment, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket link. A swing angular velocity sensor S4 is attached to the upper swing body 3.

The boom angle sensor S1 is one of the posture detection sensors and is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is a stroke sensor that detects the stroke amount of the boom cylinder 7, and derives the rotation angle of the boom 4 around the boom foot pin that connects the upper rotating body 3 and the boom 4 based on the stroke amount of the boom cylinder 7.

The arm angle sensor S2 is one of the posture detection sensors and is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is a stroke sensor that detects the stroke amount of the arm cylinder 8, and derives the rotation angle of the arm 5 around the connecting pin that connects the boom 4 and arm 5 based on the stroke amount of the arm cylinder 8.

The bucket angle sensor S3 is one of the posture detection sensors and is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is a stroke sensor that detects the stroke amount of the bucket cylinder 9, and derives the rotation angle of the bucket 6 around the connecting pin that connects the arm 5 and bucket 6 based on the stroke amount of the bucket cylinder 9.

Note that the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may each be a rotary encoder, acceleration sensor, potentiometer (variable resistor), tilt sensor, inertial measurement unit, or the like. The inertial measurement unit may be configured, for example, as a combination of an acceleration sensor and a gyro sensor.

The rotation angular velocity sensor S4 is configured to detect the rotation angular velocity of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S4 is a gyro sensor. The rotation angular velocity sensor S4 may also be configured to calculate the rotation angle based on the rotation angular velocity. The rotation angular velocity sensor S4 may also be configured with other sensors such as a rotary encoder.

The upper rotating body 3 is equipped with a cabin 10 serving as a driver's compartment, an engine 11, a positioning device 18, a sound collection device A1, an imaging device C1, a communication device T1, and the like. The cabin 10 also houses a controller 30. The cabin 10 also houses a driver's seat and operating devices, etc. However, the excavator 100 may also be an unmanned excavator in which the cabin 10 is omitted.

The engine 11 is the driving source of the excavator 100. In this embodiment, the engine 11 is a diesel engine. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

The positioning device 18 is configured to measure the position of the excavator 100. In this embodiment, the positioning device 18 is a GNSS compass and is configured to measure the position and orientation of the upper rotating body 3.

The sound collection device A1 is configured to collect sounds generated around the excavator 100. In this embodiment, the sound collection device A1 is a microphone attached to the upper rotating body 3.

The imaging device C1 is configured to capture images of the area around the excavator 100. In this embodiment, the imaging device C1 includes a rear camera C1B attached to the rear end of the upper surface of the upper rotating body 3, a front camera C1F attached to the front end of the upper surface of the cabin 10, a left camera C1L attached to the left end of the upper surface of the upper rotating body 3, and a right camera C1R attached to the right end of the upper surface of the upper rotating body 3. The imaging device C1 may be a spherical camera installed at a predetermined position within the cabin 10. The predetermined position is, for example, a position corresponding to the eye position of an operator seated in a driver's seat installed within the cabin 10.

The communication device T1 is configured to control communication with equipment external to the shovel 100. In this embodiment, the communication device T1 is configured to control wireless communication between the communication device T1 and equipment external to the shovel 100 via a wireless communication network.

Specifically, the excavator 100 of this embodiment may communicate with a remote control room RC (described later) via the communication device T1, and operate in response to operation signals received by the communication device T1 from the remote control room RC.

The controller 30 is a computing device that performs various calculations. In this embodiment, the controller 30 is configured as a microcomputer including a CPU and memory. The various functions of the controller 30 are realized when the CPU executes programs stored in the memory.

Figure 2 is a block diagram showing an example of the configuration of a drive system for an excavator. In Figure 2, mechanical power transmission lines are indicated by double lines, hydraulic oil lines by thick solid lines, pilot lines by dashed lines, and electrical control lines by dotted lines.

The drive system of the excavator 100 is composed of an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, a controller 30, and a solenoid valve unit 45. The engine 11 is drive-controlled by an engine control unit 74.

The main pump 14 supplies hydraulic oil to the control valve unit 17 via a hydraulic oil line 16. In this embodiment, the main pump 14 is a swash plate-type variable displacement hydraulic pump.

The regulator 13 is configured to control the discharge volume of the main pump 14. In this embodiment, the regulator 13 is configured to adjust the swash plate tilt angle of the main pump 14 in response to the discharge pressure of the main pump 14 or a control signal from the controller 30. The discharge volume (displacement volume) of the main pump 14 per rotation is controlled by the regulator 13.

The pilot pump 15 is configured to supply hydraulic oil to various hydraulic control devices via a pilot line 25. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the functions previously performed by the pilot pump 15 may be performed by the main pump 14. That is, the main pump 14 may have the function of supplying hydraulic oil to the solenoid valve unit 45, etc. via a throttle or the like, in addition to the function of supplying hydraulic oil to the control valve unit 17.

The control valve unit 17 is configured to selectively supply hydraulic oil received from the main pump 14 to one or more hydraulic actuators. In this embodiment, the control valve unit 17 includes multiple control valves corresponding to the multiple hydraulic actuators. The control valve unit 17 is also configured to selectively supply hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators. The hydraulic actuators include, for example, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-side traveling hydraulic motor 1L, a right-side traveling hydraulic motor 1R, and a swing hydraulic motor 2A.

The controller 30 is configured to control the solenoid valve unit 45 based on an operation signal received through the communication device T1. In this embodiment, the operation signal may be transmitted from a remote control room RC. Alternatively, the operation signal may be generated by an operation device provided within the cabin 10. Details of the remote control room RC and the operation device provided within the cabin 10 will be described later.

The solenoid valve unit 45 includes multiple solenoid valves arranged in each pilot line 25 connecting the pilot pump 15 and the pilot port of each control valve in the control valve unit 17.

In this embodiment, the controller 30 can control the pilot pressure acting on the pilot port of each control valve by individually controlling the opening area of each of the multiple solenoid valves. Therefore, the controller 30 can control the flow rate of hydraulic oil flowing into each hydraulic actuator and the flow rate of hydraulic oil flowing out of each hydraulic actuator, and ultimately the movement of each hydraulic actuator.

In this way, the controller 30 can raise and lower the boom 4, open and close the arm 5, open and close the bucket 6, rotate the upper rotating body 3, and move the lower traveling body 1 in response to operation signals from an external device such as a remote control room.

Furthermore, the controller 30 of this embodiment switches between control of operating elements (hydraulic actuators) based on operation signals generated by an operating device installed in the cabin 10 and control of operating elements (hydraulic actuators) based on operation signals received from the remote control room RC, in response to instructions from the operator.

The functions of the controller 30 of this embodiment are described below. The controller 30 of this embodiment has a switching unit 31, an autonomous control unit 32, and a stop command generation unit 33. Each of these functions is realized by the CPU reading and executing a program stored in the controller 30.

The switching unit 31 switches the operation signal used to control the hydraulic actuator in response to the operation of an operating device provided inside the cabin 10 for issuing switching instructions.

Specifically, in response to operations within the cabin 10, the switching unit 31 switches the operation signal used to control the operating elements from an operation signal received from the remote control room RC to an operation signal generated by an operation device installed within the cabin 10. In other words, during remote operation, the switching unit 31 receives an instruction to switch to operation within the cabin 10 and switches control of the operating elements to control based on operation within the cabin 10.

In addition, the switching unit 31 switches the operation signal used to control the operating elements from the operation signal generated by the autonomous control unit 32 to the operation signal received from the remote control room RC, in response to operations within the cabin 10. In other words, upon receiving an instruction to switch to remote control during autonomous operation, the switching unit 31 switches the control of the operating elements to control based on remote control.

The autonomous control unit 32 autonomously makes various decisions, and based on the results of those decisions, autonomously determines the operation content of the operating element (hydraulic actuator) that is the target of the autonomous operation, and generates an operation signal according to the determined operation content, thereby realizing the autonomous operation function of the excavator 100.

The stop command generation unit 33 generates stop commands for the operating elements in response to the operation of an operating device provided inside the cabin 10 for issuing stop commands, and transmits the stop commands to each operating element.

Details of the operation of the controller 30 using these components will be described later.

Next, with reference to Figure 3, we will explain the configuration of the management system SYS including the shovel 100 and the drive system of the shovel 100. Figure 3 is a diagram showing an example configuration of an electrical system installed in the shovel.

In the example of FIG. 3, the shovel 100 is included in a management system SYS for the shovel 100. The management system SYS includes the shovel 100, a management device 90 that communicates with the shovel 100, and a remote control room RC. Note that the number of shovels 100 included in the management system SYS may be any number.

The drive system of the excavator 100 mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a controller 30, an engine control unit (ECU) 74, an engine speed adjustment dial 75, an operating valve 110, etc.

The engine 11 is the driving source of the excavator 100 and is, for example, a diesel engine that operates to maintain a predetermined rotation speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

The main pump 14 is a hydraulic pump that supplies hydraulic oil to the control valve unit 17 via a hydraulic oil line 16, and is, for example, a swash plate-type variable displacement hydraulic pump.

The pilot pump 15 is a hydraulic pump that supplies hydraulic oil to various hydraulic control devices via the pilot line 25, and is, for example, a fixed displacement hydraulic pump.

The control valve unit 17 is a hydraulic control valve that controls the hydraulic system in the excavator 100. The control valve unit 17 selectively supplies hydraulic oil supplied from the main pump 14 to, for example, one or more of the boom cylinder 7, arm cylinder 8, bucket cylinder 9, traveling hydraulic motor (right) 1A, traveling hydraulic motor (left) 1B, and swing hydraulic motor 2A. In the following description, the boom cylinder 7, arm cylinder 8, bucket cylinder 9, traveling hydraulic motor (right) 1A, traveling hydraulic motor (left) 1B, and swing hydraulic motor 2A are collectively referred to as "hydraulic actuators."

The operating device 26 is a device used by the operator to operate the hydraulic actuators. It supplies hydraulic oil from the pilot pump 15 via the pilot line 25 to the pilot ports of the flow control valves corresponding to each hydraulic actuator. The pressure of the hydraulic oil supplied to each pilot port corresponds to the direction and amount of operation of the operating levers 26A-26D corresponding to each hydraulic actuator. The operating device 26 also includes operating switches 26a, 26b, and 26c, which will be described later.

The ECU 74 is a device that controls the engine 11. For example, based on a command value from the controller 30, the ECU 74 outputs to the engine 11 the amount of fuel injection and other information required to control the engine 11 speed, in accordance with the engine speed (mode) set by the operator using the engine speed adjustment dial 75.

The engine speed adjustment dial 75 is a dial for adjusting the engine speed, and in this embodiment of the present invention, the engine speed can be switched between four levels. For example, the engine speed adjustment dial 75 allows the engine speed to be switched between four levels: SP mode, H mode, A mode, and IDLE mode. Note that Figure 3 shows the state when H mode is selected with the engine speed adjustment dial 75.

SP mode is a work mode selected when priority is given to workload, and uses the highest engine speed. H mode is a work mode selected when priority is given to workload and fuel economy, and uses the second highest engine speed. A mode is a work mode selected when priority is given to fuel economy while operating the excavator 100 with low noise, and uses the third highest engine speed. IDLE mode is a work mode selected when the engine is to be kept idling, and uses the lowest engine speed. The engine 11 is then constantly controlled at the engine speed for the work mode set by the engine speed adjustment dial 75.

Operating valve 110 is a valve used by controller 30 to operate the hydraulic actuators. It supplies hydraulic oil from pilot pump 15 via pilot line 25 to the pilot ports of the flow control valves corresponding to each hydraulic actuator. The pressure of the hydraulic oil supplied to each pilot port is set according to the control signal from controller 30. Operating valve 110 is provided on at least one of the rod side or bottom side of the cylinders of the boom 4, arm 5, and bucket 6 that make up the attachment, corresponding to the specified operation. It may also be provided on both the rod side and bottom side.

Furthermore, the right traveling hydraulic motor 1A, the left traveling hydraulic motor 1B, and the swing hydraulic motor 2A are provided with a pump on at least one of the discharge side and the suction side. They may also be provided on both the discharge side and the suction side.

In this case, the specified operation can be performed even when the operating device 26 is in the neutral position. Also, a pressure reducing valve located between the operating device 26 and the control valve unit 17 may function as the operating valve 110. In this case, a stable operation command can be given to the control valve unit 17 by sending a pressure reducing command from the controller 30 to the pressure reducing valve when the operating device 26 is fully tilted.

The shovel 100 is also provided with a display device D1. The display device D1 is connected to the controller 30 via a communication network such as a CAN (Controller Area Network) or a LIN (Local Interconnect Network). The display device D1 may also be connected to the controller 30 via a dedicated line.

The display device D1 also includes a conversion processing unit D1a that generates images to be displayed on the image display unit D11. The conversion processing unit D1a generates camera images to be displayed on the image display unit D11 based on the output of the imaging device C1. To this end, the imaging device C1 is connected to the display device D1 via, for example, a dedicated line. The conversion processing unit D1a also generates images to be displayed on the image display unit D11 based on the output of the controller 30.

The imaging device C1 includes a forward monitoring camera C1F, a left side monitoring camera C1L, a rear monitoring camera C1B, and a right side monitoring camera C1R.

The forward monitoring camera C1F is mounted on the front side of the cabin 10, for example, on the ceiling of the cabin 10, and captures images of the area in front of the excavator 100 and the operation of the boom 4, arm 5, and bucket 6. The left side monitoring camera C1L is mounted on the left side of the top of the cover 3a of the upper rotating body 3, for example, and captures images of the area to the left of the excavator 100.

The rear monitoring camera C1B is installed on the rear side of the upper rotating body 3, for example, behind the top of the cover of the upper rotating body 3, and captures images behind the excavator 100. The right side monitoring camera C1R is installed, for example, on the right side of the top of the cover of the upper rotating body 3, and captures images to the right of the excavator 100. The front monitoring camera C1F, left side monitoring camera C1L, rear monitoring camera C1B, and right side monitoring camera C1R are digital cameras with imaging elements such as CCD or CMOS, and each transmits the images it captures to a display device D1 installed inside the cabin 10.

Note that the conversion processing unit D1a may be realized as a function of the controller 30, rather than as a function of the display device D1. In this case, the imaging device C1 is connected to the controller 30, not the display device D1.

The display device D1 also includes a switch panel as an input unit D12. The switch panel is a panel that includes various hardware switches. For example, the switch panel includes a light switch, a wiper switch, and a window washer switch as hardware buttons.

The display device D1 operates by receiving power from the storage battery 70. The storage battery 70 is charged with power generated by the alternator 11a (generator) of the engine 11. The power from the storage battery 70 is also supplied to the controller 30, the display device D1, and other electrical components 72 of the excavator 100. The starter 11b of the engine 11 is driven by power from the storage battery 70 to start the engine 11.

The engine 11 is controlled by the ECU 74. The ECU 74 constantly transmits various data indicating the status of the engine 11 (for example, data indicating the coolant temperature detected by the water temperature sensor 11c) to the controller 30 via a communication network such as a CAN.

Therefore, the controller 30 can store this data in the temporary memory unit 30a and transmit it to the display device D1 when necessary.

In the following description, various data indicating the engine status that is transmitted from the ECU 74 to the controller 30 via the CAN may be referred to as CAN data. Therefore, data indicating the coolant temperature detected by the water temperature sensor 11c is included in the CAN data. CAN data also includes command values input from the controller 30 to the ECU 74, the engine 11 rotation speed, the fuel injection amount (engine load factor), etc.

In this embodiment, the ECU 74 may be one of the status detection sensors for detecting the status of the engine 11. In this case, the CAN data is included in the detection value (output data) of the status detection sensor. In the following description, the detection value of the status detection sensor will also include the CAN data.

In addition, various data are supplied to the controller 30 as follows and stored in the temporary storage unit 30a of the controller 30. The stored data can be transmitted to the display device D1 when necessary.

First, data indicating the swash plate angle is sent to the controller 30 from the regulator 14a of the main pump 14, which is a variable displacement hydraulic pump. Data indicating the discharge pressure of the main pump 14 is also sent to the controller 30 from the discharge pressure sensor 14b. An oil temperature sensor 14c is installed in the pipeline between the main pump 14 and a tank that stores the hydraulic oil drawn into the main pump 14, and data indicating the temperature of the hydraulic oil flowing through that pipeline is sent from the oil temperature sensor 14c to the controller 30.

In addition, when the operating levers 26A to 26C are operated, the pilot pressure sent to the control valve unit 17 is detected by hydraulic sensors 15a and 15b, and data indicating the detected pilot pressure is sent to the controller 30.

In addition, data indicating the engine speed setting status is constantly sent from the engine speed adjustment dial 75 to the controller 30.

The shovel 100 is also capable of communicating with the management device 90 via the communication network 93. The shovel 100 is also capable of communicating with the remote control room RC via the communication network 93. The shovel 100 may also communicate with the remote control room RC via the management device 90.

The management device 90 is, for example, a computer installed at the manufacturer or service center of the shovel 100, allowing specialized staff (designers, etc.) to remotely grasp the status of the shovel 100. The controller 30 can accumulate detection value data from various status detection sensors included in the shovel 100 in temporary storage unit 30a, etc., and transmit this data to the management device 90. In this way, data acquired during specified operation is transmitted to the management device 90 as diagnostic data.

The controller 30 may be able to communicate with the management device 90 and remote control room RC via the communication network 93 using the communication device T1. The specialist staff analyzes the detection value data from the various condition detection sensors that is sent from the excavator 100 to the management device 90 and received by the receiving unit 90a of the management device 90, and determines the condition of the excavator 100.

For example, the specialist staff may diagnose whether there is a malfunction or breakdown, and if there is a malfunction, identify the location of the malfunction and the cause of the malfunction. This allows the parts necessary to repair the excavator 100 to be brought in advance, thereby reducing the time spent on maintenance and repairs.

The management device 90 also has a processing unit 90b. A predetermined program may be input into the processing unit 90b, which may perform calculations on the detected values from the various condition detection sensors transmitted from the shovel 100 by the program. For example, the processing unit 90b may include an input diagnostic program, and may perform fault diagnosis or fault prediction using the detected values (including CAN data) from the condition detection sensors transmitted from the shovel 100 by the diagnostic program. The results of calculations performed by the processing unit 90b may be displayed on the display unit 90c of the management device 90.

The management device 90 may be a device that can communicate indirectly with the excavator 100 via a server or the like provided by the manufacturer or service center of the excavator 100. The management device 90 may also be a permanent computer installed at the manufacturer or service center, or a portable computer that can be carried by the worker, such as a multi-function portable information terminal such as a smartphone or tablet terminal.

If the management device 90 is portable, it can be carried to the inspection and repair site, allowing inspection and repair work to be carried out while viewing the display (display unit 90c) of the management device 90, thereby improving the efficiency of inspection and repair work.

Also, when using a mobile terminal, communication with the shovel may be performed directly via short-range communication such as Bluetooth (registered trademark) or infrared communication, without going through a communications network. In this case, an instruction to perform the prescribed operation is sent from the mobile terminal to the shovel by operating the mobile terminal's screen or voice input. In other words, an instruction is sent from the mobile terminal to the shovel to associate the detection value from the status detection sensor during the execution of the prescribed operation with the prescribed operation and store it. Then, by sending the operation results of the prescribed operation from the shovel to the mobile terminal, the operation results of the prescribed operation can be confirmed on the mobile terminal's screen.

The various status detection sensors included in the excavator 100 are sensors that detect the operation of each part of the excavator 100. The various status detection sensors include a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a vehicle body inclination sensor S4, a swing angle sensor S5, a traveling rotation sensor (right) S6A, and a traveling rotation sensor (left) S6B.

The boom angle sensor S1 is mounted on the support (joint) of the boom 4 on the upper rotating body 3 and detects the angle (boom angle) of the boom 4 from the horizontal plane. Any angle sensor, such as a rotary potentiometer, may be used as the boom angle sensor S1, and the same applies to the arm angle sensor S2 and bucket angle sensor S3 described below. The detected boom angle is sent to the controller 30.

The arm angle sensor S2 is provided at the support (joint) of the arm 5 on the boom 4 and detects the angle (arm angle) of the arm 5 relative to the boom 4. The detected arm angle is transmitted to the controller 30.

The bucket angle sensor S3 is provided at the support (joint) of the bucket 6 on the arm 5 and detects the angle of the bucket 6 relative to the arm 5 (bucket angle). The detected bucket angle is sent to the controller 30.

The vehicle body inclination sensor S4 is a sensor that detects the inclination angle of the excavator 100 in two axial directions (front-to-back and left-to-right) relative to a horizontal plane. The vehicle body inclination sensor S4 may be, for example, a liquid-filled capacitance inclination sensor or any other inclination sensor. The detected inclination angle is transmitted to the controller 30.

The rotation angle sensor S5 detects the rotation angle of the upper rotating body 3 caused by the rotation mechanism 2. Any angle sensor, such as a rotary encoder, may be used as the rotation angle sensor S5. The detected rotation angle is transmitted to the controller 30.

The travel rotation sensor (right) S6A and the travel rotation sensor (left) S6B detect the rotation speeds of the travel hydraulic motor (right) 1A and the travel hydraulic motor (left) 1B, respectively. Any rotation sensor, such as a magnetic type, may be used for the travel rotation sensor (right) S6A and the travel rotation sensor (left) S6B. The detected rotation speeds are sent to the controller 30.

As mentioned above, the various condition detection sensors included in the excavator 100 include the regulator 14a, discharge pressure sensor 14b, oil temperature sensor 14c, oil pressure sensors 15a and 15b, engine speed adjustment dial 75, imaging device C1, ECU 74, etc. The detected values detected by these sensors are also transmitted to the controller 30.

Therefore, the detection values of the status detection sensor in this embodiment include operation information indicating the operation of each part of the shovel 100 and information indicating the status of the shovel 100's engine.

Data transmitted to the controller 30 from the various condition detection sensors included in the excavator 100 described above is stored in the temporary memory unit 30a of the controller 30.

The remote control room RC in this embodiment may be located, for example, in the same location (facility) where the management device 90 is installed. The remote control room RC is equipped with an operation device and the like for remotely operating the shovel 100, and remote operation of the shovel 100 is enabled by transmitting an operation signal generated in the remote control room RC to the shovel 100.

In other words, the remote control room RC is a driver's cab for the excavator 100 separate from the cabin 10, and the operating device in the remote control room RC is an external operating device for the excavator 100 that is installed outside the excavator 100.

Next, with reference to Figure 4, we will explain the driver's seat installed inside the cabin 10 of the excavator 100 of this embodiment. Figure 4 is a plan view of the area around the driver's seat inside the cabin, viewed from above.

A driver's seat 115 is installed inside the cabin 10. The driver's seat 115 includes a seat 102 on which the operator sits and a backrest 104. The driver's seat is a reclining seat, and the tilt angle of the backrest 104 is adjustable. Armrests 106 are located on both the left and right sides of the driver's seat 115. The armrests 106 are supported so that they can rotate. Therefore, in the excavator 100, when the operator leaves the driver's seat 115, the armrests 106 can be rotated rearward, allowing the operator to leave the driver's seat 115 without being obstructed by the armrests 106.

A console 120A and a console 120B are located on either side of the driver's seat 115. The driver's seat 115 and consoles 120A and 120B are movably supported on rails 150 fixed to the floor of the cabin 10. Therefore, the operator can move and fix the driver's seat 115 and consoles 120A and 120B to their preferred positions relative to the operating levers 26C and 26F and the windshield of the cabin 10. In addition, the driver's seat 115 alone can be slid back and forth, allowing the position of the driver's seat relative to the positions of the consoles 120A and 120B to be adjusted.

Operating lever 26A is provided in front of left console 120A. Similarly, operating lever 26B is provided in front of right console 120B. The operator seated in driver's seat 115 operates operating lever 26A while holding operating lever 26A with his left hand, and operates operating lever 26B while holding operating lever 26B with his right hand. Each of consoles 120A, 120B is supported rotatably, and the operator can adjust the angle of operating levers 26A, 26B in the neutral position by adjusting the angle of consoles 120A, 120B.

In addition, in this embodiment, the console 120A is provided with an operation switch 26a. The operation switch 26a is an operating member for instructing the controller 30 to stop the operation of the operating elements of the shovel 100. When the operation switch 26a is pressed, the controller 30 in this embodiment generates a stop command for the operating elements of the shovel 100 using the stop command generation unit 33 and transmits the stop command to each operating element.

In this embodiment, by providing an operating member for issuing a stop command inside the cabin 10, an operator inside the cabin 10 can immediately stop the operation of the shovel 100 even when the shovel 100 is being controlled by remote operation.

Therefore, in this embodiment, even if it is difficult to grasp the situation at the work site from the remote control room RC, safety at the work site can be maintained and improved.

Operation pedals 26E and 26F are located on the floor in front of the driver's seat 115. The operator seated in the driver's seat 115 operates the operation pedal 26E with their left foot to drive the left-side traveling hydraulic motor 1A. Furthermore, the operator seated in the driver's seat 115 operates the operation pedal 26F with their right foot to drive the right-side traveling hydraulic motor 1B.

Operation lever 26C extends upward from near operation pedal 26E. An operator seated in driver's seat 115 can drive left-side traveling hydraulic motor 1A by gripping and operating operation lever 26C with their left hand, similar to operating operation pedal 26E. Furthermore, operation lever 26D extends upward from near operation pedal 26F. An operator seated in driver's seat 115 can drive right-side traveling hydraulic motor 1B by gripping and operating operation lever 26D with their right hand, similar to operating operation pedal 26F.

In addition, a display device D1 that displays information such as the shovel's working conditions and operating status is located in the front right section of the cabin 10. The driver seated in the driver's seat 115 can perform work with the shovel while checking the various information displayed on the display device D1.

In addition, the input section D12 of the display device D1 is provided with operation switches 26b and 26c. The operation switch 26b is an operating member for switching the operation signal used to control the operating elements of the excavator 100 from an operation signal received from the remote control room RC to an operation signal generated in response to operation of the operation device 26 provided in the cabin 10.

In other words, the operation switches 26a and 26b in this embodiment are operating members for generating a switching instruction to switch from control of operating elements based on operation signals transmitted from the remote control room RC to control of operating elements in response to operation of the operating device 26 inside the cabin 10.

The operation switch 26c is an operating member for switching the operation signal used to control the operating elements of the excavator 100 from an operation signal generated by the operating device 26 provided in the cabin 10 to an operation signal received from the remote control room RC.

When the operation switch 26c is operated, the controller 30 causes the switching unit 31 to stop acquiring the operation signal generated by the operation device 26 provided in the cabin 10. The controller 30 then controls the excavator 100 based on the operation signal from the remote control room RC.

In this embodiment, by providing such an operating member, the operation of the excavator 100 can be switched from operation within the cabin 10 to remote operation at any timing at the discretion of the operator within the cabin 10.

Specifically, for example, while an operator in the cabin 10 is operating the shovel 100 to perform work, the operator in the cabin 10 may encounter a situation that is difficult for the operator to operate. In this embodiment, in such a case, the operator can operate the operation switch 26b to hand over operation of the shovel 100 to a highly skilled operator waiting in the remote control room RC.

As a result, in this embodiment, the operator inside the cabin 10 does not need to perform highly difficult operations, and even operators who are not skilled in operating techniques can perform the work safely.

Furthermore, in this embodiment, an expert with high operating skills only needs to perform operations that are difficult for an operator in the cabin 10 to handle. Therefore, in this embodiment, highly difficult operations are specialized for the expert in the remote control room RC, and the expert can be responsible for multiple work sites at the same time.

Specifically, for example, at one work site, an expert remotely performs a highly difficult operation that would be difficult for an operator in cabin 10 to perform, and then at another work site, an expert remotely performs a highly difficult operation that would be difficult for an operator in cabin 10 to perform.

In this way, this embodiment allows skilled workers to remotely perform only the more difficult operations at multiple work sites, thereby improving work efficiency.

When the operation switch 26c is operated, the controller 30 stops receiving operation signals from the remote control room RC via the switching unit 31. The controller 30 then controls the excavator 100 based on the operation signals generated by the operation device 26 installed in the cabin 10.

In this embodiment, by providing such an operating member, the operation of the excavator 100 can be switched from remote control to operation within the cabin 10 at any timing at the discretion of the operator within the cabin 10.

In the following description, pressing the operation switch 26a or pressing the operation switch 26c may be referred to as issuing a switch instruction to switch the operation of the excavator 100 from remote control to operation within the cabin 10.

Specifically, for example, when a situation arises where the operating skills of the operator in the cabin 10 can be used to handle the situation, the operator in the cabin 10 may operate the operation switch 26c to switch the operation of the excavator 100 from remote control to manual operation.

Furthermore, for example, the operation switch 26c may be operated if the operator in the cabin 10 determines that it is difficult to grasp the situation at the work site through remote operation.

In this embodiment, the operation of the shovel 100 can be switched to operation inside the cabin 10 at the discretion of the operator working at the work site. In other words, according to this embodiment, the operation of the shovel 100 can be switched from remote control to operation inside the cabin 10 depending on the situation at the work site, thereby improving safety.

In this embodiment, for example, when operation switch 26a is operated, controller 30 may send a notification to the remote control room RC or management device 90 indicating that operation of the excavator 100 has been stopped. Furthermore, when operation switch 26b is operated, controller 30 may send a notification to the remote control room RC or management device 90 indicating a request for remote operation. Furthermore, when operation switch 26c is operated, controller 30 may send a notification to the remote control room RC or management device 90 indicating that operation has been switched to operation within the cabin 10.

Note that in this embodiment, the placement of the operation switches 26a, 26b, and 26c is not limited to the positions shown in Figure 4.

A gate lock lever 140 is also provided on the left side of the driver's seat 115 (i.e., the side where the cabin access door is located). By pulling up the gate lock lever 140, the engine 11 is allowed to start, allowing the shovel to be operated. By pulling down the gate lock lever 140, the operating parts, including the engine 11, cannot be started. Therefore, unless the operator is seated in the driver's seat and has pulled up the gate lock lever 140, the shovel cannot be operated, ensuring safety.

In this embodiment, camera C1 is mounted above the driver's seat inside cabin 10. Camera C1 is positioned so that it can capture images of control levers 26A, 26B, 26C, 26D and control pedals 26E, 26F from above.

Camera C1 may be an imaging device such as a video camera that captures moving images, or an imaging device that continuously captures still images at regular short intervals. The images captured by camera C1 are sent to controller 30 and used in the engine speed control process described below.

The engine speed control process in this embodiment controls the speed of the engine 11 based on a determination of whether the excavator operator's hands or feet (movable parts of the operator) are operating the control levers or control pedals (operating members).

Next, the remote control room RC of this embodiment will be described with reference to Figures 5 and 6. Figure 5 is a first diagram illustrating an example of a remote control room, and Figure 6 is a second diagram illustrating an example of a remote control room.

The remote control room RC is equipped with a remote controller 40, a sound output device A2, an indoor imaging device C2, a display device D2, and a communication device T2. The remote control room RC also has a driver's seat DS where an operator OP sits to remotely operate the excavator 100.

The remote controller 40 is a computing device that performs various calculations. In this embodiment, the remote controller 40, like the controller 30, is configured as a microcomputer including a CPU and memory. The various functions of the remote controller 40 are realized by the CPU executing programs stored in the memory.

The sound output device A2 is configured to output sound. In this embodiment, the sound output device A2 is a speaker and is configured to play back the sound collected by the sound collection device A1 attached to the shovel 100.

The indoor imaging device C2 is configured to capture images of the inside of the remote control room RC. In this embodiment, the indoor imaging device C2 is a camera installed inside the remote control room RC and is configured to capture images of the operator OP seated in the driver's seat DS.

The communication device T2 is configured to control wireless communication with the communication device T1 attached to the excavator 100. In this embodiment, the communication device T1 and the communication device T2 are configured to transmit and receive information via a fifth-generation mobile communication line (5G line), an LTE line, a satellite line, or the like.

In this embodiment, the driver's seat DS has a structure similar to that of a driver's seat installed in the cabin of a typical excavator. Specifically, a left console box 120L is disposed to the left of the driver's seat DS, and a right console box 120R is disposed to the right of the driver's seat DS.

A left operating lever is located at the front end of the top surface of the left console box 120L, and a right operating lever is located at the front end of the top surface of the right console box 120R. Additionally, a travel lever and travel pedal are located in front of the driver's seat DS.

Furthermore, an engine speed adjustment dial 75A is located in the center of the top surface of the right console box 120R. Also, operation switches 27a and 27b are located on the top surface of the right console box 120R.

In addition, in this embodiment, a remote control lever 27c is provided near the right console box 120R.

The left and right operating levers, travel lever, travel pedal, remote control lever 27c, engine speed adjustment dial 75A, and operation switches 27a and 27b are all included in the operating device 27.

The engine speed adjustment dial 75A is a dial for adjusting the speed of the engine 11, and is configured to allow the engine speed to be switched between four levels, for example.

Specifically, the engine speed adjustment dial 75A is configured to allow the engine speed to be switched between four modes: SP mode, H mode, A mode, and idling mode. The engine speed adjustment dial 75A transmits data related to the engine speed setting to the controller 30.

The operation switch 27a is an operating member used to instruct the remote controller 40 to stop. When the operation switch 27a is pressed, the remote controller 40 of this embodiment generates an operation signal indicating a stop command for the operating elements of the shovel 100 and transmits it to the shovel 100.

When the controller 30 of the shovel 100 receives this operation signal, the stop command generator 33 generates a stop command and transmits the stop command to each operating element of the shovel 100.

In this embodiment, by providing an operating member for issuing a stop command within the remote control room RC, the operator of the remote control room RC can immediately stop the operation of the shovel 100, even if the shovel 100 is operating autonomously, for example.

Therefore, in this embodiment, even if the operation of the shovel 100 through autonomous driving is not suitable for the conditions at the work site, safety at the work site can be maintained and safety can be improved.

The operation switch 27b is an operating member for switching the operation signal used to control the excavator 100 from an operation signal generated in the remote control room RC to an operation signal generated by the operating device 26 provided in the cabin 10.

When the operation switch 27b is operated, the remote controller 40 may transmit to the shovel 100 an operation signal including a request to switch to operation by the operating device 26 in the cabin 10. The controller 30 of the shovel 100 may receive this operation signal and, using the switching unit 31, stop receiving operation signals from the remote control room RC and control the operating elements of the shovel 100 using operation signals corresponding to operations in the cabin 10.

In this embodiment, by having an operating member that switches from remote control to operation within the cabin 10, the operation of the excavator 100 can be switched from remote control to operation within the cabin 10 at the discretion of the operator in the remote control room RC.

Therefore, for example, when an operator in the remote control room RC has completed a highly difficult operation and is faced with monotonous work, he or she can press the operation switch 27b to end the remote operation of the shovel 100 that was being remotely operated and remotely operate another shovel 100.

For this reason, in this embodiment, by assigning an expert in operating the excavator 100 to be the operator in the remote control room RC, the expert can be specialized in more difficult operations, thereby improving work efficiency.

The remote control lever 27c is an operating member for switching the operation signal used to control the excavator 100 from an operation signal generated by the autonomous control unit 32 to an operation signal generated within the remote control room RC.

In this embodiment, when the remote control lever 27c is tilted in the remote control room RC while the excavator 100 is operating autonomously, the remote controller 40 may send a remote control request to the excavator 100.

When the controller 30 receives this control request, the switching unit 31 stops the generation of operation signals by the autonomous control unit 32, and controls the operating elements of the excavator 100 using operation signals received from the remote control room RC.

In this embodiment, by having an operating member for switching from autonomous operation to remote control, the excavator 100 can be switched from autonomous operation to remote control, for example, if the operator in the remote control room RC determines that operation using the autonomous operation function is difficult given the conditions at the work site.

Therefore, in this embodiment, the excavator 100 can be made to perform simple tasks autonomously, and only more difficult operations can be performed by the operator in the remote control room RC, thereby improving work efficiency.

In the following description, pressing the operation switch 27a and tilting the remote control lever 27c may be referred to as issuing a switch instruction to switch the operation of the excavator 100 from autonomous operation to remote control.

SP mode is the rotation speed mode selected when the operator OP wants to prioritize work volume, and uses the highest engine rotation speed. H mode is the rotation speed mode selected when the operator OP wants to balance work volume and fuel efficiency, and uses the second highest engine rotation speed. A mode is the rotation speed mode selected when the operator OP wants to operate the excavator with low noise while prioritizing fuel efficiency, and uses the third highest engine rotation speed. Idling mode is the rotation speed mode selected when the operator OP wants the engine to be in an idling state, and uses the lowest engine rotation speed. The engine 11 is then constantly controlled at the engine rotation speed of the rotation speed mode selected via the engine rotation speed adjustment dial 75A.

The operating device 27 is equipped with an operation sensor 29 for detecting the operation of the operating device 27. The operation sensor 29 is, for example, an inclination sensor that detects the inclination angle of the operating lever, or an angle sensor that detects the swing angle of the operating lever around the swing axis. The operation sensor 29 may also be composed of other sensors such as a pressure sensor, current sensor, voltage sensor, or distance sensor.

The operation sensor 29 outputs information regarding the detected operation of the operating device 27 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the excavator 100.

The operation sensor 29 may be configured to generate an operation signal. In this case, the operation sensor 29 may output the operation signal to the communication device T2 without going through the remote controller 40.

Display device D2 is configured to display information about the situation around the shovel 100. In this embodiment, display device D2 is a multi-display consisting of nine monitors arranged in three rows and three columns, and is configured to display the state of the space in front, to the left, and to the right of the shovel 100. Each monitor is an LCD monitor, an organic EL monitor, or the like. However, display device D2 may also be composed of one or more curved monitors, or may be composed of a projector.

Display device D2 may be a display device that can be worn by operator OP. For example, display device D1 may be a head-mounted display configured to be able to send and receive information to and from remote controller 40 via wireless communication. The head-mounted display may be connected to remote controller 40 by wire. The head-mounted display may be a transparent head-mounted display or a non-transparent head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.

Display device D2 is configured to display images that allow the operator OP in the remote control room RC to see the area around the shovel 100. In other words, display device D1 displays images so that the operator can check the situation around the shovel 100 as if they were inside the cabin 10 of the shovel 100, even though they are in the remote control room RC.

In this embodiment, the display device D2 is a multi-display consisting of nine monitors arranged in three vertical rows and three horizontal columns, as shown in Figure 6. Specifically, the display device D2 includes a center monitor D2a, an upper monitor D2b, a lower monitor D2c, a left monitor D2d, a right monitor D2e, an upper left monitor D2f, an upper right monitor D2g, a lower left monitor D2h, and a lower right monitor D2i.

The central monitor D2a is configured to display an image capturing the spatial situation in the central range. The upper monitor D2b is configured to display an image capturing the spatial situation represented by the upper range. The lower monitor D2c is configured to display an image capturing the spatial situation represented by the lower range. The left monitor D2d is configured to display an image capturing the spatial situation represented by the left range. The right monitor D2e is configured to display an image capturing the spatial situation represented by the right range. The same is true for the upper left monitor D2f, upper right monitor D21g, lower left monitor D2h, and lower right monitor D2i.

However, display device D2 may also be a multi-display consisting of, for example, six monitors arranged in two vertical rows and three horizontal columns. In this case, the area on which the image is displayed on display device D2 may be divided into six areas corresponding to each of the six monitors. Alternatively, display device D2 may be a multi-display consisting of five monitors: a center monitor, an upper monitor, a left monitor, a lower monitor, and a right monitor. In this case, the display of images capturing the conditions of each of the upper left range, upper right range, lower left range, and lower right range may be omitted. Alternatively, display device D2 may be a multi-display in which multiple monitors are arranged in any other arrangement.

In the above-described embodiment, the display device D2 is installed in front, to the left, and to the right of the operator OP, but it may also be installed in a rectangular or cylindrical shape so as to surround the operator OP. That is, the display device D2 may include a monitor installed behind the operator OP. Alternatively, the display device D2 may be installed in a hemispherical shape so as to surround the operator OP. That is, the display device D2 may include a monitor installed directly above the operator OP.

Next, the operation of the shovel 100 of this embodiment will be described with reference to Figures 7 and 8. Figure 7 is a first flowchart explaining the operation of the shovel. Figure 7 shows the operation of the shovel 100 when switching from remote operation of the shovel 100 to operation inside the cabin 10.

The excavator 100 receives an operation signal from the remote control room RC, and the controller 30 controls the operating element (hydraulic actuator) based on the received operation signal (step S701).

Next, the controller 30 determines whether a switching instruction to switch the operation of the excavator 100 from remote operation to operation within the cabin 10 has been received (step S702). If the controller 30 has not received a switching instruction, it returns to step S701.

If a switching command is received in step S702, the controller 30 switches the operation of the excavator 100 from remote operation to operation inside the cabin 10 (step S703) and ends the processing.

Specifically, when the controller 30 receives a switching instruction by pressing the operation switch 26a, the stop command generation unit 33 generates a stop command and transmits the stop command to the operating elements of the shovel 100. At this time, the switching unit 31 may stop receiving operation signals from the remote control room RC. In other words, the switching unit 31 may cut off communication between the remote control room RC and the shovel 100.

In addition, when the controller 30 receives a switching instruction by pressing the operation switch 26c, the switching unit 31 stops receiving operation signals from the remote control room RC and controls the excavator 100 based on operation signals generated by the operation device 26 in the cabin 10.

Figure 8 is a second flowchart explaining the operation of the shovel. Figure 8 shows the operation of the shovel 100 when switching from autonomous operation to remote control.

The excavator 100 performs autonomous operation in response to an operation signal generated by the autonomous control unit 32 of the controller 30 (step S801).

Next, the controller 30 determines whether a switching instruction to switch the operation of the excavator 100 from autonomous operation to remote operation has been received (step S802). If the controller 30 has not received a switching instruction, it returns to step S801.

If a switching command is received in step S802, the controller 30 switches the operation of the excavator 100 from autonomous operation to remote operation (step S803) and ends the processing.

Specifically, when the controller 30 receives a switching instruction by pressing the operation switch 27a, the stop command generation unit 33 generates a stop command and transmits the stop command to the operating element (hydraulic actuator) of the shovel 100. At this time, the autonomous control unit 32 may stop generating an operation signal corresponding to the operation content of the shovel 100 determined by the autonomous control unit 32.

Furthermore, when the controller 30 receives a switching command by tilting the remote control lever 27c, the switching unit 31 stops the generation of operation signals by the autonomous control unit 32 and controls the operating elements of the excavator 100 based on operation signals from the remote control room RC.

Next, another example of the management system SYS for the excavator 100 of this embodiment will be described with reference to Figure 9. Figure 9 is a diagram showing another example of the management system for the excavator.

The management system SYS1 for the excavator 100 shown in FIG. 9 includes an excavator 100a, an excavator 100b, a remote control room RCa for the excavator 100a, a remote control room RCb for the excavator 100b, an imaging device C3 as an information processing device installed at the work site, and a management device 90.

In the management system SYS1, the management device 90 manages communications between multiple excavators 100 and multiple remote control rooms RC corresponding to each excavator 100.

Note that in the example of Figure 9, remote control rooms RCa and RCb are included for each of the multiple shovels 100a and 100b, but this is not limited to this. In the management system SYS1, the management device 90 may remotely operate multiple shovels 100 from a single remote control room RC.

In addition, in this embodiment, the management device 90 may transmit image data acquired by the imaging device C3 to the remote control rooms RCa and RCb, and in the remote control rooms RCa and RCb, the image data received from the management device 90 may be displayed on the display device D2.

In this embodiment, the shovel 100 has been described as an example of a construction machine, but the construction machine is not limited to the shovel 100. This embodiment can be applied to any construction machine other than the shovel 100 as long as it is a construction machine that can be remotely controlled.

The present embodiment has been described above with reference to specific examples. However, the present invention is not limited to these specific examples. Design modifications to these specific examples made by a person skilled in the art are also included within the scope of the present invention as long as they retain the characteristics of the present invention. The elements of the specific examples described above, as well as their arrangement, conditions, shape, etc., are not limited to those exemplified and may be modified as appropriate. The elements of the specific examples described above may be combined as appropriate, as long as no technical contradictions arise.

DESCRIPTION OF SYMBOLS 1 Lower traveling body 2 Swing mechanism 3 Upper rotating body 10 Cabin 11 Engine 30 Controller 31 Switching unit 32 Autonomous control unit 33 Stop command generating unit 90 Management device 100 Excavator

Claims (2)

a driver's cab with an operating device provided therein;
a control device that, during control of an operation element based on operation of an external operation device provided outside the driver's cab, receives a switch instruction to control of the operation element based on operation of the operation device, and switches control of the operation element to control based on operation of the operation device,
the switching instruction includes a switching instruction generated based on an operation of the external operation device and a switching instruction generated based on an operation of the operation device,
The control device
When the switching instruction is generated based on the operation of the operation device, a notification indicating the switching including a request for change to control of the operation element based on the operation of the external operation device is sent to an external control device that controls the external operation device;
When the switching instruction is generated based on the operation of the external operation device, the shovel receives a notification indicating the switching, including a request for change to control of an operating element based on the operation of the operation device, from an external control device that controls the external operation device . A management system for a shovel including a shovel and an external operation device provided outside the shovel,
The shovel is
a driver's cab with an operating device provided therein;
a control device that receives an instruction to switch to control of the operation element based on an operation signal received from the external operation device while the operation element is being controlled based on the operation signal received from the external operation device, and switches the control of the operation element to control based on the operation of the operation device;
the switching instruction includes a switching instruction generated based on an operation of the external operation device and a switching instruction generated based on an operation of the operation device,
The control device
When the switching instruction is generated based on the operation of the operation device, a notification indicating the switching including a request for change to control of the operation element based on the operation of the external operation device is sent to an external control device that controls the external operation device;
a management system for a shovel, wherein when the switching instruction is generated based on the operation of the external operation device, a notification indicating the switching including a request for change to control of an operating element based on the operation of the operation device is received from an external control device that controls the external operation device .