Patent Description:
A failure determination method for construction equipment, based on a detection value detected by a sensor mounted on the construction equipment, has been known (see <CIT>). Failure information is sent to a center, and therefore a failure diagnosis procedure is extracted in the center, based on the sensor detecting an abnormal value. An operator of the construction equipment conducts a failure diagnosis in accordance with the failure diagnosis procedure.

<CIT> discloses that a camera picture signal provided from a camera, communication information provided from a communication device, and vehicle state information provided from various sensors, are inputted to a control device of a hydraulic excavator. Abnormal information likely to cause failure of a vehicle, is acquired when exceeding a reference value in a comparing part among signals from the sensors. When the abnormal information is outputted from the comparing part, the abnormal information is automatically displayed on a monitor.

<CIT> discloses a start-up inspection device for precisely performing the start-up inspection of various control apparatuses for automatic operative construction equipment. This device makes a construction machine repeatedly perform a series of instructed operations by regenerating operation. This device is provided with data measurement timing designation means for designating the timing of measuring data of various control apparatuses of automatic operative construction machines, an abnormal state judgment means for judging the abnormal state on the basis of the data of various control apparatuses for performing the automatic operation measured at the timing designated by the data measurement designation means, and a state display means of displaying the judgment result by the abnormal state judgment means.

<CIT> discloses a diagnostic system for assisting in the diagnosis of a malfunction and other errors in manufacturing machinery is disclosed wherein a plurality of sensors are associated with the machinery at monitoring zones for detecting errors and generating sensor signals representing the errors. The system includes a central control unit having a computer processor in communication with a computer readable medium with a permanent memory. A temporary computer memory communicates with the processor, and a plurality of video cameras are located at the monitoring zones associated with specific sensors. The processor is in communication with the cameras for receiving video output depicting the operation of the manufacturing process continuously in real time. A set of computer readable instructions are embodied within the computer readable medium executable by the processor including set-up instructions for receiving input selecting a first preset duration for a pre-event video and a second preset duration for a post-event video from said video cameras, receiving input selecting machine sensors and cameras triggering and producing the pre-event and post-event videos for the trigger signals, Operating instructions executable by the processor are embodied in computer readable code in the computer medium for continuously storing video output in the temporary memory, continuously receiving available sensor signals, processing the sensor signals to determine if a trigger signal is required, and continuing the preceding operating instructions if a trigger signal is not required. Upon occurrence of a trigger signal the processor executes instructions copying video from the temporary memory into the permanent memory to provide the pre-event video, and begin the recording of the post-event video and storing the post-event video in the permanent memory after completion.

In some cases, it is difficult to specify the cause of failure only by performing a diagnosis based on the detection value of the sensor and following the failure diagnosis procedure even when the failure diagnosis procedure is provided. Particularly, an attachment, such as a boom, and a cabin are mounted on a revolving superstructure of a shovel. Thus, motion not only in a front-rear direction but also in a right-left direction is carried out in the shovel. Since a working range of the shovel is extensive as described above, a situation in which the shovel encounters failure is likely to occur. An object of the invention is to provide a shovel which enables an operator to easily specify the cause of failure by making the operator confirm the circumstances at the time of failure and a monitoring device of the shovel.

According to an aspect of the invention, there is provided a shovel as set forth in claim <NUM>. According to another aspect of the present invention, there is provided a monitoring device for a shovel as set forth in claim <NUM>. Preferred embodiments of the present invention may be gathered from the dependent claims.

It is possible to investigate the cause of abnormality using image data at the time where an operation state is determined to be abnormal.

<FIG> are a side view and a plan view, respectively, of a shovel according to an embodiment <NUM>. A hydraulic shovel exemplifies a shovel, in the embodiment <NUM>. However, the embodiment <NUM> can be adopted to other shovels, such as a hybrid shovel or an electric shovel.

An upper revolving superstructure <NUM> is mounted to an undercarriage <NUM> via a revolving bearing <NUM>. The upper revolving superstructure <NUM> revolves clockwise or counter-clockwise with respect to the undercarriage <NUM>. A boom <NUM> is installed on the upper revolving superstructure <NUM>. An arm <NUM> is connected to a tip of the boom <NUM>. A bucket <NUM> is connected to a tip of the arm <NUM>. The boom <NUM> is driven by a hydraulic cylinder <NUM>. The arm is driven by a hydraulic cylinder <NUM>. The bucket <NUM> is driven by a hydraulic cylinder <NUM>. Furthermore, a cabin <NUM> is mounted to the upper revolving superstructure <NUM>, and a driver gets into the cabin <NUM> and operates a hydraulic shovel.

An imaging device <NUM> is mounted to the upper revolving superstructure <NUM>. A frontward imaging device 20F, a right imaging device 20R, a left imaging device <NUM> and a backward imaging device 20B constitute the imaging device <NUM>. The frontward imaging device 20F, the right imaging device 20R, the left imaging device <NUM> and the backward imaging device 20B respectively image front, right, left and back sides of the upper revolving superstructure <NUM>. The frontward imaging device 20F is mounted between the cabin <NUM> and the boom <NUM>, for example. An omnidirectional image can be obtained by combining images obtained by these imaging devices.

<FIG> shows a block diagram of an abnormality determination function of the shovel. An image capture control device <NUM> stores image data acquired by the imaging device <NUM> in a temporary storage device <NUM> at a predetermined cycle. The temporary storage device <NUM> has a ring buffer structure, for example. In other words, the oldest image data are overwritten (replaced) with new image data when no free storage area remains.

Information that specifies a capturing method of the image data, such as resolution and a capturing cycle, is stored in an image capture mode storage portion <NUM>. A parameter for specifying the resolution is set to any one of a "high resolution", a "normal resolution" and a "low resolution", for example. A parameter for specifying the capturing cycle is set to any one of a "long cycle", a "normal cycle" and a "short cycle". An image capture mode is determined by the resolution and the capturing cycle. An operator operates an input device <NUM> to input the image capture mode to a control device <NUM>. Then, the image capture mode is set to the image capture mode storage portion <NUM>. An image capture cycle is about several hundred ms to <NUM> sec, for example.

The image capture control device <NUM> stores image data acquired by the imaging device <NUM>, based on the image capture mode set to the image capture mode storage portion <NUM>, in the temporary storage device <NUM>. By decreasing image resolution or lengthening the capturing cycle, it is possible to store a long term image data in the temporary storage device <NUM>. On the contrary, by increasing the image resolution and shortening the capturing cycle, it is possible to increase an information amount of image data in a predetermined time.

A plurality of sensors <NUM> are installed on the shovel. The sensors <NUM> detect physical quantities relating to an operation state of the shovel. An engine speed, a radiator coolant temperature, a fuel temperature, an atmospheric pressure, an engine oil pressure, a boost temperature, an intake temperature, a hydraulic operating fluid temperature, a boost pressure, a battery voltage, a hydraulic pressure of each part, a machine operation time, a traveling operation time, a revolving operation time, an idle time and the like are exemplified as the physical quantities relating to the operation state.

The control device <NUM> controls the temporary storage device <NUM>, the image capture mode storage portion <NUM>, an output device <NUM>, and an abnormality information storage device <NUM>. Instructions of an operator are input to the control device <NUM> via the input device <NUM>. The detection values detected by the sensors <NUM> are input to the control device <NUM>. A liquid crystal display device is adopted as the output device <NUM>, for example. A touch-panel type liquid crystal display device may be adopted as a device functioning as the output device <NUM> and the input device <NUM>.

<FIG> shows a flowchart of an operation of the image capture control device <NUM>. When an engine start key of the shovel is turned on, the image data is acquired from the imaging device <NUM> in step SA1. The resolution of the image data is converted so as to be the resolution specified in the image capture mode, and then the converted image data is stored in the temporary storage device <NUM>. When a free area for storing the image data does not remain, the oldest image data are overwritten with new image data.

In step SA2, a period of a capturing cycle specified in the image capture mode elapses. Then, whether or not the start key of the shovel is in a stopped state is determined in step SA3. When the start key of the shovel is in a stopped state, the process is finished. When the start key of the shovel is not in a stopped state, the process returns to step SA1.

<FIG> shows a flowchart of an operation of the control device <NUM>. When the engine start key of the shovel is turned on, the detection values detected by the sensors <NUM> are acquired in step SB1. Whether or not the acquired detection values are within an allowable range is determined in step SB2. The allowable range is preset for each physical quantity relating to the operation state.

Whether or not the operation state is abnormal is determined in step SB3. When at least one of the detection values is out of the allowable range, the operation state of the shovel is determined to be abnormal. When all the detection values are within the allowable range, the operation state is determined to be normal. When the operation state is determined to be normal, whether or not the shovel is in a stopped state is determined in step SB5. When the operation state is determined to be abnormal, step SB4 is executed. Then, whether or not the shovel is in a stopped state is determined in step SB5.

Hereinafter, a process of step SB4 will be described. Among the image data stored in the temporary storage device <NUM>, the image data which corresponds to a period from a first time prior to a time at which the operation is determined to be abnormal to the present is read out and stored in the abnormality information storage device <NUM>. Furthermore, the detection value of each sensor <NUM> at the time when the operation is determined to be abnormal is stored in the abnormality information storage device <NUM>. The stored image data and the detection value of the sensor <NUM> are associated with each other. The image data and the detection value of the sensor <NUM> may be associated with each other, based on indices given thereto, for example. In addition, the image data and the detection value of the sensor <NUM> may be associated with each other, based on the time at which the data is acquired.

Furthermore, in addition to the image data corresponding to a period prior to the time at which the operation is determined to be abnormal, image data corresponding to a period after that time may be stored in the abnormality information storage device <NUM>. At a second time following the time at which the operation is determined to be abnormal, the image data corresponding to a period from the first time to the second time may be transmitted from the temporary storage device <NUM> to the abnormality information storage device <NUM> after waiting for the image data transmission until the second time, for example. A period from the first time to the time at which the operation is determined to be abnormal is set to about <NUM> sec to <NUM>, and a period from the time at which the operation is determined to be abnormal to the second time is set to about <NUM> sec to <NUM>.

Furthermore, an alarm may be raised from the output device <NUM> to inform an operator that the operation state is abnormal.

When, in step SB5, it is determined that the shovel is in a stopped state, the process is finished. When it is determined that the shovel is not in a stopped state, the process returns to step SB1 after a predetermined time elapses in step SB6. The waiting time of step SB6 is set to several hundred ms to <NUM> sec, for example.

In the embodiment <NUM>, the image data corresponding to a period before the time at which the operation is determined to be abnormal or a period before and after the time is stored in the abnormality information storage device <NUM>. The image data is useful in specifying the cause of abnormality. When any abnormality occurs in the shovel, it is possible for a maintenance person to search for the cause of the abnormality by operating the input device <NUM> (see <FIG>).

<FIG> is a view showing an example of an image displayed on the output device <NUM> at the time of searching for the cause of abnormality. An image display window <NUM>, a progress status bar <NUM>, operating icons <NUM> and a character information display window <NUM> are shown in a display screen. A display screen when it is determined that an abnormality has occurred at the time of <NUM>:<NUM>:<NUM> on April <NUM>, <NUM> is exemplarily shown in <FIG>.

The progress status bar <NUM> shows a period from a data collection start time of the image data stored in the abnormality information storage device <NUM> (see <FIG>) to a finish time. When a slider 36A displayed in the progress status bar <NUM> is slid, an image at the time corresponding to the position of the slider 36A is displayed on the image display window <NUM>. A mark 36B for indicating abnormality occurrence time is displayed on the progress status bar <NUM> at the position corresponding to a time of abnormality occurrence. The progress status bar <NUM> and the slider 36A function as a time indicator by which the time of the image to be displayed on the image display window <NUM> is indicated. The length of the progress status bar <NUM> corresponds to a time range within which the time can be specified by the slider 36A. A numeric input window used for inputting a time as a numeric value may be displayed as a time indicator, instead of the slider 36A.

A playback, a frame-by-frame playback, a pause or the like of moving image can be carried out by operating the operating icon <NUM>. In addition, the operating icon <NUM> includes an instruction button used for jumping to the time of abnormality occurrence. When the instruction button is operated, the image at the time when the operation is determined to be abnormal in step SB2 shown in <FIG> is displayed on the image display window <NUM>. It is possible to quickly display the image at the time immediately before the time of abnormality occurrence, by providing the instruction button used for jumping to the time of abnormality occurrence.

<FIG> shows an example of an image at the time when the hydraulic abnormality is detected. It is possible to know that a truck intrudes between the upper revolving superstructure <NUM> and the bucket <NUM> (see <FIG>), from the image shown in <FIG>. Here, the following estimation can be carried out. The truck is in contact with hydraulic piping, and thus the hydraulic piping is broken. Therefore, a hydraulic abnormality is detected. In this way, it is possible to specify the cause of the abnormality by inspecting the image data corresponding to a period before and after the time at which the abnormality occurs.

A functional block diagram of a shovel according to an embodiment <NUM> is the same as the functional block diagram of the shovel according to the embodiment <NUM> shown in <FIG>.

<FIG> is a flowchart showing an operation of the control device <NUM> (see <FIG>) of the shovel according to the embodiment <NUM>. The control device <NUM> of the shovel according to the embodiment <NUM> includes a unit space defining flag and an area for storing the inverse matrix of a correlation matrix.

The detection value is acquired from the sensor <NUM> (see <FIG>), in step SC1. Whether or not the unit space is defined is determined in step SC2. Specifically, it is determined whether the unit space defining flag is set to "defined" or "undefined", in step SC2. The unit space is used as a reference for determination when the abnormality determination using Mahalanobis-Taguchi method is carried out in the following step. When the unit space is undefined, the detection value of the sensor <NUM> is accumulated as a sample, in step SC3. Whether or not the number of accumulated samples is enough is determined in step SC4. When the number of samples is enough, the unit space is defined in step SC5. Specifically, the correlation matrix of physical quantities of samples which constitute the unit space and the inverse matrix of the correlation matrix are calculated.

Hereinafter, a method of defining the unit space will be described.

<FIG> shows an example of the detection values detected by the sensor <NUM>. The number of physical quantities of a detection target is represented by K, and the number of accumulated samples is represented by N. The detection values of N samples constitute the unit space. In a sample to which the sample number n is assigned, the detection value of a physical quantity k is indicated as x(n, k). The mean value and the standard deviation are calculated with respect to the detection values of each physical quantity. The mean value and the standard deviation of the physical quantity k are indicated as m(k) and σ(k), respectively.

The detection values of each sample are standardized, whereby standardized detection values are calculated. The standardized detection value X(n,k) of the detection value x(n,k) of the physical quantity k in the sample to which the sample number n is assigned is shown as the following Equation.

Correlation coefficients between the physical quantities are calculated based on the standardized detection values X (n, k). A correlation coefficient r(i,j) of a physical quantity i and a physical quantity j is calculated by the following Equation.

A correlation matrix R of the physical quantities <NUM> to K is shown as the following Equation.

An inverse matrix A of the correlation matrix R is calculated. The inverse matrix A is stored in the control device <NUM> so as to be available in the following step.

In step SC6, the unit space defining flag is set to "defined". In the case where the number of samples is determined to be not enough in step SC4, or after the unit space defining flag is set to "defined" in step SC6, the process waits for a predetermined time in step SC11. The waiting time is set to about several hundred ms to <NUM> sec, for example. After waiting for the predetermined time, the process returns to step SC1.

Furthermore, the unit space defining flag can be reset by the operation of an operator. In other words, it is possible to set the unit space defining flag to "undefined".

When, in step SC2, the unit space is determined to be defined, a Mahalanobis distance (MD) of the detection values (verification data) detected by each sensor <NUM> is calculated in step SC7. Hereinafter, a calculation method of the Mahalanobis distance will be described.

The value of a physical quantity k, out of K detection values (verification data) detected by the sensors <NUM>, is indicated as y(k). The detection value y(k) is standardized, whereby a standardized detection value Y(k) is calculated. The standardized detection value Y(k) can be calculated by the following Equation.

The square (D<NUM>) of the Mahalanobis distance of the verification data can be calculated by the following Equation using the inverse matrix A of the correlation matrix R.

When the Mahalanobis distance MD (or the square D<NUM> of the Mahalanobis distance) is calculated, the Mahalanobis distance MD and a threshold are compared in step SC8. The threshold is set in advance. The threshold is set to <NUM>, for example. When the threshold is compared to the square D<NUM> itself of the Mahalanobis distance defined in Equation described above, the threshold is set to <NUM><NUM>=<NUM>. When the Mahalanobis distance MD is greater than the threshold, the process of step SC9 is to start. The process of step SC9 is the same as the process of step SB4 (see <FIG>) in the embodiment <NUM>.

When the process of step SC9 is finished or when the Mahalanobis distance MD is determined, in step SC8, to be equal to or less than the threshold, whether or not the shovel is in the stopped state is determined in step SC10. When the shovel is in the stopped state, the process is finished. When the shovel is not in the stopped state, the process waits for a predetermined time in step SC11. Then, the process returns to step SC1.

In the embodiment <NUM>, the Mahalanobis-Taguchi method is adopted as a method of determining whether or not an operation state is abnormal. Thus, it is unnecessary to set the allowable range to each detection value of the sensors <NUM>.

In the embodiment <NUM> described above, the allowable range of the detection value is set based on cases where the abnormality occurred in the past or the like, for example. Thus, there is a possibility that a new abnormality which has not occurred in the past may not be detected in some cases. However, by adopting the Mahalanobis-Taguchi method, it is unnecessary to set the allowable range of the detection value based on cases in the past. Therefore, it is possible to detect a new abnormality which has not occurred in the past.

Furthermore, deviation amounts of the plurality of detection values with respect to allowed values are integrated into the Mahalanobis distance (MD) in the embodiment <NUM>, and thus it is possible to easily determine whether or not the operation is abnormal.

<FIG> shows an example of an image displayed on the output device <NUM> (see <FIG>) when the cause of abnormality is searched for in the shovel according to the embodiment <NUM>. Hereinafter, differences between the embodiment <NUM> and the embodiment <NUM> shown in <FIG> will be described. Besides the image display window <NUM>, the progress status bar <NUM>, the operating icon <NUM> and the character information display window <NUM>, a window <NUM> for displaying an alarm level variation is shown in the embodiment <NUM>. A variation graph of alarm levels with the elapsed time corresponding to a time range specified by the slider 36A is displayed in the window <NUM> for displaying the alarm level variation. A display image time line 39A is displayed in the window <NUM> for displaying alarm level variation at a position corresponding to the time (the time corresponding to the displayed image) specified by the slider 36A. Furthermore, an abnormality occurrence time line 39B is displayed in the window <NUM> for displaying the alarm level variation at a position corresponding to the mark 36B for indicating abnormality occurrence time. The alarm level shows the level of possibility that an abnormality is occurring in the shovel. The Mahalanobis distance calculated in step SC7 (see <FIG>) is adopted as the alarm level. It is conceived that any cause of abnormality is generated immediately before the alarm level is increased rapidly.

<FIG> shows a functional block diagram of a shovel and a monitoring device according to an embodiment <NUM>. Hereinafter, a description focuses on differences between the shovel of the embodiment <NUM> and the shovel of the embodiment <NUM>. A description of the same configuration will not be repeated.

In the embodiment <NUM>, an abnormality determination process and the accumulation process of data when the abnormality occurs are completed only in the shovel. In the embodiment <NUM>, the abnormality determination process is carried out by the local control device <NUM> mounted on a shovel <NUM>. The image data and the like when the operation is determined to be abnormal are accumulated in a monitoring device <NUM>. A transceiver <NUM> which transmits various data, such as image data, to the monitoring device <NUM> via a communication line <NUM> is mounted on the shovel <NUM>.

A transceiver <NUM>, a control device <NUM>, an output device <NUM>, an input device <NUM> and the abnormality information storage device <NUM> are provided in the monitoring device <NUM>. The transceiver <NUM> receives data sent from the shovel <NUM> via the communication line <NUM>. The control device <NUM> controls the output device <NUM>, the input device <NUM> and the abnormality information storage device <NUM>.

<FIG> shows a flowchart of a process performed by the local control device <NUM> mounted on the shovel <NUM>. Steps SB1, SB2, SB3, SB5, and SB6 are, respectively, the same as steps SB1, SB2, SB3, SB5, and SB6 of the embodiment <NUM> shown in <FIG>. The process of step SD4 is executed instead of step SB4 in the embodiment <NUM>. Hereinafter, step SD4 will be described.

When the operation state is determined, in step SB3, to be abnormal, the local control device <NUM> waits until the second time following the determination time such that image data is accumulated in the temporary storage device <NUM>. The image data corresponding to a period from the first time prior to a time at which the operation is determined to be abnormal to the second time, out of the image data stored in the temporary storage device <NUM>, and the detection values of the sensors <NUM> when the operation is determined to be abnormal are transmitted from the transceiver <NUM> to the monitoring device <NUM>. Instead, the image data corresponding to a period from the first time prior to the time at which the operation is determined to be abnormal to the time at which the operation is determined to be abnormal, out of the image data stored in the temporary storage device <NUM>, may be transmitted. Furthermore, an alarm is raised from the output device <NUM>, whereby the abnormality is notified to an operator.

Subsequently, a process of the control device <NUM> of the monitoring device <NUM> will be described. When the image data corresponding to a period before and after the time at which the operation state is determined to be abnormal and the detection values of the sensors are received from the shovel <NUM>, the control device <NUM> stores the received image data in the abnormality information storage device <NUM>. At the same time, an alarm is raised from the output device <NUM>.

When an observer of the monitoring device <NUM> commands a data display via the input device <NUM>, the control device <NUM> outputs the detection values of the sensor and the image data, which are accumulated in the abnormality information storage device <NUM>, to the output device <NUM>. The image data corresponding to a period before and after the time at which the operation is determined to be abnormal becomes useful information when an observer specifies the cause of abnormality. The image displayed on the output device <NUM> is the same as the image output on the output device <NUM> according to the embodiment <NUM> shown in <FIG> or the image output on the output device <NUM> according to the embodiment <NUM> shown in <FIG>.

<FIG> is a functional block diagram of a shovel and a monitoring device according to an embodiment <NUM>. Hereinafter, a description focuses on differences of the shovel and the monitoring device between the embodiment <NUM> and the embodiment <NUM>. A description of the same configuration will not be repeated.

The local control device <NUM> mounted on the shovel <NUM> carries out the abnormality determination process in the embodiment <NUM>. However, the control device <NUM> mounted on the monitoring device <NUM> carries out the abnormality determination process in the embodiment <NUM>. The shovel <NUM> transmits an abnormality determination request as well as the detection values of the sensor <NUM> to the monitoring device <NUM> at predetermined cycles.

<FIG> shows a flowchart of a process performed by the control device <NUM> of the monitoring device <NUM>. Whether or not the abnormality determination request is received from the shovel <NUM> is determined in step SE1. When the abnormality determination request is not received, step SE1 is repeated until the abnormality determination request is received.

When the abnormality determination request is received, the abnormality determination is performed in step SE2, based on the detection value of the sensor which is received from the shovel <NUM>. The abnormality determination process is the same as the abnormality determination process of steps SB2 and SB3 (see <FIG>) according to the embodiment <NUM> or steps SC7 and SC8 (see <FIG>) according to the embodiment <NUM>.

When the operation state is determined to be abnormal in step SE3, it is commanded, in step SE4, that shovel <NUM> transmits the image data. This command includes a start time (the first time) and a finish time (the second time) of the image data to be transmitted. When receiving the transmission command of the image data, the shovel <NUM> transmits the image data corresponding to a period from the first time to the second time, out of the image data accumulated in the temporary storage device <NUM>, to the monitoring device <NUM> as a response to the command. In addition, it is preferable to perform a data compression of the image data before transmission.

In step SE5, the image data received from the shovel <NUM> and the detection values of the sensor at the time when the operation is determined to be abnormal are stored in the abnormality information storage device <NUM> in a state of being associated with each other. When a process of step SE5 is finished, whether or not the operation of the monitoring device <NUM> is in a stopped state is determined in step SE6. Whether or not the operation of the monitoring device <NUM> is in a stopped state is determined in step SE6, even when the operation is determined, in step SE3, not to be abnormal.

When the monitoring device <NUM> is determined, in step SE6, not to be in a stopped state, the process returns to step SE1. When the monitoring device <NUM> is determined to be in a stopped state, the process is finished.

To specify the cause of the abnormality, an observer of the monitoring device <NUM> can use the image corresponding to a period before and after the time of the detected abnormality which is displayed on the output device <NUM>, even in the case of the embodiment <NUM>. The image displayed on the output device <NUM> is the same as the image output on the output device <NUM>, according to the embodiment <NUM> shown in <FIG>, or the image output on the output device <NUM>, according to the embodiment <NUM> shown in <FIG>.

Claim 1:
A shovel comprising:
an imaging device (<NUM>, 20F, 20R, <NUM>, 20B);
a temporary storage device (<NUM>) that is adapted to temporarily store image data acquired by the imaging device (<NUM>, 20F, 20R, <NUM>, 20B);
a plurality of sensors (<NUM>) that are each adapted to detect a plurality of physical quantities relating to an operation state of the shovel;
a transmitter (<NUM>) for transmitting the data, and
a control device (<NUM>) that is adapted to perform an operation abnormality determination based on detection values detected by the sensors (<NUM>), and to transmit the image data stored in the temporary storage device (<NUM>), which corresponds to a period from a first time prior to a time at which an operation is determined to be abnormal to at least the time at which the operation is determined to be abnormal, from the transmitter (<NUM>) when the operation is determined to be abnormal.