Remote operation support server, remote operation support system and remote operation support method

Abstract

The present invention provides a technology that can improve the working efficiency of a working machine that is remotely operated by an operator through a remote operating device. When the first condition is satisfied, that is, when there is an engine stop command to the working machine (40) through the remote input interface (210) of the remote operating device (20), the operation of the engine (460) is stopped in principle, but as an exception, the operation of the engine (460) is not stopped. Specifically, when the operator is not at the designated position when operating the remote operating mechanism (211) in the remote operating device (20), the operation of the engine (460) is stopped. On the other hand, when the operator is at the designated position when operating the remote operating mechanism (211) in the remote operating device (20), even if there is an engine stop command, the operation of the engine (460) is not stopped and the operation of the engine (460) continues.

Description

Technical Field

[0001] The present invention relates to a technology for supporting remote operation of a working machine by an operator through a remote operation device. Background Art

[0002] There is proposed an operating circuit for a working machine that can prevent erroneous operation after a latch is operated to release a blockage by a work stopping device in a working machine such as a hydraulic excavator (see, for example, Patent Document 1).

[0003] An emergency stop system for construction machinery is proposed, which can grasp the condition of the machinery and determine whether to make an emergency stop even when the machinery is in an emergency stop (for example, refer to Patent Document 2). According to the system, if the ignition switch is in the off state, power is supplied to each electronic device. In addition, while power is supplied to each electronic device, the second electronic device can issue a work machine stop command to cause the work machine stop mechanism to stop the operation of the work machine and an engine stop command to cause the first electronic device to stop the engine.

[0004] A new remote control system for a working machine is proposed, which can quickly and easily identify the location where the abnormality occurs when an abnormality occurs in a communication mechanism (for example, refer to Patent Document 3). According to this system, when the device diagnosed as having an abnormality is a device that does not affect the operation of the hydraulic system and the engine system, the working machine is controlled to be in a standby state. Therefore, in the case where the device is an image and voice device, it is possible to avoid a situation where the operator operates the working machine in a state where the image cannot be observed. Furthermore, in the case where the standby state continues for a specified time, the engine of the working machine is also stopped, thereby avoiding unexpected situations in a situation where the standby state may continue for a long time.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2006-233615

[0008] Patent Document 2: Japanese Patent Application Publication No. 2008-248627

[0009] Patent Document 3: Japanese Patent Application Publication No. 2015-192163 Summary of the invention

[0010] Technical problem to be solved by the invention

[0011] However, even if the operator intends to continue the remote operation of the working machine, if an engine stop command is issued for an unexpected reason and the engine of the working machine is stopped, the operator needs to restart the engine, which may reduce the working efficiency.

[0012] Therefore, an object of the present invention is to provide a technology capable of improving the working efficiency of a working machine remotely controlled by an operator via a remote control device.

[0013] Solutions for solving the above technical problems

[0014] The remote operation support server of the present invention comprises:

[0015] The first support processing element identifies the sufficiency of a first condition and a second condition based on communication with a remote operating device for remotely operating the working machine, the first condition being that there is an engine stop command to the working machine through an input interface of the remote operating device, and the second condition being that there is a low probability that the intention of the operator of the remote operating device to stop the engine of the working machine is reflected in the engine stop command;

[0016] The second support processing component, when the first support processing component identifies that the first condition and the second condition are satisfied, executes the first stop processing for stopping the operation of the operating mechanism without stopping the operation of the engine of the operating machine based on communication with the operating machine. On the other hand, when the first support processing component identifies that the first condition is satisfied but the second condition is not satisfied, the second stop processing for stopping the operation of the operating mechanism and the engine of the operating machine based on communication with the operating machine is executed.

[0017] According to the remote operation support server thus constructed, when the first condition is satisfied, that is, when there is an engine stop command to the working machine through the input interface of the remote operation device, the engine operation is stopped in principle, but as an exception, the engine operation may not be stopped.

[0018] Specifically, when the second condition is not satisfied, that is, when the operator's intention to stop the engine or even to interrupt the remote operation is highly likely to be reflected in the engine stop command, the engine is stopped according to the engine stop command. Thus, it is reliably avoided that a third party other than the operator mistakenly releases the stop state of the operation mechanism and restarts the operation of the operation machine.

[0019] On the other hand, when the second condition is satisfied, that is, when the operator's intention to stop the engine or even to interrupt the remote operation is less likely to be reflected in the engine stop command, the engine operation is not stopped but continued even if there is an engine stop command. Thus, the operator can release the operation stop state of the working mechanism in this state, so that the work performed by the working machine can be quickly resumed, thereby improving the working efficiency of the working machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an explanatory diagram regarding the configuration of a remote operation support system as one embodiment of the present invention.

[0021] Figure 2 This is an explanatory diagram regarding the structure of the remote control device.

[0022] Figure 3 This is an explanatory diagram regarding the structure of a working machine.

[0023] Figure 4 This is an explanatory diagram regarding the first function of the remote operation support system.

[0024] Figure 5 This is an explanatory diagram regarding the second function of the remote operation support system.

[0025] Figure 6 This is an illustration of a work environment image. DETAILED DESCRIPTION

[0026] (Composition of remote operation support system)

[0027] like Figure 1 As shown, a remote operation support system as an embodiment of the present invention is composed of a remote operation support server 10 and a working machine 40. A remote operation device 20 (client) for remotely operating the working machine 40 may also be a component of the remote operation support system. The remote operation support server 10, the remote operation device 20, and the working machine 40 are configured to be able to communicate with each other through a network. The mutual communication network between the remote operation support server 10 and the remote operation device 20, and the mutual communication network between the remote operation support server 10 and the working machine 40 may be the same or different.

[0028] (Configuration of remote operation support server)

[0029] The remote operation support server 10 includes a database 102, a first support processing element 121, and a second support processing element 122. The database 102 stores and maintains captured image data, etc. The database 102 may also be constituted by a database server independent of the remote operation support server 10. Each support processing element is constituted by an operation processing device (a single-core processor or a multi-core processor or a processor core constituting a processor), reads necessary data and software from a storage device such as a memory, and performs the operation processing described later according to the software on the data. The remote operation support server 10 may also be constituted by a remote operation device 20. In this case, the remote control device 200 includes a first support processing element 121 and a second support processing element 122.

[0030] (Composition of remote control device)

[0031] The remote operation device 20 includes a remote control device 200, a remote input interface 210, and a remote output interface 220. The remote operation device 20 functions as at least one of the "first client" and the "second client". The remote control device 200 is composed of a computing device (a single-core processor or a multi-core processor or a processor core constituting a processor), reads necessary data and software from a storage device such as a memory, and performs computing processing based on the software with the data as the object. The remote input interface 210 includes a remote operation mechanism 211 and an operator status sensor 212. The remote output interface 220 includes an image output device 221 and a remote wireless communication device 222.

[0032] The remote control mechanism 211 includes a travel control device, a slewing control device, an arm control device, an arm control device, and a bucket control device. Each control device has an operating lever that receives a rotation operation. The operating lever (travel lever) of the travel control device is operated to move the lower travel body 410 of the working machine 40. The travel lever may also serve as a travel pedal. For example, a travel pedal fixed to the base or lower end of the travel lever may also be provided. The operating lever (slewing lever) of the slewing control device is operated to move the hydraulic slewing motor constituting the slewing mechanism 430 of the working machine 40. The operating lever (boom lever) of the arm control device is operated to move the arm cylinder 442 of the working machine 40. The operating lever (arm lever) of the arm control device is operated to move the arm cylinder 444 of the working machine 40. The operating lever (bucket lever) of the bucket control device is operated to move the bucket cylinder 446 of the working machine 40.

[0033] For example Figure 2As shown, the operating levers constituting the remote operating mechanism 211 are arranged around a seat St for the operator to sit on. The seat St may be a seat portion of any form in which the operator can sit, such as a high-back chair with armrests, a low-back chair without a headrest, or a chair without a backrest.

[0034] A pair of left and right travel levers 2110 corresponding to the left and right tracks are arranged side by side in front of the seat St. One operating lever can also serve as multiple operating levers. For example, Figure 2 The left operating lever 2111 shown in the figure, which is arranged in front of the left frame of the seat St, can function as a boom lever when operated in the front-rear direction, and can function as a swing lever when operated in the left-right direction. Figure 2 The right operating lever 2112 provided in front of the right frame of the seat St shown can function as a boom lever when operated in the front-rear direction, and can function as a bucket lever when operated in the left-right direction. The lever mode can be arbitrarily changed according to the operator's operation instruction.

[0035] In front of the left side frame of the seat St, the blocking rod 2113 arranged below the left side operating rod 2111 is locked in the raised state so that the working machine 40 does not move even if the operating rods 2110, 2111, and 2112 are operated. On the other hand, when lowered, it functions as an operating rod for releasing the lock.

[0036] In the present embodiment, the operator status sensor 212 is composed of a load sensor (e.g., a strain gauge) provided on a part of the seat St (e.g., the seat portion, the armrest, or the backrest) or a supporting member of the seat St. Based on the size or presence of the load detected by the load sensor, it is determined whether the operator is sitting on the seat St or leaving the seat. In addition, the operator status sensor 212 may also be composed of a contact sensor or a load sensor provided on at least a part of each operating lever constituting the remote operating mechanism 211. The operator status sensor 212 may also be composed of a photographing sensor for recognizing the face or expression of a person sitting on the seat St.

[0037] For example Figure 2 As shown, the image output device 221 is composed of a central image output device 2210, a left image output device 2211, and a right image output device 2212, each of which has a substantially rectangular screen and is disposed in front of, obliquely left in front of, and obliquely right in front of the seat St. The shapes and sizes of the respective screens (image display areas) of the central image output device 2210, the left image output device 2211, and the right image output device 2212 may be the same or different.

[0038] like Figure 2 As shown, the right edge of the left image output device 2211 is adjacent to the left edge of the central image output device 2210, so that the screen of the central image output device 2210 and the screen of the left image output device 2211 form an inclined angle θ1 (for example, 120°≤θ1≤150°). Figure 2 As shown, the left edge of the right image output device 2212 is adjacent to the right edge of the central image output device 2210, so that the screen of the central image output device 2210 and the screen of the right image output device 2212 form an inclined angle θ2 (for example, 120°≤θ2≤150°). The inclined angles θ1 and θ2 can be the same or different.

[0039] The respective screens of the central image output device 2210, the left image output device 2211, and the right image output device 2212 may be parallel to the vertical direction or may be inclined to the vertical direction. At least one of the central image output device 2210, the left image output device 2211, and the right image output device 2212 may be composed of a plurality of image output devices divided into a plurality of images. For example, the central image output device 2210 may be composed of a pair of image output devices adjacent to each other in the upper and lower directions and having a substantially rectangular screen. The image output devices 2210 to 2212 may further include a speaker (voice output device).

[0040] (Composition of working machines)

[0041] The working machine 40 includes a machine control device 400, a machine input interface 41, a machine output interface 42, a working mechanism 440, and an engine 460. The machine control device 400 is composed of a processing device (a single-core processor or a multi-core processor or a processor core constituting a processor), reads necessary data and software from a storage device such as a memory, and performs processing according to the software on the data.

[0042] like Figure 2 As shown, the working machine 40 is, for example, a crawler excavator (construction machine), and includes a crawler-type lower traveling body 410 and an upper revolving body 420 rotatably mounted on the lower traveling body 410 via a revolving mechanism 430. A cab 424 (driver's cab) is provided at the front left side of the upper revolving body 420. A working mechanism 440 is provided at the front center of the upper revolving body 420.

[0043] The real machine input interface 41 includes a real machine operating mechanism 411, a real machine photographing device 412 and a positioning device 414. The real machine operating mechanism 411 includes a plurality of operating levers, which are arranged around a seat arranged inside the cab 424 in the same manner as the remote operating mechanism 211. A driving mechanism or a robot is provided in the cab 424 to receive a signal corresponding to the operation method of the remote operating lever and to operate the real machine operating lever based on the received signal. The real machine photographing device 412 is, for example, provided inside the cab 424 to photograph an environment including at least a portion of the operating mechanism 440 through the front window and a pair of left and right side windows. A part or all of the front window and the side windows may also be omitted. The positioning device 414 is composed of a GPS and a gyro sensor as required.

[0044] The real machine output interface 42 includes a real machine wireless communication device 422 .

[0045] The working mechanism 440 includes a boom 441 which is movably mounted on the upper rotating body 420, an arm 443 which is rotatably connected to the front end of the boom 441, and a bucket 445 which is rotatably connected to the front end of the arm 443. The working mechanism 440 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446 which are composed of telescopic hydraulic cylinders.

[0046] The boom cylinder 442 is interposed between the boom 441 and the upper slewing body 420, so that it can be extended and retracted by receiving the supply of hydraulic oil, thereby rotating the boom 441 in the lifting direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441, so that it can be extended and retracted by receiving the supply of hydraulic oil, thereby rotating the arm 443 around the horizontal axis relative to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443, so that it can be extended and retracted by receiving the supply of hydraulic oil, thereby rotating the bucket 445 around the horizontal axis relative to the arm 443.

[0047] When the engine 460 is turned on, the main pump can supply working oil to the plurality of directional control valves, and the pilot pump can supply primary pressure oil to the actual machine operating mechanism 411. According to the action corresponding to the remote operation command of the actual machine operating mechanism 411, the secondary pressure oil is supplied to the directional control valve, and the working oil is supplied to the hydraulic cylinder corresponding to the action of the directional control valve, thereby operating the slewing mechanism 430 and the working mechanism 440.

[0048] (1st function)

[0049] Use as Figure 4The flowchart shown in the figure explains the first function of the remote operation support system of the above structure. In the flowchart, for the sake of simplicity, a frame such as "C●" is used to indicate the sending and / or receiving of data, and to indicate a conditional branch for executing the processing in the branch direction based on the sending and / or receiving of the data.

[0050] In the remote operation device 20, it is determined whether or not a designated operation is performed by the operator via the remote input interface 210 ( Figure 4 / Step 210). For example, the "designated operation" is an operation such as a tap in the remote input interface 210 for designating the working machine 40 that the operator intends to remotely operate. Figure 4 / Step 210‥No), repeat the process of determining whether there is a designated operation or not. On the other hand, if the determination result is positive ( Figure 4 / Step 210‥Yes), send an environment confirmation request to the remote operation support server 10 via the remote wireless communication device 222 ( Figure 4 / Step 212).

[0051] In the remote operation support server 10, when receiving the environment confirmation request, the first support processing component 121 sends the environment confirmation request to the corresponding working machine 40 ( Figure 4 / C110).

[0052] In the working machine 40, when an environment confirmation request is received via the real machine wireless communication device 422 ( Figure 4 / C410), the real machine control device 400 obtains the captured image through the real machine shooting device 412 ( Figure 4 / Step 410). The real machine control device 400 transmits the captured image data ( Figure 4 / Step 412).

[0053] In the remote operation support server 10, when the first support processing component 121 receives the captured image data ( Figure 4 / C111), the second support processing component 122 sends the environment image data corresponding to the captured image to the remote operation device 20 ( Figure 4 / Step 110). The environment image data is not only the captured image data itself, but also image data representing a simulated environment image generated based on the captured image.

[0054] In the remote operation device 20, when the environment image data is received through the remote wireless communication device 222 ( Figure 4 / C210), the remote control device 200 outputs the environment image corresponding to the environment image data to the image output device 221 ( Figure 4 / Step 214).

[0055] Thus, for example Figure 6 As shown, an environment image showing a boom 441 , an arm 443 , and a bucket 445 which are part of a working mechanism 440 is output to the image output device 221 .

[0056] In the remote operation device 20, the operation mode of the remote operation mechanism 211 is recognized by the remote control device 200 ( Figure 4 / Step 216), and send a remote operation instruction corresponding to the operation mode to the remote operation support server 10 through the remote wireless communication device 222 ( Figure 4 / Step 218).

[0057] In the remote operation support server 10, when the second support processing component 122 receives the remote operation command, the first support processing component 121 sends the remote operation command to the working machine 40 ( Figure 4 / C112).

[0058] In the working machine 40, when the real machine control device 400 receives a remote operation command via the real machine wireless communication device 422 ( Figure 4 / C412), controlling the action of the operating mechanism 440, etc. ( Figure 4 / Step 414). Thus, remote control of the working machine 40 is started. For example, the working machine 40 is operated by scooping up the soil in front of the working machine 40 with the bucket 445, and the soil is poured from the bucket 445 after the upper rotating body 420 is rotated.

[0059] (2nd function)

[0060] Use as Figure 5 The flowchart shown in the figure explains the second function of the remote operation support system of the above structure. In the flowchart, for the sake of simplicity, a frame such as "C●" is used to indicate the sending and / or receiving of data, and to indicate a conditional branch for executing the processing in the branch direction based on the sending and / or receiving of the data.

[0061] In the remote operation device 20, it is determined whether or not the operator has performed the first designated operation via the remote input interface 210 ( Figure 5 / Step 221). For example, the "first designated operation" is an operation such as a tap on the remote input interface 210 to start the engine 460 of the working machine 40, such as switching the IGN switch from OFF to ON. In the case where the determination result is negative ( Figure 5 / Step 221‥No), repeat the process of determining whether there is the first designated operation or not. On the other hand, if the determination result is positive ( Figure 5 / Step 221‥Yes), send the engine operation instruction to the remote operation support server 10 through the remote wireless communication device 222 ( Figure 5 / Step 222 ). The engine operation instruction includes a work machine identifier for identifying the work machine 40 specified through the remote input interface 210 .

[0062] In the remote operation support server 10, when an engine operation command is received, the first support processing component 121 sends the engine operation command to the working machine 40 identified by the working machine identifier ( Figure 5 / C120).

[0063] In the working machine 40, when an engine operation command is received via the real machine wireless communication device 422 ( Figure 5 / C420), the actual machine control device 400 switches the engine 460 of the working machine 40 from ON to OFF, and switches the working mechanism 440 from the inoperable locked state to the operable unlocked state ( Figure 5 / Step 420). Thus, for example, the primary pressure oil supplied from the pilot pump can be supplied to the directional control valve as the secondary pressure oil according to the remote operation command (by adjusting the operation mode of the actual machine operation mechanism 411 by the actuator), so that the operating mechanism 440 becomes operable as described above (refer to Figure 4 / Step 216 → Step 218 → ‥ → Step 412 and Figure 6 ).

[0064] In the remote operation device 20, it is determined whether or not the second designated operation is performed by the operator via the remote input interface 210 ( Figure 5 / Step 223). For example, the "second designated operation" is an operation such as a tap on the remote input interface 210 to stop the operation of the engine 460 of the working machine 40, such as switching the IGN switch from ON to OFF. In the case where the determination result is negative ( Figure 5 / Step 223‥No), repeat the process of determining whether there is the first designated operation or not. On the other hand, if the determination result is positive ( Figure 5 / Step 223‥Yes), send an engine stop command to the remote operation support server 10 via the remote wireless communication device 222 ( Figure 5 / Step 224 ). The engine stop command includes a work machine identifier for identifying the work machine 40 specified via the remote input interface 210 .

[0065] In the remote operation support server 10, when an engine stop instruction is received ( Figure 5 / C121), the first support processing component 121 sends an operator status request to the remote operation device 20 ( Figure 5 / Step 121). Receiving the engine stop command means the same as satisfying the first condition.

[0066] In the remote operation device 20, when an operator status request is received through the remote wireless communication device 222 ( Figure 5 / C221), the remote control device 200 detects the operator status based on the output signal of the operator status sensor 212 ( Figure 5 / Step 225). For example, whether the operator is seated in the seat St or the operator is in the designated position where the operator should be when operating the remote operation mechanism 211 is detected as the operator status. Then, the detected operator status ( Figure 5 / Step 226).

[0067] Alternatively, when it is determined that the second designated operation has occurred ( Figure 5 / Step 223‥Yes), even if there is no operator status request, the remote control device 200 detects the operator status based on the output signal of the operator status sensor 212 ( Figure 5 / Step 225), the detected operator status is sent to the remote operation support server 10 together with the engine stop instruction through the remote wireless communication device 222 ( Figure 5 / Step 226).

[0068] In the remote operation support server 10, when the operator status is received ( Figure 5 / C122), based on the operator status, the first support processing component 121 determines whether the second condition ( Figure 5 / Step 122) That is, it is determined whether the operator is present at the designated location where the operator should be when operating the remote operation mechanism 211.

[0069] When the determination result is positive, that is, when the first condition and the second condition are satisfied ( Figure 5 / Step 122‥Yes), the second support processing unit 122 sends a first stop command to the working machine 40 ( Figure 5 / Step 124).

[0070] In the working machine 40, when the first stop command is received by the real machine wireless communication device 422 ( Figure 5 / C421), the engine 460 of the working machine 40 is kept on by the actual machine control device 400, and on the other hand, the working mechanism 440 is switched from the unlocked state to the locked state ( Figure 5 / Step 421). As a result, the supply of the primary pressure oil from the pilot pump to the actual machine operating mechanism 411 is prohibited due to the interruption of the corresponding hydraulic circuit, so that even if there is a remote operation command, the working mechanism 440 becomes inoperable.

[0071] When the determination result is negative, that is, when the first condition is satisfied but the second condition is not satisfied ( Figure 5 / Step 122‥No), the second support processing unit 122 sends a first stop command to the working machine 40 ( Figure 5 / Step 126).

[0072] In the working machine 40, when the second stop command is received via the real machine wireless communication device 422 ( Figure 5 / C422), the actual machine control device 400 switches the engine 460 of the working machine 40 from ON to OFF and switches the working mechanism 440 from the unlocked state to the locked state ( Figure 5 / Step 422). As a result, the pilot pump no longer supplies the primary pressure oil to the actual machine operating mechanism 411, and even if the actual machine operating mechanism 411 is operated according to the remote operation command, the working mechanism 440 (and the rotating mechanism 430) cannot be operated.

[0073] (Effect)

[0074] According to the remote operation support server 10 thus constructed, when the first condition is satisfied, that is, when there is an engine stop command to the working machine 40 through the remote input interface 210 of the remote operation device 20, the operation of the engine 460 is stopped in principle, but as an exception, the operation of the engine 460 may not be stopped.

[0075] Specifically, when the second condition is not satisfied, that is, when the operator is present at the designated position when operating the remote operating mechanism 211 in the remote operating device 20, the operator's intention to stop the engine 460 or even to interrupt the remote operation is likely to be reflected in the engine stop command. Therefore, in this case, by stopping the operation of the engine 460 in accordance with the engine stop command, it is reliably avoided that a third party other than the operator mistakenly releases the stop state of the operation mechanism 440 (including the slewing mechanism 430), thereby restarting the operation performed by the working machine 40 (refer to Figure 5 / Step 122‥No→Step 126→‥Step 422).

[0076] On the other hand, when the second condition is satisfied, that is, when the operator is not present at the designated position when operating the remote operating mechanism 211 in the remote operating device 20, the operator's intention to stop the engine 460 or even to interrupt the remote operation is less likely to be reflected in the engine stop command. Therefore, in this case, even if there is an engine stop command, the operation of the engine 460 is not stopped but continued, so that the operator releases the stopped state of the working machine 40 in this state, and the work performed by the working machine 40 is quickly resumed, thereby improving the work efficiency of the working machine 40 (see Figure 5 / Step 122‥Yes→Step 124→‥Step 421).

[0077] (Other embodiments of the present invention)

[0078] In the above-mentioned embodiment, although (a) the situation where the operator is not present at the designated position when operating the remote operating mechanism 211 in the remote operating device 20 is defined as the second condition, as other embodiments, at least one of (b) the emergency stop switch provided in the remote operating device 20 is operated, (c) an abnormal operation occurs in the remote operating device 20, the remote operating support server 10 or the working machine 40, and (d) a communication interruption occurs in the remote operating device 20, the remote operating support server 10 or the working machine 40 may be defined as the second condition instead or in addition.

[0079] The first support processing element 121 identifies the sufficiency of the second condition that the operator is not present at the designated location when operating the remote operating mechanism 211 in the remote operating device 20, based on the output signal from the sensor for detecting the operator's contact with or load application to the designated structure set at the designated location in the remote operating device 20.

[0080] In the case where the operator in the remote operation device 20 contacts or applies a load to a designated structure provided at a designated location when operating the remote operation mechanism 211, the operator's intention to stop the engine 460 or even to interrupt the remote operation is less likely to be reflected in the engine stop command. Therefore, in this case, even if there is an engine stop command, the operation of the engine 460 is not stopped but continued. Thus, in this state, the operator releases the stop state of the operation mechanism, and the operation performed by the operation machine 40 is quickly resumed, thereby improving the operation efficiency of the operation machine 40.

[0081] The first support processing element 121 recognizes the sufficiency of the second condition based on the output signal from the sensor 212 for detecting that the operator is seated on the seat St as the designated structure and applies a load. The first support processing element 121 recognizes the sufficiency of the second condition that the operator is not present at the designated position when operating the remote operating mechanism 211 in the remote operating device 20 based on the output signal from the imaging sensor for recognizing the face or expression of a person sitting on the seat St provided at the designated position in the remote operating device 20.

[0082] In the case where the operator is not seated on the seat St in the remote operation device 20, the operator's intention to stop the engine or even to interrupt the remote operation is less likely to be reflected in the engine stop command. Therefore, in this case, even if there is an engine stop command, the operation of the engine 460 is not stopped and the operation of the engine 460 is continued, so that the operator can release the operation stop state of the working mechanism in this state, and the work performed by the working machine 40 can be quickly resumed, thereby improving the working efficiency of the working machine 40.

[0083] Description of Reference Numerals

[0084] 10 Remote Operation Support Server

[0085] 20 Remote control device

[0086] 40 Operating machinery

[0087] 41 Real machine input interface

[0088] 42 real machine output interface

[0089] 102 Database

[0090] 121 1st support processing unit

[0091] 122 Second support processing unit

[0092] 200 Remote Control Device

[0093] 210 Remote input interface

[0094] 211 Remote Operation Mechanism

[0095] 212 Operator status sensor

[0096] 220 Remote output interface

[0097] 221 Image output device

[0098] 400 real machine control device

[0099] 410 Lower running body

[0100] 420 Upper Rotating Body

[0101] 424 Cab (driver's cab)

[0102] 440 Operational organization (operation attachment)

[0103] 445 Bucket (operating part)

[0104] 460 engine.

Claims

1. A remote operation support server, characterized in that: have: The first support processing element identifies the sufficiency of a first condition and a second condition based on communication with a remote operating device for remotely operating the working machine, the first condition being that there is an engine stop command to the working machine through an input interface of the remote operating device, and the second condition being that there is a low probability that the intention of the operator of the remote operating device to stop the engine of the working machine is reflected in the engine stop command; The second support processing component, when the first support processing component identifies that the first condition and the second condition are satisfied, executes the first stop processing for stopping the operation of the operating mechanism without stopping the operation of the engine of the operating machine based on communication with the operating machine. On the other hand, when the first support processing component identifies that the first condition is satisfied but the second condition is not satisfied, the second stop processing for stopping the operation of the operating mechanism and the engine of the operating machine based on communication with the operating machine is executed.

2. The remote operation support server according to claim 1, wherein: The second condition is at least one of the following conditions: (a) The operator is not present at the designated location when operating the remote operating mechanism; (b) the emergency stop switch provided on the remote operating device is operated; (c) An abnormality occurs in the operation of the remote operation device, remote operation support server, or operating machine; and (d) A communication interruption occurs in the remote operation device, the remote operation support server, or the operating machine.

3. The remote operation support server according to claim 2, wherein: The first support processing element identifies the sufficiency of the second condition (a) that the operator is not present at the designated location in the remote operating device when operating the remote operating mechanism, based on an output signal from a sensor for detecting that the operator has contacted or applied a load to a designated structure set at the designated location in the remote operating device.

4. The remote operation support server according to claim 3, wherein: The first support processing unit recognizes the sufficiency of the second condition based on the output signal from the sensor for detecting that the operator sits on the seat as the designated structure and applies a load.

5. The remote operation support server according to claim 2, wherein: The first support processing element identifies the sufficiency of the second condition (a) that the operator is not present at the designated location when operating the remote operating mechanism in the remote operating device, based on an output signal from a photographing sensor for identifying the face or expression of a person sitting in a seat provided at the designated location in the remote operating device.

6. A remote operation support system, characterized in that: The remote operation support server is composed of the remote operation support server according to any one of claims 1 to 5 and the working machine.

7. A remote operation support method, characterized in that: implement: The first support process is to identify the sufficiency of a first condition and a second condition based on communication with a remote operating device for remotely operating the working machine, wherein the first condition is that there is an engine stop command for the working machine through an input interface of the remote operating device, and the second condition is that the probability that the intention of the operator of the remote operating device to stop the engine of the working machine is reflected in the engine stop command is low; The second support processing is to execute the first stop processing for stopping the operation of the working mechanism without stopping the operation of the engine of the working machine based on the communication with the working machine when it is identified that the first condition and the second condition are satisfied by executing the first support processing. On the other hand, when it is identified that the first condition is satisfied but the second condition is not satisfied by executing the first support processing, the second stop processing for stopping the operation of the working mechanism and the engine of the working machine based on the communication with the working machine.

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