Operation support server, operation support system and operation support method

Abstract

The present invention provides a technology for appropriately controlling the warm-up completion timing of a working machine based on the use arrangement of the working machine. Based on the measured values ​​of external state variables in the stopped state of the working machine (40), a warm-up period is predicted from the start of the warm-up operation of the working machine (40) until the measured values ​​of internal state variables satisfy a specified condition, that is, until the warm-up is completed. Then, based on the predicted warm-up period, the warm-up operation of the working machine (40) is started at an appropriate timing, that is, a first specified time t1, in such a way that the measured values ​​of the internal state variables of the working machine (40) satisfy the specified condition until a second specified time t2.

Description

Technical Field

[0001] The invention relates to a warm-up operation technology for an operating machine. Background Art

[0002] There has been proposed a technique for performing a warm-up operation according to the temperature of a hydraulic system of a working machine or a construction machine (for example, refer to Patent Documents 1 and 2).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application No. 2019 / 053833

[0006] Patent Document 2: Japanese Patent Application Publication No. 2018-048472 Summary of the invention

[0007] Technical problem to be solved by the invention

[0008] However, it is difficult for an operator to recognize the status of a work machine when operating the work machine remotely. For example, when the work machine is located in a low-temperature location, a warm-up operation is required before starting work performed by the work machine. However, the operator is located far away from the work machine and therefore cannot notice the necessity of the warm-up operation. Even if the operator attempts to start work performed by the work machine, the operator cannot start the work immediately.

[0009] Therefore, an object of the present invention is to provide a technology capable of starting a warm-up operation of a working machine based on a usage schedule of the working machine and external state variables of the working machine.

[0010] Solutions for solving the above technical problems

[0011] The operation support server of the present invention comprises:

[0012] a first support processing element that identifies, based on communication with an external information source, a time series of predicted values ​​of an external state variable of an environment of the working machine from a current time to a designated time at which a work to be performed by the working machine is scheduled to start;

[0013] The second supporting processing element identifies the predicted value of the internal state variable representing the state of the constituent elements of the working machine affected by the warm-up operation mode of the working machine at the specified time based on the time series of the predicted value of the external state variable identified by the first supporting processing element, and performs processing for starting the warm-up operation of the working machine at a time earlier than the specified time based on communication with the working machine in such a manner that the predicted value of the internal state variable at the specified time satisfies a specified condition.

[0014] According to the operation support server thus constructed, the predicted values ​​of the internal state variables representing the states of the constituent elements of the operating machine at the specified time can be estimated based on the time series of the predicted values ​​of the external state variables during the period until the specified time. "External state variables" are variables representing the environment of the operating machine that affects the internal state variables of the operating machine. "Internal state variables" are variables whose values ​​change according to the warm-up operation of the operating machine and represent the state of a specified constituent element among the constituent elements of the operating machine. The concept of "specified time" includes a time specified by a user such as an operator of the operating machine or an instructor who supervises the operating status of the operating machine, or any time included in the period specified by the user.

[0015] Then, in such a manner that the measured value of the internal state variable of the working machine at the specified time satisfies the specified condition, the warm-up operation of the working machine is started at a time earlier than the specified time based on the communication with the working machine. Therefore, the operator can start working from the specified time using the working machine whose internal state variable satisfies the specified condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an explanatory diagram regarding the configuration of an operation support system as one embodiment of the present invention.

[0017] Figure 2 This is an explanatory diagram regarding the structure of the remote control device.

[0018] Figure 3 This is an explanatory diagram regarding the structure of a working machine.

[0019] Figure 4 This is a diagram for explaining the functions of the operation support system.

[0020] Figure 5 This is a diagram for explaining the functions of the operation support system.

[0021] Figure 6 This is a diagram showing changes in the outside air temperature of the working machine and the estimated temperature of a specified component.

[0022] Figure 7 This is a diagram showing temperature changes of designated components as the working machine warms up.

[0023] Figure 8 This is a diagram showing temperature changes of designated components as the working machine warms up.

[0024] Fig. 9 This is an illustration of a work environment image. DETAILED DESCRIPTION

[0025] (Composition of the operation support system)

[0026] Figure 1 The operation support system shown as one embodiment of the present invention is composed of an operation support server 10 and a work machine 40 that is a remote operation target of a remote operation device 20 (client). The operation support server 10, the remote operation device 20, the work machine 40, and the client 60 are configured to be able to communicate with each other through a network. The mutual communication network between the operation support server 10 and the remote operation device 20 and the mutual communication network between the operation support server 10 and the work machine 40 may be the same or different.

[0027] (Configuration of the operation support server)

[0028] The 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 the operation schedule of the operating machine 40. In addition to the operation schedule, the database 102 may also store and maintain, for example, captured image data. The database 102 may also be composed of a database server independent of the operation support server 10. Each support processing element is composed of 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 based on the software on the data.

[0029] (Composition of remote control device)

[0030] 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. The remote output interface 220 includes an image output device 221 and a remote wireless communication device 222.

[0031] The remote operating mechanism 211 includes an operating device for traveling, an operating device for rotating, an operating device for an arm, an operating device for an arm, and an operating device for a bucket. Each operating device has an operating lever that receives a rotating operation. The operating lever (travel lever) of the operating device for traveling is operated to move the lower traveling 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 the lower end of the travel lever may also be provided. The operating lever (rotation lever) of the operating device for rotating is operated to move the rotating mechanism 430 of the working machine 40. The operating lever (boom lever) of the operating device for the arm is operated to move the boom cylinder 442 of the working machine 40. The operating lever (arm lever (armlever)) of the operating device for the arm is operated to move the arm cylinder 444 of the working machine 40. The operating lever (bucket lever) of the operating device for the bucket is operated to move the bucket cylinder 446 of the working machine 40.

[0032] For example Figure 2 As 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.

[0033] 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.

[0034] 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.

[0035] like Figure 2As 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.

[0036] 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).

[0037] (Composition of working machines)

[0038] like Figure 1 As shown, the working machine 40 includes a real machine control device 400, a real machine input interface 41, a real machine output interface 42, and a working mechanism 440. The real machine control device 400 is composed of 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 operation processing based on the software with the data as the object.

[0039] The working machine 40 is, for example, a crawler excavator (construction machine). Figure 3 As shown, the vehicle has 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 (operator's cab) is provided on the front left side of the upper revolving body 420. A working attachment 440 is provided in the front center of the upper revolving body 420.

[0040] 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 real machine 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, which receives a signal corresponding to the operation method of the remote operating mechanism 211 and actuates the real machine operating lever based on the received signal. The real machine photographing device 412 is, for example, arranged inside the cab 424, and photographs an environment including at least a part of the working mechanism 440 through the front window or a pair of left and right side windows of the cab 424. A part or all of the front window and the side windows can be omitted. The positioning device 414 is composed of a GNSS signal receiver (GNSS: Global Navigation Satellite System) for detecting the existence position of the working machine 40.

[0041] The real machine output interface 42 includes a real machine wireless communication device 422 for performing network communication with the operation support server 10 , the remote operation device 20 , and the client 60 .

[0042] The working attachment 440 as a working mechanism includes: a boom 441 which is raisably 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 attachment 440 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446 which are composed of telescopic hydraulic cylinders.

[0043] 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.

[0044] In addition, the working machine 40 is provided with an internal state recognition unit 460. The internal state recognition unit 460 includes, for example, a temperature sensor disposed in a pipe of engine cooling water of the working machine 40, a temperature sensor disposed in a hydraulic pipe or tank in a hydraulic system for operating the slewing mechanism 430 and the working attachment 440, and a temperature sensor disposed in other components of the working machine 40.

[0045] (Client Configuration)

[0046] The client 60 is a terminal device such as a smart phone, a tablet terminal or a personal computer, and includes a control device 600, an input interface 610 and an output interface 620. The client 60 functions as at least one of the "first client" and the "second client". The control device 600 is composed of 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 operation processing according to the software on the data.

[0047] The input interface 610 is composed of touch panel type buttons and switches, etc. The output interface 620 includes an image output device and a wireless communication device.

[0048] (1st function)

[0049] In the remote operation device 20 (or the client 60), it is determined whether or not the first designated operation is performed by the operator via the remote input interface 210 ( Figure 4 / Step 210). The "first designated operation" is an operation for selecting a working machine 40 to cooperate with the remote operating device 20. For example, the presence or absence of the first designated operation is determined as follows. First, a map and / or a list showing the respective locations of the working machines 40 that can cooperate with the remote operating device 20 is output by the remote output interface 220. Next, it is determined whether the operator has performed an operation such as a tap, a swipe, or a pitching in the remote input interface 210 for specifying a working machine 40 to cooperate with the remote operating device 20.

[0050] If the determination result is negative ( Figure 4 / Step 210‥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 4 / Step 210‥Yes), the operator sets the designated time t ( Figure 4 / Step 211). The designated time t is a time scheduled for the remote control device 20 to start the operation of the working machine 40. The set designated time t is stored in the database 102.

[0051] Next, the operation request ( Figure 4 / Step 212). The request includes a work machine identifier for identifying the work machine 40 with which the remote operation device 20 establishes communication or the work machine 40 specified by the remote input interface 210 and the set specified time t.

[0052] In the operation support server 10, when an operation request is received ( Figure 4 / C10), a status confirmation request is sent to the working machine 40 identified by the working machine identifier through the first support processing component 121 ( Figure 4 / Step 110).

[0053] In the working machine 40, when a status confirmation request is received via the real machine wireless communication device 422 ( Figure 4 / C40), the actual machine control device 400 identifies the position information (latitude and longitude) of the working machine 40 through the positioning device 414 ( Figure 4 / Step 410).

[0054] The real machine control device 400 transmits the position information or the position data indicating the position information to the remote operation device 20 via the real machine wireless communication device 422 ( Figure 4 / Step 411).

[0055] Then, in the operation support server 10, the first support processing component 121 recognizes the position information ( Figure 4 / C11).

[0056] In addition, if the position information of the working machine 40 can be recognized in advance (for example, the position information of the working machine 40 when it was last operated is stored in the database 102), the status confirmation request ( Figure 4 / Step 110) and identification of location information ( Figure 4 / C11). In the operation support server 10, when the first support processing component 121 recognizes the position information ( Figure 4 / C11), and based on the position information, identify the measured value of the external state variable ( Figure 4 / Step 111). "External state variables" are variables representing the environment of the working machine 40 that affects the internal state variables of the working machine 40. For example, the air temperature around the working machine 40 belongs to the external state variables. "Internal state variables" are variables representing the state of the components of the working machine. For example, the temperature of a specified component belongs to the internal state variables. The "temperature of a specified component" is, for example, the water temperature T1 in the pipe of the engine cooling water of the working machine 40 measured by the internal state recognition unit 460, the temperature T2 of the hydraulic pipe or tank in the hydraulic system for operating the slewing mechanism 430 and the working attachment 440, and the temperature of other components of the working machine 40. When the engine serving as the power source of the working machine 40 is not in operation, it is the temperature of the components of the working machine 40 that changes according to the external air temperature of the working machine 40.

[0057] For example, the first support processing element 121 searches for weather information of a location indicated by the location information or an area including the location in a weather information database as an external information source based on the location information of the working machine 40, thereby identifying the measured value of the external state variable ( Figure 4 / Step 111). The weather information database includes past data and forecast data of weather at any location in the country provided by an organization authorized to conduct weather forecasting business.

[0058] The first support processing component 121 identifies weather information corresponding to the position of the working machine 40 from several hours before the current time t1 (for example, 6 hours before) to the specified time t. When the external state variable is the temperature, the time series of the measured values ​​of the temperature from several hours before to the current time t1 and the time series of the predicted values ​​of the temperature from the current time t1 to the specified time t are identified.

[0059] Next, the second support processing element 122 calculates the warm-up operation start time t2 ( Figure 4 / Step 112).

[0060] When the external state variable is the air temperature, the second support processing component 122 recognizes a predicted value (predicted temperature) of the temperature of the designated component in a state where the working machine 40 is not in use.

[0061] For example, when the working machine 40 is not in use and the outside air temperature around the working machine 40 is constant, the temperature of the designated component is almost the same as the outside air temperature. However, when the working machine 40 is not in use and the outside air temperature changes, the temperature of the designated component changes. Figure 6 As shown, when the outside temperature drops, the temperature of the designated component also drops, and when the outside temperature drops (or rises) slowly, the outside temperature and the temperature of the designated component are almost the same. On the other hand, when the outside temperature drops (or rises) sharply, a deviation occurs between the outside temperature and the temperature of the designated component.

[0062] In the second support processing component 122, a threshold value is set for the temperature change rate F1 (°C / min) per unit time of the designated component. When the external temperature change rate F2 (°C / min) exceeds the threshold value, the following is set: Figure 6 As shown, a temperature difference is generated between the outside air temperature and the temperature of the designated component, and the temperature difference is calculated. The rate of change F1 corresponds to the heat transfer rate when there is a temperature difference between the designated component and the outside air temperature. The threshold value of the rate of change F1 can be pre-identified or even estimated through the past performance of the working machine 40 or simulation.

[0063] The first support processing unit 121 identifies a temperature change of a designated component when the engine of the working machine 40 is not operating from the current time t1 to at least the designated time t, based on the outside temperature identified from the weather information database and the calculated temperature difference.

[0064] The second support processing unit 122 identifies or estimates the warm-up capability of the working machine 40 in advance through past performance or simulation, etc. For example, the temperature rise rate F3 (° C. / min) per unit time of a specified component is identified as the warm-up capability of the working machine 40 .

[0065] Then, the second support processing unit 122 calculates the warm-up operation start time t2 based on the time series of the predicted values ​​of the temperature of the designated component from the current time t1 to the designated time t, the warm-up capacity of the working machine 40, and the designated time t. This calculation takes into account the effect of heat taken away from the designated component by the outside air during the period until the start of the warm-up operation, and also takes into account that the effect of heating the designated component by the heat of the engine when the warm-up operation starts and the engine is running is much greater than the effect of heat taken away from the designated component by the outside air.

[0066] Specifically, the second support processing component 122 identifies the time series of the predicted values ​​of the temperature of the designated component from the current time t1 to the designated time t as described above. Then, the designated mechanism component at the estimated temperature at each time point is warmed up at the warm-up capacity F3 (°C / min) of the machine, and the time point when the warm-up is completed at the designated time t is determined as the warm-up start time t2. Figure 6 In the figure, a straight line having a slope of the warm-up capacity F3 (°C / min) can be shown by passing through a point that reaches a predetermined temperature at the warm-up completion time t3. The estimated temperature of the designated component continues to decrease until reaching the warm-up operation start time t2, but continues to increase at F3 (°C / min) after the warm-up operation start time t2, and increases to the predetermined temperature at the warm-up completion time t3.

[0067] In order to reliably complete the warm-up at the designated time t, the second support processing component 122 may determine the warm-up completion time immediately before the designated time t (for example, 1 to 5 minutes before) as the warm-up start time t2.

[0068] Furthermore, by adding factors other than air temperature (air pressure, wind speed, humidity, rainfall, snowfall, etc.) as external state variables, the accuracy of temperature prediction of a specified component can be improved.

[0069] The second support processing element 122 calculates the warm-up operation start time t2 ( Figure 4 / Step 112), if the warm-up completion time t3 is later than the specified time t ( Figure 4 / Step 113‥No), send warm-up delay notification ( Figure 4 / Step 114). When the remote operation device 20 / client 60 receives the warm-up delay notification ( Figure 4 / C22), outputs the warm-up delay notification to the remote output interface 220, and notifies the operator that the warm-up is not completed at the designated time t ( Figure 4 / Step 213). This process is performed when sufficient warm-up time cannot be ensured between the current time t1 and the designated time t. In addition, the estimated warm-up completion time t3 may be output to the remote output interface 220 at this time.

[0070] When the warm-up operation start time t2 is reached, the second support processing component 122 sends a warm-up operation command to the working machine 40 ( Figure 4 / Step 116). The warm-up operation instruction includes an instruction to instruct the working machine 40 to warm up, and may also additionally include a specified time t. In addition, if the time point at which the warm-up is completed is later than the specified time t ( Figure 4 / Step 113··No), the current time t1 is set as the warm-up operation start time t2, and a warm-up operation command is immediately sent to the working machine 40.

[0071] In the working machine 40, when a warm-up operation command is received ( Figure 4 / C41), the actual machine control device 400 uses the internal state recognition unit 460 to recognize the measured value of the temperature of the designated component ( Figure 4 / Step 414). Then, the actual machine control device 400 starts the warm-up operation according to the measured value of the temperature of the designated component ( Figure 4 / Step 416).

[0072] Specifically, the actual machine control device 400 predicts the warm-up completion time t3 when the warm-up operation is completed in such a way that the temperature of the specified component satisfies the specified condition based on the measured value of the temperature of the specified component and the warm-up capacity of the working machine 40. If the warm-up completion time t3 is earlier than the specified time t, Figure 7 As shown, the warm-up start time t2 is shifted to the warm-up start time t2′, thereby delaying the start of the warm-up operation, or Figure 8 As shown, the warm-up is smoothly performed (the warm-up capacity is suppressed) so that no fuel consumption occurs during the period from the completion of the warm-up operation to the specified time t.

[0073] Then, determine whether the measured value of the internal state variable meets the specified condition ( Figure 4 / Step 418). Specifically, it is determined whether the temperature of the internal coefficient object has risen to a predetermined temperature.

[0074] If the determination result is negative ( Figure 4 / Step 418‥No), repeat the determination process. On the other hand, if the determination result is positive ( Figure 4 / Step 418‥Yes), send a warm-up completion notification to the operation support server 10 ( Figure 4 / Step 420).

[0075] Whether or not the measured value of the internal state variable satisfies a specified condition can be determined based on the engine speed of the working machine 40 and / or the frequency of the engine sound.

[0076] Specifically, when the engine is not fully warmed up, the rotation speed and / or the frequency do not fall within the prescribed range, but as the engine is warmed up, the rotation speed and / or the frequency fall within the prescribed range, and thus the completion of the warming up can be determined by understanding this change.

[0077] In addition, when there is no unit corresponding to the internal state recognition unit 460, warming up starts from the time when the warming-up operation command is received and continues until the designated time t, at which time it can be determined that the warming-up is completed.

[0078] When the second support processing element 122 receives the warm-up completion notification ( Figure 4 / C12), sends a warm-up completion notification to the remote control device 20 ( Figure 4 / Step 119).

[0079] In the remote operation device 20, when the warm-up completion notification is received from the remote control device 200 ( Figure 4 / C22), outputs the warm-up completion notification to the image output device 221 constituting the remote output interface 220 and / or the client 60 ( Figure 4 / Step 214). Thus, the warm-up completion notification is outputted just before the designated time t, and the operator can recognize that the warm-up of the working machine 40 has been completed.

[0080] (2nd function)

[0081] use Figure 5 The flowchart shown here explains further functions of the operation support system having the above configuration.

[0082] 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 220). For example, the "second designated operation" is an operation such as a tap on the remote input interface 210 by the operator to designate the working machine 40 to be remotely operated. Figure 5 / Step 220‥No), repeat the process after determining whether the designated operation is performed. On the other hand, if the determination result is positive ( Figure 5 / Step 220‥Yes), send an environment confirmation request to the operation support server 10 via the remote wireless communication device 222 ( Figure 5 / Step 222).

[0083] When the operation support server 10 receives the environment confirmation request, the first support processing component 121 sends the environment confirmation request to the corresponding working machine 40 ( Figure 5 / C13).

[0084] In the working machine 40, when an environment confirmation request is received via the real machine wireless communication device 422 ( Figure 5 / C42), the real machine control device 400 recognizes the captured image through the camera 412 ( Figure 5 / Step 420). The real machine control device 400 transmits the captured image data ( Figure 5 / Step 422).

[0085] In the operation support server 10, when the captured image data is received by the first support processing component 121 ( Figure 5 / C14), the environment image data corresponding to the captured image is sent to the remote operation device 20 through the second support processing component 122 ( Figure 5 / Step 120). 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.

[0086] In the remote operation device 20, when the environment image data is received through the remote wireless communication device 222 ( Figure 5 / C24), outputs the environment image corresponding to the environment image data to the image output device 221 ( Figure 5 / Step 224).

[0087] Thus, for example Fig. 9 As shown, an environment image in which a boom 441 , an arm 443 , and a bucket 445 , which are part of a working attachment 440 , are reflected is output to the image output device 221 .

[0088] In the remote operation device 20, the operation mode of the remote operation mechanism 211 is recognized by the remote control device 200 ( Figure 5 / Step 226), and send a remote operation instruction corresponding to the operation mode to the operation support server 10 through the remote wireless communication device 222 ( Figure 5 / Step 228).

[0089] In the operation support server 10, when the remote operation command is received by the second support processing component 122, the remote operation command is sent to the working machine 40 by the first support processing component 121 ( Figure 5 / C15).

[0090] In the working machine 40, when the real machine control device 400 receives an operation instruction via the real machine wireless communication device 422 ( Figure 5 / C43), controlling the operation of the job attachment 440, etc. ( Figure 5 / Step 424). Thus, for example, Figure 6 As shown, the remote operation of the working machine 40 starts after time t3. At this time, the warm-up operation is completed. For example, the operation of scooping up the soil in front of the working machine 40 with the bucket 445 and dumping the soil from the bucket 445 after rotating the upper rotating body 420 is performed.

[0091] (Effect)

[0092] According to the thus constructed operation support server 10, based on the time series of the predicted values ​​of the outside air temperature (external state variable) around the working machine 40 during the period up to the specified time t, the predicted value of the temperature (internal state variable) of a specified component of the working machine 40 at the specified time t is identified.

[0093] Then, based on the communication with the working machine 40, the warm-up operation of the working machine 40 is started at a time earlier than the specified time t so that the predicted value of the temperature of the specified component of the working machine 40 at the specified time t satisfies the specified condition (see Figure 4 / Step 113 ··Yes→Step 116 →··→Step 416). Therefore, the operator can start working from the designated time t or a time close to the designated time t using the working machine 40 whose temperature of the designated component satisfies the designated condition.

[0094] The first support processing component 121 identifies the warm-up capacity of the working machine 40 during the warm-up operation, and the second support processing component 122 predicts the warm-up completion time t3 at which the predicted value of the internal state variable meets the specified conditions based on the warm-up capacity of the working machine 40 identified by the first support processing component 121, so that the warm-up completion time t3 and the specified time t are consistent, and the processing of starting the warm-up operation of the working machine 40 is executed based on communication with the working machine 40.

[0095] The warm-up completion time t3 is predicted based on the warm-up capacity of the working machine 40. Then, the processing of starting the warm-up operation of the working machine 40 is performed in a manner that the warm-up completion time t3 and the specified time t are consistent or close. Among them, the warm-up completion time t3 may not be exactly the same as the specified time 3, but a time slightly earlier than the specified time t. The time interval between the warm-up completion time t3 and the specified time t is shortened, and accordingly, the shortening of the warm-up operation period until the value of the temperature (internal state variable) of the specified component meets the specified condition is achieved, and even corresponding to this shortening, the reduction of the energy consumption (or fuel consumption) required for the warm-up operation is achieved.

[0096] When the warm-up operation of the working machine 40 starts from the current time, if the predicted warm-up completion time t3 is later than the specified time, the second support processing component 122 outputs a warm-up delay notification to the output interface 220, 620 of the remote operating device 20 or the client 60 based on the communication with the remote operating device 20 or the client 60.

[0097] If the warm-up completion time is later than the designated time even if the warm-up operation of the working machine is started from the current time, a warm-up delay notification is output to the remote output interface 220, 620 of the remote operation device 20 or the client 60 (see Figure 4 / Step 113··No→Step 114→··→Step 213). Thus, the operator can be notified that even if the warm-up operation of the operating machine 40 is started immediately from the current moment, the warm-up completion time t3 at which the predicted value of the temperature (internal state variable) of the specified component satisfies the specified conditions will inevitably be delayed in view of the warm-up capacity of the operating machine 40, etc.

[0098] The temperature (internal state variable) of a designated component in the working machine is measured, and the warm-up completion time t3 is predicted based on the measured value, so that the warm-up operation of the working machine 40 is started in such a way that the warm-up completion time t3 coincides with the designated time (see Figure 4 / Step 414→Step 416). The time interval between the warm-up completion time t3 and the specified time t is shortened with higher precision, and accordingly, the warm-up operation period until the value of the internal state variable satisfies the specified condition is shortened, and even the energy consumption (or fuel consumption) required for the warm-up operation is reduced corresponding to the shortening.

[0099] (Other embodiments of the present invention)

[0100] In the above embodiment, if the current time is the warm-up operation start time t2, the second support processing component 122 sends a warm-up operation command to the working machine 40 (see Figure 4 / Step 116), as another embodiment, the second support processing element 122 may send a warm-up operation instruction including the warm-up operation start time t2 to the working machine 40. In this case, in the working machine 40, upon receiving the warm-up operation instruction ( Figure 4 / C41), the actual machine control device 400 starts the warm-up operation at the warm-up operation start time t2 ( Figure 4 / Step 416). At the time point when the warm-up operation instruction is received, the actual machine control device 400 predicts the warm-up completion time t3 based on the measured value of the temperature of the designated component of the working machine 40 and the warm-up capacity of the working machine 40. In the case where the warm-up completion time t3 is earlier than the designated time, the start of the warm-up operation is delayed, or the warm-up capacity is reduced to perform the warm-up operation. The time interval between the warm-up completion time t3 and the designated time t is shortened, and accordingly, the warm-up period until the value of the temperature (internal state variable) of the designated component meets the designated condition is shortened, and even the energy consumption (or fuel consumption) required for the warm-up operation is reduced in accordance with the shortening.

[0101] Description of Reference Numerals

[0102] 10 Operation Support Server

[0103] 20 Remote control device

[0104] 40 Operating machinery

[0105] 41 Real machine input interface

[0106] 42 real machine output interface

[0107] 102 Database

[0108] 121 1st support processing unit

[0109] 122 Second support processing unit

[0110] 200 Remote Control Device

[0111] 210 Remote input interface

[0112] 211 Remote Operation Mechanism

[0113] 220 Remote output interface

[0114] 221 Image output device

[0115] 400 real machine control device

[0116] 424 Cab (driver's cab)

[0117] 440 Operation Attachment (Working Organization)

[0118] 445 Bucket (operating part).

Claims

1. An operation support server, characterized in that: have: a first support processing element that identifies, based on communication with an external information source, a time series of predicted values ​​of an external state variable of an environment of the work machine from a current time to a designated time at which work to be performed by the work machine is scheduled to start; The second supporting processing element calculates, based on a threshold value of a rate of change of the outside air temperature per unit time and a rate of change of the temperature of a constituent element of the working machine per unit time obtained from a time series of the predicted value of the external state variable identified by the first supporting processing element, a temperature difference between the outside air temperature and a temperature of a constituent element of the working machine, which is an internal state variable indicating a state of the constituent element of the working machine affected by a warm-up operation mode of the working machine, when the rate of change of the outside air temperature exceeds the threshold value, The first support processing element identifies a temperature change of the component when the engine of the working machine is not operating during a period from a current time to a specified time based on the outside air temperature as the external state variable identified from the external information source and the temperature difference calculated by the second support processing element, The second supporting processing component identifies a predicted value of the temperature of the constituent element at the specified time based on the temperature change of the constituent element identified by the first supporting processing component, and executes processing for starting warm-up operation of the operating machine at a time earlier than the specified time based on communication with the operating machine in a manner so that the predicted value of the temperature of the constituent element at the specified time satisfies a specified condition.

2. The operation support server according to claim 1, wherein: When the rate of change exceeding a prescribed threshold value of the rate of change is observed, the second support processing component identifies a predicted value at the specified time of an internal state variable representing the state of a constituent element of the working machine affected by the warm-up operation mode of the working machine based on the temperature difference between the outside air temperature and the temperature of the constituent element of the working machine.

3. The operation support server according to claim 1, wherein: The first support processing unit identifies the warm-up capability of the working machine during the warm-up operation. The second support processing element predicts the warm-up completion time at which the predicted value of the internal state variable satisfies the specified condition based on the warm-up capacity of the working machine identified by the first support processing element, and performs processing for starting the warm-up operation of the working machine based on communication with the working machine in a manner that makes the warm-up completion time and the specified time consistent.

4. The operation support server according to claim 3, wherein: When the warm-up operation of the working machine starts from the current time, if the predicted warm-up completion time is later than the designated time, the second support processing element outputs a warm-up delay notification to the output interface of the client based on communication with the client.

5. An operation support system, comprising the operation support server according to claim 3 or 4 and a working machine, characterized in that: The working machine comprises a real machine control device and an internal state acquisition unit. The real machine control device predicts the warm-up completion time based on the measured value of the internal state variable acquired by the internal state acquisition unit, and starts the warm-up operation of the working machine so that the predicted warm-up completion time coincides with the designated time.

6. An operation support method, characterized in that: include: The first support process is to identify, based on communication with an external information source, a time series of predicted values ​​of external state variables of an environment of the working machine representing a period from a current time to a designated time, which is a scheduled time to start a work to be performed by the working machine; a second support process, based on a threshold value of a rate of change of the outside air temperature per unit time and a rate of change of the temperature of a component of the working machine per unit time obtained from a time series of the predicted value of the external state variable identified by executing the first support process, calculating a temperature difference between the outside air temperature and a temperature of a component of the working machine as an internal state variable indicating a state of the component of the working machine affected by the warm-up operation mode when the rate of change of the outside air temperature exceeds the threshold value, The first support processing identifies a temperature change of the component when the engine of the working machine is not operating during a period from a current time to the specified time based on the outside air temperature as the external state variable identified from the external information source and the temperature difference calculated by the second support processing, The second support processing identifies a predicted value of the temperature of the constituent element at the specified time based on the temperature change of the constituent element identified by the first support processing, and executes processing for starting warm-up operation of the working machine at a time earlier than the specified time based on communication with the working machine in a manner so that the predicted value of the temperature of the constituent element at the specified time satisfies a specified condition.

7. The operation support method according to claim 6, wherein: When the rate of change exceeding a prescribed threshold value of the rate of change is observed, the second support processing identifies the predicted value of an internal state variable representing the state of a component of the working machine affected by the warm-up operation mode of the working machine at the specified time based on the temperature difference between the outside air temperature and the temperature of the component of the working machine.

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