Remote operation system of work machine

Abstract

To improve safety during a remote operation.SOLUTION: A remote operation system of a work machine has a work machine and an external device that assists in a remote operation of the work machine. The work machine has a control device that executes a processing to fill in the difference between a first command value indicated by an operation signal received from the external device and a second command value that controls a flow rate of hydraulic oil supplied to a hydraulic actuator of the work machine.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a remote operation system for a work machine. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a remote control system is known in which an operation signal indicating an operation for an operating device installed outside a shovel is transmitted to the shovel to operate the shovel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 101004 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional technology described above, if an unintended operation signal is input, for example, when communication between the shovel and the remote control room begins, the shovel may perform a sudden operation in accordance with the command value indicated by the operation signal.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to improve safety in remote operation. [Means for solving the problem]

[0006] A work machine remote control system according to an embodiment of the present invention is a work machine remote control system having a work machine and an external device that assists in remote control of the work machine, wherein the work machine has a control device that executes processing to fill in the difference between a first command value indicated by an operation signal received from the external device and a second command value that controls the flow rate of hydraulic oil supplied to a hydraulic actuator of the work machine. Effect of the Invention

[0007] This can improve safety during remote operation. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a system configuration of a remote control system for a shovel. [Diagram 2] FIG. 1 is a diagram illustrating a basic system of a shovel. [Diagram 3] 11 is a diagram illustrating the relationship between a communication state and a first command value and a second command value. FIG. [Figure 4] FIG. 2 is a diagram illustrating a functional configuration of the remote control system. [Diagram 5] 1 is a first flowchart showing the operation of a shovel. [Figure 6] 11 is a second flowchart showing the operation of the shovel. [Figure 7] FIG. 13 is a diagram showing a display example of a display device in a remote control room. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the present embodiment will be described with reference to the drawings. Fig. 1 is a diagram showing an example of a system configuration of a remote control system for a shovel.

[0010] The remote operation system SYS of this embodiment includes a remote operation room RC and a shovel 100. The remote operation room RC communicates with the shovel 100 via a predetermined network. The shovel 100 is an example of a work machine that is operated in response to an operation signal transmitted from the remote operation room RC. Note that the work machine of this embodiment may be any type as long as it has a work attachment.

[0011] First, the configuration of the excavator 100 will be described. The excavator 100 has a lower traveling body 1, a slewing mechanism 2, and an upper rotating body 3. In the excavator 100, the upper rotating body 3 is rotatably mounted on the lower traveling body 1 via the slewing mechanism 2. A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.

[0012] The boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment (work attachment). The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0013] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"). For example, the boom angle is at its minimum when the boom 4 is lowered to the lowest and increases as the boom 4 is raised.

[0014] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the "arm angle"). For example, the arm angle is at its minimum when the arm 5 is fully closed, and increases as the arm 5 is opened.

[0015] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"). For example, the bucket angle is at its minimum when the bucket 6 is fully closed, and increases as the bucket 6 is opened.

[0016] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around the connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor, etc.

[0017] A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8.

[0018] A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. The boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are also collectively referred to as the "cylinder pressure sensors."

[0019] The boom rod pressure sensor S7R detects the pressure in the rod-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom-side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom-side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm bottom pressure").

[0020] The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket bottom pressure").

[0021] The upper rotating body 3 is provided with a cabin 10 serving as a driver's room, and is equipped with a power source such as an engine 11. 2 A sensor may be provided to detect the amount of emissions.

[0022] Furthermore, the upper rotating body 3 is equipped with a controller 30, a display device 40, an operation unit 42, an audio output device 43, a storage device 47, a positioning device P1, an aircraft tilt sensor S4, a rotation angular velocity sensor S5, an imaging device S6, and a communication device T1.

[0023] The upper rotating body 3 may be equipped with a power storage unit that supplies electric power, and a motor generator that generates electric power using the rotational driving force of the engine 11. The power storage unit is, for example, a capacitor or a lithium ion battery. The motor generator may function as an electric motor to drive a mechanical load, or may function as a generator to supply electric power to an electric load.

[0024] The controller 30 functions as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is configured by a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. The various functions of the controller 30 are realized, for example, by the CPU executing a program stored in the ROM. The various functions may include, for example, at least one of a machine guidance function that guides (guides) the manual operation of the shovel 100 by the operator, and a machine control function that automatically assists the manual operation of the shovel 100 by the operator.

[0025] In addition, the controller 30 controls the operation of the shovel 100 in response to an operation signal transmitted from the remote control room RC.

[0026] The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as a Controller Area Network (CAN), or may be connected to the controller 30 via a dedicated line.

[0027] The operation unit 42 is configured to enable an operator to input various information to the controller 30. The operation unit 42 includes at least one of a touch panel, a knob switch, a membrane switch, and the like installed in the cabin 10.

[0028] The audio output device 43 is configured to output audio. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm such as a buzzer. In this embodiment, the audio output device 43 is configured to output various information by audio in response to an audio output command from the controller 30.

[0029] The storage device 47 is configured to store various information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during operation of the shovel 100, or may store information acquired via various devices before the operation of the shovel 100 is started.

[0030] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 may be configured to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, detects the position and orientation of the upper rotating body 3, and outputs the detected value to the controller 30. Therefore, the positioning device P1 can also function as an orientation detection device that detects the orientation of the upper rotating body 3. The orientation detection device may be a direction sensor attached to the upper rotating body 3.

[0031] The machine body inclination sensor S4 is configured to detect the inclination of the upper rotating body 3. In this embodiment, the machine body inclination sensor S4 is an acceleration sensor that detects the longitudinal inclination angle about the longitudinal axis and the lateral inclination angle about the lateral axis of the upper rotating body 3 with respect to a virtual horizontal plane. The longitudinal axis and the lateral axis of the upper rotating body 3 are perpendicular to each other at, for example, the shovel center point, which is a point on the rotation axis of the shovel 100.

[0032] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. The rotation angular velocity sensor S5 may be configured to detect or calculate the rotation angle of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.

[0033] The imaging device S6 is an example of a spatial recognition device, and is configured to acquire an image of the periphery of the shovel 100. In this embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space to the left of the shovel 100, a right camera S6R that images the space to the right of the shovel 100, and a rear camera S6B that images the space behind the shovel 100.

[0034] The imaging device S6 is, for example, a monocular camera having an imaging element such as a CCD or CMOS, and outputs a captured image to the display device 40. The imaging device S6 may be a stereo camera, a distance image camera, or the like. The imaging device S6 may be replaced with other spatial recognition devices such as a three-dimensional distance image sensor, an ultrasonic sensor, a millimeter wave radar, a LIDAR, or an infrared sensor, or may be replaced with a combination of another spatial recognition device and a camera.

[0035] The front camera S6F is attached, for example, to the ceiling of the cabin 10, i.e., inside the cabin 10. However, the front camera S6F may be attached to the outside of the cabin 10, such as the roof of the cabin 10 or the side of the boom 4. The left camera S6L is attached to the left end of the upper surface of the upper rotating body 3, the right camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0036] The communication device T1 is configured to control communication with an external device outside the shovel 100. In this embodiment, the communication device T1 controls communication with the external device via a satellite communication network, a mobile phone communication network, an Internet network, or the like. The external device is, for example, a management device 200 such as a server installed in an external facility, or a support device such as a smartphone carried by a worker around the shovel 100.

[0037] The communication device T1 is also configured to transmit and receive information to and from a communication device T2 installed in a remote control room RC via wireless communication.

[0038] The remote control room RC is an example of an external device that supports the remote operation of the excavator 100. The remote control room RC is equipped with a remote controller 30R, a sound output device 53, an indoor imaging device 55, a display device 40R, an operation device 56, an operation pressure sensor 59, an engine speed adjustment dial 75R, a communication device T2, etc. Also, the remote control room RC is equipped with a driver's seat DS in which an operator OP who remotely operates the excavator 100 sits.

[0039] The remote controller 30R is a calculation device that executes various calculations. In this embodiment, the remote controller 30R is configured with a microcomputer including a CPU and a memory, similar to the controller 30. Various functions of the remote controller 30R are realized by the CPU executing a program stored in the memory.

[0040] Moreover, the remote controller 30R of this embodiment generates an operation signal in response to an operation of the operator OP on the operating device 56, and transmits the generated operation signal to the shovel 100 via the communication device T2.

[0041] The sound output device 53 is configured to output sound. In this embodiment, the sound output device 53 is a speaker, and is configured to play back the sound collected by the sound collection device A1 attached to the shovel 100.

[0042] The indoor imaging device 55 is configured to capture an image of the inside of the remote control room RC. In this embodiment, the indoor imaging device 55 is a camera installed inside the remote control room RC, and is configured to capture an image of the operator OP seated in the driver's seat DS.

[0043] The communication device T2 is configured to control wireless communication with the communication device T1 attached to the excavator 100. In this embodiment, the communication device T1 and the communication device T2 are configured to transmit and receive information via a fifth generation mobile communication line (5G line), an LTE line, a satellite line, or the like.

[0044] The engine speed adjustment dial 75R receives an operational input for adjusting the rotation speed of the engine 11 (hereinafter, "engine speed") of the excavator 100. The engine speed adjustment dial 75R can be operated in the same manner as the engine speed adjustment dial 75 described later.

[0045] The display device 40R is configured to display information regarding the situation around the shovel 100. That is, the display device 40R displays an image so that the operator OP can check the situation around the shovel 100 as if he were in the cabin 10 of the shovel 100, even though he is in the remote control room RC. The image displayed on the display device 40R may be an image of the surroundings of the shovel 100 captured by the imaging device S6 of the shovel 100.

[0046] Specifically, in this embodiment, the display device 40R is a multi-display consisting of nine monitors arranged in three vertical rows and three horizontal columns, and is configured to be able to display the state of the space in front of, to the left of, and to the right of the excavator 100. Each monitor is a liquid crystal monitor, an organic EL monitor, or the like. However, the display device 40R may be composed of one or more curved monitors, or may be composed of a projector. Details of the display device 40R will be described later.

[0047] The display device 40R of this embodiment may be a display device that can be worn by the operator OP. For example, the display device 40R may be a head-mounted display configured to transmit and receive information to and from the remote controller 30R by wireless communication. The head-mounted display may be connected to the remote controller 30R by wire. The head-mounted display may be a transparent head-mounted display or a non-transparent head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.

[0048] The operating device 56 is provided with an operating pressure sensor 59 for detecting the operation content of the operating device 56. The operating pressure sensor 59 is, for example, an inclination sensor that detects the inclination angle of an operating lever included in the operating device 56, or an angle sensor that detects the swing angle of the operating lever around a swing axis. The operating pressure sensor 59 outputs information related to the detected operation content of the operating device 56 to the remote controller 30R. The remote controller 30R generates an operation signal based on the received information and transmits the generated operation signal to the excavator 100. Note that the operating pressure sensor 59 may be configured to generate an operation signal. In this case, the operating pressure sensor 59 may output the operation signal to the communication device T2 without passing through the remote controller 30R.

[0049] Next, the basic system of the shovel 100 will be described with reference to Fig. 2. Fig. 2 is a diagram for explaining the basic system of the shovel. In Fig. 2, mechanical power transmission lines are indicated by double lines, hydraulic oil lines by thick solid lines, pilot lines by dashed lines, power lines by thin solid lines, and electrical control lines by dashed lines.

[0050] As shown in FIG. 2, the basic system of the excavator 100 mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, an operating pressure sensor 29, a controller 30, a switching valve 60, a display device 40, an engine speed adjustment dial 75, and the like.

[0051] The engine 11 is a diesel engine that employs isochronous control for maintaining a constant engine speed regardless of changes in the load. The amount of fuel injected into the engine 11, the timing of fuel injection, the boost pressure, and the like are controlled by an engine control unit (ECU 74).

[0052] The engine 11 is connected to a main pump 14 and a pilot pump 15, which serve as hydraulic pumps. The main pump 14 is connected to a control valve 17 via a hydraulic oil line.

[0053] The control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator 100. The control valve 17 is connected to hydraulic actuators such as the left traveling hydraulic motor, the right traveling hydraulic motor, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the swing hydraulic motor.

[0054] Specifically, the control valve 17 includes a plurality of spool valves corresponding to the respective hydraulic actuators. Each spool valve is configured to be displaceable in response to the pilot pressure so that the opening area of ​​the PC port and the opening area of ​​the CT port can be increased or decreased. The PC port is a port that communicates between the main pump 14 and the hydraulic actuators. The CT port is a port that communicates between the hydraulic actuators and the hydraulic oil tank.

[0055] The pilot pump 15 is connected to the operating devices 26 via a pilot line. The operating devices 26 include, for example, a left operating lever, a right operating lever, and a travel operating device. The travel operating device includes, for example, a travel lever and a travel pedal. In this embodiment, each of the operating devices 26 is a hydraulic operating device and is connected to a pilot port of a corresponding spool valve in the control valve 17 via a pilot line. However, the operating devices 26 may be electric operating devices.

[0056] The operating pressure sensor 29 detects the operation of the operating device 26 in the form of pressure. The operating pressure sensor 29 outputs the detected value to the controller 30. However, the operation of the operating device 26 may be detected electrically. In addition, the operating pressure sensor 29 detects the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator, and outputs the detected value to the controller 30.

[0057] The controller 30 generates a command value for controlling the flow rate of hydraulic oil flowing to each hydraulic actuator in response to the output of the operating pressure sensor 29, and controls the flow rate of hydraulic oil flowing to each hydraulic actuator through the corresponding control valve in the control valve 17. Moreover, the controller 30 of this embodiment generates a command value for controlling the flow rate of hydraulic oil flowing to each hydraulic actuator in response to an operation signal received from the remote operation room RC, and controls the flow rate of hydraulic oil flowing to each hydraulic actuator through the corresponding control valve in the control valve 17.

[0058] The switching valve 60 is configured to be able to switch between an enabled state and an disabled state of the operating device 26. The enabled state of the operating device 26 is a state in which the operator can operate the hydraulic actuator using the operating device 26. The disabled state of the operating device 26 is a state in which the operator cannot operate the hydraulic actuator using the operating device 26.

[0059] In this embodiment, the operating device 26 may be in an enabled state, for example, when the gate lock lever D4 is pulled up and the switching valve 60 (gate lock valve) is opened, and in an disabled state when the gate lock lever D4 is pushed down and the switching valve 60 (gate lock valve) is closed.

[0060] In this embodiment, the switching valve 60 may be a gate lock valve configured to operate in response to a command from the controller 30. Specifically, the switching valve 60 is disposed in a pilot line connecting the pilot pump 15 and the operating device 26, and configured to be able to switch between open and closed states of the pilot line in response to a command from the controller 30.

[0061] The display device 40 is configured to display various types of information. The information displayed on the display device 40 may include the value of an hour meter included in the control unit 45 of the display device 40.

[0062] The display device 40 may be connected to the controller 30 via a communication network such as a CAN, or may be connected to the controller 30 via a dedicated line. In this embodiment, the display device 40 is configured to be able to display one or more captured images captured by the imaging device S6 and a menu screen. The display device 40 operates by receiving power supply from the storage battery 70. The display device 40 has a control unit 45, an image display unit 41, and an operation unit 42.

[0063] The control unit 45 controls the image displayed on the image display unit 41. In this embodiment, the control unit 45 is configured as a computer equipped with a CPU, RAM, NVRAM, ROM, etc. In this case, the control unit 45 reads out a program corresponding to each functional element from the ROM and loads it into the RAM, and causes the CPU to execute the corresponding process. However, each functional element may be configured as hardware, or may be configured as a combination of software and hardware. In addition, the image displayed on the image display unit 41 may be controlled by the controller 30 or the imaging device S6.

[0064] The image display unit 41 displays a captured image captured by at least one of the imaging devices S6 and a menu screen. The captured image may be, for example, any one of a rear image captured by the rear camera S6B, a left image captured by the left camera S6L, and a right image captured by the right camera S6R. The captured image may be, for example, an overhead image obtained by combining captured images captured by the rear camera S6B, the left camera S6L, and the right camera S6R. The captured image may be two or more images selected from a rear image, a left image, a right image, and an overhead image. The menu screen includes a status screen showing a status of the shovel 100 and a setting screen showing various settings of the shovel 100.

[0065] The operation unit 42 is a switch panel including hardware switches. The operation unit 42 may be a touch panel. In this embodiment, the operation unit 42 is disposed below the image display unit 41, and includes a switch (e.g., a menu switch) for changing an image displayed by the image display unit 41. However, the location of the operation unit 42 is not limited to the above example, and may be disposed, for example, on an operation lever, or may be disposed on a left-side console or a right-side console on both the left and right sides of the driver's seat.

[0066] In this embodiment, when a menu switch of the operation unit 42 is operated while the image display unit 41 is displaying the overhead image and the rear image captured by the imaging device S6, the image display unit 41 displays a menu screen. For example, the image display unit 41 reduces the size of the rear image without changing the size of the overhead image before and after the menu switch of the operation unit 42 is operated, and displays a screen for selecting a detailed menu item. Then, when a predetermined switch of the operation unit 42 is operated while the screen for selecting a detailed menu item is displayed, the image display unit 41 switches the rear image to a menu screen such as a status screen showing the status of the shovel 100 and a setting screen showing various settings of the shovel 100. At this time, the image display unit 41 displays the overhead image in a state where the size is maintained without being changed.

[0067] Furthermore, the image display unit 41 may be configured to display a menu screen when a menu switch of the operation unit 42 is operated, regardless of whether the shovel 100 is in an operable state or an inoperable state. Furthermore, the image display unit 41 may be configured to display a menu screen when a menu switch of the operation unit 42 is operated, only when the shovel 100 is in an inoperable state.

[0068] Also, for example, the shovel 100 may be configured to be switchable between a state in which the shovel 100 can be operated and a state in which the shovel 100 cannot be operated by a switching means such as a change-over switch.

[0069] The storage battery 70 is charged with electricity generated by, for example, the alternator 11a. The power of the storage battery 70 is also supplied to the controller 30, etc. For example, the starter 11b of the engine 11 is driven by the power from the storage battery 70 to start the engine 11.

[0070] The ECU 74 transmits data relating to the state of the engine 11, such as the coolant temperature, to the controller 30. The regulator 14a of the main pump 14 transmits data relating to the swash plate tilt angle to the controller 30. The discharge pressure sensor 14b transmits data relating to the discharge pressure of the main pump 14 to the controller 30. The oil temperature sensor 14c provided in the pipeline between the hydraulic oil tank and the main pump 14 transmits data relating to the temperature of the hydraulic oil flowing through that pipeline to the controller 30. The operating pressure sensor 29 transmits data relating to the pilot pressure generated when the operating device 26 is operated to the controller 30. The controller 30 stores these data in a temporary storage unit (memory) and can transmit them to the display device 40 when necessary.

[0071] The engine speed adjustment dial 75 receives an operation input for adjusting the speed of the engine 11 (hereinafter, "engine speed"). The engine speed adjustment dial 75 is configured to allow the user to adjust the engine speed in 10 stages that are specified in advance. As a result, for example, in light-load work, the engine speed level is adjusted to be relatively low, thereby improving the fuel efficiency of the excavator 100. Also, for example, when lifting work or loading earth and sand into a dump truck is performed, the engine speed level is set relatively low, thereby suppressing the occurrence of load swaying, collapse of the earth and sand on the loading platform, and the like. Also, for example, in the case of a new operator with relatively low operating skills of the excavator 100, the engine speed can be adjusted to be relatively low in order to suppress the influence on the work of unreasonable operation, operating errors, and the like.

[0072] An output signal corresponding to the input received by the engine speed adjustment dial 75 is taken into the controller 30. Note that instead of adjusting the level of the engine speed through the engine speed adjustment dial 75, the engine speed itself may be adjustable. For example, the engine speed may be adjustable using the engine speed adjustment dial 75 continuously or in predetermined value increments.

[0073] The alarm device 49 is a device for attracting the attention of people involved in the work of the shovel 100. The alarm device 49 is configured, for example, by a combination of an indoor alarm device and an outdoor alarm device. The indoor alarm device is a device for attracting the attention of an operator of the shovel 100 in the cabin 10, and includes, for example, at least one of a sound output device, a vibration generating device, and a light emitting device provided in the cabin 10. The indoor alarm device may be the display device 40.

[0074] The exterior alarm device is a device for calling the attention of workers working around the excavator 100, and includes, for example, at least one of a sound output device and a light emitting device provided outside the cabin 10. The sound output device as the exterior alarm device includes, for example, a traveling alarm device attached to the bottom surface of the upper rotating body 3. The exterior alarm device may also be a light emitting device provided on the upper rotating body 3. However, the exterior alarm device may be omitted. The alarm device 49 may, for example, when the imaging device S6 functioning as an object detection device detects a predetermined object, notify a person involved in the work of the excavator 100 of that fact.

[0075] When communication with the remote control room RC is started, the controller 30 of this embodiment generates a command value based on an operation signal received from the remote control room RC.

[0076] More specifically, when an operation signal transmitted from the remote operation room RC is input, the controller 30 generates a command value for controlling the flow rate of hydraulic oil supplied to each hydraulic actuator of the shovel 100 based on the command value indicated by the operation signal, and outputs the command value to the control valve 17.

[0077] In the following description of this embodiment, the command value indicated by the operation signal received by the controller 30 from the remote operation room RC is referred to as a first command value, and the command value generated in the controller 30 for controlling the flow rate of hydraulic oil supplied to each hydraulic actuator of the shovel 100 is referred to as a second command value.

[0078] In other words, the first command value is a command value input to the controller 30 of the shovel 100, and the second command value is a command value output from the controller 30 of the shovel 100.

[0079] Here, in the remote control system SYS of this embodiment, when a difference exists between the first command value and the second command value, a process is performed to fill the difference between the first command value and the second command value.

[0080] A case in which a difference exists between the first command value and the second command value is, for example, a case in which communication between the remote operation room RC and the shovel 100 is interrupted during remote operation of the shovel 100, and then communication is resumed (first case).

[0081] Furthermore, a case in which a difference exists between the first command value and the second command value is, for example, a case in which the state of the shovel 100 is switched from a state in which operation is disabled to a state in which operation is enabled while the shovel 100 is receiving an operation signal from the remote control room RC (second case).

[0082] First, the operation of the controller 30 in a case where communication between the remote operation room RC and the shovel 100 is interrupted during remote operation of the shovel 100 and then communication is resumed (first case) will be described.

[0083] In this case, the controller 30 performs a tracking process to gradually bring the second command value closer to the first command value when communication is resumed between the remote control room RC and the excavator 100. More specifically, the tracking process in this embodiment is a process to gradually bring the second command value closer to the first command value so that the two match each other after a predetermined period (fixed time) has elapsed.

[0084] The follow-up process of this embodiment is an example of a process for filling in the difference between the first command value and the second command value.

[0085] In this embodiment, by filling the difference between the first command value received from the remote control room RC and the second command value generated in the controller 30 in this manner, it is possible to suppress sudden movement of the shovel 100 caused by the difference between the two command values ​​at the time the first command value is received.

[0086] Here, referring to Fig. 3, changes in the first command value and the second command value are shown when communication between the remote control room RC and the shovel 100 is interrupted and then resumed during remote operation of the shovel 100 from the remote control room RC. Fig. 3 is a diagram for explaining the relationship between the state of communication and the first command value and the second command value.

[0087] Fig. 3 shows changes in the first command value and the second command value with the horizontal axis representing time and the vertical axis representing command value. In Fig. 3, curve L1 shows changes in the first command value over time, and curve L2 shows changes in the second command value over time.

[0088] 3, it is assumed that communication between the remote control room RC and the shovel 100 is interrupted at time t1, and communication between the shovel 100 and the remote control room RC is resumed at time t2. That is, a period K1 from time t1 to time t2 in FIG. 3 is a period during which communication between the remote control room RC and the shovel 100 is interrupted.

[0089] 3, time t2 is the time when the remote control room RC and the excavator 100 start, and a period K2 from time t2 to time t3 is a predetermined period during which the follow-up process is executed. Also, in FIG. 3, a period K3 from time t3 to time t4 is a period during which normal remote control is performed.

[0090] In the example of FIG. 3, in the remote operation room RC, the operation device 56 is being operated even during the period K1, and the remote controller 30R generates a first command value in response to the operation on the operation device 56.

[0091] In contrast, the controller 30 of the shovel 100 does not receive any operation signal during the period K1 because communication with the remote control room RC is cut off, and the second command value output from the controller 30 becomes 0.

[0092] In this state, when communication is resumed at time t2, the controller 30 of the shovel 100 executes a tracking process during period K2 to match the second command value with the first command value indicated by the operation signal received at time t2.

[0093] In other words, the controller 30 gradually changes the second command value during the period K2 so that the second command value coincides with the first command value at time t3.

[0094] Then, when the first command value and the second command value match at time t3, the controller 30 outputs the first command value as the second command value to each hydraulic actuator during the subsequent period K3.

[0095] In this embodiment, when a difference exists between the first command value and the second command value, a process is carried out to compensate for the difference between the first command value and the second command value.

[0096] As a result, in this embodiment, the shovel 100 can be prevented from suddenly performing a large movement in accordance with the first command value as soon as communication between the shovel 100 and the remote control room RC is resumed at time t2. Also, in this embodiment, the operator OP in the remote control room RC does not need to be constantly aware of the communication state between the remote control room RC and the shovel 100, and the burden on the operator OP can be reduced. Also, in this embodiment, even if the operator OP performs an operation without noticing that communication has been cut off, the shovel 100 can be prevented from suddenly moving when communication is resumed, and therefore safety in remote operation can be improved.

[0097] Furthermore, in this embodiment, the second command value is gradually brought closer to the first command value, so that the shovel 100 can be operated smoothly from the time the shovel 100 starts to move until it begins to move in a way that reflects the operation signal from the remote control room RC.

[0098] Furthermore, in this embodiment, even if the operator OP performs an unintended lever operation when communication between the remote control room RC and the shovel 100 starts, or even if the shovel 100 erroneously detects an operation signal despite no operation being performed in the remote control room RC, the shovel 100 does not make a sudden movement but starts to move gradually. Therefore, according to this embodiment, the operator OP or other workers can notice an unintended movement of the shovel 100 and have enough time to stop the movement.

[0099] In this way, according to this embodiment, it is possible to improve safety in remote control.

[0100] Here, functions of the remote control system SYS of this embodiment will be described with reference to Fig. 4. Fig. 4 is a diagram illustrating the functional configuration of the remote control system.

[0101] First, a description will be given of the functional configuration of the shovel 100. The functions of the shovel 100 of this embodiment may be realized by the controller 30 reading and executing a program stored in a storage device.

[0102] The controller 30 of the shovel 100 in this embodiment includes a communication control unit 31, a tracking processing unit 32, a determination unit 33, and a notification processing unit .

[0103] The communication control unit 31 controls communication between the excavator 100 and the remote control room RC. When there is a difference between a command value output from the controller 30 at the time when an operation signal is input to the controller 30, the tracking processing unit 32 performs a process to eliminate this difference. Specifically, the tracking processing unit 32 performs a process to fill in the difference between a first command value input to the controller 30 and a second command value output from the controller 30 within a predetermined fixed period. Note that the tracking processing unit 32 may use any method as long as it can fill in the difference between the first command value and the second command value within a fixed period.

[0104] Specifically, for example, the tracking processing unit 32 may bring the second command value closer to the first command value based on the difference between the first command value and the second command value at a certain point in time and the remaining period until a certain period has elapsed.

[0105] The determination unit 33 determines whether or not the difference between the first command value and the second command value is equal to or greater than a predetermined value. The predetermined value may be set in advance.

[0106] The notification processing unit 34 transmits various notifications to the remote control room RC. Specifically, the notification processing unit 34 transmits a notification to the operator OP in the remote control room RC, prompting the operator OP to perform an operation to fill the difference between the first command value and the second command value.

[0107] Next, the functions of the remote control room RC will be described. The functions of the remote control room RC may be realized by a remote controller 30R included in the remote control room RC reading and executing a program stored in a storage device.

[0108] The remote controller 30R of this embodiment includes a communication control unit 91 and a display control unit 92. The communication control unit 91 controls communication between the remote operation room RC and the shovel 100. More specifically, the communication control unit 91 receives a notification from the shovel 100.

[0109] The display control unit 92 controls the display on the display device 40R provided in the remote operation room RC. More specifically, the display control unit 92 causes the notification received from the excavator 100 to be displayed on the display device 40R.

[0110] Next, the operation of the shovel 100 of this embodiment will be described with reference to Fig. 5. Fig. 5 is a first flowchart showing the operation of the shovel.

[0111] In the remote operation system SYS of this embodiment, the shovel 100 determines whether or not the start of communication between the remote operation room RC and the shovel 100 has been detected by the communication control unit 31 (step S501). In other words, the controller 30 determines whether or not an operation signal has been input. If communication has not been started in step S501, the shovel 100 waits.

[0112] In step S501, when communication between the remote control room RC and the shovel 100 is started, the controller 30 of the shovel 100 executes the following process by the following processing unit 32.

[0113] In this embodiment, by performing a tracking process when communication between the remote control room RC and the excavator 100 is started, it is possible to make the second command value track the first command value within a certain period of time, regardless of the magnitude of the difference between the first command value and the second command value at the start of communication.

[0114] In this embodiment, even if there is no difference between the first command value and the second command value, the same processing as that in the case where there is a difference may be executed.

[0115] In this embodiment, the follow-up process by the follow-up processing unit 32 may be executed only when there is a difference between the first command value and the second command value.

[0116] Next, a case (second case) will be described in which the state of the shovel 100 is switched from a state in which operation is disabled to a state in which operation is enabled while the shovel 100 is receiving an operation signal from the remote control room RC.

[0117] In this embodiment, when the state of the shovel 100 is made invalid by operation of the gate lock lever D4 or the like, the controller 30 of the shovel 100 outputs zero as the second command value even if an operation signal is received from the remote operation room RC. In other words, when the operation of the shovel 100 is made invalid, the controller 30 outputs zero as the second command value regardless of the input first command value.

[0118] Therefore, when the state of the shovel 100 is switched from a state in which operation is disabled to a state in which operation is enabled while receiving an operation signal from the remote control room RC, the second command value is zero, and a difference occurs with the first command value.

[0119] Therefore, in this embodiment, as a process for filling the difference between the first command value and the second command value, a tracking process for making the second command value track the first command value may be executed.

[0120] In this embodiment, by doing this, for example, even if a worker other than the operator OP in the remote control room RC switches the state of the shovel 100 from a state in which operation is disabled to a state in which operation is enabled, the shovel 100 can be prevented from suddenly starting to move.

[0121] In the above explanation, the tracking process has been described as an example of a process for filling the difference between the first command value and the second command value, but the process for filling the difference between the first command value and the second command value is not limited to the tracking process.

[0122] In this embodiment, the process for filling the difference between the first command value and the second command value may include a notification process for transmitting a notification to the remote control room RC to prompt an operation for filling the difference.

[0123] Specifically, for example, when a difference exists between the first command value and the second command value at the start of communication between the remote control room RC and the excavator 100, the controller 30 may transmit to the remote control room RC a notification urging the operator OP in the remote control room RC to neutralize the operation lever included in the operation device 56. In other words, the controller 30 may transmit to the operator OP in the remote control room RC a notification urging the operator OP to perform an operation to set the second command to zero.

[0124] When the remote controller 30R in the remote operation room RC receives this notification, the remote controller 30R may cause the display device 40R to display this notification via the display control section 92. Details of the display on the display device 40R will be described later.

[0125] A case where a notification process is included in the process for filling the difference between the first command value and the second command value will be described below with reference to Fig. 6 and Fig. 7. Fig. 6 is a second flowchart showing the operation of the shovel. Fig. 6 shows the operation of the shovel 100 in a case where communication between the remote operation room RC and the shovel 100 is interrupted during remote operation of the shovel 100 and then communication is resumed (first case).

[0126] In the present embodiment, the shovel 100 determines whether or not the start of communication between the remote control room RC and the shovel 100 has been detected by the communication control unit 31. In step S601, if the start of communication is not detected, the shovel 100 waits until communication starts.

[0127] When the start of communication is detected in step S601, the controller 30 causes the tracking processing unit 32 to determine whether or not the first command value and the second command value match (step S602).

[0128] In step S602, if the first command value and the second command value match, the controller 30 outputs the first command value as the second command value, and ends the process.

[0129] In step S602, if the first command value and the second command value do not match, that is, if there is a difference between the first command value and the second command value, the controller 30, using the judgment unit 33, judges whether the difference is greater than or equal to a predetermined value (step S603).

[0130] If the difference is less than the predetermined value in step S603, the controller 30 causes the follow-up processing unit 32 to perform follow-up processing for bringing the second command value closer to the first command value within a certain period of time (step S604), and ends the processing.

[0131] In step S603, if the difference is equal to or greater than the predetermined value, the controller 30 executes a notification process in which the notification processing unit 34 transmits a notification to the remote control room RC to prompt the remote control room RC to perform an operation to compensate for the difference (step S605), and returns to step S602. The operation to compensate for the difference may be an operation to neutralize the control lever.

[0132] In this embodiment, when the difference between the first command value and the second command value is equal to or greater than a predetermined value, a notification is sent to prompt the operator OP to return the operating lever to neutral, thereby making it possible to make the operator OP aware that the operation of the operator OP and the operation of the shovel 100 are not synchronized, thereby improving safety during remote operation.

[0133] In addition, in this embodiment, when the difference between the first command value and the second command value is less than a predetermined value, the follow-up process is performed without performing the notification process. Therefore, in this embodiment, the difference caused by the tilt of the operating lever, which is not easily noticeable by the operator OP, is automatically and gradually filled in, and the operation of the shovel 100 can be smoothly synchronized with the operation signal.

[0134] In this embodiment, when the start of communication is detected, if there is a difference between the first command value and the second command value and the time that has elapsed since the shovel 100 started work is within a predetermined time, the notification process may be performed. Also, in this embodiment, after the predetermined time has elapsed since the start of work, the follow-up process may be performed without performing the notification process.

[0135] In this case, the controller 30 may calculate the time that has elapsed since the shovel 100 started work based on the operation history of the shovel 100, and determine whether the elapsed time is within a predetermined time.

[0136] By doing this, in this embodiment, when the work has progressed to a certain extent, the second command value can be made to gradually follow the first command value without any notification that would interrupt the operation of the operator OP.

[0137] In the example of Fig. 6, when the difference between the first command value and the second command value is less than a predetermined value, the tracking process is executed as a process for filling the difference, but the process for filling the difference may be only the notification process. In this case, when there is a difference between the first command value and the second command value, the notification process may be executed in all cases.

[0138] Next, a display example of the display device 40R in the remote control room RC will be described with reference to Fig. 7. Fig. 7 is a diagram showing a display example of the display device in the remote control room.

[0139] The remote control room RC is provided with a remote controller 30R, a sound output device 53, an indoor imaging device 55, a display device 40R, a communication device T2, etc. Also, the remote control room RC is provided with a driver's seat DS in which an operator who remotely operates the excavator 100 sits.

[0140] The remote controller 30R is a calculation device that executes various calculations. In this embodiment, the remote controller 30R is configured with a microcomputer including a CPU and a memory, similar to the controller 30. Various functions of the remote controller 30R are realized by the CPU executing a program stored in the memory.

[0141] The sound output device 53 is configured to output sound. In this embodiment, the sound output device 53 is a speaker, and is configured to play back the sound collected by a sound collection device attached to the shovel 100.

[0142] The indoor imaging device 55 is configured to capture an image of the inside of the remote control room RC. In this embodiment, the indoor imaging device 55 is a camera installed inside the remote control room RC, and is configured to capture an image of an operator seated in the driver's seat DS.

[0143] The communication device T2 controls wireless communication with the communication device T1 attached to the shovel 100. In this embodiment, the communication device T1 and the communication device T2 are configured to transmit and receive information via a fifth generation mobile communication line (5G line), an LTE line, a satellite line, or the like.

[0144] In this embodiment, the driver's seat DS has a structure similar to that of a driver's seat installed in the cabin 10 of a normal excavator 100. Specifically, a left console box 120L is disposed on the left side of the driver's seat DS, and a right console box 120R is disposed on the right side of the driver's seat DS.

[0145] A left operation lever is disposed at the front end of the top surface of the left console box 120L, and a right operation lever is disposed at the front end of the top surface of the right console box 120R. In addition, a travel lever and a travel pedal are disposed in front of the driver's seat DS.

[0146] Furthermore, an engine speed adjustment dial 75R is disposed in the center of the upper surface of the right console box 120R. Also, an operation switch 56a and an operation switch 56b are disposed on the upper surface of the right console box 120R.

[0147] In this embodiment, a remote control lever 56c is provided near the right console box 120R.

[0148] The left and right operating levers, the travel lever, the travel pedal, the remote control lever 56c, the engine speed adjustment dial 75R, and the operating switches 56a and 56b are all included in the operating device 56.

[0149] In addition, in the remote control room RC of this embodiment, the operating device 56 may include an operating member for switching the state of the shovel 100 from a state in which operation is disabled to a state in which operation is enabled, or from a state in which operation is enabled to a state in which operation is disabled.

[0150] The operation switch 56a is an operation member for instructing the remote controller 30R to stop. When the operation switch 56a is pressed, the remote controller 30R of this embodiment generates an operation signal indicating a stop command for the operating elements of the shovel 100 and transmits the operation signal to the shovel 100.

[0151] The operation switch 56b is an operating member for switching the operation signal used to control the shovel 100 from an operation signal generated in the remote control room RC to an operation signal generated by an operation device 56 provided in the cabin 10.

[0152] When the operation switch 56b is operated, the remote controller 30R may transmit to the shovel 100 an operation signal including a request to switch to operation by the operating device 26 in the cabin 10. The controller 30 of the shovel 100 may receive this operation signal, stop receiving the operation signal from the remote control room RC, and control the operating elements of the shovel 100 by the operation signal corresponding to the operation in the cabin 10.

[0153] The remote control lever 56c is an operating member for switching the operation signal used to control the shovel 100 from an operation signal generated by the autonomous control function of the controller 30 to an operation signal generated in the remote control room RC.

[0154] In this embodiment, when the remote control lever 56c is tilted in the remote operation room RC while the shovel 100 is operating autonomously, the remote controller 30R may transmit a control request by remote operation to the shovel 100. When the controller 30 receives this control request, it controls the operating elements of the shovel 100 by the operation signal received from the remote operation room RC.

[0155] The display device 40R is configured to display an image that enables the operator in the remote control room RC to visually recognize the surroundings of the shovel 100. In this embodiment, the display device 40R is a multi-display consisting of nine monitors in three vertical rows and three horizontal columns, and is configured to be able to display the state of the space in front, to the left, and to the right of the shovel 100. Each monitor is a liquid crystal monitor, an organic EL monitor, or the like. However, the display device 40R may be configured with one or more curved monitors, or may be configured with a projector.

[0156] With this configuration, the display device 40R can display images so that the operator OP can check the situation around the shovel 100 as if he were inside the cabin 10 of the shovel 100, even though he is in the remote control room RC.

[0157] The display device 40R may be a display device that can be worn by an operator. For example, the display device 40R may be a head-mounted display configured to transmit and receive information to and from the remote controller 30R by wireless communication. The head-mounted display may be connected to the remote controller 30R by wire. The head-mounted display may be a transparent head-mounted display or a non-transparent head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.

[0158] In this embodiment, the display device 40R includes a central monitor 40a, an upper monitor 40b, a lower monitor 40c, a left monitor 40d, a right monitor 40e, an upper left monitor 40f, an upper right monitor 40g, a lower left monitor 40h, and a lower right monitor 40i.

[0159] The central monitor 40a is configured to display an image capturing the situation of the space in the central range. The upper monitor 40b is configured to display an image capturing the situation of the space represented by the upper range. The lower monitor 40c is configured to display an image capturing the situation of the space represented by the lower range. The left monitor 40d is configured to display an image capturing the situation of the space represented by the left range. The right monitor 40e is configured to display an image capturing the situation of the space represented by the right range. The same is true for the upper left monitor 40f, the upper right monitor 40g, the lower left monitor 40h, and the lower right monitor 40i.

[0160] However, the display device 40R may be a multi-display consisting of six monitors arranged in two vertical rows and three horizontal rows, for example. In this case, the range in which an image is projected on the display device 40R may be divided into six ranges corresponding to the six monitors. Alternatively, the display device 40R may be a multi-display consisting of five monitors, a center monitor, an upper monitor, a left monitor, a lower monitor, and a right monitor. In this case, the display of images capturing the respective situations of the upper left range, the upper right range, the lower left range, and the lower right range may be omitted. Alternatively, the display device 40R may be a multi-display in which multiple monitors are arranged in any other arrangement mode.

[0161] In the above embodiment, the display device 40R is installed in front, left front, and right front of the operator, but may be installed in a square tube shape or a cylindrical shape so as to surround the operator. That is, the display device 40R may include a monitor installed behind the operator. Alternatively, the display device 40R may be installed in a hemispherical shape so as to surround the operator. That is, the display device 40R may include a monitor installed directly above the operator.

[0162] When the remote controller 30R of this embodiment receives a notification to fill the difference between the first command value and the second command value from the shovel 100, it causes the display device 40R to display the received notification.

[0163] In the example of FIG. 7, a display area 71 including a notification for filling the difference between the first command value and the second command value is displayed on the central monitor 40a included in the display device 40R.

[0164] A message "Please set the control lever to neutral" is displayed in the display area 71 as a notification to fill the difference between the first command value and the second command value.

[0165] In this embodiment, by displaying the notification on the central monitor 40a in this manner, it is possible to prompt the operator OP seated in the driver's seat DS to perform an operation to fill in the difference.

[0166] The notification process described using Figures 6 and 7 may also be executed when the state of the shovel 100 is switched from a state in which operation is disabled to a state in which operation is enabled while the shovel 100 is receiving an operation signal from the remote control room RC (second case).

[0167] By doing this, for example, if lever operation is being performed in the remote control room RC at the time the state of the shovel 100 is switched from a disabled state to a enabled state, the operator OP can be prompted to return the control lever to neutral, thereby improving safety during remote operation.

[0168] Furthermore, in this embodiment, the shovel 100 is taken as an example of a work machine, but the work machine to which this embodiment is applied is not limited to the shovel 100. The work machine may be any work machine having a work attachment, such as a crane, road machinery, forklift, etc. This embodiment can be applied to any work machine as long as it has a work attachment.

[0169] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise. [Explanation of symbols]

[0170] 1 Undercarriage 2 Swivel mechanism 3. Upper rotating body 4. Boom 5 Arm 6 Bucket 30 Controller 30R Remote Controller 31, 91 Communication control section 32 Tracking processing section 33 Judgment section 34 Notification processing section 40R display device 100 Shovel

Claims

1. A remote operation system for a work machine, the system comprising: a work machine; and an external device that assists in remote operation of the work machine, The work machine includes: A remote operation system for a work machine, comprising a control device that executes processing to fill in the difference between a first command value indicated by an operation signal received from the external device and a second command value that controls the flow rate of hydraulic oil supplied to a hydraulic actuator of the work machine.

2. The process for filling the difference is as follows:

2. The remote control system for a work machine according to claim 1, wherein the second command value is a tracking process that gradually brings the second command value closer to the first command value so as to coincide with the first command value after a predetermined period of time has elapsed.

3. The process for filling the difference is as follows:

2. The work machine remote operation system according to claim 1, wherein the notification process transmits to the external device a notification prompting the external device to neutralize a remote operation lever that is provided on the external device and that accepts inputs for remotely operating the work machine.

4. the external device includes a display device; The remote control system for a work machine according to claim 3 , wherein a notification prompting the user to perform an operation to return the remote control lever to the neutral position is displayed on the display device.

5. The control device includes: executes a notification process to transmit to the external device a notification prompting the user to operate a remote control lever, which is provided in the external device and receives an input for remotely operating the work machine, to a neutral position when a difference between the first command value and the second command value is equal to or greater than a predetermined value; 2. The work machine remote control system according to claim 1, wherein, when a difference between the first command value and the second command value is less than a predetermined value, a tracking process is executed to gradually bring the second command value closer to the first command value so as to match the first command value after a pre-specified fixed period of time has elapsed.

6. The process for filling the difference is as follows:

3. The remote control system for a work machine according to claim 1, wherein the control device is executed when the control device receives the operation signal.

7. The process for filling the difference is as follows:

3. The remote control system for a work machine according to claim 1 or 2, wherein the control device is in the process of receiving the operation signal and the control device is switched from a state in which operation of the work machine is disabled to a state in which operation of the work machine is enabled.

Images