Operation device and operation system

Abstract

To provide an operation device capable of improving operation environment for an operator of a work machine.SOLUTION: An operation device 101 includes: an operation portion 31 that receives operations by an operator to operate a work machine 100; and an output device 80 that, when the operation portion 31 receives two or more specified operations, outputs work machine motion information reflecting motion information of the work machine 100 in accordance with an operation with the highest priority among the two or more specified operations.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an operating device and an operating system. [Background technology]

[0002] Conventionally, remote control devices are known as an example of an operation device for operating a work machine such as a construction machine or a transport machine. The remote control device is equipped with an operation unit that receives operations, and is configured so that an operator can remotely operate the work machine by operating the operation unit. The remote control device is used to operate the work machine unmanned in places where it is undesirable for an operator to enter (for example, places where there is a risk of landslides or collapse of surrounding buildings, etc.).

[0003] An example of this type of remote control device is disclosed in the following Patent Document 1. has a driver's seat in which an operator sits, a tilt output device that tilts the driver's seat with respect to the ground, a vibration output device that vibrates the driver's seat, and an adjustment unit. The adjustment unit drives the tilt output device based on tilt information acquired by a tilt sensor provided on the work machine, and drives the vibration output device based on vibration information acquired by a vibration sensor provided on the work machine. This allows the operator to experience, in the driver's seat of the remote control device, the tilt and vibration of the work machine that they would experience if they were actually riding on the work machine.

[0004] The adjustment unit recognizes the work content (traveling work, lifting work, excavation work, etc.) performed by the work machine based on the operation signal output from the operation unit. Then, the adjustment unit adjusts the gain when outputting the vibration information acquired by the sensor according to the recognized work content. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-7139 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the remote control device shown in Patent Document 1, the gain of the vibration information is adjusted according to the work content determined according to the operation received by the operating lever. However, in this remote control device, the adjustment of the gain according to each operation received by the operating lever and the adjustment of the gain when the operating lever receives two or more operations simultaneously are not specified. For this reason, there is a possibility that the vibration information output based on the gain corresponding to each operation received by the operating lever may differ from what the operator expects. In addition, even if the operator can grasp the vibration information output based on the gain corresponding to each operation, there is a possibility that the vibration information output based on the gain when the operating lever receives two or more operations simultaneously may differ from what the operator expects. For example, when the gain corresponding to the operation received first among the two or more operations received by the operating lever is different from the gain corresponding to the operation received later, if the vibration information is output based on the gain corresponding to the operation received later, the vibration information will be output based on a different gain depending on the order of the operations, which may result in a gain unexpected by the operator. If the vibration information is output based on a gain unexpected by the operator while operating a work machine, the operating environment of the operator will deteriorate, leading to a deterioration in the efficiency of the operation.

[0007] The present invention has been made to solve the above-mentioned problems, and has an object to improve the operating environment for an operator of a work machine. [Means for solving the problem]

[0008] The operating device of the first invention comprises an operating unit that receives operations by an operator to operate a work machine, and an output device that, when the operating unit receives two or more specified operations, outputs work machine motion information that reflects motion information of the work machine in accordance with the operation with the highest priority among the two or more specified operations.

[0009] According to this configuration, when the operating unit is receiving two or more predetermined operations, the output device outputs work machine motion information reflecting the motion information of the work machine in response to the operation with the highest priority among the two or more predetermined operations. Therefore, it is possible to prevent the output device from outputting work machine motion information in response to a predetermined operation with a low priority. Therefore, the work machine motion information output by the output device can be easily anticipated by the operator of the work machine, thereby improving the operating environment for the operator of the work machine.

[0010] In the operating device according to a second aspect of the present invention, in the first aspect of the present invention, it is preferable that the motion information is motion information of a body of the work machine.

[0011] According to this configuration, the output device outputs work machine motion information that reflects motion information of the body of the work machine. Therefore, motion information focusing on the body of the work machine is provided to the operator, thereby improving the operating environment for the operator of the work machine.

[0012] Preferably, the operating device according to a third aspect of the present invention, in the first or second aspect of the present invention, further comprises a priority setting unit that receives an input for setting the priority.

[0013] According to this configuration, the operator of the work machine can set priorities for predetermined operations via the priority setting unit, so that the output device can output work machine motion information with priorities that are in line with the intention of the operator of the work machine, thereby further improving the operating environment for the operator of the work machine.

[0014] The operating device according to a fourth invention is preferably any one of the first to third inventions, wherein the output device outputs the work machine motion information according to a reflection degree corresponding to the specified operation received by the operating unit, and the reflection degree indicates the degree to which the motion information of the work machine is reflected in the work machine motion information output by the output device when the operating unit receives each of a plurality of specified operations individually, corresponding to each of the plurality of specified operations.

[0015] According to this configuration, the output device can output the work machine motion information according to the reflection degree corresponding to the predetermined operation received by the operation unit. This makes it possible to cause the output device to change the reflection degree of the work machine motion information and output it according to differences in the predetermined operation received by the operation unit.

[0016] It is preferable that the operating device according to a fifth aspect of the present invention, in the fourth aspect of the present invention, further includes a reflection rate setting unit that receives an input for setting the reflection rate corresponding to each of a plurality of the predetermined operations.

[0017] According to this configuration, the operator of the work machine can set a reflection degree corresponding to a predetermined operation via the reflection degree setting unit, so that the output device can output work machine motion information with a reflection degree in line with the intention of the operator of the work machine, thereby further improving the operating environment for the operator of the work machine.

[0018] In the operating device of a sixth aspect of the present invention, in the fifth aspect of the present invention, it is preferable that the reflection rate setting unit is capable of setting, as the reflection rate, a zero reflection rate that does not reflect the motion information of the work machine in the work machine motion information output by the output device.

[0019] According to this configuration, the operating environment of the operator can be changed more flexibly to realize an operating environment that is in line with the operator's intention. That is, according to this configuration, the reflection degree corresponding to the operation set based on the operator's intention can be set to zero reflection degree. This allows the operator to set (switch) between a state in which the output device outputs work machine motion information and a state in which it does not output work machine motion information, as necessary.

[0020] In the operating device according to a seventh aspect of the present invention, in the sixth aspect, it is preferable that the reflection rate setting section is capable of setting the zero reflection rate for each type of the exercise information.

[0021] According to this configuration, the zero reflection rate can be set for each type of motion information. This allows the operator to set the zero reflection rate as necessary for each type of motion information of the work machine, thereby enabling the operator to set a state in which the output device outputs or does not output the work machine motion information.

[0022] In the operating device of the eighth invention, in the first invention, it is preferable that, when the operating unit receives only one of the specified operations, the output device outputs work machine motion information reflecting motion information of the work machine in accordance with the specified operation received by the operating unit.

[0023] According to this configuration, when the operation unit receives only one predetermined operation, the work machine motion information is output in response to that predetermined operation. Therefore, the work machine operator can easily predict the work machine motion information output by the output device, thereby improving the operating environment for the work machine operator.

[0024] The operating device according to a ninth aspect of the present invention is the first aspect of the present invention, further comprising a driver's seat in which the operator can be seated, and a driver's seat output device that generates movement in the driver's seat, and the output device is preferably configured by the driver's seat output device that outputs the work machine movement information by reflecting the movement of the driver's seat.

[0025] According to this configuration, the work machine motion information is output to the driver's seat where the operator of the work machine sits. This makes it possible to transmit the work machine motion information to the operator of the work machine via the driver's seat. Therefore, the operator can operate the operation unit while experiencing the motion information of the work machine via the driver's seat, and therefore does not need to operate the operation unit while visually checking the information as in the case where the work machine motion information is output to a display device or the like. This provides an operation environment that makes it easier for the operator to concentrate on operating the operation unit.

[0026] In an operating device according to a tenth aspect of the present invention, in the first aspect of the present invention, it is preferable that the motion information is vibration information of the work machine, and the output device outputs work machine vibration information reflecting the vibration information as the work machine motion information.

[0027] According to this configuration, the work machine motion information reflecting the vibration information of the work machine is output by the output device, and therefore the vibration information of the work machine can be notified to the operator of the work machine.

[0028] In the operating device of an eleventh aspect of the present invention, in the first aspect of the present invention, it is preferable that the motion information is inclination information of the work machine, and the output device outputs work machine inclination information reflecting the inclination information as the work machine motion information.

[0029] According to this configuration, the work machine motion information reflecting the inclination information of the work machine is output by the output device, and therefore the inclination information of the work machine can be notified to the operator of the work machine.

[0030] The operating device according to a twelfth aspect of the present invention is the first aspect of the present invention, further comprising a tilt angle detector provided on the work machine and detecting the tilt angle of the work machine in a predetermined direction, the motion information includes vibration information of the work machine and inclination information of the work machine, the output device outputs, as the work machine motion information, work machine vibration information reflecting the vibration information and work machine inclination information reflecting the inclination information, and it is preferable that the vibration information is obtained by applying high-pass filter processing to the detection value by the inclination angle detector to remove low-frequency components that are less than a predetermined threshold frequency, and the inclination information is obtained by applying low-pass filter processing to the detection value by the inclination angle detector to remove high-frequency components that are equal to or greater than a predetermined threshold frequency.

[0031] According to this configuration, the vibration information and inclination information of the work machine are output by the output device as motion information of the work machine. Therefore, the vibration information and inclination information of the work machine can be notified to the operator of the work machine. In addition, since both the inclination information and the vibration information of the work machine can be obtained based on the detection value of the inclination angle detector, the number of parts can be reduced, thereby reducing costs, compared to a case where a vibration detector is provided in addition to the inclination angle detector.

[0032] An operation system according to a thirteenth aspect of the present invention comprises the operation device according to any one of the first to thirteenth aspects of the present invention and the work machine.

[0033] According to this configuration, an operation system is provided that can obtain the same effects as those of the first aspect of the invention. Effect of the Invention

[0034] According to the present invention, it is possible to improve the operating environment for an operator of a work machine. [Brief description of the drawings]

[0035] [Figure 1] FIG. 1 is a side view showing a hydraulic excavator, which is an example of a work machine remotely controlled by a remote control device (an example of an operation device) according to a first embodiment of the present invention. [Diagram 2] 1 is a perspective view showing the appearance of a remote control device (an example of a control device) according to a first embodiment. [Diagram 3] FIG. 2 is a block diagram showing a functional configuration of a remote control device (an example of an operation device). [Figure 4A] 4 is a diagram showing a schematic diagram of a detection value (detection waveform) by a tilt angle detector. FIG. [Figure 4B] 10 is a diagram showing a schematic diagram of a detection value (detection waveform) after low-pass filtering is performed on the detection value (detection waveform) by the tilt angle detector. FIG. [Figure 4C] 10 is a diagram showing a schematic diagram of a detection value (detection waveform) after high-pass filtering is performed on the detection value (detection waveform) by the tilt angle detector. FIG. [Diagram 5] 11 is an explanatory diagram illustrating an example of vibration reflection rate information stored in an information storage unit; FIG. [Figure 6] 4 is an explanatory diagram showing an example of vibration priority information stored in an information storage unit; FIG. [Figure 7] FIG. 13 is a schematic diagram showing a vibration reflection rate setting screen. [Figure 8] FIG. 13 is a schematic diagram showing a vibration priority setting screen. [Figure 9] 5 is a flowchart showing the first half of a control process executed by a remote controller. [Figure 10] 13 is a flowchart showing a second half of the control process executed by the remote controller. [Figure 11] 13 is a flowchart showing a second half of the control process executed by the remote controller. [Figure 12] FIG. 13 is a schematic diagram showing a setting screen for a tilt reflection rate. [Figure 13] FIG. 13 is a schematic diagram showing a setting screen for an inclination priority. [Figure 14] 11 is an explanatory diagram illustrating an example of tilt reflection rate information stored in an information storage unit; FIG. [Figure 15] FIG. 11 is an explanatory diagram illustrating an example of tilt priority information stored in an information storage unit. [Figure 16] FIG. 10 is a view showing the second embodiment. [Figure 17] FIG. 11 is a view showing the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0037] (Embodiment 1) Fig. 1 is a side view showing a hydraulic excavator 100, which is an example of a work machine that performs work at a work site by being remotely controlled by a remote control device 101 constituting an operation device according to a first embodiment of the present invention. Fig. 2 is a perspective view showing the remote control device 101 according to the embodiment. Fig. 3 is a block diagram showing the functional configuration of the remote control device 101. The hydraulic excavator 100 (work machine) and the remote control device 101 constitute a remote operation system 200.

[0038] In addition, although the directions of "up," "down," "left," "right," "front," and "rear" are shown in Figures 1 and 2, these directions are shown for the sake of convenience in explaining the structure of the remote control device 101 and the hydraulic excavator 100 according to the embodiment of the present invention, and do not limit the direction of movement or the manner of use of the hydraulic excavator 100.

[0039] [Hydraulic excavator] As shown in Fig. 1, the hydraulic excavator 100 includes a lower traveling structure 1, an upper rotating structure 2 rotatably mounted on the lower traveling structure 1, and an attachment 6 mounted on the upper rotating structure 2. The upper rotating structure 2 includes a rotating frame 2a connected to the lower traveling structure 1, and an attachment 6 mounted on the upper rotating structure 2. and a cab 7 mounted on the frame 2a. The attachment 6 includes a boom 3 connected to the front end of the revolving frame 2a so as to be able to be raised and lowered, an arm 4 connected to the tip of the boom 3 so as to be rotatable, and a tip attachment 5 connected to the tip of the arm 4 so as to be rotatable. In this embodiment, the tip attachment 5 is constituted by a bucket 5. The cab 7 is mounted on the front part of the revolving frame 2a at a position adjacent to the boom 3 in the left-right direction of the revolving frame 2a, and constitutes a driver's cab for operating the hydraulic excavator 100.

[0040] The hydraulic excavator 100 further includes a plurality of hydraulic actuators 3a, 4a, 5a for operating the attachment 6, a swing motor (not shown) for rotating the upper swing body 2, and a travel motor (not shown) for driving a crawler to travel the lower traveling body 1. The plurality of hydraulic actuators include a boom cylinder 3a for operating the boom 3, an arm cylinder 4a for operating the arm 4, and a bucket cylinder 5a for operating the bucket 5. Note that another end attachment may be attached instead of the bucket 5.

[0041] As shown in FIG. 3, the hydraulic excavator 100 further includes a camera 10, a tilt angle detector 11, a turning angle detector 12, a communication device 41, and a machine controller 50.

[0042] The camera 10 is a device capable of capturing images, specifically, a device capable of capturing video. The camera 10 is provided on the upper rotating body 2 (in this example, the front part of the cab 7). The camera 10 has a predetermined viewing angle (for example, the viewing angle shown by the two-dot chain line in FIG. 1), and is configured to be able to capture images within that viewing range. Information (video signal) relating to the images captured by the camera 10 is input to a remote controller 60 provided at the remote location via communication devices 41 and 42 shown in FIG. 3.

[0043] The inclination angle detector 11 is a detector that detects the inclination angles of the hydraulic excavator 100 in the roll direction and pitch direction (an example of a predetermined direction) relative to a reference plane (e.g., a horizontal plane) as motion information of the hydraulic excavator 100. The motion information is information that indicates the motion state of the hydraulic excavator 100. The inclination angle detector 11 is provided, for example, in the cab 7 of the upper rotating body 2 that constitutes the machine body of the hydraulic excavator 100, and detects the inclination angle of the machine body. The cab 7 and the upper rotating body 2 have the same vibration system, and the inclination angle detector 11 is provided somewhere on the upper rotating body 2 to detect the inclination angle of the cab 7. In this example, the inclination angle detector 11 is configured by an inertial measurement unit (IMU). The inertial measurement unit is a unit that measures angular velocities in the roll direction and pitch direction with a gyro sensor and calculates (detects) the inclination angle by integrating the measured angular velocities. The inclination angle detector 11 is not limited to a configuration that calculates (detects) the inclination angle by integrating the angular velocity in this manner, but may be configured, for example, as a sensor that measures (detects) the inclination angle itself (for example, a pendulum-type inclination sensor or a float-type inclination sensor).

[0044] The inclination angle detector 11 then outputs a detection value (detection signal) of the inclination angle including vibration components in the roll and pitch directions of the machine of the hydraulic excavator 100 to the machine controller 50. The machine controller 50 transmits the detection value of the inclination angle of the machine of the hydraulic excavator 100 received from the inclination angle detector 11 to the remote controller 60 via the communication devices 41, 42. Based on the detection value received from the machine controller 50, the remote controller 60 acquires (calculates) inclination information (information on the inclination angle in the roll and pitch directions of the machine) and vibration information (information on vibration amplitude and vibration frequency in the roll and pitch directions of the machine) of the hydraulic excavator 100 by low-pass filter processing and high-pass filter processing, which will be described later.

[0045] The turning angle detector 12 is a detector that detects the turning angle of the upper rotating body 2 relative to the lower traveling body 1. The turning angle detector 12 is configured, for example, by a rotary encoder attached to the turning shaft of the upper rotating body 2. The turning angle detector 12 outputs a detection value (detection signal) of the turning angle to the machine controller 50. The machine controller 50 transmits the detection value of the turning angle received from the turning angle detector 12 to the remote controller 60 via the communication devices 41, 42. The remote controller 60 acquires (calculates) turning angle information (information on the turning angle of the upper rotating body 2) based on the detection value received from the machine controller 50. The turning angle detector 12 may be configured by detecting a yaw angle as the turning angle of the upper rotating body 2 relative to the lower traveling body 1 by the inclination angle detector 11.

[0046] A communication device 41 is provided in the hydraulic excavator 100. Signals output from the camera 10, the inclination angle detector 11, the turning angle detector 12, etc. are input to the communication device 41 via a machine controller 50. The communication device 41 has a function of transmitting these signals to the communication device 42 provided at the remote location, and a function of receiving signals transmitted from the communication device 42. In this example, the transmission and reception of these signals is performed via a communication network.

[0047] The machine controller 50 is composed of a computer having a CPU, ROM, and RAM. The machine controller 50 drives actuators such as the cylinders 3a to 5a, a swing motor, and a traveling motor (not shown) based on operation signals (operation signals generated in response to operations received by the operation unit 31) input from a remote controller 60 (described later) via communication devices 41 and 42.

[0048] [Remote Control Device] As shown in FIGS. 2 and 3, the remote control device 101 is a device for remotely controlling the hydraulic excavator 100, and is disposed at a location away from the hydraulic excavator 100 (a remote location).

[0049] The remote control device 101 includes a monitor device 20, a driver's seat 30, an operation unit 31, a swivel drive unit 85, a tilt / vibration drive unit 80, a handheld terminal 90, a front base housing 36 and a rear base housing 37, a communication device 42 (see Figure 3), and a remote controller 60 (see Figure 3) as a control unit.

[0050] The monitor device 20 is a device for displaying, at the remote location, an image captured by a camera 10 provided on the hydraulic excavator 100. In this example, the monitor device 20 is disposed in front of the driver's seat 30 so that the display surface faces the driver's seat 30, and is supported by a pair of supports 21 at the front end of a front base housing 36 disposed on the floor surface. The monitor device 20 receives information (image signal) related to an image input to the remote controller 60 via the communication device 42 (see FIG. 3), and displays the image on the display surface. The monitor device 20 may be a display such as a liquid crystal display or an organic EL display, as shown in FIG. 2, for example. In such a case, the monitor device 20 is provided at a position where the operator seated in the driver's seat 30 can view the image displayed on the monitor device 20. The monitor device 20 is not limited to the above-mentioned display, and may be, for example, a projector (not shown) that projects an image onto a screen or the like, or may be a head-mounted display (not shown) that is worn on the operator's head.

[0051] The driver's seat 30 is a seat for an operator who performs remote control. The driver's seat 30 includes a seat portion 30a, a backrest portion 30b, a headrest 30c, and left and right armrests 30d. The seat portion 30a supports the lower half of the operator's body, specifically the buttocks and part of the legs (thighs). The backrest portion 30b supports the upper half of the operator's body, specifically the back. The headrest 30c supports the operator's head, specifically the back of the head. The handheld terminal 90 is disposed to the side of the armrest 30d on the right side of the driver's seat 30.

[0052] The handheld terminal 90 is configured as a tablet terminal having a touch panel 91 that can be operated by an operator with a finger. The handheld terminal 90 is attached to the driver's seat 30 so that the operation screen of the touch panel 91 faces the operator. The handheld terminal 90 functions as a vibration reflection rate setting unit and a priority setting unit, which will be described later.

[0053] The driver's seat 30 is supported on the upper surface of a support plate 34 via a swivel plate 35. The support plate 34 is made of a cornerless sheet metal member that is generally triangular in shape and narrows toward the rear in a plan view. The swivel plate 35 is made of a rectangular sheet metal member. The swivel plate 35 is attached to the upper surface of the support plate 34 via a bearing (not shown) so as to be rotatable.

[0054] The support plate 34 is disposed above the upper surface of the rear base housing 37, and is supported from below by three up-down drive actuators 81 that constitute a tilt / vibration drive section 80, which will be described later.

[0055] The left and right armrests 30d are for supporting the forearms of an operator seated in the driver's seat 30 when the operator operates the remote control lever 31a, and have a shape extending in the front-rear direction so as to be able to support the forearms of the operator. The left and right armrests 30d are disposed on the left and right sides of the seat portion 30a, respectively.

[0056] As shown in Figures 2 and 3, the operation unit 31 has a pair of remote control levers 31a, a pair of travel levers 31b, and a lock lever 31c as operation members, and is configured to output operation signals corresponding to the operation of these operation members.

[0057] Each of the pair of remote control levers 31a tilts forward, backward, left and right in response to an attachment operation by an operator seated in the driver's seat 30 at the remote location. This operation is an operation for operating an actuator of the hydraulic excavator 100. The remote control lever 31a on the left side of the driver's seat 30 functions as an arm lever for performing a rotation operation to rotate the arm 4 relative to the boom 3 when tilted forward and backward in response to an operation by the operator, and functions as a swing lever for performing a swing operation to rotate the upper rotating body 2 relative to the lower traveling body 1 when tilted left and right in response to an operation by the operator. The remote control lever 31a on the right side of the driver's seat 30 functions as a boom lever for performing a hoisting operation to raise and lower the boom 3 relative to the upper rotating body 2 when tilted backward in response to an operation by the operator, and functions as a bucket lever for performing a swing operation to rotate the bucket 5 relative to the arm 4 when tilted left and right in response to an operation by the operator. The operation direction of the remote control lever 31a corresponding to the operation of the actuator of the hydraulic excavator 100 may be other than the above-mentioned operation pattern, and the operation pattern may be appropriately changed by the operator's operation.

[0058] The pair of travel levers 31b are levers that are tilted in the front-rear direction by an operator to travel the lower traveling body 1. The travel levers 31b may be attached to the front side of the driver's seat 30 or may be attached to the front base housing 36. The operator seated in the driver's seat 30 can travel the lower traveling body 1 by operating the left and right travel levers 31b located in front of the driver's seat 30. A pair of left and right travel pedals may be integrally provided on the base or lower end of the pair of travel levers 31b. In other words, the operation of the travel operation of the lower traveling body 1 may be configured to be executable by either the operation of stepping on the travel pedals or the manual operation of the travel levers 31b. In the following description, the operation of stepping on the travel pedals or the manual operation of the travel levers 31b is referred to as a travel operation.

[0059] The lock lever 31c is configured as an operating lever that can be tilted between a locked position and an unlocked position. When the lock lever 31c is positioned at the locked position, the hydraulic excavator 100 executes a prohibiting operation that prohibits the operation of all actuators including the cylinders 3a to 5a. This prohibiting operation prevents the hydraulic excavator 100 from operating even if the remote control lever 31a or the traveling lever 31b is operated. The prohibiting operation is realized, for example, by not outputting an operation signal even if the operation of an operating member is accepted in the operating unit 31, or by ignoring an operation signal even if it is received by the machine controller 50 of the hydraulic excavator 100.

[0060] When the operation unit 31 receives an operation of the remote control lever 31a by the operator, it detects the operation state of the remote control lever 31a, which is determined according to the amount of operation, the direction of operation, etc., generates an operation signal according to the detected operation state, and inputs the operation signal to the remote controller 60. In other words, the operation state, which is determined according to the amount of operation, the direction of operation, etc. of each remote control lever 31a, is converted into an electric signal, and the electric signal (operation signal) is input to the remote controller 60. Similarly, when the operation unit 31 receives an operation of each traveling pedal or each traveling lever 31b by the operator, it generates an operation signal according to the amount of operation, and inputs the operation signal to the remote controller 60.

[0061] The operation signal input to the remote controller 60 is input to the machine controller 50 of the hydraulic excavator 100 via the communication devices 41, 42. The machine controller 50 of the hydraulic excavator 100 performs appropriate signal processing such as calculations based on the input operation signal, and generates a command signal corresponding to the operation signal. The command signal is input to control valves for operating actuators such as the boom cylinder 3a, the arm cylinder 4a, the bucket cylinder 5a, the swing motor, and the traveling motor. Thus, by operating the remote control lever 31a, the operator can execute various operations of the hydraulic excavator 100, specifically, operations such as the swing operation of the attachment 6, the boom hoisting operation, the arm rotation operation, the bucket rotation operation, and the traveling operation of the lower traveling body 1.

[0062] The communication device 42 has a function of receiving a signal transmitted by the communication device 41 and inputting the signal to the remote controller 60, and a function of receiving a signal output from the remote controller 60 and transmitting the signal to the communication device 41 provided in the hydraulic excavator 100.

[0063] In this example, the communication device 41 and the communication device 42 are configured to transmit and receive signals to and from each other via wireless communication, but this is not limited thereto, and they may be configured to transmit and receive signals via wired communication.

[0064] The slewing drive unit 85 drives and slewing the slewing plate 35 so that the slewing angle information of the upper slewing body 2 of the hydraulic excavator 100 is reflected in the slewing angle of the operator's seat 30. In this example, the slewing drive unit 85 is configured to drive and slewing the slewing plate 35 together with the operator's seat 30 by linearly driving the rear end portion of the slewing plate 35 in the left-right direction.

[0065] The tilt / vibration drive unit 80 constitutes an output device (operator's seat output device) according to an embodiment of the present invention. The tilt / vibration drive unit 80 outputs work machine tilt information (an example of work machine motion information, in this example, information obtained by multiplying the tilt information, which is the motion information of the hydraulic excavator 100, by a gain of 1) reflecting tilt information (information on the tilt angles in the roll and pitch directions in this example) of the hydraulic excavator 100 relative to a reference plane (horizontal plane), which is motion information of the hydraulic excavator 100, in a manner that allows the operator to feel the work machine tilt information. Specifically, the tilt / vibration drive unit 80 tilts the support plate 34 so that the operator's seat 30 tilts at an angle corresponding to the tilt angles in the roll and pitch directions of the hydraulic excavator 100 body defined in the work machine tilt information (i.e., so that the tilt information of the hydraulic excavator 100 is reflected in the tilt state of the operator's seat 30), thereby allowing the operator to feel the work machine tilt information. Thus, the tilt / vibration drive unit 80 also functions as a notification unit that notifies the operator of work machine tilt information (work machine motion information) reflecting the tilt information (motion information) of the hydraulic excavator 100 in a manner that allows the operator to feel it.

[0066] The tilt / vibration drive unit 80 also outputs work machine vibration information (an example of work machine motion information, which in this example is a value obtained by multiplying the vibration information, which is the motion information of the hydraulic excavator 100, by a gain corresponding to a vibration reflection degree described later) that reflects vibration information occurring in the body of the hydraulic excavator 100, which is motion information of the hydraulic excavator 100, in a manner that allows the operator to feel the work machine vibration information. Specifically, the tilt / vibration drive unit 80 vibrates the support plate 34 so as to vibrate the driver's seat 30 with a vibration amplitude and a vibration frequency in the roll direction and pitch direction of the hydraulic excavator 100 that are specified in the work machine vibration information (i.e., so as to reflect the vibration information of the hydraulic excavator 100 in the vibration state of the driver's seat 30), thereby allowing the operator to feel the work machine vibration information. Thus, the tilt / vibration drive unit 80 also functions as a notification unit that notifies the operator of the work machine vibration information (work machine motion information) that reflects the vibration information (motion information) of the hydraulic excavator 100 in a manner that allows the operator to feel the work machine vibration information.

[0067] The tilt / vibration drive unit 80 has three vertical drive actuators 81, as shown in Fig. 2. The three vertical drive actuators 81 include a pair of left and right vertical drive actuators 81 (only one of which is shown in Fig. 2) connected to the left and right tops of the front side of the support plate 34, and one vertical drive actuator 81 provided in the center of the rear end part of the support plate 34. The three vertical drive actuators 81 are constituted by, for example, electric cylinders or fluid-driven (e.g. hydraulic or pneumatic) cylinders.

[0068] Each vertical drive actuator 81 has an outer cylinder 81a extending in the vertical direction, and a rod 81b fitted to the outer cylinder 81a so as to be able to expand and contract in the vertical direction. The lower end surface of the outer cylinder 81a is fixed to the upper surface of the bottom wall of the rear base housing 37, and the outer cylinder 81a is disposed so as to vertically penetrate the upper wall of the rear base housing 37. The upper end of the rod 81b is connected to the lower surface of the support plate 34 via a ball joint (not shown).

[0069] The tilt / vibration drive unit 80 is configured to be able to cause a movement in the support plate 34 by changing the amount of expansion and contraction of the rods 81b of the three vertical drive actuators 81. Specifically, the tilt / vibration drive unit 80 is configured to be able to change the tilt direction and tilt angle of the support plate 34 with respect to the horizontal plane by changing the amount of expansion and contraction of the rods 81b of the three vertical drive actuators 81. The tilt / vibration drive unit 80 is also configured to be able to vibrate the support plate 34 by expanding and contracting (vibrating) the rods 81b of the three vertical drive actuators 81 up and down in small increments. By changing the tilt angle and vibrating the support plate 34 in this way, a change in the tilt angle and a vibration drive movement are generated in the driver's seat 30 supported on the support plate 34.

[0070] The extension and contraction operation of the rod 81b of each vertical drive actuator 81 is controlled by the remote controller 60. Specifically, if the vertical drive actuator is of a fluid drive type, the remote controller 60 controls the drive of a valve to control the flow rate of the working fluid, and if the vertical drive actuator is of an electric drive type, the remote controller 60 controls the drive of an electric actuator, which is the drive source.

[0071] [Remote Controller] The remote controller 60 is configured by a computer having, for example, a CPU, a ROM, a RAM, and the like.

[0072] As shown in FIG. 3, the remote controller 60 has an operation control section 61, a driver's seat control section 62, and a setting control section 63 as functional sections.

[0073] The operation control unit 61 provides the operator with visual information required for remote operation via the monitor device 20 , and also transmits operation signals related to the operator's operations on the operation unit 31 to the hydraulic excavator 100 .

[0074] Specifically, the operation control unit 61 receives image data captured by the camera 10 mounted on the hydraulic excavator 100 from the machine controller 50 via the communication devices 41 and 42, and displays the received captured image data on the monitor device 20. This allows the operator to view the image displayed on the monitor device 20 and obtain visual angle information equivalent to that obtained when the operator is actually on board the hydraulic excavator 100. The operation control unit 61 also receives an operation signal output from the operation unit 31 of the remote control device 101, and transmits the received operation signal to the machine controller 50 mounted on the hydraulic excavator 100 via the communication devices 41 and 42. The machine controller 50 generates command signals for driving the various cylinders 3a, 4a, 5a, etc. based on the received operation signal, thereby causing the hydraulic excavator 100 to perform an operation corresponding to the operation by the operator.

[0075] The operator's seat control unit 62 acquires (calculates) the swing angle information of the upper rotating body 2 of the hydraulic excavator 100 (i.e., information on the swing angle of the upper rotating body 2) based on the detection value by the swing angle detector 12 received from the machine controller 50, and executes a swing reflection process for reflecting the acquired swing angle information in the swing state of the operator's seat 30 of the remote operation device 101. Specifically, the operator's seat control unit 62 drives the swing drive unit 85 so that the swing angular velocity of the operator's seat 30 coincides with the swing angular velocity calculated based on the swing angle detected by the swing angle detector 12 of the hydraulic excavator. In other words, when the upper rotating body 2 is not rotating relative to the lower running body 1, the driver's seat 30 is in a forward-facing position directly facing the monitor device 20 as shown in Figure 2, and when the upper rotating body 2 is rotating to the right relative to the lower running body 1, the driver's seat 30 is rotated to the right so that the angle of rotation corresponds to the angular velocity of the turn, based on the forward-facing position, and when the upper rotating body 2 is rotating to the left relative to the lower running body 1, the driver's seat 30 is rotated to the left so that the angle of rotation corresponds to the angular velocity of the turn, based on the forward-facing position.

[0076] Furthermore, the operator's seat control unit 62 acquires inclination information of the hydraulic excavator 100 based on the detection value of the inclination angle detector 11 received from the machine controller 50, and executes a tilt process to reflect the acquired inclination information in the inclination state of the operator's seat 30. In this example, the operator's seat control unit 62 acquires (calculates) the inclination angles (inclination angles with respect to the horizontal plane) in the roll and pitch directions of the hydraulic excavator 100 as the inclination information, and drives the tilt / vibration drive unit 80 so that the inclination angles in the roll and pitch directions of the operator's seat 30 match the acquired (calculated) inclination angles.

[0077] Here, when acquiring the inclination angle, the driver's seat control unit 62 performs low-pass filter processing based on the time history (waveform) of the detection value of the inclination angle detector 11. This will be described with reference to Figures 4A and 4B. Figure 4A shows a schematic waveform of the detection value by the inclination angle detector 11, and Figure 4B shows a schematic waveform of the detection value after the low-pass filter processing is performed.

[0078] As shown in Fig. 4A, the waveform of the detection value by the inclination angle detector 11, that is, the detection value (detection waveform) of the inclination angle of the hydraulic excavator 100, is superimposed with vibration components due to vibration from the traveled road surface, vibration of the engine, etc., so that it is difficult to obtain an accurate inclination angle of the hydraulic excavator 100 with respect to a horizontal plane only from this detection value (detection waveform). Therefore, in this example, when performing the inclination process, the driver's seat control unit 62 performs a low-pass filter process to remove (attenuate) high-frequency components equal to or higher than a predetermined threshold frequency in order to remove such vibration components and accurately obtain (calculate) the inclination angle of the hydraulic excavator 100 with respect to a horizontal plane, and obtains the detection value after this low-pass filter process (see Fig. 4B) as the inclination angle of the hydraulic excavator 100. Note that, although Figs. 4A and 4B show the detection value (detection waveform) of the inclination angle by the inclination angle detector 11 without distinguishing between the roll direction and the pitch direction, in reality, the detection value (detection waveform) in each direction is distinguished between the roll direction and the pitch direction and low-pass filter process is performed on the detection value (detection waveform) in each direction.

[0079] Furthermore, the operator's seat control unit 62 acquires vibration information (vibration amplitude and vibration frequency in this example) in the roll and pitch directions relative to the horizontal plane of the hydraulic excavator 100 based on the detection value of the inclination angle detector 11 received from the machine controller 50, and drives the tilt / vibration drive unit 80 so as to reflect the acquired vibration information in the vibration state in the roll and pitch directions of the operator's seat 30 of the remote control device 101 (specifically, vibrates the rods 81b of each up-down drive actuator 81 up and down).

[0080] Furthermore, the operator's seat control unit 62 performs high-pass filtering on the detection value (detection waveform) of the inclination angle detector 11 when acquiring vibration information of the hydraulic excavator 100. Fig. 4C shows a schematic diagram of the detection value (detection waveform) after the detection value of the inclination angle detector 11 has been subjected to high-pass filtering.

[0081] The operator's seat control unit 62 is configured to execute high-pass filter processing to eliminate (attenuate) low-frequency components below the predetermined threshold frequency when executing vibration processing to drive the tilt / vibration drive unit 80 based on the acquired vibration information and reflect the vibration in the operator's seat 30, and to acquire the waveform after high-pass filter processing (see FIG. 4C) as vibration information of the hydraulic excavator 100. Note that in FIGS. 4A and 4C, the detection value (detection waveform) of the inclination angle by the inclination angle detector 11 is shown without distinguishing between the roll direction and the pitch direction, but in reality, the roll direction and the pitch direction are distinguished and high-pass filter processing is executed on the detection value (detection waveform) in each direction. Also, the predetermined threshold frequency when executing high-pass filter processing does not necessarily have to be the same as the predetermined threshold frequency when executing low-pass filter processing, and may be different.

[0082] Then, the operator's seat control unit 62 generates work machine vibration information (an example of work machine motion information) reflecting the vibration information (an example of motion information) of the hydraulic excavator 100 acquired by executing high-pass filter processing, and outputs the generated work machine vibration information so as to be sensible by the tilt / vibration drive unit 80. The operator's seat control unit 62 is configured to be able to change the vibration reflection degree, which is the degree of reflection, when reflecting the acquired vibration information in the work machine vibration information, in accordance with the content of the operation (operation type) received by the operating unit 31. In this example, four reflection degrees of "strong", "medium", "weak" and "stop" can be set according to intensity as the degree to which vibration information occurring in the machine body of the hydraulic excavator 100 is reflected in the work machine vibration information output by the tilt / vibration drive unit 80, and the degree to which the vibration information is reflected in the work machine vibration information output by the tilt / vibration drive unit 80 decreases in the order of "strong", "medium", "weak" and "stop". In other words, the gain in the vibration information occurring in the machine body of the hydraulic excavator 100 (in this example, the ratio of the amplitude of the vibration in the roll direction and the pitch direction reflected in the driver's seat 30 to the amplitude of the vibration in the roll direction and the pitch direction in the vibration information) decreases in the order of "strong", "medium", "weak" and "stop" and is reflected in the work machine vibration information (and by extension, the vibration state of the driver's seat 30). In this example, the gain corresponding to the vibration reflection degree "strong" is set to 1, the gain corresponding to "medium" is set to 0.7, the gain corresponding to "weak" is set to 0.4 and the gain corresponding to "stop" is set to 0. "Stop" is a zero reflection degree at which the vibration information of the hydraulic excavator 100 acquired by the remote controller 60 is not reflected in the work machine vibration information output by the tilt / vibration drive unit 80, and is a vibration reflection degree at which the vibration reflection function of the operator's seat 30 is disabled. Note that the gain values ​​described here are merely examples and are not limited to these. For example, the gain corresponding to a vibration reflection degree of "strong" may be set to a value greater than 1.

[0083] The information storage unit 70 stores vibration reflection rate information D1 related to the vibration reflection rate and vibration priority level information D2, which will be described later.

[0084] 5 is an explanatory diagram showing an example of vibration reflection degree information D1. This vibration reflection degree information D1 is information indicating the vibration reflection degree, which is the degree to which vibration information of the hydraulic excavator 100 is reflected in the work machine vibration information output by the tilting / vibration drive unit 80 when the operation unit 31 receives a plurality of predetermined operations individually (in other words, when each operation of the hydraulic excavator 100 corresponding to the plurality of predetermined operations is executed individually), in association with each of the plurality of predetermined operations. In this example, five operations, namely, a basic operation, the traveling operation, the swing operation, an option operation, and a lever lock operation, are predetermined as examples of the plurality of predetermined operations.

[0085] The traveling operation is performed by depressing the traveling pedal (not shown) or manually operating the traveling lever 31b as described above. This traveling operation operates the traveling motor of the hydraulic excavator 100, rotates the crawler provided on the lower traveling body 1, and the hydraulic excavator 100 performs the traveling operation.

[0086] The swing operation is a manual operation of the swing lever described above, and in this swing operation, the left remote control lever 31a is tilted in the left and right direction. By this swing operation, the upper swing body 2 of the hydraulic excavator 100 swings together with the attachment 6.

[0087] The optional operation is an operation for causing an optional device attached to the hydraulic excavator 100 to execute a predetermined operation, and includes, for example, a stepping operation performed by the operator on an optional pedal provided on the side of the travel pedal, a push operation performed by the operator on an optional button provided on the remote control lever 31a, etc. Examples of the predetermined operations of the optional device executed by this operation include an excitation operation and a release operation of a lifting magnet attached as a tip attachment, a striking operation of a breaker attached as a tip attachment for striking an object, an opening / closing operation and a rotating operation of a plurality of gripping claws of a grapple constituting a gripping device attached as a tip attachment, an up-down operation of a lifting cab, an extension / retraction operation of a telescopic attachment attached as an arm, a swinging operation of a swinging mechanism that swings a tip end left and right relative to a base end of a boom or a base end of an arm, and an up-down operation of a dozer attached to the lower traveling body 1.

[0088] The lever lock operation is an operation for holding the lock lever 31c at the locked position. When the lock lever 31c is tilted to the locked position by an operation for tilting the lock lever 31c from the unlocked position to the locked position, the lock lever 31c is held in the locked position even if the operator does not perform an operation to hold the lock lever 31c at the locked position. The operation for holding the lock lever 31c in this manner is the lever lock operation, and in this example, the state in which the lock lever 31c is held at the locked position even if the operator releases his / her hand from the lock lever 31c is regarded as a state in which the operation unit 31 is subjected to the lever lock operation.

[0089] A basic operation is an operation other than the above-mentioned driving operation, turning operation, option operation, and lever lock operation, and includes, for example, an operation to release the lever lock (an operation to return the lock lever 31c held in the locked position to the unlocked position).

[0090] 5, the vibration reflection degree for the basic operation, turning operation, and option operation is set to "medium," the vibration reflection degree for the driving operation is set to "strong," and the vibration reflection degree for the lever lock operation is set to "stop." The vibration reflection degree corresponding to each predetermined operation can be set (changed) by the operator operating the handheld terminal 90, as described later.

[0091] The vibration priority information D2 is information that specifies a priority (hereinafter, referred to as vibration priority) indicating which of the two or more predetermined operations should have a vibration reflection degree given priority when the operation unit 31 receives two or more of the predetermined operations at the same time (i.e., when the operation unit 31 receives a composite operation). FIG. 6 is an explanatory diagram showing an example of the vibration priority information D2. In the example of FIG. 6, the vibration priority is expressed by numbers 1 (rank) to 5 (rank), which are the priority order, and the smaller the number indicating the priority order, the higher the vibration priority. Therefore, in the example of FIG. 6, the vibration priority of the lever lock operation is the highest, followed by the travel operation, the turning operation, the option operation, and the basic operation in that order. The vibration priority of each operation can be set (changed) by the operator operating the handheld terminal 90, as described later.

[0092] An example of a setting guideline for an operator to set vibration priority will be described with reference to the vibration priority information D2 shown in Fig. 6. Note that the setting guideline described below is merely an example, and the setting of vibration priority can be arbitrarily changed according to the operator's way of thinking.

[0093] In the example of Fig. 6, the vibration priority of the lever lock operation is set to the highest in consideration of the need to vary the vibration reflection degree depending on whether or not the hydraulic excavator 100 is operable. That is, when the lever lock operation is tilted to the locked position (when the lever lock operation is executed), the operation of the hydraulic excavator 100 is prohibited as described above, and therefore, even if another operation is executed, the operation of the hydraulic excavator 100 corresponding to that operation will not be executed. Therefore, since there is no need to prioritize the vibration reflection degree of the other operations over the vibration reflection degree of the lever lock operation, the vibration priority of the lever lock operation is set to the highest. The vibration priority of the lever lock operation may be set to the highest as an initial state when the remote operation device 101 is started, or the state in which the vibration priority of the lever lock operation is set to the highest may be configured to be unchangeable.

[0094] In the example of Figure 6, the reason why the traveling operation has the second highest priority is based on the idea that since the traveling operation involves movement of the hydraulic excavator 100, there is a high need for the operator to feel vibrations from the road surface, etc., from the perspective of preventing the hydraulic excavator 100 from tipping over while traveling.

[0095] In the example of Figure 6, the priority of the rotation operation of the upper rotating body 2 is set to third based on the idea that in a rotation operation in which only the upper rotating body 2 is rotated without moving, there is less need for the operator to feel vibrations from the road surface, etc., compared to a driving operation.

[0096] In the example of Fig. 6, the priority of the optional operation is set to fourth based on the idea that the frequency of execution of the optional operation is lower than that of other operations. Note that, even for optional operations, if the operator needs to feel vibration, the priority may be set to high.

[0097] In the example of FIG. 6, the reason why the priority of the basic operation is the lowest is based on the idea that vibration priorities have already been individually set for operations that should have a higher priority.

[0098] Next, a description will be given of the function of the setting control unit 63 (see FIG. 3). The setting control unit 63 receives setting information of vibration reflection degree corresponding to each of the predetermined operations transmitted from the handheld terminal 90 and setting information of vibration priority corresponding to each of the predetermined operations, and executes a process of reflecting the received setting information in the vibration reflection degree information D1 and the vibration priority information D2 stored in the information storage unit 70.

[0099] FIG. 7 is a schematic diagram showing a setting screen 900 that is displayed on the remote terminal 90 as a reflection rate setting unit and that receives an input for setting the vibration reflection rate for each predetermined operation.

[0100] This setting screen 900 is displayed on the touch panel 91 by a display control unit 92 (see FIG. 3) provided in the remote terminal 90. The display control unit 92 is configured by a computer having a CPU, ROM, and RAM. When the display control unit 92 detects a touch signal of a vibration setting button (not shown) displayed on the touch panel 91, the display control unit 92 causes the touch panel 91 to display the setting screen 900.

[0101] As shown in Fig. 7, the setting screen 900 has setting areas A1 to A5 for setting the vibration reflection degree for each of the basic operation, the traveling operation, the turning operation, the option operation, and the lever lock operation, and each area A1 to A5 displays a selection button 901 for setting (selecting) one of "strong", "medium", "weak" and "stop" as the vibration reflection degree. The operator can arbitrarily set the vibration reflection degree by selecting one of the four selection buttons 901 for each predetermined operation by touch operation. Then, the setting information of the vibration reflection degree set on the setting screen 900 is transmitted from the handheld terminal 90 to the remote controller 60 and acquired by the setting control unit 63.

[0102] The setting control unit 63 stores the setting information of the vibration reflection rate received from the remote terminal 90 as vibration reflection rate information D1 (see FIG. 5) in the information storage unit 70. At this time, if the vibration reflection rate information D1 that has already been set exists, the vibration reflection rate defined in the vibration reflection rate information D1 is updated (changed) based on the setting information received from the remote terminal 90.

[0103] 7, a back button 905 for returning to the screen before switching to the setting screen 900, and a priority change button 906 are provided at the bottom of the setting screen 900. When the display control unit 92 receives a touch signal of the priority change button 906, it causes the touch panel 91 to display a vibration priority setting screen 910.

[0104] 8 is a schematic diagram showing a setting screen 910 that is displayed on the handheld terminal 90 as a priority setting unit and receives input for setting vibration priority for each predetermined operation. A level bar Lb with both ends indicated by outward arrows is displayed on the left end of this setting screen 910 so that the operator can easily visually recognize (imagine) the high and low vibration priority. On the right side of this level bar Lb, labels La corresponding to each of a plurality of predetermined operations, i.e., a lever lock operation, a traveling operation, a turning operation, an optional operation, and a basic operation, are displayed interchangeably in a plurality of rows in the vertical direction of the screen.

[0105] As described above, the vibration priority indicates which operation should be given priority in vibration reflection degree when a composite operation (multiple operations) is performed on the operation unit 31, and in the setting screen 910, the operator can set the vibration priority while recognizing the level of vibration priority for each operation by visually checking the position of the arrangement stage of the label La corresponding to each operation. In the setting screen 910 shown in Fig. 8, the vibration priority of the lever lock operation located in the top stage is the highest, and in the lower stages, the vibration priority is set to be lower in the order of driving operation, turning operation, option operation, and basic operation.

[0106] Next, a specific example of setting the vibration priority on the setting screen 910 will be described. The vibration priority is set by manually switching the arrangement of the labels La corresponding to each operation. For example, when the operator taps with his / her finger the label La corresponding to one of the two operation contents for which the vibration priority is to be switched on the setting screen 910, the selected label La can be moved by dragging. In this state, the label La is moved and dropped on the label La corresponding to the other operation, whereby the arrangement of the labels La is switched and the vibration priorities of the two operation contents are switched. Note that this vibration priority setting operation procedure is an example, and for example, an input box for inputting a numerical value representing the priority (for example, a priority order) may be provided next to the label La corresponding to each operation, and the vibration priority may be changed by inputting the priority order into this input box.

[0107] The setting information of the vibration priority set on the setting screen 910 is transmitted from the handheld terminal 90 to the remote controller 60 and acquired by the setting control unit 63 .

[0108] The setting control unit 63 stores the setting information of the vibration priority received from the remote terminal 90 as the vibration priority information D2 in the information storage unit 70. At this time, if the vibration priority information D2 that has already been set exists, the setting control unit 63 updates (changes) the vibration priority defined in the vibration priority information D2 based on the setting information received from the remote terminal 90.

[0109] [Flowchart explanation] 9 to 11 are flowcharts showing an example of the control process executed by the remote controller 60. In FIG.

[0110] In step SA1, it is determined whether or not the remote control device 101 has been connected to the hydraulic excavator 100 to be remotely controlled, in other words, whether or not communication has been established between the communication device 42 of the remote control device 101 and the communication device 41 of the hydraulic excavator 100 for transmitting and receiving signals between them. If the determination is NO, the processing of step SA1 is executed again, whereas if the determination is YES, the processing proceeds to step SA2.

[0111] In step SA2, the detection values ​​of the inclination angles in the roll direction and the pitch direction of the body of the hydraulic excavator 100 outputted from the inclination angle detector 11 are obtained. In step SA3, the inclination angles in the roll direction and the pitch direction of the hydraulic excavator 100 are calculated based on the detection value of the inclination angle detector 11 acquired in step SA2. Specifically, the above-mentioned low-pass filter process is performed on the detection value of the inclination angle detector 11 to acquire (calculate) the inclination angles (inclination information) in the roll direction and the pitch direction with respect to the reference plane (horizontal plane) of the body of the hydraulic excavator 100.

[0112] In step SA4, based on the detection value of the inclination angle detector 11 acquired in step SA2, vibration information in each of the roll direction and pitch direction of the hydraulic excavator 100 is acquired. Specifically, the detection value of the inclination angle detector 11 is subjected to the above-mentioned high-pass filter processing to acquire (calculate) the vibration amplitude and vibration frequency (one example of vibration information) in the roll direction and pitch direction occurring in the body of the hydraulic excavator 100.

[0113] In step SA5, based on the operation signal output from operation unit 31, the content of the operation (operation type) received by operation unit 31 is determined.

[0114] In step SA6, based on the determination result of step SA5, it is determined whether or not the operating unit 31 is receiving two or more of the specified operations simultaneously. If the determination is positive (step SA6...YES), the process proceeds to step SA10 described below, whereas if the determination is negative (step SA6...NO), the process proceeds to step SA7 (see Figure 10).

[0115] In step SA7, the vibration reflection degree corresponding to the operation content determined in step SA5 is identified from the vibration reflection degree information D1 (see FIG. 5) stored in the information storage unit .

[0116] In step SA8, the tilt / vibration drive unit 80 is driven to vibrate the driver's seat 30 based on the vibration reflection degree identified in step SA7. As an example, if the vibration reflection degree identified in step SA7 is "medium", the vibration information (vibration amplitude and vibration frequency) in the roll direction and pitch direction acquired in step SA4 is multiplied by a gain of 0.7 corresponding to the vibration reflection degree of "medium" to adjust the vibration information, and the tilt / vibration drive unit 80 is driven based on this adjusted vibration information (i.e., to vibrate the driver's seat 30 in a vibration state corresponding to this adjusted vibration information).

[0117] In step SA9, the tilt / vibration drive unit 80 is driven so that the tilt angles in the roll and pitch directions of the body of the hydraulic excavator 100 calculated in step SA3 become equal to the tilt angles in the roll and pitch directions of the operator's seat 30. Note that the process of step SA9 may be performed simultaneously (in parallel) with the process of step SA8.

[0118] In step SA10 (see FIG. 11), which is reached when the determination in step SA6 is YES, the vibration priority of each of the two or more specified operations (two or more operations that constitute a composite operation) received by the operation unit 31 is identified based on the vibration priority information D2 (see FIG. 6) stored in the information storage unit 70, and the operation with the highest vibration priority among these two or more operations is identified.

[0119] In step SA11, the vibration reflection degree for the operation with the highest vibration priority level identified in step SA10 is identified based on the vibration reflection degree information D1 (see FIG. 5) stored in the information storage unit .

[0120] In step SA12, the tilt / vibration driver 80 is driven to vibrate the driver's seat 30 based on the vibration reflection degree determined in step SA11. The specific processing in step SA12 is similar to the processing in step SA8.

[0121] In step SA13, the tilt / vibration drive unit 80 is driven to tilt the operator's seat 30 at the same tilt angle as the tilt angle of the hydraulic excavator 100 identified in step SA3. The process of step SA13 may be executed simultaneously (in parallel) with the process of step SA12. After the process of step SA13 is completed, the process returns to step SA1.

[0122] According to the remote operation device 101 configured as above, for example, when the operation unit 31 simultaneously receives a driving operation and a turning operation as two or more predetermined operations, the remote controller 60 specifies the vibration reflection degree "strong" for the driving operation, which is the operation with the higher vibration priority (see FIG. 6), out of the vibration reflection degree "strong" for the driving operation (see FIG. 5) and the vibration reflection degree "medium" for the turning operation (see FIG. 5). Then, the remote controller 60 drives the tilt / vibration drive unit 80 to vibrate the driver's seat 30 in a vibration state corresponding to the vibration reflection degree "strong."

[0123] Therefore, when a traveling operation and a swing operation are performed simultaneously, it is possible to prevent the vibration reflection degree of the traveling operation, which is an operation with a high vibration priority ("strong" in this example), from being ignored and vibration processing being performed based on the vibration reflection degree of the swing operation, which is a low vibration priority ("medium" in this example). As a result, when the vibration information of the hydraulic excavator 100 is reflected in the vibration state of the driver's seat 30, the vibration state can be made predictable by the operator.

[0124] [Effects] As described above, in this embodiment, when the operating unit 31 is subjected to two or more predetermined operations, work machine vibration information (work machine motion information) reflecting the vibration information (motion information) of the hydraulic excavator 100 is output by the tilt / vibration drive unit 80 in a manner that allows the work machine to be felt through the motion of the operator's seat 30 in accordance with the operation having the highest vibration priority level defined in the vibration priority level information D2 out of the two or more predetermined operations. This configuration makes it possible to prevent the vibration information of the hydraulic excavator 100 from being reflected in the vibration state of the operator's seat 30 by the tilt / vibration drive unit 80 in accordance with a predetermined operation having a low priority level. Therefore, the vibration state of the operator's seat 30 can be easily predicted by the operator of the work machine, thereby improving the operating environment for the operator of the work machine.

[0125] Furthermore, in this embodiment, the vibration information of the hydraulic excavator 100 detected by the inclination angle detector 11 is vibration information on the body of the hydraulic excavator 100. According to this configuration, the vibration state focusing on the body of the hydraulic excavator 100 is provided to the operator. This makes it possible to improve the operating environment for the operator of the hydraulic excavator 100.

[0126] Moreover, in this embodiment, the remote operation device 101 includes a handheld terminal 90 that receives an input for setting the vibration priority defined in the vibration priority information D2 stored in the information storage unit 70. According to this configuration, the operator of the hydraulic excavator 100 can set the priority for the predetermined operation via the handheld terminal 90, so that the vibration information of the hydraulic excavator 100 is reflected in the vibration state of the operator's seat 30 by the tilt / vibration drive unit 80 with the priority in line with the intention of the operator of the hydraulic excavator 100. This can further improve the operating environment for the operator of the hydraulic excavator 100.

[0127] In this embodiment, the tilt / vibration drive unit 80 is configured to output the work machine vibration information in a manner that allows the work machine vibration information to be felt in accordance with a vibration reflection degree corresponding to a predetermined operation received by the operation unit 31, thereby reflecting the work machine vibration information in a vibration state of the operator's seat 30. The vibration reflection degree indicates the degree to which the tilt / vibration drive unit 80 reflects the vibration information of the hydraulic excavator 100 in the work machine vibration information output by the tilt / vibration drive unit 80 in correspondence with each of the plurality of predetermined operations when the operation unit 31 receives each of the plurality of predetermined operations individually. With this configuration, the vibration reflection degree can be changed in accordance with differences in the predetermined operations received by the operation unit 31, thereby allowing the tilt / vibration drive unit 80 to reflect the vibration information of the hydraulic excavator 100 in the vibration state of the operator's seat 30.

[0128] (Embodiment 2) 12 and 13 show the second embodiment. This embodiment is different from the first embodiment in that, when the operation unit 31 receives each of a plurality of predetermined operations individually, a reflection degree (hereinafter referred to as a tilt reflection degree) when the tilt information (one example of motion information) of the hydraulic excavator 100 is reflected in the work machine tilt information (one example of work machine motion information) output by the tilt / vibration drive unit 80 can be set for each of the plurality of predetermined operations, and, when the operation unit 31 receives two or more predetermined operations, a tilt priority indicating which of the two or more predetermined operations should have a priority in the tilt reflection degree can be set for each of the plurality of predetermined operations. In the following description, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0129] 12 is a schematic diagram showing a setting screen 920 that is displayed on the remote terminal 90 as a reflection rate setting unit and that receives an input for setting the tilt reflection rate for each of the predetermined operations. In this embodiment, the remote terminal 90 functions as a tilt reflection rate setting unit that receives an input for setting the tilt reflection rate.

[0130] This setting screen 920 is displayed on the touch panel 91 by the display control unit 92. When detecting a touch signal of a tilt setting button (not shown) displayed on the touch panel 91, the display control unit 92 causes the touch panel 91 to display the setting screen 920.

[0131] As shown in FIG. 12, the setting screen 920 has setting areas B1 to B5 for setting the tilt reflection degree for each of the basic operation, the traveling operation, the turning operation, the option operation, and the lever lock operation, and each area B1 to B5 displays a selection button 921 for setting (selecting) one of the inclination reflection degrees "strong", "medium", "weak" and "stop" according to the strength as the tilt reflection degree. The operator can arbitrarily set the tilt reflection degree by selecting one of the four selection buttons 921 for each operation by touch operation. Then, the setting information of the tilt reflection degree set on the setting screen 920 is transmitted from the handheld terminal 90 to the remote controller 60 and acquired by the setting control unit 63. In this example, the degree to which the tilt information is reflected in the work machine tilt information output by the tilt / vibration drive unit 80 decreases in the order of "strong," "medium," "weak," and "stopped." In other words, the gain in the tilt information occurring in the body of the hydraulic excavator 100 (in this example, the ratio of the tilt angles in the roll and pitch directions relative to the horizontal plane reflected on the support plate 34 supporting the operator's seat 30 to the tilt angles in the roll and pitch directions relative to the horizontal plane of the hydraulic excavator 100 in the tilt information) decreases in the order of "strong," "medium," "weak," and "stopped" and is reflected in the work machine tilt information (and thus the tilt state of the operator's seat 30). In this example, the gain corresponding to "strong," which is the vibration reflection degree, is set to 1, the gain corresponding to "medium," the gain corresponding to "weak," the gain corresponding to 0.4, and the gain corresponding to "stopped." "Stop" is a zero reflection degree where the tilt information of the hydraulic excavator 100 acquired by the remote controller 60 is not reflected in the work machine tilt information output by the tilt / vibration drive unit 80, and is a vibration reflection degree where the tilt reflection function of the operator's seat 30 is disabled. Note that the gain values ​​described here are merely examples and are not limited to these. For example, the gain corresponding to the vibration reflection degree "strong" may be set to a value greater than 1.

[0132] The setting control unit 63 stores the setting information of the tilt reflection rate received from the remote terminal 90 as tilt reflection rate information D3 (see FIG. 14) in the information storage unit 70. At this time, if the tilt reflection rate information D3 that has already been set exists, the setting control unit 63 updates (changes) the tilt reflection rate defined in the tilt reflection rate information D3 based on the setting information received from the remote terminal 90.

[0133] 13, a back button 925 for returning to the screen before switching to the setting screen 920, and a priority change button 926 are provided at the bottom of the setting screen 920. When the display control unit 92 receives a touch signal of the priority change button 926, the display control unit 92 causes the touch panel 91 to display a tilt priority setting screen 930.

[0134] Fig. 13 is a schematic diagram showing this tilt priority setting screen 930. The configuration of this setting screen 930 is similar to that of the vibration priority setting screen 910 shown in Fig. 8. That is, in this setting screen 930, the operator can set the tilt priority while recognizing the level of the tilt priority for each predetermined operation by visually checking the position of the arrangement stage of the label La corresponding to the operation content of each predetermined operation through the operator's operation.

[0135] The tilt priority setting information set on the setting screen 930 is then transmitted from the terminal 90 to the remote controller 60 and acquired by the setting control unit 63 .

[0136] The setting control unit 63 stores the inclination priority setting information received from the remote terminal 90 as inclination priority information D4 (see FIG. 15) in the information storage unit 70. At this time, if inclination priority information D4 that has already been set exists, the setting control unit 63 updates (changes) the inclination priorities defined in the inclination priority information D4 based on the setting information received from the remote terminal 90.

[0137] Fig. 14 is an explanatory diagram showing an example of the tilt reflection rate information D3 stored in the information storage unit 70. The tilt reflection rate information D3 is information showing the tilt reflection rate, which is the degree to which the tilt information of the hydraulic excavator 100 is reflected in the work machine tilt information output by the tilt / vibration drive unit 80, in a case where the operation unit 31 receives each of a plurality of predetermined operations (in this example, the basic operation, the traveling operation, the swing operation, the option operation, and the lever lock operation) individually (in other words, when each operation of the hydraulic excavator 100 corresponding to the plurality of predetermined operations is executed individually), in association with each of the plurality of predetermined operations. In the example of Fig. 14, as an example, the tilt reflection rate for the basic operation, the traveling operation, and the option operation in each operation of the hydraulic excavator 100 is set to "medium", the tilt reflection rate for the swing operation is set to "strong", and the tilt reflection rate for the lever lock operation is set to "stop".

[0138] FIG. 15 is an explanatory diagram showing an example of the tilt priority information D4 stored in the information storage unit 70. The tilt priority information D4 is information that specifies a priority indicating which of the two or more predetermined operations should have a tilt reflection degree corresponding to the operation when the operation unit 31 receives two or more predetermined operations at the same time (i.e., when the operation unit 31 receives a combined operation). In the example of FIG. 15, the tilt priority is expressed by numbers 1 (rank) to 5 (rank), which are the priority order, and therefore, the smaller the number indicating the priority order, the higher the tilt priority. That is, the tilt priority of the lever lock operation is the highest, followed by the turning operation, the traveling operation, the option operation, and the basic operation, in that order. The tilt priority of each operation can be set (changed) by the operator operating the handheld terminal 90, as described later. Note that, unlike the vibration priority information D2 (see FIG. 6) described in the first embodiment, the tilt priority of the turning operation is set higher than the traveling operation in the tilt priority information D4 of FIG. 15. This is based on the reason that the operator wants to feel a stronger inclination of the hydraulic excavator 100 during a swing operation than during a traveling operation. The reasons for setting the inclination priority for other operations are the same as those in the above-described embodiment 1. Note that these reasons are merely examples and may differ depending on the way the operator thinks. Next, a detailed description will be given of the control process executed by the remote controller 60 of this embodiment. The first half of this control process is equivalent to the processes in steps SA1 to SA6 in the first embodiment, and therefore a detailed description thereof will be omitted.

[0139] 16 is a flowchart showing the process of steps SB7 to SB9 in this embodiment that is carried out when the determination in step SA6 is NO. The process of steps SB7 and SB8 is equivalent to the process of steps SA7 and A8 in the first embodiment (vibration process when the operation is not a combined operation; see FIG. 10), and therefore a detailed description thereof will be omitted.

[0140] In step SB9, the tilt reflection rate corresponding to the operation determined in step SA5 is identified based on the tilt reflection rate information D3 stored in the information storage unit 70 (see FIG. 14).

[0141] In step SB10, the tilt / vibration drive unit 80 is driven to tilt the driver's seat 30 based on the tilt reflection degree identified in step SB9. As an example, if the tilt reflection degree identified in step SB8 is "medium", the tilt information (tilt angle) in the roll direction and pitch direction acquired in step SA3 is multiplied by a gain of 0.7 corresponding to the tilt reflection degree of "medium" to adjust the tilt information, and the tilt / vibration drive unit 80 is driven based on this adjusted tilt information (i.e., to tilt the driver's seat 30 in a tilt state corresponding to this adjusted tilt information). In this embodiment, the gain is defined as a magnification of the tilt angle. Then, after the processing of this step SB10 is completed, the process returns to step SA1.

[0142] FIG. 17 is a flowchart showing the process of steps SB11 to SB16 in this embodiment, which is carried out when the determination in step SA6 is YES.

[0143] The processing of steps SB11 to SB13 is equivalent to the processing of steps SA11 to SA13 in the first embodiment (vibration processing when the operation is a composite operation; see FIG. 11), and therefore a detailed description thereof will be omitted.

[0144] In step SB14, the tilt priority of each of the two or more specified operations (two or more operations that constitute a composite operation) received by the operation unit 31 is determined based on the tilt priority information D4 stored in the information storage unit 70, and the operation with the highest tilt priority among these two or more operations is identified.

[0145] In step SB15, the tilt reflection degree for the operation with the highest tilt priority level identified in step SB14 is identified based on the tilt reflection degree information D3 stored in the information storage unit .

[0146] In step SB16, the tilt / vibration driver 80 is driven to tilt the driver's seat 30 based on the tilt reflection degree determined in step SB15. The specific process of this step SB16 is the same as the process of step SB10. After this step SB16 is completed, the process returns to step SA1.

[0147] [Effects] As described above, in this embodiment 2, when the operating unit 31 receives two or more specified operations, work machine tilt information (work machine movement information) reflecting the tilt information (movement information) of the hydraulic excavator 100 based on the tilt reflection degree corresponding to the operation with the highest tilt priority among the two or more operations is output by the tilt / vibration drive unit 80 so that it can be felt via the driver's seat 30.

[0148] According to this configuration, the tilt reflection degree can be changed depending on the difference in the specified operation received by the operating unit 31, and the tilt information of the hydraulic excavator 100 can be reflected in the tilt state of the driver's seat 30 by the tilt / vibration drive unit 80.

[0149] In addition, in this embodiment, the vibration reflection degree specified in the vibration reflection degree information D1 can be set to ``stop,'' which is a zero reflection degree that does not reflect the vibration information of the hydraulic excavator 100 at all in the driver's seat 30, and the inclination reflection degree specified in the inclination reflection degree information D3 can also be set to ``stop,'' which is a zero reflection degree that does not reflect the inclination information of the hydraulic excavator 100 at all in the driver's seat 30.

[0150] According to this configuration, by setting the vibration reflection degree of all operations to "stop" on the vibration reflection degree setting screen 900, the vibration reflection function from the hydraulic excavator 100 to the driver's seat 30 can be completely turned off and only the tilt reflection function can be enabled, or conversely, by setting the tilt reflection degree of all operations to "stop" on the tilt reflection degree setting screen 920, the tilt reflection function from the hydraulic excavator 100 to the driver's seat 30 can be completely turned off and only the vibration reflection function can be enabled. Therefore, a zero reflection degree can be set for each type of motion information of the hydraulic excavator 100. This allows the operator to set (switch) the vibration reflection degree and the tilt reflection degree individually between a state in which tilt information is reflected in the driver's seat 30 and a state in which it is not reflected, as necessary. Therefore, if one wishes to ignore the inclination of the hydraulic excavator 100 and experience only the vibrations transmitted from the ground to the driver's seat 30 (for example, when the hydraulic excavator 100 is performing a ground excavation operation or a traveling operation), one can simply turn off the inclination reflection function and turn on only the vibration reflection function using the setting operations described above. Conversely, if one wishes to ignore the vibrations of the hydraulic excavator 100 and experience only the inclination (for example, when the hydraulic excavator 100 is performing a load hoisting operation on a slope), one can simply turn off the vibration reflection function and turn on only the tilt reflection function using the setting operations described above.

[0151] (Other embodiments) Although the remote control device 101 according to the embodiment of the present invention has been described above, the present invention is not limited to this, and for example, the following embodiment can be adopted.

[0152] [Multiple Predefined Operations] In each of the above-described embodiments, five operations are set as examples of a plurality of predetermined operations, namely, a travel operation, a turning operation, an option operation, and a lever lock operation, as well as other basic operations. However, this is not limited to these, and, for example, attachment operations and boom operations, which are further classified as attachment operations, arm operations, and bucket operations may also be set.

[0153] In addition, in each of the above embodiments, as an example of a plurality of predetermined operations, an operation for each action that can be executed by the hydraulic excavator 100 (work machine) (an operation for each action such as a traveling action, a turning action, an optional action, a lever lock action, etc.) is set, but this is not limited to this, and an operation for each task performed by the hydraulic excavator 100 (work machine) (a series of operations performed for each task such as a load hoisting operation, an excavation operation, a transport operation, etc.) may also be set.

[0154] [Operation discrimination process] In each of the above embodiments, the remote controller 60 is configured to determine which of a plurality of specified operations the operator's operation on the operation unit 31 corresponds to based on the operation signal output from the operation unit 31, but this is not limited to this. For example, the remote controller 60 may determine the operating state of the hydraulic excavator 100 (work machine) (for example, a state in which no operation is accepted, a turning state, a traveling state, an optional operating state, etc.) based on signals (one example of a signal related to the operating state output from a work machine) output from the machine controller 50 and various sensors (for example, the inclination angle detector 11, the turning angle detector 12, a load sensor provided on the attachment 6, etc.) mounted on the hydraulic excavator 100 (work machine), and may determine the operation performed on the operation unit 31 based on this operating state.

[0155] [Vibration and tilt reflection] In each of the above-described embodiments, the vibration reflection degree setting screen 900 is configured to set the vibration reflection degree to one of "strong," "medium," "weak," or "stop" depending on the intensity, but this is not limited to this. For example, the gain (multiplication factor of vibration amplitude) value may be directly input as the vibration reflection degree.

[0156] In each of the above-described embodiments, the tilt reflection degree setting screen 920 is configured to set the tilt reflection degree to one of "strong," "medium," "weak," or "stop" depending on the strength, but this is not limited to this, and for example, the value of gain (the magnification of the tilt angle) may be directly input as the tilt reflection degree.

[0157] [Vibration priority and tilt priority settings] In each of the above-described embodiments, the vibration priority and tilt priority corresponding to each of the predetermined operations may be constantly displayed on the screen of the remote terminal 90 or the monitor device 20 so that the operator can always recognize them. Also, a password may be required to open the vibration priority and tilt priority setting screens 910 and 930, so that only users having predetermined administrative authority can set the vibration priority and tilt priority.

[0158] [Vibration drive unit and tilt drive unit] In each of the above-described embodiments, the tilt / vibration drive unit 80 functions as both a vibration drive unit that vibrates the driver's seat 30 and a tilt drive unit that tilts the driver's seat 30, but this is not limited thereto, and the tilt drive unit and the vibration drive unit may be separated. In this case, for example, the tilt drive unit may be configured by a link mechanism using three up-down drive actuators 81 as in each of the above-described embodiments, and the vibration drive unit may be configured by a vibration generating device that utilizes a piezoelectric element or eccentric rotation of a weight.

[0159] [Vibration and tilt information] In each of the above-described embodiments, inclination information of the body of the hydraulic excavator 100 (working machine) and vibration information occurring in the body are obtained by calculation (low-pass filter processing and high-pass filter processing) based on the detection value by the inclination angle detector 11, but this is not limited thereto, and the inclination angle detector and the vibration detector may be provided separately. In this case, for example, a pendulum-type inclination sensor or a float-type inclination sensor may be used as the inclination angle detector, and an acceleration sensor may be used as the vibration detector. Also, in each of the above-described embodiments, the vibration information and the inclination information are reflected in the vibration state and the inclination state of the driver's seat 30, but it is not necessary to reflect both the vibration information and the inclination information, and at least one of the vibration information and the inclination information may be reflected.

[0160] [Exercise information] In the above-described embodiments, the vibration information and tilt information of the machine body have been described as examples of the motion information of the hydraulic excavator 100. In this example, the vibration information and tilt information of the machine body are reflected in the vibration state and tilt state of the driver's seat 30 by reflecting them in the work machine vibration information and work machine tilt information output from the tilt / vibration drive unit 80 constituting the output device, respectively. However, the motion information may include information other than the vibration information and tilt information of the machine body. For example, the motion information of the machine body of the hydraulic excavator 100 may include the speed information of the machine body, acceleration information occurring in the machine body, the above-described swing angle information of the upper swing body 2 (machine body) of the hydraulic excavator 100, or vibration information in the swing direction of the upper swing body 2 (machine body) (for example, information acquired by applying high-pass filter processing to the detection value by the swing angle detector 12).

[0161] [Work machinery] In each of the above embodiments, the hydraulic excavator 100, which is a work machine, is provided with a driver's seat. However, since the hydraulic excavator 100 can be remotely operated, this driver's seat is not necessarily required, and the driver's seat of the hydraulic excavator 100 may be eliminated as long as the remote operation device 101 is provided with a driver's seat 30.

[0162] [Output device] In each of the above embodiments, the output device for outputting the work machine motion information is configured by a tilt / vibration drive unit 80 that outputs work machine tilt information and work machine vibration information (one example of work machine motion information) in a manner that can be felt through the movement of the driver's seat 30, but is not limited to this and may be configured, for example, by a display device that outputs work machine motion information in a visually recognizable manner, or an audio output device such as a speaker that outputs work machine motion information in a manner that can be recognized through hearing.

[0163] [Operation device] In each of the above-described embodiments, the operation device is configured by the remote operation device 101 that remotely controls the work machine that performs work at the work site, but the present invention is not limited to this. The operation device may be configured as a simulator for the remote operation device 101 to virtually operate a virtual work machine in a virtual space. The simulator is configured to drive the virtual work machine in response to an operation received by the operation unit 31. In addition, in the simulator, a virtual space including the terrain including the ground spreading around the virtual work machine and objects is reproduced in the simulator as a virtual work site, and a simulator image capturing the environment including the virtual work machine and the virtual work site captured from the viewpoint of a virtual imaging device attached to the virtual work machine is displayed on the monitor device 20. In the virtual work site, the inclination angle of the virtual work machine changes in response to the terrain on which the virtual work machine moves, and depending on the work, a part of the virtual work machine is lifted up, thereby changing the inclination angle of the virtual work machine. In this case, the driver's seat 30 may be tilted and vibrated in response to vibration information and inclination information of the virtual work machine in the virtual work site.

[0164] [Remote control system configuration] In each of the above-described embodiments, the remote controller 60 may have some or all of its functions located near the driver's seat 30 of the remote operation device 101 (for example, in the front base housing 36 or the rear base housing 37), or may be configured by a server installed in another remote location away from both the driver's seat 30 and the hydraulic excavator 100 (work machine) so as to be able to communicate via the communication devices 41, 42. [Explanation of symbols]

[0165] 11: Tilt angle detector 30: Driver's seat 31:Operation unit 60: Remote controller 80: Tilt / vibration drive unit (output device, driver's seat output device) 90: Terminal (reflection level setting section, priority setting section) 100: Hydraulic excavator (working machine) 101: Remote control device (operation device) 200: Remote control system (operation system) 900: Setting screen (reflection setting section) 910: Setting screen (priority setting section) 920: Setting screen (reflection setting section) 930: Setting screen (priority setting section)

Claims

1. an operation unit that receives an operation by an operator to operate the work machine; an output device that outputs work machine motion information reflecting motion information of the work machine in response to an operation having the highest priority among the two or more specified operations when the operation unit is receiving two or more specified operations; An operating device comprising:

2. 2. The operating device according to claim 1, An operating device, wherein the motion information is motion information of a body of the work machine.

3. 2. The operating device according to claim 1, The operation device further comprises a priority setting unit that receives an input for setting the priority.

4. 2. The operating device according to claim 1, the output device outputs the work machine motion information in accordance with a reflection degree corresponding to the predetermined operation received by the operation unit, The reflection degree indicates the degree to which the motion information of the work machine is reflected in the work machine motion information output by the output device when the operation unit receives each of the multiple specified operations individually, corresponding to each of the multiple specified operations.

5. 5. The operating device according to claim 4, The operation device further includes a reflection rate setting unit that receives an input for setting the reflection rate corresponding to each of the plurality of predetermined operations.

6. 6. The operating device according to claim 5, An operation device, wherein the reflection rate setting unit is capable of setting, as the reflection rate, a zero reflection rate at which the motion information of the work machine is not reflected in the work machine motion information output by the output device.

7. 7. The operating device according to claim 6, An operation device, wherein the reflection rate setting unit is capable of setting the zero reflection rate for each type of the motion information.

8. 2. The operating device according to claim 1, The output device outputs work machine motion information reflecting motion information of the work machine in accordance with the specified operation received by the operation unit when the operation unit receives only one of the specified operations.

9. 2. The operating device according to claim 1, A driver's seat in which the operator can be seated; A driver's seat output device for generating a motion in the driver's seat, The output device is an operation device including a driver's seat output device that outputs the work machine movement information by reflecting the movement information in the movement of the driver's seat.

10. 2. The operating device according to claim 1, the motion information is vibration information of the work machine, The output device outputs, as the work machine motion information, work machine vibration information that reflects the vibration information.

11. 2. The operating device according to claim 1, the motion information is inclination information of the work machine, The output device outputs, as the work machine motion information, work machine inclination information that reflects the inclination information.

12. 2. The operating device according to claim 1, Further, a tilt angle detector is provided on the work machine and detects a tilt angle of the work machine in a predetermined direction, the motion information includes vibration information of the work machine and inclination information of the work machine, the output device outputs, as the work machine motion information, work machine vibration information that reflects the vibration information and work machine tilt information that reflects the tilt information; the vibration information is obtained by performing a high-pass filter process on a detection value by the tilt angle detector to remove low-frequency components that are less than a predetermined threshold frequency; The tilt information is obtained by performing a low-pass filter process on the detection value by the tilt angle detector to remove high-frequency components having a frequency equal to or higher than a predetermined threshold frequency.

13. An operation system comprising: an operation device according to any one of claims 1 to 12; and the work machine.

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