Remote operation system for work machine and remote operation method for work machine

Abstract

To assist an operator in understanding a condition of a slope.SOLUTION: A remote operation system for a work machine includes a data receiving unit that receives first image data of a work site captured by a first camera mounted on a work machine operating at the work site and second image data of the work machine captured by a second camera disposed outside the work machine, a slope determination unit that determines whether the work machine is traveling on a slope at the work site, and a display control unit that displays at least one of the first image data and the second image data on a display device disposed in a remote location from the work site. The display control unit displays the first image data when it is determined that the work machine is not traveling on a slope, and displays the second image data when it is determined that the work machine is traveling on a slope.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a remote operation system for a working machine and a method for remotely operating a working machine.

Background Art

[0002] In the technical field related to remote operation systems for working machines, a remote operation system for a working machine as disclosed in Patent Document 1 is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a remote operation system for a working machine, image data of a work site captured by a camera mounted on the working machine is transmitted to a remote operation room. The image data of the work site is displayed on a display device in the remote operation room. An operator in the remote operation room remotely operates the working machine while checking the image data displayed on the display device. The working machine may travel on an inclined surface of the work site. The operator may have difficulty grasping the state of the inclined surface only with the image data captured by the camera mounted on the working machine.

[0005] An object of the present disclosure is to assist an operator in grasping the state of an inclined surface.

Means for Solving the Problems

[0006] According to the present disclosure, there is provided a remote operation system for a work machine, including: a data reception unit that receives first image data of a work site imaged by a first camera mounted on the work machine operating at the work site and second image data of the work machine imaged by a second camera disposed outside the work machine; an inclination determination unit that determines whether the work machine travels on an inclined surface of the work site; and a display control unit that causes a display device disposed at a remote location of the work site to display at least one of the first image data and the second image data. The display control unit causes the first image data to be displayed when it is determined that the work machine is not traveling on an inclined surface, and causes the second image data to be displayed when it is determined that the work machine is traveling on an inclined surface.

Effect of the Invention

[0007] According to the present disclosure, it is possible to assist an operator in grasping the state of an inclined surface.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

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Figure 7

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Figure 10

Figure 11

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. Also, some components may not be used.

[0010] [Overview of Remote Operation System] FIG. 1 is a diagram schematically showing a remote operation system 1 for a work machine 2 according to an embodiment. The remote operation system 1 supports remote operation of the work machine 2 operating at a work site. In the embodiment, the work machine 2 is a hydraulic excavator.

[0011] The remote operation system 1 includes a remote operation device 4, a display device 5, an input device 6, and a remote controller 7. Each of the remote operation device 4, the display device 5, the input device 6, and the remote controller 7 is arranged in a remote operation room 9 provided at a remote location outside the work machine 2.

[0012] The work machine 2 is remotely operated by the remote operation device 4. The remote operation device 4 is operated by an operator in the remote operation room 9. The operator can operate the remote operation device 4 while seated on the operator's seat 8.

[0013] The display device 5 provides image data to the operator in the remote operation room 9. As the display device 5, a flat panel display such as a liquid crystal display (LCD) or an organic EL display (OELD) is exemplified. The display device 5 displays the image data of the work site. The image data of the work site includes the image data around the work machine 2. The image data around the work machine 2 includes the image data of the work target of the work machine 2. The work target of the work machine 2 includes the excavation target and the loading target of the work machine 2. The operator operates the remote control device 4 while checking the image data of the work site displayed on the display device 5.

[0014] The input device 6 is operated by the operator in the remote operation room 9. When the input device 6 is operated, input data is generated in the input device 6. As the input device 6, a touch panel, a computer keyboard, or a computer mouse is exemplified.

[0015] The remote controller 7 includes a computer system. The remote controller 7 and the work machine 2 communicate with each other via the communication system 11. As the communication system 11, the internet, a mobile phone communication network, and a satellite communication network are exemplified.

[0016] [Work Machine and Dump Truck] FIG. 2 is a diagram schematically showing the work machine 2 and the dump truck 3 according to the embodiment. Each of the work machine 2 and the dump truck 3 operates at the work site. The dump truck 3 is the loading target of the work machine 2.

[0017] The working machine 2 includes a traveling body 13, a revolving body 14 supported by the traveling body 13, a working implement 15 supported by the revolving body 14, and a hydraulic cylinder 16 that drives the working implement 15. The traveling body 13 travels on the work site while supporting the revolving body 14. The traveling body 13 has a pair of crawlers 13A. The working machine 2 travels by the rotation of the crawlers. The revolving body 14 is rotatable while being supported by the traveling body 13. The working implement 15 includes a boom 15A connected to the revolving body 14, an arm 15B connected to the boom 15A, and a bucket 15C connected to the arm 15B. The hydraulic cylinder 16 includes a boom cylinder 16A that operates the boom 15A, an arm cylinder 16B that operates the arm 15B, and a bucket cylinder 16C that operates the bucket 15C.

[0018] The dump truck 3 transports the load loaded by the working machine 2. As an example of the load transported to the dump truck 3, the excavated material excavated at the work site is exemplified. The dump truck 3 includes a traveling device 17, a vehicle body 18, and a dump body 19. The traveling device 17 travels on the work site while supporting the vehicle body 18. The traveling device 17 includes wheels, tires mounted on the wheels, an engine, a braking device, and a steering device. The dump truck 3 travels by the rotation of the tires. The vehicle body 18 supports the dump body 19. The dump body 19 is a member into which the load is loaded.

[0019] In the embodiment, at the work site, there are a slope 100, a first traveling surface 101 connected to the upper end of the slope 100, a second traveling surface 102 connected to the lower end of the slope 100, a third traveling surface 103 disposed below the first traveling surface 101, and an inclined surface 104 connecting the first traveling surface 101 and the third traveling surface 103. The upper end of the slope 100 is the slope shoulder. The lower end of the slope 100 is the slope bottom. The working machine 2 excavates the slope 100 with at least a part of the traveling body 13 of the working machine 2 positioned on the first traveling surface 101 and loads the excavated material into the dump truck 3 present on the second traveling surface 102.

[0020] After traveling on the third traveling surface 103, the working machine 2 can move to the first traveling surface 101 by traveling on the inclined surface 104. After traveling on the first traveling surface 101, the working machine 2 can move to the third traveling surface 103 by traveling on the inclined surface 104.

[0021] FIG. 3 is a diagram schematically showing the working machine 2 according to the embodiment. The revolving body 14 revolves around the revolving axis RX. The working machine 2 includes a position sensor 20, an attitude sensor 21, and a first camera 22.

[0022] The position sensor 20 detects the position of the working machine 2. The position sensor 20 is provided on the revolving body 14. The position of the working machine 2 is detected using a global navigation satellite system (GNSS). The global navigation satellite system includes a global positioning system (GPS). The global navigation satellite system detects a position in a global coordinate system defined by coordinate data of latitude, longitude, and altitude. The global coordinate system refers to a coordinate system fixed to the earth. The position sensor 20 includes a GNSS receiver and detects the position of the working machine 2 in the global coordinate system. In the embodiment, at least two position sensors 20 are provided on the revolving body 14. Based on the detection data of each of the two position sensors 20, the azimuth of the revolving body 14 is calculated.

[0023] The attitude sensor 21 detects the inclination of the revolving body 14. The attitude sensor 21 is provided on the revolving body 14. The inclination angle of the revolving body 14 with respect to the horizontal plane is detected. The attitude sensor 21 includes an inertial measurement unit (IMU). The attitude sensor 21 is arranged on the revolving body 14.

[0024] The first camera 22 images the work site around the work machine 2. The first camera 22 is mounted on the revolving body 14. In the embodiment, the first camera 22 is disposed in the cab of the revolving body 14. In the embodiment, the first camera 22 images the work site in front of the revolving body 14. Note that a plurality of first cameras 22 may be mounted on the revolving body 14.

[0025] [Remote operation system] FIG. 4 is a functional block diagram showing the remote operation system 1 according to the embodiment. As shown in FIG. 4, the work machine 2 has an in-vehicle controller 26. A moving body 50 operates at the work site. The moving body 50 is movable at the work site. In the embodiment, the moving body 50 is an unmanned aerial vehicle (UAV) such as a drone. The moving body 50 has a position sensor 51, a second camera 52, and a moving body controller 53.

[0026] The position sensor 51 detects the position of the moving body 50. The position of the moving body 50 is detected using a global navigation satellite system (GNSS). The position sensor 51 includes a GNSS receiver and detects the position of the moving body 50 in the global coordinate system.

[0027] The second camera 52 images the work machine 2 and the work site around the work machine 2. The second camera 52 is mounted on the moving body 50. The second camera 52 mounted on the moving body 50 can image the work machine 2 from an arbitrary position.

[0028] FIG. 5 is a block diagram showing a computer system 1000 according to an embodiment. Each of the remote controller 7, the in-vehicle controller 26, and the mobile body controller 53 includes the computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input / output circuit. The functions of each of the remote controller 7, the in-vehicle controller 26, and the mobile body controller 53 are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, expands it in the main memory 1002, and executes processing according to the computer program. Note that the computer program may be distributed to the computer system 1000 via a network.

[0029] The remote controller 7 includes a data reception unit 7A, a command transmission unit 7B, an inclination determination unit 7C, an imaging command unit 7D, and a display control unit 7E.

[0030] The data reception unit 7A receives, from the working machine 2, the detection data of the position sensor 20, the detection data of the attitude sensor 21, and the image data captured by the first camera 22, respectively. The data reception unit 7A also receives, from the mobile body 50, the detection data of the position sensor 51 and the image data captured by the second camera 52, respectively.

[0031] In the following description, the image data captured by the first camera 22 mounted on the working machine 2 is appropriately referred to as first image data, and the image data captured by the second camera 52 disposed outside the working machine 2 is appropriately referred to as second image data.

[0032] The command transmission unit 7B transmits an operation command from the remote operation device 4 to the in-vehicle controller 26 of the working machine 2.

[0033] The inclination determination unit 7C determines whether the working machine 2 travels on the inclined surface 104 of the work site. The inclination determination unit 7C determines whether the working machine 2 travels on the inclined surface 104 based on the detection data of the attitude sensor 21 provided on the working machine 2. As described above, the attitude sensor 21 can detect the inclination angle of the revolving body 14 with respect to the horizontal plane. When the inclination angle of the revolving body 14 detected by the attitude sensor 21 is equal to or greater than a predetermined angle threshold, the inclination determination unit 7C determines that the working machine 2 is traveling on the inclined surface 104 of the work site. When the inclination angle of the revolving body 14 detected by the attitude sensor 21 is less than the angle threshold, the inclination determination unit 7C determines that the working machine 2 is not traveling on the inclined surface 104 of the work site. When the inclination angle of the revolving body 14 detected by the attitude sensor 21 is less than the angle threshold, the inclination determination unit 7C determines that the working machine 2 is traveling on the flat surface of the work site. In the embodiment, the flat surfaces are the first traveling surface 101 and the third traveling surface 103.

[0034] When it is determined by the inclination determination unit 7C that the working machine 2 travels on the inclined surface 104, the imaging command unit 7D outputs an imaging start command to move the moving body 50 so that the working machine 2 is arranged within the imaging range of the second camera 52. The imaging start command is transmitted from the remote controller 7 to the moving body controller 53 via the communication system 11. Based on the imaging start command, the moving body 50 moves in the work site so that the working machine 2 is arranged within the imaging range of the second camera 52. That is, when receiving the imaging start command, the moving body 50 moves from a predetermined standby position in the work site toward the vicinity of the working machine 2.

[0035] The imaging instruction unit 7D designates the position of the moving body 50 with respect to the working machine 2 based on the detection data of the position sensor 20 provided on the working machine 2. For example, when causing the second camera 52 to image the revolving body 14 from the left, the imaging instruction unit 7D designates the position of the moving body 50 based on the detection data of the position sensor 20 provided on the working machine 2 so that the moving body 50 is positioned to the left of the revolving body 14. As described above, in the embodiment, the position sensor 20 can detect not only the position of the revolving body 14 but also the orientation of the revolving body 14. The imaging instruction unit 7D can designate the position of the moving body 50 based on the detection data of the position sensor 20 provided on the working machine 2 so that the relative position between the revolving body 14 and the second camera 52 becomes the target relative position. The moving body controller 53 moves the moving body 50 to the designated position designated by the imaging instruction unit 7D based on the detection data of the position sensor 51. The moving body controller 53 moves the moving body 50 while monitoring the detection data of the position sensor 51 so that the detected position of the moving body 50 detected by the position sensor 51 coincides with the designated position designated by the imaging instruction unit 7D.

[0036] The display control unit 7E causes the display device 5 to display at least one of the first image data captured by the first camera 22 and the second image data captured by the second camera 52. When it is determined by the inclination determination unit 7C that the working machine 2 is not traveling on the inclined surface 104, the display control unit 7E causes the display device 5 to display the first image data. When it is determined by the inclination determination unit 7C that the working machine 2 is traveling on the inclined surface 104, the display control unit 7E causes the display device 5 to display the second image data.

[0037] In an embodiment, when it is determined that the work machine 2 is not traveling on the inclined surface 104, the display control unit 7E causes the display device 5 to display the first image data but does not cause the display device 5 to display the second image data. When it is determined that the work machine 2 is traveling on the inclined surface 104, the display control unit 7E switches the display device 5 from a state in which the first image data is displayed to a state in which the second image data is displayed. When the second image data is displayed on the display device 5, the first image data may not be displayed on the display device 5, or the first image data may be displayed on the display device 5 together with the second image data.

[0038] The in-vehicle controller 26 of the work machine 2 includes a command receiving unit 26A, a control unit 26B, and a data transmitting unit 26C. The command receiving unit 26A receives an operation command transmitted from the command transmitting unit 7B of the remote controller 7. The control unit 26B outputs a control command for operating each of the traveling body 13, the revolving body 14, and the working machine 15 based on the operation command. The data transmitting unit 26C transmits the detection data of the position sensor 20, the detection data of the attitude sensor 21, and the first image data captured by the first camera 22 to the remote controller 7.

[0039] The mobile body controller 53 of the mobile body 50 includes a command receiving unit 53A, a control unit 53B, and a data transmitting unit 53C. The command receiving unit 53A receives an imaging start command transmitted from the imaging command unit 7D of the remote controller 7. The control unit 53B outputs a control command for moving the mobile body 50 to a designated position based on the imaging start command. The data transmitting unit 53C transmits the second image data captured by the second camera 52 to the remote controller 7.

[0040] [Remote operation method] FIG. 6 is a diagram schematically showing a state in which the working machine 2 according to the embodiment is traveling on the third traveling surface 103. FIG. 7 is a diagram schematically showing the display device 5 on which the first image data according to the embodiment is being displayed. FIG. 8 is a diagram schematically showing a state in which the working machine 2 according to the embodiment is traveling on the inclined surface 104. FIG. 9 is a diagram schematically showing the display device 5 on which the second image data according to the embodiment is being displayed. FIG. 10 is a flowchart showing a remote operation method of the working machine 2 according to the embodiment.

[0041] When the working machine 2 moves to the first traveling surface 101, after traveling on the third traveling surface 103, it travels on the inclined surface 104. The third traveling surface 103 is a flat surface. As shown in FIG. 6, when the working machine 2 is traveling on the third traveling surface 103, the inclination angle of the revolving body 14 with respect to the horizontal plane is less than the angle threshold. In a state where the working machine 2 is traveling on the third traveling surface 103, the first image data captured by the first camera 22 is transmitted from the in-vehicle controller 26 to the remote controller 7. The data receiving unit 7A receives the first image data (step S1). The display control unit 7E causes the display device 5 to display the first image data (step S2).

[0042] FIG. 7 shows the first image data captured when the working machine 2 is traveling on the third traveling surface 103. As shown in FIG. 7, when the first camera 22 is disposed in the cab of the revolving body 14, the first image data includes image data of the work site in front of the revolving body 14. As shown in FIG. 7, the first image data includes a part of the working machine 15, a part of the third traveling surface 103, and a part of the inclined surface 104.

[0043] As shown in FIG. 1, when the display device 5 is composed of a plurality of display screens, the divided images of the first image data may be displayed on each of the plurality of display screens.

[0044] The data receiving unit 7A receives the detection data of the attitude sensor 21. The inclination determination unit 7C determines whether the working machine 2 is traveling on the inclined surface 104 based on the detection data of the attitude sensor 21 (step S3). In step S3, if it is determined that the working machine 2 is not traveling on the inclined surface 104 (step S3: No), the process returns to the process of step S1.

[0045] In step S3, if it is determined that the working machine 2 is traveling on the inclined surface 104 (step S3: Yes), the imaging command unit 7D outputs an imaging start command to move the moving body 50 so that the working machine 2 is disposed within the imaging range of the second camera 52 (step S4).

[0046] As shown in FIG. 8, when the moving body controller 53 receives the imaging start command from the imaging command unit 7D, the moving body controller 53 moves the moving body 50 from a predetermined standby position at the work site toward the vicinity of the working machine 2.

[0047] Based on the detection data of the position sensor 20 provided on the working machine 2, the imaging command unit 7D designates the position of the moving body 50 with respect to the working machine 2 so that the relative position between the slewing body 14 and the second camera 52 becomes the target relative position. For example, when the second camera 52 images the slewing body 14 from the left side, the imaging command unit 7D designates the position of the moving body 50 based on the detection data of the position sensor 20 provided on the working machine 2 so that the moving body 50 is positioned to the left of the slewing body 14. The moving body controller 53 moves the moving body 50 to the left of the slewing body 14 so that the detected position of the moving body 50 detected by the position sensor 51 coincides with the designated position designated by the imaging command unit 7D. After the moving body 50 has moved to the left of the slewing body 14, imaging by the second camera 52 is started.

[0048] The moving body 50 moves so as to follow the working machine 2. The moving body 50 follows the working machine 2 so that the relative position between the moving body 50 and the working machine 2 is maintained constant. Thereby, in the second image data displayed on the display device 5, a change in the orientation of the working machine 2 traveling on the inclined surface 104 is suppressed.

[0049] When the working machine 2 is traveling on the inclined surface 104, the second image data captured by the second camera 52 is transmitted from the moving body controller 53 to the remote controller 7. The data receiving unit 7A receives the second image data (step S5). The display control unit 7E causes the display device 5 to display the second image data (step S6).

[0050] FIG. 9 shows the second image data captured when the working machine 2 is traveling on the inclined surface 104. As shown in FIG. 9, since the second camera 52 is disposed outside the working machine 2, the second image data obtained by imaging the working machine 2 from the left is displayed on the display device 5. The second image data includes the working machine 2 and the inclined surface 104. The operator can grasp the state of the inclined surface 104 by checking the second image data.

[0051] As shown in FIG. 1, when the display device 5 is composed of a plurality of display screens, the divided images of the second image data may be displayed on each of the plurality of display screens. Also, the first image data and the second image data may be displayed simultaneously. For example, when the display device 5 has five display screens, the first image data may be displayed on four display screens and the second image data may be displayed on one display screen. Further, when the second image data is displayed on the display device 5, the first image data may not be displayed on the display device 5.

[0052] The data receiving unit 7A receives the detection data of the attitude sensor 21. The inclination determination unit 7C determines whether or not the working machine 2 is traveling on the first traveling surface 101 based on the detection data of the attitude sensor 21 (step S7). In step S7, if it is determined that the working machine 2 is not traveling on the first traveling surface 101 (step S7: No), the process returns to the process of step S5.

[0053] In step S7, when it is determined that the working machine 2 is traveling on the first traveling surface 101 (step S7: Yes), the imaging command unit 7D outputs an imaging end command for moving the moving body 50 to the standby position (step S8). The imaging end command may include a command to end imaging by the second camera 52.

[0054] When the moving body controller 53 receives the imaging end command from the imaging command unit 7D, the moving body 50 moves from the vicinity of the working machine 2 toward a predetermined standby position at the work site.

[0055] The command transmission unit 7B determines whether to end the remote operation of the working machine 2 (step S9). In step S9, when it is determined not to end the remote operation (step S9: No), the process returns to the process of step S1. In step S9, when it is determined to end the remote operation (step S9: Yes), the remote operation of the working machine 2 ends.

[0056] [Effect] As described above, the remote operation system 1 of the working machine 2 includes a data reception unit 7A that receives first image data of the work site imaged by the first camera 22 mounted on the working machine 2 operating at the work site and second image data of the working machine 2 imaged by the second camera 52 disposed outside the working machine 2, an inclination determination unit 7C that determines whether the working machine 2 is traveling on the inclined surface 104 of the work site, and a display control unit 7E that causes at least one of the first image data and the second image data to be displayed on the display device 5 disposed at a remote location of the work site. When it is determined that the working machine 2 is not traveling on the inclined surface 104, the display control unit 7E causes the first image data to be displayed on the display device 5, and when it is determined that the working machine 2 is traveling on the inclined surface 104, the display control unit 7E causes the second image data to be displayed on the display device 5.

[0057] According to an embodiment, the second camera 52 images the work machine 2 and the inclined surface 104 from a perspective different from that of the first camera 22. When the work machine 2 travels on the inclined surface 104, the second image data captured by the second camera 52 is displayed on the display device 5, so that the operator can grasp the state of the inclined surface 104. The operator may have difficulty grasping the state of the inclined surface 104 only with the first image data captured by the first camera mounted on the work machine 2. By displaying the second image data on the display device 5, the operator can grasp the state of the inclined surface 104. The remote operation system 1 can assist the operator in grasping the state of the inclined surface 104 at the work site.

[0058] [Another Embodiment] FIG. 11 is a diagram schematically showing a state in which the work machine 2 according to another embodiment is traveling on the inclined surface 104. In the above-described embodiment, the moving body 50 is an unmanned aerial vehicle. As shown in FIG. 11, the moving body 60 may be an unmanned vehicle. The second image data may be captured by the second camera 62 mounted on the moving body 60.

[0059] In the above-described embodiment, the inclination determination unit 7C may determine whether or not the work machine 2 travels on the inclined surface 104 based on the input data from the input device 6 arranged at a remote location. For example, when the operator wants to display the second image data captured by the second camera 52 on the display device 5, the input device 6 can be operated. The operator can operate the input device 6, for example, before or when the work machine 2 moves from the third traveling surface 103 to the inclined surface 104. The inclination determination unit 7C may determine that the work machine 2 travels on the inclined surface 104 based on the input data from the input device 6 arranged at a remote location. When it is determined that the work machine 2 travels on the inclined surface 104, the second image data is displayed on the display device 5.

[0060] In the above-described embodiment, the standby position of the moving body 50 may be a part of the work machine 2. The standby position of the moving body 50 may be, for example, the upper surface of the slewing body 14.

[0061] In the above-described embodiment, the second image data may be image data of the work machine 2 when going up the inclined surface 104, or may be image data of the work machine 2 when going down the inclined surface 104.

[0062] In the above-described embodiment, for example, at least a part of the functions of the remote controller 7 may be provided in at least one of the in-vehicle controller 26 and the mobile body controller 53. For example, the in-vehicle controller 26 may have the function of the inclination determination unit 7C, and the mobile body controller 53 may have the function of the imaging command unit 7D.

[0063] In the above-described embodiment, the work machine 2 is not limited to a shovel. The work machine 2 may be, for example, a bulldozer or a wheel loader.

Explanation of Reference Numerals

[0064] 1... Remote operation system, 2... Work machine, 3... Dump truck, 4... Remote operation device, 5... Display device, 6... Input device, 7... Remote controller, 7A... Data reception unit, 7B... Command transmission unit, 7C... Inclination determination unit, 7D... Imaging command unit, 7E... Display control unit, 8... Operator's seat, 9... Remote operation cab, 11... Communication system, 13... Traveling body, 13A... Crawler belt, 14... Slewing body, 15... Working machine, 15A... Boom, 15B... Arm, 15C... Bucket, 16... Hydraulic cylinder, 16A... Boom cylinder, 16B... Arm cylinder, 16C... Bucket cylinder, 17... Traveling device, 18... Vehicle body, 19... Dump body, 20... Position sensor, 21... Attitude sensor, 22... First camera, 26... In-vehicle controller, 26A... Command reception unit, 26B... Control unit, 26C... Data transmission unit, 50... Mobile body, 51... Position sensor, 52... Second camera, 53... Mobile body controller, 53A... Command reception unit, 53B... Control unit, 53C... Data transmission unit, 60... Mobile body, 62... Second camera, 100... Slope, 101... First traveling surface, 102... Second traveling surface, 103... Third traveling surface, 104... Inclined surface, 1000... Computer system, 1001... Processor, 1002... Main memory, 1003... Storage, 1004... Interface, RX... Slewing axis.

Claims

1. A data receiving unit that receives first image data of the work site imaged by a first camera mounted on a work machine operating at the work site, and second image data of the work machine imaged by a second camera disposed outside the work machine; An inclination determination unit that determines whether or not the work machine travels on an inclined surface of the work site; A display control unit that causes at least one of the first image data and the second image data to be displayed on a display device disposed at a remote location of the work site, wherein when it is determined that the work machine is not traveling on the inclined surface, the display control unit displays the first image data, and when it is determined that the work machine is traveling on the inclined surface, the display control unit displays the second image data. A remote operation system for a work machine.

2. When it is determined that the work machine is not traveling on the inclined surface, the display control unit does not display the second image data. The remote operation system for a work machine according to claim 1.

3. When it is determined that the work machine is traveling on the inclined surface, the display control unit switches from a state in which the first image data is displayed to a state in which the second image data is displayed. The remote operation system for a work machine according to claim 2.

4. The inclination determination unit determines whether or not the work machine travels on the inclined surface based on detection data of an attitude sensor provided in the work machine. The remote operation system for a work machine according to claim 1.

5. The inclination determination unit determines whether or not the work machine travels on the inclined surface based on input data from an input device disposed at the remote location. The remote operation system for a work machine according to claim 1.

6. The second camera is mounted on a moving body movable at the work site. The remote operation system for a work machine according to claim 1.

7. When it is determined that the work machine is traveling on the inclined surface, an imaging command unit is provided that outputs an imaging start command for moving the moving body so that the work machine is disposed within an imaging range of the second camera. The remote operation system for a work machine according to claim 6.

8. The imaging command unit designates the position of the moving body with respect to the work machine based on detection data of a position sensor provided in the work machine. The remote operation system for a work machine according to claim 7.

9. Causing the first image data of the work site captured by the first camera mounted on the work machine operating at the work site to be displayed on a display device arranged at a remote location of the work site; Determining whether or not the work machine travels on an inclined surface of the work site; When it is determined that the work machine travels on the inclined surface, causing the second image data of the work machine captured by the second camera arranged outside the work machine to be displayed on the display device; and A method for remotely operating a work machine.

Images