Emotion estimation device, emotion estimation method and remote control system

Abstract

To appropriately estimate an operator's emotion during the work.SOLUTION: An efficiency evaluation section calculates an evaluation value of work efficiency for work of a work machine operated by an operator. An acquisition section acquires vital data of the operator measured during the work. An estimation section estimates the operator's emotion during execution of the work based on the evaluation value and the vital data.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to an emotion estimation device, an emotion estimation method, and a remote control system. [Background technology]

[0002] Patent Document 1 discloses a technique for changing the response characteristics of an actuator based on pulse wave data obtained when an operator is operating a work machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-158841 Summary of the Invention [Problem to be solved by the invention]

[0004] It is known that when people are under stress, the sympathetic nervous system becomes dominant. On the other hand, people may experience temporary increases in stress just before concentrating. Therefore, when operating work machinery, it may not be possible to estimate an operator's emotions, such as stress due to fatigue or stress before concentrating on work, from vital signs such as pulse waves alone. An object of the present disclosure is to provide an emotion estimation device, an emotion estimation method, and a remote operation system that can appropriately estimate the emotion of an operator while working. [Means for solving the problem]

[0005] According to one aspect of the present invention, a feeling estimation device includes an efficiency evaluation unit that calculates an evaluation value of work efficiency related to work performed by a work machine operated by an operator, an acquisition unit that acquires vital data of the operator measured during the work, and an estimation unit that estimates the feeling of the operator based on the evaluation value and the vital data. [Effects of the Invention]

[0006] According to the above aspect, the feeling estimation device can appropriately estimate the feeling of an operator while working. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram showing the configuration of a work machine according to a first embodiment. [Figure 2] FIG. 2 is a diagram showing the internal configuration of a driver's cab according to the first embodiment. [Figure 3] FIG. 2 is a schematic block diagram showing the configuration of a control device according to the first embodiment. [Figure 4] FIG. 2 is a diagram illustrating a method for estimating an emotion according to the first embodiment. [Figure 5] 4 is a flowchart illustrating a method for estimating emotions by the control device according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, the embodiments will be described in detail with reference to the drawings. First Embodiment <Configuration of work machine 100> FIG. 1 is a schematic diagram showing the configuration of a work machine 100 according to a first embodiment. The work machine 100 operates at a construction site, excavating construction objects such as earth and sand, and loading the excavated material into a loading platform such as a vessel for loading, such as a dump truck. Examples of the work machine 100 include a face shovel, a backhoe shovel, and a rope shovel. The work machine 100 may be electrically driven or hydraulically driven. The work machine 100 according to the first embodiment is a backhoe shovel. The work machine 100 comprises a traveling body 110, a rotating body 120, a work implement 130, and a cab 140.

[0009] The running body 110 supports the work machine 100 so that the work machine 100 can travel. The running body 110 includes two endless tracks provided on the left and right sides, and a travel motor for driving each of the endless tracks. The rotating body 120 is supported by the running body 110 so as to be able to rotate around a rotation center. The work implement 130 is hydraulically driven and supported on the front part of the revolving body 120 so as to be drivable in the vertical direction. The operator's cab 140 is a space where the operator sits and operates the work machine 100.

[0010] <Configuration of rotating body 120> The swing body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a swing motor . The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source. The hydraulic pump 122 is a variable displacement pump that is driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil via a control valve 123 to each actuator that drives the work machine 100. The control valve 123 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 122 . The swing motor 124 is driven by hydraulic oil supplied from a hydraulic pump 122 via a control valve 123 to swing the swing body 120 .

[0011] <Configuration of work machine 130> The work machine 130 includes a boom 131, an arm 132, a bucket 133 as a work implement, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C. Other examples of the work implement include end attachments such as a clam bucket, a tilt bucket, a tilt rotate bucket, a grapple, and a lifting magnet.

[0012] The base end of the boom 131 is rotatably attached to the revolving unit 120 via a boom pin. In the work machine 100 shown in FIG. 1, the boom 131 is provided in the center of the front of the revolving unit 120, but this is not limitative and the boom 131 may be attached offset in the left-right direction. In this case, the center of rotation of the revolving unit 120 is not located on the plane of operation of the work implement 130. The arm 132 connects the boom 131 and the bucket 133. The base end of the arm 132 is rotatably attached to the tip of the boom 131 via an arm pin. The bucket 133 is rotatably attached to the tip of the arm 132 via a pin. Members that support the bucket 133 include a boom 131 and an arm 132. The bucket 133 functions as a container for storing excavated earth and sand. The bucket 133 is attached so that its opening faces the rotating body 120 (rear). In other words, the work machine 100, which is a backhoe excavator, performs excavation by pulling the bucket 133 toward the front of the rotating body 120.

[0013] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. A base end of the boom cylinder 131C is attached to the revolving body 120. A tip end of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end of the arm cylinder 132C is attached to the boom 131. A tip end of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end of the bucket cylinder 133C is attached to the arm 132. A tip end of the bucket cylinder 133C is attached to a link mechanism that rotates the bucket 133.

[0014] <Configuration of the driver's cab 140> FIG. 2 is a diagram showing the internal configuration of the operator's cab 140 according to the first embodiment. A driver's seat 141, an operation terminal 142, and an operation device 143 are provided in the driver's cab 140. The operation terminal 142 is provided near the driver's seat 141 and is a user interface with the control device 160, which will be described later. The operation terminal 142 is a display device configured, for example, with a touch panel, and may have an operation unit operated by an operator and an input reception unit that receives operations. The display device also displays measurement data from an engine water temperature gauge, a fuel gauge, and the like. The operation terminal 142 may also have a display unit such as an LCD.

[0015] The operation device 143 is a device for driving the traveling body 110, the revolving body 120, and the work machine 130 through manual operation by an operator. The operation device 143 includes a left operation lever 143LO, a right operation lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left travel lever 143LT, and a right travel lever 143RT.

[0016] The left operating lever 143LO is provided on the left side of the driver's seat 141. The right operating lever 143RO is provided on the right side of the driver's seat 141.

[0017] The left operation lever 143LO is an operation mechanism for performing the swing operation of the swing unit 120 and the excavation / dumping operation of the arm 132. Specifically, when the operator of the work machine 100 tilts the left operation lever 143LO forward, the arm 132 performs a dumping operation. When the operator of the work machine 100 tilts the left operation lever 143LO rearward, the arm 132 performs an excavation operation. When the operator of the work machine 100 tilts the left operation lever 143LO to the right, the swing unit 120 swings to the right. When the operator of the work machine 100 tilts the left operation lever 143LO to the left, the swing unit 120 swings to the left. Note that in other embodiments, the swing unit 120 may swing to the right or left when the left operation lever 143LO is tilted in the forward / backward direction, and the arm 132 may perform an excavation or dumping operation when the left operation lever 143LO is tilted in the left / right direction.

[0018] The right operating lever 143RO is an operating mechanism for performing the excavation / dumping operation of the bucket 133 and the raising / lowering operation of the boom 131. Specifically, when the operator of the work machine 100 tilts the right operating lever 143RO forward, the boom 131 is lowered. When the operator of the work machine 100 tilts the right operating lever 143RO rearward, the boom 131 is raised. When the operator of the work machine 100 tilts the right operating lever 143RO to the right, the bucket 133 is dumped. When the operator of the work machine 100 tilts the right operating lever 143RO to the left, the bucket 133 is excavated. Note that in other embodiments, when the right operating lever 143RO is tilted forward or backward, the bucket 133 may be dumped or excavated, and when the right operating lever 143RO is tilted left or right, the boom 131 may be raised or lowered.

[0019] The left foot pedal 143LF is located on the left side of the floor in front of the driver's seat 141. The right foot pedal 143RF is located on the right side of the floor in front of the driver's seat 141. The left travel lever 143LT is pivotally supported by the left foot pedal 143LF, and is configured so that tilting the left travel lever 143LT and pushing down the left foot pedal 143LF are linked. The right travel lever 143RT is pivotally supported by the right foot pedal 143RF, and is configured so that tilting the right travel lever 143RT and pushing down the right foot pedal 143RF are linked.

[0020] The left foot pedal 143LF and the left travel lever 143LT correspond to the rotational drive of the left crawler belt of the traveling body 110. Specifically, when the operator of the work machine 100 pushes the left foot pedal 143LF or the left travel lever 143LT forward, the left crawler belt rotates in the forward direction. Conversely, when the operator of the work machine 100 pushes the left foot pedal 143LF or the left travel lever 143LT backward, the left crawler belt rotates in the reverse direction.

[0021] The right foot pedal 143RF and the right traveling lever 143RT correspond to the rotational drive of the right crawler belt of the traveling body 110. Specifically, when the operator of the work machine 100 pushes the right foot pedal 143RF or the right traveling lever 143RT forward, the right crawler belt rotates in the forward direction. Conversely, when the operator of the work machine 100 pushes the right foot pedal 143RF or the right traveling lever 143RT backward, the right crawler belt rotates in the reverse direction.

[0022] Configuration of the control device 160 FIG. 3 is a schematic block diagram showing the configuration of the control device 160 according to the first embodiment. The work machine 100 is equipped with a control device 160. The control device 160 may be implemented in the operation terminal 142, or may be provided separately from the operation terminal 142 and receive input and output from the operation terminal 142. The control device 160 receives an operation signal from the operation device 143. The control device 160 drives the work machine 130, the revolving unit 120, and the traveling unit 110 by outputting the operation signal to the control valve 123. Furthermore, the control device 160 according to the first embodiment estimates the emotion of the operator during operation and provides feedback to the operator based on the estimation result. In other words, the control device 160 is an example of an emotion estimation device.

[0023] The control device 160 is a computer including a processor 610, a main memory 630, a storage 650, and an interface 670. The storage 650 stores a program. The processor 610 reads the program from the storage 650, loads it into the main memory 630, and executes processing in accordance with the program.

[0024] Examples of storage 650 include semiconductor memory, magnetic disks, magneto-optical disks, optical disks, etc. Storage 650 may be an internal medium directly connected to a common communication line of control device 160, or may be an external medium connected to control device 160 via interface 670. Main memory 630 and storage 650 are non-transitory tangible storage media.

[0025] An operator according to the first embodiment wears a vital sensor 800. The vital sensor 800 measures the operator's vital signs (heart rate, skin potential, electroencephalogram, etc.) and generates vital data. The vital sensor 800 according to the first embodiment measures the heart rate. The vital sensor 800 may be a wearable device such as an activity monitor. The vital sensor 800 is connected to the control device 160 via an interface 670. The connection between the vital sensor 800 and the interface 670 may be by wired communication or wireless communication.

[0026] The processor 610 includes a vital data acquisition unit 611, an operation signal input unit 612, a log storage unit 613, a relaxation level calculation unit 614, an efficiency evaluation unit 615, an estimation unit 616, and an output unit 617 by executing a program.

[0027] The vital data acquisition unit 611 acquires vital data from the vital sensor 800. The vital data acquisition unit 611 associates the acquired vital data with the acquisition time and records the data in the log storage unit 613. The vital data acquisition unit 611 is an example of an acquisition unit.

[0028] The operation signal input unit 612 receives input of an operation signal from the operation device 143. The operation signals include a drive signal for performing a raising or lowering operation of the boom 131, a drive signal for performing a dumping or digging operation of the arm 132, a drive signal for performing a dumping or digging operation of the bucket 133, a drive signal for performing a right-swing or left-swing operation of the rotating unit 120, and a drive signal for performing a traveling operation of the traveling unit 110. The operation signal input unit 612 records the operation signals in the log storage unit 613 in association with the acquisition time.

[0029] The log storage unit 613 stores the log data of the operator's vital data and operation signals. The vital data and operation signals stored in the log storage unit 613 form a time series.

[0030] The relaxation level calculation unit 614 calculates the operator's relaxation level based on the time series of vital data recorded in the log storage unit 613. The relaxation level is expressed, for example, by SDNN (Standard Deviation of Normal and Normal Interval). Specifically, the relaxation level calculation unit 614 calculates the RRI (RR Interval) value for a predetermined period (for example, 30 minutes) based on the time series of vital data representing the heart rate, and normalizes the value to obtain the standard deviation, thereby calculating the SDNN value, i.e., the relaxation level. The SDNN value, i.e., the relaxation level, may also be calculated for any period. A lower relaxation level value indicates that the operator is under more stress, and a higher relaxation level value indicates that the operator is more relaxed.

[0031] The efficiency evaluation unit 615 calculates an evaluation value of the work efficiency of the operator's operation based on the time series of the operation signals recorded in the log storage unit 613. The efficiency evaluation unit 615 according to the first embodiment calculates the Mahalanobis distance of the time series of the operation signals over the most recent predetermined time period (e.g., 5 minutes) as the evaluation value. Specifically, the efficiency evaluation unit 615 calculates the Mahalanobis distance of the time series of the input operation signals, using a set of time series of operation signals when the operator was able to work efficiently as a unit space. The operation signals constituting the unit space are collected, for example, as follows: The time series of the operator's operation signals are recorded in the log storage unit 613 in advance, and the efficiency evaluation unit 615 receives a designation from the operator of a time period when the operator was able to work efficiently and collects, as the unit space, a set of time series of operation signals relating to the designated time period. A lower evaluation value indicates better work efficiency, and a higher evaluation value indicates worse work efficiency.

[0032] The estimation unit 616 estimates the emotion of the operator while working based on the relaxation level calculated by the relaxation level calculation unit 614 and the evaluation value calculated by the efficiency evaluation unit 615. Specifically, the estimation unit 616 classifies the emotion of the operator into one of boredom, transition to concentration, concentration, and high load. That is, the estimation unit 616 estimates the degree of concentration in work. Specifically, the emotion of the operator, in descending order of the degree of concentration, is concentration, transition to concentration, high load, and boredom.

[0033] FIG. 4 is a diagram illustrating a method for estimating an emotion according to the first embodiment. When the evaluation value of the work efficiency is lower than the threshold (good work efficiency) and the relaxation level is higher than the threshold (relaxed), the estimation unit 616 estimates that the operator is concentrating. When the evaluation value of the work efficiency is higher than the threshold (poor work efficiency) and the relaxation level is higher than the threshold (relaxed), the estimation unit 616 estimates that the operator is tired and bored with the work. When the evaluation value of the work efficiency is lower than the threshold (work efficiency is good) and the relaxation level is lower than the threshold (stressed), the estimation unit 616 estimates that the operator is transitioning to a concentration state. In other words, it can be inferred that this state is a state in which the operator is trying to motivate himself and concentrate. When the evaluation value of work efficiency is higher than the threshold (work efficiency is poor) and the relaxation level is lower than the threshold (stressed), the estimation unit 616 estimates the operator's state based on the operator's heart rate indicated by the vital sensor. Specifically, when the evaluation value of work efficiency is higher than the threshold, the relaxation level is lower than the threshold, and the heart rate is lower than the threshold, the estimation unit 616 estimates that the operator is transitioning to a concentration state. On the other hand, when the evaluation value of work efficiency is higher than the threshold, the relaxation level is lower than the threshold, and the heart rate is higher than the threshold, the estimation unit 616 estimates that the operator is in a high-stress state because the work load on the operator is high. The threshold value of the relaxation level may be the average value of the relaxation level over a predetermined period (e.g., the most recent 30 minutes). The threshold value of the evaluation value may be, for example, the maximum value or twice the standard deviation (2σ) of the evaluation values ​​of the operation signals that make up the unit space.

[0034] Furthermore, the estimation unit 616 estimates that the operator is in an overload state where excessive stress is being exerted on the operator if the state in which the degree of relaxation is low, the evaluation value of work efficiency is higher than the threshold (poor work efficiency), and the heart rate is higher than the threshold continues for a certain period of time. In other words, if a high-stress state continues for a certain period of time, it is estimated that an overload state exists. For example, if a state in which the degree of relaxation is low continues for a certain period of time or more, it may be estimated that the operator is in an excessive stress state.

[0035] The output unit 617 outputs feedback to the operator based on the estimation result of the estimation unit 616. For example, the output unit 617 may cause the operation terminal 142 to display the emotion estimation result and advice. The output unit 617 may also cause the operation terminal 142 to play music according to the emotion estimation result. For example, if it is estimated that the operator is in a bored state, the output unit 617 plays cheerful music with a high BPM. For example, if it is estimated that the operator is in a high-stress state, the output unit 617 plays relaxing music with a low BPM. For example, if it is estimated that the operator is transitioning to a state of concentration, the output unit 617 plays music that encourages concentration. Note that if it is estimated that the operator is concentrating, the output unit 617 does not change the music being played or does not play any music at all so as not to disturb the operator's concentration.

[0036] <<Method for estimating emotions>> 5 is a flowchart showing a method for estimating emotions by the control device 160 according to the first embodiment. After the work machine 100 has started up, the control device 160 repeatedly executes the processing shown in FIG.

[0037] The vital data acquisition unit 611 acquires vital data from the vital sensor 800, and records the data in the log storage unit 613 in association with the acquisition time (step S1). The operation signal input unit 612 receives an input of an operation signal from the operation device 143, and records the data in the log storage unit 613 in association with the acquisition time (step S2).

[0038] The relaxation level calculation unit 614 calculates the relaxation level of the operator based on the time series of the vital data recorded in the log storage unit 613 (step S3). The relaxation level calculation unit 614 determines the average value of the relaxation level over a predetermined period as the relaxation level threshold (step S4). Alternatively, the relaxation level of the operator when at rest may be calculated based on the time series of the vital data when the operator is at rest and in a relaxed state, and this may be determined as the relaxation level threshold. The efficiency evaluation unit 615 calculates an evaluation value of the work efficiency of the operator's operation based on the time series of the operation signal recorded in the log storage unit 613 (step S5).

[0039] Next, the estimation unit 616 determines whether the relaxation level calculated in step S3 is lower than the threshold determined in step S4 (step S6). If the relaxation level is lower than the threshold (step S6: YES), the estimation unit 616 determines whether the evaluation value calculated in step S5 is lower than a predetermined threshold (step S7). If the relaxation level is lower than the threshold and the evaluation value is higher than the threshold (step S7: NO), the estimation unit 616 determines whether the operator's heart rate indicated by the vital data acquired in step S1 is lower than a threshold (step S8). If the relaxation level is lower than the threshold, the evaluation value is higher than the threshold, and the heart rate is lower than the threshold (step S8: YES), the estimation unit 616 estimates that the operator is transitioning to a concentration state (step S9).

[0040] If the relaxation level is lower than the threshold, the evaluation value is higher than the threshold, and the heart rate is higher than the threshold (step S8: NO), the estimation unit 616 determines whether the state in which the relaxation level is lower than the threshold, the evaluation value is higher than the threshold, and the heart rate is higher than the threshold continues for a certain period of time or more (step S10).If the state in which the relaxation level is lower than the threshold, the evaluation value is higher than the threshold, and the heart rate is higher than the threshold does not continue for a certain period of time or more (step S10: NO), the operator is estimated to be in a high-stress state (step S11).

[0041] If the state in which the relaxation level is lower than the threshold, the evaluation value is higher than the threshold, and the heart rate is higher than the threshold continues for a certain period of time or more (step S10: YES), it is estimated that the operator is overloaded (step S12). In other words, if the operator is in a high load state and this high load state continues for a certain period of time or more, the operator is deemed to be in an overload state.

[0042] If the relaxation level is lower than the threshold and the evaluation value is lower than the threshold (step S7: YES), the estimation unit 616 estimates that the operator is transitioning to a concentration state (step S9). On the other hand, if the relaxation level is higher than the threshold value (step S6: NO), the estimation unit 616 determines whether the evaluation value calculated in step S5 is lower than a predetermined threshold value (step S14). If the relaxation level is higher than the threshold and the evaluation value is higher than the threshold (step S14: NO), the estimation unit 616 estimates that the operator is feeling bored with the work (step S15).If the relaxation level is higher than the threshold and the evaluation value is lower than the threshold (step S14: YES), the estimation unit 616 estimates that the operator is concentrating on the work (step S13).

[0043] When the estimation unit 616 estimates the operator's emotion in step S9, step S11, step S12, step S13, or step S15, the output unit 617 outputs data related to feedback to the operator to the operation terminal 142 based on the estimation result of the estimation unit 616 (step S16).

[0044] Actions and Effects As described above, the control device 160 according to the first embodiment executes the following processing. Specifically, the efficiency evaluation unit 615 calculates an evaluation value of the work efficiency related to work performed by the operator on the work machine 100. The vital data acquisition unit 611 acquires vital data of the operator measured while the operator is working. The estimation unit 616 estimates the operator's emotions when performing work based on the evaluation value and the vital data. In other words, the estimation unit 616 estimates the operator's emotions while the operator is operating the work machine 100. In this way, by taking into account the operational efficiency of the work machine in addition to the vital data, the control device 160 can appropriately estimate the operator's emotions. This is because the operator's level of concentration is reflected not only in vital data but also in the smoothness of the operation of the work machine, i.e., in operational efficiency.

[0045] Other Embodiments Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design modifications are possible. That is, in other embodiments, the order of the above-described processes may be changed as appropriate. Furthermore, some processes may be executed in parallel. In the above-described embodiment, the emotion estimation device that estimates the emotion of the operator is implemented in the control device 160. On the other hand, in other embodiments, the emotion estimation device may be provided separately from the control device 160. For example, the emotion estimation device according to other embodiments may be a server device connected via a network, or may be a wearable device having a vital sensor 800. Furthermore, the emotion estimation device may be configured by a single computer, or the configuration of the emotion estimation device may be distributed across multiple computers, and the multiple computers may function as emotion estimation devices by cooperating with each other.

[0046] For example, the work machine 100 according to the embodiment described above is operated by an operator on board, and the control device 160 estimates the emotion of the operator appearing on the work machine 100, but this is not limited to this. For example, the work machine 100 according to other embodiments may be remotely operated. In this case, the remote operation system includes a display device, an operation device, and a control device remote from the work machine 100. The display device displays an image captured by an imaging device (not shown) provided on the work machine 100. The control device receives operation of the operation device by the operator, transmits an operation signal to the remote work machine 100, and estimates the emotion of the operator based on the operation signal. In other words, the emotion estimation device may be provided remotely from the work machine 100 and estimate the emotion of the operator operating the work machine 100 remotely. In this case, the control device of the remote operation system may be mounted on the work machine 100. In other words, the emotion estimation device and the control device of the remote operation system may be provided separately.

[0047] The efficiency evaluation unit 615 according to the above-described embodiment is a collection of time series of operation signals when the target operator worked efficiently, but is not limited to this. For example, the efficiency evaluation unit 615 may prepare a unit space consisting of operation signals of operators with different proficiency levels in advance, and select a unit space according to the operator's proficiency level to calculate the Mahalanobis distance. In this case, for example, the control device 160 may acquire the operator's ID from the vital sensor 800 or the operator's smartphone, and identify the operator's proficiency level by referring to a database that stores the operator's proficiency level in association with the ID.

[0048] For example, the efficiency evaluation unit 615 may calculate a Mahalanobis distance using a unit space consisting of operation signals of an experienced operator, and obtain an evaluation value by multiplying the Mahalanobis distance by a coefficient according to the proficiency level of the target operator. For example, the estimation unit 616 may estimate the operator's emotion from the Mahalanobis distance using a threshold according to the proficiency level. In this case, for example, the control device 160 may acquire the operator's ID from the vital sensor 800 or the operator's smartphone, and identify the coefficients and thresholds by referring to a database that stores the operator's proficiency level in association with the ID.

[0049] Although the efficiency evaluation unit 615 according to the above-described embodiment calculates the Mahalanobis distance of the operation signal as an evaluation value of work efficiency, this is not limiting. For example, the efficiency evaluation unit 615 according to other embodiments may calculate other evaluation values, such as the cycle time of the operation of the work machine 130 calculated from the operation signal. Note that a shorter cycle time indicates better efficiency. Furthermore, the efficiency evaluation unit 615 according to other embodiments may use, instead of the Mahalanobis distance, a score according to the Mahalanobis-Taguchi (MT) method, a standardized error pressure distance, a distance from the center of a normal distribution based on Hotelling's theory, or a local density based on the LOF (Local Outlier Factor) method as an evaluation value. In another embodiment, a plurality of groups of operation signal samples when the worker is working efficiently and a plurality of groups of operation signal samples when the worker is working poorly may be prepared in advance, and the efficiency evaluation unit 615 may evaluate which group the operation signal to be evaluated is closest to. In this case, the efficiency evaluation unit 615 may calculate the evaluation value using an algorithm such as the k-nearest neighbor method.

[0050] Although the relaxation level calculation unit 614 according to the above-described embodiment estimates the relaxation level based on the heart rate, this is not limiting. For example, the relaxation level calculation unit 614 according to another embodiment may estimate the relaxation level from measurement data such as skin potential or electroencephalogram (EEG). Furthermore, the relaxation level calculation unit 614 according to another embodiment may calculate the blink frequency from a facial image of the operator captured by a camera and estimate the relaxation level based on the frequency. Furthermore, the relaxation level calculation unit 614 according to another embodiment may measure the force with which the operator grips the operation device 143 using a pressure sensor or the like provided on the operation device 143 and estimate the relaxation level based on the measurement value. The skin potential, electroencephalogram, blink frequency, and grip force of the operation device 143 described above are all examples of vital data.

[0051] The output unit 617 according to the embodiment described above feeds back the emotion estimation result to the operator in the cab 140, but is not limited to this. For example, the output unit 617 according to another embodiment may notify a manager who manages the operator of the operator's emotion or workload state. For example, the output unit 617 may notify a manager who manages the operator in a location remote from the site where the work machine 100 operates of the operator's emotion or workload state via a mobile terminal having a display unit or a display device in a remote location. [Explanation of symbols]

[0052] 100...Work machine 110...Traveling body 120...Swing body 121...Engine 122...Hydraulic pump 123...Control valve 124...Swing motor 130...Work machine 131...Boom 131C...Boom cylinder 132...Arm 132C...Arm cylinder 133...Bucket 133C...Bucket cylinder 140...Operator's cab 141...Operator's seat 142...Operation terminal 143...Operation device 160...Control device 610...Processor 611...Vital data acquisition unit 612...Operation signal input unit 613...Log storage unit 614...Relaxation level calculation unit 615...Efficiency evaluation unit 616...Estimation unit 617...Output unit 630...Main memory 650...Storage 670...Interface 800...Vital sensor

Claims

1. an efficiency evaluation unit that calculates an evaluation value of work efficiency related to work performed by a work machine operated by an operator; an acquisition unit that acquires vital data of the operator measured during the work; an estimation unit that estimates the emotion of the operator based on the evaluation value and the vital data; An emotion estimation device comprising:

2. The estimation unit estimates the emotion of the operator while the operator is operating the work machine. The emotion estimation device according to claim 1 .

3. The estimation unit estimates a degree of concentration in the work. The emotion estimation device according to claim 1 .

4. an output unit that outputs information based on the estimated emotion; The emotion estimation device according to claim 1 , comprising:

5. The efficiency evaluation unit calculates the evaluation value based on an operation amount of an operation device performed by the operator for the work. The emotion estimation device according to claim 1 .

6. The evaluation value is a Mahalanobis distance of the operation amount of the operation device. The emotion estimation device according to claim 5 .

7. The efficiency evaluation unit calculates a Mahalanobis distance of an operation amount of the operation device by using a unit space according to the operator. The emotion estimation device according to claim 6 .

8. The estimation unit classifies the operator's emotion into one of boredom, transition to concentration, concentration, and high load. The emotion estimation device according to claim 1 .

9. The estimation unit estimates that the operator is overloaded when the operator is under the high load and the high load continues for a certain period of time or more. The emotion estimation device according to claim 8 .

10. A step of calculating an evaluation value of work efficiency related to work performed by a work machine operated by an operator; acquiring vital data of the operator measured during the work; estimating an emotion of the operator based on the evaluation value and the vital data; The emotion estimation method includes:

11. The feeling estimation device according to claim 1 ; and a display device and an operation device that are provided remotely from the work machine; Equipped with The emotion estimation device estimates the emotion of an operator who operates the remotely provided operation device. Remote control system.

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