Work machine operating system

Abstract

To provide a work machine operating system that enables an operator to smoothly start operating a work machine to be operated.SOLUTION: A work machine operating system 1 includes an operation unit 211 that receives input of operations by an operator to operate a work machine 40, display devices 221 and 230 that display images that can be viewed by the operator in response to an input display command signal, and a display control unit 200 that inputs the display command signal including information regarding movement of the work machine that is the subject of the operation to the display device and controls the display device.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present invention relates to an operating system for a work machine. [Background technology]

[0002] Conventionally, there has been known a technique for remotely controlling a work machine that performs a predetermined task at a work site by an operator located in a remote location. Patent Document 1 describes a remote control device for remotely controlling a work machine, which includes a seat for the operator to sit in, an operation lever located in front of the seat and receiving operation inputs for operating the work machine, and a display unit that displays camera images and the like transmitted from the work machine. To start remote operation, the operator establishes communication between the work machine to be operated and the remote control device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-7139 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 has the problem that if the target work machine is one that the operator is operating for the first time or if some time has passed since the last operation, it is difficult to start operation smoothly, as the operator may move the work machine excessively when starting operation. [Means for solving the problem]

[0005] An object of the present invention is to provide a work machine operation system that enables an operator to smoothly start operating a work machine that is to be operated.

[0006] A work machine operation system according to a first aspect of the present invention comprises an operation unit that receives operation inputs from an operator to move the work machine, a display device that displays an image that can be viewed by the operator in response to an input display command signal, and a display control unit that inputs the display command signal, which includes information regarding the movement of the work machine that is the target of the operation, to the display device and controls the display device.

[0007] This configuration allows the operator to grasp information about the machine's movements (operation characteristics) before actually operating the work machine, and allows the operator to operate the work machine while taking those characteristics into consideration. As a result, operation of the work machine can be started smoothly, and a decline in productivity after work has begun can be suppressed.

[0008] A work machine operation system according to a second aspect of the present invention is the work machine operation system according to the first aspect, wherein the information relating to the movement of the work machine may include a video showing the movement of the work machine that is the target of the operation.

[0009] According to this configuration, by displaying a moving image (video), it is possible to encourage the operator to better understand the movement of the work machine.

[0010] A work machine operation system according to a third aspect of the present invention may be one in which, in the work machine operation system according to the second aspect, the information relating to the movement of the work machine includes information relating to the amount of operation and the video corresponding to the operation.

[0011] According to this configuration, the amount of operation and the corresponding movement of the work machine are displayed in association with each other, allowing the operator to grasp the movement information more intuitively.

[0012] A work machine operation system according to a fourth aspect of the present invention is the work machine operation system according to any one of the first to third aspects, wherein the display control unit is capable of inputting the display command signal, including machine information of a plurality of work machines that can be the target of the operation, to the display device, and further comprises a selection input unit that receives an operation input by the operator to select a work machine to be the target of the operation from among the plurality of work machines by referring to the machine information, and the display control unit may input the display command signal, including information regarding the movement of that work machine, to the display device and display the signal on the display device as the operator selects a work machine via the selection input unit.

[0013] With this configuration, when the operator selects a work machine, information relating to the movement of that work machine can be visually confirmed, allowing the operator to understand the movement of the selected work machine before actually operating it and to start operating it efficiently.

[0014] A work machine operation system according to a fifth aspect of the present invention may be the work machine operation system according to the fourth aspect, wherein the display control unit inputs the display command signal, which includes information about the movement of the one work machine, to the display device and causes the display device to display the signal, during communication connection with the one work machine as a result of the operator selecting the one work machine.

[0015] This configuration allows the operator to grasp information about the movement of the work machine (dynamic characteristics) by utilizing the waiting time when connecting with the work machine selected as the operation target, thereby preventing a decline in work efficiency after work has started.

[0016] A construction machine operation system according to a sixth aspect of the present invention may be a construction machine operation system according to any one of the first to third aspects, wherein the display command signal, which associates machine information about a plurality of construction machines that can be the subject of the operation with information about the movement of each of the construction machines, is input to the display device and displayed on the display device.

[0017] According to this configuration, the operator can efficiently select an operation target by viewing information relating to the movement of each work machine as reference information when selecting an operation target from a plurality of work machines. [Effects of the Invention]

[0018] According to the present invention, a work machine operation system is provided that enables an operator to smoothly start operating a work machine that is to be operated. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing the configuration of a remote control system according to one embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the remote control system. [Figure 3] FIG. 3 is a plan view showing the configuration of the remote control device. [Figure 4] FIG. 4 is a diagram showing the configuration of the work machine. [Figure 5] FIG. 5 is a flowchart showing the start preparation process. [Figure 6] FIG. 6 is a flowchart showing the authentication result confirmation process. [Figure 7] FIG. 7 is a flowchart showing the actual device connection preparation process. [Figure 8] FIG. 8 is a diagram showing an example of the work selection screen. [Figure 9] FIG. 9 is a diagram showing an example of the machine selection screen. [Figure 10] FIG. 10 is a diagram showing an example of the confirmation screen. [Figure 11] FIG. 11 is a diagram showing an example of the confirmation instruction screen. [Figure 12] FIG. 12 is a block diagram showing the configuration for displaying operation information. [Figure 13] FIG. 13 is a flowchart showing the process of displaying the operation information. [Figure 14]FIG. 14 is a diagram illustrating an example of the operation information. [Figure 15] FIG. 15 is a diagram showing a modified example of the operation information. [Figure 16] FIG. 16 is a diagram showing a modified example of the operation information. DETAILED DESCRIPTION OF THE INVENTION

[0020] A remote operation system according to one embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing the configuration of a remote operation system 1 according to this embodiment. As shown in FIG. 1, the remote operation system 1 is made up of a remote operation support server 10, a remote operation device 20, and multiple work machines 40. Although FIG. 1 shows one remote operation device 20 and two work machines 40, the number of these is not limited. Furthermore, the remote operation support server 10 is not essential.

[0021] In this remote control system 1, the remote control device 20 is operated by an operator 2, whereby one of a plurality of work machines 40 is selectively remotely controlled.

[0022] In the remote operation system 1, the remote operation support server 10, the remote operation devices 20, and the multiple work machines 40 are configured to be able to communicate with each other via a network. The communication network for the remote operation support server 10 and the remote operation devices 20 and the communication network for the remote operation support server 10 and the work machines 40 may be the same or different.

[0023] Fig. 2 is a block diagram showing the electrical configuration of the remote operation system 1. Fig. 3 is a plan view showing the configuration of the remote operation device 20. As shown in Fig. 2, the remote operation support server 10 includes a server computing device 11, a storage device 12, and a server wireless communication device 13. The server computing device 11 is configured with a CPU and the like, and reads necessary data and software from the storage device 12 and executes various types of computational processing and various types of control processing.

[0024] The storage device 12 is composed of storage, memory, and the like, and stores and holds operation schedules for the work machine 40, data on the operator's 2 work log, and the like.

[0025] In this remote operation support server 10, communication is carried out between a remote wireless communication device 260 (described later) of the remote operation device 20 and an actual machine wireless communication device 470 of the work machine 40 via a communication network by the server wireless communication device 13.

[0026] 2 and 3, the remote operation device 20 includes a remote control device 200, a remote operation mechanism 211, an image output device 221, an operator recognition device 223 (FIG. 3), a handheld terminal 230, a key switch 240, a speaker 250, and a remote wireless communication device 260. The remote control device 200 is a combination of multiple controllers, each of which is composed of a CPU, a memory device (storage, RAM, ROM), an input / output interface, etc. The remote control device 200 reads necessary data and software programs from the memory device and executes various control processes as described below.

[0027] As shown in FIG. 2, the remote control device 200 has the functions of a remote control unit 201, a communication control unit 202, a device-side communication control unit 203, and an output control unit 204, and these functions are realized by the execution of a software program by the remote control device 200.

[0028] The remote control mechanism 211 includes a seat 231, a traveling operation device, a swing operation device, a boom operation device, an arm operation device, and a bucket operation device. Each operation device corresponds to the operation unit in this embodiment, and has an operation lever that receives a predetermined rotation operation. The operation lever (travel lever) of the traveling operation device is operated to move the undercarriage 410 of the work machine 40.

[0029] The operating lever (swing lever) of the swing operating device is operated to move the swing mechanism 430 of the work machine 40. The operating lever (boom lever) of the boom operating device is operated to move the boom cylinder 442 of the work machine 40. The operating lever (arm lever) of the arm operating device is operated to move the arm cylinder 444 of the work machine 40. The operating lever (bucket lever) of the bucket operating device is operated to move the bucket cylinder 446 of the work machine 40.

[0030] The control levers constituting the remote control mechanism 211 are arranged around a seat 231 on which the operator 2 sits, as shown in Fig. 3, for example. A pair of left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat 231. One control lever may serve as multiple control levers.

[0031] For example, the left operation lever 2111 provided in front of the left frame of the seat 231 shown in Fig. 3 may function as an arm lever when operated in the forward / backward direction, and as a swing lever when operated in the left / right direction. Similarly, the right operation lever 2112 provided in front of the right frame of the seat 231 shown in Fig. 3 may function as a boom lever when operated in the forward / backward direction, and as a bucket lever when operated in the left / right direction. The lever pattern may be changed as desired by an operation instruction from the operator 2.

[0032] The breaker lever 2113 is provided below the left operating lever 2111 in front of the left frame of the seat 231. When raised, this breaker lever 2113 locks the work machine 40 so that it will not move even if the operating levers 2110, 2111, 2112 are operated, and when lowered, it functions as an operating lever for releasing the lock.

[0033] The remote operation mechanism 211 is provided with a number of sensors (not shown), and when each operating lever of the remote operation mechanism 211 is operated, these sensors output detection signals indicating the operating state to the remote control device 200. Based on the detection signals from these sensors, the remote control device 200 acquires information about the operating state of the remote operation mechanism 211 by the operator 2 (the amount of operation received by the operating unit).

[0034] 3, the image output device 221 includes a central image output device 2210, a left image output device 2211, and a right image output device 2212, each having a substantially rectangular screen, which are respectively arranged in front of, diagonally forward left of, and diagonally forward right of the seat 231. The shapes and sizes of the screens (image display areas) of the central image output device 2210, the left image output device 2211, and the right image output device 2212 may be the same or different.

[0035] As shown in Fig. 3, the right edge of the left image output device 2211 is adjacent to the left edge of the central image output device 2210 so that the screens of the central image output device 2210 and left image output device 2211 form an inclination angle θ1 (for example, 120°≦θ1≦150°). As shown in Fig. 3, the left edge of the right image output device 2212 is adjacent to the right edge of the central image output device 2210 so that the screens of the central image output device 2210 and right image output device 2212 form an inclination angle θ2 (for example, 120°≦θ2≦150°). The inclination angles θ1 and θ2 may be the same or different.

[0036] The screens of the central image output device 2210, the left image output device 2211, and the right image output device 2212 may be parallel to the vertical direction or may be inclined relative to the vertical direction. At least one of the central image output device 2210, the left image output device 2211, and the right image output device 2212 may be composed of a plurality of divided image output devices. For example, the central image output device 2210 may be composed of a pair of image output devices adjacent to each other above and below, each having a substantially rectangular screen.

[0037] When the imaging data signal from the work machine 40 is received by the remote wireless communication device 260, the remote control device 200 causes the image output device 221 to display the imaging data included in the imaging data signal.

[0038] The handheld terminal 230 is a touch panel type, and as will be described later, displays various screens based on signals from the remote control device 200, and when touched by the operator 2, outputs a signal representing the operation to the remote control device 200.

[0039] The operator recognition device 223 is a device that acquires an image, voice, personal identification number, or the like of the operator 2 to identify the individual operator. The operator recognition device 223 is provided in the front part of the remote operation mechanism 211, facing backward toward the seat 231. After the remote control device 200 is started up, the operator recognition device 223 captures an image of the operator 2 seated in the seat 231. As will be described later, the image captured by the operator recognition device 223 is acquired as authentication data and transmitted to the remote operation support server 10 via the network. The remote operation support server 10 then compares the image with authentication data, which is information about the registered operator 2 stored in the storage device 12 of the remote operation support server 10, to identify the individual operator through facial recognition.

[0040] The operator recognition device 223 may be an operator information input device provided in the remote control device 200 instead of an imaging device, and inputting the personal identification number of the operator 2, or may be both an imaging device and an operator information input device. The operator information input device may be a device that allows information to be input via the handheld terminal 230, or may be a voice recognition device that has a microphone and recognizes the voice of the operator 2 itself or a password determined for each operator.

[0041] The key switch 240 (FIG. 2) is used to start or stop the engine 460 of the work machine 40, and is arranged near the remote operation mechanism 211. The key switch 240 is configured so that its position can be changed to at least three positions: a key-off position, a key-on position, and a key-start position, and when operated by the operator 2, it outputs a signal indicating the position of the key switch 240 (a key-off position signal, a key-on position signal, and a key-start position signal) to the remote control device 200.

[0042] Based on an operation signal from the key switch 240, the remote control device 200 transmits a signal instructing the engine 460 to start and stop operation to the actual machine wireless communication device 470 of the work machine 40 via the remote wireless communication device 260.

[0043] The speaker 250 is provided near the seat 231. When an acoustic data signal from a work machine 40 (described later) is received by the remote wireless communication device 260, the remote control device 200 outputs the acoustic data included in the acoustic data signal from the speaker 250.

[0044] As shown in FIG. 2, the work machine 40 includes an actual machine control device 400, a drive mechanism 450, an engine 460, an imaging device 461, a microphone 462, an actual machine wireless communication device 470, and the like.

[0045] The actual machine control device 400 is a combination of multiple controllers, each of which is configured with a CPU, a memory device (storage, RAM, ROM), an input / output interface, etc. The actual machine control device 400 reads necessary data and software programs from the memory device, and executes various control processes as described below.

[0046] As shown in FIG. 2, the actual device control device 400 has functions as a communication control unit 401 and an actual device side communication control unit 402, and these functions are realized by the actual device control device 400 executing a software program.

[0047] 4 is a diagram showing the configuration of work machine 40. In this embodiment, as an example, work machine 40 is a crawler shovel type construction machine, and includes a crawler-type lower traveling body 410, and an upper rotating body 420 that is rotatably mounted on lower traveling body 410 via a rotating mechanism 430.

[0048] A cab 424 (operator's compartment) is provided on the front left side of the upper rotating body 420. A work attachment 440 is provided in the front center of the upper rotating body 420.

[0049] The work attachment 440 includes a boom 441 that is mounted on the upper rotating body 420 so that it can be raised and lowered, an arm 443 that is rotatably connected to the tip of the boom 441, and a bucket 445 that is rotatably connected to the tip of the arm 443. The work attachment 440 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446, each of which is made up of extendable and retractable hydraulic cylinders.

[0050] The boom cylinder 442 is interposed between the boom 441 and the upper rotating body 420 so as to extend and retract by receiving a supply of hydraulic oil to rotate the boom 441 in the hoisting direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to extend and retract by receiving a supply of hydraulic oil to rotate the arm 443 about a horizontal axis relative to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to extend and retract by receiving a supply of hydraulic oil to rotate the bucket 445 about a horizontal axis relative to the arm 443.

[0051] The cab 424 is provided with an actual machine operation mechanism and a drive mechanism 450, not shown. This actual machine operation mechanism is equipped with a plurality of actual machine operation levers that are arranged around a seat arranged inside the cab 424 in the same manner as the remote operation mechanism 211. These multiple actual machine operation levers are driven by the drive mechanism 450. When the operator 2 is on board the work machine 40, the operator 2 operates the multiple actual machine operation levers to move the work machine 40.

[0052] When a signal representing the operation state of the remote control mechanism 211 is received by the real machine wireless communication device 470, the real machine control device 400 controls the operation of the drive mechanism 450 so as to drive multiple real machine operation levers of the real machine operation mechanism based on the signal.

[0053] The engine 460 is an internal combustion engine type and is equipped with a fuel injection valve and the like. The actual machine control device 400 controls the operating state of the engine 460, as will be described later, by controlling the operating state of the fuel injection valve. Note that the engine 460 is not limited to an internal combustion engine type, and an electric motor may be used, or a combination of an electric motor and an internal combustion engine may be used.

[0054] Generally, in the case of a normal crawler excavator type construction machine (work machine) that is not designed for remote operation, the operator 2 seated in the cab changes the position of the key switch mounted next to the seat to the key off position, key on position, and key start position, respectively, to operate the electronic devices and engine of the construction machine.

[0055] Specifically, when the key switch is in the key-off position, no power is supplied to the electronic devices. By changing the key switch from the key-off position to the key-on position, power is supplied to the construction machinery's electronic devices and they start up. Power is also supplied to the electrical circuits used to start the engine, and the engine goes into a standby state for starting. Furthermore, by changing the key switch to the key-start position, the engine starts. Once the key switch is in the key-start position, it remains in the key-on position after the engine has started.

[0056] In contrast, the work machine 40 of this embodiment is a construction machine that can also be operated by remote control. Therefore, in addition to the movements of a normal crawler excavator-type construction machine, the electronic devices and engine 460 of the work machine 40 are operated by the operator 2 changing the position of the key switch 240 (FIG. 2) of the remote control device 200. Below, we will explain the movements when one work machine 40 is selected as the target for remote operation.

[0057] Specifically, when the key switch 240 is in the key-off position, power is not supplied to the electronic devices. The electronic devices here are the electronic devices excluding the actual machine control device 400, drive mechanism 450, imaging device 461, and microphone 462 that are required for remote operation, and are the same electronic devices that are also installed in ordinary crawler shovel-type construction machines.

[0058] When the key switch 240 is changed from the key-off position to the key-on position, power is supplied to the electronic devices of the work machine 40, and the electronic devices start up. Power is also supplied to the electrical circuit for starting the engine 460, and the circuit goes into a standby state for starting the engine 460. Furthermore, when the key switch 240 is changed to the key-start position, the engine 460 starts.

[0059] The imaging device 461 is a camera type device installed inside the cab 424, and captures an image of the environment including the front of the cab 424 through the front window and a pair of left and right side windows, and outputs an imaging data signal including the imaging data to the actual machine control device 400. The actual machine control device 400 transmits this imaging data signal to the remote wireless communication device 260 via the actual machine wireless communication device 470.

[0060] The microphone 462 outputs an acoustic data signal containing sounds around the work machine 40 as acoustic data to the actual machine control device 400. The actual machine control device 400 transmits this acoustic data signal to the remote wireless communication device 260 via the actual machine wireless communication device 470.

[0061] Next, various control processes at the start of remote operation will be described. Fig. 5 is a flowchart showing the start preparation process. Fig. 6 is a flowchart showing the authentication result confirmation process. Fig. 7 is a flowchart showing the actual device connection preparation process.

[0062] The various control processes are executed by at least one of the server computing device 11 in the remote operation support server 10, the remote control device 200 in the remote operation device 20, and the actual machine control device 400 in the work machine 40. The same applies to the various control processes described below.

[0063] First, a start-up preparation process is executed in the remote control device 20 (FIG. 5). In the start-up preparation process, the remote control device 20 is started (STEP 21 in FIG. 5). Specifically, the operator 2 turns on a power button (not shown) of the remote control device 20, thereby starting the remote control device 20.

[0064] Next, the remote control device 200 displays a predetermined authentication confirmation screen on the handheld terminal 230 (STEP 22 in FIG. 5). On this authentication confirmation screen, for example, a message "Do you want to perform authentication?" is displayed on the screen, and below that, an authentication button that the operator 2 can press is displayed.

[0065] Next, the remote control device 200 determines whether or not an authentication start operation has been performed (STEP 23 in FIG. 5). In this case, if the authentication button has been pressed by the operator 2 (YES in STEP 23), it is determined that the authentication start operation has been performed, and if the authentication button has not been pressed (NO in STEP 23), it is determined that the authentication start operation has not been performed.

[0066] If this determination is negative (NO in STEP 23 in FIG. 5), the process returns to STEP 22. On the other hand, when the authentication start operation is performed and this determination is positive (YES in STEP 23 in FIG. 5), an authentication data acquisition process is executed (STEP 24 in FIG. 5). In this authentication data acquisition process, authentication data for identifying the individual operator is acquired by the operator recognition device 223 described above.

[0067] Next, an authentication signal including the above authentication data is output to the remote operation support server 10 (STEP 25 in FIG. 5), after which this process ends.

[0068] As described above, when the start preparation process is executed in the remote operation device 20, if the authentication signal is received by the remote operation support server 10, the remote operation support server 10 executes the user authentication process (FIG. 5).

[0069] In this user authentication process, user authentication is performed based on the authentication data contained in the authentication signal and the authentication data registered in the remote operation support server 10, and then an authentication result signal is output to the remote operation device 20.

[0070] In this case, when the user authentication is successful, the authentication result signal is configured to include authentication result data indicating that fact and work content data based on the work plan of the operator 2 whose user authentication has been successful, and when the user authentication has failed, the authentication result signal is configured to include only authentication result data indicating that fact.

[0071] As described above, after the remote operation support server 10 executes the user authentication process, when the remote operation device 20 receives an authentication result signal, the remote operation device 20 executes the authentication result confirmation process (FIG. 6). FIG. 8 is a diagram showing an example of a work selection screen. FIG. 9 is a diagram showing an example of a machine selection screen. FIG. 10 is a diagram showing an example of a confirmation screen. FIG. 11 is a diagram showing an example of a confirmation instruction screen.

[0072] In the above authentication result confirmation process, first, it is determined whether or not the user authentication of the operator 2 has been successful based on the authentication result data in the authentication result signal (STEP 30 in FIG. 6).

[0073] If this determination is negative (NO in STEP 30 in FIG. 6), and the user authentication of Operator 2 has failed, a re-authentication process is executed (STEP 31 in FIG. 6). In this re-authentication process, a picture indicating that the user authentication has failed and a re-authentication button for performing re-authentication are displayed on the remote terminal 230. When the re-authentication button is pressed by Operator 2, the processes in STEPs 22 to 25 in FIG. 5 described above are executed. After the re-authentication process is executed as described above, this process ends.

[0074] On the other hand, if the above determination is affirmative (YES in STEP 30 in FIG. 6), and user authentication of Operator 2 is successful, an authentication success screen (not shown) is displayed on the remote terminal 230 (STEP 32 in FIG. 6). In the case of this authentication success screen, the words "Facial Authentication" and an emoticon symbol indicating that facial authentication has been successful are displayed at the top, and an OK button is displayed below them.

[0075] Next, it is determined whether or not an understanding action has been performed (STEP 33 in FIG. 6). In this case, if the OK button is pressed, it is determined that an understanding action has been performed, and otherwise it is determined that an understanding action has not been performed.

[0076] If this determination is negative (NO in STEP 33 in FIG. 6), the process returns to STEP 32. On the other hand, if this determination is positive (YES in STEP 33 in FIG. 6) and the OK button is pressed, a work selection screen such as that shown in FIG. 8 is displayed on the local terminal 230 based on the work plan of the operator 2 stored in the storage device 12 of the remote operation support server 10 (STEP 34 in FIG. 6). At this time, a display command signal corresponding to information on the multiple work machines 40 is input to the local terminal 230 from the remote control device 200.

[0077] On this work selection screen, work selection buttons 504, 505, and 506 are displayed, indicating three work content data that can be performed by operator 2, and at the bottom is a button 507 for returning to the previous screen. Within each frame of work selection buttons 504 to 506, the location of the work site where the work will be performed, the work content, the work schedule, etc. are displayed as work content data.

[0078] In the example of the work selection screen shown in FIG. 8, three work selection buttons 504 to 506 are displayed, but depending on the work plan of the operator 2, two or less or four or more work content data selection buttons may be displayed.

[0079] Next, it is determined whether or not a work selection has been performed (STEP 35 in FIG. 6). In this case, if any of the work selection buttons 504 to 506 is pressed by the operator 2, it is determined that a work selection has been performed; otherwise, it is determined that a work selection has not been performed. Note that FIG. 8 shows the case where the operator 2 has pressed the work selection button 504.

[0080] If this determination is negative (NO in STEP 35 in FIG. 6), the process returns to STEP 34. On the other hand, if the work selection button is pressed and this determination is positive (YES in STEP 35 in FIG. 6), a machine selection screen such as that shown in FIG. 9 is displayed on the remote terminal 230 (STEP 36 in FIG. 6). Note that if button 507 on the screen in FIG. 8 is pressed, the process returns to STEP 32.

[0081] In the case of the machine selection screen of Figure 9, machine selection buttons 508, 509, and 510 are displayed which indicate the details of three work machines 40 that may be used for the work selected by the operator 2 and that can be remotely controlled, and at the lowest position is a button 511 for returning to work selection.

[0082] For example, if excavation work to be performed in work area A is selected in work selection (STEP 35 in Figure 6), work machines 40 that are present in work area A, that are equipped with a bucket for excavating, and that can be remotely operated will be displayed as machine selection buttons, while work machines 40 that are not present in work area A or work machines 40 that are not equipped with a bucket will not be displayed. In the above processing, the work machine 40 has a device for detecting its position, such as GNSS, and the position information of the work machine 40 is received via the network, and when there are changes to the specification information of the work machine 40, this change information is uploaded to the storage device 12 via the network.

[0083] In the example of the work selection screen shown in Figure 9, three machine selection buttons 508 to 510 are displayed, but depending on the status of the remotely operable work machines, two or fewer or four or more machine selection buttons may be displayed.

[0084] Next, it is determined whether machine selection has been performed (STEP 37 in FIG. 6). In this case, if any of machine selection buttons 508 to 510 is pressed by operator 2, it is determined that machine selection has been performed, and in any other cases it is determined that machine selection has not been performed. Note that FIG. 9 shows a case where machine selection button 509 is pressed by operator 2.

[0085] If this determination is negative (NO in STEP 37 in FIG. 6), the process returns to STEP 36. On the other hand, if the machine selection button is pressed and this determination is positive (YES in STEP 37 in FIG. 6), a confirmation screen such as that shown in FIG. 10 is displayed on the remote terminal 230 (STEP 38 in FIG. 6).

[0086] In the case of this confirmation screen, data 512 indicating the work content selected by operator 2 is displayed at the top, and below that, data 513 indicating the work machine selected by operator 2 is displayed. Also displayed below the data 513 is appearance information 526 of the work machine 40 selected by operator 2 and position image information 527 of the work site where the work machine 40 selected by operator 2 is located. These pieces of information 526, 527 are videos or still images captured in advance and stored in advance in storage device 12. Note that instead of appearance information 526, operation information, which will be described later, may be displayed.

[0087] Furthermore, weather data 528 is displayed below the information 526, 527. In this case, the weather data 528 displays current weather information (weather, temperature, wind direction) and weather forecast information for the work site where the work machine 40 selected by the operator 2 is located. The weather data 528 is displayed by obtaining weather data that corresponds to the position information of the work machine 40 selected by the operator 2.

[0088] Furthermore, a return to list button 514 for returning to the previous screen is displayed on the left at the bottom of the confirmation screen, and a start remote operation button 515 is displayed on the right at the bottom. In this case, if the work machine 40 displayed on the confirmation screen is correct, the operator 2 presses the start remote operation button 515 to continue the work of starting remote operation.

[0089] On the other hand, if the work machine 40 displayed on the confirmation screen is incorrect, the operator 2 can perform an operation to reselect the work machine 40 by pressing the return to list button 514. When the return to list button 514 is pressed by the operator 2, the process returns to STEP 36.

[0090] Next, it is determined whether or not a remote control start operation has been performed (STEP 39 in FIG. 6). In this case, if the remote control start button 515 in FIG. 10 is pressed by the operator 2, it is determined that a remote control start operation has been performed, and in any other cases, it is determined that a remote control start operation has not been performed.

[0091] If this determination is negative (NO in STEP 39 in FIG. 6), the process returns to STEP 38. On the other hand, if the remote operation start button 515 is pressed and this determination is positive (YES in STEP 39 in FIG. 6), an instruction signal is output to the remote operation support server 10 (STEP 40 in FIG. 6). Thereafter, this process ends. This instruction signal requests various communication setting information from the remote operation support server 10.

[0092] As described above, after the authentication result confirmation process is executed in the remote operation device 20, when the instruction signal is received by the remote operation support server 10, the remote operation support server 10 executes the communication connection establishment process (FIG. 7).

[0093] In the communication connection establishment process, in order to establish a communication connection state between the remote control device 20 and the work machine 40 selected by the operator 2, a device-side communication setting signal is output to the remote control device 20 and at the same time, an actual machine-side communication setting signal is output to the work machine 40.

[0094] This device-side communication setting signal is configured to include various communication setting information such as the IP address of the actual wireless communication device 470 in the work machine 40 selected by the operator 2, and the actual wireless communication device 470 can obtain information about the remote wireless communication device 260 with which communication should be established as the destination of various information.

[0095] The actual machine side communication setting signal is configured to include various communication setting information such as the IP address of the remote wireless communication device 260 in the remote control device 20 operated by the operator 2, and the remote wireless communication device 260 can obtain information about the actual wireless communication device 470 with which communication should be established as the destination of various information. This enables communication between the remote control device 20 and the work machine 40.

[0096] As a result of the above, the work machine 40 can transmit information such as an imaging data signal including imaging data captured by the imaging device 461 to the remote wireless communication device 260, which is the destination, and the remote control device 20 can transmit information such as operation information including lever operation information performed in the remote control mechanism 211 to the actual wireless communication device 470, which is the destination.

[0097] That is, when a work machine 40 is selected by the operator 2, an instruction signal requesting various communication setting information is sent from the remote operation device 20 to the remote operation support server 10, and various communication setting information such as an IP address is sent from the storage device 12 of the remote operation support server 10 to the actual wireless communication device 470 and the actual wireless communication device 470 based on the instruction signal, and communication setting processing is executed in the remote operation device 20 and the work machine 40, thereby establishing a communication connection state with the work machine 40. Therefore, it takes a certain amount of time from when the work machine 40 is selected by the operator until the communication connection state is established.

[0098] In the remote operation device 20, the above-mentioned communication setting process is executed, and after the communication connection state is established, an actual device connection preparation process is executed. Specifically, in this actual device connection preparation process, as shown in Fig. 7, first, a confirmation instruction screen display process is executed (STEP 50 in Fig. 7). In this confirmation instruction screen display process, a confirmation instruction screen shown in Fig. 11 is displayed on the remote terminal 230.

[0099] As shown in Fig. 11, the confirmation instruction screen displays a message at the top saying "Please check the main camera image," and below that two messages are displayed: "The main camera image will be switched" and "Please check that the image is from the camera of the construction machine you want to operate." Furthermore, below the above messages, from top to bottom, a connect button 516 with the message "Connect to this construction machine" displayed and a change button 517 with the message "Change construction machine" displayed are displayed.

[0100] This connect button 516 is a button for confirming the start of work on the work machine 40 after the communication connection establishment process has been executed on the remote operation support server 10. In addition, the change button 517 is a button for canceling work on the work machine 40 and reselecting another work machine 40 immediately before work is to be started on the work machine 40 after the communication connection establishment process has been executed on the remote operation support server 10.

[0101] Furthermore, at the same time that the confirmation screen is displayed on the local terminal 230, an imaging data signal including imaging data captured by the imaging device 461 in the work machine 40 is output from the actual machine control device 400 to the remote operation device 20, and the imaging data captured by the imaging device 461 is output from the image output device 221. In this case, the operator 2 can confirm from the confirmation screen displayed on the local terminal 230 and the imaging data displayed on the image output device 221 whether or not the selected work machine 40 is the one intended for remote operation.

[0102] Upon receiving the message, the operator 2 determines whether the image data displayed on the image output device 221 is correct, and if the work machine 40 is correct, presses the connect button 516 to start remote operation, whereas if the work machine 40 is incorrect, presses the change button 517 to reselect the work machine 40.

[0103] Next, it is determined whether or not the actual device connection operation has been performed by the operator 2 (STEP 51 in FIG. 7). In this case, if the operator 2 presses the connect button 516 on the confirmation instruction screen, it is determined that the actual device connection operation has been performed, and otherwise it is determined that the actual device connection operation has not been performed.

[0104] If this determination is negative (NO in STEP 51), the process returns to STEP 50. On the other hand, if the connect button 516 is pressed and the determination is positive (YES in STEP 51), an actual machine connection signal is output to the work machine 40 (STEP 52 in Figure 7). Thereafter, this process ends. Although not shown, if the change button 517 is pressed, the process returns to STEP 36 in Figure 6, and a machine selection screen such as that shown in Figure 9 is displayed.

[0105] Furthermore, in the remote control device 20, as the operator 2 operates the key switch 240 sequentially from the key-off position to the key-on position and then to the key-start position, a key-start signal indicating this is output to the work machine 40. As a result, an engine start process is executed in the work machine 40. In this engine start process, the engine 460 of the work machine 40 is started by the actual machine control device 400. Then, when the engine 460 has started, an engine start signal indicating this is output to the remote control device 20.

[0106] As described above, after the engine start processing has been executed in the work machine 40, if the remote control device 20 receives an engine start signal, the remote control device 20 will then execute the remote control processing. In this remote control processing, the engine start signal is output from at least one of the image output device 221, the handheld terminal 230, and the speaker 250. This allows the operator 2 to confirm that the engine 460 has started. Next, on the condition that a lever lock release operation has been performed, the operation of the work machine 40 can be remotely controlled in response to the operation of the remote control device 20 by the operator 2. Note that the operator recognition device 223 constantly captures an image of the operator 2 seated in the seat 231, and if the operator 2 seated in the seat 231 is replaced by another operator while remote control by the remote operation system 1 has not yet been terminated, the remote control by the remote control device 20 will be interrupted and the process will return to the user authentication processing for the operator 2 (STEP 30 in FIG. 6 ).

[0107] <Displaying operation information> In the remote operation system 1 described above, if the target work machine 40 is a work machine that the operator 2 is operating for the first time or if some time has passed since the last operation, the operator 2 cannot fully grasp the movements of the work machine 40 in advance, which can lead to the operator moving the work machine 40 excessively when starting operation, making it difficult to start operation smoothly. In this embodiment, to solve this problem, operation information of the work machine 40 is provided to the operator 2 in the remote operation system 1. This operation information is information relating to the movement of the work machine 40 that is the target of operation, such as dynamic characteristics.

[0108] Fig. 12 is a block diagram showing the configuration of the display processing of the operation information, and Fig. 13 is a flowchart showing the display processing of the operation information.

[0109] 12, the remote control device 200 further has a function of determining whether the activation of the remote operation system 1 by the operator 2 during the control process is either an initial activation or a switching operation, and a function of generating visual information according to the determination result. This visual information is information for visually providing the above-mentioned operation information to the operator 2. The remote control device 200 inputs the generated visual information as moving image information (moving image) to the image output device 221 or the handheld terminal 230, allowing the operator 2 to view it.

[0110] To explain the above function more specifically, as shown in Figure 13, when the control process of the remote operation system is started, the remote control device 200 determines whether it is an initial startup or a switching operation (STEP 70). An initial startup refers to the timing when the remote operation system 1 is started for the first time in work within a predetermined period (for example, work in one day). A switching operation refers to the operation of switching the operation target to another work machine 40 after one work machine 40 has been remotely controlled by the remote operation system 1. This switching is performed through the procedures, screens, etc. described above.

[0111] Note that the remote control system 1 may be configured to be determined to be the first startup even after it is started for the first time in a day's work. For example, at the time when user authentication (STEP 30 in FIG. 6) is performed, the remote control device 200 determines whether user authentication (STEP 30 in FIG. 6) has been performed before this time in a day's work. If the determination result is negative, the remote control device 200 determines that the current startup is the first startup. If the determination result is positive, the remote control device 200 determines whether the authentication data acquired in the previous user authentication matches the authentication data acquired in the user authentication at the current startup, and if the determination result indicates a match, determines that the startup is not the first startup, and if the determination result indicates a mismatch, determines that the startup is the first startup. With such a remote operation system 1, in a case where at the beginning of a work day a first operator acts as operator 2 and remotely operates the work machine 40 via the remote control device 200 using the remote operation system 1, and then partway through the day the operator 2 performing the remote operation is replaced by a second operator other than the first operator, the second operator can be made to understand information (operating characteristics) relating to the movement of the work machine 40 before actually operating the work machine 40, thereby enabling the second operator to smoothly begin operating the work machine 40 that is to be operated.

[0112] Here, if the current startup is an initial startup or a switching operation (YES in STEP 70), the remote control device 200 proceeds to STEP 71 and generates visual information. If the current startup is an initial startup, and a work machine 40 that can be operated is selected by the operator 2, the visual information is generated based on the operation information of the selected work machine 40. Also, if the current startup is a switching operation, and a work machine 40 that can be operated after switching is selected by the operator 2, the visual information is generated based on the operation information of the selected work machine 40. Operation information for each work machine 40 that can be operated is stored in the storage device 12 of the remote operation support server 10 or the storage device of the remote operation device 20. The operation information for the work machine 40 is, for example, the maximum operation speed and response speed of the swing mechanism 430 and the work attachment 440, and each work machine 40 has unique information. Furthermore, the remote control device 200 inputs a command signal corresponding to the generated visual information to the image output device 221 or the handheld terminal 230 (display IF: interface). As a result, visual information is presented to the operator 2 (STEP 72). The flow of Fig. 13 is repeatedly executed during the startup of the remote operation system 1. Note that if the determination in STEP 70 of Fig. 13 is NO, visual information is not displayed.

[0113] Fig. 14 is a diagram showing an example of the visual information (operation information). Note that Fig. 14 shows three images, (A) a first display pattern, (B) a second display pattern, and (C) a third display pattern, as representative still images, but in this embodiment, the visual information is a moving image including these still images, as described above. Furthermore, this moving image is captured in advance and stored in a storage unit (not shown) in the remote control device 200. In other embodiments, the moving image may be stored in the storage device 12 of Fig. 2 or the like.

[0114] In this embodiment, the video, which is visual information, shows the upper rotating body 420 rotating relative to the lower traveling body 410. At the beginning of the video, as shown in FIG. 14(A), an image of the front of the work machine 40 taken from inside the cab is displayed. This image includes the work attachment 440. As the video progresses, the portion of the image excluding the work attachment 440 is displayed by scrolling smoothly from right to left (or left to right). On the other hand, the portion of the image that includes the work attachment 440 is not displayed by scrolling, and the display area within the image continues without changing. This scrolling display of the portion of the image excluding the work attachment 440 and the display of the portion of the work attachment 440 that is not displayed by scrolling correspond to the field of view when looking ahead of the work machine 40 from inside the cab when the upper rotating body 420 has started to rotate. In addition, if there is a light source such as the sun that affects the brightness of the image in the visual information, the brightness of the image may change as the upper rotating body 420 rotates, or shadows of the upper rotating body 420 or the work attachment 440 may be generated within the image. FIG. 14(B) shows the scrolling display of the portion excluding the work attachment 440 shown in FIG. 14(A) and the display of the portion of the work attachment 440 that is not scrolled, with supports arranged around the work machine 40 to serve as indicators for the rotation operation. When the upper rotating body 420 starts to rotate with one support support arranged as an indicator for the rotation operation, as shown in FIG. 14(B), the support support shown in FIG. 14(B) appears on the image from the right side of the screen. Furthermore, as the video progresses, the support support shown in FIG. 14(B) is displayed moving to the left side of the image (downstream in the direction of rotation). Multiple supports may be arranged as indicators for the rotation operation. If multiple supports are placed around work machine 40, when upper rotating body 420 starts to rotate, an image is displayed in which new supports that serve as indicators for the rotation operation appear one after another from the right side of the screen. Thereafter, the speed of movement of the scroll display of the portion of the image excluding work attachment 440 gradually decreases, indicating that the rotation speed of upper rotating body 420 decreases and the rotation stops, and finally the video ends with the movement of the scroll display stopped.

[0115] The speed at which the scenery changes in the portion of the video excluding the work attachment 440 in the video shown in FIG. 14 corresponds to the rotation speed of the upper rotating body 420. In this embodiment, as shown in FIGS. 14(A) and 14(B), the words "Lever ON" are displayed in the center of the screen in the video. This display means that the rotation lever for rotating the upper rotating body 420 is being operated at full lever (maximum amount of operation). In this embodiment, the words "Lever ON" are not displayed at the beginning of the video, and then the words "Lever ON" are displayed, and the portion of the image excluding the work attachment 440 is scrolled. In other words, a step input is applied to the rotation lever such that the rotation lever is instantly operated at full lever (maximum amount of operation) from a state in which it is not being operated, and the rotation speed of the upper rotating body 420 increases from zero in response to this input, which is reproduced by the movement speed of the scroll display as a step response. The movement speed of the scroll display accelerates from zero immediately after the upper rotating body 420 starts to rotate, then the degree of acceleration gradually decreases and eventually reaches a steady speed. The display may show the rotation speed decelerating after reaching the steady speed, in which case the movement speed of the scroll display of the portion of the image excluding the work attachment 440 decreases and the "Lever ON" characters disappear.

[0116] That is, when an operator views the visual information (video) exemplified in FIGS. 14(A) and 14(B), the operator can understand that when the swing lever of the work machine 40 that the operator intends to operate is fully operated, the upper rotating body 420 will swing at the swing speed shown in the video, and can thereby understand the characteristics of the swing operation of the work machine 40 that may be selected for operation by the operator 2. In particular, since an indicator for the swing operation is arranged in FIG. 14(B), it is possible for the operator 2 to easily recognize changes in the scrolling display of the view in front of the cab. Furthermore, by making the indicator a support that extends up and down, it is possible to more easily recognize the left-right movement of the indicator on the screen. Furthermore, when the operator 2 selects a work machine other than the above-mentioned work machine 40, visual information is generated based on the operation information of the selected other work machine, and a video is displayed showing the upper rotating body 420 swinging at a swing speed different from that of the above-mentioned work machine 40, allowing the operator 2 to understand the operation information of the selected other work machine.

[0117] Note that by arranging the multiple support pillars (virtual structures) shown in FIG. 14(B) at equal intervals in advance, the operator 2 can easily grasp the swing speed. Furthermore, as shown in FIG. 14(C), the indicator support pillars may be arranged in front of the cab. With this configuration, even when a video is displayed in which the work attachment 440 is operated to move the bucket 445 back and forth, the virtual structures described above make it easier for the operator 2 to grasp the sense of distance in front of the cab. In this case, for example, an input is given to the arm lever such that the arm lever is instantly operated from a non-operated state to a full lever (maximum operation amount), and in response, the work attachment 440 operates and the bucket 445 moves back and forth, as a step response. Similarly to FIGS. 14(A) and 14(B), the words "Lever ON" may be displayed in FIG. 14(C). Furthermore, the visual information (video) shown in FIG. 14(C) may be displayed before or after the visual information (video) shown in FIG. 14(A) and 14(B) is displayed.

[0118] 14, when the ground is included (displayed) in the image, the operator 2 can better understand the movement of the work machine 40. Similarly, displaying the step response of the work attachment 440 or the step response of the swing operation as described above can also help the operator 2 understand the operating speed and transient characteristics of the work machine 40.

[0119] Here, the visual information as described above can be displayed at various times when the operator 2 operates the remote control device 20. As an example, when the operator 2 presses the "connect to this construction machine" (516) button in Fig. 11 on the remote terminal 230, in other words, when the work machine 40 to be operated is selected by the operator 2, visual information as shown in Fig. 14 may be displayed. In this case, the visual information may be displayed on the remote terminal 230, or may be displayed on the image output device 221. Furthermore, the visual information may continue to be displayed from the time the operator 2 presses the "connect to this construction machine" button until the process for connecting communication with the work machine 40 to be operated is completed, in order to allow the operator 2 to understand the operating characteristics of that work machine 40.

[0120] On the other hand, when the operator 2 selects (tap) on the screen shown in Fig. 9 a work machine 40 (construction machine B, 509) that is a candidate to be connected, the visual information of Fig. 14 may be displayed. In this case, the operator 2 can check the visual information described above as reference information when selecting the work machine 40 to be operated. In this aspect, the screen of Fig. 11 may then be displayed, and when the operator 2 presses "Connect to this construction machine" (516), processing may be executed to connect communications to the work machine 40 to be operated.

[0121] The visual information exemplified in FIG. 14 may be CG (Computer Graphics) or a video image captured in advance. In this case, the work site displayed on the screen may be an actual work site or a virtual work site. Still images that allow the operator 2 to grasp the movement of the work machine 40 may also be used. In this case, the dynamic characteristics of the work machine may be shown in numbers or the like within the still image. Furthermore, the images (video) included in the visual information are not limited to the swinging movement of the upper swing body 420, but may also be the movement of the work attachment 440 or the traveling movement of the lower running body 410.

[0122] Furthermore, the visual information may be set so that the image shown in Fig. 14 is enlarged and each operating lever is included in the video. In this case, the visual information (video) may be set so that the operating lever corresponding to the movement (for example, swing operation) of the work machine 40 is operated (tilted), and the upper swing body 420 swings and the view in front of the cab changes depending on the amount of operation.

[0123] Furthermore, FIGS. 15 and 16 are diagrams illustrating modified examples of operation image information. In the above embodiment, in the video presenting visual information, the display "Lever ON" was displayed as information regarding the amount of operation of the swing lever (operation unit) as shown in FIGS. 14(A) and 14(B). In this modified example, the lever input display is superimposed on the video as shown in FIG. 15. Note that in FIG. 15, as an example, the input amount and lever input direction (operation direction) of the operation lever are displayed using gauges, and the operation amounts of the left and right operation levers can be displayed separately. In this case, the operation of the work attachment 440 and the upper rotating body 420 can be presented in the video along with the input to the operation lever. Note that the lever input direction may be either forward, backward, left, or right. In the example shown in FIG. 15, operating (tilting) the left operation lever (2111 in FIG. 3) to the right as indicated by the arrow causes the upper rotating body 420 to rotate clockwise. Furthermore, as shown in FIG. 16, the input amount to the operation lever may be displayed numerically, such as a percentage of the maximum operation amount. For example, as shown in Fig. 16, when the input amount to the operating lever functioning as a turning lever is 50%, the portion of the image excluding the work attachment 440 is scrolled left and right at half the speed of when the lever is operated at full lever (maximum operation amount). The input amount to the operating lever in the moving image showing the visual information is greater than 0 and less than 100%, and the portion of the image excluding the work attachment 440 is scrolled left and right at a faster speed as the input amount increases at a speed corresponding to the input amount to the operating lever. Furthermore, the moving image showing the visual information in this modified example may sequentially show a scrolling display that moves at movement speeds corresponding to each input amount (e.g., a movement speed corresponding to 25%, a movement speed corresponding to 50%, a movement speed corresponding to 75%, and a movement speed corresponding to 100%) when a plurality of different input amounts (e.g., 25%, 50%, 75%, and 100%) are given.

[0124] Furthermore, in the above embodiment, the remote operation system 1 has been used for explanation, but the visual information may be displayed on a display device (not shown) in the cab of the work machine 40, and provided to the operator 2 who actually operates the work machine 40 at the work site. In this case, the actual machine control device 400 of the work machine 40 constitutes the display control unit of the present invention. Furthermore, the work machine 40 is not limited to the aspect shown in Figure 4, and other machines may be used.

[0125] As described above, in the embodiments and variations of the present invention, the operation system (for example, the remote operation system 1) comprises a remote operation mechanism 211 (operation unit) that receives operation inputs from the operator 2 to move the work machine 40, a display device (handheld terminal 230, image output device 221) that displays an image that can be viewed by the operator 2 in response to an input display command signal, and a remote control device 200 (display control unit) that inputs the display command signal, which includes information related to the movement of the work machine 40 that is the target of the operation, to the display device and controls the display device.

[0126] This configuration enables the operator 2 to grasp information about the machine's movements (operation characteristics) before actually operating the work machine 40, and allows the operator 2 to perform operations that take those characteristics into consideration. As a result, operation of the work machine 40 can be started smoothly, and a decline in productivity after work has begun can be suppressed.

[0127] Furthermore, the information relating to the movement of the work machine may include a video showing the movement of the work machine 40 that is the object of the operation.

[0128] According to this configuration, by displaying a moving image (video), it is possible to encourage the operator 2 to better understand the movement of the work machine 40.

[0129] Furthermore, the information relating to the movement of the work machine 40 may include information relating to the amount of operation and the video corresponding to that operation, as shown in FIGS.

[0130] According to this configuration, the operation amount and the corresponding movement of the work machine 40 are displayed in association with each other, allowing the operator 2 to grasp the movement information more intuitively.

[0131] Furthermore, as shown in FIG. 9, the remote control device 200 is capable of inputting the display command signal, which includes machine information of a plurality of work machines 40 that can be the object of the operation, to the display device, and is further equipped with a handheld terminal 230 (selection input unit) that receives operation input by the operator 2 to select the work machine 40 to be the object of the operation from among the plurality of work machines by referring to the machine information, and the remote control device 200 may be configured so that, when the operator 2 selects one work machine 40 via the handheld terminal 230, the display command signal, which includes information regarding the movement of that one work machine 40, is input to the display device and displayed on the display device.

[0132] According to this configuration, when the operator 2 selects one work machine 40, he or she can visually confirm information relating to the movement of that work machine 40. Therefore, before actually operating the work machine 40, the operator can understand the movement of the selected work machine 40 and start operating it efficiently.

[0133] Furthermore, when the operator 2 selects one of the work machines 40, the remote control device 200 may input the display command signal, which includes information regarding the movement of the one of the work machines 40, to the display device and cause the display device to display the information.

[0134] According to this configuration, the operator 2 can use the waiting time when connecting with one work machine 40 selected as the operation target to grasp information (dynamic characteristics) related to the movement of the work machine 40. As a result, it is possible to suppress a decrease in work efficiency after work has started.

[0135] Furthermore, the remote control device 200 may input the display command signal, which associates machine information of a plurality of work machines 40 that can be operated with information relating to the movement of each work machine 40, to the display device and display the signal on the display device. For example, images 508, 509, 510 in Figure 9 may show images (video) corresponding to the operation information of each machine.

[0136] According to this configuration, the operator 2 can efficiently select an operation target from multiple work machines 40 by looking at information related to the movement of each work machine 40 as reference information when selecting an operation target from multiple work machines 40. [Explanation of symbols]

[0137] 1. Remote control system 2 Operators 10 Remote operation support server 20 Remote Control Device 40 Work Machinery 200 Remote control device (display control unit) 211 Remote control mechanism (operation unit) 221 Image output devices (display devices) 230 Handheld terminal (display device, selection input unit) 410 Undercarriage 420 Upper rotating body

Claims

1. an operation unit that receives operation inputs from an operator to operate the work machine; a display device that displays an image that can be viewed by the operator in response to an input display command signal; a display control unit that inputs the display command signal, which includes information regarding the movement of the work machine that is the target of the operation, to the display device and controls the display device; An operating system for a work machine comprising:

2. The work machine operation system according to claim 1 , wherein the information relating to the movement of the work machine includes a video showing the movement of the work machine that is the object of the operation.

3. 3. The operation system for a work machine according to claim 2, wherein the information relating to the movement of the work machine includes information relating to the amount of operation of the operation and the video corresponding to the operation.

4. the display control unit is capable of inputting the display command signal, which includes machine information of a plurality of work machines that can be the target of the operation, to the display device; a selection input unit that receives an operation input by the operator to select a work machine to be operated from among the plurality of work machines by referring to the machine information, 4. The work machine operation system according to claim 1, wherein, when an operator selects one work machine via the selection input unit, the display control unit inputs the display command signal including information about the movement of the one work machine to the display device and causes the display device to display the information.

5. 5. The work machine operation system according to claim 4, wherein the display control unit inputs the display command signal including information regarding the movement of the one work machine to the display device and causes the display device to display the information during communication connection with the one work machine as a result of the operator selecting the one work machine.

6. 4. The work machine operation system according to claim 1, wherein the display control unit inputs the display command signal, which associates machine information of a plurality of work machines that can be the target of the operation with information related to the movement of each work machine, to the display device and causes the display device to display the information.

Images