Management system and operation system

Abstract

To suppress the occurrence of a trouble in displaying a picked-up image on a display apparatus provided in a management apparatus due to an excessive cumulative traffic between a target machine and the management apparatus.SOLUTION: The management system 200 includes a management device 101 that manages the work machine 100, an imaging device 10 that is provided in the work machine 100 and captures an image, a target machine-side communication unit 41 that is provided in the work machine 100, a management-side communication unit 102 that is provided in the management device 101, a display device 20 that is provided in the management device 101 and displays a captured image based on received image data, and a machine-side controller 50. The machine-side controller 50 executes adjustment control for adjusting the transmission volume of the transmission date to be transmitted per unit time so that the accumulated date traffic between both the communication devices 4142 and within the predetermined period becomes equal to or less than a predetermined value.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a management system and an operation system. [Background technology]

[0002] BACKGROUND ART Conventionally, there is known a management system that includes a management device that manages target machines (see, for example, Patent Document 1).

[0003] In this management system, peripheral image data captured by an imaging device installed in the target machine is transmitted to a management device (external device) that manages the target machine, and the peripheral image is displayed on a display device installed in the management device. The management system is configured to reduce the amount of image data transmitted from the target machine to the management device when communication delay between the management device and the target machine is relatively large compared to when communication delay is relatively small. This reduces the time lag between the content of the peripheral image of the target machine displayed on the display device and the actual state of the surroundings of the target machine. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-182529 Summary of the Invention [Problem to be solved by the invention]

[0005] In the management system disclosed in Patent Document 1, when a communication delay occurs between a target machine and a management device, the amount of image data sent from the target machine to the management device is reduced, but no consideration is given to the cumulative amount of data communication between the target machine and the management device. As a result, for example, when the cumulative amount of data communication within a predetermined period exceeds an upper limit set by the carrier company, the data communication speed drops significantly, resulting in an increase in the time lag between the image displayed on the display device and the actual surrounding image, or the transmission of image data is interrupted, making it impossible to display.

[0006] The present invention has been made to solve the above-mentioned problems, and aims to prevent problems with the display of captured images on a display device provided in the management device caused by an excessive cumulative amount of data communication between the target machine and the management device. [Means for solving the problem]

[0007] The operation system of the first invention comprises a management device that manages a target machine, an imaging device provided in the target machine that captures an image, a target machine side communication unit that is provided in the target machine and transmits image data related to the captured image to the management device, a management side communication unit that is provided in the management device and receives the image data by communicating with the target machine side communication unit, a display device that is provided in the management device and displays the captured image based on the received image data, and a control device, wherein the control device is configured to perform adjustment control to adjust the transmission capacity of transmission data transmitted per unit time from the target machine side communication unit to the management side communication unit so as to satisfy a specified condition that the cumulative data communication volume between the target machine side communication unit and the management side communication unit within a specified period is below a specified value.

[0008] According to this configuration, the control device executes adjustment control to adjust the data transmission capacity per unit time transmitted from the target machine communication unit to the management communication unit so that the cumulative data communication volume between the target machine communication unit and the management communication unit within a predetermined period is equal to or less than a predetermined value. Therefore, it is possible to prevent the cumulative data communication volume from becoming excessive, thereby preventing problems with the display of captured images on the display device. Note that the predetermined value may be set to, for example, an upper limit on data communication volume to avoid communication speed restrictions imposed by a carrier company, or may be a value arbitrarily set by the user.

[0009] In a second invention, in the first invention, it is preferable that the adjustment control includes a process of acquiring a planned cumulative operating time, which is the cumulative total of the scheduled operating times of the target machine within the specified period; a process of calculating a planned value of the transmission capacity within the specified period based on the acquired planned cumulative operating time and the specified value so as to satisfy the specified condition; and a process of adjusting the transmission capacity so as to satisfy the specified condition based on the calculated planned value.

[0010] According to this configuration, the planned value of the transmission capacity calculated based on the planned cumulative operating time of the target machine within a predetermined period and the predetermined value is used to adjust the transmission capacity of the image data per unit time, so that the value of the transmission capacity within the predetermined period can be brought as close as possible to the planned value. Therefore, the transmission capacity of the image data per unit time to be transmitted can be appropriately set based on the operation plan of the target machine.

[0011] In a third invention, in the second invention, it is preferable that the system further includes a memory unit that stores operation plan data that defines an operation plan for the target machine within the specified period, and the control device is configured to calculate the planned cumulative operation time based on the operation plan data.

[0012] According to this configuration, the planned cumulative operation time of the target machine is calculated based on the operation plan data stored in the storage unit, so that the planned cumulative operation time can be obtained by the control device more easily and accurately than when, for example, an operator calculates and inputs the planned cumulative operation time. The configuration is particularly useful when the operation plan of the target machine is complex (for example, when the scheduled operation time of the target machine is irregular and not periodic).

[0013] In a fourth invention, in the first invention, it is preferable that the adjustment control includes a first process of calculating an actual cumulative data communication volume between the target machine side communication unit and the management side communication unit from the start of the specified period to a specified point in the middle of the specified period, a second process of calculating a planned cumulative data communication volume, which is a planned value of the cumulative data communication volume at the specified point in time, based on a planned value of the transmission capacity within the specified period that is predetermined to satisfy the above-mentioned specified conditions and the elapsed time from the start of the period to the specified point in time, and a third process of calculating a difference value between the actual cumulative data communication volume calculated in the first process and the planned cumulative data communication volume calculated in the second process, and adjusting the transmission capacity based on the difference value.

[0014] According to this configuration, since the adjustment control is executed at a point in the middle of the predetermined period, even if the operating time of the target machine deviates from the planned value during the predetermined period, the cumulative data communication volume can be suppressed to be equal to or less than the predetermined value at the end of the predetermined period. Moreover, according to this configuration, the adjustment control is executed by the control device so as to satisfy the predetermined condition based on the difference between the actual cumulative data communication volume and the predetermined planned cumulative data communication volume, so that it is possible to suppress a large deviation of the actual cumulative data communication volume from the planned cumulative data communication volume.

[0015] In a fifth aspect of the present invention, based on the first aspect, it is preferable that the predetermined condition includes a condition that the cumulative data communication volume reaches the predetermined value at the end of the predetermined period.

[0016] According to this configuration, the cumulative data communication volume between the target machine communication unit and the control communication unit reaches a predetermined value at the end of the predetermined period, so that it is possible to prevent not only excessive consumption of data communication volume within the predetermined period but also excessive saving of data communication volume, thereby preventing an excessive saving of communication data consumption from causing an extreme reduction in the transmission volume of the image data per unit time, which would hinder the display of the captured image on the display device.

[0017] In a sixth aspect of the present invention, in the first aspect of the present invention, in the management system according to claim 1, the imaging device includes a plurality of imaging cameras, and the target machine side communication unit transmits composite image data relating to a composite image obtained by combining images captured by the plurality of imaging cameras to the management side communication unit, It is preferable that the transmission data includes the composite image data, and the adjustment control includes a process of adjusting the transmission capacity of the transmission data transmitted from the target machine side communication unit to the management side communication unit per unit time when transmitting the composite image data related to the composite image from the target machine side communication unit to the management side communication unit.

[0018] According to this configuration, a process for adjusting the transmission volume of data transmitted per unit time when transmitting composite image data relating to a composite image obtained by combining multiple captured images from the target machine communication unit to the management communication unit is executed, which simplifies the calculation process in the control device compared to when the transmission volume of captured image data is individually adjusted for each captured image data from each imaging camera. Therefore, it is possible to prevent a decrease in the data processing speed of image data when the control device executes adjustment control. Furthermore, it is possible to prevent a transmission delay when transmitting composite image data from the target machine communication unit to the management communication unit operating communication unit.

[0019] In the seventh invention, in the first invention, it is preferable that the transmission data includes the image data, and the adjustment control includes a process of adjusting the transmission volume of the image data transmitted from the target machine side communication unit to the management side communication unit per unit time so as to satisfy a specified condition that the cumulative transmission volume of the image data transmitted from the target machine side communication unit to the management side communication unit is less than a specified value as the cumulative data communication volume between the target machine side communication unit and the management side communication unit within a specified period.

[0020] According to this configuration, the control device executes adjustment control to adjust the transmission capacity of image data per unit time transmitted from the target machine communication unit to the control communication unit so that the cumulative data communication volume between the target machine communication unit and the control communication unit within a predetermined period is equal to or less than a predetermined value. Therefore, it is possible to prevent the display of captured images on the display device from being hindered by an excessive cumulative data communication volume. In particular, since the majority of the data transmitted from the target machine communication unit to the control communication unit is image data, adjusting the data capacity of the image data more effectively prevents the cumulative data communication volume from becoming excessive.

[0021] In the eighth invention, in the first invention, an operation unit is provided which includes an operation operation unit that causes the target machine to perform a predetermined operation in response to a predetermined operation, and a prohibition operation unit that can switch between an operation prohibition state in which operation based on operation of the operation operation unit of the target machine is prohibited and an prohibition release state in which the prohibition is released, and it is preferable that the control device is configured to perform the adjustment control so as to relatively reduce the transmission capacity when the target machine is in the operation prohibition state due to operation of the prohibition operation unit, compared to when the target machine is in the prohibition release state.

[0022] According to this configuration, when the work machine is in the operation prohibited state due to operation of the prohibition operating unit, it is presumed that there is no possibility that the work machine will be operated to operate, and therefore the transmission capacity when transmitting data by the control device is relatively reduced. Furthermore, it is possible to prevent the image quality of the captured image displayed on the display device based on the image data included in the transmitted data from being set unnecessarily high. In particular, it is possible to prevent a captured image of higher image quality than necessary from being displayed on the display device, even though the captured image displayed on the display device shows a work machine in an operation prohibited state where there is not much need to check it in detail.

[0023] A ninth invention is an operation system for remotely operating a target machine, comprising a remote operation device for remotely operating the target machine and a management system according to the eighth invention, wherein the management device included in the management system is provided in the remote operation device, and the operation unit is provided in the remote operation device.

[0024] According to this configuration, the remote control device for remotely operating the target machine is equipped with an operation unit including an operation operation unit and a prohibition operation unit. Therefore, in addition to the adjustment control being performed by the control device, the target machine is operated in response to operation of the operation unit by the operator remotely operating the target machine using the remote control device. Furthermore, when the operator remotely operating the target machine operates the prohibition operation unit to place the work machine in the operation prohibited state, the transmission capacity when transmitting data by the control device is relatively reduced. Therefore, it is possible to prevent the image quality of the captured image displayed on the display device based on the image data included in the transmission data from being set unnecessarily high. In particular, when the work machine is in the operation prohibited state, it is possible to prevent the display device from displaying an image of higher image quality than necessary, even though the operator has no intention of operating the target machine by remote operation and is in a state in which it is presumed that there is no great need for the operator to check the captured image on the display device in detail.

[0025] A tenth invention is an operation system for remotely operating a target machine, comprising a remote operation device for remotely operating the target machine and a management system according to any one of the first to seventh inventions, and the management device included in the management system is provided in the remote operation device.

[0026] According to this configuration, since the remote control device for remotely operating the target machine is provided with an operation unit, not only is adjustment control executed by the control device, but the target machine is operated in response to operation of the operation unit by an operator who remotely operates the target machine using the remote control device. Therefore, it is possible to prevent the cumulative data communication volume from becoming excessive, which causes problems in displaying captured images on the display device when the operator is remotely operating the target machine. [Effects of the Invention]

[0027] According to the present invention, it is possible to prevent problems with the display of captured images on a display device provided in the management device caused by an excessive cumulative amount of data communication between a target machine and the management device. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is a schematic diagram showing an operation system including a management system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the functional configuration of an operation system including a management system. [Figure 3] FIG. 3 is a schematic diagram showing the arrangement of imaging cameras mounted on a work machine, with FIG. 3(a) being a side view seen from the left side and FIG. 3(b) being a plan view seen from above. [Figure 4] FIG. 4 is a schematic diagram showing an example of image data transmitted from the communication device of the work machine to the communication device of the remote control device. [Figure 5] FIG. 5 is a schematic diagram showing an example of operation plan data for a work machine. [Figure 6]FIG. 6 is a graph showing the change over time in the planned cumulative data traffic based on the operation plan data. [Figure 7] FIG. 7 is an explanatory graph showing an outline of adjustment control so that it can be visually understood. [Figure 8] FIG. 8 is a flowchart showing the first half of the adjustment control executed by the machine-side controller. [Figure 9] FIG. 9 is a flowchart showing the latter half of the adjustment control executed by the machine-side controller. [Figure 10] FIG. 10 is an explanatory diagram for explaining an example of a process for setting a target transmission capacity based on adjustment control, and shows an example of increasing the target transmission capacity. [Figure 11] FIG. 11 is an explanatory diagram for explaining an example of a process for setting a target transmission capacity based on adjustment control, and shows an example of decreasing the target transmission capacity. [Figure 12] FIG. 12 is a view corresponding to FIG. 7 and shows the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0030] (Embodiment 1) FIG. 1 is a schematic diagram showing an operation system 201 including a management system 200 according to a first embodiment of the present invention, and FIG. 2 is a block diagram showing the functional configuration of the operation system 201 including the management system 200. As shown in each drawing, the operation system 201 includes an imaging device 10 provided on a work machine 100, which is an example of a target machine, a communication device 41, a remote control device 102 capable of remotely controlling the work machine 100, and a management device 101 including a display device 20 and the communication device 42 and capable of managing the work machine 100. The management device 101 is provided in the remote control device 102. Note that in this embodiment, the operation system 201 is configured by combining the management system 200 with the remote control device 102, but the remote control device 102 is not necessarily required, and the management system 200 alone may be sufficient. Furthermore, while directions such as front, back, left, and right are shown in FIG. 1 and FIG. 3, which will be described later, these directions are shown for the convenience of explanation and do not limit the configuration of the present invention.

[0031] [Work machinery] As shown in FIG. 1 , the work machine 100 in this example is a hydraulic excavator. Specifically, the work machine 100 includes a lower traveling body 1, an upper rotating body 2 rotatably mounted on the lower traveling body 1, and an attachment 6 mounted on the upper rotating body 2. The upper rotating body 2 has a revolving frame 2a connected to the lower traveling body 1, and a cab 7 mounted on the revolving frame 2a. The attachment 6 includes a boom 3 connected to the front end of the revolving frame 2a so as to be able to rise and fall, an arm 4 rotatably connected to the tip of the boom 3, and a tip attachment 5 rotatably connected to the tip of the arm 4. In this embodiment, the tip attachment 5 is formed by a bucket 5. The cab 7 is mounted at the front of the revolving frame 2a, adjacent to the boom 3 in the left-right direction of the revolving frame 2a, and forms a driver's cab for operating the work machine 100.

[0032] Work machine 100 further includes a plurality of hydraulic actuators 3a, 4a, 5a for operating the attachment 6, a swing motor (not shown) for rotating the upper swing body 2, and a travel motor (not shown) for driving the crawlers to travel the lower traveling body 1. The plurality of hydraulic actuators include a boom cylinder 3a for operating the boom 3, an arm cylinder 4a for operating the arm 4, and a bucket cylinder 5a for operating the bucket 5. Note that another end attachment may be attached instead of the bucket 5.

[0033] 2, the work machine 100 is equipped with an imaging device 10, a communication device 41, a machine-side controller 50 as a control device, and a data storage unit 45. These are provided separately from the devices that enable the work machine 100 to be operated by an operator on board the work machine 100, and may be attached later, for example.

[0034] The imaging device 10 is a device capable of capturing images of the surroundings of the work machine 100, and specifically, is a device capable of capturing moving images.

[0035] The imaging device 10 includes a front imaging camera 10F, a left imaging camera 10L, a right imaging camera 10R, and a lower imaging camera 10U. Each imaging camera 10F, 10L, 10R, and 10U is, for example, a CMOS camera or a CCD camera, and captures images of the vehicle at a predetermined frame rate. The front imaging camera 10F is located in the center of the front portion of the upper rotating structure 2 (in this example, the front end of the roof located above the cab 7). The left imaging camera 10L is located at the left end of the roof located above the cab 7. The right imaging camera 10R is located on the right side of the cab 7 on the upper rotating structure 2, at the right end of the upper rotating structure 2. The lower imaging camera 10U is located in the center of the front portion of the upper rotating structure 2 (in this example, the front end of the roof located above the cab 7). Information (video signals) relating to the images captured by the imaging cameras 10F, 10L, 10R, and 10U is input to a remote controller 60 provided at the remote location via communication devices 41 and 42 shown in FIG.

[0036] 3 is a schematic diagram showing the arrangement of imaging cameras mounted on a work machine. The front imaging camera 10F faces forward of the upper rotating body 2 and captures images of the area in front of the upper rotating body 2. The imaging range of the front imaging camera 10F includes the attachment 6. The lower imaging camera 10U faces diagonally downward and forward of the upper rotating body 22 and captures images of the diagonally downward and forward area of ​​the upper rotating body 22. The imaging range of the lower imaging camera 10U includes the front of the cab 7 and, depending on the rotation angle of the upper rotating body 22 relative to the undercarriage 1, may also include a part of the undercarriage 1 (e.g., a crawler). The left imaging camera 10L faces diagonally downward and forward relative to the fore-and-aft direction of the upper rotating body 2 and captures images of the diagonally downward and forward area relative to the fore-and-aft direction of the upper rotating body 2. The right side of the imaging range of the left imaging camera 10L includes the side surface (left side surface) of the front end of the cab 7 and the space outward of this side surface. The right imaging camera 10R faces diagonally downward and forward with respect to the fore-and-aft direction of the upper rotating body 2, and captures images diagonally downward and forward with respect to the fore-and-aft direction of the upper rotating body 2. The imaging range of the right imaging camera 10R includes the front end of the upper rotating body 2 and the space outward from this side.

[0037] As shown in Fig. 2, the communication device 41 is provided on the work machine 100. Signals output from the imaging device 10 and the like are input to the communication device 41 via a machine-side controller 50. The communication device 41 has a function of transmitting these signals to a communication device 42 provided at the remote location, and a function of receiving signals transmitted from the communication device 42. In this example, the transmission and reception of these signals is performed via a communication line 500.

[0038] In this example, the communication line 500 is configured as an Internet line, but is not limited to this and may be configured as, for example, a local area network, or may be configured as a short-range communication line based on a specified wireless communication method such as WiFi or Bluetooth (registered trademark).

[0039] The machine-side controller 50 is configured by a computer having a CPU, ROM, and RAM. The machine-side controller 50 has an operation control section 51 and an image transmission control section 52.

[0040] The operation control unit 51 drives actuators such as each cylinder 3a to 5a, a swing motor and a traveling motor (not shown) based on operation signals (operation signals generated in response to operations received by the operation unit 31) input from a remote controller 60 (described later) via communication devices 41, 42.

[0041] The image transmission control unit 52 sequentially generates composite image data GD based on the captured images g1, g2, g3, and g4 (see FIG. 4) captured by the imaging cameras 10F, 10L, 10R, and 10U input from the imaging device 10. FIG. 4 is a schematic diagram showing an example of this composite image data GD. The composite image data GD is image data of a composite image obtained by combining a front-side captured image g1 captured by the front-side imaging camera 10F, a left-side captured image g2 captured by the left-side imaging camera 10L, a right-side captured image g3 captured by the right-side imaging camera 10R, and a bottom-side captured image g4 captured by the bottom-side imaging camera 10U. In the composite image data GD, the bottom-side captured image g4 is positioned below the front-side captured image g1, the left-side captured image g2 is positioned to the left of the front-side captured image g1 and the bottom-side captured image g4, and the right-side captured image g3 is positioned to the right of the front-side captured image g1 and the bottom-side captured image g4.

[0042] Then, under the control of the image transmission control unit 52, the composite image data GD is sequentially transmitted from the machine-side controller 50 to the remote controller 60 via the communication devices 41 and 42. The communication device 41 corresponds to the target machine-side communication unit, and the communication device 42 corresponds to the management-side communication unit.

[0043] The image transmission control unit 52 adjusts the transmission capacity of data (transmission data) including the composite image data GD that is transmitted per unit time from the communication device 41 to the communication device 42; in other words, it performs adjustment control to adjust the amount of data transmitted per second from the machine-side controller 50 to the remote controller 60. This adjustment control is realized by the CPU of the machine-side controller 50 executing an adjustment program stored in the ROM. The adjustment control will be described in detail later.

[0044] The data storage unit 45 stores operation plan data WD for the work machine 100 and the like. Fig. 5 is a schematic diagram showing an example of the operation plan data WD. The operation plan data WD is data that sets in advance the planned operation time of the work machine 100 for a predetermined period (one month as an example in this embodiment) for each day of the operation month of the work machine 100. In Fig. 5, the length of each bar in the operation plan data WD, which is shown in bar graph format, indicates the length of operation time for that day. Days on which no bar is placed indicate that the work machine 100 is not scheduled to operate (operation time is zero hours). Note that, although the format of the operation plan data WD is shown in bar graph format as an example in Fig. 5, the format is not limited to this and any format, such as a table format, may be used.

[0045] The operation plan data WD may be stored in the memory unit 45, for example, via the machine-side controller 50 from a server or the like (not shown) connected to the communication line 500, or may be stored in the memory unit 45 via a personal computer or the like connected to the machine-side controller 50.

[0046] [Management device] As shown in Figures 1 and 2, the management device 101 is provided in a remote control device 102 that is placed at a location (remote location) away from the work machine 100. The management device 101 has a display device 20 and a communication device 42. The remote control device 102 is configured to utilize (share) the display device 20 and communication device 42 that constitute this management device 101 to acquire images of the surroundings of the work machine 100 by communication, and to enable an operator to remotely operate the work machine 100 based on the acquired images. In addition to the display device 20 and communication device 42, the remote control device 102 also has a seat 30, a remote controller 60, and an operation unit 31.

[0047] Specifically, the display device 20 is a device for displaying, at the remote location, an image captured by an imaging device 10 provided on the work machine 100. In this example, the display device 20 is arranged in front of the seat 30 so that the display surface faces the seat 30, as shown in FIG. 1. The display device 20 receives information (video signal) relating to the image input to the remote controller 60 via the communication device 42 (see FIG. 2), and displays the image on the display surface. The display device 20 may be a display such as a liquid crystal display or an organic EL display. Furthermore, the display device 20 is not limited to the above-mentioned displays, and may be, for example, a projector (not shown) that projects an image onto a screen or the like, or may be a head-mounted display (not shown) that is worn on the head of the operator (operator).

[0048] The seat 30 is for a manager who manages the work machine 100 or an operator who remotely controls the work machine 100. An operating unit 31 is provided in front and on the sides of the seat 30.

[0049] Specifically, the operating unit 31 has a remote control lever 31a provided on both the left and right sides of the seat 30, a travel lever 31b and a hydraulic lock lever 31c provided in front of the seat 30, and is configured to output an operating signal corresponding to the operation of these operating members.

[0050] The pair of remote control levers 31a are levers that are tilted in a predetermined direction by operation by the operator, thereby driving the boom 3, arm 4, and bucket 5. The pair of travel levers 31b are levers that are tilted forward and backward by operation by the operator, thereby causing the lower traveling body 1 to travel. The pair of remote control levers 31a and the pair of travel levers 31b function as operation operating units that, in response to a predetermined operation, cause the work machine 100 to perform a predetermined operation. The remote control levers 31a and the travel levers 31b are configured so that, when not operated by the work machine 100, a biasing force is applied to them by a spring or the like so that the tilt is maintained in a neutral state (initial state).

[0051] The hydraulic lock lever 31c is configured as an operating lever that can tilt between a locked position and an unlocked position. When the hydraulic lock lever 31c is positioned in the locked position, the work machine 100 executes a prohibition operation that prohibits the operation of all actuators, including the cylinders 3a to 5a. This prohibition operation puts the work machine 100 into an operation prohibited state in which the work machine 100 will not operate even if the remote control lever 31a or the travel lever 31b is operated. The prohibition operation is realized, for example, by not outputting an operation signal even if the operation of an operation member is accepted in the operation unit 31, or by ignoring the operation signal even if it is received by the machine-side controller 50 of the work machine 100. Furthermore, when the hydraulic lock lever 31c is positioned in the unlocked position, the work machine 100 stops executing the prohibition operation. Stopping this prohibition operation puts the work machine 100 into an operation-released state in which the work machine 100 can operate in response to operation of the remote control lever 31a or the travel lever 31b. In this prohibition-released state, for example, an operation signal output when the operation unit 31 accepts operation of an operation member is received by the machine-side controller 50, and control is executed to operate the actuator of the work machine 100 in accordance with the received operation signal. Thus, the hydraulic lock lever 31c functions as an prohibition operating unit that can switch between an operation prohibition state in which operation based on operation of the operation operating unit of the work machine 100 is prohibited, and an prohibition-released state in which the prohibition is released.

[0052] When the remote control lever 31a is operated by the operator and tilted from the neutral position, the operation unit 31 detects the operation state of the remote control lever 31a, which is determined depending on the amount of operation, direction of operation, etc., generates an operation signal corresponding to the detected operation state, and inputs the operation signal to the remote controller 60. In other words, the operation state, which is determined depending on the amount of operation, direction of operation, etc. of each remote control lever 31a, is converted into an electric signal, and the electric signal (operation signal) is input to the remote controller 60. When the operator operates the travel lever 31b, the operation unit 31 generates an operation signal corresponding to the amount of operation and inputs the operation signal to the remote controller 60. When the operator operates the hydraulic lock lever 31c, the operation unit 31 generates an operation signal corresponding to the operation position (lock position or unlock position) of the hydraulic lock lever 31c, and inputs the operation signal to the remote controller 60. When the remote control lever 31a or the travel lever 31b is in a neutral state, the operation unit 31 does not generate an operation signal and does not input an operation signal to the remote controller 60, or generates an operation signal indicating that the lever is in a neutral state and inputs it to the remote controller 60.

[0053] The operation signals input to the remote controller 60 are input to the machine controller 50 of the work machine 100 via the communication devices 41, 42. The machine controller 50 of the work machine 100 performs appropriate signal processing such as calculations based on the input operation signals, and generates command signals corresponding to the operation signals. The command signals are input to control valves for operating actuators such as the boom cylinder 3a, the arm cylinder 4a, the bucket cylinder 5a, the swing motor, and the traveling motor. Therefore, by operating the remote control lever 31a, the operator can execute various operations of the work machine 100, specifically, operations such as swinging the attachment 6, raising and lowering the boom, rotating the arm, rotating the bucket, and traveling of the undercarriage 1.

[0054] The communication device 42 has a function of successively receiving signals transmitted by the communication device 41 provided on the work machine 100 and inputting the signals to the remote controller 60, and a function of receiving signals output from the remote controller 60 and successively transmitting the signals to the communication device 41.

[0055] In this example, the communication device 41 and the communication device 42 are configured to transmit and receive signals to and from each other via wireless communication, but this is not limited to this and they may also be configured to transmit and receive signals via wired communication.

[0056] The remote controller 60 is configured by a computer having, for example, a CPU, a ROM, a RAM, and the like.

[0057] As shown in FIG. 2, the remote controller 60 includes an operation control unit 61 and a display control unit 62.

[0058] The operation control section 61 successively receives operation signals output from the operation section 31 of the remote control device 102, and successively transmits the received operation signals to the machine-side controller 50 mounted on the work machine 100 via the communication devices 41, 42. The machine-side controller 50 successively generates command signals for driving the various cylinders 3a, 4a, 5a, etc. based on the received operation signals, thereby causing the work machine 100 to perform an operation corresponding to the operation by the operator.

[0059] The display control unit 62 provides the operator with visual information required for remote operation via the display device 20. Specifically, the display control unit 62 sequentially receives image data captured by the imaging device 10 mounted on the work machine 100 from the machine-side controller 50 via the communication devices 41, 42, and sequentially displays the received captured image data on the display device 20. This allows the manager or operator managing the work machine 100 to view the image displayed on the display device 20 and obtain visual angle information equivalent to that obtained when actually riding on the work machine 100.

[0060] [About cumulative data traffic] Incidentally, for example, the total amount of data communication that can be transmitted at high speed between the communication devices 41 and 42 within a predetermined period is preset by the carrier company that provides the communication line 500. When the cumulative data communication volume between the communication devices 41 and 42 exceeds the upper data communication volume K specified by the carrier company, a communication speed restriction may be imposed. The communication speed restriction is implemented by restricting the data communication speed to a low speed for the following predetermined period when the cumulative data communication volume within the predetermined period exceeds a predetermined value. For example, when the cumulative data communication volume per month exceeds the upper data communication volume K, the data communication speed for the following month is restricted to a low communication volume. Therefore, when the cumulative data communication volume between the communication devices 41 and 42 exceeds the upper data communication volume K, the communication speed of data including the composite image data GD transmitted from the communication device 41 to the communication device 42 significantly decreases, resulting in a problem of an increased time lag between the image displayed on the display device 20 and the actual surrounding image, or even an inability to display the image.

[0061] Therefore, in this embodiment, the machine-side controller 50 is configured to perform adjustment control to adjust the transmission capacity of data including composite image data GD transmitted per unit time from the communication device 41 of the machine-side controller 50 to the communication device 42 of the remote controller 60 so that the cumulative data communication volume does not exceed the upper limit data communication volume K.

[0062] This adjustment control is realized by the function of the image transmission control unit 52 of the machine-side controller 50. Specifically, as shown in FIG. 6, the image transmission control unit 52 sets a planned value for the transmission capacity of data, including the composite image data GD, to be transmitted per unit time from the communication device 41 to the communication device 42 so that the cumulative data communication volume reaches the upper limit data communication volume K (an example of a predetermined value) exactly when one month, which is an example of a predetermined period, has elapsed. This planned value is set to be a constant value on normal operating days (weekdays) other than holidays. FIG. 6 shows the cumulative value of the data communication volume for each date, based on the start of the predetermined period. The cumulative value of the data communication volume for each day is the cumulative value of the available data communication volume from the start of the predetermined period to the end of the scheduled operation time for that day, and is set so that the cumulative data communication volume reaches the upper limit data communication volume K when the scheduled operation time on the last day (the 30th) of the predetermined period has expired.

[0063] The image transmission control unit 52 then performs adjustment control to eliminate the difference between the planned value of the cumulative data communication volume (hereinafter referred to as the planned cumulative data communication volume) when the transmission capacity of data including the composite image data GD to be transmitted per unit time from the communication device 41 to the communication device 42 is set to the planned value, and the actual cumulative data communication volume (hereinafter referred to as the actual cumulative data communication volume), thereby preventing the cumulative data communication volume from exceeding the upper limit data communication volume K within the specified period.

[0064] 7 is an explanatory graph showing an outline of the adjustment control so that it can be visually understood, showing a period of a few seconds on a date with a scheduled operation included in a predetermined period. The two-dot chain line in the graph shows the change over time in the planned cumulative data communication volume, and the solid line in the graph shows the change over time in the actual cumulative data communication volume. The change over time in the planned cumulative data communication volume is set so that the planned cumulative data communication volume increases in proportion to the passage of time from the start of the scheduled operation time of that day to the end of the scheduled operation time of that day.

[0065] As shown in this figure, the adjustment control increases the transmission capacity per unit time (the slope of the solid line in the graph) of data including composite image data GD transmitted from communication device 41 to communication device 42 when the actual cumulative data communication volume falls below the planned cumulative data communication volume, while decreasing the transmission capacity of the data (the slope of the straight line in the graph) when the actual cumulative data communication volume exceeds the planned cumulative data communication volume. In other words, the adjustment control adjusts the actual data transmission capacity (hereinafter referred to as actual transmission capacity) so that it approaches the planned value of the data transmission capacity, based on the planned value of the data volume. Specifically, when the actual cumulative data communication volume falls below the planned cumulative data communication volume, the image transmission control unit 52 executes processing to increase the data capacity of the composite image data GD, thereby increasing the transmission capacity (bps) per unit time (1 second in this example) of the data transmitted from communication device 41 to communication device 42. Furthermore, if the actual cumulative data communication volume exceeds the planned cumulative data communication volume, the image transmission control unit 52 executes processing to reduce the data volume of the composite image data GD, thereby reducing the transmission volume per unit time of data transmitted from the communication device 41 to the communication device 42. As a result, the actual transmission volume is controlled so that the actual cumulative data communication volume reaches the upper limit data communication volume K at the end of the predetermined period. The image transmission control unit 52 reduces the data volume of the composite image data GD by processing such as lowering the image quality (resolution) of the composite image data GD, converting two-dimensional pixel values ​​including luminance values ​​(four-dimensional when hue is expressed by a three-dimensional vector such as RGB values) of the composite image data GD into one-dimensional pixel values ​​including only luminance values ​​(grayscale), reducing the number of times the composite image data GD is transmitted to the communication device 42 within a predetermined time, or not combining some of the multiple captured images that were combined into the composite image data GD. In addition, the image transmission control unit 52 increases the data capacity of the composite image data GD by performing processes such as increasing the image quality (resolution) of the composite image data GD (causing the imaging device 10 to acquire higher quality captured images), increasing the number of times that captured images from the imaging device 10 are acquired within a specified period of time to generate composite image data GD and transmit them to the communication device 42, and increasing the number of captured images to be combined into the composite image data GD.

[0066] Next, details of the adjustment control executed by the image transmission control unit 52 will be described with reference to Fig. 8 and Fig. 9. Fig. 8 is a flowchart showing the first half of the adjustment control, and Fig. 9 is a flowchart showing the second half.

[0067] In step SA0, a predetermined execution period ΔT (sec) of the adjustment program is acquired. For example, when the management device 101 starts managing the work machine 100 or when remote operation of the work machine 100 is started by the remote operation device 102, a start signal is sent from the communication device 42 to the communication device 41, and step SA0 starts when the communication device 41 receives this start signal.

[0068] In step SA1, operation plan data WD (see FIG. 5) stored in the storage unit 45 is acquired, and a planned cumulative operation time, which is the sum of the scheduled operation times for each date within the predetermined period, is acquired based on the acquired operation plan data WD. Note that the storage unit 45 may be provided in the management device 101, in which case the operation plan data WD is acquired via the communication line 500. Alternatively, the operation plan data WD may be acquired from an external data server (including a cloud server).

[0069] In step SA2, the upper limit data communication volume K stored in the ROM is acquired. This upper limit data communication volume K may be acquired from an external data server (including a cloud server).

[0070] In step SA3, the planned value of the transmission capacity is calculated by dividing the upper limit data communication volume K by the planned cumulative operating time acquired in step SA1.

[0071] In step SA4, the upper limit capacity stored in the ROM is acquired. The upper limit capacity is the upper limit value of the amount of data communication per unit time between the two communication devices 41 and 42, and can be arbitrarily set by the user, for example. This upper limit capacity may be acquired from an external data server (including a cloud server).

[0072] In step SA5, a control signal is output to the imaging device 10, and imaging processing is performed at a predetermined frame rate by each of the imaging cameras 10F, 10L, 10R, and 10U.

[0073] In step SA6, it is determined whether the number of imaging cameras making up the imaging device 10 is two or more, and if this determination is NO, the process proceeds to step SA8, and if this determination is YES, the process proceeds to step SA7. Note that in this embodiment, since there are four imaging cameras, the process necessarily proceeds to step SA7, but in a work machine 100 that has only one imaging camera, the process proceeds to step SA8.

[0074] In step SA7, the images g1, g2, g3, and g4 captured by the four imaging cameras 10F, 10L, 10R, and 10U constituting the imaging device 10 are combined to generate composite image data GD (see FIG. 4).

[0075] In step SA8 (see FIG. 9 ), which is reached when the determination in step SA6 is NO, the actual cumulative data communication volume A1 (bits) between both communication devices 41 and 42 up to the start of the previous flow (the flow one execution cycle ΔT ago) is calculated. Since the composite image data GD transmitted from the communication device 41 to the communication device 42 accounts for the majority of data communication between both communication devices 41 and 42, the machine-side controller 50 calculates the cumulative transmission volume of data including the composite image data GD transmitted from the communication device 41 to the communication device 42, and the cumulative transmission volume of the composite image data GD transmitted from the communication device 41 to the communication device 42, thereby calculating the actual cumulative data communication volume A1 (bits) between both communication devices 41 and 42. Note that if there is no previous flow (one execution cycle ΔT ago) (i.e., the current flow is the flow performed at the beginning of the predetermined period) or if the previous flow (one execution cycle ΔT ago) is the flow performed at the beginning of the predetermined period, the actual cumulative data communication volume A1 (bits) between both communication devices 41 and 42 is calculated to be zero.

[0076] In step SA9, the cumulative data traffic volume that would be obtained if communication had been performed at the planned value of the transmission capacity up to the present time, which is the start time of this flow, is calculated as planned cumulative data traffic volume A2 (bit). Specifically, planned cumulative data traffic volume A2 can be obtained by multiplying the planned value of the transmission capacity (bps) calculated in step SA3 by the elapsed time (sec) from the start of execution of the adjustment program (which coincides with the start time of the predetermined section) to the present time.

[0077] In step SA10, it is determined whether the planned cumulative data traffic volume A2 calculated in step SA9 is greater than the actual cumulative data traffic volume A1 calculated in step SA8. If the determination is NO, the process proceeds to step SA12, and if the determination is YES, the process proceeds to step SA11.

[0078] In step SA11, a target transmission capacity R is set, which is a target value for the transmission capacity per unit time of data including the composite image data GD to be transmitted from communication device 41 to communication device 42. Specifically, candidate 1 and candidate 2 for target transmission capacity R are calculated, and the lower of the calculated values ​​for candidate 1 and candidate 2 is set as target transmission capacity R. Note that if candidate 1 and candidate 2 have the same value, either candidate 1 or candidate 2 is set as target transmission capacity R, and the process proceeds to step SA15.

[0079] Candidate 1 can be calculated by the following formula (1).

[0080] Candidate 1 for target transmission capacity R = (Planned cumulative data communication volume A2 - Actual cumulative data communication volume A1) / Execution period ΔT ................... (Equation 1)

[0081] That is, candidate 1 corresponds to the difference between the planned cumulative data traffic volume A2 and the actual cumulative data traffic volume A1.

[0082] Candidate 2 can be calculated using the following formula (2).

[0083] Candidate 2 of target transmission capacity R = upper limit capacity ……… (Equation 2)

[0084] That is, candidate 2 is the upper limit capacity acquired in step SA4.

[0085] In step SA11, by selecting the lower numerical value of candidate 1 or candidate 2 as target transmission capacity R, the target transmission capacity R can be set to a larger value as the actual cumulative data communication volume A1 decreases, without exceeding the upper limit capacity. As a result, when the actual cumulative data communication volume A1 is large, the transmittable data volume for data including the composite image data GD to be transmitted from communication device 41 to communication device 42 can be set to a small value.

[0086] In step SA12, it is determined whether the planned cumulative data traffic volume A2 calculated in step SA9 is equal to the actual cumulative data traffic volume A1 calculated in step SA8. If the determination is NO, the process proceeds to step SA14, and if the determination is YES, the process proceeds to step SA13.

[0087] In step SA13, a target transmission capacity R is set, which is a target value of the transmission capacity per unit time of data including the composite image data GD to be transmitted from communication device 41 to communication device 42. Specifically, the post-regulation transmission capacity is set as the target transmission capacity R, and the process proceeds to step SA15.

[0088] The post-restriction transmission capacity is a transmission capacity that is set when the communication speed on the communication line 500 is restricted and the communication state between the two communication devices 41 and 42 is in a speed-restricted state. The post-restriction transmission capacity is large enough to transmit data including composite image data GD from communication device 41 to communication device 42 without delay at a low-speed communication speed, and is the lowest transmission capacity that can be set as the target transmission capacity R. Here, the speed-restricted state refers to a state in which a carrier company temporarily restricts the communication speed to a low speed when a large amount of data communication has been performed between the two communication devices 41 and 42 in a short period of time. Note that this speed-restricted state has a different meaning from a state in which the communication speed is restricted when the cumulative data communication volume within a predetermined period exceeds the upper data communication volume K.

[0089] In step SA13, by setting the post-restriction transmission capacity as the target transmission capacity R, the target transmission capacity R can be forcibly set to a small value. This makes it possible to lead to a state in the next flow (the flow after one execution period ΔT) in which the planned cumulative data communication volume A2 is larger than the actual cumulative data communication volume A1. Note that when step SA13 is executed for the first time, the target transmission capacity R is set to a value corresponding to the planned value of the transmission capacity calculated in step SA3, regardless of the setting of the target transmission capacity R.

[0090] In step SA14, a target transmission capacity R is set, which is a target value for the transmission capacity per unit time of data including the composite image data GD to be transmitted from communication device 41 to communication device 42. Specifically, candidate 3 and candidate 4 for target transmission capacity R are calculated, and the higher of the calculated candidate 3 and candidate 4 is set as target transmission capacity R. Note that if candidate 3 and candidate 4 have the same numerical value, either candidate 3 or candidate 4 is set as target transmission capacity R, and the process proceeds to step SA15.

[0091] Candidate 3 can be calculated using the following formula (3).

[0092] Candidate 3 of target transmission capacity R = previous (one execution cycle ΔT before) target transmission capacity R - (actual cumulative data communication volume A1 - planned cumulative data communication volume A2) / execution cycle ΔT ... (Equation 3)

[0093] Candidate 4 can be calculated using the following formula (4).

[0094] Candidate 4 of target transmission capacity R = Post-restriction transmission capacity ……… (Equation 4)

[0095] In step SA14, the actual cumulative data communication volume A1 is larger than the planned cumulative data communication volume A2, which corresponds to a state in which the pace of data communication volume usage exceeds the plan. Therefore, in step SA14, the higher value of candidate 3 or candidate 4 is selected as the target transmission capacity R, thereby leading to a state in which the planned cumulative data communication volume A2 is larger than the actual cumulative data communication volume A1 in the next and subsequent flows (flows after one execution cycle ΔT).

[0096] Candidate 3 is selected as the target transmission capacity R when there is a large difference between the previous target transmission capacity R (one execution cycle ΔT before) and the post-restriction transmission capacity. This reduces the difference between the target transmission capacity R in the previous flow (the flow one execution cycle ΔT before) and the target transmission capacity R in the current flow, compared to when the post-restriction transmission capacity is selected as the target transmission capacity R. In other words, rather than making the planned cumulative data communication volume A2 larger than the actual cumulative data communication volume A1 in the next flow (the flow one execution cycle ΔT after) only in the current flow, the planned cumulative data communication volume A2 is led to be larger than the actual cumulative data communication volume A1 in several flows from the next time (flows one execution cycle ΔT after).

[0097] Candidate 4 is provided to prevent the target transmission capacity R from being reduced more than necessary when leading to a state in which the planned cumulative data communication volume A2 becomes larger than the actual cumulative data communication volume A1 in the next flow or later (flow after one execution period ΔT).

[0098] In step SA15, it is determined whether the communication line 500 is in a speed-restricted state in which the communication speed of the communication line 500 is restricted. If the determination is NO, the process proceeds to step SA18; if the determination is YES, the process proceeds to step SA16.

[0099] In step SA16, it is determined whether the target transmission capacity R set in step SA11, step SA13, or step SA14 is greater than the post-regulation transmission capacity. If the determination is NO, the process proceeds to step SA17, and if the determination is YES, the process proceeds to step SA18.

[0100] In step SA17, the target transmission capacity R is limited to the post-restriction transmission capacity, that is, the target transmission capacity R is set to the post-restriction transmission capacity, and the process proceeds to step SA18.

[0101] In step SA18, the transmission capacity (size) of data including the composite image data GD transmitted from the communication device 41 to the communication device 42 is adjusted so as to achieve the currently set target transmission capacity. If the volume per unit time of data including the composite image data GD transmitted from the communication device 41 to the communication device 42 exceeds the target transmission capacity, the volume of the data including the composite image data GD is reduced. Furthermore, if the volume per unit time of data including the composite image data GD transmitted from the communication device 41 to the communication device 42 is less than the target transmission capacity, the volume of the data including the composite image data GD is increased. Since the data size of data other than the composite image data GD (e.g., operation signals) is negligibly small compared to the data size of the composite image data GD, in this example, only the composite image data GD is focused on and its data size is adjusted to meet the target transmission capacity. The size adjustment of the composite image data GD may be performed, for example, by adjusting the resolution or color depth of the composite image data GD.

[0102] In step SA19, the communication device 41 transmits the composite image data GD to the communication device 42 at a predetermined interval so as to satisfy the target transmission capacity.

[0103] In step SA20, it is determined whether or not an end command has been issued, and if this determination is NO, the process returns to step SA5, and if this determination is YES, adjustment control is terminated. The end command is issued, for example, when the management device 101 ends management of the work machine 100 or when remote operation of the work machine 100 by the remote operation device 102 ends, by transmitting an end signal from the communication device 42 to the communication device 41, and a determination is made based on whether or not the end signal has been received by the communication device 41.

[0104] Next, an example of a process for setting a target transmission capacity based on the adjustment control will be described with reference to FIGS.

[0105] Fig. 10 shows an example of increasing the target transmission capacity, and Fig. 11 shows an example of decreasing the target transmission capacity. In each figure, the solid line indicates the target transmission capacity, the dashed line indicates the actual transmission capacity, and the two-dot chain line indicates the planned value of the transmission capacity. For ease of explanation, each graph shows elapsed time ranging from 1 second to 4 seconds, and the explanation will be given assuming that the execution period ΔT of the adjustment program is 1 second so that the process of setting the target transmission capacity can be intuitively understood. Note that in actual control, this execution period T is often set on the order of msec, but is not limited to this.

[0106] With reference to Figure 10, an example of increasing the target transmission capacity at time V1 (elapsed time t = 2 seconds) in the graph will be described. There are various other patterns for increasing the target transmission capacity based on the processing of steps SA8 to A17, but one example will be described here. In the graph, elapsed time t = 0 seconds corresponds to the start of the predetermined period. Note that the description will be made under the assumption that the communication line 500 is not in a speed restriction state.

[0107] First, the processing when elapsed time t=0 seconds will be described. The actual cumulative data communication volume A1 in step SA8 is calculated as 0 bit (= the actual transmission capacity up to elapsed time t=0 seconds is 0 bit), and the planned cumulative data communication volume A2 in step SA9 is calculated as 0 bit (= the planned value of the transmission capacity up to elapsed time t=0 seconds is 0 bit). In this case, the determination in step SA10 is NO, so the process proceeds to step SA12, and the determination in step SA12 is YES, so the process proceeds to step SA13. In step SA13, since step SA13 is executed for the first time (see the footnote in the description of step SA13 above), the value is set to correspond to the planned value of the transmission capacity calculated in step SA3. In FIG. 10, the planned value of the transmission capacity (planned transmission capacity) is set to 3 (bit / sec).

[0108] In the processing at elapsed time t=1 second, the actual cumulative data communication volume A1 in step SA8 is calculated as 0 bit (= the actual transmission capacity of 0 bit up to elapsed time t=0 second, which is one execution period ΔT before), and the planned cumulative data communication volume A2 in step SA9 is calculated as 3 bit (= 3 (bit / sec) × 1 (sec), which is the planned value of the transmission capacity from elapsed time t=0 second to elapsed time t=1 second). In this case, the determination in step SA10 is YES, so the process proceeds to step SA11. In step SA11, candidate 1 is calculated according to equation (1) as shown in the following equation (5).

[0109] Candidate 1 for target transmission capacity R = (Planned cumulative data communication volume A2 - Actual cumulative data communication volume A1) / Execution period ΔT = (3 bits - 0 bits) / Execution period ΔT = 3 (bits / sec) ... (Equation 5)

[0110] Furthermore, an upper limit capacity is calculated for candidate 2. In the example shown in Fig. 10, the upper limit capacity is set to 5 (bit / sec). Then, the capacity of candidate 1, which is the lower of the two candidates, 3 (bit / sec), is set as the target transmission capacity R.

[0111] In the processing at elapsed time t=2 seconds, the actual cumulative data communication volume A1 in step SA8 is calculated as 2 bits (= 2 bits of actual transmission capacity from elapsed time t=0 seconds, which is one execution period ΔT ago, to elapsed time t=1 second), and the planned cumulative data communication volume A2 in step SA9 is calculated as 6 bits (= 3 (bit / sec) × 2 (sec), which is the planned value of transmission capacity from elapsed time t=0 seconds to elapsed time t=2 seconds). Since the determination in step SA10 is YES, the process proceeds to step SA11. In step SA11, candidate 1 is calculated according to equation (1) as shown in the following equation (6).

[0112] Candidate 1 for target transmission capacity R = (Planned cumulative data communication volume A2 - Actual cumulative data communication volume A1) / Execution period ΔT = (6 bits - 2 bits) / Execution period ΔT = 4 (bits / sec) ... (Equation 6)

[0113] Additionally, an upper limit capacity of 5 (bit / sec) is calculated for candidate 2. Then, the capacity of candidate 1, which is the lower of the two, 4 (bit / sec), is set as the target transmission capacity R.

[0114] In the process at elapsed time t=2 seconds, the actual cumulative data communication volume A1 at elapsed time t=1 second, which is one execution cycle ΔT before, is lower than the planned cumulative data communication volume A2 at elapsed time t=2 seconds, so the target transmission capacity R is set to be larger than the planned value. As a result, the image transmission control unit 52 starts executing a process to increase the data volume of the composite image data GD.

[0115] In the processing at elapsed time t=3 seconds, the actual cumulative data communication volume A1 in step SA8 is calculated as 4 bits (= (2 bits of actual transmission capacity from elapsed time t=0 seconds to elapsed time t=1 second) + (2 bits of actual transmission capacity from elapsed time t=1 second to elapsed time t=2 seconds)), and the planned cumulative data communication volume A2 in step SA9 is calculated as 9 bits (= 3 (bit / sec) x 3 (sec), which is the planned value of transmission capacity from elapsed time t=0 seconds to elapsed time t=3 seconds). In this case, the determination in step SA10 is YES, so proceed to step SA11. In step SA11, candidate 1 is calculated according to equation (1) as shown in the following equation (7).

[0116] Candidate 1 for target transmission capacity R = (Planned cumulative data communication volume A2 - Actual cumulative data communication volume A1) / Execution period ΔT = (9 bits - 4 bits) / Execution period ΔT = 5 (bits / sec) ... (Equation 7)

[0117] Additionally, an upper limit capacity of 5 (bit / sec) is calculated for candidate 2. Since candidate 1 and candidate 2 have the same numerical value, the capacity of 5 (bit / sec) of either candidate 1 or candidate 2 is set as the target transmission capacity R.

[0118] In the process at elapsed time t=3 seconds, the actual cumulative data communication volume A1 at elapsed time t=2 seconds, which is one execution cycle ΔT before, is lower than the planned cumulative data communication volume A2 at elapsed time t=3 seconds, so the target transmission capacity R continues to be set to be larger than the planned value. As a result, the image transmission control unit 52 continues the process of increasing the data volume of the composite image data GD. As a result, the actual cumulative data communication volume A1 at elapsed time t=3 seconds is larger than that at elapsed time t=2 seconds.

[0119] Next, referring to Figure 11, an example of reducing the target transmission capacity at time V2 (elapsed time t = 2 seconds) in the graph will be described. There are various other patterns for reducing the target transmission capacity based on the processing of steps SA8 to A15, but here we will explain one example. In the graph, elapsed time t = 0 seconds corresponds to the start of the predetermined period. Note that the explanation will be made under the assumption that the communication line 500 is not in a speed restriction state.

[0120] First, the processing at elapsed time t=0 seconds will be described. In step SA8, the actual cumulative data communication volume A1 is calculated as 0 bit (= the actual transmission capacity up to elapsed time t=0 seconds is 0 bit), and in step SA9, the planned cumulative data communication volume A2 is calculated as 0 bit (= the planned value of the transmission capacity up to elapsed time t=0 seconds is 0 bit). Since the determination in step SA10 is NO, the process proceeds to step SA12, and since the determination in step SA12 is YES, the process proceeds to step SA13. In step SA13, since step SA13 is executed for the first time (see the footnote in the explanation of step SA13), the target transmission capacity R is set to a value corresponding to the planned value of the transmission capacity calculated in step SA3. In FIG. 11, the planned value of the transmission capacity (planned transmission capacity) is set to 3 (bit / sec).

[0121] In the processing at elapsed time t=1 second, the actual cumulative data communication volume A1 in step SA8 is calculated as 0 bit (= the actual transmission capacity of 0 bit up to elapsed time t=0 second, which is one execution period ΔT before), and the planned cumulative data communication volume A2 in step SA9 is calculated as 3 bit (= 3 (bit / sec) × 1 (sec), which is the planned value of the transmission capacity from elapsed time t=0 second to elapsed time t=1 second). In this case, the determination in step SA10 is YES, so the process proceeds to step SA11. In step SA11, candidate 1 is calculated according to equation (1) as shown in the following equation (8).

[0122] Candidate 1 for target transmission capacity R = (Planned cumulative data communication volume A2 - Actual cumulative data communication volume A1) / Execution period ΔT = (3 bits - 0 bits) / Execution period ΔT = 3 (bits / sec) ... (Equation 8)

[0123] Additionally, an upper limit capacity is calculated for candidate 2. In the example shown in Fig. 11, the upper limit capacity is set to 5 (bit / sec). Then, the capacity of candidate 1, which is the lower of the two candidates, 3 (bit / sec), is set as the target transmission capacity R.

[0124] In the processing at elapsed time t=2 seconds, the actual cumulative data communication volume A1 in step SA8 is calculated as 7 bits (=7 bits of actual transmission capacity from elapsed time t=0 seconds to elapsed time t=1 second, which is one execution period ΔT before), and the planned cumulative data communication volume A2 in step SA9 is calculated as 6 bits (=3 (bit / sec) × 2 (sec), which is the planned value of transmission capacity from elapsed time t=0 seconds to elapsed time t=2 seconds). In this case, the determinations in steps SA10 and SA12 are NO, so the process proceeds to step SA14. In step SA14, candidate 3 is calculated according to equation (1) as shown in the following equation (9).

[0125] Candidate 3 for target transmission capacity R = previous (one execution cycle ΔT before) target transmission capacity R - (actual cumulative data communication volume A1 - planned cumulative data communication volume A2) / execution cycle ΔT = 3 (bit / sec) - (7 bit - 6 bit) execution cycle ΔT = 2 (bit / sec)) ................... (Equation 9)

[0126] Further, the post-restriction transmission capacity is calculated for candidate 4. In the example shown in Fig. 11, the post-restriction transmission capacity is set to 1 (bit / sec). Then, the capacity of candidate 3, which has the higher value between candidate 3 and candidate 4, 2 (bit / sec), is set as the target transmission capacity R.

[0127] In the process at elapsed time t=2 seconds, the actual cumulative data communication volume A1 at elapsed time t=1 second, which is one execution cycle ΔT before, exceeds the planned cumulative data communication volume A2 at elapsed time t=2 seconds, so the target transmission capacity R is set to be smaller than the planned value. As a result, the image transmission control unit 52 starts processing to reduce the data volume of the composite image data GD. As a result, the actual cumulative data communication volume A1 at elapsed time t=3 seconds is reduced from that at elapsed time t=2 seconds.

[0128] In the processing at elapsed time t=3 seconds, the actual cumulative data communication volume A1 in step SA8 is calculated as 11 bits (= (7 bits of actual transmission capacity from elapsed time t=0 seconds to elapsed time t=1 second) + (4 bits of actual transmission capacity from elapsed time t=1 second to elapsed time t=2 seconds), i.e., the actual cumulative data communication volume up to t=2 seconds, which is one execution period ΔT ago), and the planned cumulative data communication volume A2 in step SA9 is calculated as 9 bits (= 3 (bit / sec) × 3 (sec), which is the planned value of the transmission capacity from elapsed time t=0 seconds to elapsed time t=3 seconds). Since the determinations in steps SA10 and SA12 are NO, the process proceeds to step SA14. In step SA14, candidate 3 is calculated according to equation (1) as shown in the following equation (10).

[0129] Candidate 3 for target transmission capacity R = previous (one execution cycle ΔT before) target transmission capacity R - (actual cumulative data communication volume A1 - planned cumulative data communication volume A2) / execution cycle ΔT = 2 (bit / sec) - (11 bit - 9 bit) execution cycle ΔT = 0 (bit / sec)) ................... (Equation 10)

[0130] Further, the post-restriction transmission capacity is calculated for candidate 4. In the example shown in Fig. 11, the post-restriction transmission capacity is set to 1 (bit / sec). Then, the capacity of candidate 4, which has the higher value between candidate 3 and candidate 4, 1 (bit / sec), is set as the target transmission capacity R.

[0131] In the processing at elapsed time t=3 seconds, the actual cumulative data communication volume A1 at elapsed time t=2 seconds, which is one execution cycle ΔT before, exceeds the planned cumulative data communication volume A2 at elapsed time t=3 seconds, so the target transmission capacity R continues to be set to be smaller than the planned value. As a result, the image transmission control unit 52 continues the processing of reducing the data volume of the composite image data GD, and the actual cumulative data communication volume A1 at elapsed time t=4 seconds is maintained at the same post-restriction transmission capacity as at elapsed time t=3 seconds.

[0132] In the processing at elapsed time t=4 seconds, the actual cumulative data communication volume A1 in step SA8 is calculated as 12 bits (= (7 bits of actual transmission capacity from elapsed time t=0 seconds to elapsed time t=1 second) + (4 bits of actual transmission capacity from elapsed time t=1 second to elapsed time t=2 seconds) + (1 bit of actual transmission capacity from elapsed time t=2 seconds to elapsed time t=3 seconds)), and the planned cumulative data communication volume A2 in step SA9 is calculated as 12 bits (= 3 (bit / sec) × 4 (sec), which is the planned value of transmission capacity from elapsed time t=0 seconds to elapsed time t=3 seconds). The determination in step SA10 is NO, so the process proceeds to step SA12, and the determination in step SA12 is YES, so the process proceeds to step SA13. In step SA13, the post-restriction transmission capacity 1 (bit / sec) is set as the target transmission capacity R.

[0133] In the process at elapsed time t=4 seconds, the actual cumulative data communication volume A1 at elapsed time t=3 seconds, which is one execution cycle ΔT before, exceeds the planned cumulative data communication volume A2 at elapsed time t=4 seconds, so the target transmission capacity R continues to be set to be smaller than the planned value. As a result, the image transmission control unit 52 continues the process of reducing the data volume of the composite image data GD.

[0134] In the processing at elapsed time t=5 seconds, the actual cumulative data communication volume A1 in step SA8 is calculated as 13 bits (= (7 bits of actual transmission capacity from elapsed time t=0 seconds to elapsed time t=1 second) + (4 bits of actual transmission capacity from elapsed time t=1 second to elapsed time t=2 seconds) + (1 bit of actual transmission capacity from elapsed time t=2 seconds to elapsed time t=3 seconds) + (1 bit of actual transmission capacity from elapsed time t=3 seconds to elapsed time t=4 seconds), i.e., the actual cumulative data communication volume up to one execution period ΔT ago), and the planned cumulative data communication volume A2 in step SA9 is calculated as 15 bits (= 3 (bit / sec) × 5 (sec), which is the planned value of the transmission capacity from elapsed time t=0 seconds to elapsed time t=5 seconds). In this case, the determination in step SA10 is YES, so the processing proceeds to step SA11. The subsequent processing is the same as the example of increasing the target transmission capacity shown in FIG. 10. Specifically, in step SA11, candidate 1 is calculated according to equation (1) as shown in the following equation (11).

[0135] Candidate 1 for target transmission capacity R = (Planned cumulative data communication volume A2 - Actual cumulative data communication volume A1) / Execution period ΔT = (15 bits - 13 bits) / Execution period ΔT = 2 (bits / sec) ................... (Equation 11)

[0136] Furthermore, an upper limit capacity is calculated for candidate 2. In the example shown in Fig. 11, the upper limit capacity is set to 5 (bit / sec). Then, the capacity 2 (bit / sec) of candidate 1, which is the lower of the two candidates, is set as the target transmission capacity R.

[0137] In the processing at elapsed time t=5 seconds, the actual cumulative data communication volume A1 at elapsed time t=4 seconds, which is one execution cycle ΔT before, exceeds the planned cumulative data communication volume A2 at elapsed time t=5 seconds, so the target transmission volume R continues to be set to be smaller than the planned value. As a result, the image transmission control unit 52 continues the processing of reducing the data volume of the composite image data GD. Note that in the processing at elapsed time t=5 seconds, the target transmission volume R is increased compared to that at elapsed time t=4 seconds, so the degree to which the image transmission control unit 52 reduces the data volume of the composite image data GD is reduced, and the processing shifts to increasing the data volume.

[0138] (Action and effect) As described above, the management system 200 of this embodiment comprises the management device 101 that manages the work machine 100, the imaging device 10 that is provided on the work machine 100 and captures images of the surrounding area, the communication device 41 that is provided on the work machine 100 and transmits composite image data GD related to images g1, g2, g3, and g4 captured by the imaging device 10 to the management device 101, the communication device 42 that is provided on the management device 101 and receives image data related to the composite image data GD by communicating with the communication device 41, the display device 20 that is provided on the management device 101 and displays the captured images g1, g2, g3, and g4 based on the received image data, and a machine-side controller 50. The machine-side controller 50 is configured to execute adjustment control to adjust the transmission capacity of data transmitted per unit time from the communication device 41 to the communication device 42 so as to satisfy the predetermined condition that the cumulative data communication volume between the communication devices 41 and 42 within the predetermined period is equal to or less than an upper limit data communication volume K (corresponding to a predetermined value).

[0139] According to this configuration, adjustment control is executed by the machine-side controller 50 to adjust the transmission capacity of data per unit time transmitted from the communication device 41 to the communication device 42 (transmission capacity of composite image data GD) so that the cumulative data communication volume within a predetermined period between the communication device 41 and the communication device 42 is equal to or less than the upper data communication volume K. Therefore, it is possible to prevent a decrease in the communication speed between the two communication devices 41, 42 due to the cumulative data communication volume exceeding the upper data communication volume K. This makes it possible to avoid problems such as delays occurring between the captured image displayed on the display device 20 and the actual image of the surroundings of the work machine 100. Therefore, it is possible to prevent problems with the display of the captured image on the display device 20 caused by the cumulative data communication volume between the two communication devices 41, 42 becoming excessive.

[0140] In this embodiment, the adjustment control includes a process of acquiring a planned cumulative operating time, which is the cumulative total of the scheduled operating times of the work machine 100 within the specified period; a process of calculating in advance a planned value of the capacity within the specified period based on the acquired planned cumulative operating time and the specified value so as to satisfy the specified condition; and a process of adjusting an actual transmission capacity, which is the actual value of the transmission capacity, so as to satisfy the specified condition based on the calculated planned value (in this example, the actual transmission capacity is adjusted by adjusting the target transmission capacity).

[0141] According to this configuration, the actual transmission capacity when transmitting the composite image data GD is adjusted based on the planned cumulative operating time of the work machine 100 within a predetermined period and the predetermined value, so that the value of the transmission capacity when transmitting the composite image data GD within a predetermined period can be made as close as possible to the planned value. Therefore, the transmission capacity when transmitting the composite image data GD can be appropriately set based on the operation plan of the work machine 100.

[0142] In this embodiment, the management system 200 further includes a storage unit 45 that stores operation plan data WD that defines an operation plan for the work machine 100 within the predetermined period. The machine-side controller 50 is configured to calculate the planned cumulative operation time based on the operation plan data WD.

[0143] According to this configuration, the planned cumulative operating time of the work machine 100 is calculated based on the operation plan data WD stored in the memory unit 45, so that the planned cumulative operating time can be acquired more easily and accurately by the machine-side controller 50 compared to, for example, when an operator calculates and inputs the planned cumulative operating time. This configuration is particularly useful when the operation plan for the work machine 100 is complex (for example, when the scheduled operation time of the work machine 100 is not periodic and changes irregularly).

[0144] In addition, in this embodiment, the adjustment control includes a first process (processing of step SA8) of calculating the actual cumulative data communication volume between the two communication devices 41, 42 from the start of the specified period to a specified point in the middle of the specified period, a second process (processing of step SA9) of calculating a planned cumulative data communication volume, which is a planned value of the cumulative data communication volume at the specified point in time, based on a planned value of the transmission capacity predetermined to satisfy the specified condition and the elapsed time from the start of the period to the specified point in time, and a third process (processing of step SA10) of calculating a difference value between the actual cumulative data communication volume and the planned cumulative data communication volume, and adjusting the target transmission capacity based on the difference value, thereby adjusting the actual transmission capacity.

[0145] According to this configuration, the adjustment control is executed at a point midway through the predetermined period, so even if the operating time of the work machine 100 deviates from the planned value midway through the predetermined period, the cumulative data communication volume can be suppressed to a predetermined value or less at the end of the predetermined period. Moreover, according to the configuration, the adjustment control is executed by the machine-side controller 50 so as to satisfy the predetermined condition based on the difference between the actual cumulative data communication volume and the planned cumulative data communication volume that has been planned in advance, so it is possible to suppress the actual cumulative data communication volume from deviating significantly from the planned cumulative data communication volume.

[0146] In this embodiment, the predetermined condition preferably includes a condition that the cumulative data communication volume reaches the upper limit data communication volume K at the end of the predetermined period.

[0147] This configuration makes it possible to prevent the cumulative data traffic between the communication devices 41 and 42 from falling below a predetermined value at the end of the predetermined period. Furthermore, it is possible to prevent the transmission capacity of the composite image data GD transmitted during the predetermined period from decreasing excessively. Therefore, it is possible to prevent a deterioration in the quality of the captured image displayed on the display device 20 due to an excessive decrease in the transmission capacity of the composite image data GD to be transmitted.

[0148] Furthermore, in this embodiment, the imaging device 10 includes multiple imaging cameras 10F, 10L, 10R, and 10U that capture images of the periphery of the work machine 100. The communication device 41 transmits the composite image data GD related to a composite image obtained by combining images g1, g2, g3, and g4 captured by the multiple imaging cameras 10F, 10L, 10R, and 10U to the communication device 42. The adjustment control preferably includes processing for adjusting the transmission capacity when transmitting the composite image data GD from the communication device 41 to the communication device 42.

[0149] According to this configuration, adjustment control is executed to adjust the transmission capacity when composite image data GD of a composite image obtained by combining multiple captured images g1, g2, g3, and g4 is transmitted from the communication device 41 to the communication device 42, which simplifies the calculation process in the machine-side controller 50 compared to when control is executed to adjust the transmission capacity of captured image data individually for each of the captured image data from each of the imaging cameras 10F, 10L, 10R, and 10U. Therefore, it is possible to prevent a decrease in the data processing speed during the execution of adjustment control, which would otherwise cause a delay in transmission of the composite image data GD.

[0150] In addition, in this embodiment, it is preferable that the adjustment control includes a process of adjusting the transmission capacity of the composite image data GD that the communication device 41 transmits to the communication device 42 so as to satisfy a specified condition that the cumulative data transmission volume of the composite image data GD that the communication device 41 transmits to the communication device 42 as the cumulative data communication volume between the communication device 41 and the communication device 42 within a specified period is less than or equal to a specified value.

[0151] According to this configuration, adjustment control is executed to adjust the transmission capacity of the composite image data GD transmitted from communication device 41 to communication device 42 so that the cumulative data communication volume within a predetermined period between communication device 41 and communication device 42 is equal to or less than a predetermined value. Therefore, it is possible to prevent the cumulative data communication volume from becoming excessive, thereby preventing problems with the display of the composite image data GD on display device 20. In particular, since the majority of the data transmitted from communication device 41 to communication device 42 is image data, adjusting the volume of the composite image data GD can more effectively prevent the cumulative data communication volume from becoming excessive.

[0152] In addition, the operation system 201 of this embodiment includes a remote control device 102 for remotely operating the work machine 100 and the management system 200, and the management device 101, which is part of the management system 200, is provided in the remote control device 102.

[0153] With this configuration, in addition to the adjustment control being executed by the machine-side controller 50, the work machine 100 is operated in response to operation of the operation unit 31 by an operator who remotely operates the work machine 100 using the remote operation device 102. Therefore, it is possible to prevent the cumulative data communication volume from becoming excessive and causing problems with the display of captured images on the display device 20 when the operator is remotely operating the work machine 100.

[0154] (Embodiment 2) 12 is a diagram equivalent to FIG. 8 showing a second embodiment. This embodiment differs from the first embodiment in that the process for setting the target transmission capacity is changed depending on whether the hydraulic lock lever 31c is in the locked position. Note that when describing the flowchart in FIG. 12, the same processes as those in the first embodiment will not be described as necessary.

[0155] In steps SB0 to SB7, the same processes as in steps SA1 to SA7 in the first embodiment are executed.

[0156] In step SB8, it is determined whether or not the hydraulic lock lever 31c is in the unlocked position based on the history of operation signals from the operating unit 31 up to the present time, and if the determination is NO, the process proceeds to step SB11, and if the determination is YES, the process proceeds to step SB9. Note that the processing of step SB8 may be performed based on a signal from a detection sensor that detects that the lock lever 31c is in the unlocked position, for example.

[0157] In step SB9, it is determined whether an operation signal has been received from the operation unit 31, in other words, whether any operation has been performed on the operation unit 31. If the determination is YES, The process is the same as the process from step SA8 onwards (see FIG. 9) in embodiment 1. On the other hand, if the determination is NO, the process proceeds to step SB10.

[0158] In step SB10, it is determined whether an operation signal from the operation unit 31 has not been received for a certain period of time, going back to the present time. In other words, it is determined whether the operation unit 31 has not been operated even once during the certain period of time. For example, if the remote control lever 31a or the travel lever 31b is in a neutral position, no operation signal is input from the operation unit 31 to the remote controller 60. If this state continues for a certain period of time, it is determined that the operation unit 31 has not been operated even once during the certain period of time. Alternatively, it may be determined whether the operation signal input from the operation unit 31 to the remote controller 60 indicates that the remote control lever 31a or the travel lever 31b is in a neutral position. If the determination is NO, it is determined that the operator of the remote control device 102 intends to operate the device but has temporarily stopped operating it, and the same processing as that from step SA8 onwards in the first embodiment (see FIG. 9) is executed. On the other hand, if the determination result in step SB10 is YES, it is determined that the operator's intention to operate the device is low and there is a high possibility that no operation will be performed for a long period of time, and the process proceeds to step SB11.

[0159] In step SB11, the target transmission capacity is set to a predetermined designated transmission capacity, and then processing similar to that from step SA18 onwards in embodiment 1 (see Figure 9) is performed to adjust the data volume of the composite image data GD based on the set target transmission capacity (here, equal to the designated transmission capacity).

[0160] The designated transmission capacity used in the processing of step SB11 is stored in advance in, for example, the data storage unit 45 and is set by the operator by inputting it via an input unit provided in the operation unit 31. It is set to a value relatively lower than the target transmission capacity calculated in step SA10. Here, a relatively low value means, for example, a value lower than the median value of the setting range of possible target transmission capacities, and more preferably, a value lower than the minimum value of the setting range of the transmission capacity. Note that the setting range of possible target transmission capacities is not fixed, as it changes depending on the consumption status of data communication traffic. As an example, the designated transmission capacity may be set to a value equal to or smaller than the post-restriction transmission capacity.

[0161] (Action and effect) As described above, in this embodiment, when the lock lever 31c is in the locked position (when the judgment in step SB8 is NO), the machine-side controller 50 is configured to set the target transmission capacity setting value to the specified transmission capacity, thereby relatively reducing the actual transmission capacity when transmitting the composite image data GD compared to when the lock lever 31c is in the unlocked position.

[0162] According to this configuration, when it is presumed that there is no possibility that the work machine 100 will be operated and put into operation because the lock lever 31c is in the locked position, the set value of the target transmission capacity when transmitting the composite image data GD is relatively lowered, making it possible to prevent the image quality of the captured image displayed on the display device 20 based on that composite image data GD from being set unnecessarily high. In particular, it is possible to prevent a captured image of higher image quality than necessary from being displayed on the display device 20, even though the captured image displayed on the display device 20 shows the state of the work machine 100 in an operation prohibited state where there is not much need to check it in detail.

[0163] In addition, the operation system 201 of this embodiment includes a remote operation device 102 for remotely operating the work machine 100, and a management device 101, and the management device 101 is provided in the remote operation device 102, and the operation unit 31 is provided in the remote operation device 102.

[0164] According to this configuration, the remote control device 102 for remotely operating the work machine 100 is equipped with the operation unit 31, and therefore, in addition to adjustment control being executed by the machine-side controller 50, the work machine 100 is operated in accordance with operation of the operation unit 31 by an operator who remotely operates the work machine 100 using the remote control device 102. Therefore, it is possible to prevent the cumulative data communication volume from becoming excessive and causing problems with the display of captured images on the display device 20 when the operator is remotely operating the work machine 100. Furthermore, when the work machine 100 is placed in an operation prohibited state by operation of the operator who remotely operates the work machine 100, the machine-side controller 50 relatively lowers the set value of the target transmission capacity when transmitting the composite image data GD, and it is possible to prevent the image quality of the captured image displayed on the display device 20 based on that composite image data GD from being set unnecessarily high. In more detail, when the work machine 100 is in an operation-prohibited state, it is possible to prevent an image of higher image quality than necessary from being displayed on the display device 20, even though the image displayed on the display device 20 shows the state of the work machine 100 in an operation-prohibited state, which is not highly necessary for the operator to check in detail.

[0165] (Other embodiments) Although the management system 200 and the operation system 201 according to the embodiment of the present invention have been described above, the present invention is not limited to this, and for example, the following modified embodiments can be adopted.

[0166] (1) In the above embodiments, the predetermined period is one month, but this is not limited to this and may be any period, such as one week, one hour, or 30 minutes.

[0167] (2) In the above embodiments, the size of the composite image data GD is adjusted to satisfy the target transmission capacity, but this is not limiting. The frame rate at which the imaging cameras 10F, 10L, 10R, and 10U capture images may be adjusted. Furthermore, the transmission cycle of the composite image data GD from the communication device 41 to the communication device 42 in step SA17 may be adjusted.

[0168] (3) In each of the above embodiments, the target transmission capacity is updated at each execution cycle ΔT of the transmission capacity adjustment program within the specified period. However, this is not limited to this. For example, the specified period (one month in the above embodiment) may be divided into multiple divided periods (for example, 10 sections, each three days apart), and the target transmission capacity may be updated at the end of each divided period except for the last divided period.

[0169] (4) In each of the above embodiments, the adjustment process is executed in the middle of a specified period, but this is not limited to this. The target transmission capacity may be updated after the end of the specified period and the updated target transmission capacity may be reflected in the next specified period.

[0170] (5) In the above embodiments, an example has been described in which adjustment control is performed so that the upper limit data communication volume is reached at the end of a predetermined period, but this is not limiting, and for example, the cumulative data communication volume at the end of a predetermined period may be below the upper limit data communication volume K. In other words, adjustment control may be any control that regulates the cumulative data communication volume within a predetermined period so that it does not exceed the upper limit data communication volume.

[0171] (6) In the above embodiments, an upper limit transmission capacity and a post-regulation transmission capacity are set, but these are not necessarily required. In other words, the present invention is applicable to any communication mode as long as an upper limit data communication volume K is set.

[0172] (7) In each of the above embodiments, the imaging device 10 is configured to capture images of the periphery of the work machine 100, but this is not limited to this. That is, the imaging device 10 may include, for example, one that captures an image of a portion of the work machine 100. As an example, the imaging device 10 may capture an image of the attachment 6 in order to monitor the movement of the attachment 6. That is, the subject of imaging by the imaging device 10 may be any image that contributes to the remote operation of the work machine 100.

[0173] (8) In the above embodiments, an example of adjustment control has been described in which the transmission capacity, which is the amount of data transmitted per second, is adjusted. However, the present invention is not limited to this, and may also be control that adjusts the amount of data transmitted per 10 seconds or per minute. In other words, the unit time that defines the transmission rate of the composite image data GD is not limited to 1 second, but may be, for example, 10 seconds or 1 minute, or any other arbitrary time (for example, 2 seconds or 3 seconds).

[0174] (9) In each of the above embodiments, the machine-side controller 50 is described as performing the adjustment control, but this is not limited to this, and some of the adjustment control processes may be performed by the remote controller 60.

[0175] (10) In the second embodiment, the setting value of the target transmission capacity when transmitting the composite image data GD is relatively reduced depending on whether the lock lever 31c of the operation unit 31 provided on the remote control device 102 of the management device 101 is in the locked position or the unlocked position. However, this is not limited to this, and the operation unit 31 including the lock lever 31c may be provided on the work machine 100 and may be operated by an operator sitting in the driver's seat of the work machine 100.

[0176] (11) In each of the above embodiments, the management device 101 is described as being provided in the remote control device 102, but this is not limited thereto, and the management system may not include the remote control device 102.

[0177] (12) In each of the above embodiments, the work machine 100 has been described as being remotely controlled via the remote control device 102, but this is not limited to this, and the work machine 100 may be operated automatically by automatic driving without relying on operator operation. In this case, the work machine 100 may be operated autonomously based on the control of the machine-side controller 50, or the work machine 100 may be operated autonomously by the remote controller 60 generating an operation signal instead of the operation unit 31.

[0178] In each of the above embodiments, the work machine 100, which is the target machine, has been described as being configured as a hydraulic excavator, but this is not limited to this, and the work machine 100 may be a work machine other than a hydraulic excavator. For example, the work machine 100 may be a crane capable of lifting and moving heavy objects, a bulldozer with movable earthwork plates capable of excavating earth and sand, a road roller with rollers that compact the ground, a forklift capable of loading and transporting loads on its loading claws, an agricultural machine for performing agricultural work, etc.

[0179] In each of the above embodiments, the target machine has been described as being constituted by the work machine 100, but this is not limited to this. For example, the target machine may be an unmanned aerial vehicle capable of flying over a work site, a vehicle such as an automobile or truck, or an industrial robot performing line work related to manufacturing or assembly. [Explanation of symbols]

[0180] 10: Imaging device 10F: Front imaging camera 10L: Left side imaging camera 10R: Right-side imaging camera 10U: Lower imaging camera 20:Display device 31:Operation unit 31a: Remote control lever (operation control part) 31b: Travel lever (operation control part) 31c: Lock lever (prohibition operation part) 41: Communication device (operation target side communication unit) 42: Communication device (operation side communication unit) 45: Storage section 50: Machine controller (control device) 100: Work machine (target machine) 101: Management device 102: Remote control device 200: Management System 201: Operating System K: Maximum data volume (predetermined value) A1: Actual cumulative data traffic volume A2: Planned cumulative data volume GD: Composite image data (image data) WD: Operation plan data g1: Captured image g2: Captured image g3: Captured image g4: Captured image

Claims

1. a management device for managing the target machine; an imaging device provided on the target machine for capturing an image; a target machine side communication unit provided in the target machine and configured to transmit image data relating to the captured image to the management device; a management-side communication unit provided in the management device and configured to receive the image data by communicating with the target machine-side communication unit; a display device provided in the management device and displaying the captured image based on the received image data; a control device; The control device is configured to perform adjustment control to adjust the transmission capacity of data transmitted per unit time from the target machine side communication unit to the management side communication unit so as to satisfy a specified condition that the cumulative data communication volume between the target machine side communication unit and the management side communication unit within a specified period is below a specified value.

2. 2. The management system according to claim 1, The adjustment control includes a process of acquiring a planned cumulative operating time, which is the cumulative total of the scheduled operating times of the target machine within the specified period; a process of calculating a planned value of the transmission capacity within the specified period based on the acquired planned cumulative operating time and the specified value so as to satisfy the specified condition; and a process of adjusting the transmission capacity based on the calculated planned value so as to satisfy the specified condition.

3. 3. The management system according to claim 2, a storage unit that stores operation plan data that defines an operation plan for the target machine within the predetermined period, The control device is configured to calculate the planned cumulative operation time based on the operation plan data.

4. 2. The management system according to claim 1, The adjustment control includes: a first process for calculating an actual cumulative amount of data communication between the target machine side communication unit and the management side communication unit from a start point of the predetermined period to a predetermined point in the middle of the predetermined period; a second process of calculating a planned cumulative data communication volume, which is a planned value of a cumulative data communication volume at the predetermined time point, based on a planned value of the transmission capacity within the predetermined period that is determined in advance so as to satisfy the predetermined condition and an elapsed time from the start time point to the predetermined time point; a third process for calculating a difference between the actual cumulative data communication volume calculated in the first process and the planned cumulative data communication volume calculated in the second process, and adjusting the transmission capacity based on the difference.

5. 2. The management system according to claim 1, The predetermined condition includes a condition that the cumulative data communication volume reaches the predetermined value at the end of the predetermined period.

6. 2. The management system according to claim 1, the imaging device includes a plurality of imaging cameras; the target machine communication unit transmits composite image data relating to a composite image obtained by combining the images captured by the plurality of imaging cameras to the management communication unit; The transmission data includes the composite image data. The adjustment control includes a process of adjusting the transmission capacity of data transmitted per unit time from the target machine communication unit to the management side communication unit when transmitting the composite image data relating to the composite image from the target machine communication unit to the management side communication unit.

7. 2. The management system according to claim 1, the transmission data includes the image data, The adjustment control includes a process of adjusting the transmission volume of the image data transmitted from the target machine side communication unit to the management side communication unit per unit time so as to satisfy a specified condition that the cumulative transmission volume of the image data transmitted from the target machine side communication unit to the management side communication unit is less than a specified value as the cumulative data communication volume between the target machine side communication unit and the management side communication unit within a specified period.

8. 2. The management system according to claim 1, an operation unit including an operation operation unit that receives a predetermined operation and causes the target machine to perform a predetermined operation, and an inhibition operation unit that can switch between an operation inhibition state that inhibits operation based on the operation of the operation operation unit of the target machine and an inhibition release state in which the inhibition is released, A management system in which the control device is configured to perform the adjustment control so as to relatively reduce the transmission capacity when the target machine is in the operation prohibited state due to operation of the prohibition operation unit, compared to when the target machine is in the prohibition release state.

9. An operation system for remotely operating a target machine, a remote control device for remotely controlling the target machine; and the management system according to claim 8, the management device included in the management system is provided in the remote control device, The operation unit is provided in the remote control device.

10. An operation system for remotely operating a target machine, a remote control device for remotely controlling the target machine; The management system according to any one of claims 1 to 7, The management system includes a management device provided in the remote control device.

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