Remote Control System

Abstract

To provide a remote operation system capable of shortening the time from once stopping remote operation to restarting it.SOLUTION: A remote control device 200 of a remote operation system 1 executes remote operation restart processing or termination processing, when an operator performs actual machine stop operation during execution of remote operation and then performs specified operation on a terminal at hand 230 for restarting or terminating the remote operation. The remote control device 200 and an actual machine control device 400 maintain a communication connection state during a period from the execution of actual machine stop operation until the specified operation is executed.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a remote control system for an operator to remotely control a work machine. [Background technology]

[0002] A known remote control system for a work machine is described in Patent Document 1. This remote control system includes a construction machine as a work machine equipped with a receiving device and a transmitting device. In this remote control system, the start and stop of the work machine are remotely controlled in accordance with the operation of the transmitting device by an operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-219748 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, it has become common for remote control systems to perform a communication connection operation when starting remote control of a work machine. When the remote control system of Patent Document 1 is applied to such a remote control system, the communication connection operation must be performed every time the work machine is stopped and then restarted. As a result, there is a problem in that it takes time to restart remote control after it has been stopped.

[0005] The present invention has been made to solve the above-mentioned problems, and has an object to provide a remote control system that can shorten the time it takes to restart remote control after it has been temporarily stopped. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides a remote operation system for an operator to remotely operate a work machine via a remote operation device having a remote input unit, the system comprising: a remote control element that executes processing to resume or terminate remote operation when the operator executes an operation to stop the actual work machine via the remote operation device while remote operation is being performed, and a communication control element that establishes a communication connection state between the remote operation device and the work machine when remote operation is started so that the work machine can be remotely operated, and maintains the communication connection state from the execution of the operation to stop the actual work machine until the execution of the specified operation.

[0007] According to this remote control system, when remote control is resumed after a stop operation of the work machine has been performed, the communication connection state is maintained until the specified operation is performed, so the time required to resume remote control after it has been temporarily stopped can be shortened compared to when the communication connection state is re-established.

[0008] In addition, in the present invention, it is preferable that the communication control element terminates the communication connection state when, after the actual machine stop operation is performed, the operator performs a designation operation on the remote input unit to terminate the remote operation.

[0009] According to this remote operation system, when the operator executes a designation operation to end remote operation, it is possible to confirm that it is OK to end the remote operation of the work machine that has been remotely operated by the remote operation device. This makes it possible to reliably end the communication connection state when there is a high probability that it is OK to end the remote operation.

[0010] In addition, in the present invention, the communication control element preferably comprises an apparatus-side communication control element that controls an apparatus-side communication device in the remote control device, and an actual-machine-side communication control element that controls an actual-machine-side communication device in the work machine, and the apparatus-side communication control element and the actual-machine-side communication control element preferably establish a communication connection state by configuring communication settings that enable communication between the apparatus-side communication device and the actual-machine-side communication device.

[0011] According to this remote operation system, the device-side communication control element and the actual-machine-side communication control element configure communication settings that enable communication between the device-side communication device and the actual-machine-side communication device, thereby establishing a communication connection state between the remote operation device and the work machine. In this case, for example, in a situation where there are multiple remote operation devices and multiple remotely operable work machines, there will be multiple candidate communication devices with which the device-side communication device and the actual-machine-side communication device can communicate, but by setting communication settings in the communication device with which communication should be established as described above, it is possible to reliably establish a communication connection state between the remote operation device and the work machine that is to be remotely operated by the remote operation device.

[0012] In addition, in the present invention, it is preferable that, after the actual machine stop operation is performed, when the operator performs a specified operation to terminate remote operation in the remote input unit, the device-side communication control element and the actual machine-side communication control element terminate maintenance of the communication connection state by discarding the communication settings.

[0013] According to this remote operation system, when the operator executes a designation operation to end remote operation, the work machine that was remotely operated by the remote operation device can confirm that it is OK to end the remote operation by that remote operation device. This makes it possible to discard the communication settings in situations where it is highly probable that it is OK to end remote operation.

[0014] In addition, in the present invention, it is preferable to further include an output control element that, when an actual machine stop operation is executed, outputs confirmation information from the remote output unit of the remote control device to confirm to the operator whether or not to resume or terminate remote operation.

[0015] According to this remote control system, when an operation to stop the actual machine is executed, confirmation information is output from the remote output unit to confirm to the operator whether or not to resume or terminate the remote control. This allows the operator to accurately decide whether or not to resume or terminate the remote control, and to accurately execute a designation operation to designate the resumption or termination of the remote control in the remote input unit.

[0016] Furthermore, in the present invention, it is preferable that the remote control element stops the internal combustion engine when an engine stop operation for stopping the internal combustion engine of the work machine is executed by the operator in the remote input unit after the actual machine stop operation has been executed.

[0017] According to this remote control system, it is possible to prevent the internal combustion engine from wasting fuel after the internal combustion engine is stopped by the operator following the execution of the actual engine stop operation.

[0018] Furthermore, in the present invention, it is preferable that the remote control element stops the internal combustion engine when, after the actual machine stop operation is executed, the operator executes a work termination operation and an engine stop operation to stop the internal combustion engine of the work machine in the remote input unit.

[0019] According to this remote control system, the internal combustion engine can be stopped in a situation where there is a high probability that the remote control will be stopped temporarily, in which case an operation including an engine stop operation will be performed by the operator, thereby preventing the internal combustion engine from wasting fuel thereafter.

[0020] Furthermore, in the present invention, it is preferable that, after the actual machine stop operation is performed, when the operator performs an actual machine switching operation in the remote input unit to switch from the work machine to another work machine, the remote control element executes a switching process to the other work machine.

[0021] According to this remote control system, when the operator indicates an intention to switch the remotely controlled work machine to another work machine after the work machine has stopped, the switching operation can be carried out appropriately.

[0022] In the present invention, it is also preferable that the communication control element terminates the communication connection state between the remote control device and the work machine when the switching process is executed by the remote control element.

[0023] According to this remote operation system, by executing the switching process, it is possible to confirm that it is OK to end the remote operation of the work machine that has been remotely operated by the remote operation device. This makes it possible to reliably end the communication connection state in a situation where it is highly probable that it is OK to end the remote operation.

[0024] Furthermore, in the present invention, when predetermined conditions are satisfied, one of which is that the operator is successfully authenticated, the remote control element preferably establishes a communication connection state between the remote operation device and the work machine so that the work machine can be remotely operated, and performs authentication of the operator before resuming remote operation.

[0025] According to this remote control system, operator authentication is performed before remote control is resumed, so it is possible to confirm whether the operator resuming remote control is the same person as the operator before resumption, and if the operator resuming remote control is a different person from the operator before resumption, it is possible to confirm whether the operator is qualified to perform remote operation of the work machine.

[0026] In the present invention, the remote input unit is preferably installed near a seat on which an operator sits.

[0027] According to this remote control system, the operator can perform input operations to the remote input unit while sitting in the seat. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a diagram showing a configuration of a remote control system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the remote control system. [Figure 3] FIG. 2 is a plan view showing the configuration of the remote control device. [Figure 4] FIG. 1 is a diagram showing a configuration of a work machine. [Figure 5] FIG. 10 is a sequence diagram showing a control process at the start of remote operation. [Figure 6] 10 is a flowchart showing a start preparation process. [Figure 7] 10 is a flowchart showing an authentication result confirmation process. [Figure 8] 10 is a flowchart showing actual device connection preparation processing; [Figure 9] FIG. 10 is a diagram showing an authentication confirmation screen. [Figure 10] FIG. 10 is a diagram showing an authentication success screen. [Figure 11] FIG. 10 is a diagram illustrating an example of a work selection screen. [Figure 12] FIG. 10 is a diagram illustrating an example of a machine selection screen. [Figure 13] FIG. 10 is a diagram illustrating an example of a confirmation screen. [Figure 14] FIG. 10 is a diagram illustrating an example of a confirmation instruction screen. [Figure 15] 10 is a flowchart showing a task selection process. [Figure 16] 10 is a flowchart showing a post-stop operation selection process. [Figure 17] FIG. 4 is a sequence diagram showing a control process when an engine stop signal is output. [Figure 18] FIG. 10 is a sequence diagram showing a control process when a remote control end signal is output. [Figure 19] FIG. 10 is a diagram showing a work completion screen. [Figure 20] FIG. 10 is a diagram showing an engine operation selection screen. [Figure 21]FIG. 10 is a diagram showing a key-off screen. [Figure 22] FIG. 10 is a diagram showing a post-stop operation selection screen. DETAILED DESCRIPTION OF THE INVENTION

[0029] A remote operation system according to one embodiment of the present invention will be described below with reference to the drawings. As shown in Fig. 1, the remote operation system 1 of this embodiment is composed of a remote operation support server 10, a plurality of remote operation devices 20 (only one is shown), and a plurality of work machines 40 (only two are shown).

[0030] In this remote operation system 1, one of a plurality of remote control devices 20 is operated by an operator 2, whereby one of a plurality of work machines 40 is remotely operated.

[0031] In the remote operation system 1, the remote operation support server 10, the multiple remote operation devices 20, and the multiple work machines 40 are configured to be able to communicate with each other via a network. The communication network for the remote operation support server 10 and the remote operation devices 20 and the communication network for the remote operation support server 10 and the work machines 40 may be the same or different.

[0032] 2, the remote operation support server 10 includes a server computing device 11, a storage device 12, and a server wireless communication device 13. The server computing device 11 is configured with a CPU and the like, and reads necessary data and software from the storage device 12 and executes various types of computational processing and various types of control processing.

[0033] The storage device 12 is composed of storage, memory, and the like, and stores and holds operation schedules for the work machine 40, data on the operator's 2 work log, and the like.

[0034] In this remote operation support server 10, communication is carried out via a communication network by the server wireless communication device 13 between a remote wireless communication device 260 (described later) of the remote operation device 20 and an actual machine wireless communication device 470 of the work machine 40. In this embodiment, the remote wireless communication device 260 corresponds to the device-side communication device, and the actual machine wireless communication device 470 corresponds to the actual machine-side communication device.

[0035] 2 and 3, the remote operation device 20 includes a remote control device 200, a remote operation mechanism 211, an image output device 221, an operator recognition device 223, a handheld terminal 230, a key switch 240, a speaker 250, and a remote wireless communication device 260. The remote control device 200 is a combination of multiple controllers, each of which is composed of a CPU, a memory device (storage, RAM, ROM), an input / output interface, and the like (none of which are shown). The remote control device 200 reads necessary data and software programs from the memory device and executes various control processes, as will be described later.

[0036] As shown in FIG. 2, the remote control device 200 has functions as a remote control element 201, a communication control element 202, a device-side communication control element 203, and an output control element 204, and these functions are realized by the execution of a software program by the remote control device 200.

[0037] The remote control mechanism 211 includes a travel control device, a swing control device, a boom control device, an arm control device, and a bucket control device. Each control device has an operation lever that is rotated. The operation lever (travel lever) of the travel control device is operated to move the undercarriage 410 of the work machine 40.

[0038] The operating lever (swing lever) of the swing operating device is operated to move the swing mechanism 430 of the work machine 40. The operating lever (boom lever) of the boom operating device is operated to move the boom cylinder 442 of the work machine 40. The operating lever (arm lever) of the arm operating device is operated to move the arm cylinder 444 of the work machine 40. The operating lever (bucket lever) of the bucket operating device is operated to move the bucket cylinder 446 of the work machine 40.

[0039] The control levers constituting the remote control mechanism 211 are arranged around a seat 231 on which an operator sits, as shown in Fig. 3, for example. A pair of left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat 231. One control lever may serve as multiple control levers.

[0040] For example, the left operation lever 2111 provided in front of the left frame of the seat 231 shown in Fig. 3 may function as an arm lever when operated in the forward / backward direction, and as a swing lever when operated in the left / right direction. Similarly, the right operation lever 2112 provided in front of the right frame of the seat 231 shown in Fig. 3 may function as a boom lever when operated in the forward / backward direction, and as a bucket lever when operated in the left / right direction. The lever pattern may be changed as desired by an operation command from the operator.

[0041] The breaker lever 2113 is provided below the left operating lever 2111 in front of the left frame of the seat 231. When raised, this breaker lever 2113 locks the work machine 40 so that it will not move even if the operating levers 2110, 2111, 2112 are operated, and when lowered, it functions as an operating lever for releasing the lock.

[0042] Specifically, the breaker lever 2113 is configured to be operable by the operator between an upper locked position and a lower released position, and when the breaker lever 2113 is pulled up from the released position to the locked position, the work machine 40 is locked so that it will not move even if the operating levers 2110, 2111, 2112 are operated. On the other hand, when the breaker lever 2113 is pulled down from the locked position to the released position, the lock is released.

[0043] The remote operation mechanism 211 is provided with a number of sensors (not shown), and when each operating lever of the remote operation mechanism 211 is operated, these sensors output detection signals indicating the operating state to the remote control device 200. The remote control device 200 acquires the operating state of the remote operation mechanism 211 by the operator 2 based on the detection signals of these sensors.

[0044] 3, the image output device 221 is composed of a central image output device 2210, a left image output device 2211, and a right image output device 2212, each having a substantially rectangular screen, which are respectively arranged in front of, diagonally forward left of, and diagonally forward right of the seat 231. The shapes and sizes of the screens (image display areas) of the central image output device 2210, the left image output device 2211, and the right image output device 2212 may be the same or different.

[0045] As shown in Fig. 3, the right edge of the left image output device 2211 is adjacent to the left edge of the central image output device 2210 so that the screens of the central image output device 2210 and left image output device 2211 form an inclination angle θ1 (for example, 120°≦θ1≦150°). As shown in Fig. 3, the left edge of the right image output device 2212 is adjacent to the right edge of the central image output device 2210 so that the screens of the central image output device 2210 and right image output device 2212 form an inclination angle θ2 (for example, 120°≦θ2≦150°). The inclination angles θ1 and θ2 may be the same or different.

[0046] The screens of the central image output device 2210, the left image output device 2211, and the right image output device 2212 may be parallel to the vertical direction or may be inclined relative to the vertical direction. At least one of the central image output device 2210, the left image output device 2211, and the right image output device 2212 may be composed of a plurality of divided image output devices. For example, the central image output device 2210 may be composed of a pair of image output devices adjacent to each other above and below, each having a substantially rectangular screen.

[0047] When the imaging data signal from the work machine 40 is received by the remote wireless communication device 260, the remote control device 200 causes the image output device 221 to display the imaging data included in the imaging data signal.

[0048] The handheld terminal 230 (remote input unit) is a touch panel type, and as will be described later, displays various screens based on signals from the remote control device 200, and when touched by the operator 2, outputs a signal representing the operation to the remote control device 200.

[0049] The operator recognition device 223 is a device that acquires an image, voice, personal identification number, or the like of the operator 2 to identify the individual operator. The operator recognition device 223 is provided in the front part of the remote operation mechanism 211, facing backward toward the seat 231. After the remote control device 200 is started up, the operator recognition device 223 captures an image of the operator 2 seated in the seat 231. As will be described later, the image captured by the operator recognition device 223 is acquired as authentication data and transmitted to the remote operation support server 10 via the network. The remote operation support server 10 then compares the image with authentication data, which is information about the registered operator 2 stored in the storage device 12 of the remote operation support server 10, to identify the individual operator through facial recognition.

[0050] The operator recognition device 223 may be an operator information input device provided in the remote control device 200 instead of an imaging device, and inputting the personal identification number of the operator 2, or may be both an imaging device and an operator information input device. The operator information input device may be a device that allows information to be input via the handheld terminal 230, or may be a voice recognition device that has a microphone and recognizes the voice of the operator 2 itself or a password determined for each operator.

[0051] The key switch 240 is used to start and stop the engine 460 of the work machine 40, and is arranged near the remote operation mechanism 211. The key switch 240 is configured so that its position can be changed to at least three positions: a key-off position, a key-on position, and a key-start position, and when operated by the operator 2, outputs a signal indicating the position of the key switch 240 (a key-off position signal, a key-on position signal, and a key-start position signal) to the remote control device 200.

[0052] Based on an operation signal from the key switch 240, the remote control device 200 transmits a signal instructing the engine 460 to start and stop operation to the actual machine wireless communication device 470 of the work machine 40 via the remote wireless communication device 260.

[0053] The speaker 250 is provided near the seat 231. When an acoustic data signal from a work machine 40 (described later) is received by the remote wireless communication device 260, the remote control device 200 outputs the acoustic data included in the acoustic data signal from the speaker 250.

[0054] As shown in FIG. 2, the work machine 40 includes an actual machine control device 400, a drive mechanism 450, an engine 460, an imaging device 461, a microphone 462, an actual machine wireless communication device 470, and the like.

[0055] The actual machine control device 400 is a combination of multiple controllers, each of which is composed of a CPU, a memory device (storage, RAM, ROM), an input / output interface, etc. (none of which are shown in the figure). The actual machine control device 400 reads the necessary data and software programs from the memory device and executes various control processes as described below.

[0056] As shown in FIG. 2, the actual device control device 400 has functions as a communication control element 401 and an actual device side communication control element 402, and these functions are realized by the actual device control device 400 executing a software program.

[0057] The work machine 40 is a crawler shovel type construction machine, and as shown in FIG. 4, is equipped with a crawler type lower running body 410, an upper rotating body 420 that is rotatably mounted on the lower running body 410 via a rotating mechanism 430, and the like.

[0058] A cab 424 (operator's compartment) is provided on the front left side of the upper rotating body 420. A work attachment 440 is provided in the front center of the upper rotating body 420.

[0059] The work attachment 440 includes a boom 441 that is mounted on the upper rotating body 420 so that it can be raised and lowered, an arm 443 that is rotatably connected to the tip of the boom 441, and a bucket 445 that is rotatably connected to the tip of the arm 443. The work attachment 440 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446, each of which is made up of extendable and retractable hydraulic cylinders.

[0060] The boom cylinder 442 is interposed between the boom 441 and the upper rotating body 420 so as to extend and retract by receiving a supply of hydraulic oil to rotate the boom 441 in the hoisting direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to extend and retract by receiving a supply of hydraulic oil to rotate the arm 443 about a horizontal axis relative to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to extend and retract by receiving a supply of hydraulic oil to rotate the bucket 445 about a horizontal axis relative to the arm 443.

[0061] The cab 424 is provided with an actual machine operation mechanism (not shown) and a drive mechanism 450. This actual machine operation mechanism has a plurality of actual machine operation levers arranged around a seat arranged inside the cab 424 in the same manner as the remote control mechanism 211. These plurality of actual machine operation levers are driven by the drive mechanism 450.

[0062] When a signal representing the operation state of the remote control mechanism 211 is received by the real machine wireless communication device 470, the real machine control device 400 controls the operating state of the drive mechanism 450 so as to drive multiple real machine operation levers of the real machine operation mechanism based on the signal.

[0063] The engine 460 is an internal combustion engine type and is equipped with a fuel injection valve and the like. The actual machine control device 400 controls the operating state of the engine 460, as will be described later, by controlling the operating state of the fuel injection valve. Note that the engine 460 is not limited to an internal combustion engine type, and an electric motor may be used, or a combination of an electric motor and an internal combustion engine may be used.

[0064] Generally, in the case of a normal crawler excavator-type construction machine that is not designed for remote operation, the operator sitting in the cab changes the position of the key switch mounted next to the seat to the key-off position, key-on position, and key-start position, respectively, to operate the construction machine's electronic equipment and engine.

[0065] Specifically, when the key switch is in the key-off position, no power is supplied to the electronic devices. By changing the key switch from the key-off position to the key-on position, power is supplied to the construction machinery's electronic devices and they start up. Power is also supplied to the electrical circuits used to start the engine, and the engine goes into a standby state for starting. Furthermore, by changing the key switch to the key-start position, the engine starts. Once the key switch is in the key-start position, it remains in the key-on position after the engine has started.

[0066] In contrast to this, the work machine 40 of this embodiment is a construction machine that is designed to be remotely controlled. Therefore, unlike ordinary crawler excavator-type construction machines, the electronic devices and engine 460 of the work machine 40 are operated by the operator 2 changing the position of the key switch 240 of the remote control device 200.

[0067] Specifically, when the key switch 240 is in the key-off position, power is not supplied to the electronic devices. The electronic devices here are the electronic devices excluding the actual machine control device 400, drive mechanism 450, imaging device 461, and microphone 462 that are required for remote operation, and are the same electronic devices that are also installed in ordinary crawler shovel-type construction machines.

[0068] When the key switch 240 is changed from the key-off position to the key-on position, power is supplied to the electronic devices of the work machine 40, and the electronic devices start up. Power is also supplied to the electrical circuit for starting the engine 460, and the circuit goes into a standby state for starting the engine 460. Furthermore, when the key switch 240 is changed to the key-start position, the engine 460 starts.

[0069] The imaging device 461 is a camera type device installed inside the cab 424, and captures an image of the environment including the front of the cab 424 through the front window and a pair of left and right side windows, and outputs an imaging data signal including the imaging data to the actual machine control device 400. The actual machine control device 400 transmits this imaging data signal to the remote wireless communication device 260 via the actual machine wireless communication device 470.

[0070] The microphone 462 outputs an acoustic data signal containing sounds around the work machine 40 as acoustic data to the actual machine control device 400. The actual machine control device 400 transmits this acoustic data signal to the remote wireless communication device 260 via the actual machine wireless communication device 470.

[0071] Next, various control processes at the start of remote operation will be described with reference to Fig. 5. The various control processes shown in Fig. 5 are executed by at least one of the server computing device 11 in the remote operation support server 10, the remote control device 200 in the remote operation device 20, and the actual machine control device 400 in the work machine 40. This also applies to various control processes described later.

[0072] As shown in the figure, first, a start preparation process is executed in the remote control device 20 (FIG. 5 / STEP 1).

[0073] This startup preparation process is specifically executed as shown in Fig. 6. First, the remote control device 20 is started (Fig. 6 / STEP 21). Specifically, the operator 2 turns on the power button (not shown) of the remote control device 20, thereby starting the remote control device 20.

[0074] Next, the authentication confirmation screen shown in Fig. 9 is displayed on the remote terminal 230 (Fig. 6 / STEP 22). On this authentication confirmation screen, the message "Do you want to authenticate?" is displayed at the top, and an authentication button 500 is displayed below that.

[0075] Next, it is determined whether or not the authentication start operation has been performed (FIG. 6 / STEP 23). In this case, when the authentication button 500 is pressed by the operator 2, it is determined that the authentication start operation has been performed, and otherwise it is determined that the authentication start operation has not been performed.

[0076] If this determination is negative (FIG. 6 / STEP 23...NO), the process returns to STEP 22. On the other hand, if this determination is positive (FIG. 6 / STEP 23...YES) and the authentication start operation is performed, an authentication data acquisition process is executed (FIG. 6 / STEP 24). In this authentication data acquisition process, authentication data for identifying the individual operator is acquired by the operator recognition device 223 described above.

[0077] Next, an authentication signal including the above authentication data is output to the remote operation support server 10 (FIG. 6 / STEP 25), after which this process ends.

[0078] Returning to Figure 5, as described above, after the start preparation process is executed by the remote control device 20, if an authentication signal is received by the remote control support server 10, the remote control support server 10 executes user authentication process (Figure 5 / STEP 2).

[0079] In this user authentication process, user authentication is performed based on the authentication data contained in the authentication signal and the authentication data registered in the remote operation support server 10, and then an authentication result signal is output to the remote operation device 20.

[0080] In this case, when the user authentication is successful, the authentication result signal is configured to include authentication result data indicating that fact and work content data based on the work plan of the operator 2 whose user authentication was successful, and when the user authentication is unsuccessful, the authentication result signal is configured to include only authentication result data indicating that fact.

[0081] As described above, after the user authentication process is performed by the remote operation support server 10, when the authentication result signal is received by the remote operation device 20, the authentication result confirmation process is performed by the remote operation device 20 (FIG. 5 / STEP 3).

[0082] This authentication result confirmation process is specifically executed as shown in Fig. 7. As shown in the figure, first, it is determined whether or not the user authentication of operator 2 has been successful based on the authentication result data in the authentication result signal (Fig. 7 / STEP 30).

[0083] If this determination is negative (FIG. 7 / STEP 30...NO), and the user authentication of the operator 2 has failed, a re-authentication process is executed. In this re-authentication process, a picture indicating that the user authentication has failed and a re-authentication button for re-authentication (neither of which are shown) are displayed on the remote terminal 230. Then, when the operator 2 presses the re-authentication button, the processes of STEPs 22 to 25 in FIG. 6 described above are executed. After the re-authentication process is executed as described above, this process ends.

[0084] On the other hand, if the above determination is affirmative (FIG. 7 / STEP 30...YES) and user authentication of Operator 2 is successful, the authentication success screen shown in FIG. 10 is displayed on the remote terminal 230 (FIG. 7 / STEP 32). In the case of this authentication success screen, the words "Facial Authentication" and an emoticon symbol 502 indicating that facial authentication has been successful are displayed at the top, and an OK button 503 is displayed below them.

[0085] Next, it is determined whether or not an understanding action has been performed (FIG. 7 / STEP 33). In this case, if the OK button 503 is pressed, it is determined that an understanding action has been performed, and otherwise it is determined that an understanding action has not been performed.

[0086] If this determination is negative (FIG. 7 / STEP 33...NO), the process returns to STEP 32. On the other hand, if this determination is positive (FIG. 7 / STEP 33...YES) and the OK button 503 is pressed, a work selection screen as shown in FIG. 11 is displayed on the remote terminal 230 based on the work plan of the operator 2 stored in the storage device 12 of the remote operation support server 10 (FIG. 7 / STEP 34).

[0087] On this work selection screen, work selection buttons 504 to 506 are displayed, each showing three work content data that can be performed by the operator 2, and at the bottom is a button 507 for returning to the previous screen. Within each frame of the work selection buttons 504 to 506, the location of the work site where the work will be performed, the work content, the work schedule, etc. are displayed as work content data.

[0088] In the example of the work selection screen shown in FIG. 11, three work selection buttons 504 to 506 are displayed, but depending on the work plan of the operator 2, two or less or four or more work content data selection buttons may be displayed.

[0089] Next, it is determined whether or not a task selection has been performed (FIG. 7 / STEP 35). In this case, if any of the task selection buttons 504 to 506 is pressed by the operator 2, it is determined that a task selection has been performed; otherwise, it is determined that a task selection has not been performed. Note that FIG. 11 shows the case where the task selection button 504 is pressed by the operator 2.

[0090] If this determination is negative (FIG. 7 / STEP 35...NO), the process returns to STEP 34. On the other hand, if this determination is positive (FIG. 7 / STEP 35...YES) and the work selection button is pressed, a machine selection screen such as that shown in FIG. 12 is displayed on the remote terminal 230 (FIG. 7 / STEP 36). Although not shown, if button 507 is pressed, the process returns to STEP 32.

[0091] On this machine selection screen, machine selection buttons 508 to 510 are displayed that indicate the details of three work machines 40 that may be used for the work selected by the operator 2 and that can be remotely controlled, and at the bottom is a button 511 for returning to work selection.

[0092] For example, if excavation work to be performed in work area A is selected in work selection (FIG. 7 / STEP 35), work machines 40 that are present in work area A, that are equipped with a bucket for excavating, and that can be remotely operated will be displayed as machine selection buttons, while work machines 40 that are not present in work area A or work machines 40 that are not equipped with a bucket will not be displayed. The above processing is realized by the work machine 40 having a means for detecting its position, such as GNSS, receiving position information of the work machine 40 via the network, and by uploading the change information to storage device 12 via the network when there is a change in the specification information of the work machine 40.

[0093] In the example of the work selection screen shown in Figure 12, three machine selection buttons 508 to 510 are displayed, but depending on the status of the remotely operable work machines, two or fewer or four or more machine selection buttons may be displayed.

[0094] Next, it is determined whether machine selection has been performed (FIG. 7 / STEP 37). In this case, if any of machine selection buttons 508 to 510 is pressed by operator 2, it is determined that machine selection has been performed, and in any other cases it is determined that machine selection has not been performed. Note that FIG. 12 shows a case where machine selection button 509 is pressed by operator 2.

[0095] If this determination is negative (FIG. 7 / STEP 37...NO), the process returns to STEP 36. On the other hand, if this determination is positive (FIG. 7 / STEP 37...YES) and the machine selection button is pressed, a confirmation screen such as that shown in FIG. 13 is displayed on the remote terminal 230 (FIG. 7 / STEP 38).

[0096] In the case of this confirmation screen, data 512 indicating the work content selected by operator 2 is displayed at the top, and below that, data 513 indicating the work machine selected by operator 2 is displayed. Also below the data 513, photo data 526 of the work machine 40 selected by operator 2 and photo data 527 of the work site where the work machine 40 selected by operator 2 is located are displayed. These photo data 526, 527 are photo data taken in advance and stored in storage device 12.

[0097] Furthermore, weather data 528 is displayed below the photograph data 526, 527. In this case, the weather data 528 displays current weather information (weather, temperature, wind direction) and weather forecast information for the work site where the work machine 40 selected by the operator 2 is located. The weather data 528 is displayed by obtaining weather data that corresponds to the position information of the work machine 40 selected by the operator 2.

[0098] Furthermore, a return to list button 514 for returning to the previous screen is displayed on the left at the bottom of the confirmation screen, and a start remote operation button 515 is displayed on the right at the bottom. In this case, if the work machine 40 displayed on the confirmation screen is correct, the operator 2 presses the start remote operation button 515 to continue the work of starting remote operation.

[0099] On the other hand, if the work machine 40 displayed on the confirmation screen is incorrect, the operator 2 can perform an operation to reselect the work machine 40 by pressing the return to list button 514. Although not shown, when the return to list button 514 is pressed by the operator 2, the process returns to STEP 36.

[0100] Next, it is determined whether or not a remote control start operation has been performed (FIG. 7 / STEP 39). In this case, if the remote control start button 515 is pressed by the operator 2, it is determined that a remote control start operation has been performed, and otherwise it is determined that a remote control start operation has not been performed.

[0101] If this determination is negative (FIG. 7 / STEP 39...NO), the process returns to STEP 38. On the other hand, if this determination is positive (FIG. 7 / STEP 39...YES) and the remote operation start button 515 is pressed, an instruction signal is output to the remote operation support server 10 (FIG. 7 / STEP 40). Thereafter, this process ends. This instruction signal requests various communication setting information from the remote operation support server 10.

[0102] Returning to FIG. 5, after the authentication result confirmation process is executed by the remote control device 20 as described above, if the instruction signal is received by the remote control support server 10, the remote control support server 10 executes a communication connection establishment process (FIG. 5 / STEP 4).

[0103] In the communication connection establishment process, in order to establish a communication connection state between the remote control device 20 and the work machine 40 selected by the operator 2, a device-side communication setting signal is output to the remote control device 20 and at the same time, an actual machine-side communication setting signal is output to the work machine 40.

[0104] This device-side communication setting signal is configured to include various communication setting information such as the IP address of the actual wireless communication device 470 in the work machine 40 selected by the operator 2, and the actual wireless communication device 470 can obtain information about the remote wireless communication device 260 with which communication should be established as the destination of various information.

[0105] In addition, the actual device side communication setting signal is configured to include various communication setting information such as the IP address of the remote wireless communication device 260 in the remote control device 20 operated by the operator 2, and the remote wireless communication device 260 can obtain information about the actual wireless communication device 470 with which communication should be established as the destination of various information.

[0106] In this case, there may be a plurality of remote wireless communication devices 260 with which the actual wireless communication device 470 can establish communication as the destination of the various pieces of information, and there may also be a plurality of actual wireless communication devices 470 with which the remote wireless communication device 260 can establish communication as the destination of the various pieces of information. For this reason, the remote wireless communication device 260 outputs a device-side communication setting signal including various communication setting information such as an IP address with which communication should be established as the destination of the various pieces of information to the remote operation device 20, and the actual wireless communication device 470 outputs a real-side communication setting signal including various communication setting information such as an IP address with which communication should be established as the destination of the various pieces of information to the work machine 40, so that the remote wireless communication device 260 and the actual wireless communication device 470 can obtain information regarding the destination of the various pieces of information.

[0107] As described above, after the communication connection establishment process is executed by the remote operation support server 10, when the remote operation device 20 receives the device-side communication setting signal, the remote operation device 20 executes communication setting process (FIG. 5 / STEP 5). In this communication setting process, various communication setting information such as the IP address of the actual wireless communication device 470 is applied to the remote control device 200.

[0108] On the other hand, when the actual machine side communication setting signal is received by the work machine 40, the work machine 40 executes a communication setting process (FIG. 5 / STEP 6). In this communication setting process, various communication setting information such as the IP address of the remote wireless communication device 260 is applied to the actual machine control device 400. As described above, by executing the communication setting process in the remote operation device 20 and the work machine 40, a communication connection state with the work machine 40 is established, thereby enabling communication between the two.

[0109] As a result of the above, the work machine 40 can transmit information such as an imaging data signal including imaging data captured by the imaging device 461 to the remote wireless communication device 260, which is the destination, and the remote control device 20 can transmit information such as operation information including lever operation information performed in the remote control mechanism 211 to the actual wireless communication device 470, which is the destination.

[0110] That is, when a work machine 40 is selected by the operator 2, an instruction signal requesting various communication setting information is sent from the remote operation device 20 to the remote operation support server 10, and various communication setting information such as an IP address is sent from the storage device 12 of the remote operation support server 10 to the actual wireless communication device 470 and the actual wireless communication device 470 based on the instruction signal, and communication setting processing is executed in the remote operation device 20 and the work machine 40, thereby establishing a communication connection state with the work machine 40. Therefore, it takes time from when the work machine 40 is selected by the operator 2 until the communication connection state is established.

[0111] In the remote control device 20, the above-mentioned communication setting process is executed, and after the communication connection state is established, an actual device connection preparation process is executed (FIG. 5 / STEP 7).

[0112] Specifically, this actual device connection preparation process is executed as shown in Fig. 8. As shown in the figure, first, a process for displaying a confirmation instruction screen is executed (Fig. 8 / STEP 50). In this process for displaying a confirmation instruction screen, a confirmation instruction screen shown in Fig. 14 is displayed on the remote terminal 230.

[0113] As shown in the figure, the confirmation instruction screen displays a message at the top saying "Please check the main camera image," and below that two messages are displayed: "The main camera image will be switched" and "Please check that the image is from the camera of the construction machine you want to operate." Furthermore, below the above messages, from top to bottom, a connection button 516 with the message "Connect to this construction machine" displayed and a construction machine change button 517 with the message "Change construction machine" displayed are displayed.

[0114] The connect button 516 is a button for confirming the start of work on the work machine 40 after the communication connection establishment process has been executed on the remote operation support server 10. The construction machine change button 517 is a button for canceling work on the work machine 40 and reselecting another construction machine 40 immediately before work starts on the work machine 40 after the communication connection establishment process has been executed on the remote operation support server 10.

[0115] Furthermore, although not shown, at the same time that the confirmation screen is displayed on the local terminal 230, an imaging data signal including imaging data captured by the imaging device 461 in the work machine 40 is output from the actual machine control device 400 to the remote operation device 20, and the imaging data captured by the imaging device 461 is output from the image output device 221. In this case, the operator 2 can confirm from the confirmation screen displayed on the local terminal 230 and the imaging data displayed on the image output device 221 whether or not the selected work machine 40 is the one intended for remote operation.

[0116] When the operator 2 receives the message, he / she determines whether the image data displayed on the image output device 221 is correct, and if the work machine 40 is correct, he / she presses the connection button 516 to start remote operation, whereas if the work machine 40 is incorrect, he / she presses the construction machine change button 517 to reselect the work machine 40.

[0117] Next, it is determined whether or not the actual device connection operation has been performed by the operator 2 (FIG. 8 / STEP 51). In this case, if the operator 2 presses the connect button 516 on the confirmation instruction screen, it is determined that the actual device connection operation has been performed, and otherwise it is determined that the actual device connection operation has not been performed.

[0118] If this determination is negative (STEP 51...NO), the process returns to STEP 50. On the other hand, if this determination is positive (STEP 51...YES) and the connect button 516 is pressed, an actual machine connection signal is output to the work machine 40 (FIG. 8 / STEP 52). Thereafter, this process ends. Although not shown, if the construction machine change button 517 is pressed, the process returns to FIG. 7 / STEP 36, and a machine selection screen such as that shown in FIG. 12 is displayed.

[0119] Returning to Fig. 5, following the above-described actual machine connection preparation process, a key-on operation process is executed (Fig. 5 / STEP 8). In this key-on operation process, as the operator 2 operates the key switch 240 from the key-off position to the key-on position, a key-on signal indicating this is output to the work machine 40.

[0120] As described above, if a key-on signal is received by the work machine 40 after the key-on operation process has been executed by the remote control device 20, the work machine 40 carries out power key-on process (FIG. 5 / STEP 9). In this power key-on process, power is supplied to electronic devices including electrical circuits for starting the engine 460 mounted on the work machine 40 based on the key-on signal.

[0121] Furthermore, in the remote operation device 20, following the above-mentioned key-on operation process, a work diary entry process is executed (FIG. 5 / STEP 10). In this work diary entry process, the operator 2 operates the remote terminal 230 to enter work diary data, and a work diary signal including the entered work diary data is output to the remote operation support server 10.

[0122] When this work diary signal is received by the remote operation support server 10, a work diary update process is executed in the remote operation support server 10 (FIG. 5 / STEP 11). In this work diary update process, the data of the work diary of the operator 2 stored in the storage device 12 is updated.

[0123] The work log is configured to include information that the operator 2, whose user authentication was successful in the user authentication process (FIG. 7 / STEP 30), will perform the work selected on the work selection screen (FIG. 7 / STEP 35) on the work machine 40 selected on the machine selection screen (FIG. 7 / STEP 36). The work log is also configured to include information on the start and end times of the work log update process, the operating status of the work machine 40 while the work log update process is being executed, and operation information of the remote control device 20.

[0124] Furthermore, following the work log entry process described above, the remote control device 20 executes a key start operation process (FIG. 5 / STEP 12). In this key start operation process, as the operator 2 operates the key switch 240 from the key on position to the key start position, a key start signal representing this is output to the work machine 40.

[0125] As described above, after the key start operation process has been executed by the remote control device 20, if a key start signal is received by the work machine 40, the engine start process is executed in the work machine 40 (FIG. 5 / STEP 12). In this engine start process, the engine 460 of the work machine 40 is started by the actual machine control device 400. Then, when the engine 460 has started, an engine start signal indicating this is output to the remote control device 20.

[0126] As described above, after the engine start processing has been executed in the work machine 40, if an engine start signal is received by the remote control device 20, the remote control device 20 thereafter executes the remote control processing (FIG. 5 / STEP 13).

[0127] In this remote control process, although not shown, first, the engine start signal is output from at least one of the image output device 221, the remote terminal 230, and the speaker 250. This allows the operator 2 to confirm that the engine 460 has started.

[0128] Next, on the condition that the lever lock release operation has been performed, the operation of the work machine 40 can be remotely controlled in accordance with the operation of the remote control device 20 by the operator 2. In this case, when the operator 2 lowers the shutoff lever 2113 to either the locked position or the unlocked position, it is determined that the lever lock release operation has been performed, and in any other cases it is determined that the lever lock release operation has not been performed.

[0129] Next, the work selection process will be described with reference to Fig. 15. This work selection process is executed by the remote control device 200 while the operator 2 is performing remote operation, and is a process for changing the work being performed by the operator 2 via remote operation.

[0130] As shown in the figure, first, it is determined whether or not remote control is being performed (FIG. 15 / STEP 60). In this case, if the remote control process (FIG. 5 / STEP 14) is being performed, this determination is positive, and otherwise this determination is negative. If this determination is negative (FIG. 15 / STEP 60...NO), this process ends as is.

[0131] On the other hand, if this determination is affirmative (FIG. 15 / STEP 60...YES) and remote operation is being performed, it is determined whether or not the lever lock operation has been performed (FIG. 15 / STEP 61). In this case, if the operator 2 has pulled the breaking lever 2113 up to the lock position, it is determined that the lever lock operation has been performed, and in any other cases, it is determined that the lever lock operation has not been performed.

[0132] If the determination is negative (FIG. 15 / STEP 61...NO), the process ends. On the other hand, if the determination is positive (FIG. 15 / STEP 61...YES) and the cutoff lever 2113 is raised to the lock position, the operation completion screen shown in FIG. 19 is displayed on the remote terminal 230 (FIG. 15 / STEP 62).

[0133] In the case of this work completion screen, data relating to various work machines 40 is displayed from the top to the center, and a work completion button 600 is displayed below that.

[0134] Next, it is determined whether or not a lever unlocking operation has been performed (FIG. 15 / STEP 63). In this case, when the operator 2 lowers the cutoff lever 2113 from the locked position to the unlocked position, it is determined that the lever unlocking operation has been performed, and in any other cases, it is determined that the lever unlocking operation has not been performed.

[0135] If this determination is positive (FIG. 15 / STEP 63...YES), the process returns to STEP 60. On the other hand, if this determination is negative (FIG. 15 / STEP 63...NO), it is determined whether or not a work completion operation has been performed (FIG. 15 / STEP 64). In this case, if the work completion button 600 is pressed by the operator 2, it is determined that a work completion operation has been performed, and otherwise it is determined that a work completion operation has not been performed.

[0136] If this determination is negative (FIG. 15 / STEP 64...NO), the process returns to STEP 62. On the other hand, if this determination is positive (FIG. 15 / STEP 64...YES) and the work completion button 600 is pressed, an engine operation selection screen is displayed on the remote terminal 230. At the same time, although not shown, the ongoing work log update process is terminated.

[0137] In the case of this engine operation selection screen, a keep engine on button 601 and an engine off button 602 are displayed vertically in the lower portion, as shown in Fig. 20. Within this keep engine on button 601, the words "keep engine on" and "perform another task on this machine" are displayed.

[0138] This engine ON continuation button 601 is a button that is pressed when, after completing the work selected on the work selection screen (Fig. 7 / STEP 35), continuing to use the work machine 40 selected on the machine selection screen (Fig. 7 / STEP 36), selecting a work different from the work selected on the work selection screen (Fig. 7 / STEP 35). In addition, the engine OFF button 602 displays the words "Engine OFF," "Switch to another machine," and "End remote operation."

[0139] Next, it is determined whether or not the engine ON continuation operation has been performed (FIG. 15 / STEP 66). In this case, when the engine ON continuation button 601 is pressed by the operator 2, it is determined that the engine ON continuation operation has been performed, and otherwise it is determined that the engine ON continuation operation has not been performed.

[0140] If this determination is affirmative (FIG. 15 / STEP 66...YES) and the engine ON continuation button 601 is pressed, another task process is carried out (FIG. 15 / STEP 67).

[0141] In this other task processing, the processing of steps 34 to 35 in Fig. 7 described above is executed, and after another task is selected, the remote control processing of step 14 in Fig. 5 described above is executed. After the other task processing is executed as described above, this processing ends.

[0142] On the other hand, if the above-mentioned determination is negative (FIG. 15 / STEP 66...NO) and the engine ON continuation button 601 has not been pressed, it is determined whether or not an engine OFF operation has been performed (FIG. 15 / STEP 68).

[0143] In this case, when the engine off button 602 is pressed by the operator 2, it is determined that the engine off operation has been performed, and in any other cases it is determined that the engine off operation has not been performed. This engine off button 602 is a button that is pressed when working on a work machine 40 other than the work machine 40 selected on the machine selection screen (FIG. 7 / STEP 36) or when remote operation itself using the remote control device 20 is to be terminated.

[0144] If this determination is negative (FIG. 15 / STEP 68...NO), the process returns to the above-mentioned STEP 65. On the other hand, if this determination is positive (FIG. 15 / STEP 68...YES) and the engine off button 602 is pressed, the key off screen shown in FIG. 21 is displayed on a part of the image output device 221 (FIG. 15 / STEP 69).

[0145] In the case of this key-off screen, as shown in Figure 21, a circled "!" mark is displayed on the left side of the screen, with the word "Caution" displayed below it and the words "Turn key off" displayed to the left of that. These mark and words are displayed to stop the engine of the work machine 40, as the work machine 40 that was connected through communication will no longer be in use.

[0146] Next, it is determined whether a key-off operation has been performed (FIG. 15 / STEP 70). In this case, if the key switch 240 is operated by the operator 2 from the key-on position to the key-off position, it is determined that a key-off operation has been performed; otherwise, it is determined that a key-off operation has not been performed.

[0147] If this determination is negative (FIG. 15 / STEP 70...NO), the process returns to STEP 68. On the other hand, if this determination is positive (FIG. 15 / STEP 70...YES) and the key switch 240 is turned off, an engine stop signal is output (transmitted) to the work machine 40 (FIG. 15 / STEP 71). As described above, in this work selection process, when the key switch 240 in the remote control device 20 is changed from the key on position to the key off position by the operator 2, a key off signal is transmitted to the work machine 40, but otherwise the key off signal is not transmitted to the work machine 40.

[0148] When this key-off signal is received by the work machine 40, engine stop processing is executed in the work machine 40, as shown in Figure 17 (Figure 17 / STEP 73), thereby stopping the engine 460.

[0149] Returning to Fig. 15, after a key-off signal is output to the work machine 40, a post-stop operation selection process is executed (Fig. 15 / STEP 72). This post-stop operation selection process is specifically executed as shown in Fig. 16.

[0150] As shown in the figure, in this process, first, the post-stop action selection screen shown in Fig. 22 is displayed on the remote terminal 230 (Fig. 16 / STEP 80). In the case of this post-stop action selection screen, as shown in Fig. 22, the words "Please make sure the cockpit key switch is turned OFF" are displayed above it. This wording is displayed to prevent the operator 2 from operating the key switch 240 to the key-on position or key-start position.

[0151] Below the text display, a restart button 603, a machine transfer button 604, and a remote operation end button 605 are displayed in this order from top to bottom.

[0152] The restart button 603 displays the words "Restart with the same model," the machine change button 604 displays the words "Switch to another machine," and the remote operation end button 605 displays the words "End remote operation." In this embodiment, the display of the post-stop operation selection screen on the handheld terminal 230 corresponds to the output of confirmation information by the remote input unit.

[0153] Next, it is determined whether or not a remote operation termination operation has been performed (FIG. 16 / STEP 81). In this case, if the remote operation termination button 605 is pressed by the operator 2, it is determined that the remote operation termination operation has been performed, and in any other case, it is determined that the remote operation termination operation has not been performed. In this embodiment, pressing the remote operation termination button 605 by the operator 2 corresponds to a designation operation for executing termination of the remote operation.

[0154] If this determination is affirmative (FIG. 16 / STEP 81...YES) and the remote operation end button 605 is pressed, a remote operation end signal is output to the remote operation support server 10 (FIG. 16 / STEP 82). This remote operation end signal is a signal for the remote operation device 20 to instruct the remote operation support server 10 to end the remote operation. After that, this process ends.

[0155] When this engine stop signal is received by the remote operation support server 10, a communication setting discarding process is executed in the remote operation support server 10 (FIG. 18 / STEP 90), as shown in Fig. 18. Accordingly, a communication setting discarding signal is output from the remote operation support server 10 to the remote operation device 20 and the work machine 40.

[0156] When this communication setting discard signal is received by the remote control device 20, a communication setting discard process is executed (FIG. 18 / STEP 91). In this communication setting discard process, the various communication setting information set in the remote control device 200 is discarded.

[0157] Furthermore, when the communication settings discard signal is received by the work machine 40, a communication settings discard process is executed (FIG. 18 / STEP 92). In this communication settings discard process, the various types of communication setting information described above that are set in the actual machine control device 400 are discarded. As a result, the wireless communication connection between the remote control device 200 and the work machine 40 is cut off.

[0158] Returning to Fig. 16, when the above-mentioned determination is negative (Fig. 16 / STEP 81...NO) and the remote operation end button 605 has not been pressed, it is determined whether or not a transfer selection operation has been performed (Fig. 16 / STEP 83). In this case, when the machine transfer button 604 has been pressed by the operator 2, it is determined that a transfer selection operation has been performed, and in any other cases, it is determined that a transfer selection operation has not been performed. In this embodiment, pressing the machine transfer button 604 corresponds to a real machine switching operation.

[0159] If this determination is affirmative (FIG. 16 / STEP 83...YES) and the machine transfer button 604 is pressed, the remote operation end signal described above is output to the remote operation support server 10 (FIG. 16 / STEP 84). As a result, the communication setting discarding process described above in FIG. 18 is executed.

[0160] Next, work machine transfer processing is executed (FIG. 16 / STEP 85), after which this processing ends. In this work machine transfer processing, the remote operation device 20 executes the processing of STEP 22 to 25 in FIG. 6 in the processing of STEP 1 in FIG. 5, and also executes the processing from STEP 3 onwards.

[0161] At the same time, the remote operation support server 10 also executes the processing from STEP 2 onwards in Figure 5 described above, and the work machine 40 also executes the processing from STEP 6 onwards in Figure 5 described above. This work machine switching processing is intended to switch the work machine 40 remotely operated by the operator 2 to another work machine.

[0162] On the other hand, when the above determination is negative (FIG. 16 / STEP 83...NO) and the machine transfer button 604 has not been pressed, it is determined whether or not a restart operation has been performed (FIG. 16 / STEP 86). In this case, when the restart button 603 has been pressed by the operator 2, it is determined that a restart operation has been performed, and otherwise it is determined that a restart operation has not been performed.

[0163] If this determination is negative (FIG. 16 / STEP 86...NO), the process returns to the above-mentioned STEP 80. On the other hand, if this determination is positive (FIG. 16 / STEP 86...YES) and the restart button 603 is pressed, the work machine restart process is executed (FIG. 16 / STEP 87), after which the process ends.

[0164] In this work machine restart processing, the remote operation device 20 executes the processing of STEP 22 to 25 in Fig. 6 in the processing of STEP 1 in Fig. 5, and executes the processing of STEP 3 and STEP 7 onwards. At the same time, the remote operation support server 10 executes the processing of STEP 2 and STEP 11 in Fig. 5, and the work machine 40 also executes the processing of STEP 9 onwards.

[0165] As described above, according to the remote operation system 1 of this embodiment, after the lever lock operation is performed and the work machine 40 is stopped, the communication connection establishment process is not executed again unless a remote operation termination operation is performed or a transfer selection operation is performed. In other words, the communication connection state between the remote operation device 20 and the work machine 40 is maintained. As a result, when remote operation of the work machine 40 is resumed after the work machine 40 has stopped, the time required from temporarily stopping remote operation to resuming it can be shortened compared to when a communication connection state between the remote operation device 20 and the work machine 40 is reestablished.

[0166] Furthermore, if a remote operation termination operation is performed or a transfer selection operation is performed after the work machine 40 has stopped, the communication settings in the remote control device 200 and the actual machine control device 400 are discarded, and the communication connection state between the remote control device 20 and the work machine 40 is terminated. This makes it possible to reliably terminate the communication connection state in a situation where it is highly probable that remote operation can be terminated.

[0167] Furthermore, the remote control device 200 and the actual machine control device 400 configure communication settings that enable communication between the remote wireless communication device 260 and the actual machine wireless communication device 470, thereby making it possible to establish a communication connection state between the remote operation device 20 and the work machine 40 (STEPs 4 to 6 in FIG. 5). As a result, even in a situation where there are multiple remote operation devices 20 and multiple work machines 40 that can be remotely controlled by these, it is possible to appropriately establish a communication connection state between the remote operation device 20 and the work machine 40 that should be the target of remote operation by the remote operation device 20.

[0168] Furthermore, after the work machine 40 has been stopped and the engine 460 has been stopped by the operator 2, a post-stop operation selection screen is displayed on the remote terminal 230 (FIG. 22) to confirm with the operator 2 whether or not to resume or end remote operation. This allows the operator 2 to accurately decide whether or not to resume or end remote operation by operating the remote terminal 230.

[0169] Furthermore, by stopping the engine 460 before the post-stop operation selection screen is displayed on the remote terminal 230, it is possible to prevent the engine 460 from wasting fuel.

[0170] Furthermore, when the machine transfer button 604 is pressed on the post-stop operation selection screen, work machine transfer processing is executed, making it possible to accurately execute a transfer operation for the work machine 40. Furthermore, when the restart button 603 is pressed on the post-stop operation selection screen, work machine restart processing is executed. In this work machine restart processing and work machine transfer processing, authentication processing for the operator 2 is executed. This makes it possible to confirm whether the operator 2 resuming remote operation matches the registered operator saved in the storage device 12. This is because, when the post-stop operation selection screen is displayed on the handheld terminal 230, the work performed by the previous remote operation has been completed, and there is a possibility that the operator 2 who was performing remote operation will be replaced by another operator 2, and therefore authentication processing for the operator 2 must be executed after remote operation is resumed.

[0171] Furthermore, since the remote terminal 230 is installed near the seat 231, the operator 2 can perform input operations to the remote terminal 230 while sitting in the seat 231.

[0172] Although the embodiment is an example in which a crawler excavator type work machine 40 is used as the work machine, the work machine of the present invention is not limited to this and may be any work machine that can be remotely controlled by a remote control device. For example, a remotely controlled crane or the like may be used as the work machine.

[0173] In addition, although the embodiment is an example in which the handheld terminal 230 is used as the remote input unit, the remote input unit of the present invention is not limited to this and may be any device that can be operated by an operator. For example, a smartphone-type portable terminal may be used as the remote input unit.

[0174] Furthermore, although the embodiment is an example in which the pressing of a button by the operator 2 is used as the designation operation, instead, the input of an utterance by the operator 2 into a device such as the handheld terminal 230 may be used as the designation operation.

[0175] Furthermore, in the remote operation system 1, only one of the remote operation support server 10, the remote operation device 20, and the work machine 40 may be configured to have the functions of a remote control element and a communication control element. In other words, only one of the remote operation support server 10, the remote operation device 20, and the work machine 40 may constitute the remote operation system 1.

[0176] For example, when the remote operation device 20 constitutes the remote operation system 1, the remote control device 200 may have the functions of both the remote control element and the communication control element. Similarly, when the work machine 40 constitutes the remote operation system 1, the actual machine control device 400 may have the functions of both the remote control element and the communication control element.

[0177] Furthermore, in the remote operation system 1, one of the remote operation support server 10 and the remote operation device 20 may be configured to have the function of a remote control element, and the other of the remote operation support server 10 and the remote operation device 20 may be configured to have the function of a communication control element.

[0178] In addition, the remote operation system 1 may be configured so that one of the remote operation support server 10 and the work machine 40 has the function of a remote control element, and the other of the remote operation support server 10 and the work machine 40 has the function of a communication control element.

[0179] Furthermore, in the remote operation system 1, one of the remote operation device 20 and the work machine 40 may be configured to function as a remote control element, and the other of the remote operation device 20 and the work machine 40 may be configured to function as a communication control element. [Explanation of symbols]

[0180] 1. Remote control system 2 Operators 20 Remote Control Device 200 Remote control device 201 Remote Control Elements 202 Communication Control Elements 203 Equipment-side communication control element 204 Output Control Elements 230 Handheld terminal (remote input unit) 231 seats 260 Remote wireless communication device (device-side communication device) 40 Work Machinery 400 Actual machine control device (communication control element, actual machine side communication control element) 460 Engine (Internal Combustion Engine) 470 Actual wireless communication device (actual communication device)

Claims

1. A remote operation system for an operator to remotely operate a work machine via a remote operation device having a remote input unit, a remote control element that executes a process for restarting or terminating the remote operation when a designation operation for restarting or terminating the remote operation is executed by the operator on the remote input unit in a case where an operation for stopping an actual machine of the work machine is executed by the operator via the remote operation device while the remote operation is being executed; a communication control element that, when the remote operation is started, establishes a communication connection state between the remote operation device and the work machine so that the remote operation of the work machine is possible, and maintains the communication connection state from the execution of the actual machine stop operation until the execution of the designated operation, when an actual machine switching operation for switching from the work machine to another work machine is executed by the operator in the remote input unit after the actual machine stop operation is executed, the remote control element executes a switching process to the other work machine, A remote operation system, wherein the communication control element terminates the communication connection state between the remote operation device and the work machine when the switching process is executed by the remote control element.

2. 2. The remote control system according to claim 1, A remote operation system characterized in that the communication control element terminates the communication connection state when the operator executes the specified operation to terminate the remote operation in the remote input unit after executing the actual machine stop operation.

3. 3. The remote control system according to claim 1, the communication control element comprises an apparatus-side communication control element that controls an apparatus-side communication device in the remote operation device, and an actual-machine-side communication control element that controls an actual-machine-side communication device in the work machine, A remote control system characterized in that the device-side communication control element and the actual device-side communication control element establish the communication connection state by configuring communication settings that enable communication between the device-side communication device and the actual device-side communication device.

4. The remote control system according to claim 3, a remote control system characterized in that, when the operator executes the specified operation to terminate the remote operation in the remote input unit after executing the real machine stop operation, the device-side communication control element and the real machine-side communication control element terminate maintenance of the communication connection state by discarding the communication settings.

5. 3. The remote control system according to claim 1, A remote control system further comprising an output control element that outputs confirmation information from a remote output unit of the remote control device when the actual machine stop operation is executed, to confirm to the operator whether or not the remote operation can be resumed or terminated.

6. 3. The remote control system according to claim 1, a remote control element that stops the internal combustion engine when the operator executes an engine stop operation for stopping the internal combustion engine of the work machine on the remote input unit after the actual machine stop operation is executed, and

7. 3. The remote control system according to claim 1, a remote control element that stops the internal combustion engine when, after the actual machine stop operation is executed, the operator executes a work end operation and an engine stop operation to stop the internal combustion engine of the work machine on the remote input unit.

8. 3. The remote control system according to claim 1, a remote control element that, when predetermined conditions are satisfied, one of which is that the authentication of the operator is successful, establishes the communication connection state between the remote operation device and the work machine so that the remote operation of the work machine is possible, and performs the authentication of the operator before resuming the remote operation.

9. 3. The remote control system according to claim 1, The remote control system is characterized in that the remote input unit is installed near a seat on which the operator sits.

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