Communication support devices, systems, methods, and programs

Abstract

To provide a communication support device and the like that can efficiently contribute to communication in real time with a person who needs to communicate.SOLUTION: A communication support device includes: a range management unit which manages information on a range of a remote robot communication device; an identification information combination management unit which manages an identification information combination of any of worker communication devices and a remote operator communication device for the remote robot communication device; a position information acquisition unit which acquires position information from the remote robot communication device and the worker communication device; an identification information acquisition unit which acquires identification information from each communication device; a channel allocation unit which allocates a channel to the communication device that belongs to the range of the remote robot communication device, and allocates the channel to the communication device that corresponds to the identification information combination; and an information transmission unit which acquires information from the communication device to which the channel is allocated and forwards the information to the communication device other than an acquisition source.SELECTED DRAWING: Figure 16

Description

Technical Field

[0001] The present invention relates to a communication support device, system, method, and program.

Background Art

[0002] In various industries such as the construction industry and the logistics industry, automation and remote operation technologies for construction machinery, transport vehicles, etc. are advancing as measures to eliminate labor shortages and improve work efficiency. When construction machinery, transport vehicles, etc. are automated or remotely operated, the communication between workers changes.

[0003] For example, when working with construction machinery, it is necessary to work while coordinating among the operator on the construction machinery, the guide of the construction machinery, and the work instructor. At this time, communication is achieved among the three parties by means of wireless, gestures, eye contact, etc.

[0004] However, when the operator is not present at the work site due to remote control of the construction machinery, it becomes difficult for the remote operator who remotely controls the construction machinery to communicate visually such as gestures and eye contact with the guide and instructor present at the work site. Also, when a worker other than the guide and instructor working at the work site approaches the construction machinery, communication is required between the worker and the remote operator, but it becomes difficult to communicate visually such as gestures and eye contact or by voice.

[0005] As a method of establishing communication between an unspecified number of workers at the work site and the remote operator, there is a method of using a communication terminal to perform, for example, video calls using a camera, voice calls using wireless, alert output, etc. There is a system in which workers who communicate with each other in such a method are grouped so that communication is achieved between specific workers (see, for example, Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0006] [Patent Document 1] Japanese Patent Publication No. 2020-135532 [Patent Document 2] Japanese Patent Publication No. 2009-135869 [Overview of the project] [Problems that the invention aims to solve]

[0007] The following analysis is provided by the present inventor.

[0008] However, since the people with whom communication is needed change moment by moment depending on the work content and the situation on site, if workers are grouped together in advance as in the system described above, it may be necessary to repeatedly specify the people to communicate with, which could lead to a lack of real-time capabilities. On the other hand, if communication is not limited to specific people and communication is allowed among all workers, it would increase the communication load and the voices of workers who do not need to communicate would become noise, making it inefficient.

[0009] The main objective of the present invention is to provide a communication support device, system, method, and program that can contribute to real-time and efficient communication with a party with whom communication is necessary. [Means for solving the problem]

[0010] The communication support device relating to the first viewpoint includes: a range management unit configured to manage information relating to the range in which communication is possible with a remote robot communication device mounted on a remote robot; an identification information combination management unit configured to manage identification information combinations that combine the identification information of any of the multiple worker communication devices used by workers and the remote operator communication device used by a remote operator, enabling communication with the remote robot communication device; a location information acquisition unit configured to acquire location information from the remote robot communication device and each of the multiple worker communication devices; an identification information acquisition unit configured to acquire identification information from the remote robot communication device, the multiple worker communication devices, and the remote operator communication device; and the multiple worker communication devices and the remote robot communication device The system includes a channel assignment unit configured to assign channels to worker communication devices belonging to the range centered on the remote robot communication device based on the respective location information and range information of the remote robot communication device, and to assign channels to the worker communication device, remote robot communication device and remote operator communication device relating to the identification information corresponding to the identification information combination based on the respective identification information of the plurality of worker communication devices, the remote operator communication device and the remote robot communication device, and the combination of the identification information, and an information transfer unit that acquires information from the worker communication device, remote robot communication device and remote operator communication device to which the channels have been assigned and transfers it to the worker communication device, remote robot communication device and remote operator communication device other than the source to which the channels have been assigned.

[0011] The second viewpoint communication support system comprises the first viewpoint communication support device, the plurality of worker communication devices, the remote robot communication device, and the remote operator communication device.

[0012] The third communication support method relates to a communication support method in which a computer supports communication between a remote robot communication device mounted on a remote robot, a plurality of worker communication devices used by a worker, and a remote operator communication device used by a remote operator, and comprises the steps of: registering information relating to the range in which communication is possible with respect to the remote robot communication device; registering a combination of identification information that combines the identification information of any of the plurality of worker communication devices that enable communication with the remote robot communication device and the remote operator communication device; acquiring location information from each of the remote robot communication device and the plurality of worker communication devices; acquiring identification information from each of the remote robot communication device, the plurality of worker communication devices, and the remote operator communication device; and The method includes the steps of: assigning channels to worker communication devices belonging to the range centered on the remote robot communication device based on the location information of each of the multiple worker communication devices and the remote robot communication device, and the range information of each of the multiple worker communication devices, the remote operator communication device, and the remote robot communication device, and assigning channels to the worker communication device, the remote robot communication device, and the remote operator communication device relating to the identification information corresponding to the combination of identification information based on the identification information of each of the multiple worker communication devices, the remote operator communication device, and the remote robot communication device, and the combination of identification information of each of the multiple worker communication devices, the remote operator communication device, and the remote robot communication device to which the channels have been assigned; and acquiring information from the worker communication device, the remote robot communication device, and the remote operator communication device to which the channels have been assigned, other than the source of acquisition.

[0013] The program relating to the fourth perspective is a program that causes a computer to execute processes to support communication between a remote robot communication device mounted on a remote robot, multiple worker communication devices used by workers, and a remote operator communication device used by a remote operator, the program comprising: a process to register information relating to the range in which communication is possible with the remote robot communication device; a process to register a combination of identification information that combines the identification information of any of the multiple worker communication devices that can communicate with the remote robot communication device and the remote operator communication device; a process to acquire position information from each of the remote robot communication device and the multiple worker communication devices; a process to acquire identification information from each of the remote robot communication device, the multiple worker communication devices, and the remote operator communication device; and the multiple worker communication devices and Based on the position information of each of the remote robot communication devices and the information relating to the range, the computer is instructed to perform the following processes: assign a channel to the worker communication devices that belong to the range centered on the remote robot communication device; assign a channel to the worker communication device, the remote robot communication device, and the remote operator communication device relating to the identification information corresponding to the identification information combination, based on the identification information of each of the plurality of worker communication devices, the remote operator communication device, and the remote robot communication device and the combination of the identification information; and acquire information from the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel has been assigned and transfer it to the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel has been assigned, other than the source.

[0014] The program can be recorded on a computer-readable storage medium. The storage medium can be a non-transient medium such as semiconductor memory, hard disk, magnetic recording medium, or optical recording medium. Furthermore, in this disclosure, it is also possible to embody the program as a computer program product. The program is input to the computer device via an input device or an external communication interface, stored in a storage device, drives the processor according to predetermined steps or processes, and can display the processing results, including intermediate states, at each stage via a display device as needed, or can communicate with the outside via a communication interface. For example, the computer device for this purpose typically comprises a processor, storage device, input device, communication interface, and, if necessary, a display device, all of which are connected to each other by a bus. [Effects of the Invention]

[0015] According to the first to fourth perspectives described above, it is possible to contribute to real-time and efficient communication with those with whom communication is necessary. [Brief explanation of the drawing]

[0016] [Figure 1] This is a schematic diagram illustrating an example of the configuration and usage of the communication support system according to Embodiment 1. [Figure 2] This is a schematic block diagram showing the configuration of the worker communication device in the communication support system according to Embodiment 1. [Figure 3] This is a schematic block diagram showing the configuration of the remote robot communication device in the communication support system according to Embodiment 1. [Figure 4] This is a schematic block diagram showing the configuration of the remote operator communication device in the communication support system according to Embodiment 1. [Figure 5] This is a schematic block diagram showing the configuration of the communication support device in the communication support system according to Embodiment 1. [Figure 6] It is a flowchart diagram schematically showing the operation of a communication support device in a communication support system according to Embodiment 1. [Figure 7] It is a block diagram schematically showing the configuration of a remote operator communication device in a communication support system according to Embodiment 2. [Figure 8] It is an image diagram schematically showing the mute / non - mute state when a construction machine is carried into a communication support system according to Embodiment 2. [Figure 9] It is an image diagram schematically showing the mute / non - mute state during the ball - hanging operation of a communication support system according to Embodiment 2. [Figure 10] It is an image diagram schematically showing the mute / non - mute state during the hoisting operation of a communication support system according to Embodiment 2. [Figure 11] It is a flowchart diagram schematically showing the operation of a communication support device in a communication support system according to Embodiment 2. [Figure 12] It is an image diagram showing the situation during communication when a range is set for an operator in a communication support system according to Embodiment 3. [Figure 13] It is an image diagram showing the situation during non - communication when a range is set for an operator in a communication support system according to Embodiment 3. [Figure 14] It is an example image diagram showing the case where ranges are set for a remote robot and an operator respectively in a communication support system according to Embodiment 4. [Figure 15] It is an image diagram showing the case where an angular range is set within the range of a remote robot in a communication support system according to Embodiment 5. [Figure 16] It is an image diagram schematically showing the configuration of a communication support device according to Embodiment 6. [Figure 17] It is a block diagram schematically showing the configuration of hardware resources. [Modes for carrying out the invention]

[0017] Embodiments will be described below with reference to the drawings. Reference numerals used in the drawings in this application are solely for the purpose of aiding understanding and are not intended to limit the invention to the illustrated configuration. Furthermore, the embodiments described below are merely illustrative and do not limit the present invention. In addition, the connecting lines between blocks in the drawings and other diagrams referenced in the following description include both bidirectional and unidirectional lines. Unidirectional arrows schematically represent the flow of the main signal (data) and do not exclude bidirectionality. Furthermore, in the circuit diagrams, block diagrams, internal configuration diagrams, connection diagrams, etc., shown in this disclosure, although not explicitly shown, input ports and output ports exist at the input and output ends of each connecting line. The same applies to input / output interfaces. The program is executed via a computer device, which includes, for example, a processor, storage device, input device, communication interface, and, if necessary, a display device. The computer device is configured to communicate with internal or external equipment (including computers) via the communication interface, whether wired or wireless.

[0018] [Embodiment 1] The communication support system according to Embodiment 1 will be described with reference to the drawings. Figure 1 is a schematic image diagram showing an example of the configuration and usage of the communication support system according to Embodiment 1. Figure 2 is a schematic block diagram showing the configuration of the worker communication device in the communication support system according to Embodiment 1. Figure 3 is a schematic block diagram showing the configuration of the remote robot communication device in the communication support system according to Embodiment 1. Figure 4 is a schematic block diagram showing the configuration of the remote operator communication device in the communication support system according to Embodiment 1. Figure 5 is a schematic block diagram showing the configuration of the communication support device in the communication support system according to Embodiment 1.

[0019] Communication support system 1 is a system that supports communication between workers (on-site workers 3a, 3b, and guide 3c in Figure 1) and remote operator 4 when operating a remote robot (60; an excavator in Figure 1) at a site 6 from a remote location 7 (see Figure 1). Communication support system 1 can be used in various industries (construction industry, transportation industry, warehousing industry, etc.) where a remote robot 60 operated by a remote operator 4 at a site 6 (e.g., construction site, logistics site, warehouse, etc.) and workers (3a, 3b, 3c) work together. As the remote robot, industrial machinery that moves and performs work by remote control can be used, and in addition to a remotely controllable excavator, unmanned aircraft such as remotely controllable dump trucks, cranes, drones, and forklifts can be used. Communication support system 1 comprises a worker communication device 10, a remote robot communication device 20, a remote operator communication device 30, a communication support device 40, and a network 50.

[0020] The worker communication device 10 is a communication device used by workers (3a, 3b, 3c) at the work site 6 (see Figures 1 and 2). The worker communication device 10 is used in conjunction with the workers (3a, 3b, 3c) at the work site 6 to acquire their location information, acquire their identification information, and enable communication (voice calls, video calls, chat, etc.). As the worker communication device 10, for example, a smartphone alone, a smartphone with a wired microphone-equipped earphone connected, a smartphone with a wearable device (e.g., smart glasses, a headset, a wireless earphone with a microphone, etc.) wirelessly connected (e.g., via Bluetooth®, etc.), or a wearable device alone can be used. The worker communication device 10 comprises an input unit 11, an output unit 12, a positioning unit 13, a communication unit 14, a storage unit 15, and a control unit 16.

[0021] The input unit 11 is a functional unit that acquires information such as voice, images, and text and inputs it to the worker communication device 10 (see Figure 2). For example, a camera, microphone, voice recognition unit, image recognition unit, touch panel, etc. can be used as the input unit 11. The input unit 11 is mainly used to input information such as the voice of the workers (3a, 3b, 3c), ambient sounds of the work site 6, images (videos are also acceptable; the same applies hereafter) taken by the workers (3a, 3b, 3c), entered text information, voice-recognized text information, image-recognized text information, and signal information corresponding to image-recognized gestures.

[0022] The output unit 12 is a functional unit that outputs information such as voice, images, text, and vibration (see Figure 2). The output unit 12 can be a device that conveys information from the communication partner through hearing, sight, and touch, and can be a display, speaker, vibrator, etc. The output unit 12 is mainly used to output voice, ambient sounds, images, text information, vibration, etc. from the communication partner (for example, another person's worker communication device 10, remote robot communication device 20, remote operator communication device 30). The output unit 12 may also superimpose and display information from the communication partner's communication device 10, 20, 30 (such as the other party's face or words) onto the real space.

[0023] The positioning unit 13 is a functional unit that measures (identifies) the current location of the worker communication device 10 (attached to the workers (3a, 3b, 3c)) (see Figure 2). Positioning methods include, for example, methods using GPS (Global Positioning System), GNSS (Global Navigation Satellite System), received radio wave strength, beacon signals, 3D sensors, etc.

[0024] The communication unit 14 is a functional unit that performs information communication (see Figure 2). The communication unit 14 can communicate with other worker communication devices 10, remote robot communication devices 20, remote operator communication devices 30, and communication support devices 40 via the network (50 in Figure 1), and the members that can communicate (the other communication devices 10, 20, and 30 that will not be muted) are determined by the control of the communication support device 40. If the communication unit 14 is the communication unit 14 of the worker communication device 10 of field worker 3a belonging to the range 70 in Figure 1, it can communicate with the remote operator communication device 30 of the remote operator 4 that operates the remote robot 60, and with the worker communication device 10 of the guide 3c that guides the remote robot 60.

[0025] The memory unit 15 is a functional unit that stores information (data, programs, etc.) (see Figure 2). The memory unit 15 stores identification labels 17. The identification labels 17 are identification information (e.g., role name, name, employee number, etc.) of workers (3a, 3b, 3c) who are equipped with the worker communication device 10. Examples of role names include field worker, guide, work instructor, rigging worker, site supervisor, etc. The identification labels 17 may also include identification information of the remote robot 60 that the worker is in charge of, identification information of the site 6, etc.

[0026] The control unit 16 is a functional unit that controls the input unit 11, output unit 12, positioning unit 13, communication unit 14, and storage unit 15 (see Figure 2). The control unit 16 performs predetermined information processing by executing a program stored in the storage unit 15.

[0027] The remote robot communication device 20 is a communication device mounted on the remote robot 60 at the site 6 (see Figures 1 and 3). The remote robot communication device 20 is used in conjunction with the remote robot 60 to acquire location information of the remote robot 60, identification information of the remote robot 60, and information about the surrounding area of ​​the remote robot 60 (environmental sounds, images, etc.). As the worker communication device 10, for example, a communication device equipped with a camera, microphone, positioning device and computer can be used. Since the remote robot 60 is an unmanned aircraft, the remote robot communication device 20 does not need to have an interface for humans. The remote robot communication device 20 comprises an input unit 21, an output unit 22, a positioning unit 23, a communication unit 24, a storage unit 25, and a control unit 26.

[0028] The input unit 21 is a functional unit that acquires information (images, ambient sounds, etc.) from the surroundings of the remote robot 60 and inputs it to the remote robot communication device 20 (see Figure 3). For example, an RGB (Red-Green-Blue) camera, a microphone, etc., can be used as the input unit 21. Since the remote robot 60 is an unmanned aircraft, the input unit 21 does not need to have an interface for humans, but it may be configured to transmit the audio acquired from the input unit 21 to the remote operator communication device 30. The input unit 21 is mainly used to input information such as images of the site 6 as seen from the remote robot 60 (the part corresponding to the cockpit), ambient sounds, etc.

[0029] The output unit 22 is a functional unit that outputs information such as images, text, and sound (see Figure 3). The output unit 22 is used to convey information to workers (3a, 3b, 3c) around the remote robot 60 through sight and hearing. For example, a display board, a horn, etc., can be used, or those provided by the remote robot 60 may be used. Sounds emitted at construction sites, such as horns, may be simulated in software. The output unit 22 may also output the voice of the remote operator 4 from the remote operator communication device 30 through a speaker. The output unit 22 is mainly used to output the voice, images, text information, etc., of the remote operator 4 from the remote operator communication device 30.

[0030] The positioning unit 23 is a functional unit that measures (determines) the current position of the remote robot communication device 20 (and the attached remote robot 60) (see Figure 3). Positioning methods include, for example, methods using GPS, GNSS, received radio wave strength, beacon signals, 3D sensors, etc.

[0031] The communication unit 24 is a functional unit that performs information communication (see Figure 3). The communication unit 24 can communicate with the worker communication device 10, the remote robot communication device 20, the remote operator communication device 30, and the communication support device 40 via the network (50 in Figure 1), and the communication support device 40 selects which members (communication devices 10, 20, and 30 to be left unmuted) are able to communicate. In Figure 1, the communication unit 24 can communicate with the remote operator communication device 30 of the remote operator 4 who controls the remote robot 60, and with the worker communication device 10 of the guide 3c who guides the remote robot 60.

[0032] The memory unit 25 is a functional unit that stores information (data, programs, etc.) (see Figure 3). The memory unit 25 stores identification labels 27. The identification labels 27 are identification information (e.g., machine name, number, etc.) of the remote robot 60 to which the remote robot communication device 20 is attached. In addition to the identification information of the remote robot 60, the identification labels 27 may also include identification information of the workers 3a, 3b, 3c and the remote operator 4 in charge of the remote robot 60, and identification information of the work site 6.

[0033] The control unit 26 is a functional unit that controls the input unit 21, output unit 22, positioning unit 23, communication unit 24, and storage unit 25 (see Figure 3). The control unit 26 performs predetermined information processing by executing a program stored in the storage unit 25.

[0034] The remote operator communication device 30 is a communication device used by the remote operator 4 located at a remote location 7 (see Figures 1 and 4). The remote operator communication device 30 is used in conjunction with the remote operator 4 to enable communication (voice calls, video calls, chat, etc.) and control of the remote robot 60. As the remote operator communication device 30, for example, a wearable device (e.g., smart glasses, headset, earphones with microphone) or a communication device to which the control device of the remote robot 60 is connected by wire or wireless can be used. The remote operator communication device 30 comprises an input unit 31, an output unit 32, a control unit 33, a communication unit 34, a storage unit 35, and a control unit 36.

[0035] The input unit 31 is a functional unit that acquires information such as voice, images, and text and inputs it to the remote operator communication device 30 (see Figure 4). For example, a camera, microphone, voice recognition unit, image recognition unit, touch panel, etc., can be used as the input unit 31. The input unit 31 is mainly used to input information such as the voice of the remote operator 4, entered text information, voice-recognized text information, image-recognized text information, and signal information corresponding to image-recognized gestures.

[0036] The output unit 32 is a functional unit that outputs information such as voice, images, and text (see Figure 4). The output unit 32 can be a device that conveys information from the communication partner through hearing and sight, such as a display or speaker. The output unit 32 is mainly used to output voice, ambient sounds, images, text information, etc., from the communication partner (for example, the worker communication device 10 or the remote robot communication device 20).

[0037] The control unit 33 is a functional unit for a remote operator 4 to control the remote robot 60 from a remote location 7 (see Figure 4). For example, a remote control device can be used as the control unit 33.

[0038] The communication unit 34 is a functional unit that performs information communication (see Figure 4). The communication unit 34 can communicate with the worker communication device 10, the remote robot communication device 20, and the communication support device 40 via the network (50 in Figure 1), and the members that can communicate (communication devices 10, 20, and 30 that are not muted) are determined by the control of the communication support device 40. In the example in Figure 1, the communication unit 34 can communicate with the worker communication device 10 of the field worker 3a belonging to range 70, the remote robot communication device 20, and the worker communication device 10 of the guide 3c who guides the remote robot 60.

[0039] The memory unit 35 is a functional unit that stores information (data, programs, etc.) (see Figure 4). The memory unit 35 stores an identification label 37. The identification label 37 is the identification information of the remote operator 4 who is equipped with the remote operator communication device 30 (for example, role, name, employee number, etc.). In addition to the identification information of the remote operator 4, the identification label 37 may also include the identification information of the remote robot 60 in charge, the identification information of the site 6, etc.

[0040] The control unit 36 ​​is a functional unit that controls the input unit 31, output unit 32, control unit 33, communication unit 34, and storage unit 35 (see Figure 4). The control unit 36 ​​performs predetermined information processing by executing a program stored in the storage unit 35.

[0041] The communication support device 40 is a device that supports communication between workers (3a, 3b, 3c) and the remote operator 4 by assigning channels to communication devices 10, 20, and 30 that enable communication (see Figures 1 and 5). Based on the location information and identification information of workers 3a, 3b, and 3c (worker communication device 10) and the remote robot 60 (remote robot communication device 20) at the site 6, the communication support device 40 assigns channels to workers 3a, 3b, and 3c (worker communication device 10) who need to communicate with the remote operator 4 (remote operator communication device 30), and to other remote operators (other remote operators if there is another remote robot at the site 6 besides the remote robot 60; another remote operator communication device), enabling communication between the remote operator 4 and the workers 3a, 3b, and 3c and other remote operators on the assigned channels. For example, a server device, a personal computer, etc., can be used as the communication support device 40. The communication support device 40, by executing a predetermined program stored in it, virtually realizes a configuration comprising a range management unit 41, an identification information combination management unit 42, a location information acquisition unit 43, an identification information acquisition unit 44, a channel allocation unit 45, and an information transfer unit 46.

[0042] The range management unit 41 is a functional unit that manages information related to the range 70 (domain) that enables communication with the remote robot 60 (remote robot communication device 20) (see Figure 5). As information related to the range 70, for example, the object that will be at the center of the range 70 (remote robot 60 in Figure 1) and the radius from the center can be set, and not only a two-dimensional range (domain) but also a three-dimensional range (space) may be set. The information related to the range 70 may be set, for example, by operating a GUI (Graphical User Interface) on the software. In addition, as information related to the range 70, the upper limit of the number of ranges 70 that can be set at the site 6 and the expiration date of the range 70 may be set. The information related to the range 70 is set in advance, but it may be made changeable by the user, administrator, etc. of the communication support device 40.

[0043] The Identification Information Combination Management Unit 42 is a functional unit that manages identification information combinations, which are combinations of the identification information of any of the workers (3a, 3b, 3c; worker communication device 10) that enable communication with the remote robot 60 (remote robot communication device 20), and the remote operator 4 (remote operator communication device 30) (see Figure 5). The Identification Information Combination Management Unit 42 has combinations of identification information for the workers (3a, 3b, 3c) and the remote operator 4 that enable communication with the remote robot 60, regardless of whether they belong to the range 70 managed by the range management unit 41. The identification information combinations can be freely set according to the need for communication. In the example in Figure 1, the identification information combination is a combination of the identification information of the remote robot 60, the identification information related to the role of the remote operator 4, and the identification information related to the role of the guide 3c, but other combinations are also possible. The Identification Information Combination Management Unit 42 may also be configured to set an expiration date for the identification information combinations. The identification information combinations are set in advance, but they may be made changeable by the user, administrator, etc. of the communication support device 40.

[0044] The location information acquisition unit 43 is a functional unit that acquires location information from the communication devices 10 and 20 of the workers 3a, 3b, and 3c and the remote robot 60 (see Figure 5).

[0045] The identification information acquisition unit 44 is a functional unit that acquires identification information from the communication devices 10, 20, and 30 of the workers 3a, 3b, and 3c, the remote robot 60, and the remote operator (see Figure 5).

[0046] The channel assignment unit 45 is a functional unit that assigns channels to the communication devices 10, 20, and 30 that are to be made to communicate (see Figure 5). The channel assignment unit 45 has the function of determining which communication devices 10, 20, and 30 require communication and assigning channels to them. In the example shown in Figure 1, the channel assignment unit 45 assigns channels to the communication devices 10 and 20 of the field workers 3a and the remote robot 60 that belong to the range 70 centered on the remote robot 60, based on the location information of the workers 3a, 3b, and 3c (worker communication devices 10) and the remote robot 60 (remote robot communication device 20) present at the site 6, and information related to the range 70 managed by the range management unit 41. In the example shown in Figure 1, the channel assignment unit 45 assigns channels (the same channels as the previous ones) to the respective communication devices 10, 20, and 30 of the guide 3c, remote robot 60, and remote operator 4, based on the identification information of the workers 3a, 3b, and 3c (worker communication devices 10), the remote operator 4 (remote operator communication device 30), and the remote robot 60 (remote robot communication device 20), as well as the identification information combinations managed by the identification information combination management unit 42. It is acceptable for some communication devices to overlap between the former assignment and the latter assignment (in the example shown in Figure 1, the remote robot communication device 20 of the remote robot 60). The latter assignment may also be temporarily disabled. The channel assignment unit 45 enables communication (communication) between the communication devices assigned to the channels (in the example shown in Figure 1, the worker communication devices 10 of the field workers 3a and guide 3c, the remote robot communication device 20, and the remote operator communication device 30). The channel assignment unit 45 prevents communication between the worker communication device 10 of field worker 3b, which is not assigned a channel (not located within range 70 and does not correspond to any combination of identification information), and each communication device that is assigned a channel (the worker communication devices 10 of field worker 3a and guide 3c, the remote robot communication device 20, and the remote operator communication device 30), as shown in the example in Figure 1. If there are communication devices that are simultaneously assigned to multiple channels, the channel assignment unit 45 enables communication on each channel.Furthermore, since the location of range 70 moves in real time according to the position of the remote robot 60, if the location of the worker's communication device 10, which was able to communicate on the assigned channel, moves outside of range 70, the worker's communication device 10 will no longer be able to communicate on that channel.

[0047] The information transfer unit 46 is a functional unit that acquires information from each communication device 10, 20, 30 to which a channel has been assigned and transfers it to each communication device 10, 20, 30 other than the source to which the channel was assigned (see Figure 5). When transferring voice data, the information transfer unit 46 may transfer the data with volume weighting according to the distance from the remote robot 60, which serves as the reference for the range 70. For example, for a certain remote operator 4, the voice of a field worker who is close to the remote robot 60 may be made louder, and the voice of another field worker who is farther away from the remote robot 60 may be made quieter.

[0048] Network 50 is an information and communication network that enables communication between the worker communication device 10, the remote robot communication device 20, the remote operator communication device 30, and the communication support device 40 (see Figure 1). As Network 50, communication networks such as PAN (Personal Area Network), LAN (Local Area Network), MAN (Metropolitan Area Network), WAN (Wide Area Network), and GAN (Global Area Network) can be used.

[0049] The operation of the communication support device in the communication support system according to Embodiment 1 will be explained with reference to the drawings. Figure 6 is a flowchart schematically showing the operation of the communication support device in the communication support system according to Embodiment 1. For the configuration of the communication support system, please refer to Figures 1 to 5.

[0050] First, the range management unit 41 of the communication support device 40 registers information relating to the range 70 (area) in which communication with the remote robot 60 is possible (step A1). The registration of information relating to the range 70 can be performed by the user of the communication support device 40 or by an external terminal (not shown) that is connected to the communication support device 40 in a communicative manner.

[0051] Next, the identification information combination management unit 42 of the communication support device 40 registers combinations of identification information for the workers (3a, 3b, 3c) and the remote operator 4 that enable communication with the remote robot 60 (step A2). The registration of identification information combinations can be performed by the user of the communication support device 40 or by an external terminal (not shown) that is connected to the communication support device 40 in a communicative manner.

[0052] After step A2, or if no termination instruction is given (NO in step A7), the location information acquisition unit 43 of the communication support device 40 acquires location information from the communication devices 10 and 20 of the workers 3a, 3b, 3c and the remote robot 60 (step A3). Note that the acquisition of location information from the remote operator communication device 30 of the remote operator 4 is omitted here, but it may be acquired.

[0053] After step A3, the identification information acquisition unit 44 of the communication support device 40 acquires identification information from the communication devices 10, 20, and 30 of the workers 3a, 3b, and 3c, the remote robot 60, and the remote operator (step A4).

[0054] After step A4, the channel assignment unit 45 of the communication support device 40 assigns channels to the communication devices 10, 20, and 30 that are to be made communicable, based on the location information and identification information of the worker communication device 10, the remote robot communication device 20, and the remote operator communication device 30, the information related to the range 70 registered in the range management unit 41, and the combination of identification information registered in the identification information combination management unit 42 (step A5). In the example in Figure 1, the channel assignment is based on the location information of the workers 3a, 3b, and 3c (worker communication device 10) and the remote robot 60 (remote robot communication device 20) present at the site 6, and the information related to the range 70 registered in the range management unit 41, and assigns channels to the communication devices 10 and 20 of the site workers 3a and the remote robot 60 that belong to the range 70 centered on the remote robot 60. Furthermore, channel assignment is based on the identification information of workers 3a, 3b, and 3c (worker communication device 10), remote operator 4 (remote operator communication device 30), and remote robot 60 (remote robot communication device 20), as well as the identification information combinations managed by the identification information combination management unit 42. Based on this, channels (the same channels as the previous ones) are assigned to the respective communication devices 10, 20, and 30 of guide 3c, remote robot 60, and remote operator 4 whose identification information corresponds to the identification information combination. This enables communication (communication) between each communication device assigned to a channel (in the example of Figure 1, the respective worker communication devices 10 for on-site workers 3a and guide 3c, the remote robot communication device 20, and the remote operator communication device 30).

[0055] After step A5, the information transfer unit 46 of the communication support device 40 acquires information (voice data, images, text data, etc.) from each communication device 10, 20, 30 to which a channel has been assigned and transfers it to the other communication devices 10, 20, 30 to which the same channel has been assigned (step A6). In this case, the acquired information is transferred as is, but it may also be transferred after being analyzed, synthesized, processed, etc.

[0056] After step A6, the communication support device 40 determines whether or not a termination instruction was received during steps A3 to A6 (step A7). A termination instruction is an instruction to terminate the communication support from the communication devices 10, 20, or 30 to which a channel has been assigned. If there is no termination instruction (NO in step A7), the process returns to step A3. If there is a termination instruction (YES in step A7), the process terminates.

[0057] According to Embodiment 1, since the channels on which communication is possible are automatically and dynamically assigned based on the location information of each communication device 10, 20 and the identification information of each communication device 10, 20, and 30, the operator does not need to manually switch channels, which contributes to real-time and efficient communication with the party with whom communication is necessary.

[0058] Furthermore, according to Embodiment 1, since the channels that enable communication are automatically and dynamically assigned based on the location information of each communication device 10, 20, it is expected that the risk of accidents such as contact accidents caused by the carelessness or miscommunication of workers 3a, 3b, and 3c will be reduced.

[0059] Furthermore, according to Embodiment 1, since channels that enable communication are automatically and dynamically assigned based on the identification information of each communication device 10, 20, and 30, the load on the network 50 can be reduced, and the use of high-quality communication can be expected.

[0060] [Embodiment 2] The communication support system according to Embodiment 2 will be described with reference to the drawings. Figure 7 is a schematic block diagram showing the configuration of the remote operator communication device in the communication support system according to Embodiment 2. Figure 8 is a schematic image diagram showing the mute / unmute state of the communication support system according to Embodiment 2 when construction machinery is being brought in. Figure 9 is a schematic image diagram showing the mute / unmute state of the communication support system according to Embodiment 2 during rigging work. Figure 10 is a schematic image diagram showing the mute / unmute state of the communication support system according to Embodiment 2 during hoisting work.

[0061] Embodiment 2 is a modification of Embodiment 1, and adds a work information acquisition unit 47 to the communication support device 40 in order to automatically change the size of the range (see range 70 in Figure 10 and hoisting work range 71) and the combination of identification information (see on-site supervisor 3d and rigging worker 3e in Figures 8 and 9) according to the work content (see Figure 7).

[0062] The work information acquisition unit 47 is a functional unit that acquires work information from the communication devices (10, 20, or 30) of any of the workers 3d, 3f, 3e, the remote robot 61, and the remote operator 4. If the acquired work information is text data, the work information acquisition unit 47 uses the text data as is. If the acquired work information is voice data, the work information acquisition unit 47 performs voice recognition. If the acquired work information is image data, the work information acquisition unit 47 performs image recognition. The work information acquisition unit 47 may acquire work information manually by the worker, etc. (worker communication device 10, etc.), or it may automatically acquire work information by voice recognition or image recognition.

[0063] The range management unit 41 is configured with information relating to the range 70 and the hoisting range 71 according to the work content (work information). The information relating to the range 70 and the hoisting range 71 is configured such that if the work content covers a wide area, the radius from the center (remote robot 61) is increased (see hoisting range 71 in Figure 10), and if the work content covers only a narrow area, the radius from the center (remote robot 61) is decreased (see range 70 in Figures 8 and 9). For example, if the work information is excavation work, the range can be set so that communication is possible only with workers who are close to the center (remote rock drill), and if the work content is blasting work, the range can be set so that communication is possible with workers who are far from the center (remote rock drill). The change in range is not limited to a single step change from range 70 to hoisting range 71 as shown in Figure 10, but may also be changed in two or more steps depending on the danger of the work.

[0064] The identification information combination management unit 42 has combinations of identification information set according to the work content (work information). In the examples in Figures 8 to 10, the combination of identification information can be a combination of the identification information of the worker (one of the worker communication devices 10 3d, 3e, or 3f) whose role is related to the work content, the remote robot 61 (remote robot communication device), and the remote operator 4 (remote operator communication device 30).

[0065] The channel allocation unit 45 assigns channels to the communication devices 10, 20, and 30 to enable communication, based on the location information and identification information of each communication device 10, 20, and 30, the work information acquired by the work information acquisition unit 47, the information relating to the range 70 corresponding to the work content registered by the range management unit 41, and the combination of identification information corresponding to the work content registered by the identification information combination management unit 42.

[0066] For example, as shown in Figure 8, when the remote robot 61 is brought in, the range management unit 41 sets information relating to the range 70 at the time of arrival (the central target object is the remote robot 61, and the radius from the center), and the identification information combination management unit 42 sets a combination of identification information for arrival (a combination of the identification information of the instructor 3d (worker communication device 10), the identification information of the remote robot 61 (remote robot communication device 20), and the identification information of the remote operator 4 (remote operator communication device 30)). When the work information acquisition unit 47 acquires work information (work content is remote robot loading) from the worker communication device 10 of the supervisor 3d, the location information acquisition unit 43 acquires the location information of the communication devices 10, 20, and 30, and the identification information acquisition unit 44 acquires the identification information of the communication devices 10, 20, and 30, the channel assignment unit 45 assigns channels to the work supervisor 3d (worker communication device 10), the remote robot 61 (remote robot communication device 20), and the remote operator 4 (remote operator communication device 30) based on the combination of the acquired work information and identification information, the information related to the loading range 70, and the identification information at the time of loading. As a result, communication becomes possible between the work supervisor 3d (worker communication device 10), the remote robot 61 (remote robot communication device 20), and the remote operator 4 (remote operator communication device 30), which are included in the combination of the information related to the loading range 70 and the identification information at the time of loading. Slinging workers 3e and on-site workers 3f who are not included in the combination of information related to the range 70 during loading and the identification information during loading cannot communicate with the work supervisor 3d and the remote operator 4.

[0067] When the delivery of the remote robot 61 is complete and the operation is to proceed to the rigging operation as shown in Figure 9, the range management unit 41 sets information relating to the range 70 during the rigging operation (the central target object is the remote robot 61, and the radius from the center), and the identification information combination management unit 42 sets the combination of identification information for the rigging operation (a combination of the identification information of the instructor 3d (worker communication device 10), the identification information of the rigging worker 3e (worker communication device 10), the identification information of the remote robot 61 (remote robot communication device 20), and the identification information of the remote operator 4 (remote operator communication device 30)). When the work information acquisition unit 47 acquires work information (work content is rigging work) from the worker communication device 10 of the supervisor 3d, the location information acquisition unit 43 acquires the location information of the communication devices 10, 20, and 30, and the identification information acquisition unit 44 acquires the identification information of the communication devices 10, 20, and 30, the channel assignment unit 45 assigns channels to the work supervisor 3d (worker communication device 10), the rigging worker 3e (worker communication device 10), the remote robot 61 (remote robot communication device 20), and the remote operator 4 (remote operator communication device 30) based on the combination of the acquired work information and identification information, the information related to the range 70 during the rigging work, and the identification information during the rigging work. This enables communication between the work supervisor 3d (worker communication device 10), the rigger 3e (worker communication device 10), the remote robot 61 (remote robot communication device 20), and the remote operator 4 (remote operator communication device 30), which are included in the combination of information related to the range 70 during rigging work and the identification information during rigging work. Field workers 3f, who are not included in the combination of information related to the range 70 during rigging work and the identification information during rigging work, cannot communicate with the work supervisor 3d, the rigger 3e, and the remote operator 4.

[0068] When the rigging operation is completed and the work transitions to the hoisting operation as shown in Figure 10, the range management unit 41 is set to provide a broad warning to the surrounding area. This includes setting information related to the hoisting operation range 71 when the work content is hoisting (the central object is the remote robot 61, and the radius from the center is larger than the radius of the range 70). The identification information combination management unit 42 is set to provide a combination of identification information when the work content is hoisting (a combination of the identification information of the instructor 3d (worker communication device 10), the identification information of the rigging worker 3e (worker communication device 10), the identification information of the remote robot 61 (remote robot communication device 20), and the identification information of the remote operator 4 (remote operator communication device 30)). When the work information acquisition unit 47 acquires work information (work content is hoisting work) from the worker communication device 10 of the supervisor 3d, the location information acquisition unit 43 acquires the location information of the communication devices 10, 20, and 30, and the identification information acquisition unit 44 acquires the identification information of the communication devices 10, 20, and 30, the channel assignment unit 45 assigns channels to the work supervisor 3d (worker communication device 10), the rigging worker 3e (worker communication device 10), the field worker 3f (worker communication device 10), the remote robot 61 (remote robot communication device 20), and the remote operator 4 (remote operator communication device 30) based on the combination of the acquired work information and identification information, the information relating to the range 70 during the hoisting work, and the identification information during the hoisting work. This enables communication between the work supervisor 3d (worker communication device 10), rigger 3e (worker communication device 10), on-site worker 3f (worker communication device 10), remote robot 61 (remote robot communication device 20), and remote operator 4 (remote operator communication device 30), which are included in the combination of information related to the range 70 during hoisting operations and identification information during rigging operations. In the example in Figure 10, there are no workers, etc., that are not included in the combination of information related to the range 70 during hoisting operations and identification information during hoisting operations.

[0069] The other configurations of Embodiment 2 are the same as those of Embodiment 1 (see Figures 1 to 4).

[0070] The operation of the communication support device in the communication support system according to Embodiment 2 will be explained with reference to the drawings. Figure 11 is a flowchart schematically showing the operation of the communication support device in the communication support system according to Embodiment 2. For the configuration of the communication support system, please refer to Figures 1 to 4 and Figure 7.

[0071] First, the range management unit 41 of the communication support device 40 registers information relating to the range 70 and the hoisting work range 71 according to the work content (step B1).

[0072] Next, the identification information combination management unit 42 of the communication support device 40 registers a combination of identification information according to the work content (step B2).

[0073] After step B2, or if there is no termination instruction (NO in step B8), the work information acquisition unit 47 of the communication support device 40 acquires work information from the communication device (10, 20, or 30) of any of the workers 3d, 3f, 3e, the remote robot 61, or the remote operator 4 (step B3).

[0074] After step B3, the location information acquisition unit 43 of the communication support device 40 acquires location information from the communication devices 10 and 20 of the workers 3d, 3e, and 3f and the remote robot 61 (step B4).

[0075] After step B4, the identification information acquisition unit 44 of the communication support device 40 acquires identification information from the communication devices 10, 20, and 30 of the workers 3d, 3e, and 3f, the remote robot 61, and the remote operator (step B5).

[0076] After step B5, the channel assignment unit 45 of the communication support device 40 assigns channels to the communication devices 10, 20, and 30 that are to be made communicable, based on the work information, the location information and identification information of the worker communication device 10, the remote robot communication device 20, and the remote operator communication device 30, the information relating to the range (range 70 or hoisting work range 71) according to the work content registered in the range management unit 41, and the combination of identification information according to the work content registered in the identification information combination management unit 42 (step B6). In the example in Figure 8, the channel assignment is based on the work content (delivery), the location information of workers 3d, 3e, and 3f (worker communication device 10) and the remote robot 61 (remote robot communication device 20) present at the site 6, and the information relating to the range 70 when the remote robot is delivered, registered in the range management unit 41, and assigns channels to the communication device 20 of the remote robot 61 that belongs to the range 70 centered on the remote robot 61. Furthermore, in the example shown in Figure 8, channel assignment is based on the work content (loading in), the identification information of workers 3d, 3e, and 3f (worker communication device 10), remote operator 4 (remote operator communication device 30), and remote robot 61 (remote robot communication device 20), and the combination of identification information during remote robot loading managed by the identification information combination management unit 42. Based on this, channels (the same channels as above) are assigned to the communication devices 10, 20, and 30 of the supervisor 3d, remote robot 61, and remote operator 4, respectively, whose identification information corresponds to the combination of identification information during remote robot loading. This enables communication (communication) between each communication device assigned to a channel (in the example shown in Figure 8, the supervisor 3d's worker communication device 10, remote robot communication device 20, and remote operator communication device 30).

[0077] After step B6, the information transfer unit 46 of the communication support device 40 acquires information (voice data, images, text data, etc.) from each communication device 10, 20, 30 to which a channel has been assigned and transfers it to the other communication devices 10, 20, 30 to which the same channel has been assigned (step B7).

[0078] After step B7, the communication support device 40 determines whether or not a termination instruction was given during the process from step B3 to step B7 (step B8). If there is no termination instruction (NO in step B8), it returns to step B3. If there is a termination instruction (YES in step B8), it terminates.

[0079] According to Embodiment 2, similar to Embodiment 1, it is possible to contribute to real-time and efficient communication with the party with whom communication is necessary, and since the channel for communication is automatically and dynamically assigned according to the work content, the worker does not need to switch channels according to the work content, and thus it is possible to contribute to real-time and efficient communication with the party with whom communication is necessary according to the work content.

[0080] [Embodiment 3] The communication support system according to Embodiment 3 will be described with reference to the drawings. Figure 12 is an image diagram of communication in the communication support system according to Embodiment 3 when a range is set for the worker. Figure 13 is an image diagram of non-communication in the communication support system according to Embodiment 3 when a range is set for the worker.

[0081] Embodiment 3 is a modification of Embodiment 1, in which the central object of the range 80 is a specific worker (field worker 3a in Figures 12 and 13) instead of the remote robot 60. The worker range 80 may be for one person or multiple people, or it may be for all workers on site 6. The size of the worker range 80 may be changed according to the worker's role. Information related to the worker range 80 is managed by the range management unit (41 in Figure 5). If the remote robot 60 is included in the worker range 80 as in Figure 12, channels are assigned to field worker 3a (worker communication device 10), remote robot 60 (remote robot communication device 20), and remote operator 4 (remote operator communication device 30), enabling communication among the three parties. As shown in Figure 13, if the remote robot 60 is not within the worker's range 80, channels are assigned to the remote robot 60 (remote robot communication device 20) and the remote operator 4 (remote operator communication device 30), enabling communication between the two parties. However, the on-site worker 3a (worker communication device 10) cannot communicate with the remote robot 60 (remote robot communication device 20) and the remote operator 4 (remote operator communication device 30). Other configurations and operations are the same as in Embodiment 1. Embodiment 3 may also be applied to Embodiment 2.

[0082] According to Embodiment 3, similar to Embodiment 1, it is possible to contribute to real-time and efficient communication with the party with whom communication is necessary. Furthermore, since the communication channels are automatically and dynamically assigned with the worker at the center, the worker does not need to switch channels themselves, thus contributing to real-time and efficient communication with the party with whom communication is necessary.

[0083] [Embodiment 4] The communication support system according to Embodiment 4 will be described with reference to the drawings. Figure 14 is an illustrative diagram of an example in which ranges are set for both the remote robot and the worker in the communication support system according to Embodiment 4.

[0084] Embodiment 4 is a modification of Embodiment 1, in which ranges 70, 73 and 81, 82 are set for the remote robots 60, 62 and the field workers 3g, 3h, respectively. When at least a part of any one of the ranges 70, 73, 81, 82 overlaps with (or touches) any other range 70, 73, 81, 82, communication is enabled between the remote robots 60, 62 (remote robot communication device 20), their remote operators (corresponding to the remote operator communication device in Figure 4), and the field workers 3g, 3h (worker communication device 10) related to the overlapping ranges. The settings for ranges 70, 73 for the remote robots 60, 62 are the same as the settings for range (70 in Figure 1) of the remote robot (60 in Figure 1) in Embodiment 1, and the settings for ranges 81, 82 for the field workers 3g, 3h are the same as the settings for range (80 in Figure 12) of the field worker (3a in Figure 12) in Embodiment 3.

[0085] For example, as shown in Figure 14, even if the remote robot 60 itself is not within the range 81 of the field worker 3g, if at least a part of the range 70 of the remote robot 60 overlaps with the field worker 3g, communication can be established between the field worker 3g (worker communication device 10), the remote robot 60 (remote robot communication device 20), and the remote operator (corresponding to the remote operator communication device 30 in Figure 4). In Figure 14, field worker 3g and the remote robot 60 are used as an example, but if at least a part of the range 70 of the remote robot 60 and the range 73 of the remote robot 62 overlap, communication can be established between the remote robot 60 (remote robot communication device 20), the remote operator related to the remote robot 60 (corresponding to the remote operator communication device 30 in Figure 4), the remote robot 62 (remote robot communication device 20), and the remote operator related to the remote robot 62 (corresponding to the remote operator communication device 30 in Figure 4). Furthermore, if at least a portion of the range 81 of field worker 3g and the range 82 of field worker 3h overlap, communication can be established between field worker 3g (worker communication device 10) and field worker 3h (worker communication device 10).

[0086] Furthermore, in Embodiment 4, a warning range 74 larger than range 73 is set for the remote robot 62, and when at least a part of any of ranges 70, 81, or 82 overlaps only with the warning range 74, the remote robot 62 (remote robot communication device 20) related to the warning range 74 transmits warning information to any of the remote robots 60 (remote robot communication device 20) related to the overlapping ranges 70, 81, or 82, the remote operator of the said remote robot 60 (corresponding to the remote operator communication device in Figure 4), or the field workers 3g, 3h (worker communication device 10).

[0087] For example, as shown in Figure 14, if a warning area 74 larger than the range 73 is set around the range 73 of the remote robot 62, there is no overlap between the range 73 and the range 82 of the on-site worker 3h. Therefore, communication is not possible between the remote robot 62 (remote robot communication device 20), the remote operator of the remote robot 62 (corresponding to the remote operator communication device in Figure 4), and the on-site worker 3h (worker communication device 10). However, since the warning area 74 overlaps with at least a part of the range 82 of the on-site worker 3h, the remote robot 62 (remote robot communication device 20) related to the warning area 74 can unilaterally transmit warning information to the on-site worker 3h (worker communication device 10). The warning information may also be transmitted by the remote operator (corresponding to the remote operator communication device in Figure 4) or a communication support device (40 in Figure 4). Examples of warning information include warnings via horns, alarms, etc., but other means may also be used. Furthermore, if at least a portion of the range 73 and the range 82 of the field worker 3h overlap, communication can be established between the remote robot 62 (remote robot communication device 20), the remote operator of the remote robot 62 (corresponding to the remote operator communication device in Figure 4), and the field worker 3h (worker communication device 10).

[0088] In the example in Figure 14, the remote robot 62 is given two ranges: range 73 and warning range 74. However, it is also possible to set three or more ranges. In addition, in the example in Figure 14, warning information is sent from the remote robot 62 (remote robot communication device 20) to the on-site worker (worker communication device 10) only when at least a part of the range 82 of the on-site worker 3h overlaps with the warning range 74. However, a remote robot stop range (not shown) smaller than range 73 may be set for the remote robot 62, and the operation of the remote robot 62 may be forcibly stopped when at least a part of the range 82 of the on-site worker 3h overlaps with the remote robot stop range. Furthermore, the stepped range settings may also be set for on-site workers 3g and 3h. Moreover, in the example in Figure 14, ranges 81 and 82 are set for on-site workers 3g and 3h.

[0089] Other configurations and operations are the same as in Embodiment 1. Furthermore, Embodiment 4 may be applied to Embodiment 2.

[0090] According to Embodiment 4, similar to Embodiment 1, it is possible to contribute to real-time and efficient communication with the party with whom communication is necessary, and by setting multiple levels of range for a single object (remote robot, on-site worker, etc.), the level of attention required for communication can be changed, thereby contributing to safe work at the site 6.

[0091] [Embodiment 5] The communication support system according to Embodiment 5 will be described with reference to the drawings. Figure 15 is an illustrative diagram showing how the field of view range is set for the remote robot in the communication support system according to Embodiment 5.

[0092] Embodiment 5 is a modification of Embodiment 1, and in addition to setting a predetermined radius range 70 centered on the remote robot 60 as the range setting for the remote robot 60, a field of view range 75 is set for the field of view of the camera that serves as the input unit (21 in Figure 3) of the remote robot communication device 20 installed on the remote robot 60. The field of view range 75 can be set mainly in the direction in which the remote robot 60 performs its work (for example, the direction of movement of the excavator arm) or in the direction of travel. The distance from the viewpoint (camera) to the outer arc in the field of view range 75 can be set to be larger than the radius of the range 70. When a field worker 3i (worker communication device 10) enters the field of view range 75, communication can be made between the remote robot 60 (remote robot communication device 20), the remote operator related to the remote robot 60 (remote operator communication device 30), and the field worker 3i (worker communication device 10).

[0093] Furthermore, the field of view range 75 may be set as a field of view range 75 relating to the field of view (a predetermined angle to the left and right from the orientation of the remote robot 60) calculated using a sensor (for example, a compass sensor, an acceleration sensor, a 3D sensor, etc.) as the input unit (21 in Figure 3) of the remote robot communication device 20 of the remote robot 60, and a predetermined distance from the sensor to the outer arc.

[0094] Furthermore, the field of view range 75 may be modified based on the direction or speed of travel of the remote robot 60 detected using a sensor acting as the input unit (21 in Figure 3) of the remote robot communication device 20 of the remote robot 60, by changing the field of view of the field of view range 75 or the distance to the outer arc. For example, the angle may be made smaller or the distance shorter when the movement of the remote robot 60 is small, and the angle may be made larger or the distance longer when the movement of the remote robot 60 is large.

[0095] Other configurations and operations are the same as in Embodiment 1. Furthermore, Embodiment 5 may be applied to Embodiments 2 to 4.

[0096] According to Embodiment 5, similar to Embodiment 1, it is possible to contribute to real-time and efficient communication with the party with whom communication is necessary. Furthermore, since the field of view 75 is set to be larger in areas with a high degree of danger according to the direction of work and movement of the remote robot 60, it is possible to give directionality to communication, which contributes to safe work at the work site 6.

[0097] [Embodiment 6] A communication support device according to Embodiment 6 will be described with reference to the drawings. Figure 16 is a schematic diagram showing the configuration of the communication support device according to Embodiment 6.

[0098] The communication support device 40 is a device that supports communication between an operator and a remote operator. The communication support device 40 comprises a range management unit 41, an identification information combination management unit 42, a location information acquisition unit 43, an identification information acquisition unit 44, a channel assignment unit 45, and an information transfer unit 46.

[0099] The range management unit 41 is configured to manage information related to the range that enables communication with the remote robot communication device 20 mounted on the remote robot.

[0100] The identification information combination management unit 42 is configured to manage identification information combinations that combine the identification information of one of the multiple worker communication devices 10 used by workers and the remote operator communication device 30 used by remote operators, enabling communication with the remote robot communication device 20.

[0101] The location information acquisition unit 43 is configured to acquire location information from the remote robot communication device 20 and from each of the multiple worker communication devices 10.

[0102] The identification information acquisition unit 44 is configured to acquire identification information from the remote robot communication device 20, the multiple worker communication devices 10, and the remote operator communication device 30.

[0103] The channel assignment unit 45 is configured to assign channels to worker communication devices 10 that belong to the range centered on the remote robot communication device 20, based on the location information of each of the multiple worker communication devices 10 and remote robot communication devices 20, and the information relating to the range, and to assign channels to the worker communication devices 10, remote robot communication devices 20 and remote robot communication devices 30 that correspond to the identification information of the combination of identification information, based on the identification information of each of the multiple worker communication devices 10, remote operator communication devices 30 and remote robot communication devices 20, and the combination of the identification information.

[0104] The information transfer unit 46 is configured to acquire information from the worker communication device 10, remote robot communication device 20, and remote operator communication device 30 to which the channel has been assigned, and to transfer it to the worker communication device 10, remote robot communication device 20, and remote operator communication device 30 other than the source to which the channel has been assigned.

[0105] According to Embodiment 6, since the channels on which communication is possible are automatically and dynamically assigned based on the location information of each communication device 10, 20 and the identification information of each communication device 10, 20, and 30, the operator does not need to manually switch channels, which contributes to real-time and efficient communication with the party with whom communication is necessary.

[0106] Furthermore, the communication support device and communication device according to Embodiments 1 to 6 can be composed of so-called hardware resources (information processing device, computer), and a configuration as illustrated in Figure 17 can be used. For example, the hardware resource 100 includes a processor 101, memory 102, network interface 103, etc., which are interconnected by an internal bus 104.

[0107] The configuration shown in Figure 17 is not intended to limit the hardware configuration of the hardware resource 100. The hardware resource 100 may include hardware not shown (e.g., input / output interfaces). Similarly, the number of units such as processors 101 included in the device is not limited to the example in Figure 17; for example, multiple processors 101 may be included in the hardware resource 100. For example, a CPU (Central Processing Unit), MPU (Micro Processor Unit), GPU (Graphics Processing Unit), etc., can be used for the processor 101.

[0108] Memory 102 can be, for example, RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), etc.

[0109] The network interface 103 can use, for example, a LAN (Local Area Network) card, a network adapter, a network interface card, etc.

[0110] The functions of the hardware resource 100 are realized by the processing module described above. This processing module is realized, for example, by the processor 101 executing a program stored in memory 102. Furthermore, this program can be downloaded via a network or updated using a storage medium containing the program. Moreover, the processing module may be implemented by a semiconductor chip. In other words, the functions performed by the processing module can be realized by the execution of software on some hardware.

[0111] Some or all of the above embodiments may also be described as follows, but are not limited to the following.

[0112] [Note 1] A range management unit configured to manage information related to the range within which communication is possible with a remote robot communication device mounted on a remote robot, An identification information combination management unit is configured to manage identification information combinations that combine the identification information of one of several worker communication devices used by workers and a remote operator communication device used by a remote operator, enabling communication with the aforementioned remote robot communication device. A location information acquisition unit configured to acquire location information from each of the remote robot communication devices and the plurality of worker communication devices, An identification information acquisition unit configured to acquire identification information from each of the remote robot communication device, the plurality of worker communication devices, and the remote operator communication device, A channel assignment unit is configured to assign channels to worker communication devices belonging to the range centered on the remote robot communication device, based on the location information of each of the plurality of worker communication devices and the remote robot communication device, and the range-related information of each of the plurality of worker communication devices, the remote operator communication device, and the remote robot communication device, based on the identification information of each of the plurality of worker communication devices, the remote operator communication device, and the remote robot communication device, and the combination of the identification information of each of the identification information, and to assign channels to the worker communication device, the remote robot communication device, and the remote operator communication device relating to the identification information corresponding to the combination of the identification information, An information transfer unit that acquires information from the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, and transfers it to the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, other than the source of the acquisition, A communication support device equipped with the following features. [Note 2] The system further comprises a work information acquisition unit configured to acquire work information from any of the worker communication device, the remote robot communication device, and the remote operator communication device, The range management unit is configured to manage information relating to multiple ranges of different sizes according to the work information, The channel allocation unit is configured to assign the channel to the worker communication device that is centered on the remote robot communication device and belongs to the range corresponding to the acquired work information. The communication support device described in Appendix 1. [Note 3] The system further comprises a work information acquisition unit configured to acquire work information from any of the worker communication device, the remote robot communication device, and the remote operator communication device, The aforementioned identification information combination management unit is configured to manage a plurality of identification information combinations, each with a different combination of identification information according to the work information. The channel allocation unit is configured to allocate the channel to the worker communication device, the remote robot communication device, and the remote operator communication device related to the identification information corresponding to the combination of identification information that corresponds to the acquired work information. The communication support device described in Appendix 1. [Note 4] The range management unit is configured to manage information relating to other ranges that enable communication with the worker communication device. The channel allocation unit is configured to assign the channel to a worker communication device when the range centered on the remote robot communication device overlaps with at least a portion of the other range centered on the worker communication device, based on the location information, range information, and other range information of each of the plurality of worker communication devices and the remote robot communication device. The communication support device described in Appendix 1. [Note 5] The range management unit is configured to manage information relating to multiple ranges of different sizes. The channel allocation unit is configured to assign the channel to the worker communication device that is centered on the remote robot communication device and belongs to one of the multiple ranges, The information transfer unit is configured to transmit different information according to the multiple ranges to which the worker communication device belongs. The communication support device described in Appendix 1. [Note 6] The aforementioned ranges include a range for transmitting warning information to the worker communication device, The information transfer unit is configured to transmit the warning information to the worker communication device that belongs only to the warning range centered on the remote robot communication device. Communication support device as described in Appendix 5. [Note 7] The aforementioned plurality of ranges include remote robot stop ranges for transmitting information to the remote robot communication device to stop the remote robot, The information transfer unit is configured to transmit information to the remote robot communication device that causes the remote robot to stop when the operator communication device is located within the remote robot stopping range centered on the remote robot communication device. Communication support device as described in Appendix 6. [Note 8] The range management unit is configured to manage information relating to the field of view of the camera of the remote robot communication device installed on the remote robot, and the field of view range relating to a predetermined distance from the camera. The channel assignment unit is configured to assign the channel to the worker communication device that belongs to the field of view range. The communication support device described in Appendix 1. [Note 9] The range management unit is configured to manage information relating to the field of view range, which is calculated using the sensor of the remote robot communication device installed on the remote robot, and a predetermined distance from the sensor. The channel assignment unit is configured to assign the channel to the worker communication device that belongs to the field of view range. Communication support device as described in Appendix 8. [Note 10] The range management unit is configured to manage information relating to a plurality of angle-of-view ranges, each having a different angle of view or distance depending on the direction of travel or the speed of travel. The channel assignment unit is configured to assign the channel to the operator communication device that belongs to the field of view range corresponding to the direction of travel or speed of travel calculated using the sensor of the remote robot communication device installed on the remote robot. Communication support device as described in Appendix 8. [Note 11] A communication support device described in any one of the appendices 1 to 10, The aforementioned plurality of worker communication devices, The aforementioned remote robot communication device, The aforementioned remote operator communication device, Equipped with, Communication support system. [Note 12] A communication support method in which a computer assists communication between a remote robot communication device mounted on a remote robot, multiple worker communication devices used by workers, and a remote operator communication device used by a remote operator, The steps include registering information relating to the range in which communication is possible with the remote robot communication device, The steps include registering an identification information combination which combines the identification information of one of the plurality of worker communication devices that enable communication with the remote robot communication device, and the identification information of the remote operator communication device, The steps include: acquiring location information from each of the remote robot communication devices and the plurality of worker communication devices; The steps include obtaining identification information from each of the remote robot communication device, the plurality of worker communication devices, and the remote operator communication device, A step of assigning channels to worker communication devices belonging to the range centered on the remote robot communication device, based on the location information of each of the plurality of worker communication devices and the remote robot communication device, and the range-related information, and assigning channels to the worker communication device, the remote robot communication device, and the remote robot communication device relating to the identification information corresponding to the combination of identification information, based on the identification information of each of the plurality of worker communication devices, the remote operator communication device, and the remote robot communication device, The steps include: acquiring information from the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, and transferring it to the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, other than the source of the acquisition; Communication support methods, including those mentioned above. [Note 13] A program that causes a computer to perform processing to support communication between a remote robot communication device mounted on a remote robot, multiple worker communication devices used by workers, and a remote operator communication device used by a remote operator, A process for registering information relating to the range in which communication is possible with the aforementioned remote robot communication device, A process for registering an identification information combination which combines the identification information of one of the plurality of worker communication devices that enable communication with the remote robot communication device, and the identification information of the remote operator communication device, A process for acquiring location information from each of the remote robot communication devices and the plurality of worker communication devices, A process for acquiring identification information from each of the remote robot communication device, the plurality of worker communication devices, and the remote operator communication device, Based on the location information of each of the plurality of worker communication devices and the remote robot communication device, and the information relating to the range, a channel is assigned to the worker communication devices that belong to the range centered on the remote robot communication device, and based on the identification information of each of the plurality of worker communication devices, the remote operator communication device, and the remote robot communication device, and the combination of the identification information, a channel is assigned to the worker communication device, the remote robot communication device, and the remote operator communication device relating to the identification information corresponding to the combination of the identification information. The process involves acquiring information from the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, and transferring that information to the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, other than the source of the acquisition. A program that causes the aforementioned computer to execute.

[0113] Furthermore, each disclosure in the above-mentioned patent documents is incorporated into this document by reference and may be used as the basis or part of the present invention as necessary. Within the framework of the full disclosure of the present invention (including the claims and drawings), further modifications and adjustments to the embodiments or examples are possible based on the basic technical concept. Also, within the framework of the full disclosure of the present invention, various combinations or selections (or non-selection as necessary) of various disclosure elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) are possible. In other words, the present invention naturally includes the full disclosure, including the claims and drawings, and various modifications and alterations that a person skilled in the art could make in accordance with the technical concept. Furthermore, regarding the numerical values ​​and numerical ranges described in this application, any intermediate values, lower values, and smaller ranges are deemed to be described even if not explicitly stated. Moreover, each disclosure in the above-mentioned cited documents may, as necessary, be used in part or in whole as part of the disclosure of the present invention, in accordance with the spirit of the present invention, in combination with the matters described in this document, and these may also be considered to be included in (belong to) the disclosures of this application. [Explanation of symbols]

[0114] 1. Communication support system 3a, 3b On-site worker (worker) 3c Guider (worker) 3D work supervisor (worker) 3e. Slinging worker (worker) 3f, 3g, 3h, 3i Field worker (worker) 4. Remote control 6 On-site 7, 8 Remote areas 10. Worker communication device 11 Input section 12 Output section 13 Positioning Unit 14 Communications Department 15 Storage section 16 Control Unit 17 Identification Labels 20 Remote robot communication device 21 Input section 22 Output section 23 Positioning Unit 24 Communications Department 25 Memory section 26 Control Unit 27 Identification Labels 30 Remote Operator Communication Device 31 Input section 32 Output section 33. Control Unit 34 Communications Department 35 Storage section 36 Control Unit 37 Identification Labels 40 Communication support devices 41. Scope Management Department 42. Identification Information Combination Management Department 43 Location information acquisition unit 44 Identification Information Acquisition Unit 45 Channel allocation section 46 Information Transfer Unit 47. Work Information Acquisition Unit 50 Networks 60, 61, 62 Remote-controlled robots 70 range 71. Lifting operation range 73 Range 74. Scope of use for warnings 75 Angle of view Range 80, 81, 82 100 hardware resources 101 Processors 102 memory 103 Network Interface 104 Internal Bus

Claims

1. A range management unit configured to manage information related to the range within which communication is possible with a remote robot communication device mounted on a remote robot, An identification information combination management unit is configured to manage identification information combinations that combine the identification information of one of several worker communication devices used by workers and a remote operator communication device used by a remote operator, enabling communication with the aforementioned remote robot communication device. A location information acquisition unit configured to acquire location information from each of the remote robot communication devices and the plurality of worker communication devices, An identification information acquisition unit configured to acquire identification information from each of the remote robot communication device, the plurality of worker communication devices, and the remote operator communication device, A channel assignment unit is configured to assign channels to worker communication devices belonging to the range centered on the remote robot communication device, based on the location information of each of the plurality of worker communication devices and the remote robot communication device, and the range-related information of each of the plurality of worker communication devices, the remote operator communication device, and the remote robot communication device, based on the identification information of each of the plurality of worker communication devices, the remote operator communication device, and the remote robot communication device, and the combination of the identification information of each of the identification information, and to assign channels to the worker communication device, the remote robot communication device, and the remote operator communication device relating to the identification information corresponding to the combination of the identification information, An information transfer unit configured to acquire information from the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, and to transfer the information to the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, other than the source of the acquisition, A communication support device equipped with the following features.

2. The system further comprises a work information acquisition unit configured to acquire work information from any of the worker communication device, the remote robot communication device, and the remote operator communication device, The range management unit is configured to manage information relating to multiple ranges of different sizes according to the work information, The channel allocation unit is configured to assign the channel to the worker communication device that is centered on the remote robot communication device and belongs to the range corresponding to the acquired work information. The communication support device according to claim 1.

3. The system further comprises a work information acquisition unit configured to acquire work information from any of the worker communication device, the remote robot communication device, and the remote operator communication device, The aforementioned identification information combination management unit is configured to manage a plurality of identification information combinations, each with a different combination of identification information according to the work information. The channel allocation unit is configured to allocate the channel to the worker communication device, the remote robot communication device, and the remote operator communication device related to the identification information corresponding to the combination of identification information that corresponds to the acquired work information. The communication support device according to claim 1.

4. The range management unit is configured to manage information relating to other ranges that enable communication with the worker communication device. The channel allocation unit is configured to assign the channel to a worker communication device when the range centered on the remote robot communication device overlaps with at least a portion of the other range centered on the worker communication device, based on the location information, range information, and other range information of each of the plurality of worker communication devices and the remote robot communication device. The communication support device according to claim 1.

5. The range management unit is configured to manage information relating to multiple ranges of different sizes. The channel allocation unit is configured to assign the channel to the worker communication device that is centered on the remote robot communication device and belongs to one of the multiple ranges, The information transfer unit is configured to transmit different information according to the multiple ranges to which the worker communication device belongs. The communication support device according to claim 1.

6. The aforementioned ranges include a range for transmitting warning information to the worker communication device, The information transfer unit is configured to transmit the warning information to the worker communication device that belongs only to the warning range centered on the remote robot communication device. The communication support device according to claim 5.

7. The range management unit is configured to manage information relating to the field of view of the camera of the remote robot communication device installed on the remote robot, and the field of view range relating to a predetermined distance from the camera. The channel assignment unit is configured to assign the channel to the worker communication device that belongs to the field of view range. The communication support device according to claim 1.

8. A communication support device according to any one of claims 1 to 7, The aforementioned plurality of worker communication devices, The aforementioned remote robot communication device, The aforementioned remote operator communication device, Equipped with, Communication support system.

9. A communication support method in which a computer assists communication between a remote robot communication device mounted on a remote robot, multiple worker communication devices used by workers, and a remote operator communication device used by a remote operator, The steps include registering information relating to the range in which communication is possible with the remote robot communication device, The steps include registering an identification information combination which combines the identification information of one of the plurality of worker communication devices that enable communication with the remote robot communication device, and the identification information of the remote operator communication device, The steps include: acquiring location information from each of the remote robot communication devices and the plurality of worker communication devices; The steps include obtaining identification information from each of the remote robot communication device, the plurality of worker communication devices, and the remote operator communication device, A step of assigning channels to worker communication devices belonging to the range centered on the remote robot communication device, based on the location information of each of the plurality of worker communication devices and the remote robot communication device, and the range-related information, and assigning channels to the worker communication device, the remote robot communication device, and the remote robot communication device relating to the identification information corresponding to the combination of identification information, based on the identification information of each of the plurality of worker communication devices, the remote operator communication device, and the remote robot communication device, The steps include: acquiring information from the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, and transferring it to the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, other than the source of the acquisition; Communication support methods, including those mentioned above.

10. A program that causes a computer to perform processing to support communication between a remote robot communication device mounted on a remote robot, multiple worker communication devices used by workers, and a remote operator communication device used by a remote operator, A process for registering information relating to the range in which communication is possible with the aforementioned remote robot communication device, A process for registering an identification information combination which combines the identification information of one of the plurality of worker communication devices that enable communication with the remote robot communication device, and the identification information of the remote operator communication device, A process for acquiring location information from each of the remote robot communication devices and the plurality of worker communication devices, A process for acquiring identification information from each of the remote robot communication device, the plurality of worker communication devices, and the remote operator communication device, Based on the location information of each of the plurality of worker communication devices and the remote robot communication device, and the information relating to the range, a channel is assigned to the worker communication devices that belong to the range centered on the remote robot communication device, and based on the identification information of each of the plurality of worker communication devices, the remote operator communication device, and the remote robot communication device, and the combination of the identification information, a channel is assigned to the worker communication device, the remote robot communication device, and the remote operator communication device relating to the identification information corresponding to the combination of the identification information. The process involves acquiring information from the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, and transferring that information to the worker communication device, the remote robot communication device, and the remote operator communication device to which the channel is assigned, other than the source of the acquisition. A program that causes the aforementioned computer to execute.

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