Video transmission system for industrial machinery

Abstract

To provide a video transmission system for a work machine in which trouble hardly occurs in remote control or periphery monitoring of each work machine even if a load of a communication line being used becomes high.SOLUTION: A video transmission system comprises a plurality of on-vehicle controllers 300 each for transmitting video data of a camera 310 to a network and a plurality of management computers 100 each for receiving the video data transmitted from the plurality of on-vehicle controllers and displaying the video data on a monitor 120. When a communication load of a first communication line being used for a communication with a management computer 100A exceeds a predetermined value, the video data are divided into a plurality of pieces and a part of them is transmitted to the management computer 100A using the first communication line by a first on-vehicle controller 300A, and the divided remaining video data are transmitted to another on-vehicle controller 300D. The other on-vehicle controller 300D transmits the video data received from the first on-vehicle controller to the management computer 100A.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a video transmission system for a work machine. [Background Art]

[0002] In recent years, video transmission systems have sometimes been used, in which a plurality of cameras are mounted on a work machine such as a hydraulic excavator, and images of the surroundings of the work machine captured by the plurality of cameras are transmitted via a network to a remote terminal and displayed on a monitor. This system can be used for remote control of construction machines and surrounding monitoring.

[0003] In this type of video transmission system, if the amount of camera video data transmitted from the work machine (camera) to the remote terminal (monitor) increases and reaches the upper limit of data communication volume in the communication path, image distortion (including insufficient resolution) and dropout may occur on the remote monitor. For example, when a hydraulic excavator performs a turning operation, the subject captured by the camera mounted on the turning body moves significantly, so the volume of transmitted video data increases, which may cause distortion or dropout in the monitor video.

[0004] In order to solve this type of problem, Patent Document 1 discloses a video transmission system in which a plurality of cameras that capture surrounding monitoring images of a construction machine, an operation lever that remotely controls the construction machine, and a display (monitor) that displays the surrounding monitoring images are communicably connected via a network. The system comprises: an encoder and a decoder arranged on the network; a connection / disconnection member (switch) that switches between connection and disconnection of communication between the encoder and the decoder; and a control device that operates the connection / disconnection member to connect only between the encoder and the decoder to which the display (monitor) that displays the surrounding monitoring image in the direction in which the construction machine is driven by the operation signal is connected, when an operation signal of the operation lever corresponding to a target speed of an actuator of the construction machine is equal to or greater than an allowable determination threshold. [Prior Art Documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2017-092908 [Overview of the project] [Problems that the invention aims to solve]

[0006] In other words, Patent Document 1 describes how, from among multiple camera images mounted on a single construction machine, the camera images to be transmitted to the decoder via a communication line and those not to be transmitted are selected according to the operator's operation. For example, when a right turn operation is input to the control lever, only the camera image showing the right side of the rotating body is transmitted from the construction machine to the communication line, while the other camera images (for example, the camera image showing the left side of the rotating body) are not transmitted from the construction machine to the communication line. This makes it possible to maintain the quality of the image showing the right side of the rotating body, which is necessary when turning right.

[0007] However, if camera footage is transmitted while the current communication line is under heavy load (the ratio of usage to the maximum communication capacity of the line), the data transfer speed will slow down, which may result in image distortion or loss in the camera footage from the construction machine.

[0008] This invention has been made in view of the above circumstances, and its purpose is to provide a video transmission system for work machines that is less likely to cause problems with remote control and surrounding area monitoring of each work machine even when the load on the communication line being used becomes high. [Means for solving the problem]

[0009] The present invention includes multiple means for solving the above problems, but to give one example, in a video transmission system for a work machine comprising: multiple on-board controllers mounted on multiple work machines consisting of the own vehicle and other vehicles, each having a camera, and transmitting the video data of the cameras to a network; and multiple computers connected to the network so as to be able to communicate with the multiple on-board controllers, and receiving the video data of the cameras transmitted from the multiple on-board controllers and displaying it on a monitor, the first on-board controller mounted on the own vehicle divides the video data of the cameras into multiple parts when the communication load of the first communication line used for communication with the computer to be communicated among the multiple computers exceeds a predetermined value, transmits a portion of the divided video data to the computer to be communicated using the first communication line, transmits the remaining divided video data to at least one other on-board controller mounted on the other vehicle among the multiple on-board controllers, and the other on-board controllers transmit the remaining divided video data received from the first on-board controller Using a communication line different from the first communication line The data shall be transmitted to the aforementioned computer. [Effects of the Invention]

[0010] According to the present invention, when the load on the communication line used by the in-vehicle controller becomes high, a decrease in data transfer speed can be suppressed by transmitting a portion of the camera video data via another communication line. This suppresses the occurrence of distortion or loss of camera images, thereby reducing the possibility of interference with remote control of work machinery or monitoring of the surroundings. [Brief explanation of the drawing]

[0011] [Figure 1] An overall configuration diagram of a video transmission system according to the first embodiment of the present invention. [Figure 2] A schematic diagram of Server 200. [Figure 3] A schematic diagram of the management computer 100. [Figure 4] Schematic diagram of the in-vehicle controller 300. [Figure 5] Fig. 1 is an example showing part of data stored in a storage device 312 of the in-vehicle controller 300A in a table format. [Figure 6] Fig. 2 is a diagram showing part of data stored in a storage device 212 of the server 200 in a table format. [Figure 7] Fig. 3 is an operation flow diagram of a program executed by the server 200. [Figure 8] Fig. 4 is an operation flow diagram of a program executed by the in-vehicle controller 300. [Figure 9] Fig. 5 is an operation flow diagram of vehicle body selection processing executed at S3003 in the flow of Fig. 8. [Figure 10] Fig. 6 is an operation flow diagram of communication line determination processing executed at S3103 in the flow of Fig. 9. [Figure 11] Fig. 7 is an operation flow diagram of first owner determination processing executed at S3104 in the flow of Fig. 9. [Figure 12] Fig. 8 is an operation flow diagram of second owner determination processing executed at S3105 in the flow of Fig. 9. [Figure 13] Fig. 10 is a diagram showing a first intermediate table and a second intermediate table stored in the in-vehicle controller 300A. [Figure 14] Fig. 11 is a diagram showing first to fourth candidate tables stored in the in-vehicle controller 300A. [Figure 15] Fig. 12 is an operation flow of a program executed by the in-vehicle controller 300 according to the second embodiment. [Figure 16] Fig. 16 is an operation flow diagram of transit vehicle body registration processing executed at S3003A in the flow of Fig. 15. [Figure 17] Fig. 17 is a diagram showing a transit vehicle body list table stored in the in-vehicle controller 300A. [Figure 18] Fig. 18 is a diagram showing a data ratio table stored in the in-vehicle controller 300A. MODES FOR CARRYING OUT THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0013] In the following description, when a plurality of identical constituent elements are present, an uppercase or lowercase alphabet may be added to the end of a reference sign; however, the uppercase or lowercase alphabet may be omitted to collectively refer to the plurality of constituent elements. For example, when there are three identical computers 112A, 112B, and 112C, these may be collectively referred to as a computer 112.

[0014] <First Embodiment> Figure 1 is an overall configuration diagram of a video transmission system according to a first embodiment of the present invention. The video transmission system in Figure 1 comprises: a plurality of in-vehicle controllers 300A, 300B, 300C, 300D, one for example mounted to each of a plurality of work machines 1A, 1B, 1C, 1D (hydraulic excavators in the example of Figure 1) operating at the same work site; a server 200; and at least one management computer (indicated as "management PC" in Figure 1) 100A, 100B, 100C, 100D. Note that in this specification, a work machine (hydraulic excavator) may also be referred to as a "vehicle body".

[0015] The server 200 calculates an upper limit value of the transmission data amount for each in-vehicle controller 300 (transmission data upper limit 406, see Figure 6) such that the total data amount of video data from a plurality of cameras 310 (see Figure 4) transmitted from the plurality of in-vehicle controllers 300 to the management computer 100 is kept at or below a predetermined value, and transmits the calculated upper limit value of the transmission data amount (transmission data upper limit 406) to each in-vehicle controller 300.

[0016] Each in-vehicle controller 300 transmits the video data of the plurality of cameras 310 (see Figure 4) to the management computer 100 of the corresponding communication destination.

[0017] The management computer 100 displays video data (camera images) transmitted from the in-vehicle controller 300 on a monitor 120 (see Figure 3), and provides video of the surrounding situation of the work machine 1 to the operator in front of the monitor 120.

[0018] Each in-vehicle controller 300 is connected to a wide area network (WAN) via the nearest base station 50A, 50B, or 50C, for example, using a communication standard line for mobile phones. Base stations 50A, 50B, and 50C are the base stations through which data transmitted from multiple in-vehicle controllers 300 (including video data from the camera 310) first passes in the communication line (WAN) from the in-vehicle controller 300 to the management computer 100. Because radio wave conditions may differ depending on the location of the work machine 1, the base station 50 to which each work machine 1 (in-vehicle controller 300) is connected may differ. In the example in Figure 1, three work machines 1A, 1B, and 1C (in-vehicle controllers 300A, 300B, and 300C) are connected to the first base station 50A, work machine 1D (in-vehicle controller 300D) is connected to the second base station 50B, and work machine 1E (in-vehicle controller 300E) is connected to the third base station 50C.

[0019] The WAN is further connected to server 200 and management computers 100A, 100B, 100C, and 100D, and each terminal 100, 200, and 300 connected to the WAN can communicate data with each other. The WAN may include the public network, the Internet 10, as shown in Figure 1, or it may consist only of dedicated lines.

[0020] Furthermore, each in-vehicle controller 300 and server 200 may be connected to the same local area network (LAN), for example via Wi-Fi, as shown in Figure 1. Using a LAN connection makes it easy to identify the work machine 1 located near the server 200 (for example, at the same work site).

[0021] Since each terminal 100, 200, and 300 is connected to the WAN, the use of the LAN is not mandatory, and the WAN alone may be used. If only the WAN is used, the identification of the work machine 1 located at the same work site as the server 200 can be done, for example, by comparing the location data acquired by the GNSS receiver installed on the work machine 1 with map data that includes the location data of the work site where the server 200 is installed.

[0022] (Configuration of the in-vehicle controller 300) Figure 4 is a schematic diagram of each in-vehicle controller 300. Each in-vehicle controller 300 includes, for example, a processor such as a CPU 311, a storage device 312 such as ROM, RAM, flash memory, or hard disk drive that can store programs and various data that can be executed by the processor, and a communication device 315 connected to a WAN and LAN.

[0023] Each in-vehicle controller 300 is connected to a network (WAN and LAN) via a communication device 315, enabling it to communicate with the server 200 and each management computer 100. The management computer 100 to which each in-vehicle controller 300 transmits video data is pre-configured. Multiple in-vehicle controllers 300 may transmit video data to the same management computer 100, or one in-vehicle controller 300 may transmit video data to multiple management computers 100. However, for the sake of simplicity in the following explanation, it will be assumed that there is a one-to-one correspondence between the in-vehicle controller 300 and the management computer 100 that serves as the communication destination (the destination for video data transmission).

[0024] Furthermore, the on-board controller 300A is connected via a Controller Area Network (CAN) to, for example, multiple cameras 310a, 310b, and 310c mounted on the work machine 1A, an engine 305 that drives a hydraulic pump which is the hydraulic power source for the hydraulic actuator mounted on the work machine 1A, a rotational speed sensor 306 for detecting the rotational speed of the engine 305 (engine speed), multiple solenoid valves (solenoid proportional valves) 302 that generate pilot pressure for a control valve that controls the hydraulic fluid supplied to and discharged from the hydraulic actuator, and multiple pressure sensors 303 that detect the pilot pressure generated by the multiple solenoid valves 302. The other on-board controllers 300B-300E are also connected to various parts of the work machines 1B-1E in the same way as the on-board controller 300A.

[0025] Multiple cameras 310a, 310b, and 310c are mounted on the work machine 1 and capture images of the area around the work machine 1. The image data captured by each camera 310 is first stored via CAN in a storage device 312 in, for example, the onboard controller, and then transmitted via WAN to a predetermined management computer 100. In this embodiment, the cameras 310 are mounted on the rotating body of each hydraulic excavator (work machine) 1 and each captures images in a different direction (for example, in front of, to the right of, and to the left of the rotating body). The management computer 100 displays the received camera image data on the monitor 120. There is no particular limit to the number of cameras 310 mounted on one work machine 1; four or more cameras may be mounted.

[0026] (Configuration of management computer 100) Figure 3 is a schematic diagram of the configuration of each management computer 100. Each management computer 100 is a computer (e.g., a personal computer) that includes a processor such as a CPU 111, a storage device 112 such as ROM, RAM, flash memory, or a hard disk drive where programs and various data that can be executed by the processor can be stored, and a communication device 115 connected to the WAN. The management computer 100 is connected to a monitor 120 that displays camera video data (described later) transmitted from the corresponding in-vehicle controller 300, and to an input device 130 (e.g., mouse, keyboard, touch panel, etc.) for providing data and instructions to the management computer 100.

[0027] When the management computer 100 is used for remote control of each work machine 1, an operating device (e.g., an operating lever) 150 may also be connected to output an operation signal to the work machine 1 (onboard controller 300) to be remotely controlled in accordance with the input operation. In this embodiment, since the management computer 100 is used for remote control, the operating device 150 is connected to the management computer 100. In this embodiment, one management computer 100 and one onboard controller 300 correspond one-to-one, and those with the same uppercase letter at the end of their code correspond to each other. For example, when an operator seated in front of the monitor 120 of the management computer 100A operates the operating device 150 while viewing the image (camera image) on the monitor 120, an operation signal corresponding to that operation is transmitted from the management computer 100A to the corresponding onboard controller 300A via WAN. Upon receiving the operation signal, the onboard controller 300A operates the solenoid valve 302 corresponding to the operation signal based on that operation signal. This activates the control valve and the hydraulic actuator, enabling the operator to remotely control the work machine 1.

[0028] (Server 200 configuration) Figure 2 is a schematic diagram of the server 200. The server 200 includes a processor such as a CPU 211, a storage device 212 such as ROM, RAM, flash memory, or a hard disk drive that can store programs and various data that can be executed by the processor, and a communication device 215 that is connected to the WAN and LAN. The communication device 215 can be connected to both the LAN and the WAN, and different communication devices may be used for the LAN and the WAN.

[0029] (Data from the 300A in-vehicle controller) Figure 5 is an example diagram showing in table format some of the data stored in the storage device 312 of the on-board controller 300A mounted on the work machine 1A. As shown in this figure, the storage device 312 of each on-board controller 300 stores a self-vehicle information table 320 which stores information about the work machine it is mounted on (hereinafter sometimes referred to as "self-vehicle") (self-vehicle information), and a transit data table 330 which records data when video data from another work machine 1 is transmitted to the management computer 100 via the self-vehicle (hereinafter sometimes referred to as "data transmission occurrence"). In the following, work machines other than the self-vehicle may be referred to as "other vehicles".

[0030] The vehicle information table 320 stores the vehicle ID 321, which is the identification data of the vehicle itself, from the identification data uniquely assigned to each work machine 1 in order to identify the work machine 1; the connection destination ID 322, which is the identification data of the base station 50 used by the vehicle itself, from the identification data uniquely assigned to each base station 50 in order to identify the communication line that each onboard controller 300 (work machine 1) uses to communicate with the management computer 100; and the owner ID 323, which is the identification information of the owner of the vehicle itself, from the identification data uniquely assigned to the owner of each work machine 1 in order to identify the owner of each work machine 1. Here, the identification data of the base station 50 used by each onboard controller 300 for communication is used as the identification data (connection destination ID) of the communication line used by each onboard controller 300, but other identification data that can identify the communication line may be used.

[0031] The transit data table 330 stores a source vehicle ID 331, which indicates the identification data of the work machine 1 that transmitted the video data when the data transit occurred, and a transit data amount 332, which indicates the cumulative amount of data actually transited by the vehicle 1 for each work machine 1 when the data transit occurred.

[0032] (Data from Server 200) Figure 6 is a diagram showing a portion of the data stored in the storage device 212 of the server 200 in table format. The storage device 212 of the server 200 stores a vehicle information table 230 in which vehicle information (vehicle ID 321, connection destination ID 322, and owner ID 323 in Figure 5) acquired from each in-vehicle controller 300 via the network is recorded.

[0033] Figure 7 shows the operation flow of a program stored in the storage device 212 of the server 200 and executed by the CPU 211. The CPU 211 (server 200) executes the flow shown in Figure 7 at predetermined intervals.

[0034] When the flow is started, the server 200 scans (searches) for multiple work machines 1 (onboard controllers 300) on the LAN (S2001), sends a request to the onboard controller 300 of the found work machine 1 (for example, onboard controller 300A if work machine 1A is found) to send its own vehicle information (vehicle ID 321, connection destination ID 322, owner ID 323), and obtains the own vehicle information sent from the onboard controller 300 (for example, 300A) that received the request (S2002).

[0035] Server 200 checks whether a vehicle ID identical to the vehicle ID 321 obtained in S2002 is already registered in the vehicle information table 230. If it is already registered, it overwrites the connection destination ID and owner ID associated with that vehicle ID with the ones obtained in S2002. If it is not yet registered, it adds that vehicle ID, along with the connection destination ID and owner ID associated with that vehicle ID, to the vehicle information table 220 (S2003).

[0036] In S2004, the system checks whether there is a request to transmit the vehicle information table from each on-board controller 300. If such a request is received, the system transmits the latest vehicle information table 220 to all on-board controllers 300 that sent the request (for example, if the request comes from on-board controller 300A, on-board controller 300A is selected) (S2005), and then returns to the initial process (S2001). On the other hand, if there is no such request in S2004, the system simply returns to the initial process (S2001).

[0037] By periodically performing the process shown in Figure 7, the server 200 in this embodiment collects the latest vehicle information from each in-vehicle controller 300 connected on the same LAN and stores it in the vehicle information table 220.

[0038] Furthermore, the acquisition of the vehicle information table 220 by each on-board controller 300 does not necessarily have to be via the server 200 mentioned above. Alternatively, methods such as pre-storing the vehicle information table 220 in each on-board controller 300, or having each on-board controller 300 periodically perform the same process as shown in Figure 7 to store the latest vehicle information in the vehicle information table 220, may be employed.

[0039] Figure 8 shows the operation flow of a program stored in the storage device 312 of each in-vehicle controller 300 and executed by the CPU 311. The CPU 311 (in-vehicle controller 300) executes the flow in Figure 8 at predetermined intervals while transmitting video data from the camera 310 to the management computer 100. For the sake of clarity, this explanation assumes that the flow in Figure 8 is executed by in-vehicle controller 300A.

[0040] First, the in-vehicle controller 300A determines whether the communication load (line load) of the communication line (first communication line) used for communication with the management computer 100A during the transmission of video data from the camera 310 exceeds a predetermined value (S3001). In other words, it determines whether the communication load of the communication line is high and it is difficult to transmit video data of the required quality to the management computer 100A. The communication load (bandwidth utilization) can be calculated, for example, by dividing the actual data transfer amount of the in-vehicle controller 300A by the bandwidth of a given communication line. The actual data transfer amount can be calculated from the measured values ​​of the transmitted data capacity and transmission time, and these can be calculated by the CPU 311 from the video data transmission results. The predetermined value used in the determination in S3001 can be set, for example, as a percentage (for example, 80%).

[0041] If it is determined in S3001 that the communication load has exceeded a predetermined value, the in-vehicle controller 300A sends a request to the server 200 to send the vehicle information table 220, retrieves the vehicle information table 220 from the server 200 (S3002), and proceeds to the vehicle selection process in S3003.

[0042] Next, the details of the vehicle selection process performed in S3003 will be explained using Figures 9-12. Figure 9 shows the details of the operation flow performed in S3003 in Figure 8, Figure 10 shows the details of the communication line determination process performed in S3103 in Figure 9, Figure 11 shows the details of the first owner determination process performed in S3104 in Figure 9, and Figure 12 shows the details of the second owner determination process performed in S3105 in Figure 9.

[0043] In Figure 9, when the in-vehicle controller 300A starts the vehicle body selection process S3003, it executes the communication line determination process S3103.

[0044] (Communication line determination process S3103) In the communication line determination process S3103, as shown in Figure 10, the on-board controller 300A first obtains vehicle information data (specifically, at least the vehicle ID and connection destination ID from the vehicle ID, connection destination ID, and owner ID) of any one vehicle other than its own vehicle (work machine 1A) from the vehicle information table acquired in S3002 (for example, one of the work machines 1B-1E) (S3401).

[0045] In S3402, the in-vehicle controller 300A determines whether the communication line of the vehicle acquired in S3401 (hereinafter referred to as the information-acquiring vehicle) is different from the communication line of its own vehicle. In this embodiment, as an example of this process, the in-vehicle controller 300A determines whether the connection destination ID acquired in S3401 is different from the connection destination ID (50A) of its own vehicle. That is, it determines whether a base station 50 different from the vehicle 1A is being used for communication with the management computer 100.

[0046] If it is determined in S3402 that the communication line (destination ID) of the vehicle from which information is to be acquired is different from that of the own vehicle, the onboard controller 300A adds (stores) the vehicle information data (at least the vehicle ID) of the vehicle from which information is to be acquired to the first intermediate table 341 in the storage device 312 (S3403), and proceeds to S3405. The first intermediate table 341 is shown in Figure 13. The first intermediate table 341 in Figure 13 stores the vehicle ID and the destination ID linked to the automatically assigned identification number (No.), and stores information for vehicle 1 whose destination ID is different from that of the own vehicle 1A (50A). Note that it is sufficient to store only the vehicle ID as vehicle information data in the first intermediate table 341, and the destination ID can be omitted. In addition, the owner ID may be added to the vehicle ID and destination ID shown in the figure.

[0047] On the other hand, if in S3402 it is determined that the communication line (destination ID) of the vehicle from which information is being acquired is the same as that of the own vehicle, the onboard controller 300A adds (stores) the vehicle information data (at least the vehicle ID) of the vehicle from which information is being acquired to the second intermediate table 342 in the storage device 312 (S3404), and proceeds to S3405. The second intermediate table 342 is shown in Figure 13. The second intermediate table 342 in Figure 13 stores the vehicle ID and the destination ID linked to the automatically assigned identification number (No.), and stores information for vehicle 1 whose destination ID is the same as that of the own vehicle 1A (50A). Note that it is sufficient to store only the vehicle ID as vehicle information data in the second intermediate table 342, and the destination ID can be omitted. In addition, the owner ID may be added to the vehicle ID and destination ID shown in the figure.

[0048] In S3405, the onboard controller 300A determines whether or not the process in S3401 has been performed for all vehicle bodies 1 (for example, work machines 1B-1E) except for its own vehicle 1A (work machine 1A) in the vehicle body information table 220. If it is determined that the process in S3401 has been performed for all work machines (vehicle bodies) 1, the communication line determination process in S3103 is terminated and the process moves to the first owner determination process in S3104 (see Figures 9 and 11). Otherwise, the process returns to the beginning and the process in S3401 is performed for the remaining work machines 1.

[0049] It is preferable to reset the data in the first intermediate table 341 and the second intermediate table 342 before starting the communication line determination process S3103.

[0050] (First owner determination process S3104) In the first owner determination process S3104, as shown in Figure 11, the in-vehicle controller 300A first obtains vehicle information data for any one vehicle (specifically, at least the vehicle ID and owner ID from the vehicle ID, connection destination ID, and owner ID) from the first intermediate table 341 created in the communication line determination process S3103 (S3501).

[0051] In S3502, the in-vehicle controller 300A determines whether the owner of the vehicle acquired in S3501 (hereinafter referred to as the information-acquired vehicle) is the same as the owner of the vehicle 1A. In this embodiment, as an example of this process, the in-vehicle controller 300A determines whether the owner ID acquired in S3501 is the same as the owner ID (ow1) of the vehicle 1A. That is, it determines whether the information-acquired vehicle is owned by the same owner ow1 as the vehicle 1A.

[0052] If, in S3502, it is determined that the owner (owner ID) of the vehicle from which information is to be acquired is the same as that of the current vehicle, the onboard controller 300A adds (stores) the vehicle information data (at least the vehicle ID) of the vehicle from which information is to be acquired to the first candidate table 351 in the storage device 312 (S3503), and proceeds to S3505. An example of the first candidate table 351 is shown in Figure 14. The first candidate table 351 in Figure 14 stores the vehicle ID, connection destination ID, and owner ID, linked to the automatically assigned identification number (No.), and stores information for vehicle 1 (1D) whose connection destination ID is different from that of the current vehicle 1A (50A), but whose owner ID is the same as that of the current vehicle 1A (ow1). Note that it is sufficient to store only the vehicle ID as vehicle information data in the first candidate table 351, and other information can be omitted. In other words, at least one of the connection destination ID and owner ID shown may be deleted from the first candidate table 351.

[0053] On the other hand, if it is determined in S3502 that the owner (owner ID) of the vehicle from which information is to be acquired is different from that of the current vehicle, the onboard controller 300A adds (stores) the vehicle information data (at least the vehicle ID) of the vehicle from which information is to be acquired to the second candidate table 352 in the storage device 312 (S3504), and proceeds to S3505. An example of the second candidate table 352 is shown in Figure 14. The second candidate table 352 in Figure 14 stores the vehicle ID, connection destination ID, and owner ID linked to the automatically assigned identification number (No.), and stores information for vehicle 1 (1E) whose connection destination ID is different from that of the current vehicle 1A (50A), and whose owner ID is different from that of the current vehicle 1A (ow1). Note that it is sufficient to store only the vehicle ID as vehicle information data in the second candidate table 352, and other information can be omitted. In other words, at least one of the connection destination ID and owner ID shown may be deleted from the second candidate table 352.

[0054] In S3505, the in-vehicle controller 300A determines whether the process in S3501 has been performed for all vehicle bodies 1 in the first intermediate table 341. If it is determined that the process in S3501 has been performed for all vehicle bodies 1, the first owner determination process in S3104 is terminated and the process moves to the second owner determination process in S3105 (see Figures 9 and 12). Otherwise, the process returns to the beginning and the process in S3501 is performed for the remaining vehicle bodies 1.

[0055] It is preferable to reset the data in the first candidate table 351 and the second candidate table 352 before starting the first owner determination process S3104.

[0056] (Second owner determination process S3105) In the second owner determination process S3105, as shown in Figure 12, the in-vehicle controller 300A first obtains vehicle information data for any one vehicle (specifically, at least the vehicle ID and owner ID from the vehicle ID, connection destination ID, and owner ID) from the second intermediate table 342 created in the communication line determination process S3103 (S3601).

[0057] In S3602, the in-vehicle controller 300A determines whether the owner of the vehicle acquired in S3601 (hereinafter referred to as the information-acquired vehicle) is the same as the owner of the vehicle 1A. In this embodiment, as an example of this process, the in-vehicle controller 300A determines whether the owner ID acquired in S3601 is the same as the owner ID (ow1) of the vehicle 1A. That is, it determines whether the information-acquired vehicle is owned by the same owner ow1 as the vehicle 1A.

[0058] If, in S3602, it is determined that the owner (owner ID) of the vehicle from which information is to be acquired is the same as that of the current vehicle, the onboard controller 300A adds (stores) the vehicle information data (at least the vehicle ID) of the vehicle from which information is to be acquired to the third candidate table 353 in the storage device 312 (S3603), and proceeds to S3605. An example of the third candidate table 353 is shown in Figure 14. The third candidate table 353 in Figure 14 stores the vehicle ID, connection destination ID, and owner ID linked to the automatically assigned identification number (No.), and stores information for vehicle 1 (1B) whose connection destination ID is the same as that of the current vehicle 1A (50A), and whose owner ID is the same as that of the current vehicle 1A (ow1). Note that it is sufficient to store only the vehicle ID as vehicle information data in the third candidate table 353, and other information can be omitted. In other words, at least one of the connection destination ID and owner ID shown may be deleted from the third candidate table 353.

[0059] On the other hand, if it is determined in S3602 that the owner (owner ID) of the vehicle from which information is to be acquired is different from that of the current vehicle, the onboard controller 300A adds (stores) the vehicle information data (at least the vehicle ID) of the vehicle from which information is to be acquired to the fourth candidate table 354 in the storage device 312 (S3604), and proceeds to S3605. An example of the fourth candidate table 354 is shown in Figure 14. The fourth candidate table 354 in Figure 14 stores the vehicle ID, connection destination ID, and owner ID linked to the automatically assigned identification number (No.), and stores information for vehicle 1 (1C) whose connection destination ID is the same as that of the current vehicle (work machine) 1A (50A), and whose owner ID is different from that of the current vehicle (work machine) 1A (ow1). Note that it is sufficient to store only the vehicle ID as vehicle information data in the fourth candidate table 354, and other information can be omitted. In other words, at least one of the illustrated connection destination ID and owner ID may be removed from the fourth candidate table 354.

[0060] In S3605, the in-vehicle controller 300A determines in the second intermediate table 342 whether or not the process in S3601 has been performed for all vehicle bodies 1. If it is determined that the process in S3601 has been performed for all vehicle bodies 1, the second owner determination process in S3105 is terminated and the process moves to S3106; otherwise, the process returns to the beginning and the process in S3601 is performed for the remaining vehicle bodies 1.

[0061] Furthermore, it is preferable to reset the data in the third candidate table 353 and the fourth candidate table 354 before starting the second owner determination process S3105.

[0062] (S3106) In S3106, the in-vehicle controller 300A scans the first row of the first candidate table 351 and the last row of the fourth candidate table 354 in order, and selects the first vehicle found as the vehicle to which the video data of its own vehicle 1A will be transmitted (hereinafter referred to as the data-transmitting vehicle).

[0063] To explain the scanning of vehicle body 1 in detail, first, the system scans from the first to the last row of the first candidate table 351, then from the first to the last row of the second candidate table 352, then from the first to the last row of the third candidate table 353, and finally from the first to the last row of the fourth candidate table 354. Through this scanning, at least one vehicle body should normally be selected.

[0064] Furthermore, the scanning of vehicle bodies via data may be limited to the first candidate table 351 and the second candidate table 352, which have different communication lines (base station 50) from the vehicle 1A.

[0065] Once the vehicle selection via data is complete in S3106, return to Figure 8 and proceed to S3004.

[0066] In S3004, the in-vehicle controller 300A determines whether or not a vehicle body was selected via data in S3003. If it was selected, the process proceeds to S3006; otherwise, it proceeds to S3009.

[0067] In S3006, the in-vehicle controller 300A sends a data-transmitting notification to the vehicle selected in S3106 (Figure 9). In the case of Figure 14, the vehicle selected for data transmission is the vehicle (work machine) 1D located in the first row of the first candidate table 351. The data-transmitting notification is a notification to inform the vehicle that a portion of the video data from the local vehicle 1A will be transmitted. This notification may include the vehicle ID (identification data) of the local vehicle (source of video data) 1A, the identification data of the management computer 100A that the local vehicle 1A communicates with, and the amount of video data (transmission data for the vehicle via transmission, described later) transmitted from the local vehicle 1A to the vehicle via transmission.

[0068] In S3007, the in-vehicle controller 300A splits the video data from camera 310 to be transmitted to the management computer 100A into two parts. One of the two resulting video data is transmitted by the vehicle 1A (transmission data for the vehicle), and the other is transmitted by the vehicle via the data (transmission data for the vehicle via the data). The ratio in which the video data from camera 310 is split can be changed as appropriate. For example, the split may be adjusted so that the proportion of transmission data for the vehicle via the data increases in response to an increase in the line load of the first in-vehicle controller 300A, or it may be split at a constant ratio regardless of the size of the line load.

[0069] In S3008, the in-vehicle controller 300A transmits transmission data for the transit vehicle to the data transit vehicle. The in-vehicle controller 300 (300D) of the data transit vehicle (1D) receives the transmission data for the transit vehicle from the in-vehicle controller 300A and transmits it to the management computer 100A, the communication destination of the in-vehicle controller 300A, via the base station 50B. Once the transmission to the management computer 100A is complete, the in-vehicle controller 300 (300D) of the data transit vehicle (1D) writes the source vehicle identification data (source vehicle ID 331) and the amount of data for the transit vehicle transmission data (transit data amount 332) to the transit data table 330 (see Figure 5) in its storage device 312. The source vehicle ID 331 and the transit data amount 332 can be included, for example, in the data transit notification in S3006.

[0070] In S3009, the in-vehicle controller 300A transmits the vehicle-specific transmission data to the management computer 100A via the base station 50A. However, if a vehicle body cannot be selected via data in S3003 (i.e., determined to be "No" in S3004), the vehicle-specific transmission data is not divided, and the in-vehicle controller 300A transmits the entire camera video data to the management computer 100A without dividing it.

[0071] Note that steps S3008 and S3009 may be performed in parallel. That is, the transmission data for the vehicle itself and the transmission data for the transit vehicle may be sent to the management computer of the vehicle's communication destination in parallel.

[0072] (Effects / Actions) (1) As described above, the video transmission system for the work machine of this embodiment comprises a plurality of on-board controllers 300 mounted on a plurality of work machines 1, each having a camera 310, which transmit video data from the cameras 310 to a network 10, and a plurality of computers 100 connected to the network 10 so as to be able to communicate with the plurality of on-board controllers 300, which receive video data from the cameras 310 transmitted from the plurality of on-board controllers 300 and display it on a monitor 120, and the first on-board controller 300A of the plurality of on-board controllers 300 is used for communication with the computer 100A of the plurality of computers 100. When the communication load on the first communication line (the line passing through the first base station 50A) exceeds a predetermined value, the video data from the camera 310 is divided into multiple parts, a portion of the divided video data (transmission data for the vehicle itself) is transmitted to the destination computer 100A using the first communication line, and the remaining divided video data (transmission data for the vehicle via) is transmitted to at least one other in-vehicle controller (e.g., in-vehicle controller 300D) among the multiple in-vehicle controllers 300, and the other in-vehicle controller transmits the remaining divided video data (transmission data for the vehicle via) received from the first in-vehicle controller 300A to the destination computer 100A.

[0073] With this video transmission system configuration, if the communication load on the first communication circuit used by the first in-vehicle controller 300A to transmit video data is high, the first in-vehicle controller 300A can divide the video data. It can then use the first communication circuit to transmit some of the data (data for its own vehicle) to the computer 100A, while transmitting the remaining data (data for the vehicle to be transmitted via) to the computer 100A via other in-vehicle controllers. By transmitting some of the video data to the computer 100A via other in-vehicle controllers 300 in this way, the amount of data transmitted by the first in-vehicle controller 300A is reduced, and the communication load is also reduced. This suppresses image distortion and loss in the video data transmitted from the first in-vehicle controller 300A to the computer 100, enabling smooth remote control and surrounding monitoring of the vehicle 1A.

[0074] (2) In the video transmission system described in (1) above, it is preferable that the other in-vehicle controller 300 transmits the remaining divided video data (transmission data for the vehicle body) to the computer 100A, the communication destination of the first in-vehicle controller 300A, using a communication line different from the first communication line. In other words, it is preferable to select an in-vehicle controller 300D or an in-vehicle controller 300E as the "other in-vehicle controller 300" in the above embodiment, which communicates using a second or third base station 50C or 50D different from the first base station 50A.

[0075] With this configuration of the video transmission system, the transmission data for the vehicle body is sent using a different communication line than the first communication line used by the first on-board controller 300A. This reduces the communication load on the first communication line, suppressing image distortion and loss in the video data transmitted from the first on-board controller 300A to the computer 100, and enabling smooth remote control and surrounding monitoring of the vehicle body 1A.

[0076] (3) The video transmission system described in (2) above includes a server 200 connected to a network 10 so as to be able to communicate with a plurality of in-vehicle controllers 300, and the server 200 stores identification data (destination ID) of the communication lines used by each of the plurality of in-vehicle controllers 300 to communicate with the computer 100 to which it communicates, and it is preferable that the first in-vehicle controller 300A receives the identification data (destination ID) of the communication line from the server 200 and selects from among the plurality of in-vehicle controllers 300 to send the remaining divided video data (transmission data for the vehicle body) based on the received identification data (destination ID).

[0077] With the video transmission system configured in this way, the first in-vehicle controller 300A can receive the latest communication line used by each in-vehicle controller 300 from the server 200, allowing it to accurately and easily select an in-vehicle controller 300 from among multiple in-vehicle controllers 300 that is using a different communication line than the first in-vehicle controller 300A.

[0078] (4) In the video transmission system described in (1) above, it is preferable that the other in-vehicle controller 300 is at least one of the following: a second in-vehicle controller (for example, the in-vehicle controller 300D in the above embodiment) whose communication line with the computer 100A to which communication is to be

[0079] In a video transmission system configured in this way, if the owner selects the same in-vehicle controller 300 as "another in-vehicle controller 300" as the first in-vehicle controller 300A, security measures related to the transmission of video data can be simplified.

[0080] (5) In the video transmission system described in (4) above, it is preferable that the second in-vehicle controller is selected preferentially as the other in-vehicle controller, and if the second in-vehicle controller is not available, the third in-vehicle controller is selected.

[0081] With this configuration of the video transmission system, the first in-vehicle controller 300A and the in-vehicle controller 300 owned by the same owner are preferentially selected as "other in-vehicle controllers 300," thus automatically simplifying security measures related to the transmission of video data.

[0082] (6) In the video transmission system described in (4) above, a server 200 is provided that is connected to a network 20 so as to be able to communicate with a plurality of in-vehicle controllers 300. The server 200 stores identification data (connection destination ID 322) of the communication lines that each of the plurality of in-vehicle controllers 300 uses to communicate with the computer 100 that it communicates with, and identification data (owner ID 323) of the owner of each of the plurality of in-vehicle controllers 300. The first in-vehicle controller 300 receives the identification data (connection destination ID 322) and the owner identification data (owner ID 323) from the server 200 and preferably selects "another in-vehicle controller" from among the plurality of in-vehicle controllers 300 based on the received identification data (connection destination ID 322, owner ID 323).

[0083] With the video transmission system configured in this way, the first in-vehicle controller 300A can receive information from the server 200 about the latest communication lines used by each in-vehicle controller 300 and their owners. Therefore, the first in-vehicle controller 300A can accurately and easily select, for example, an in-vehicle controller 300 from among multiple in-vehicle controllers 300 that uses a different communication line than the first in-vehicle controller 300A and has the same owner as the first in-vehicle controller 300A.

[0084] (7) In the video transmission system described in (6) above, the first in-vehicle controller 300A preferentially selects the second in-vehicle controller as "another in-vehicle controller" based on the communication line identification data and owner identification data received from the server 200, and if the second in-vehicle controller does not exist, it preferentially selects the third in-vehicle controller as "another in-vehicle controller".

[0085] With this configuration of the video transmission system, the first in-vehicle controller 300A and the in-vehicle controller 300 owned by the same owner are preferentially selected as "other in-vehicle controllers 300," thus automatically simplifying security measures related to the transmission of video data.

[0086] <Second Embodiment> In the above embodiment, there was one data-transmitting vehicle, but there may be multiple data-transmitting vehicles. In this embodiment, the operation flow when there are multiple data-transmitting vehicles will be explained with reference to the diagrams.

[0087] Figure 15 shows the operation flow of a program stored in the storage device 312 of each in-vehicle controller 300 and executed by the CPU 311. The CPU 311 (in-vehicle controller 300) executes the flow in Figure 15 at predetermined intervals while transmitting video data from the camera 310 to the management computer 100. Note that the same reference numerals are used for the same processes as in Figure 8, and explanations may be omitted. Here, for the sake of clarity, the explanation will assume that the flow in Figure 15 is executed by the in-vehicle controller 300A.

[0088] First, the details of the vehicle registration process performed in S3003A will be explained using Figure 16. The vehicle registration process is the process of registering vehicles that pass through a portion of the video data from the in-vehicle controller 300A in the vehicle list table 360 ​​shown in Figure 17. The vehicle list table 360 ​​stores a number k indicating the order in which the vehicles were registered in the vehicle list table 360, and the vehicle ID 362 of the vehicle that passed through the data. Figure 17 shows the vehicle list table 360 ​​which can register up to four vehicles that passed through the data, but there is no particular limit on the number of vehicles.

[0089] When the vehicle registration process via S3003A is started, the on-board controller 300A executes the communication line determination process S3103, the first owner determination process 3104, and the second owner determination process 3105 shown in Figure 16, in the same manner as in the first embodiment.

[0090] In the next step, S3106A, the on-board controller 300A scans the first row of the first candidate table 351 and the last row of the fourth candidate table 354 in order, and registers the vehicles found in this process as data-transit vehicles in the transit vehicle list table 360 ​​in order. The first data-transit vehicle found is registered in row k=1, the second data-transit vehicle found in row k=2, the third data-transit vehicle found in row k=3, and the fourth data-transit vehicle found in row k=4. Data-transit vehicles found from the fifth onwards are not registered in the table in Figure 17.

[0091] In this embodiment as well, the scanning of the vehicle body via data may be limited to the first candidate table 351 and the second candidate table 352, which have different communication lines (base station 50) from the vehicle 1A.

[0092] Once the registration of the transit vehicle data into the transit vehicle list table 360 ​​is complete in S3106A, return to Figure 15 and proceed to S4504.

[0093] In S4504, the onboard controller 300A determines whether the number of data transit vehicles registered in the transit vehicle list table 360 ​​in S3003A is greater than zero. If it is greater than zero (i.e., if data transit vehicles have been registered), the process proceeds to S4505; otherwise, it proceeds to S3009.

[0094] In S4505, the in-vehicle controller 300A determines the data ratio P(Nk) of the video data to be transmitted to each data-transmitting vehicle based on the number of vehicles N (N=4 in the example in Figure 17) registered in the vehicle transit list table 360 ​​and the number k of each data-transmitting vehicle, and divides the video data based on the amount of data defined by the following formula (1). Data volume of video data transmitted to the vehicle via data = A × Rp × R(Nk) …Equation (1) A: Amount of video data transmitted from the in-vehicle controller 300A Rp:A - Percentage of video data transmitted to the vehicle body via data from N units R(Nk): Data ratio transmitted to the k-th vehicle when N vehicles have been registered via data from N vehicles. For example, the data ratio of the vehicle body via the data (N,k)=(4,3) is R(4,3)=0.2 according to Figure 18, and when Rp=0.5, the amount of video data for the vehicle body via that data is "0.2 × 0.5 × A = 0.1 × A". In other words, the in-vehicle controller 300A will transmit this amount of video data (0.1 × A) to the vehicle body 1B in row k=3.

[0095] Furthermore, the data ratio table 370 in Figure 18 is set so that the amount of data transmitted increases for vehicle bodies with smaller k values. In other words, among the vehicle bodies 1 registered in the four candidate tables 351, 352, 353, and 354, the amount of data is increased for vehicle bodies 1 (onboard controllers 300) registered in candidate tables with smaller ordinal numbers. Within candidate tables with the same ordinal number, the amount of data is increased for vehicle bodies 1 with smaller numbers (vehicle bodies 1 located higher in the vehicle information table 220 in this embodiment). As a result, more data is transmitted to the onboard controller (second onboard controller) which has a different communication line and the same owner as the first onboard controller 300A, than to the onboard controller (third onboard controller) which has a different communication line and a different owner.

[0096] In S4506, the on-board controller 300A selects vehicle 1 (on-board controller 300) in the kth row (k=1,2,...,N) of the vehicle list table 360. For example, when k=1, the selected vehicle is vehicle 1D, which is in the first row of the vehicle list table 360 ​​shown in Figure 17.

[0097] In S4507, the in-vehicle controller 300A sends a data-based notification to the data-based vehicle selected in S4506. The data-based notification is the same as in the first embodiment, and may include the vehicle ID (identification data) of the vehicle itself (source of video data) 1A, the identification data of the management computer 100A that the vehicle itself communicates with, and the amount of video data (transmission data for the data-based vehicle) transmitted from the vehicle itself 1A to the data-based vehicle.

[0098] In S4509, the in-vehicle controller 300A transmits the transmission data for the transit vehicle to the vehicle selected in S4506. The in-vehicle controller 300 of the vehicle via data receives the transmission data for the transit vehicle from the in-vehicle controller 300A and transmits it to the management computer 100A, the communication destination of the in-vehicle controller 300A, via the base station. Once the transmission to the management computer 100A is complete, the in-vehicle controller 300 of the vehicle via data writes the source vehicle identification data (source vehicle ID 331) and the amount of data for the transmission data for the transit vehicle (transit data amount 332) to the transit data table 330 (see Figure 5) in its storage device 312. The source vehicle ID 331 and the transit data amount 332 can be included, for example, in the data transit notification in S4506.

[0099] Furthermore, it is acceptable to proceed to the next step, S4510, without waiting for the completion of the transmission of the data transmission data for the vehicle to the management computer 100A.

[0100] In S4510, the onboard controller 300A determines whether all vehicle 1s in the vehicle list table have been selected. If there are any unselected vehicle 1s, the process returns to S4506 and selects the vehicle in row k+1. If all vehicle 1s have been selected, the process proceeds to S3009.

[0101] In S3009, the in-vehicle controller 300A transmits the vehicle-specific transmission data to the management computer 100A via the base station 50A. However, if a vehicle cannot be selected via data in S3003A (i.e., determined to be No in S4504), the vehicle-specific transmission data is not divided, and the in-vehicle controller 300A transmits the entire camera video data to the management computer 100A itself without dividing it.

[0102] Furthermore, S4509 and S3009 may be performed in parallel, and S4509 for each vehicle may also be performed in parallel. In other words, the transmission of vehicle-specific transmission data by one vehicle and the transmission data for transit vehicles by each data transit vehicle may be performed in parallel.

[0103] (Effects / Actions) As explained above, it is also possible to transmit the video data from vehicle 1A (onboard controller 300A) to the management computer 100A, which is the communication destination of vehicle 1A, by routing the video data through multiple data-connected vehicle bodies. When video data is transmitted in this manner, the number of lines through which video data is transmitted increases, and the load on the communication line of vehicle 1A is easily reduced.

[0104] Furthermore, in relation to the configurations described in (1)-(7) above, this embodiment discloses the configuration described in (8) below.

[0105] (8) In the video transmission system described in (4) above, if the second in-vehicle controller (for example, the in-vehicle controller 300D in the above embodiment) and the third in-vehicle controller (for example, the in-vehicle controller 300E in the above embodiment) are included as other in-vehicle controllers 300 (in-vehicle controllers 300 for the vehicle body via data), it is preferable that the first in-vehicle controller 300A transmits more of the remaining divided video data (transmission data for the vehicle body via data) to the second in-vehicle controller than to the third in-vehicle controller.

[0106] By prioritizing the transmission of large amounts of data for the vehicle body to the second in-vehicle controller (i.e., an in-vehicle controller with a different communication line from the first in-vehicle controller 300A but owned by the same owner), the communication load on the first in-vehicle controller 300A tends to decrease while maintaining security.

[0107] In addition, in the video transmission systems according to each of the above embodiments, the server 200 may be configured to notify the owner of each vehicle of the amount of data transmitted for each vehicle, 332, stored in the transit data table 330 of each in-vehicle controller 300, via email or the like.

[0108] (others) In each of the embodiments described above, the in-vehicle controller 300 obtains the vehicle information table 220 from the server 200, but the collection of data related to the vehicle information table 220 is not limited to this method. For example, each in-vehicle controller 300 may collect its own vehicle information table from other in-vehicle controllers 300, or each in-vehicle controller 300 may store the vehicle information table 220 in advance.

[0109] In the embodiments described above, the case of transmitting video data from a camera 310 mounted on a hydraulic excavator 1 was explained. However, the present invention is also applicable to cases of transmitting video data from cameras mounted on other work machines, such as wheel loaders, cranes, dump trucks, etc.

[0110] In the embodiments described above, the case in which the work machine 1 is remotely controlled by a management computer 100 has been explained. However, the present invention is also applicable to cases in which the operating status of each work machine 1 is managed based on video data transmitted from each on-board controller 300.

[0111] It should be noted that the present invention is not limited to the embodiments described above, and includes various modifications that do not depart from the spirit of the invention. For example, the present invention is not limited to having all the configurations described in the embodiments described above, but also includes configurations in which some of those configurations are omitted. Furthermore, it is possible to add or replace a part of the configuration of one embodiment with a configuration of another embodiment.

[0112] Furthermore, the configurations of the above-mentioned management computer 100, server 200, and in-vehicle controller 300 (hereinafter referred to as control devices 100, 200, and 300), as well as the functions and execution processes of each of these configurations, may be partially or entirely implemented in hardware (for example, by designing the logic for executing each function using an integrated circuit). Also, the configurations of the above-mentioned control devices 100, 200, and 300 may be implemented as programs (software) that are read and executed by an arithmetic processing unit (e.g., a CPU) to realize the functions of the configurations of the control devices 100, 200, and 300. Information related to such programs can be stored, for example, in semiconductor memory (flash memory, SSD, etc.), magnetic storage devices (hard disk drives, etc.), and recording media (magnetic disks, optical disks, etc.).

[0113] Furthermore, in the descriptions of each embodiment above, the control lines and information lines shown are those deemed necessary for the description of that embodiment, but this does not necessarily mean that all control lines and information lines related to the product are shown. In reality, it is safe to assume that almost all components are interconnected. [Explanation of Symbols]

[0114] 1(1A,1B,1C,1D)...Hydraulic excavator (working machine, vehicle body), 50(50A,50B,50C)...Base station, 100(100A,100B,100C,100D)...Management computer, 112...Storage device, 115...Communication device, 120...Monitor, 130...Input device, 150...Operation device, 200...Server, 212...Storage device, 215...Communication device, 300(300A,300B,300C,300D,300E)...On-board controller, 302...Solenoid valve, 303...Pressure sensor S, 305…Engine, 306…Rotation speed sensor, 310 (310a, 310b, 310c)…Camera, 312…Storage device, 315…Communication device, 320…Vehicle information table, 330…Vehicle data table, 220…Vehicle information table, 341…First intermediate table, 342…Second intermediate table, 351…First candidate table, 352…Second candidate table, 353…Third candidate table, 354…Fourth candidate table, 360…Vehicle list table, 370…Data ratio table

Claims

1. Multiple in-vehicle controllers, each equipped with a camera and mounted on multiple work machines consisting of the own vehicle and other vehicles, transmit the video data of the cameras to a network, In a video transmission system for a work machine, comprising a plurality of computers connected to the network in a manner that allows communication with the plurality of in-vehicle controllers, and which receive the video data of the cameras transmitted from the plurality of in-vehicle controllers and display it on a monitor, Of the multiple in-vehicle controllers, the first in-vehicle controller installed in the vehicle itself, when the communication load of the first communication line used for communication with the destination computer among the multiple computers exceeds a predetermined value, divides the camera's video data into multiple parts, transmits a portion of the divided video data to the destination computer using the first communication line, and transmits the remaining divided video data to at least one other in-vehicle controller installed in another vehicle among the multiple in-vehicle controllers. The other in-vehicle controller transmits the remaining divided video data received from the first in-vehicle controller to the destination computer using a communication line different from the first communication line. A video transmission system for industrial machinery characterized by the following features.

2. In the video transmission system for a work machine according to claim 1, The system includes a server connected to the network in a manner that enables communication with the multiple in-vehicle controllers, The server stores identification data for the communication lines that each of the multiple in-vehicle controllers uses to communicate with the computer it is communicating with. The first in-vehicle controller receives the communication line identification data from the server and, based on the received identification data, selects from among the plurality of in-vehicle controllers to transmit the remaining divided video data to the other in-vehicle controllers. A video transmission system for industrial machinery characterized by the following features.

3. In the video transmission system for a work machine according to claim 1, The other in-vehicle controller is at least one of the following: a second in-vehicle controller installed in another vehicle whose communication line to the computer to which it communicates is different from the first communication line and whose owner is the same as the first in-vehicle controller installed in the vehicle itself; or a third in-vehicle controller installed in another vehicle whose communication line to the computer to which it communicates is different from the first communication line and whose owner is different from the first in-vehicle controller. A video transmission system for industrial machinery characterized by the following features.

4. In the video transmission system for a work machine according to claim 3, Of the other in-vehicle controllers, the second in-vehicle controller is preferentially selected, and if the second in-vehicle controller is not available, the third in-vehicle controller is selected. A video transmission system for industrial machinery characterized by the following features.

5. In the video transmission system for a work machine according to claim 3, The system includes a server connected to the network in a manner that enables communication with the multiple in-vehicle controllers, The server stores identification data for the communication lines used by each of the multiple in-vehicle controllers to communicate with the computer they are communicating with, and identification data for the owners of each of the multiple in-vehicle controllers. The first in-vehicle controller receives the communication line identification data and the owner identification data from the server, and selects the other in-vehicle controller from the plurality of in-vehicle controllers based on the received identification data. A video transmission system for industrial machinery characterized by the following features.

6. In the video transmission system for a work machine according to claim 5, The first in-vehicle controller, based on the identification data of the communication line received from the server and the identification data of the owner, preferentially selects the second in-vehicle controller as the other in-vehicle controller, and if the second in-vehicle controller does not exist, selects the third in-vehicle controller as the other in-vehicle controller. A video transmission system for industrial machinery characterized by the following features.

7. In the video transmission system for a work machine according to claim 3, If the other in-vehicle controllers include the second in-vehicle controller and the third in-vehicle controller, the first in-vehicle controller transmits more of the remaining divided video data to the second in-vehicle controller than to the third in-vehicle controller. A video transmission system for industrial machinery characterized by the following features.

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