Operation device and operation system

Abstract

An operation device (101) comprises: an operation unit (31) that receives an operation for activating a work machine (100) by an operator; and an output device (80) that, when the operation unit (31) is receiving two or more predetermined operations, outputs work machine motion information reflecting the motion information of the work machine (100) in accordance with the operation having the highest priority from among the two or more predetermined operations.

Description

Operating device and operating system

[0001] The present invention relates to an operating device and an operating system.

[0002] Conventionally, remote control devices have been known as an example of an operating device for operating work machines such as construction machines and transport machines. The remote control device has an operating unit that accepts operations, and is configured so that an operator can remotely operate the work machine by operating the operating unit. The remote control device is used to operate the work machine unmanned in places where it is undesirable for the operator to enter (for example, places where there is a risk of landslides or collapse of surrounding buildings).

[0003] Patent Document 1 listed below discloses an example of this type of remote control device. This remote control device has a driver's seat in which an operator sits, a tilt output device that tilts the driver's seat with respect to the ground, a vibration output device that vibrates the driver's seat, and an adjustment unit. The adjustment unit drives the tilt output device based on tilt information acquired by a tilt sensor provided on the work machine, and drives the vibration output device based on vibration information acquired by a vibration sensor provided on the work machine. This allows the operator to experience, from the driver's seat of the remote control device, the tilt and vibration of the work machine that they would experience if they were actually riding on the work machine.

[0004] The adjustment unit recognizes the type of work being performed by the work machine (traveling, lifting, excavation, etc.) based on the operation signal output from the operation unit, and then adjusts the gain used when outputting vibration information acquired by the sensor, depending on the recognized type of work.

[0005] Japanese Patent Application Laid-Open No. 2019-7139

[0006] The remote control device disclosed in Patent Document 1 adjusts the gain of vibration information according to the work content determined based on the operation of the control lever. However, this remote control device does not specify gain adjustment according to each operation of the control lever or gain adjustment when two or more operations are simultaneously performed on the control lever. As a result, the vibration information output based on the gain corresponding to each operation of the control lever may differ from what the operator expects. Even if the operator can understand the vibration information output based on the gain corresponding to each operation, the vibration information output based on the gain when two or more operations are simultaneously performed on the control lever may differ from what the operator expects. For example, if the gain corresponding to the first operation of two or more operations performed on the control lever is different from the gain corresponding to the second operation, vibration information output based on the gain corresponding to the second operation will be output based on different gains depending on the order of operations, which may result in gains unexpected by the operator. If vibration information is output based on a gain unexpected by the operator while operating a work machine, the operator's operating environment will be degraded, resulting in a decrease in operating efficiency.

[0007] An object of the present invention is to improve the operating environment for the operator of a work machine.

[0008] An operating device according to one aspect of the present invention comprises an operating unit that receives operations from an operator to operate a work machine, and an output device that, when the operating unit receives two or more predetermined operations, outputs work machine motion information that reflects motion information of the work machine in accordance with the operation with the highest priority out of the two or more predetermined operations.

[0009] An operation system according to another aspect of the present invention includes the operation device and the work machine.

[0010] FIG. 1 is a side view showing a hydraulic excavator, which is an example of a work machine remotely operated by a remote control device (an example of an operation device) according to a first embodiment of the present invention. FIG. 2 is an external perspective view showing the remote control device (an example of an operation device) according to the first embodiment. FIG. 3 is a block diagram showing the functional configuration of the remote control device (an example of an operation device). FIG. 4A is a diagram schematically showing a detection value (detection waveform) by an inclination angle detector. FIG. 4B is a diagram schematically showing a detection value (detection waveform) after low-pass filtering has been performed on the detection value (detection waveform) by the inclination angle detector. FIG. 4C is a diagram schematically showing a detection value (detection waveform) after high-pass filtering has been performed on the detection value (detection waveform) by the inclination angle detector. FIG. 5 is an explanatory diagram showing an example of vibration reflection rate information stored in an information storage unit. FIG. 6 is an explanatory diagram showing an example of vibration priority information stored in the information storage unit. FIG. 7 is a schematic diagram showing a vibration reflection rate setting screen. FIG. 8 is a schematic diagram showing a vibration priority setting screen. FIG. 9 is a flowchart showing the first half of a control process executed by a remote controller. Fig. 10 is a flowchart showing a part of the latter half of the control processing executed by the remote controller. Fig. 11 is a flowchart showing a part of the latter half of the control processing executed by the remote controller. Fig. 12 is a schematic diagram showing a setting screen for the inclination reflection rate. Fig. 13 is a schematic diagram showing a setting screen for the inclination priority. Fig. 14 is an explanatory diagram showing an example of inclination reflection rate information stored in the information storage unit. Fig. 15 is an explanatory diagram showing an example of inclination priority information stored in the information storage unit. Fig. 16 is a diagram corresponding to Fig. 10 showing the second embodiment. Fig. 17 is a diagram corresponding to Fig. 11 showing the second embodiment.

[0011] Preferred embodiments of the present invention will now be described with reference to the drawings.

[0012] (Embodiment 1) Fig. 1 is a side view showing a hydraulic excavator 100, which is an example of a work machine that performs work at a work site by being remotely controlled by a remote control device 101 constituting an operation device according to Embodiment 1 of the present invention. Fig. 2 is a perspective view showing the remote control device 101 according to the embodiment. Fig. 3 is a block diagram showing the functional configuration of the remote control device 101. The hydraulic excavator 100 (work machine) and the remote control device 101 constitute a remote control system 200.

[0013] 1 and 2 show directions such as "up," "down," "left," "right," "front," and "rear," but these directions are shown for the sake of convenience in explaining the structure of the remote control device 101 and the hydraulic excavator 100 according to the embodiment of the present invention, and do not limit the direction of movement or the manner of use of the hydraulic excavator 100.

[0014] [Hydraulic Excavator] As shown in Fig. 1 , the hydraulic excavator 100 includes a lower traveling body 1, an upper rotating body 2 rotatably mounted thereon, and an attachment 6 mounted on the upper rotating body 2. The upper rotating body 2 has a rotating frame 2a connected to the lower traveling body 1, and a cab 7 mounted on the rotating frame 2a. The attachment 6 includes a boom 3 connected to the front end of the rotating frame 2a so as to be able to be raised and lowered, an arm 4 rotatably connected to the tip of the boom 3, and a tip attachment 5 rotatably connected to the tip of the arm 4. In this embodiment, the tip attachment 5 is formed by a bucket 5. The cab 7 is mounted on the front of the rotating frame 2a at a position adjacent to the boom 3 in the left-right direction of the rotating frame 2a, and forms a driver's cabin for operating the hydraulic excavator 100.

[0015] The hydraulic excavator 100 further includes a plurality of hydraulic actuators 3a, 4a, 5a for operating the attachment 6, a swing motor (not shown) for rotating the upper swing body 2, and a travel motor (not shown) for driving the crawlers to travel the lower traveling body 1. The plurality of hydraulic actuators include a boom cylinder 3a for operating the boom 3, an arm cylinder 4a for operating the arm 4, and a bucket cylinder 5a for operating the bucket 5. Note that another end attachment may be attached instead of the bucket 5.

[0016] As shown in FIG. 3 , the hydraulic excavator 100 further includes a camera 10 , a tilt angle detector 11 , a turning angle detector 12 , a communication device 41 , and a machine controller 50 .

[0017] The camera 10 is a device capable of capturing images, specifically, a device capable of capturing video. The camera 10 is provided on the upper rotating body 2 (in this example, the front portion of the cab 7). The camera 10 has a predetermined viewing angle (for example, the viewing angle indicated by the two-dot chain line in FIG. 1 ) and is configured to be able to capture images within that viewing angle. Information (video signals) related to the images captured by the camera 10 is input to a remote controller 60 provided at the remote location via communication devices 41 and 42 shown in FIG. 3 .

[0018] The inclination angle detector 11 is a detector that detects the inclination angles of the hydraulic excavator 100 in the roll direction and pitch direction (an example of a predetermined direction) relative to a reference plane (e.g., a horizontal plane) as motion information of the hydraulic excavator 100. The motion information is information that indicates the motion state of the hydraulic excavator 100. The inclination angle detector 11 is provided, for example, in the cab 7 of the upper rotating body 2 that constitutes the machine body of the hydraulic excavator 100, and detects the inclination angle of the machine body. The cab 7 and the upper rotating body 2 have the same vibration system, and the inclination angle of the cab 7 is detected by providing the inclination angle detector 11 somewhere in the upper rotating body 2. In this example, the inclination angle detector 11 is configured by an inertial measurement unit (IMU). The inertial measurement unit is a unit that measures angular velocities in the roll direction and pitch direction using a gyro sensor and calculates (detects) the inclination angle by integrating the measured angular velocities. The inclination angle detector 11 is not limited to a configuration that calculates (detects) the inclination angle by integrating the angular velocity in this manner, but may also be configured, for example, as a sensor that measures (detects) the inclination angle itself (for example, a pendulum-type inclination sensor or a float-type inclination sensor).

[0019] The inclination angle detector 11 then outputs a detection value (detection signal) of the detected inclination angle, which includes vibration components in the roll and pitch directions of the machine body of the hydraulic excavator 100, to the machine controller 50. The machine controller 50 transmits the detection value of the inclination angle of the machine body of the hydraulic excavator 100 received from the inclination angle detector 11 to the remote controller 60 via the communication devices 41, 42. Based on the detection value received from the machine controller 50, the remote controller 60 acquires (calculates) inclination information (information on the inclination angle in the roll and pitch directions of the machine body in this example) and vibration information (information on vibration amplitude and vibration frequency in the roll and pitch directions of the machine body in this example) of the hydraulic excavator 100 by low-pass filter processing and high-pass filter processing, which will be described later.

[0020] The turning angle detector 12 is a detector that detects the turning angle of the upper rotating body 2 relative to the lower traveling body 1. The turning angle detector 12 is configured, for example, by a rotary encoder or the like attached to the turning shaft of the upper rotating body 2. The turning angle detector 12 outputs a detection value (detection signal) of the turning angle to the machine controller 50. The machine controller 50 transmits the detection value of the turning angle received from the turning angle detector 12 to the remote controller 60 via the communication devices 41 and 42. The remote controller 60 acquires (calculates) turning angle information (information on the turning angle of the upper rotating body 2) based on the detection value received from the machine controller 50. Note that the turning angle detector 12 may be configured by detecting a yaw angle as the turning angle of the upper rotating body 2 relative to the lower traveling body 1 using the inclination angle detector 11.

[0021] A communication device 41 is provided on the hydraulic excavator 100. Signals output from the camera 10, tilt angle detector 11, swing angle detector 12, etc. are input to the communication device 41 via a machine controller 50. The communication device 41 has a function of transmitting these signals to the communication device 42 provided at the remote location, and a function of receiving signals transmitted from the communication device 42. In this example, the transmission and reception of these signals is performed via a communication network.

[0022] The machine controller 50 is configured by a computer having a CPU, ROM, and RAM. The machine controller 50 drives actuators such as the cylinders 3a to 5a, the swing motor, and the travel motor (not shown) based on operation signals (operation signals generated in response to operations received by the operation unit 31) input from a remote controller 60 (described later) via communication devices 41 and 42.

[0023] [Remote Control Device] As shown in FIGS. 2 and 3 , the remote control device 101 is a device for remotely controlling the hydraulic excavator 100 and is disposed at a location (remote location) away from the hydraulic excavator 100 .

[0024] The remote control device 101 includes a monitor device 20, a driver's seat 30, an operation unit 31, a rotation drive unit 85, a tilt / vibration drive unit 80, a handheld terminal 90, a front base housing 36 and a rear base housing 37, a communication device 42 (see Figure 3), and a remote controller 60 (see Figure 3) as a control unit.

[0025] The monitor device 20 is a device for displaying, at the remote location, an image captured by the camera 10 provided on the hydraulic excavator 100. In this example, the monitor device 20 is disposed in front of the driver's seat 30 so that its display surface faces the driver's seat 30, and is supported via a pair of supports 21 at the front end of a front base housing 36 disposed on the floor. The monitor device 20 receives information (video signal) related to the image input to the remote controller 60 via the communication device 42 (see FIG. 3 ) and displays the image on its display surface. The monitor device 20 may be a display such as a liquid crystal display or an organic EL display, as shown in FIG. 2 . In such a case, the monitor device 20 is disposed in a position where the operator seated in the driver's seat 30 can view the image displayed on the monitor device 20. The monitor device 20 is not limited to the above-described display, and may be, for example, a projector (not shown) that projects an image onto a screen or the like, or a head-mounted display (not shown) that is worn on the operator's head.

[0026] The driver's seat 30 is a seat for an operator who performs remote control. The driver's seat 30 includes a seat portion 30a, a backrest portion 30b, a headrest 30c, and left and right armrests 30d. The seat portion 30a supports the operator's lower body, specifically the buttocks and part of the legs (thighs). The backrest portion 30b supports the operator's upper body, specifically the back. The headrest 30c supports the operator's head, specifically the back of the head. The handheld terminal 90 is disposed beside the armrest 30d on the right side of the driver's seat 30.

[0027] The handheld terminal 90 is configured as a tablet terminal having a touch panel 91 that can be operated by the operator with the fingers. The handheld terminal 90 is attached to the driver's seat 30 so that the operation screen of the touch panel 91 faces the operator. The handheld terminal 90 functions as a vibration reflection rate setting unit and a priority setting unit, which will be described later.

[0028] The driver's seat 30 is supported on the upper surface of a support plate 34 via a swivel plate 35. The support plate 34 is made of a generally triangular, cornerless sheet metal member that narrows toward the rear in a plan view. The swivel plate 35 is made of a rectangular sheet metal member. The swivel plate 35 is rotatably attached to the upper surface of the support plate 34 via a bearing (not shown).

[0029] The support plate 34 is disposed above the upper surface of the rear base housing 37 and is supported from below by three vertical drive actuators 81 that constitute a tilt / vibration drive unit 80, which will be described later.

[0030] The left and right armrests 30d are provided to support the forearms of an operator seated in the driver's seat 30 when the operator operates the remote control lever 31a, and have a shape that extends in the front-rear direction so as to be able to support the forearms of the operator. The left and right armrests 30d are disposed on the left and right sides of the seat portion 30a, respectively.

[0031] As shown in Figures 2 and 3, the operating unit 31 has a pair of remote control levers 31a, a pair of travel levers 31b, and a lock lever 31c as operating members, and is configured to output operating signals corresponding to the operation of these operating members.

[0032] Each of the pair of remote control levers 31 a tilts forward, backward, left, and right in response to attachment operation by an operator seated in the driver's seat 30 at the remote location. This operation is an operation for operating an actuator of the hydraulic excavator 100. The remote control lever 31 a on the left side of the driver's seat 30 functions as an arm lever for performing a rotation operation to rotate the arm 4 relative to the boom 3 when tilted forward and backward in response to operation by the operator, and functions as a swing lever for performing a rotation operation to rotate the upper rotating body 2 relative to the undercarriage 1 when tilted left and right in response to operation by the operator. The remote control lever 31 a on the right side of the driver's seat 30 functions as a boom lever for performing a hoisting operation to raise and lower the boom 3 relative to the upper rotating body 2 when tilted rearward in response to operation by the operator, and functions as a bucket lever for performing a rotation operation to rotate the bucket 5 relative to the arm 4 when tilted left and right in response to operation by the operator. The operation direction of the remote control lever 31a corresponding to the operation of the actuator of the hydraulic excavator 100 may be other than the operation pattern described above, and the operation pattern may be changed as appropriate by the operator's operation.

[0033] The pair of travel levers 31b are operated by an operator and tilted in the forward / backward direction to cause the undercarriage 1 to travel. The travel levers 31b may be attached to the front side of the driver's seat 30 or to the front base housing 36. The operator seated in the driver's seat 30 can cause the undercarriage 1 to travel by operating the left and right travel levers 31b located in front of the driver's seat 30. A pair of left and right travel pedals may be integrally provided at the base or lower end of each of the pair of travel levers 31b. In other words, the travel operation of the undercarriage 1 may be controlled by either depressing the travel pedals or manually operating the travel levers 31b. In the following description, depressing the travel pedals or manually operating the travel levers 31b is referred to as a travel operation.

[0034] The lock lever 31c is an operating lever that can be tilted between a locked position and an unlocked position. When the lock lever 31c is positioned at the locked position, the hydraulic excavator 100 executes a prohibition operation that prohibits the operation of all actuators, including the cylinders 3a to 5a, etc. This prohibition operation prevents the hydraulic excavator 100 from operating even if the remote control lever 31a or the travel lever 31b is operated. The prohibition operation is realized, for example, by not outputting an operation signal even if the operation unit 31 accepts operation of an operating member, or by ignoring an operation signal even if it is received by the machine controller 50 of the hydraulic excavator 100.

[0035] When the operation unit 31 receives operation of the remote control lever 31a by the operator, it detects the operation state of the remote control lever 31a, which is determined depending on the amount of operation, direction of operation, etc., generates an operation signal corresponding to the detected operation state, and inputs the operation signal to the remote controller 60. In other words, the operation state, which is determined depending on the amount of operation, direction of operation, etc. of each remote control lever 31a, is converted into an electric signal, and the electric signal (operation signal) is input to the remote controller 60. Similarly, when the operation unit 31 receives operation of each traveling pedal or each traveling lever 31b by the operator, it generates an operation signal corresponding to the amount of operation, and inputs the operation signal to the remote controller 60.

[0036] The operation signals input to the remote controller 60 are input to the machine controller 50 of the hydraulic excavator 100 via the communication devices 41, 42. The machine controller 50 of the hydraulic excavator 100 performs appropriate signal processing such as calculations based on the input operation signals and generates command signals corresponding to the operation signals. The command signals are input to control valves for operating actuators such as the boom cylinder 3a, the arm cylinder 4a, the bucket cylinder 5a, the swing motor, and the traveling motor. Therefore, by operating the remote control lever 31a, the operator can execute various operations of the hydraulic excavator 100, specifically, operations such as swinging the attachment 6, raising and lowering the boom, rotating the arm, rotating the bucket, and traveling the undercarriage 1.

[0037] The communication device 42 has the function of receiving a signal transmitted by the communication device 41 and inputting the signal to the remote controller 60, and the function of receiving a signal output from the remote controller 60 and transmitting the signal to the communication device 41 provided in the hydraulic excavator 100.

[0038] In this example, the communication device 41 and the communication device 42 are configured to transmit and receive signals to each other via wireless communication, but this is not limited to this and they may also be configured to transmit and receive signals via wired communication.

[0039] The swing drive unit 85 drives the swing plate 35 to swing so that the swing angle information of the upper swing body 2 of the hydraulic excavator 100 is reflected in the swing angle of the operator's seat 30. In this example, the swing drive unit 85 is configured to drive the swing plate 35 to swing together with the operator's seat 30 by linearly driving the rear end of the swing plate 35 in the left-right direction.

[0040] The tilt / vibration drive unit 80 constitutes an output device (operator's seat output device) according to an embodiment of the present invention. The tilt / vibration drive unit 80 outputs, in a sensible manner, work machine tilt information (an example of work machine motion information, and in this example, information obtained by multiplying the tilt information, which is the motion information of the hydraulic excavator 100, by a gain of 1) that reflects tilt information (in this example, information about the tilt angles in the roll and pitch directions) of the machine body of the hydraulic excavator 100 with respect to a reference plane (horizontal plane), which is motion information of the hydraulic excavator 100. Specifically, the tilt / vibration drive unit 80 tilts the support plate 34 so that the operator's seat 30 tilts at an angle corresponding to the tilt angles in the roll and pitch directions of the machine body of the hydraulic excavator 100, which are specified in the work machine tilt information (i.e., so that the tilt information of the hydraulic excavator 100 is reflected in the tilt state of the operator's seat 30), thereby allowing the operator to experience the work machine tilt information. In this way, the tilting / vibration drive unit 80 also functions as a notification unit that notifies the operator of work machine tilt information (work machine movement information) that reflects the tilt information (movement information) of the hydraulic excavator 100 in a manner that allows the operator to feel it.

[0041] Furthermore, the tilting / vibration driving unit 80 outputs work machine vibration information (an example of work machine motion information, which in this example is a value obtained by multiplying the vibration information, which is the motion information of the hydraulic excavator 100, by a gain corresponding to a vibration reflection degree, which will be described later) that reflects vibration information occurring in the machine body of the hydraulic excavator 100, which is motion information of the hydraulic excavator 100, in a manner that allows the operator to feel the work machine vibration information. Specifically, the tilting / vibration driving unit 80 vibrates the support plate 34 so as to vibrate the operator's seat 30 at a vibration amplitude and vibration frequency in the roll direction and pitch direction of the hydraulic excavator 100 that are specified in the work machine vibration information (i.e., so as to reflect the vibration information of the hydraulic excavator 100 in the vibration state of the operator's seat 30), thereby allowing the operator to feel the work machine vibration information. In this way, the tilting / vibration driving unit 80 also functions as a notifying unit that notifies the operator of work machine vibration information (work machine motion information) that reflects the vibration information (motion information) of the hydraulic excavator 100 in a manner that allows the operator to feel the work machine vibration information.

[0042] As shown in Fig. 2, the tilt / vibration drive unit 80 has three vertical drive actuators 81. The three vertical drive actuators 81 include a pair of left and right vertical drive actuators 81 (only one of which is shown in Fig. 2) connected to the left and right tops of the front side of the support plate 34, and one vertical drive actuator 81 provided in the center of the rear end of the support plate 34. The three vertical drive actuators 81 are configured, for example, by electric cylinders or fluid-driven (e.g., hydraulic or pneumatic) cylinders.

[0043] Each vertical drive actuator 81 has an outer cylinder 81a extending in the vertical direction, and a rod 81b fitted onto the outer cylinder 81a so as to be able to expand and contract in the vertical direction. The lower end surface of the outer cylinder 81a is fixed to the upper surface of the bottom wall of the rear base housing 37, and the outer cylinder 81a is disposed so as to vertically penetrate the upper wall of the rear base housing 37. The upper end of the rod 81b is connected to the lower surface of the support plate 34 via a ball joint (not shown).

[0044] The tilt / vibration drive unit 80 is configured to be able to cause movement in the support plate 34 by changing the amount of extension and contraction of the rods 81 b of the three up-down drive actuators 81. Specifically, the tilt / vibration drive unit 80 is configured to be able to change the tilt direction and tilt angle of the support plate 34 with respect to the horizontal plane by changing the amount of extension and contraction of the rods 81 b of the three up-down drive actuators 81. The tilt / vibration drive unit 80 is also configured to be able to vibrate the support plate 34 by causing the rods 81 b of the three up-down drive actuators 81 to extend and contract (vibrate) in small increments up and down. By changing the tilt angle and driving the vibration of the support plate 34 in this way, a change in the tilt angle and a vibration-driven movement are generated in the driver's seat 30 supported on the support plate 34.

[0045] The extension and contraction of the rod 81b of each vertical drive actuator 81 is controlled by the remote controller 60. Specifically, if the vertical drive actuator is fluid-driven, the remote controller 60 controls the drive of the valve to control the flow rate of the working fluid, etc., and if the vertical drive actuator is electrically driven, the remote controller 60 controls the drive of the electric actuator, which is the drive source.

[0046] [Remote Controller] The remote controller 60 is configured by a computer having, for example, a CPU, a ROM, a RAM, and the like.

[0047] As shown in FIG. 3, the remote controller 60 functions as an operation control unit 61, a driver's seat control unit 62, and a setting control unit 63 by the CPU executing a control program stored in the ROM.

[0048] The operation control unit 61 provides the operator with visual information required for remote operation via the monitor device 20 , and also transmits operation signals related to the operator's operations on the operation unit 31 to the hydraulic excavator 100 .

[0049] Specifically, the operation control section 61 receives image data captured by the camera 10 mounted on the hydraulic excavator 100 from the machine controller 50 via the communication devices 41, 42, and displays the received image data on the monitor device 20. This allows the operator to view the image displayed on the monitor device 20 and obtain visual angle information equivalent to that obtained when the operator is actually on board the hydraulic excavator 100. The operation control section 61 also receives operation signals output from the operation section 31 of the remote control device 101 and transmits the received operation signals to the machine controller 50 mounted on the hydraulic excavator 100 via the communication devices 41, 42. The machine controller 50 generates command signals for driving the various cylinders 3a, 4a, 5a, etc. based on the received operation signals, thereby causing the hydraulic excavator 100 to perform operations corresponding to the operations of the operator.

[0050] The operator's seat control unit 62 acquires (calculates) swing angle information of the upper rotating body 2 of the hydraulic excavator 100 (i.e., information on the swing angle of the upper rotating body 2) based on the detection value by the swing angle detector 12 received from the machine controller 50, and executes swing reflection processing to reflect the acquired swing angle information in the swing state of the operator's seat 30 of the remote operation device 101. Specifically, the operator's seat control unit 62 drives the swing drive unit 85 so that the swing angular velocity of the operator's seat 30 coincides with the swing angular velocity calculated based on the swing angle detected by the swing angle detector 12 of the hydraulic excavator. That is, when the upper rotating body 2 is not rotating relative to the lower running body 1, the driver's seat 30 is in a forward-facing position directly facing the monitor device 20 as shown in Figure 2, and when the upper rotating body 2 is rotating right relative to the lower running body 1, the driver's seat 30 is rotated right based on the forward-facing position so as to form a rotation angle corresponding to the rotation angular velocity of the rotation, and when the upper rotating body 2 is rotating left relative to the lower running body 1, the driver's seat 30 is rotated left based on the forward-facing position so as to form a rotation angle corresponding to the rotation angular velocity of the rotation.

[0051] Furthermore, the operator's seat control unit 62 acquires inclination information of the hydraulic excavator 100 based on the detection value of the inclination angle detector 11 received from the machine controller 50, and executes inclination processing to reflect the acquired inclination information in the inclination state of the operator's seat 30. In this example, the operator's seat control unit 62 acquires (calculates) the inclination angles (inclination angles relative to the horizontal plane) in the roll and pitch directions of the hydraulic excavator 100 as the inclination information, and drives the tilt / vibration drive unit 80 so that the inclination angles in the roll and pitch directions of the operator's seat 30 match the acquired (calculated) inclination angles.

[0052] When acquiring the inclination angle, the driver's seat control unit 62 performs low-pass filtering based on the time history (waveform) of the detected value of the inclination angle detector 11. This will be described with reference to Figures 4A and 4B. Figure 4A schematically shows the waveform of the detected value by the inclination angle detector 11, and Figure 4B schematically shows the waveform of the detected value after the low-pass filtering.

[0053] As shown in FIG. 4A , the waveform of the value detected by the inclination angle detector 11, i.e., the detected value (detected waveform) of the inclination angle of the hydraulic excavator 100, is superimposed with vibration components resulting from vibrations from the traveled road surface, vibrations from the engine, and the like. Therefore, it is difficult to obtain an accurate inclination angle of the hydraulic excavator 100 with respect to a horizontal plane from only this detected value (detected waveform). Therefore, in this example, when performing the inclination process, the cab control unit 62 performs low-pass filtering to remove (attenuate) high-frequency components equal to or higher than a predetermined threshold frequency in order to remove such vibration components and accurately obtain (calculate) the inclination angle of the hydraulic excavator 100 with respect to a horizontal plane, and obtains the detected value after this low-pass filtering (see FIG. 4B ) as the inclination angle of the hydraulic excavator 100. Note that although FIGS. 4A and 4B show the detected values ​​(detected waveforms) of the inclination angle by the inclination angle detector 11 without distinguishing between the roll direction and the pitch direction, in reality, the low-pass filtering is performed on the detected values ​​(detected waveforms) in each direction, with the roll direction and the pitch direction being distinguished from each other.

[0054] Furthermore, the driver's seat control unit 62 acquires vibration information (vibration amplitude and vibration frequency in this example) in the roll and pitch directions relative to the horizontal plane of the hydraulic excavator 100 based on the detection value of the tilt angle detector 11 received from the machine controller 50, and drives the tilt / vibration drive unit 80 so as to reflect the acquired vibration information in the vibration state in the roll and pitch directions of the driver's seat 30 of the remote control device 101 (specifically, vibrates the rods 81b of each up / down drive actuator 81 up and down).

[0055] Furthermore, the operator's seat control unit 62 performs high-pass filtering on the detection value (detection waveform) of the inclination angle detector 11 when acquiring vibration information of the hydraulic excavator 100. Fig. 4C schematically shows the detection value (detection waveform) after performing high-pass filtering on the detection value of the inclination angle detector 11.

[0056] When executing vibration processing to drive the tilt / vibration drive unit 80 based on the acquired vibration information and reflect the vibration in the driver's seat 30, the driver's seat control unit 62 is configured to execute high-pass filtering to eliminate (attenuate) low-frequency components below the predetermined threshold frequency, and to acquire the waveform after high-pass filtering (see FIG. 4C ) as vibration information of the hydraulic excavator 100. Note that although FIGS. 4A and 4C show the detected values ​​(detected waveforms) of the inclination angle by the inclination angle detector 11 without distinguishing between the roll direction and the pitch direction, in reality, the high-pass filtering is executed on the detected values ​​(detected waveforms) in each direction by distinguishing between the roll direction and the pitch direction. Furthermore, the predetermined threshold frequency used when executing high-pass filtering does not necessarily have to be the same as the predetermined threshold frequency used when executing low-pass filtering, and may be different.

[0057] The operator's seat control unit 62 then generates work machine vibration information (an example of work machine motion information) that reflects the vibration information (an example of motion information) of the hydraulic excavator 100 acquired by performing high-pass filtering, and outputs the generated work machine vibration information in a manner that can be felt by the tilt / vibration drive unit 80. When reflecting the acquired vibration information in the work machine vibration information, the operator's seat control unit 62 is configured to be able to change the vibration reflection degree, which is the degree of reflection, in accordance with the content of the operation (operation type) received by the operating unit 31. In this example, four reflection levels can be set according to intensity as the degree to which vibration information occurring in the machine body of the hydraulic excavator 100 is reflected in the work machine vibration information output by the tilt / vibration drive unit 80: "strong," "medium," "weak," and "stop." The degree to which the vibration information is reflected in the work machine vibration information output by the tilt / vibration drive unit 80 decreases in the order of "strong," "medium," "weak," and "stop." In other words, the gain in the vibration information occurring in the machine body of the hydraulic excavator 100 (in this example, the ratio of the amplitude of the vibration in the roll direction and the pitch direction reflected in the operator's seat 30 to the amplitude of the vibration in the roll direction and the pitch direction in the vibration information) decreases in the order of "strong," "medium," "weak," and "stop" and is reflected in the work machine vibration information (and ultimately the vibration state of the operator's seat 30). In this example, the gain corresponding to the vibration reflection level "strong" is set to 1, the gain corresponding to "medium," the gain corresponding to "weak," and the gain corresponding to "stop" is set to 0. "Stop" is a zero reflection rate at which the vibration information of the hydraulic excavator 100 acquired by the remote controller 60 is not reflected in the work machine vibration information output by the tilting / vibration drive unit 80, and is a vibration reflection rate at which the vibration reflection function of the operator's seat 30 is disabled. Note that the gain values ​​described here are merely examples and are not limited to these; for example, the gain corresponding to a vibration reflection rate of "strong" may be set to a value greater than 1.

[0058] The information storage unit 70 stores vibration reflection rate information D1 related to the vibration reflection rate and vibration priority information D2, which will be described later.

[0059] 5 is an explanatory diagram showing an example of vibration reflection rate information D1. This vibration reflection rate information D1 is information that indicates, in correspondence with each of a plurality of predetermined operations, the vibration reflection rate, which is the degree to which vibration information of the hydraulic excavator 100 is reflected in the work machine vibration information output by the tilting / vibration drive unit 80 when the operation unit 31 receives each of a plurality of predetermined operations individually (in other words, when each operation of the hydraulic excavator 100 corresponding to a plurality of predetermined operations is performed individually). In this example, five operations, namely, a basic operation, the traveling operation, the swing operation, an option operation, and a lever lock operation, are predetermined as examples of the plurality of predetermined operations.

[0060] The traveling operation is performed by depressing the traveling pedal (not shown) or manually operating the traveling lever 31 b, as described above. This traveling operation activates the traveling motor of the hydraulic excavator 100, causing the crawlers provided on the lower traveling body 1 to rotate, and the hydraulic excavator 100 performs a traveling operation.

[0061] The swing operation is a manual operation of the swing lever described above, and in this swing operation, the left remote control lever 31 a is tilted left and right. This swing operation causes the upper swing body 2 of the hydraulic excavator 100 to swing together with the attachment 6.

[0062] The optional operation is an operation for causing an optional device attached to the hydraulic excavator 100 to perform a predetermined operation, and includes, for example, a stepping operation performed by the operator on an optional pedal provided on the side of the travel pedal, or a pushing operation performed by the operator on an optional button provided on the remote control lever 31 a. Examples of predetermined operations of optional devices that are executed by this operation include an excitation operation and a release operation of a lifting magnet attached as a tip attachment, a striking operation of a breaker attached as a tip attachment for striking an object, an opening / closing operation and a rotation operation of a plurality of gripping claws of a grapple constituting a gripping device attached as a tip attachment, a vertical movement of the liftable cab, a telescopic movement of an extendable attachment attached as an arm, a swinging operation of a swinging mechanism that swings the tip end left and right relative to the base end of the boom or the base end of the arm, and a vertical movement of a dozer attached to the undercarriage 1.

[0063] The lever lock operation is an operation that holds the lock lever 31c in the locked position. When the lock lever 31c is tilted from the unlocked position to the locked position, it is held in the locked position even if the operator does not perform an operation to hold the lock lever 31c in the locked position. This operation that holds the lock lever 31c is the lever lock operation, and in this example, the state in which the lock lever 31c is held in the locked position even if the operator releases the lock lever 31c is considered to be a state in which the operating unit 31 is subjected to the lever lock operation.

[0064] Basic operations are operations other than the above-mentioned driving operations, turning operations, option operations, and lever lock operations, such as the operation of releasing the lever lock (returning the lock lever 31c held in the locked position to the unlocked position).

[0065] 5, the vibration reflection degree for the basic operation, the turning operation, and the optional operation is set to "medium," the vibration reflection degree for the driving operation is set to "strong," and the vibration reflection degree for the lever lock operation is set to "stop." The vibration reflection degree corresponding to each predetermined operation can be set (changed) by the operator operating the handheld terminal 90, as will be described later.

[0066] The vibration priority information D2 defines a priority (hereinafter referred to as vibration priority) indicating which of the two or more predetermined operations should be prioritized in terms of vibration reflection rate when the operation unit 31 is simultaneously receiving two or more predetermined operations (i.e., when the operation unit 31 is receiving a composite operation). FIG. 6 is an explanatory diagram showing an example of this vibration priority information D2. In the example of FIG. 6, the vibration priority is expressed by a number from 1 (place) to 5 (place), indicating the priority, with a smaller number indicating the priority indicating a higher vibration priority. Therefore, in the example of FIG. 6, the lever lock operation has the highest vibration priority, followed by the travel operation, the turning operation, the option operation, and the basic operation in descending order of vibration priority. The vibration priority of each operation can be set (changed) by the operator operating the handheld terminal 90, as described below.

[0067] An example of setting guidelines for when an operator sets vibration priorities will be described with reference to vibration priority information D2 shown in Fig. 6. Note that the setting guidelines described below are merely examples, and the setting of vibration priorities can be changed as desired depending on the operator's way of thinking.

[0068] In the example of Figure 6, the vibration priority of the lever lock operation is set to the highest in consideration of the need to vary the vibration reflection degree depending on whether the hydraulic excavator 100 is operable. That is, when the lever lock operation is tilted to the locked position (a state in which the lever lock operation is executed), operation of the hydraulic excavator 100 is prohibited as described above, and therefore, even if another operation is executed, the operation of the hydraulic excavator 100 corresponding to that operation will not be executed. Therefore, since there is no need to prioritize the vibration reflection degree of other operations over the vibration reflection degree of the lever lock operation, the vibration priority of the lever lock operation is set to the highest. The vibration priority of the lever lock operation may be set to the highest as an initial state when the remote control device 101 is started up, or the state in which the vibration priority of the lever lock operation is set to the highest may be configured to be unchangeable.

[0069] In the example of Figure 6, the reason why the travel operation has the second highest priority is because the travel operation is an operation that involves moving the hydraulic excavator 100, and therefore it is highly necessary for the operator to feel vibrations from the road surface, etc., from the perspective of preventing the hydraulic excavator 100 from tipping over while traveling.

[0070] In the example of Figure 6, the priority of the rotation operation of the upper rotating body 2 is set to third based on the idea that when performing a rotation operation in which only the upper rotating body 2 is rotated without moving, there is less need for the operator to feel vibrations from the road surface, etc., compared to when performing a traveling operation.

[0071] 6, the reason why the priority of the optional operation is set to fourth is because the frequency of the optional operation is lower than that of other operations. Note that even for optional operations, if the operator is highly likely to feel vibrations, the priority may be set higher.

[0072] In the example of FIG. 6, the reason why the priority of the basic operation is the lowest is that vibration priorities have already been individually set for operations that should have a higher priority.

[0073] Next, a description will be given of the function of the setting control unit 63 (see FIG. 3 ). The setting control unit 63 receives setting information of the vibration reflection rate corresponding to each predetermined operation and setting information of the vibration priority corresponding to each predetermined operation transmitted from the handheld terminal 90, and executes a process of reflecting the received setting information in the vibration reflection rate information D1 and the vibration priority information D2 stored in the information storage unit 70.

[0074] FIG. 7 is a schematic diagram showing a setting screen 900 that is displayed on the remote terminal 90 as a reflection rate setting unit and that accepts input for setting the vibration reflection rate for each predetermined operation.

[0075] This setting screen 900 is displayed on the touch panel 91 by a display control unit 92 (see FIG. 3 ) provided in the handheld terminal 90. The display control unit 92 is configured by a computer having a CPU, ROM, and RAM. When the display control unit 92 detects a touch signal from a vibration setting button (not shown) displayed on the touch panel 91, the display control unit 92 causes the setting screen 900 to be displayed on the touch panel 91.

[0076] As shown in FIG. 7 , the setting screen 900 has setting areas A1 to A5 for setting the vibration reflection rate for each of the basic operation, driving operation, turning operation, option operation, and lever lock operation. Each of the areas A1 to A5 displays a selection button 901 for setting (selecting) one of "strong," "medium," "weak," and "stop" as the vibration reflection rate. The operator can arbitrarily set the vibration reflection rate by touching one of the four selection buttons 901 for each predetermined operation. The setting information for the vibration reflection rate set on the setting screen 900 is then transmitted from the handheld terminal 90 to the remote controller 60 and acquired by the setting control unit 63.

[0077] The setting control unit 63 stores the setting information of the vibration reflection rate received from the remote terminal 90 as vibration reflection rate information D1 (see FIG. 5 ) in the information storage unit 70. At this time, if vibration reflection rate information D1 that has already been set exists, the setting control unit 63 updates (changes) the vibration reflection rate defined in this vibration reflection rate information D1 based on the setting information received from the remote terminal 90.

[0078] 7, the setting screen 900 is provided at its bottom with a back button 905 for returning to the screen before switching to the setting screen 900, and a priority change button 906. When the display control unit 92 receives a touch signal from the priority change button 906, it causes the touch panel 91 to display a vibration priority setting screen 910.

[0079] 8 is a schematic diagram showing a setting screen 910 that is displayed on the handheld terminal 90 as a priority setting unit and that accepts input for setting vibration priorities for each predetermined operation. A level bar Lb with outward arrows at both ends is displayed on the left side of the setting screen 910 to allow the operator to easily visually recognize (imagine) the level of the vibration priority. To the right of the level bar Lb, labels La corresponding to a plurality of predetermined operations, namely, a lever lock operation, a driving operation, a turning operation, an optional operation, and a basic operation, are displayed in a switchable manner across multiple rows in the vertical direction of the screen.

[0080] As described above, the vibration priority indicates which operation's vibration reflection degree is to be prioritized when a composite operation (multiple operations) is performed on the operation unit 31. In the setting screen 910, the operator can set the vibration priority while recognizing the level of the vibration priority for each operation by visually checking the position of the arrangement row of the label La corresponding to each operation. In the setting screen 910 shown in Fig. 8, the lever lock operation located in the top row has the highest vibration priority, and as one moves down from there, the vibration priority is set to lower values ​​in the order of travel operation, turning operation, option operation, and basic operation.

[0081] Next, a specific example of setting vibration priority on the setting screen 910 will be described. The vibration priority is set by manually switching the placement row of the label La corresponding to each operation on the setting screen 910. For example, when the operator taps with his / her finger on the label La corresponding to one of two operation contents for which the vibration priority is to be switched on the setting screen 910, the selected label La can be moved by a drag operation. In this state, the label La is moved and dropped on the label La corresponding to the other operation content, whereby the placement row of the label La is switched and the vibration priorities of the two operation contents are switched. Note that this vibration priority setting operation procedure is one example. For example, an input box for inputting a numerical value representing the priority (e.g., priority) may be provided next to the label La corresponding to each operation content, and the vibration priority may be changed by inputting the priority in this input box.

[0082] The setting information of the vibration priority set on the setting screen 910 is transmitted from the handheld terminal 90 to the remote controller 60 and acquired by the setting control unit 63 .

[0083] The setting control unit 63 stores the setting information of the vibration priority received from the remote terminal 90 as vibration priority information D2 in the information storage unit 70. At this time, if there is already set vibration priority information D2, the setting control unit 63 updates (changes) the vibration priority defined in this vibration priority information D2 based on the setting information received from the remote terminal 90.

[0084] [Explanation of Flowcharts] FIGS. 9 to 11 are flowcharts showing an example of control processing executed by the remote controller 60. FIG.

[0085] In step SA1, it is determined whether the remote control device 101 has already been connected to the hydraulic excavator 100 to be remotely controlled, in other words, whether communication has been established between the communication device 42 of the remote control device 101 and the communication device 41 of the hydraulic excavator 100 for transmitting and receiving signals between them. If the determination is NO, the processing of step SA1 is executed again, whereas if the determination is YES, the process proceeds to step SA2.

[0086] In step SA2, the detection values ​​of the tilt angles in the roll direction and pitch direction of the body of the hydraulic excavator 100 output from the tilt angle detector 11 are obtained.

[0087] In step SA3, the tilt angles in the roll direction and pitch direction of the hydraulic excavator 100 are calculated based on the detection values ​​of the tilt angle detector 11 acquired in step SA2. Specifically, the above-mentioned low-pass filter processing is performed on the detection values ​​of the tilt angle detector 11 to acquire (calculate) the tilt angles (tilt information) in the roll direction and pitch direction of the hydraulic excavator 100 relative to a reference plane (horizontal plane) on the body of the hydraulic excavator 100.

[0088] In step SA4, based on the detection value of the inclination angle detector 11 acquired in step SA2, vibration information in each of the roll direction and pitch direction of the hydraulic excavator 100 is acquired. Specifically, the detection value of the inclination angle detector 11 is subjected to the above-mentioned high-pass filter processing, thereby acquiring (calculating) the vibration amplitude and vibration frequency (an example of vibration information) in the roll direction and pitch direction occurring in the body of the hydraulic excavator 100.

[0089] At Step SA5, the content of the operation (type of operation) received by the operation unit 31 is determined based on the operation signal output from the operation unit 31.

[0090] In step SA6, based on the determination result of step SA5, it is determined whether or not the operating unit 31 is receiving two or more of the predetermined operations simultaneously. If this determination is affirmative (step SA6...YES), the process proceeds to step SA10 described below, whereas if this determination is negative (step SA6...NO), the process proceeds to step SA7 (see Figure 10).

[0091] In step SA7, the vibration reflection rate corresponding to the operation determined in step SA5 is identified from the vibration reflection rate information D1 (see FIG. 5) stored in the information storage unit 70.

[0092] In step SA8, the tilt / vibration drive unit 80 is driven to vibrate the driver's seat 30 based on the vibration reflection rate identified in step SA7. As an example, if the vibration reflection rate identified in step SA7 is "medium," the vibration information (vibration amplitude and vibration frequency) in the roll direction and pitch direction acquired in step SA4 is multiplied by a gain of 0.7 corresponding to the vibration reflection rate of "medium," thereby adjusting the vibration information, and the tilt / vibration drive unit 80 is driven based on this adjusted vibration information (i.e., to vibrate the driver's seat 30 in a vibration state corresponding to this adjusted vibration information).

[0093] In step SA9, the tilt / vibration drive unit 80 is driven so that the tilt angles in the roll and pitch directions of the body of the hydraulic excavator 100 calculated in step SA3 become equal to the tilt angles in the roll and pitch directions of the operator's seat 30. Note that the processing of step SA9 may be performed simultaneously (in parallel) with the processing of step SA8.

[0094] In step SA10 (see FIG. 11), which is reached when the determination in step SA6 is YES, the vibration priority of each of the two or more specified operations (two or more operations that constitute a composite operation) received by the operation unit 31 is determined based on the vibration priority information D2 (see FIG. 6) stored in the information storage unit 70, and the operation with the highest vibration priority among these two or more operations is identified.

[0095] In step SA11, the vibration reflection rate for the operation with the highest vibration priority level identified in step SA10 is identified based on the vibration reflection rate information D1 (see FIG. 5) stored in the information storage unit 70.

[0096] In step SA12, based on the vibration reflection rate determined in step SA11, tilt / vibration drive unit 80 is driven to vibrate driver's seat 30. The specific processing in step SA12 is the same as the processing in step SA8.

[0097] In step SA13, the tilt / vibration drive unit 80 is driven to tilt the operator's seat 30 at the same tilt angle as the tilt angle of the hydraulic excavator 100 identified in step SA3. The processing of step SA13 may be executed simultaneously (in parallel) with the processing of step SA12. After the processing of step SA13 is completed, the process returns to step SA1.

[0098] According to the remote operation device 101 configured as described above, for example, when the operation unit 31 is simultaneously receiving a driving operation and a turning operation as two or more predetermined operations, the remote controller 60 specifies the vibration reflection degree "strong" for the driving operation, which is the operation with the highest vibration priority (see FIG. 6), out of the vibration reflection degree "strong" for the driving operation (see FIG. 5) and the vibration reflection degree "medium" for the turning operation (see FIG. 5). The remote controller 60 then drives the tilt / vibration drive unit 80 to vibrate the driver's seat 30 in a vibration state corresponding to the vibration reflection degree "strong."

[0099] Therefore, when a traveling operation and a swing operation are performed simultaneously, it is possible to prevent the vibration reflection rate of the traveling operation, which is an operation with a high vibration priority ("strong" in this example), from being ignored and vibration processing being performed based on the vibration reflection rate of the swing operation, which is an operation with a low vibration priority ("medium" in this example). This makes it possible to make the vibration state predictable for the operator when the vibration information of the hydraulic excavator 100 is reflected in the vibration state of the driver's seat 30.

[0100] [Operation and Effect] As described above, in this embodiment, when the operating unit 31 is subjected to two or more predetermined operations, work machine vibration information (work machine movement information) reflecting the vibration information (movement information) of the hydraulic excavator 100 is output by the tilting / vibration drive unit 80 in a manner that allows the work machine operator to feel the vibration through the movement of the operator's seat 30, in accordance with the operation of the two or more predetermined operations that has the highest vibration priority defined in the vibration priority information D2. This configuration makes it possible to prevent the tilting / vibration drive unit 80 from reflecting the vibration information of the hydraulic excavator 100 in the vibration state of the operator's seat 30 in accordance with a predetermined operation with a lower priority. Therefore, the vibration state of the operator's seat 30 can be easily predicted by the operator of the work machine, thereby improving the operating environment for the operator of the work machine.

[0101] Furthermore, in this embodiment, the vibration information of the hydraulic excavator 100 detected by the inclination angle detector 11 is vibration information of the machine body of the hydraulic excavator 100. According to this configuration, the operator is provided with information on the vibration state focusing on the machine body of the hydraulic excavator 100. This makes it possible to improve the operating environment for the operator of the hydraulic excavator 100.

[0102] Furthermore, in this embodiment, the remote control device 101 is equipped with a handheld terminal 90 that accepts input for setting the vibration priority defined in the vibration priority information D2 stored in the information storage unit 70. With this configuration, the operator of the hydraulic excavator 100 can set the priority for the predetermined operation via the handheld terminal 90, and therefore the vibration information of the hydraulic excavator 100 is reflected in the vibration state of the operator's seat 30 by the tilting / vibration drive unit 80 with a priority that is in line with the intention of the operator of the hydraulic excavator 100. This makes it possible to further improve the operating environment for the operator of the hydraulic excavator 100.

[0103] Furthermore, in this embodiment, the tilt / vibration drive unit 80 is configured to output the work machine vibration information in a manner that allows it to be felt in accordance with a vibration reflection degree corresponding to a predetermined operation received by the operation unit 31, thereby reflecting the information in the vibration state of the operator's seat 30. The vibration reflection degree indicates the degree to which the tilt / vibration drive unit 80 reflects the vibration information of the hydraulic excavator 100 in the work machine vibration information output by the tilt / vibration drive unit 80, in correspondence with each of a plurality of predetermined operations received by the operation unit 31 individually. With this configuration, the vibration reflection degree can be changed in accordance with differences in the predetermined operations received by the operation unit 31, thereby allowing the tilt / vibration drive unit 80 to reflect the vibration information of the hydraulic excavator 100 in the vibration state of the operator's seat 30.

[0104] 12 and 13 show a second embodiment. This embodiment differs from the first embodiment in that, when the operation unit 31 receives each of a plurality of predetermined operations individually, the reflection rate (hereinafter referred to as the tilt reflection rate) for reflecting tilt information (an example of motion information) of the hydraulic excavator 100 in work machine tilt information (an example of work machine motion information) output by the tilt / vibration drive unit 80 can be set for each of the plurality of predetermined operations, and in that, when the operation unit 31 receives two or more predetermined operations, a tilt priority indicating which of the two or more predetermined operations should have priority in the tilt reflection rate can be set for each of the plurality of predetermined operations. Note that in the following description, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0105] 12 is a schematic diagram showing a setting screen 920 that is displayed on the remote terminal 90 as a reflection rate setting unit and that accepts input for setting the tilt reflection rate for each of the predetermined operations. In this embodiment, the remote terminal 90 functions as the tilt reflection rate setting unit that accepts input for setting the tilt reflection rate.

[0106] This setting screen 920 is displayed on the touch panel 91 by the display control unit 92. When the display control unit 92 detects a touch signal of an inclination setting button (not shown) displayed on the touch panel 91, the display control unit 92 causes the touch panel 91 to display the setting screen 920.

[0107] As shown in FIG. 12 , the setting screen 920 has setting areas B1 to B5 for setting the tilt reflection rate for each of the basic operation, driving operation, turning operation, option operation, and lever lock operation. Each of the areas B1 to B5 displays a selection button 921 for setting (selecting) the tilt reflection rate from among "strong," "medium," "weak," and "stop" according to the strength of the tilt reflection rate. The operator can arbitrarily set the tilt reflection rate by touching one of the four selection buttons 921 for each operation. The setting information for the tilt reflection rate set on the setting screen 920 is then transmitted from the handheld terminal 90 to the remote controller 60 and acquired by the setting control unit 63. In this example, the degree to which the tilt information is reflected in the work machine tilt information output by the tilt / vibration drive unit 80 decreases in the order of "strong," "medium," "weak," and "stop." In other words, the gain in the tilt information occurring in the body of the hydraulic excavator 100 (in this example, the ratio of the tilt angles in the roll and pitch directions relative to the horizontal plane reflected on the support plate 34 supporting the operator's seat 30 to the tilt angles in the roll and pitch directions relative to the horizontal plane of the hydraulic excavator 100 in the tilt information) decreases in the order of "strong," "medium," "weak," and "stop" and is reflected in the work machine tilt information (and ultimately the tilt state of the operator's seat 30). In this example, the gain corresponding to "strong," which is the vibration reflection degree, is set to 1, the gain corresponding to "medium," the gain corresponding to "weak," the gain corresponding to 0.4, and the gain corresponding to "stop." "Stop" is a zero reflection rate at which the tilt information of the hydraulic excavator 100 acquired by the remote controller 60 is not reflected in the work machine tilt information output by the tilt / vibration drive unit 80, and is a vibration reflection rate at which the tilt reflection function of the operator's seat 30 is disabled. Note that the gain values ​​described here are merely examples and are not limited to these; for example, the gain corresponding to a vibration reflection rate of "strong" may be set to a value greater than 1.

[0108] The setting control unit 63 stores the setting information of the tilt reflection rate received from the remote terminal 90 as tilt reflection rate information D3 (see FIG. 14 ) in the information storage unit 70. At this time, if the tilt reflection rate information D3 that has already been set exists, the setting control unit 63 updates (changes) the tilt reflection rate defined in the tilt reflection rate information D3 based on the setting information received from the remote terminal 90.

[0109] 13 , a back button 925 for returning to the screen before switching to the setting screen 920, and a priority change button 926 are provided at the bottom of the setting screen 920. When the display control unit 92 receives a touch signal from the priority change button 926, it causes the touch panel 91 to display an inclination priority setting screen 930.

[0110] Fig. 13 is a schematic diagram showing this inclination priority setting screen 930. The configuration of this setting screen 930 is similar to that of the vibration priority setting screen 910 shown in Fig. 8. That is, on this setting screen 930, the operator can visually check the position of the arrangement row of the label La corresponding to the operation content of each predetermined operation, thereby setting the inclination priority while recognizing the level of the inclination priority for each predetermined operation.

[0111] The tilt priority setting information set on the setting screen 930 is transmitted from the handheld terminal 90 to the remote controller 60 and acquired by the setting control unit 63 .

[0112] The setting control unit 63 stores the inclination priority setting information received from the remote terminal 90 as inclination priority information D4 (see FIG. 15 ) in the information storage unit 70. At this time, if inclination priority information D4 has already been set, the setting control unit 63 updates (changes) the inclination priorities defined in this inclination priority information D4 based on the setting information received from the remote terminal 90.

[0113] FIG. 14 is an explanatory diagram showing an example of tilt reflection rate information D3 stored in the information storage unit 70. The tilt reflection rate information D3 is information that indicates the tilt reflection rate, which is the degree to which tilt information of the hydraulic excavator 100 is reflected in the work machine tilt information output by the tilt / vibration drive unit 80, in correspondence with each of a plurality of predetermined operations (in this example, a basic operation, the travel operation, the swing operation, an optional operation, and a lever lock operation) when the operation unit 31 receives each of the predetermined operations individually (in other words, when each operation of the hydraulic excavator 100 corresponding to the plurality of predetermined operations is performed individually). In the example of FIG. 14 , as an example, for each operation of the hydraulic excavator 100, the tilt reflection rate for the basic operation, the travel operation, and the optional operation is set to "medium," the tilt reflection rate for the swing operation is set to "strong," and the tilt reflection rate for the lever lock operation is set to "stop."

[0114] FIG. 15 is an explanatory diagram showing an example of tilt priority information D4 stored in the information storage unit 70. The tilt priority information D4 is information that specifies the priority of which of the two or more predetermined operations should be prioritized in terms of the tilt reflection rate corresponding to the operation when the operation unit 31 is simultaneously receiving two or more predetermined operations (i.e., when the operation unit 31 is receiving a combined operation). In the example of FIG. 15 , the tilt priority is represented by a number from 1 (place) to 5 (place), indicating the priority. Therefore, the smaller the priority number, the higher the tilt priority. That is, the lever lock operation has the highest tilt priority, followed by the turning operation, the driving operation, the optional operation, and the basic operation, in descending order of tilt priority. The tilt priority of each operation can be set (changed) by the operator operating the handheld terminal 90, as described below. Note that, unlike the vibration priority information D2 (see FIG. 6 ) described in the first embodiment, the tilt priority information D4 in FIG. 15 sets the priority of the turning operation higher than the driving operation. This is based on the reason that the operator wants to feel a stronger inclination of the hydraulic excavator 100 during a swing operation than during a traveling operation. The reasons for setting the inclination priority for other operations are the same as those in the first embodiment. Note that these reasons are merely examples and will differ depending on the operator's way of thinking.

[0115] Next, a detailed description will be given of the control process executed by the remote controller 60 of this embodiment. The first half of this control process is the same as the processes of steps SA1 to SA6 in the first embodiment, and therefore a detailed description thereof will be omitted.

[0116] 16 is a flowchart showing the processing of steps SB7 to SB9 in this embodiment, which is carried out when the determination in step SA6 is NO. The processing of steps SB7 and SB8 is equivalent to the processing of steps SA7 and SA8 in embodiment 1 (vibration processing when the operation is not a combined operation; see FIG. 10), and therefore a detailed description thereof will be omitted.

[0117] In step SB9, the tilt reflection rate corresponding to the operation determined in step SA5 is identified based on the tilt reflection rate information D3 (see FIG. 14) stored in the information storage unit 70.

[0118] In step SB10, the tilt / vibration driver 80 is driven to tilt the driver's seat 30 based on the tilt reflection rate determined in step SB9. As an example, if the tilt reflection rate determined in step SB8 is "medium," the tilt information (tilt angle) in the roll and pitch directions acquired in step SA3 is multiplied by a gain of 0.7, which corresponds to the "medium" tilt reflection rate, to adjust the tilt information. Based on this adjusted tilt information, the tilt / vibration driver 80 is driven (i.e., to tilt the driver's seat 30 in the tilt state corresponding to this adjusted tilt information). In this embodiment, the gain is defined as a magnification of the tilt angle. After the processing of step SB10 is completed, the process returns to step SA1.

[0119] FIG. 17 is a flowchart showing the process of steps SB11 to SB16 in this embodiment, which is carried out when the determination in step SA6 is YES.

[0120] The processing of steps SB11 to SB13 is equivalent to the processing of steps SA11 to SA13 in the first embodiment (vibration processing when the operation is a composite operation; see FIG. 11), and therefore a detailed description thereof will be omitted.

[0121] In step SB14, the tilt priority of each of the two or more specified operations (two or more operations that constitute a composite operation) received by the operation unit 31 is determined based on the tilt priority information D4 stored in the information storage unit 70, and the operation with the highest tilt priority among these two or more operations is determined.

[0122] In step SB15, the tilt reflection rate for the operation with the highest tilt priority level identified in step SB14 is identified based on the tilt reflection rate information D3 stored in the information storage unit 70.

[0123] In step SB16, the tilt / vibration driver 80 is driven to tilt the driver's seat 30 based on the tilt reflection rate determined in step SB15. The specific processing of step SB16 is the same as the processing of step SB10. After step SB16 is completed, the process returns to step SA1.

[0124] [Effects] As described above, in the second embodiment, when the operating unit 31 is subjected to two or more predetermined operations, work machine tilt information (work machine movement information) reflecting the tilt information (movement information) of the hydraulic excavator 100 is output by the tilt / vibration drive unit 80 so as to be sensible via the driver's seat 30, based on the tilt reflection rate corresponding to the operation with the highest tilt priority out of the two or more operations.

[0125] According to this configuration, the tilt reflection degree can be changed depending on the difference in the specified operation received by the operating unit 31, and the tilt / vibration drive unit 80 can reflect the tilt information of the hydraulic excavator 100 in the tilt state of the driver's seat 30.

[0126] In addition, in this embodiment, the vibration reflection rate specified in the vibration reflection rate information D1 can be set to ``stop,'' which is a zero reflection rate that does not reflect the vibration information of the hydraulic excavator 100 at all in the driver's seat 30, and the inclination reflection rate specified in the inclination reflection rate information D3 can also be set to ``stop,'' which is a zero reflection rate that does not reflect the inclination information of the hydraulic excavator 100 at all in the driver's seat 30.

[0127] According to this configuration, by setting the vibration reflection rate for all operations to "stop" on the vibration reflection rate setting screen 900, the function of reflecting the vibration from the excavator 100 to the operator's seat 30 can be completely turned off and only the tilt reflection function can be enabled. Conversely, by setting the tilt reflection rate for all operations to "stop" on the tilt reflection rate setting screen 920, the function of reflecting the tilt from the excavator 100 to the operator's seat 30 can be completely turned off and only the vibration reflection function can be enabled. Therefore, a zero reflection rate can be set for each type of motion information of the hydraulic excavator 100. This allows the operator to set (switch) the vibration reflection rate and the tilt reflection rate individually between a state in which tilt information is reflected in the operator's seat 30 and a state in which it is not reflected, as necessary. Therefore, if you want to ignore the inclination of the hydraulic excavator 100 and only experience the vibrations transmitted from the ground to the driver's seat 30 (for example, when the hydraulic excavator 100 performs a ground excavation operation or a traveling operation), you can simply turn off the inclination reflection function and turn on only the vibration reflection function using the setting operation described above. Conversely, if you want to ignore the vibrations of the hydraulic excavator 100 and only experience its inclination (for example, when the hydraulic excavator 100 performs a load lifting operation on a slope), you can simply turn off the vibration reflection function and turn on only the inclination reflection function using the setting operation described above.

[0128] Other Embodiments Although the remote control device 101 according to the embodiment of the present invention has been described above, the present invention is not limited to this, and the following embodiments can be adopted, for example.

[0129] [Multiple Predetermined Operations] In each of the above-described embodiments, five operations are set as examples of multiple predetermined operations: travel operation, turning operation, option operation, lever lock operation, and other basic operations. However, this is not limited to these, and, for example, attachment operation, and boom operation, arm operation, and bucket operation, which are further classifications of attachment operation, may also be set.

[0130] Furthermore, in each of the above-described embodiments, as an example of a plurality of predetermined operations, an operation for each operation that can be performed by the hydraulic excavator 100 (work machine) (an operation for each operation such as a traveling operation, a turning operation, an optional operation, a lever lock operation, etc.) is set, but this is not limited to this, and an operation for each task that the hydraulic excavator 100 (work machine) performs (a series of operations that are performed for each task such as a load slinging operation, an excavation operation, a transport operation, etc.) may also be set.

[0131] [Operation Determination Process] In each of the above-described embodiments, the remote controller 60 determines which of a plurality of predetermined operations the operator's operation on the operation unit 31 corresponds to, based on the operation signal output from the operation unit 31. However, the present invention is not limited to this. For example, the remote controller 60 may determine the operating state of the hydraulic excavator 100 (work machine) (for example, a state in which no operation is accepted, a swinging state, a traveling state, an optional operating state, etc.) based on signals output from the machine controller 50 and various sensors (for example, the tilt angle detector 11, the swing angle detector 12, and a load sensor provided on the attachment 6, etc.) mounted on the hydraulic excavator 100 (work machine), and determine the operation performed on the operation unit 31 based on this operating state.

[0132] [Vibration Reflection Rate and Tilt Reflection Rate] In each of the above-described embodiments, the vibration reflection rate is set to one of "strong," "medium," "weak," or "stop" depending on the intensity on the vibration reflection rate setting screen 900, but this is not limited to this. For example, the gain (multiplication factor of the vibration amplitude) value may be directly input as the vibration reflection rate.

[0133] In each of the above embodiments, the tilt reflection rate setting screen 920 is configured to set the tilt reflection rate to one of "strong," "medium," "weak," or "stop" depending on the strength, but this is not limited to this, and for example, the gain (multiplication factor of the tilt angle) value may be directly input as the tilt reflection rate.

[0134] [Setting Vibration Priority and Tilt Priority] In each of the above-described embodiments, the vibration priority and tilt priority corresponding to each of the predetermined operations may be constantly displayed on the screen of the handheld terminal 90 or the monitor device 20 so that the operator can always recognize them. Also, a password may be required to open the vibration priority and tilt priority setting screen 910, 930, so that only users with predetermined administrative authority can set the vibration priority and tilt priority.

[0135] [Vibration Drive Unit and Tilt Drive Unit] In the above-described embodiments, the tilt / vibration drive unit 80 functions as both a vibration drive unit that vibrates the driver's seat 30 and a tilt drive unit that tilts the driver's seat 30, but this is not limited to this, and the tilt drive unit and the vibration drive unit may be separate. In this case, for example, the tilt drive unit may be configured with a link mechanism using three up-down drive actuators 81 as in the above-described embodiments, and the vibration drive unit may be configured with a vibration generator that uses a piezoelectric element or eccentric rotation of a weight.

[0136] [Vibration Information and Tilt Information] In each of the above embodiments, tilt information of the machine body of the hydraulic excavator 100 (work machine) and vibration information occurring in the machine body are obtained by calculation (low-pass filter processing and high-pass filter processing) based on the detection value by the tilt angle detector 11. However, this is not limited to this, and the tilt angle detector and the vibration detector may be provided separately. In this case, for example, a pendulum-type tilt sensor or a float-type tilt sensor may be used as the tilt angle detector, and an acceleration sensor or the like may be used as the vibration detector. Furthermore, in each of the above embodiments, the vibration information and tilt information are reflected in the vibration state and tilt state of the operator's seat 30, but it is not necessary to reflect both the vibration information and the tilt information; at least one of the vibration information and the tilt information may be reflected.

[0137] [Motion Information] In the above-described embodiments, the description has been given using examples of machine body vibration information and inclination information as the motion information of the hydraulic excavator 100. In these examples, the machine body vibration information and inclination information are reflected in the work machine vibration information and work machine inclination information output from the tilt / vibration drive unit 80 constituting the output device, thereby reflecting the vibration state and inclination state of the operator's seat 30, respectively. However, the motion information may include information other than machine body vibration information and inclination information. For example, the machine body motion information of the hydraulic excavator 100 may include machine body speed information, acceleration information occurring in the machine body, the above-described swing angle information of the upper rotating body 2 (machine body) of the hydraulic excavator 100, or vibration information in the swing direction of the upper rotating body 2 (machine body) (for example, information acquired by applying high-pass filter processing to the detection value by the swing angle detector 12).

[0138] [Work Machine] In each of the above-described embodiments, the hydraulic excavator 100, which is the work machine, is provided with a driver's seat. However, since the hydraulic excavator 100 can be remotely controlled, this driver's seat is not necessarily required, and the driver's seat of the hydraulic excavator 100 may be eliminated as long as the remote control device 101 is provided with a driver's seat 30.

[0139] [Output Device] In each of the above embodiments, the output device that outputs work machine movement information is configured by a tilt / vibration drive unit 80 that outputs work machine tilt information and work machine vibration information (one example of work machine movement information) in a manner that can be felt through the movement of the driver's seat 30, but is not limited to this and may be configured, for example, by a display device that outputs work machine movement information in a visually recognizable manner, or an audio output device such as a speaker that outputs work machine movement information in a manner that can be heard.

[0140] [Operation Device] In each of the above embodiments, the operation device is configured as a remote operation device 101 that remotely controls a work machine performing work at a work site. However, this is not limited to this. The operation device may also be configured as a simulator in which the remote operation device 101 virtually operates a virtual work machine in a virtual space. The simulator is configured to drive the virtual work machine in response to operations received by the operation unit 31. Furthermore, in this simulator, a virtual space including the terrain, including the ground, surrounding the virtual work machine and objects is reproduced on the simulator as a virtual work site, and a simulator image capturing the environment including the virtual work machine and the virtual work site, captured from the viewpoint of a virtual imaging device attached to the virtual work machine, is displayed on the monitor device 20. In the virtual work site, the tilt angle of the virtual work machine changes in response to the terrain on which the virtual work machine moves, and depending on the work, the tilt angle of the virtual work machine also changes when a part of the virtual work machine is lifted up. In this case, the driver's seat 30 may be tilted and vibrated in response to vibration information and tilt information of the virtual work machine at the virtual work site.

[0141] [Configuration of Remote Control System] In each of the above-described embodiments, the remote controller 60 may have some or all of its functions located near the driver's seat 30 of the remote control device 101 (for example, in the front base housing 36 or the rear base housing 37), or may be configured by a server installed in another remote location away from both the driver's seat 30 and the hydraulic excavator 100 (work machine) so as to be able to communicate via the communication devices 41, 42.

[0142] The present invention includes any combination of the above-described embodiments.

[0143] The operating device according to the first aspect of the present invention comprises an operating unit that receives operations from an operator to operate a work machine, and an output device that, when the operating unit receives two or more specified operations, outputs work machine motion information that reflects the motion information of the work machine in accordance with the operation with the highest priority from among the two or more specified operations.

[0144] According to this configuration, when the operating unit is receiving two or more predetermined operations, the output device outputs work machine motion information reflecting the motion information of the work machine in response to the operation with the highest priority among the two or more predetermined operations. Therefore, it is possible to prevent the output device from outputting work machine motion information in response to a predetermined operation with a low priority. As a result, the work machine motion information output by the output device can be easily predicted by the operator of the work machine, thereby improving the operating environment for the operator of the work machine.

[0145] In the operating device according to a second aspect of the present invention, in the first aspect, it is preferable that the motion information is motion information of a body of the work machine.

[0146] With this configuration, the output device outputs work machine motion information that reflects the motion information of the work machine's body. Therefore, motion information that focuses on the work machine's body is provided to the operator, thereby improving the operating environment for the operator of the work machine.

[0147] Preferably, the operating device according to a third aspect of the present invention is the operating device according to the first or second aspect of the present invention, further comprising a priority setting unit that receives an input for setting the priority.

[0148] With this configuration, the operator of the work machine can set priorities for predetermined operations via the priority setting unit, so that the output device can output work machine movement information with priorities that are in line with the intentions of the operator of the work machine, thereby further improving the operating environment for the operator of the work machine.

[0149] The operating device according to a fourth invention is preferably any one of the first to third inventions, wherein the output device outputs the work machine motion information in accordance with a reflection degree corresponding to the specified operation received by the operating unit, and the reflection degree indicates the degree to which the motion information of the work machine is reflected in the work machine motion information output by the output device when the operating unit receives each of the plurality of specified operations individually, corresponding to each of the plurality of specified operations.

[0150] According to this configuration, the output device can output work machine motion information according to the reflection degree corresponding to the predetermined operation received by the operation unit, thereby causing the output device to change the reflection degree of the work machine motion information and output it according to differences in the predetermined operation received by the operation unit.

[0151] It is preferable that the operating device according to a fifth aspect of the present invention, in the fourth aspect, further includes a reflection rate setting unit that receives an input for setting the reflection rate corresponding to each of the plurality of predetermined operations.

[0152] With this configuration, the operator of the work machine can set a reflection rate corresponding to a predetermined operation via the reflection rate setting unit, so that the output device can output work machine motion information at a reflection rate that is in line with the operator's intentions, thereby further improving the operating environment for the operator of the work machine.

[0153] In the operating device according to a sixth aspect of the present invention, in the fifth aspect, it is preferable that the reflection rate setting unit is capable of setting a zero reflection rate as the reflection rate, which does not reflect the motion information of the work machine in the work machine motion information output by the output device.

[0154] This configuration makes it possible to change the operator's operating environment more flexibly and realize an operating environment that is in line with the operator's intentions. In other words, this configuration makes it possible to set the reflection rate corresponding to an operation set based on the operator's intentions to zero reflection rate. This allows the operator to set (switch) the output device between a state in which it outputs work machine motion information and a state in which it does not output work machine motion information, as needed.

[0155] In a seventh aspect of the present invention, in the sixth aspect, it is preferable that the reflection rate setting unit is capable of setting the zero reflection rate for each type of the exercise information.

[0156] According to this configuration, the zero reflection rate can be set for each type of motion information. As a result, by setting the zero reflection rate as necessary for each type of motion information of the work machine, the operator can set the output device to output or not output the work machine motion information.

[0157] In the operation device according to an eighth aspect of the present invention, in the first aspect, it is preferable that when the operation unit receives only one of the specified operations, the output device outputs work machine motion information that reflects motion information of the work machine in accordance with the specified operation received by the operation unit.

[0158] According to this configuration, when the operating unit receives only one predetermined operation, work machine motion information is output in response to that predetermined operation. Therefore, the work machine motion information output by the output device can be easily predicted by the work machine operator, thereby improving the operating environment for the work machine operator.

[0159] The operating device according to a ninth aspect of the present invention is the first aspect of the present invention, further comprising a driver's seat in which the operator can be seated, and a driver's seat output device that causes movement in the driver's seat, and the output device is preferably configured as the driver's seat output device that outputs the work machine movement information by reflecting the movement information in the movement of the driver's seat.

[0160] According to this configuration, work machine motion information is output to the driver's seat where the operator of the work machine sits. This makes it possible to communicate work machine motion information to the operator of the work machine via the driver's seat. Therefore, the operator can operate the operation unit while experiencing the work machine motion information via the driver's seat, and does not need to operate the operation unit while visually checking the information, as is the case when work machine motion information is output to a display device or the like. This provides an operating environment that makes it easier for the operator to concentrate on operating the operation unit.

[0161] In the operating device according to a tenth aspect of the present invention, in the first aspect, it is preferable that the motion information is vibration information of the work machine, and the output device outputs work machine vibration information that reflects the vibration information as the work machine motion information.

[0162] According to this configuration, the output device outputs work machine motion information that reflects the vibration information of the work machine, thereby making it possible to notify the operator of the work machine of the vibration information of the work machine.

[0163] In the operation device according to an eleventh aspect of the present invention, in the first aspect, it is preferable that the movement information is inclination information of the work machine, and the output device outputs work machine inclination information that reflects the inclination information as the work machine movement information.

[0164] According to this configuration, the output device outputs work machine motion information that reflects the inclination information of the work machine, thereby making it possible to notify the operator of the work machine of the inclination information of the work machine.

[0165] The operating device according to a twelfth aspect of the present invention is the first aspect, further comprising an inclination angle detector that is provided on the work machine and detects the inclination angle of the work machine in a predetermined direction, the movement information including vibration information of the work machine and inclination information of the work machine, the output device outputs, as the work machine movement information, work machine vibration information that reflects the vibration information and work machine inclination information that reflects the inclination information, and it is preferable that the vibration information is obtained by applying high-pass filtering to values ​​detected by the inclination angle detector to remove low-frequency components that are below a predetermined threshold frequency, and the inclination information is obtained by applying low-pass filtering to values ​​detected by the inclination angle detector to remove high-frequency components that are equal to or greater than a predetermined threshold frequency.

[0166] With this configuration, the output device outputs vibration information and inclination information of the work machine as motion information of the work machine. Therefore, the vibration information and inclination information of the work machine can be notified to the operator of the work machine. Furthermore, because both inclination information and vibration information of the work machine can be obtained based on the detection value of the inclination angle detector, the number of parts can be reduced, thereby reducing costs, compared to when a vibration detector is provided separately from the inclination angle detector.

[0167] An operation system according to a thirteenth aspect of the present invention comprises the operation device according to any one of the first to twelfth aspects of the present invention and the work machine.

[0168] According to this configuration, an operation system that can obtain the same effects as those of the first invention is provided.

Claims

1. An operating device comprising: an operating unit that receives operations by an operator to operate a work machine; and an output device that, when the operating unit receives two or more specified operations, outputs work machine motion information that reflects motion information of the work machine in accordance with the operation with the highest priority out of the two or more specified operations.

2. An operating device according to claim 1, wherein the motion information is motion information of a body of the work machine.

3. An operating device according to claim 1 or 2, further comprising a priority setting section that receives an input for setting the priority.

4. An operating device as described in any one of claims 1 to 3, wherein the output device outputs the work machine motion information according to a reflection degree corresponding to the specified operation received by the operating unit, and the reflection degree indicates the degree to which the motion information of the work machine is reflected in the work machine motion information output by the output device when the operating unit receives each of a plurality of specified operations individually, corresponding to each of the plurality of specified operations.

5. An operating device according to claim 4, further comprising a reflection rate setting section for receiving an input for setting the reflection rate corresponding to each of the plurality of predetermined operations.

6. An operating device according to claim 5, wherein the reflection rate setting unit is capable of setting a zero reflection rate as the reflection rate, which does not reflect the motion information of the work machine in the work machine motion information output by the output device.

7. An operating device according to claim 6, wherein the reflection rate setting unit is capable of setting the zero reflection rate for each type of the motion information.

8. An operating device according to claim 1, wherein the output device outputs work machine motion information reflecting motion information of the work machine in accordance with the specified operation received by the operating section when the operating section receives only one of the specified operations.

9. An operating device as described in claim 1, further comprising: a driver's seat in which the operator can be seated; and a driver's seat output device that generates movement in the driver's seat, the output device being configured by the driver's seat output device that outputs the work machine movement information by reflecting the movement of the driver's seat.

10. An operating device according to claim 1, wherein the motion information is vibration information of the work machine, and the output device outputs work machine vibration information reflecting the vibration information as the work machine motion information.

11. An operating device according to claim 1, wherein the motion information is inclination information of the work machine, and the output device outputs work machine inclination information reflecting the inclination information as the work machine motion information.

12. An operating device as claimed in claim 1, further comprising a tilt angle detector provided on the work machine for detecting the tilt angle of the work machine in a predetermined direction, the movement information including vibration information of the work machine and tilt information of the work machine, the output device outputs work machine vibration information reflecting the vibration information and work machine tilt information reflecting the tilt information as the work machine movement information, the vibration information being obtained by applying high-pass filter processing to the detection value by the tilt angle detector to remove low-frequency components below a predetermined threshold frequency, and the tilt information being obtained by applying low-pass filter processing to the detection value by the tilt angle detector to remove high-frequency components equal to or higher than a predetermined threshold frequency.

13. An operating system comprising an operating device according to any one of claims 1 to 12 and the work machine.

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