WO2023100465A1 - 画像表示システム、画像表示複合システムおよび画像表示方法 - Google Patents
画像表示システム、画像表示複合システムおよび画像表示方法 Download PDFInfo
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- WO2023100465A1 WO2023100465A1 PCT/JP2022/036833 JP2022036833W WO2023100465A1 WO 2023100465 A1 WO2023100465 A1 WO 2023100465A1 JP 2022036833 W JP2022036833 W JP 2022036833W WO 2023100465 A1 WO2023100465 A1 WO 2023100465A1
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- image display
- work machine
- display system
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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Definitions
- the present invention relates to an image display system and the like that outputs specified information regarding interaction between a work machine and an operator to an output interface of an information terminal device.
- Patent Document 1 Technology for displaying operational information such as engine start date and time, engine stop date and time, engine cooling water amount, engine oil amount, hydraulic oil amount, filter differential pressure, working position, etc., on the monitor screen of a management computer that can communicate with construction machinery has been proposed (see, for example, Patent Document 1).
- a symbol indicating the position of each industrial vehicle is superimposed on the map, and the number of the industrial vehicle concerned is displayed. , location information, vehicle ID, time information from an hour meter, amount of maintenance cost, and the number of accumulated warnings. ).
- Patent Document 3 discloses an operation support device for a work machine that calculates work results representing work efficiency based on the work amount, work time, and power consumption of the work machine.
- Patent Document 3 the work performance of an operator who rides one work machine is acquired. However, for example, when the same operator switches from one work machine to another and operates the work machine, it is difficult to obtain appropriate work results.
- an object of the present invention is to provide a system or the like that allows a user to know the status of each of one or more work machines operating in various forms in a designated area.
- Another object of the present invention is to provide an image display system, an image display composite system, and an image display method capable of displaying the work history of the work machine for each operator who operates the work machine.
- the image display system of the present invention is Designated information relating to the interaction between the work machine and the operator is output to the output interface of the information terminal device.
- the user of the information terminal device can be made aware of the specified information regarding the interaction between the work machine and the operator at the output interface of the information terminal device.
- the output interface of the information terminal device displays the position of the working machine in the designated area through the index image output in association with the position of the working machine existing in the designated area image. It is possible to allow the user of the information terminal device to know the current operating state among a plurality of selectable operating states.
- identification information of an operator of the work machine and operation history information of the operator of the work machine be output to an output interface of the information terminal device as the designation information.
- the user of the information terminal device is made aware of the operation history information linked to the operator through the identification information of the operator and the operation history information of the work machine of the operator. be able to.
- An image display composite system comprises the image display system described above, and at least one of the information terminal device, the work machine, and a remote control device for remotely controlling the work machine. Characterized by
- the image display method of the present invention associates the position of the working machine existing in the designated area reflected in the designated area image, and identifies the current operating state among a plurality of selectable or interchangeable operating states of the working machine. It is characterized by including a step of outputting the index image that can be displayed to an output interface of the information terminal device.
- the image display method of the present invention is characterized by including a step of outputting identification information of an operator of a work machine and operation history information of the operator of the work machine to an output interface of an information terminal device.
- FIG. 1 is an explanatory diagram relating to configurations of an image display composite system and an image display system as a first embodiment of the present invention
- 1 is an explanatory diagram regarding the configuration of a remote control device as a first embodiment of the present invention
- FIG. 1 is an explanatory diagram relating to the configuration of a working machine as a first embodiment of the present invention
- FIG. 1 is an explanatory diagram relating to functions of an image display system as a first embodiment of the present invention
- FIG. FIG. 4 is an explanatory diagram relating to a first display form of a designated area image and index images according to the first embodiment of the present invention
- FIG. 10 is an explanatory diagram relating to a second display form of index images according to the first embodiment of the present invention
- FIG. 10 is an explanatory diagram relating to a third display form of index images according to the first embodiment of the present invention
- FIG. 11 is an explanatory diagram relating to a fourth display form of index images according to the first embodiment of the present invention
- FIG. 4 is an explanatory diagram relating to one display form of actual device-related information in a designated area image as the first embodiment of the present invention
- FIG. 4 is an explanatory diagram relating to one display form of weather information in a designated area image as the first embodiment of the present invention
- FIG. 4 is an explanatory diagram relating to one display form of notification information in a designated area image as the first embodiment of the present invention
- FIG. 10 is an explanatory diagram regarding the configuration of an image display composite system and an image display system as a second embodiment of the present invention
- FIG. 10 is an explanatory diagram regarding the configuration of a remote control device as a second embodiment of the present invention
- FIG. 10 is an explanatory diagram regarding the configuration of a working machine as a second embodiment of the present invention
- FIG. 10 is a diagram relating to functions of an image display system as a second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing a display form of an information terminal device as a second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 11 is an explanatory diagram showing another display form in the second embodiment of the present invention
- FIG. 10 is an explanatory diagram showing the data structure of operation history information as a second embodiment of the present invention
- the composite image display system shown in FIG. 1 includes an image display system 10, a remote control device 20, and/or a work machine 40 to be remotely controlled by the remote control device 20. As shown in FIG.
- the image display system 10, the remote controller 20 and the work machine 40 are configured to be able to communicate with each other through a network.
- the mutual communication network of image display system 10 and remote control device 20 and the mutual communication network of image display system 10 and work machine 40 may be the same or different.
- the image display system 10 is configured by a computer that exists separately from the remote control device 20 and the work machine 40, and includes a database 102, a first functional element 121, a second functional element 122, It has
- the database 102 may be composed of a database server that can communicate with the image display system 10 .
- An operator identifier for identifying an operator of work machine 40 and specific information and/or attributes of the operator are associated and registered in database 102 .
- the operator's specific information includes, for example, the operator's face photograph image, face illustration image and/or name.
- the operator's attributes include, for example, the operator's affiliated organization, language used, and/or job history.
- Specific information and/or attributes of an operator who is remotely operating work machine 40 via remote control device 20 is transmitted from remote control device 20 or work machine 40 to image display system 10, and then associated with each other. and registered in the database 102.
- the operator's specific information and/or attributes and the operator identifier may be input by the operator through a touch panel that constitutes the remote input interface 210, and may be stored in an electromagnetic storage medium such as a card or a personal digital assistant owned by the operator. may be read by a contactless reader that constitutes the remote input interface 210 from the .
- an actual machine identifier for identifying the work machine 40 and related information of the work machine are associated and registered.
- the related information of the work machine 40 includes static actual machine related information such as the class of the work machine 40, specifications, type of attachment 445, and type of crawler constituting the undercarriage 410, as well as information about the work machine 40 of the work machine 40.
- the actual machine identifier and the static actual machine-related information are transmitted from the work machine 40 to the image display system 10, and then registered in the database 102 in association with each other.
- the real machine identifier and the dynamic real machine-related information are transmitted from the work machine 40 to the image display system 10, are associated with each other, and are registered in the database 102 cumulatively or sequentially.
- the dynamic actual machine-related information is measured using appropriate sensors constituting the actual machine sensor group 416 mounted on the working machine 40 .
- the dynamic real machine related information may include internal state variables and/or external state variables of work machine 40 .
- An “external state variable” is a variable that represents the environment of work machine 40 that affects internal state variables of work machine 40 . For example, the temperature around the work machine 40 corresponds to the external state variable.
- the "internal state variables" represent the states of the components of the work machine 40, such as the temperature of the engine cooling water pipes, the temperature of hydraulic pipes or tanks in the hydraulic system for operating the work mechanism 440, etc. is
- the related information of the work machine 40 is transmitted to the image display system 10 through the remote control device 20, it is registered in the database 102 in mutual association with the actual machine identifier.
- the specific information and/or attributes of the operator who actually operates the work machine 40 may be transmitted to the image display system 10 and then registered in the database 102 in mutual association with the actual machine identifier.
- the operator's specific information and/or attributes may be input by the operator through a touch panel that constitutes the actual machine input interface 41, and the actual machine input interface 41 from a card owned by the operator or an electromagnetic storage medium such as a mobile terminal. may be read by a contactless reader that configures the
- Each functional element is composed of an arithmetic processing unit (for example, a single-core processor and/or a multi-core processor or a processor core that constitutes this), reads necessary data and software from a storage device such as a memory, and targets the data Calculation processing, which will be described later, is executed according to the software.
- an arithmetic processing unit for example, a single-core processor and/or a multi-core processor or a processor core that constitutes this
- reads necessary data and software from a storage device such as a memory
- targets the data Calculation processing which will be described later
- the remote control device 20 includes a remote control device 200 , a remote input interface 210 and a remote output interface 220 .
- the remote control device 200 is configured by an arithmetic processing device (for example, a single-core processor and/or a multi-core processor or a processor core constituting this), reads necessary data and software from a storage device such as a memory, and processes the data. , the arithmetic processing according to the software is executed.
- the remote input interface 210 includes a remote control mechanism 211.
- Remote output interface 220 includes a remote image output device 221 and a remote wireless communication device 222 for communicating over a network.
- the remote control mechanism 211 includes a traveling operating device, a turning operating device, a boom operating device, an arm operating device, and a bucket operating device.
- Each operating device has an operating lever that receives a rotating operation.
- An operating lever (running lever) of the operating device for running is operated to move the lower running body 410 of the work machine 40 .
- the travel lever may also serve as a travel pedal.
- a traction pedal may be provided that is fixed to the base or lower end of the traction lever.
- An operation lever (swing lever) of the swing operation device is operated to move a hydraulic swing motor that constitutes the swing mechanism 430 of the work machine 40 .
- An operating lever (boom lever) of the boom operating device is operated to move the boom cylinder 442 of the work machine 40 .
- An operating lever (arm lever) of the arm operating device is operated to move the arm cylinder 444 of the work machine 40 .
- An operating lever (bucket lever) of the bucket operating device is operated to move the bucket cylinder 446 of
- each control lever that constitutes the remote control mechanism 211 is arranged around the seat St on which the operator sits.
- the seat St is in the form of a high-back chair with armrests, a low-back chair without a headrest, or a chair without a backrest. may be
- a pair of left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat St.
- One operating lever may serve as a plurality of operating levers.
- the left operation lever 2111 provided in front of the left frame of the seat St shown in FIG. 2 functions as an arm lever when operated in the longitudinal direction, and when operated in the lateral direction. function as a pivot lever.
- the right operation lever 2112 provided in front of the right frame of the seat St shown in FIG. It may function as a bucket lever in some cases.
- the lever pattern may be arbitrarily changed by an operator's operation instruction.
- the remote image output device 221 includes a central remote image output device 2210 having substantially rectangular screens arranged in front, diagonally forward left, and diagonally forward right of the sheet St. It consists of a left remote image output device 2211 and a right remote image output device 2212 .
- the shapes and sizes of the respective screens (image display areas) of the central remote image output device 2210, the left remote image output device 2211 and the right remote image output device 2212 may be the same or different.
- the left remote image is tilted such that the screen of the central remote image output device 2210 and the screen of the left remote image output device 2211 form an inclination angle ⁇ 1 (for example, 120° ⁇ 1 ⁇ 150°).
- the right edge of output device 2211 is adjacent to the left edge of central remote image output device 2210 .
- the right remote image is tilted such that the screen of the central remote image output device 2210 and the screen of the right remote image output device 2212 form an inclination angle ⁇ 2 (eg, 120° ⁇ 2 ⁇ 150°).
- the left edge of output device 2212 is adjacent to the right edge of central remote image output device 2210 .
- the tilt angles ⁇ 1 and ⁇ 2 may be the same or different.
- the respective screens of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be parallel to the vertical direction or may be inclined with respect to the vertical direction.
- At least one of the central remote image output device 2210, the left remote image output device 2211 and the right remote image output device 2212 may be composed of a plurality of divided remote image output devices.
- the central remote image output device 2210 may comprise a pair of vertically adjacent remote image output devices having substantially rectangular screens.
- the remote image output device 221 may be configured by a single remote image output device curved or bent to surround the sheet St.
- a single remote image output device may be constituted by, for example, the central remote image output device 2210 .
- the remote image output device 221 may consist of two remote image output devices (eg, a central remote image output device 2210 and a left remote image output device 2211 or a right remote image output device 2212).
- the working machine 40 includes a real machine control device 400 , a real machine input interface 41 , a real machine output interface 42 , and a working mechanism 440 .
- the actual device control device 400 is composed of an arithmetic processing device (single-core processor or multi-core processor or a processor core that constitutes it), reads necessary data and software from a storage device such as a memory, and processes the data into the software. Execute the arithmetic processing accordingly.
- the work machine 40 is, for example, a crawler excavator (construction machine), and as shown in FIG. and an upper revolving body 420 .
- a cab 424 (driver's cab) is provided on the front left side of the upper swing body 420 .
- a work mechanism 440 is provided in the front central portion of the upper swing body 420 .
- the real machine input interface 41 includes a real machine operating mechanism 411 , a real machine imaging device 412 , a real machine positioning device 414 , and a real machine sensor group 416 .
- the actual machine operating mechanism 411 includes a plurality of operating levers arranged around a seat arranged inside the cab 424 in the same manner as the remote operating mechanism 211 .
- the cab 424 is provided with a drive mechanism or a robot that receives a signal corresponding to the operation mode of the remote control lever and moves the actual machine control lever based on the received signal.
- the actual machine imaging device 412 is installed inside the cab 424, for example, and images the environment including at least part of the working mechanism 440 (for example, the attachment 445) through the front window.
- the actual machine positioning device 414 is a device for measuring the current position of the work machine 40, and is composed of, for example, a GNSS (Global Navigation Satellite System) and a gyro sensor as necessary.
- the actual machine sensor group 416 is composed of various sensors for measuring the status of the working machine 40 , such as the remaining amount of fuel in the working machine 40 .
- the real machine output interface 42 includes a real machine wireless communication device 422 for communicating via a network.
- a working mechanism 440 as a working mechanism includes a boom 441 attached to the upper rotating body 420 so as to be able to rise and fall, and an arm 443 rotatably connected to the tip of the boom 441. and an attachment 445 (for example, a bucket) rotatably connected to the tip of the arm 443 .
- the working mechanism 440 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446, which are configured by telescopic hydraulic cylinders.
- the boom cylinder 442 is interposed between the boom 441 and the upper slewing body 420 so as to expand and contract when supplied with hydraulic oil and rotate the boom 441 in the hoisting direction.
- the arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to expand and contract when supplied with hydraulic oil to rotate the arm 443 about the horizontal axis with respect to the boom 441 .
- the bucket cylinder 446 is interposed between the attachment 445 and the arm 443 so as to expand and contract when supplied with hydraulic oil to rotate the attachment 445 with respect to the arm 443 about the horizontal axis.
- the information terminal device 60 is a terminal device such as a smartphone, tablet terminal, or personal computer, and includes a control device 600 , an input interface 610 and an output interface 620 .
- the control device 600 is composed of an arithmetic processing device (single-core processor or multi-core processor or a processor core constituting this), reads necessary data and software from a storage device such as a memory, and processes the data according to the software. Executes arithmetic processing.
- the input interface 610 is composed of touch panel type buttons and switches.
- Output interface 620 includes remote image output devices and wireless communication devices for communicating over a network.
- FIG. 4 is a flowchart showing the image display system configured as described above and the functions of the image display system.
- the block "C ⁇ " is used for simplification of the description, means transmission and/or reception of data, and processing in the branch direction is executed on the condition of transmission and/or reception of the data. It means a conditional branch.
- the control device 600 determines whether or not the first designation operation has been performed through the input interface 610 (FIG. 4/STEP 610).
- the "first specifying operation" includes, for example, an operation such as tapping a keyboard and/or menu option through the input interface 610 for specifying factors for specifying the specified area.
- control device 600 transmits a specified area information request from information terminal device 60 to image display system 10 (FIG. 4/STEP 610 . STEP 612).
- the request includes, for example, a specific factor for specifying the designated area.
- the specific factor may include the name of the designated area, the name or address of its location, the latitude and longitude of the representative point, or the latitude and longitude range.
- the specific factor includes an actual machine identifier for identifying the work machine 40 existing in the designated area, an operator identifier for identifying an operator who operates the work machine 40, and/or an operator who operates the work machine 40 remotely.
- a remote identifier may be included to identify the remote operator 20 that is present or scheduled to operate.
- the first functional element 121 creates a specified area image showing the status of the specified area specified by the specific factor included in the request. is obtained (FIG. 4/STEP 110).
- a bird's-eye view image of the designated area in which eight work machines Q1 to Q8 are reflected is obtained.
- the designated area image is an imaging device mounted on an airplane (for example, an unmanned airplane) or an artificial satellite flying over the designated area, an imaging device installed in the designated area, and/or existing in the designated area. It is acquired through the actual machine imaging device 412 mounted on the work machine 40 .
- the captured images may be accumulated in database 102 and/or an external database and retrieved by first functional element 121 .
- the position (actual machine position) and identifier (actual machine identifier) of the work machine 40 existing in the designated area represented by the designated area image are recognized by the first functional element 121 (FIG. 4/STEP 112).
- the actual machine position (latitude and longitude) of the work machine 40 in the real space is recognized through the actual machine positioning device 414 by the actual machine controller 400 .
- the actual machine position or the actual machine position data representing the actual machine position is transmitted to the image display system 10 together with the actual machine identifier through the actual machine wireless communication device 422 by the actual machine control device 400, and then registered in the database 102 in association with each other.
- First functional element 121 searches database 102 for the actual machine position of work machine 40 included in the latitude and longitude range representing the designated area and the actual machine identifier associated therewith.
- the first functional element 121 recognizes the actual machine position (pixel position) in the specified area image coordinate system based on the actual machine position in the real space coordinate system.
- the current operating state is recognized among a plurality of selectable or alternate operating states of the work machine 40 existing in the designated area represented by the designated area image by the first functional element 121 (FIG. 4/STEP 114). ).
- the actual machine control device 400 recognizes the current operating state.
- a "actual machine control state” in which the work machine 40 is controlled by an operator riding in its cab 424 and a “actual machine control state” in which the work machine 40 is controlled.
- Multiple driving states include “no operation state” that is not
- the non-operating state may include a state in which the work machine 40 is stopped and a state in which it is automatically operated according to software.
- Communication is established between the work machine 40 and the remote control device 20, a remote control command corresponding to the operation mode of the remote control mechanism 211 is transmitted from the remote control device 20 to the actual machine control device 400, and the remote control command is received.
- the operation of the working mechanism 440 is controlled accordingly, the current operating state is recognized as the "remotely controlled state". In this case, the operator identifier of the operator operating the remote control device 20 is recognized.
- the captured image acquired through the actual machine imaging device 412 or the model image generated accordingly is output to the remote image output device 221 of the remote control device 20 .
- the actual operating state or the current operating state data representing the current operating state is transmitted by the actual device control device 400 through the actual device wireless communication device 422 to the image display system 10 together with the actual device identifier and/or the operator identifier, and then associated with each other. Registered in the database 102 . Then, the database 102 is searched for the current operating state of the work machine 40 associated with the actual machine identifier by the first functional element 121 .
- an output command for the designated area image and the index image is generated by the second functional element 122, and then transmitted to the information terminal device 60 (FIG. 4/STEP 116).
- the specified area image output command and the index image output command may be transmitted to the information terminal device 60 at different timings instead of at the same timing.
- the control device 600 When the information terminal device 60 receives an index image output command (FIG. 4/C21), the control device 600 outputs the index image as designation information to the remote image output device constituting the output interface 620 (FIG. 4/C21). 4/STEP 614).
- the “index image” is an image associated with the position of work machine 40 existing in the specified area and representing the current operating state of work machine 40 in an identifiable manner. "Associated with a position” means that the work machine 40 existing at the position is inferred to be related to the position, such as being arranged at or near the position, or being linked to the position by a diagram or the like. It is a concept that encompasses all forms.
- facial photograph images M11, M12 and M15 are output as index images in the vicinity of the images representing the work machines Q1, Q2 and Q5, respectively.
- Face photo images M11, M12 and M15 as index images are face photo images of operators remotely operating work machines Q1, Q2 and Q5, respectively.
- Each operator's headshot image is retrieved from the database 102 based on, for example, the real machine identifier and/or the operator identifier.
- the facial photograph image as an index image output in correspondence with the position of work machine 40 in the designated area image indicates that the current operating state of work machine 40 is the remote control state (one first operating state). represents.
- the attributes of the operator may be identifiably represented by the index image M1i.
- face illustration images or human-like icons
- M13, M14, M17 and M18 are placed near the images representing the work machines Q3, Q4, Q7 and Q8, respectively. It is output as an index image.
- the illustrated face images M13, M14, M17 and M18 as index images are the illustrated face images of the operators actually operating the work machines Q3, Q4, Q7 and Q8, respectively.
- the face illustration image of each operator is retrieved from the database 102 based on, for example, the actual device identifier and/or the operator identifier.
- the face illustration image as an index image output in correspondence with the position of work machine 40 in the designated area image indicates that the current operating state of work machine 40 is the actual operating state (another first operating state). represents.
- the face illustration image as the index image is an image representing automatic operation (for example, an icon image imitating a humanoid robot) or an image of a person who instructed automatic operation.
- a face illustration image is displayed.
- no facial photograph image or facial illustration image is displayed in the vicinity of the image representing the work machine Q6.
- the fact that no index image associated with the position of work machine 40 is output in the designated area image indicates that the current operating state of work machine 40 is the non-operating state (second operating state).
- the current operating state of the work machine Qi is identifiably represented by the difference in color and/or blinking pattern of the index image M2i.
- the current operating state includes the state of communication between work machine 40 and remote control device 20, specifically, a communication established state and a communication non-established state, and/or a state in which work machine 40 is on standby in a remote control state and a communication established state. It may include the state of
- a substantially triangular index image M3i may be displayed in the vicinity of the position of the work machine Qi in the designated area image.
- the presence or absence of an abnormality in the work machine Qi is identifiably represented by the presence or absence of display of the index image M3i. If there is some abnormality in the work machine Qi (eg, an abnormality in the actual machine sensor group 416), an index image M3i is displayed.
- an index image M4i made up of a plurality of arcs and cross marks may be displayed in the vicinity of the position of the work machine Qi in the designated area image. For example, presence/absence of communication failure of the work machine Qi is identifiably indicated by presence/absence of display of the index image M4i. If there is a communication failure with the work machine Qi, an index image M4i is displayed.
- the control device 600 determines whether there is a second designation operation through the input interface 610 (FIG. 4/STEP 616).
- the “second designation operation” includes, for example, an operation such as tapping a designated portion of the index image M1i or the like through the input interface 610 .
- control device 600 transmits a request for actual device-related information from information terminal device 60 to image display system 10 (FIG. 4/STEP 616 . . . ). STEP 618).
- the request includes, for example, an operator identifier and/or a real machine identifier.
- the first functional element 121 displays information related to the work machine 40 and/or its operator identified by the identifier included in the request.
- the actual device-related information to be used is recognized (FIG. 4/STEP 118).
- the database 102 is searched for real machine-related information based on the real machine identifier.
- the second functional element 122 transmits the actual device-related information or its output command to the information terminal device 60 (FIG. 4/STEP 120).
- the control device 600 When the information terminal device 60 receives the machine-related information or its output command (FIG. 4/C22), the control device 600 outputs the machine-related information to the remote image output device that constitutes the output interface 620 (FIG. 4/C22). 4/STEP 620).
- the working machine 40 of the working machine 40 In addition to static actual machine-related information such as the class, specifications, type of attachment 445 of the working machine 40, and the type of crawler that constitutes the lower traveling body 410, if the working machine 40 of the working machine 40 is remotely It contains information related to the dynamic real machine such as the location of the operation device 20, the cumulative operating time in a unit period such as one day or one month, the remaining amount of fuel, the remaining amount of soot or the remaining amount of urea in the exhaust gas purification device.
- a window PM showing actual machine-related information is displayed in association with the index image M15 associated with the position of the work machine Q5.
- the model number of work machine 40, the name and icon of operator OP on work machine Q5, the remaining fuel in work machine 40, the remaining amount of urea water in work machine 40, and the previous operation of work machine 40 are displayed.
- the operation time from the maintenance of the work site, the time at the work site, the map of the work site, etc. are displayed.
- a call function between the user of the information terminal device 60 and the operator of the work machine 40 through the remote control device 20 and/or the work machine 40 through the information terminal device 60 by tapping a designated icon included in the window PM. and/or chat functionality may be activated.
- the face photograph as the index image M1i is associated with the position of the working machine Qi present in the designated area reflected in the designated area image on the output interface 620 of the information terminal device 60.
- An image and a face illustration image are displayed as designated information (see FIG. 4/STEP610 ⁇ STEP612 ⁇ .. ⁇ STEP110 ⁇ STEP112 ⁇ STEP114 ⁇ STEP116 ⁇ .. ⁇ STEP614 and FIG. 5).
- a plurality of selectable patterns for the work machine Qi can be selected by distinguishing the type and/or design of the index image M1i (including color, shape, pattern, or a combination thereof, or a dynamic change in design such as a blinking pattern). It is possible to allow the user of the information terminal device 60 to know whether the operating state is the remote operating state or the actual machine operating state as the current operating state.
- the photographed face image and the illustrated face image correspond to index images that identifiably represent the specific information of the operator.
- the work machine Qi reflected in the designated area image and displaying the index image M2i is in the remote control state, and the work machine Qi without the index image M2i is in the actual machine operation state or automatically operated.
- the user of the information terminal device 60 can be made aware of this.
- the display mode of the index image M2i allows the user of the information terminal device 60 to know the state of communication between the work machine Qi and the remote control device 20 (eg, whether communication is established or not) (see FIG. 6A).
- the index image M3i allows the user of the information terminal device 60 to know whether or not there is an abnormality in the work machine Qi (see FIG. 6B).
- the current operating state of the work machine Qi is the "first operating state".
- the current operating state of the work machine Qi is the non-operating state as the "second operating state.”
- the user of the information terminal device 60 can be made aware of this fact.
- the index image M1i corresponds to an index image that identifiably represents the presence or absence of an operator as the current driving state.
- the actual machine-related information of the work machine Qi whose position is associated with the index image Mi is output to the output interface 620 of the information terminal device 60. (See FIG. 4/STEP616 ⁇ STEP618 ⁇ .. ⁇ STEP118 ⁇ STEP120 ⁇ .. ⁇ STEP620 and FIG. 7). As a result, the user of the information terminal device 60 can be informed through the actual device-related information.
- the image display system 10 and the first functional element 121 and the second functional element 122 that constitute it are configured by a computer that exists separately from the remote control device 20 and the work machine 40.
- an image display system is mounted on the remote control device 20 and/or the work machine 40, and the first functional element 121 and/or the second functional element 122 are configured by the remote control device 200 and/or the actual machine control device 400.
- the information terminal device 60 may be composed of the remote control device 20 or the work machine 40.
- the designated area image and index image as shown in FIG. 5 are output to the remote image output device 221.
- the weather information WR is acquired from the weather database by the first functional element 121, the weather information WR is transmitted to the information terminal device 60 by the second functional element 122, and the weather information WR is transmitted by the control device 600 of the information terminal device 60. It may also be displayed on a remote image output device comprising output interface 620 . As a result, as shown in FIG. 8, the weather in the area where work machine 40 is present in the designated area image or the time-series weather information is output to output interface 620 of information terminal device 60 . Through the weather information, the user of the information terminal device 60 can be made aware of the weather or its time series (past weather and/or predicted future weather) in the area where the work machine 40 is located.
- the output interface 620 For example, as shown in FIG. 9, it is possible to notify other users and/or operators of a message MSG originating from one user and/or operator in the designated area image output to the output interface 620. can.
- Image display system 10 An image display composite system as a second embodiment of the present invention shown in FIG. 40 and an information terminal device 60 .
- Image display system 10, remote control device 20, and work machines 40 are configured to communicate with each other via a common or separate network.
- the image display system 10 is connectable to a plurality of work machines 40, but the image display system 10 may be connectable to one or more work machines 40, and the number of connected work machines 40 is limited. There is no limit to
- the components (hardware) of the present invention "acquire" various information means that the information is received, the information is stored in an internal storage device (e.g., memory) and/or an external storage device (e.g., external database server), calculating, estimating, predicting, identifying, etc. information by executing arithmetic processing on the information received, read, searched, etc. It is a concept that encompasses all computational processing to prepare in a form that can be used in computational processing.
- the image display system 10 is configured by a computer that exists separately from the remote controller 20 and the work machine 40 in this embodiment.
- the image display system 10 includes a first functional element 121, a second functional element 122, and a database 102.
- Each of the first functional element 121 and the second functional element 122 is configured by an arithmetic processing unit (single-core processor or multi-core processor or a processor core constituting this), and reads necessary data and software from a storage device such as memory. , the data is subjected to arithmetic processing according to the software, which will be described later.
- arithmetic processing unit single-core processor or multi-core processor or a processor core constituting this
- the database 102 may be composed of a database server that can communicate with the image display system 10 .
- an operator identifier as identification information for identifying an operator OP who operates the work machine 40 and specific information and/or attributes of the operator OP are associated and registered.
- the specific information of the operator OP includes, for example, the operator's face photograph image, face illustration image and/or name.
- the operator's attributes include, for example, the operator's affiliated organization, language used, and/or job history.
- the operator identifier may be information of the operator OP who directly gets on the work machine 40 or information of the operator OP who remotely operates the work machine 40 by operating the remote control device 20 . Further, when the work machine 40 operates by automatic operation, the operator identifier may be information of a person who instructs the work machine 40 to automatically operate.
- the operator identifier includes, for example, an ID number such as an employee number.
- Specific information and/or attributes of an operator who is remotely operating work machine 40 via remote control device 20 is transmitted from remote control device 20 or work machine 40 to image display system 10, and then associated with each other. and registered in the database 102.
- the operator's specific information and/or attributes and the operator identifier may be input by the operator through a touch panel that constitutes the remote input interface 210, and may be stored in an electromagnetic storage medium such as a card or a personal digital assistant owned by the operator. may be read by a contactless reader that constitutes the remote input interface 210 from the .
- an actual machine identifier for identifying the work machine 40 and related information of the work machine 40 are associated and registered.
- the related information of the work machine 40 includes static actual machine related information such as the class of the work machine 40, specifications, type of attachment 445, and type of crawler that constitutes the undercarriage 410.
- the work machine 40 is remotely operated. If so, the location of the remote control device 20, the details of the operation performed on the work machine 40, the cumulative operating time in a unit period such as one day or one month, the remaining amount of fuel, the remaining amount of soot in the exhaust gas purification device or urea It contains dynamic real machine related information such as water level.
- the actual machine identifier and the static actual machine-related information are transmitted from the work machine 40 to the image display system 10, and then registered in the database 102 in association with each other.
- the real machine identifier and the dynamic real machine-related information are transmitted from the work machine 40 to the image display system 10, are associated with each other, and are registered in the database 102 cumulatively or sequentially.
- the dynamic real machine related information is measured using appropriate sensors that constitute a group of real machine sensors (not shown) that are input to the real machine control device 400 mounted on the work machine 40 .
- the dynamic machine-related information includes, for example, the operation contents of the work machine 40, such as the number of attraction times of the lifting magnet per unit time and the amount of earth and sand excavated per unit time.
- the dynamic real machine related information may also include internal state variables and/or external state variables of work machine 40 .
- An “external state variable” is a variable representing the environment of work machine 40 that affects internal state variables of work machine 40 .
- the temperature around the work machine 40 corresponds to the external state variable.
- the "internal state variables” represent the states of the components of the work machine 40, such as the temperature of the engine cooling water pipes, the temperature of hydraulic pipes or tanks in the hydraulic system for operating the work mechanism 440, etc. is a variable.
- the related information of the work machine 40 is transmitted to the image display system 10 through the remote control device 20, it is registered in the database 102 in mutual association with the actual machine identifier.
- the specific information and/or attributes of the operator who actually operates the work machine 40 may be transmitted to the image display system 10 and then registered in the database 102 in mutual association with the actual machine identifier.
- the operator's specific information and/or attributes may be input by the operator through a touch panel that constitutes the actual machine input interface 41, and the actual machine input interface 41 from a card owned by the operator or an electromagnetic storage medium such as a mobile terminal. may be read by a contactless reader that configures the
- the database 102 also stores operation history information of the work machine 40 in association with the operator identifier.
- the operation history information includes, for example, the type of the work machine 40 operated by the operator OP, the operation time for each type of the work machine 40, the number of operations requiring caution measured while operating the work machine 40, the work The work efficiency of the operation of the machine 40 and the date and time when the work machine 40 was operated are stored in association with each other. Further, the operation history information may be stored for each work site where the work machine 40 was operated, that is, in association with position information.
- the operation history information may be information of the work machine 40 associated with the operation of the operator OP.
- Examples of such operation history information include an average value of fuel consumption of the work machine 40 (eco-driving evaluation), a numerical value necessary for maintenance associated with the operation time of the work machine 40, and the like.
- the operation history information is transmitted from the remote control device 20 or the work machine 40 to the image display system 10, and then registered in the database 102 in association with each other.
- imaging data captured by the actual machine imaging device 412 of each of the plurality of work machines 40 is registered in association with the operator identifier.
- the imaging data is stored in association with the operator identifier. Further, it is preferable that the imaging data is registered in association with the operation history information.
- the remote control device 20 includes a remote control device 200 , a remote input interface 210 and a remote output interface 220 .
- the remote control device 200 is configured by an arithmetic processing device (single-core processor or multi-core processor or a processor core constituting this), reads necessary data and software from a storage device such as a memory, and uses the data as a target for the software. Execute the arithmetic processing accordingly.
- arithmetic processing device single-core processor or multi-core processor or a processor core constituting this
- the remote input interface 210 includes a remote control mechanism 211.
- the remote control mechanism 211 includes a traveling operating device, a turning operating device, a boom operating device, an arm operating device, a bucket operating device, and a receiving state for receiving operations by an operator OP.
- a hydraulic lock lever (blocking lever) for switching between a non-accepting state and a non-accepting state is included.
- Each operating device has an operating lever that receives a rotating operation.
- a control lever (running lever) of the operating device for running is operated to move a lower running body 410 having a pair of left and right crawlers of the work machine 40 .
- the travel lever may also serve as a travel pedal.
- a traction pedal may be provided that is fixed to the base or lower end of the traction lever.
- An operation lever (swing lever) of the swing operation device is operated to move a hydraulic swing motor that constitutes the swing mechanism 430 of the work machine 40 .
- An operating lever (boom lever) of the boom operating device is operated to move the boom cylinder 442 of the work machine 40 .
- An operating lever (arm lever) of the arm operating device is operated to move the arm cylinder 444 of the working machine 40 .
- An operating lever (bucket lever) of the bucket operating device is operated to move the bucket cylinder 446 of the work machine 40 .
- the isolation lever outputs a signal for operating the work machine 40 in accordance with the operation performed on the isolation lever, and the work machine 40 is operated according to this signal, and in the non-acceptance state, the isolation lever is operated. is performed, the signal for operating the working machine 40 is not output and the working machine 40 is not operated.
- each control lever that constitutes the remote control mechanism 211 is arranged around the seat St on which the operator OP sits.
- the seat St is in the form of a high-back chair with armrests, a low-back chair without a headrest, or a chair without a backrest. may be a part.
- a pair of left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat St.
- One operating lever may serve as a plurality of operating levers.
- the left operation lever 2111 provided in front of the left frame of the seat St shown in FIG. function as a pivot lever.
- the right operation lever 2112 provided in front of the right frame of the seat St shown in FIG. It may function as a bucket lever in some cases.
- the lever pattern may be arbitrarily changed by an operation instruction from the operator OP.
- the remote output interface 220 includes a remote image output device 221 and a remote wireless communication device 222 for communicating over a network.
- the remote image output device 221 as a display device has a central remote image having substantially rectangular screens arranged in front, diagonally forward left and diagonally forward right of the sheet St, as shown in FIG. 11, for example. It consists of an output device 2210 , a left remote image output device 2211 , a right remote image output device 2212 and a lower remote image output device 2213 having a substantially rectangular screen arranged below the central remote image output device 2210 .
- the shapes and sizes of the respective screens (image display areas) of the central remote image output device 2210, the left remote image output device 2211, the right remote image output device 2212, and the lower remote image output device 2213 may be the same and may be different. may be
- the respective screens of the central remote image output device 2210, the left remote image output device 2211, the right remote image output device 2212, and the lower remote image output device 2213 may be parallel to the vertical direction, or can be slanted.
- At least one remote image output device among the central remote image output device 2210, the left remote image output device 2211, the right remote image output device 2212, and the lower remote image output device 2213 is composed of a plurality of divided remote image output devices.
- the central remote image output device 2210 may comprise a pair of vertically adjacent remote image output devices having substantially rectangular screens.
- the central remote image output device 2210, the left remote image output device 2211, the right remote image output device 2212, and the lower remote image output device 2213 can function as input means capable of inputting information through a touch panel display or the like. is.
- the working machine 40 includes a real machine control device 400 , a real machine input interface 41 , a real machine output interface 42 , and a working mechanism 440 .
- the actual device control device 400 is composed of an arithmetic processing device (single-core processor or multi-core processor or a processor core that constitutes it), reads necessary data and software from a storage device such as a memory, and processes the data into the software. Execute the arithmetic processing accordingly.
- arithmetic processing device single-core processor or multi-core processor or a processor core that constitutes it
- the working machine 40 is, for example, a hydraulic, electric, or hybrid driven crawler excavator (working machine) that combines hydraulic and electric.
- a hydraulic, electric, or hybrid driven crawler excavator working machine
- FIG. and an upper revolving body 420 which is rotatably mounted on a lower traveling body 410 via a revolving mechanism 430 .
- a cab 424 (driver's cab) is provided on the front left side of the upper swing body 420 .
- a work mechanism 440 is provided in the front central portion of the upper swing body 420 .
- the real machine input interface 41 includes a real machine operating mechanism 411 and a real machine imaging device 412 .
- the real machine operation mechanism 411 includes a plurality of real machine operation levers arranged around a seat arranged inside the cab 424 in the same manner as the remote control mechanism 211 .
- the cab 424 of the work machine 40 is provided with a drive mechanism or a robot that receives a signal corresponding to the operation mode of the remote control lever and moves the actual machine control lever based on the received signal.
- the actual imaging device 412 (hereinafter also referred to as the main camera) is installed inside the cab 424, for example.
- the actual machine imaging device 412 captures an image of the environment including at least part of the working mechanism 440 through the front window and the pair of left and right side windows.
- the actual imaging device 412 for example, images an environment including at least part of the bucket 445, which is an attachment.
- the actual imaging device 412 may be added as appropriate according to the mode of implementation.
- the real machine input interface 41 includes a group of real machine state sensors (not shown).
- An actual machine state sensor group detects the rotation angle (raising angle) of the boom 441 with respect to the upper swing body 420, the rotation angle of the arm 443 with respect to the boom 441, and the rotation angle of the bucket 445 with respect to the arm 443.
- a turning angle sensor for measuring the turning angle of the upper turning body 420 with respect to the lower traveling body 410; an external force sensor for measuring the external force acting on the bucket 445; It is composed of a 3-axis acceleration sensor for measuring acting 3-axis acceleration, a position information acquisition sensor such as GNSS (Global Navigation Satellite System), and the like.
- GNSS Global Navigation Satellite System
- the real machine output interface 42 includes a real machine wireless communication device 422 for communicating via a network.
- the working mechanism 440 includes a boom 441 attached to the upper rotating body 420 so as to be able to rise and fall, an arm 443 rotatably connected to the tip of the boom 441, and a tip of the arm 443 rotatably connected to the boom 441 .
- Various attachments such as a nibbler, a cutter, a magnet, etc. may be used as the working part in addition to the bucket 445 .
- the boom cylinder 442 is interposed between the boom 441 and the upper slewing body 420 so as to expand and contract when supplied with hydraulic oil and rotate the boom 441 in the hoisting direction.
- the arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to expand and contract when supplied with hydraulic oil to rotate the arm 443 about the horizontal axis with respect to the boom 441 .
- the bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to expand and contract when supplied with hydraulic oil to rotate the bucket 445 with respect to the arm 443 about the horizontal axis.
- the information terminal device 60 as a display device is a terminal device such as a smartphone, tablet terminal, or personal computer, and includes a control device 600 , an input interface 610 and an output interface 620 .
- the control device 600 is configured by an arithmetic processing device (single-core processor or multi-core processor or processor cores constituting this), reads necessary data and software from a storage device such as a memory, and processes the data according to the software. Executes arithmetic processing.
- the input interface 610 is composed of, for example, touch panel type buttons and switches.
- Output interface 620 includes remote image output devices and wireless communication devices for communicating over a network.
- FIG. 13 is a flow chart explaining an image display processing method of the image display system, which is realized by cooperation of the image display system 10, the remote control device 20, and the work machine 40 described above.
- the image display system starts image display processing with activation of the remote control device 20 as a trigger.
- the remote controller 20 transmits an operation signal to the image display system 10 (STEP 201).
- the operation signal includes timing when the operator OP selects the work machine 40 to be connected (cooperated with) to the remote control device 20, timing when the operator OP switches the disconnection lever from the ON state to the OFF state, and the like. It may be transmitted according to the processing after the remote control device 20 is activated.
- the second functional element 122 requests the remote controller 20 to transmit the operator identifier as the identification information of the operator OP (STEP 101).
- the remote control device 20 Upon receiving the operator identifier transmission request, the remote control device 20 transmits the operator identifier to the image display system 10 (STEP 202).
- the remote control device 20 transmits the operator identifier to the image display system 10 based on the result of authentication by existing user authentication means such as face authentication.
- the acquisition of the operator identifier is not limited to such a mode, and for example, it may be acquired by reading an IC card holding the operator identifier, which is identification information, or it may be entered by a keyboard (not shown). It may be acquired by inputting an ID number such as an employee number.
- the identification information may be acquired through operation by the operator OP, or may be acquired through operation by a third party such as an administrator who manages the operator OP. .
- the image display system 10 receives the operator identifier through the first functional element 121 .
- the second functional element 122 requests transmission of operation information to the work machine 40 connected to the remote control device 20 (STEP 102).
- the operation information includes information that can be registered in the database 102, such as dynamic real machine related information.
- the work machine 40 When the work machine 40 receives the operation information request, it sequentially transmits the operation information to the image display system 10 (STEP 401). In addition, when transmitting the operation information, the work machine 40 may also transmit position information indicating the current value of the work machine 40 obtained by a position information acquisition sensor or the like. Further, the work machine 40 may stop the transmission process in STEP 401 when, for example, the connection with the remote control device 20 is disconnected, or when the cutoff lever of the work machine 40 is turned ON.
- the first functional element 121 of the image display system 10 associates the acquired operation information with the operator identifier and registers it in the database 102 .
- the second functional element 122 aggregates the operation information registered in the database 102 and generates operation history information (STEP 103).
- the second functional element 122 sends the information (operator identifier and operation history information) to the information terminal device 60. is transmitted (STEP 104).
- the first functional element 121 acquires the map information of the work site based on the previously input work site information, and the map information acquired by the second functional element 122 is used as information. You may transmit to the terminal device 60.
- the information terminal device 60 Upon receiving the operator identifier and the operation history information, the information terminal device 60 displays the identification information and the operation history information as specified information on the remote image output device 221 of the output interface 620 (STEP 601).
- the image display processing shown in FIG. It is preferable to start by requesting the post-switching work machine 40 to transmit the operation information (STEP 102). That is, since the operator identifier has already been obtained in the image display system 10, the processing (STEP 201 ⁇ STEP 101 ⁇ STEP 202) up to requesting the operator identifier can be omitted. Also, the work machine 40 that has been disconnected from the remote control device 20 should stop transmitting the operation information.
- FIG. 14 shows a display mode on the output interface 620 of the information terminal device 60 as a display device.
- a map of a certain work site AR hereinafter also referred to as a yard
- Icons A to F of the work machine 40 are displayed.
- Icons X1 to X6 of the operator OP who operates the work machine 40 are displayed near the icon of each work machine 40 .
- the operator OP icons X1 to X6 may display, for example, a photograph of the operator OP registered in advance, or may display an avatar representing the operator OP. Further, the icon is not limited to an image as long as it can identify one operator among a plurality of operators, and may be, for example, character information indicating the name of the operator.
- an icon X7 indicating the user of the information terminal device 60 is displayed.
- Various display menus may be arranged below the icon X7 of the output interface 620.
- FIG. 15 shows a display when icon A of work machine 40 shown in FIG. 14 is selected. Note that the selection can be made, for example, by an operation such as tapping a keyboard and/or menu option through the input interface 610 .
- operation information indicating the operating state of the work machine 40 and specific information of the operator OP who operates the work machine 40 are displayed. is displayed.
- the operation information includes, for example, the model number of the work machine 40, a video of the work machine 40 being operated, the remaining fuel in the work machine 40, the operating time since the previous maintenance of the work machine 40, the time at the work site, Examples include a map of the work site.
- the operation information is not particularly limited as long as it is information related to the work machine 40, and examples thereof include information required for maintenance of the work machine 40 and the like.
- the operator OP specific information includes the name of the operator OP who is on the work machine 40 and its icon.
- the identification information is displayed in a state in which the operator OP is directly on the work machine 40 and is operating it, a state in which the operator OP is operating the work machine 40 via the remote control device 20, and a state in which the work machine 40 automatically For example, it is preferable to display by color coding or the like so that one of the states in which driving instructions are given can be identified.
- the information displayed on the output interface 620 of the information terminal device 60 is not limited to the above information, and other terminals such as a communication device (smartphone) possessed by an administrator or operator and/or the work machine 40, A call button for starting a call using the voice call function of remote control device 20 or information terminal device 60 and an icon indicating the remaining amount of urea water in work machine 40 may be displayed.
- a communication device smart phone
- a call button for starting a call using the voice call function of remote control device 20 or information terminal device 60 and an icon indicating the remaining amount of urea water in work machine 40 may be displayed.
- FIG. 15 for example, when the operator OP icon X1 is selected, the display shown in FIG. 16 is provided.
- the accumulated time during which the operators 1 to 5 have operated the "lift magnet (lifting magnet)", “breaker”, “high reach crane”, and “nibbler” is displayed. It is possible to arbitrarily set the start date or start time and the end date or end time for totalizing the cumulative time.
- Operators 1 to 5 indicate any five of the operator icons X1 to X6 displayed in FIG. That is, in FIG. 16, information associated with operators 1 to 5 who operate the work machine 40 at a work site AR is displayed.
- the operator may be displayed in order of the accumulated time, or may be displayed in the order of the operator with the shortest accumulated time. .
- operators are displayed in descending order of accumulated time from the left side of the screen.
- the operator's operation history may be displayed side by side based on the accumulated number of operations.
- the cumulative number of operations corresponds to, for example, the number of days that attachments such as "lifting magnets”, “breakers”, “high reach cranes”, and “nibblers" have been operated.
- the display is not limited to the selection of the icons X1 to X6, and a menu bar may be displayed as appropriate and the user may select the menu bar.
- FIG. 16 for example, when an operation to scroll down is performed, the display shown in FIG. 17 is performed.
- the number of operations of "lifting magnet (lifting magnet)”, “breaker”, “high reach crane”, and “nibbler” in the organization to which operators 1 to 5 belong from 2019 to 2021 is displayed. By displaying in this way, it is possible to grasp the frequency of specific work performed in business.
- FIG. 16 shows the total operating time of the work machine 40 in a time zone on a certain date by the operators 1 to 5. In FIG. By performing such a display, it is possible to grasp the ratio of the work contents performed by the operator. Note that the display is not limited to the selection of the icons X1 to X6, and a menu bar may be displayed as appropriate and the user may select the menu bar.
- FIG. 19 shows the working efficiency of the work machine 40 in a certain date and time zone of the operator 1 .
- the work efficiency is a value indicated by operation time (minutes)/number of adsorptions.
- FIG. 20 shows the average fuel consumption (l/Hr) per unit time when the operator 1 operates a plurality of work machines 40 .
- one working machine black triangle: " ⁇ "
- the display is not limited to the selection of the icons X1 to X6, and a menu bar may be displayed as appropriate and the user may select the menu bar.
- FIG. 15 for example, when the operator OP icon X1 is selected, the display shown in FIG. 21 is provided.
- the total operation time of the work machine 40 for each operator 1 to 4 at a certain work site is shown for each time zone.
- the display is not limited to the selection of the icons X1 to X6, and a menu bar may be displayed as appropriate and the user may select the menu bar.
- FIG. 15 for example, when the operator OP icon X1 is selected, the display shown in FIG. 22 is provided.
- FIG. 22 shows the working efficiency of the work machine 40 for each of the operators 1 and 2. As shown in FIG. Calculation of the work efficiency is the same as the above, so description thereof is omitted. By performing such a display, it is possible to grasp the work efficiency of the operators 1 and 2 in each time period. Note that the display is not limited to the selection of the icons X1 to X6, and a menu bar may be displayed as appropriate and the user may select the menu bar.
- FIG. 15 for example, when the operator OP icon X1 is selected, the display shown in FIG. 23 is provided.
- the number of operations requiring attention of the work machine 40 for each of the operators 1 and 2 is shown.
- the operation history information includes an operation history corresponding to a sudden operation (starting, turning, attachment operation) or a sudden stop
- the number of times of the operation is counted.
- the work that requires caution is not limited to sudden operations (starting, turning, attachment operation) and sudden stops, and the number of operations or operations that destabilize the operating state of the work machine 40 may be counted. Therefore, it is possible to recognize a working time period that takes safety into consideration.
- the display is not limited to the selection of the icons X1 to X6, and a menu bar may be displayed as appropriate and the user may select the menu bar.
- FIG. 24 shows the amount of precipitation and temperature at the location where the work machine 40 operated by the operator OP is located.
- the display shown in FIG. 24 may display the wind speed instead of the temperature, as shown in FIG.
- the display is not limited to the selection of icons, and may be performed by appropriately displaying a menu bar and selecting the menu bar by the user.
- FIG. 15 for example, when an icon indicating video is selected, the display shown in FIG. 26 is provided.
- the type of work machine 40 operated construction machine name in the figure
- recording start date recording start time
- type of camera used for recording Mainn
- video time It shows the length of the video
- the link where the video was uploaded and the status of the video data removal.
- the work machine 40 since the work machine 40 is expected to be operated by a plurality of operators OP taking turns, it is necessary to distinguish operation information for each operator OP. Even in such a situation, it is possible to acquire the work performance of each operator OP, so that the remuneration for the operator OP can be easily calculated based on the work performance. Furthermore, by adding the work results for each operator OP, it is possible to calculate the work results for each group (organization, company) to which multiple operator OPs belong, and to check the ranking of a specific operator OP within the group. can do
- the display device is the information terminal device 60 .
- the display device is not limited to such an aspect, and for example, the remote image output device 221 of the remote operation device 20 may be implemented as a display device.
- the number of information terminal devices 60 is not limited to one, and a plurality of information terminal devices 60 may be used.
- the information terminal device 60 may be installed near the cab 424 of the work machine 40 and the remote control device 20 .
- the operators 1 to 5 are described as operators who operate the work machine 40 within the work site AR. However, for the operators 1 to 5, an operator who works at a work site different from the work site AR may be arbitrarily selected and displayed. Also, the number of operators displayed in FIG. 16 and the like and the types of attachments shown in FIG. 17 and the like may be changed as appropriate.
- the image display processing is performed by the image display system 10.
- the image display processing may be performed by the remote control device 20 or the work machine 40 .
- the request for the operator identifier by the image display system 10 is made only once after the remote control device 20 is activated.
- the operator OP who operates the remote operation device 20 takes over the operation after the remote operation device 20 is activated, and another operator OP operates in the middle.
- the image display system 10 needs to acquire an operator identifier for each operator OP.
- the image display system 10 displays the operator identifier may be requested.
- the detection of the absence of the operator OP can be performed, for example, when the face of the operator OP is not detected in the captured image of the camera used for face authentication, or when the load of the load sensor provided on the seat St is not detected. It is possible.
- the transfer of the operator OP may be detected by the change of the operator identifier.
- the image display system 10 acquires the authentication result of user authentication means such as face authentication at regular intervals, and checks whether the operator identifier has been changed based on the authentication result. can be By doing so, it is possible to reliably set the operator identifier.
- the operation score is, for example, an index (numerical value) set such that the higher the evaluation in the operation history information of the operator OP, the higher the score.
- the conditions for the operation score to be high are, for example, that the above-mentioned accumulated time and accumulated operation time are large and the operation experience is abundant, the work efficiency is high, the average fuel consumption amount is small, the work requiring attention is small, is mentioned. Further, when calculating the operation score, the operation history information during bad weather may be increased.
- the work efficiency may be evaluated, for example, by the amount of earth and sand excavated per unit time, the small deviation of the operation amount from the standard operation, and the like.
- An operation score may be calculated by evaluating a plurality of pieces of operation history information in a composite manner.
- the current operating state of the work machine is the first operating state, causing the output interface of the information terminal device to output the index image in association with the position of the work machine;
- the current operating state of the work machine is the second operating state, it is preferable not to output the index image associated with the position of the work machine to the output interface of the information terminal device.
- the current operation state of the work machine is the first operation state through the index image associated with the position of the work machine existing in the designated area on the output interface of the information terminal device. This can be made known to the user of the information terminal device.
- the fact that the index image is not associated with the position of the working machine existing in the designated area indicates that the current operating state of the working machine is the second operating state. The user of the information terminal device can be made aware of this.
- An index image that identifiably represents at least one of the presence or absence of an operator, specific information of the operator, and attributes of the operator as the current operating state of the work machine in association with the position of the work machine is provided to the output interface of the information terminal device. Output is preferred.
- the current operating state can be displayed through the index image associated with the position of the working machine existing in the designated area reflected in the designated area image on the output interface of the information terminal device.
- the user of the information terminal device can be made aware of the presence or absence of the operator of the work machine, the operator's specific information and/or the operator's attributes.
- the output interface of the information terminal device prefferably represents the state of communication with the remote controller as the current operating state of the work machine in association with the position of the work machine.
- the current operating state can be displayed through the index image associated with the position of the working machine existing in the designated area reflected in the designated area image on the output interface of the information terminal device.
- the user of the information terminal device can be made aware of the state of communication between the work machine and the remote control device (eg, whether communication is established or not).
- the image display system of the present invention In addition to the designated area image, it is preferable to output weather information related to the weather in the area where the work machine is located or its time series to the output interface of the information terminal device.
- the weather in the area where the work machine is located or its time series is displayed on the information terminal device through the weather information output to the output interface of the information terminal device. It can be made known to the user of the device.
- the output interface of the information terminal device When a designation operation is performed through the input interface of the information terminal device, it is preferable to cause the output interface of the information terminal device to output actual machine-related information related to the working machine whose position is associated with the index image.
- the user of the information terminal device when there is a designation operation through the input interface of the information terminal device, the user of the information terminal device can be made aware of it through the actual machine-related information of the working machine output to the output interface. .
- the output interface of the information terminal device prefferably causes the output interface of the information terminal device to output the operation history information of one or a plurality of work machines corresponding to the operation history information of each operator for each identification information.
- the user of the information terminal device it is possible for the user of the information terminal device to know the operation history information associated with each of a plurality of operators.
- map information can be made known to the user of the information terminal device when a predetermined operation is performed on the work machine. Further, by displaying on the information terminal device, when the user of the information terminal device is the operator, it is possible to perform display according to the operation by the operator.
- the plurality of pieces of operation history information are output to the output interface of the information terminal device according to the order of the numerical values included in the plurality of pieces of operation history information.
- the user of the information terminal device it is possible for the user of the information terminal device to know the operation history information according to the order of the numerical values included in the operation history information.
- the user of the information terminal device is an administrator
- the administrator can, for example, compare a plurality of operators according to the length (largeness) of their operation histories.
- the output interface of the information terminal device it is preferable to cause the output interface of the information terminal device to output a plurality of pieces of operation history information for each predetermined work area.
- the operation history information according to the work area is ranked for each operator. Therefore, the user of the information terminal device can be made aware of the work efficiency of the operator according to the work area (work environment).
- the work machine is preferably remotely operated.
- operation history information for each operator can be displayed on the display device for a work machine that is remotely operated.
- the remote control device switches the operation target from one work machine to another work machine.
- the image display system with this configuration, it is possible to link and display operation history information of a plurality of work machines operated by one remote control device for each operator. For example, two operators may operate one work machine by switching remote control devices connected to one work machine. Even in such a case, the operation history information for each operator can be displayed on the display device.
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Abstract
Description
作業機械と操作者との相互作用に関する指定情報を情報端末装置の出力インターフェースに出力させる。
指定エリア画像に映り込んでいる指定エリアに存在する前記作業機械の位置に対応付けられ、当該作業機械の選択または交代可能な複数の運転状態のうち現在運転状態を識別可能に表わす指標画像を前記指定情報として情報端末装置の出力インターフェースに出力させる
ことが好ましい。
前記指定情報として前記作業機械の操作者の識別情報及び、前記操作者の前記作業機械の操作履歴情報を前記情報端末装置の出力インターフェースに出力させる
ことが好ましい。
以下の説明は、本発明の第1実施形態としての画像複合システムに関する説明である。
図1に示されている画像表示複合システムは、画像表示システム10と、遠隔操作装置20および/または当該遠隔操作装置20による遠隔操作対象である作業機械40と、により構成されている。画像表示システム10、遠隔操作装置20および作業機械40は相互にネットワーク通信可能に構成されている。画像表示システム10および遠隔操作装置20の相互通信ネットワークと、画像表示システム10および作業機械40の相互通信ネットワークと、は同一であってもよく相違していてもよい。
画像表示システム10は、本実施形態では、遠隔操作装置20および作業機械40とは別個に存在するコンピュータにより構成されており、データベース102と、第1機能要素121と、第2機能要素122と、を備えている。
遠隔操作装置20は、遠隔制御装置200と、遠隔入力インターフェース210と、遠隔出力インターフェース220と、を備えている。遠隔制御装置200は、演算処理装置(例えば、シングルコアプロセッサおよび/またはマルチコアプロセッサもしくはこれを構成するプロセッサコア)により構成され、メモリなどの記憶装置から必要なデータおよびソフトウェアを読み取り、当該データを対象として当該ソフトウェアにしたがった演算処理を実行する。
作業機械40は、実機制御装置400と、実機入力インターフェース41と、実機出力インターフェース42と、作業機構440と、を備えている。実機制御装置400は、演算処理装置(シングルコアプロセッサまたはマルチコアプロセッサもしくはこれを構成するプロセッサコア)により構成され、メモリなどの記憶装置から必要なデータおよびソフトウェアを読み取り、当該データを対象として当該ソフトウェアにしたがった演算処理を実行する。
情報端末装置60は、スマートフォン、タブレット端末またはパーソナルコンピュータなどの端末装置であり、制御装置600と、入力インターフェース610と、出力インターフェース620と、を備えている。制御装置600は、演算処理装置(シングルコアプロセッサまたはマルチコアプロセッサもしくはこれを構成するプロセッサコア)により構成され、メモリなどの記憶装置から必要なデータおよびソフトウェアを読み取り、当該データを対象として当該ソフトウェアにしたがった演算処理を実行する。
図4は、前記構成の画像表示システムおよび画像表示システムの機能について示しているフローチャートである。当該フローチャートにおいて「C●」というブロックは、記載の簡略のために用いられ、データの送信および/または受信を意味し、当該データの送信および/または受信を条件として分岐方向の処理が実行される条件分岐を意味している。
当該構成の画像表示システム10によれば、情報端末装置60の出力インターフェース620において指定エリア画像に映り込んでいる指定エリアに存在する作業機械Qiの位置に対応付けられ、指標画像M1iとしての顔写真画像および顔イラスト画像が指定情報として表示される(図4/STEP610→STEP612→‥→STEP110→STEP112→STEP114→STEP116→‥→STEP614および図5参照)。指標画像M1iの種類および/または意匠(色、形状もしくは模様またはこれらの組み合わせ、あるいは、明滅パターンなどの意匠の動的変化態様を含む。)の別を通じて、当該作業機械Qiの選択可能な複数の運転状態のうち現在運転状態としての遠隔操作状態および実機操作状態の別を当該情報端末装置60のユーザに知得させることができる。顔写真画像および顔イラスト画像は、オペレータの特定情報を識別可能に表わす指標画像に該当する。
前記実施形態では、画像表示システム10およびこれ構成する第1機能要素121および第2機能要素122が遠隔操作装置20および作業機械40とは別個に存在するコンピュータにより構成されていたが、他の実施形態として、遠隔操作装置20および/または作業機械40に画像表示システムが搭載され、遠隔制御装置200および/または実機制御装置400により第1機能要素121および/または第2機能要素122が構成されていてもよい。
以下の説明は、本発明の第2実施形態に関する説明である。
図10に示されている本発明の第2実施形態としての画像表示複合システムは、画像表示システム10と、遠隔操作装置20および/または当該遠隔操作装置20による遠隔操作対象である複数の作業機械40と、情報端末装置60と、により構成されている。画像表示システム10と、遠隔操作装置20、複数の作業機械40のそれぞれとは共通のまたは別個のネットワークを介して相互に通信可能に構成されている。尚、本図においては、画像表示システム10は、複数の作業機械40と接続可能にされているが、画像表示システム10は1台以上の作業機械40と接続可能であればよく、その接続台数に制限はない。
画像表示システム10は、本実施形態では、遠隔操作装置20および作業機械40とは別個に存在するコンピュータにより構成されている。画像表示システム10は、第1機能要素121と、第2機能要素122と、データベース102と、を備えている。
遠隔操作装置20は、遠隔制御装置200と、遠隔入力インターフェース210と、遠隔出力インターフェース220と、を備えている。
図10に示されているように、作業機械40は、実機制御装置400と、実機入力インターフェース41と、実機出力インターフェース42と、作業機構440と、を備えている。
表示装置としての情報端末装置60は、スマートフォン、タブレット端末またはパーソナルコンピュータなどの端末装置であり、制御装置600と、入力インターフェース610と、出力インターフェース620と、を備えている。制御装置600は、演算処理装置(シングルコアプロセッサまたはマルチコアプロセッサもしくはこれを構成するプロセッサコア)により構成され、メモリなどの記憶装置から必要なデータおよびソフトウェアを読み取り、当該データを対象として当該ソフトウェアに従った演算処理を実行する。
作業機械の現在運転状態が第1運転状態である場合、作業機械の位置に対応付けて指標画像を情報端末装置の出力インターフェースに出力させ、
作業機械の現在運転状態が第2運転状態である場合、作業機械の位置に対応付けて指標画像を情報端末装置の出力インターフェースに出力させない
ことが好ましい。
作業機械の位置に対応付けて、当該作業機械の現在運転状態として、オペレータの有無、オペレータの特定情報およびオペレータの属性のうち少なくとも1つを識別可能に表わす指標画像を情報端末装置の出力インターフェースに出力させる
ことが好ましい。
作業機械の位置に対応付けて、当該作業機械の現在運転状態としての、遠隔操作装置との通信状態を識別可能に表わす指標画像を情報端末装置の出力インターフェースに出力させる
ことが好ましい。
指定エリア画像に加えて作業機械が存在するエリアの気象またはその時系列に関する気象情報を情報端末装置の出力インターフェースに出力させる
ことが好ましい。
情報端末装置の入力インターフェースを通じて指定操作があった場合、指標画像に位置が対応付けられている作業機械に関連する実機関連情報を情報端末装置の出力インターフェースに出力させる
ことが好ましい。
識別情報毎に各々の操作者の操作履歴情報に応じた一又は複数の作業機械の操作履歴情報を情報端末装置の出力インターフェースに出力させる
ことが好ましい。
情報端末装置の出力インターフェースに操作履歴情報が表示されている状態で、作業機械に対する所定の操作があった場合、地図情報を情報端末装置の出力インターフェースに出力させる
ことが好ましい。
複数の操作履歴情報に含まれる数値の順位にしたがって複数の操作履歴情報を情報端末装置の出力インターフェースに出力させる
ことが好ましい。
予め定められた作業領域毎に複数の操作履歴情報を情報端末装置の出力インターフェースに出力させる
ことが好ましい。
作業機械は遠隔操作される
ことが好ましい。
作業機械を遠隔操作するための遠隔操作装置を備え、
遠隔操作装置は、一の作業機械から他の作業機械に操作対象を切り替える
ことが好ましい。
Claims (18)
- 作業機械と操作者との相互作用に関する指定情報を情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項1に記載の画像表示システムにおいて、
指定エリア画像に映り込んでいる指定エリアに存在する前記作業機械の位置に対応付けられ、当該作業機械の選択または交代可能な複数の運転状態のうち現在運転状態を識別可能に表わす指標画像を前記指定情報として情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項2に記載の画像表示システムにおいて、
前記作業機械の現在運転状態が第1運転状態である場合、前記作業機械の位置に対応付けて前記指標画像を前記情報端末装置の出力インターフェースに出力させ、
前記作業機械の現在運転状態が第2運転状態である場合、前記作業機械の位置に対応付けて前記指標画像を前記情報端末装置の出力インターフェースに出力させない
画像表示システム。 - 請求項2に記載の画像表示システムにおいて、
前記作業機械の位置に対応付けて、当該作業機械の現在運転状態として、オペレータの有無、オペレータの特定情報およびオペレータの属性のうち少なくとも1つを識別可能に表わす前記指標画像を前記情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項2に記載の画像表示システムにおいて、
前記作業機械の位置に対応付けて、当該作業機械の現在運転状態としての、遠隔操作装置との通信状態を識別可能に表わす前記指標画像を前記情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項2に記載の画像表示システムにおいて、
前記指定エリア画像に加えて前記作業機械が存在するエリアの気象またはその時系列に関する気象情報を前記情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項2に記載の画像表示システムにおいて、
前記情報端末装置の入力インターフェースを通じて指定操作があった場合、前記指標画像に位置が対応付けられている前記作業機械に関連する実機関連情報を前記情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項1に記載の画像表示システムにおいて、
前記指定情報としての作業機械の操作者の識別情報及び、前記操作者の前記作業機械の操作履歴情報を情報端末装置の出力インターフェースに出力させる画像表示システム。 - 請求項8に記載の画像表示システムにおいて、
前記識別情報毎に各々の前記操作者の前記操作履歴情報に応じた一又は複数の前記作業機械の前記操作履歴情報を前記情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項8に記載の画像表示システムにおいて、
前記情報端末装置の出力インターフェースに前記操作履歴情報が表示されている状態で、前記作業機械に対する所定の操作があった場合、地図情報を前記情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項8に記載の画像表示システムにおいて、
複数の前記操作履歴情報に含まれる数値の順位にしたがって複数の前記操作履歴情報を前記情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項8に記載の画像表示システムにおいて、
予め定められた作業領域毎に複数の前記操作履歴情報を前記情報端末装置の出力インターフェースに出力させる
画像表示システム。 - 請求項1~12のうちいずれか1項に記載の画像表示システムにおいて、
前記作業機械は遠隔操作される画像表示システム。 - 請求項13に記載の画像表示システムにおいて、
前記作業機械を遠隔操作するための遠隔操作装置を備え、
前記遠隔操作装置は、一の作業機械から他の作業機械に操作対象を切り替える
画像表示システム。 - 請求項1~12のうちいずれか1項に記載の画像表示システムと、
前記情報端末装置、前記作業機械および前記作業機械を遠隔操作するための遠隔操作装置のうち少なくとも一方と、により構成されている
画像表示複合システム。 - 請求項13に記載の画像表示システムと、
前記情報端末装置、前記作業機械および前記作業機械を遠隔操作するための遠隔操作装置のうち少なくとも一方と、により構成されている
画像表示複合システム。 - 指定エリア画像に映り込んでいる指定エリアに存在する作業機械の位置に対応付けられ、当該作業機械の選択または交代可能な複数の運転状態のうち現在運転状態を識別可能に表わす指標画像を指定情報として情報端末装置の出力インターフェースに出力させる工程を含む
画像表示方法。 - 作業機械の操作者の識別情報及び、前記操作者の前記作業機械の操作履歴情報を指定情報として情報端末装置の出力インターフェースに出力させる工程を含む画像表示方法。
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JP2002088821A (ja) | 2000-09-20 | 2002-03-27 | Kobelco Contstruction Machinery Ltd | 建設機械の稼働状態表示方法、装置及びシステム |
JP2013235485A (ja) | 2012-05-10 | 2013-11-21 | Hitachi Constr Mach Co Ltd | 産業車両の管理システム |
JP2016141940A (ja) | 2015-01-29 | 2016-08-08 | 日立建機株式会社 | 作業機械の操作支援装置 |
JP2017156972A (ja) * | 2016-03-01 | 2017-09-07 | 株式会社小松製作所 | 評価装置、管理装置、評価システム、及び評価方法 |
JP2019215672A (ja) * | 2018-06-12 | 2019-12-19 | コベルコ建機株式会社 | 施工管理システム |
JP2021064106A (ja) * | 2019-10-11 | 2021-04-22 | 北菱電興株式会社 | 路上作業支援システム、路上作業支援方法、及びプログラム |
JP2021119649A (ja) * | 2020-01-30 | 2021-08-12 | コベルコ建機株式会社 | 作業支援サーバおよび作業支援システム |
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JP2002088821A (ja) | 2000-09-20 | 2002-03-27 | Kobelco Contstruction Machinery Ltd | 建設機械の稼働状態表示方法、装置及びシステム |
JP2013235485A (ja) | 2012-05-10 | 2013-11-21 | Hitachi Constr Mach Co Ltd | 産業車両の管理システム |
JP2016141940A (ja) | 2015-01-29 | 2016-08-08 | 日立建機株式会社 | 作業機械の操作支援装置 |
JP2017156972A (ja) * | 2016-03-01 | 2017-09-07 | 株式会社小松製作所 | 評価装置、管理装置、評価システム、及び評価方法 |
JP2019215672A (ja) * | 2018-06-12 | 2019-12-19 | コベルコ建機株式会社 | 施工管理システム |
JP2021064106A (ja) * | 2019-10-11 | 2021-04-22 | 北菱電興株式会社 | 路上作業支援システム、路上作業支援方法、及びプログラム |
JP2021119649A (ja) * | 2020-01-30 | 2021-08-12 | コベルコ建機株式会社 | 作業支援サーバおよび作業支援システム |
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