Remote operation assistance server, remote operation assistance system, and remote operation assistance method
There is provided a technology capable of improving work efficiency of a work machine that is remotely operated by an operator through a remote operation apparatus. If a first condition is satisfied, that is, if an engine stop instruction for a work machine 40 is made through a remote input interface 21 of the remote operation apparatus 20 , operation of an engine 460 is stopped in principle, but the operation of the engine 460 is exceptionally not stopped. Specifically, when an operator exists at a specified position at the time of operating a remote operation mechanism 211 in the remote operation apparatus 20 , the operation of the engine 460 is stopped. On the other hand, when the operator does not exist at the specified position, the operation of the engine 460 is continued without being stopped even if an engine operation instruction is made.
1 . A remote operation assistance system comprising a work machine, a remote operation apparatus for remotely operating the work machine, a remote operation assistance server capable of mutually communicating between the work machine and the remote operation apparatus,
the work machine includes:
remote wireless communication equipment which receives a remote operation instruction, an engine operation instruction, a first stop instruction, and a second stop instruction, transmitted from the remote operation assistance server;
an engine which is capable of switching between an ON state in which the engine is started and an OFF state in which the engine is stopped;
a work machine operation mechanism which receives primary pressure oil supplied from a pilot pump in the ON state of the engine;
a hydraulic circuit which supplies the primary pressure oil from the pilot pump to the work machine operation mechanism, and is capable of being shut off;
a direction control valve which receives hydraulic oil supplied from a main pump in the ON state of the engine, and receives secondary pressure oil according to a movement of the work machine operation mechanism corresponding to the remote operation instruction;
a work mechanism which rotatably operates by receiving the hydraulic oil supplied corresponding to operation of the direction control valve via the direction control valve; and
a work machine control device which
switches the engine from the OFF state to the ON state in a case where the remote wireless communication equipment receives the engine operation instruction transmitted from the remote operation assistance server,
supplies the secondary pressure oil to the direction control valve according to the remote operation instruction by adjusting an operation aspect of the work machine operation mechanism according to the remote operation instruction transmitted from the remote operation assistance server and received by the remote wireless communication equipment,
in a case where the remote wireless communication equipment receives the first stop instruction transmitted from the remote operation assistance server, keeps the engine in the ON state and switches the hydraulic circuit supplying the primary pressure oil from an unlocked state in which the hydraulic circuit is not shut off to a locked state in which the hydraulic circuit is shut off, and,
in a case where the remote wireless communication equipment receives the second stop instruction transmitted from the remote operation assistance server, switches the engine from the ON state to the OFF state, and switches the hydraulic circuit from the unlocked state to the locked state,
the remote operation apparatus includes:
a remote input interface which receives a specification operation by an operator for causing operation of the engine of the work machine to stop;
a remote operation mechanism which is operated by the operator for operating the work machine including the work mechanism;
a seat for the operator to be seated, around which the remote operation mechanism is arranged;
an operator state sensor including at least one of a seat load sensor which is provided on a support member of the seat and detects, in response to an operator state request transmitted from the remote operation assistance server, whether a seat load exists or not, a contact sensor or an operation mechanism load sensor provided on the remote operation mechanism, and an image pickup sensor for recognizing a face or facial expression of a person seated on the seat, the operator state sensor detecting, as an operator state, whether or not the operator is seated and exists on the seat which is a specified position where the operator should exist at a time of operating the remote operation mechanism by the operator, wherein the operator state request is generated by the remote operation assistance server in response to an engine stop instruction; and
remote wireless communication equipment which, in a case where the remote input interfaces receives the specification operation, transmits the engine stop instruction to the remote operation assistance server and transmits the operator state detected by the operator state sensor to the remoter operation assistance server, and
the remote operation assistance server includes:
a first assistance processing element and a second assistance processing element each comprised of a processor, wherein
the first assistance processing element receives the engine stop instruction from the remote operation apparatus and generates the operator state request to transmit the operator state request to the remote operation apparatus,
the first assistance processing element recognizes satisfiability of a first condition based on the engine stop instruction transmitted from the remote operation apparatus being received in the remote operation assistance server, determines whether or not the operator exists at the specified position based on the operator state transmitted from the remote operation apparatus, in the remote operation server, and, in a case where a result of determination is that the operator does not exist at the specified position, recognizes satisfiability of a second condition that sets a probability amount indicative of an intention of the operator to cause the engine of the work machine to stop being reflected on the engine stop instruction, and
the second assistance processing element executes, in a case where it is recognized by the first assistance processing element that the first and second conditions are satisfied, first stop processing for causing operation of the work mechanism to stop without causing the operation of the engine of the work machine to stop, by causing the work machine control device to keep the engine in the ON state and to switch the hydraulic circuit from the unlocked state to the locked state in which the hydraulic circuit is shut off, by transmitting the first stop instruction to the work machine, based on communication with the work machine, and, the second assistance processing element executes, in a case where it is recognized by the first assistance processing element that the first condition is satisfied but the second condition is not satisfied, second stop processing for causing the operation of each of the work mechanism and the engine of the work machine to stop, by causing the work machine control device to switch the engine to the OFF state and switch the hydraulic circuit from the unlocked state to the locked state, by transmitting the second stop instruction to the work machine, based on communication with the work machine.
2 . The remote operation assistance system according to claim 1 , wherein
the second condition further includes at least any one of the following:
(a) an emergency stop switch provided on the remote operation apparatus has been operated;
(b) an operation abnormality has occurred in the remote operation apparatus, the remote operation assistance server or the work machine; and
(c) communication disconnection has occurred in the remote operation apparatus, the remote operation assistance server or the work machine.
3 . The remote operation assistance system according to claim 1 , wherein the first assistance processing element recognizes the satisfiability of the second condition based on an output signal from the sensor for detecting that the operator is seated on the seat as a specified structure and applies the seat load.
4 . A remote operation assistance method for assisting a remote operation of a work machine through a remote operation apparatus using the work machine, the remote operation operation apparatus for remotely operating the work machine, and a remote operation assistance server capable of mutually communicating between the work machine and the remote operation apparatus,
the work machine includes:
remote wireless communication equipment which receives a remote operation instruction, an engine operation instruction, a first stop instruction, and a second stop instruction, transmitted from the remote operation assistance server;
an engine which is capable of switching between an ON state in which the engine is started and an OFF state in which the engine is stopped;
a work machine operation mechanism which receives primary pressure oil supplied from a pilot pump in the ON state of the engine;
a hydraulic circuit which supplies the primary pressure oil from the pilot pump to the work machine operation mechanism, and is capable of being shut off;
a direction control valve which receives hydraulic oil supplied from a main pump in the ON state of the engine, and receives secondary pressure oil according to a movement of the work machine operation mechanism corresponding to the remote operation instruction;
a work mechanism which rotatably operates by receiving the hydraulic oil supplied corresponding to operation of the direction control valve via the direction control valve; and
a work machine control device which
switches the engine from the OFF state to the ON state in a case where the remote wireless communication equipment receives the engine operation instruction transmitted from the remote operation assistance server,
supplies the secondary pressure oil to the direction control valve according to the remote operation instruction by adjusting an operation aspect of the work machine operation mechanism according to the remote operation instruction transmitted from the remote operation assistance server and received by the remote wireless communication equipment,
in a case where the remote wireless communication equipment receives the first stop instruction transmitted from the remote operation assistance server, keeps the engine in the ON state and switches the hydraulic circuit supplying the primary pressure oil from an unlocked state in which the hydraulic circuit is not shut off to a locked state in which the hydraulic circuit is shut off, and,
in a case where the remote wireless communication equipment receives the second stop instruction transmitted from the remote operation assistance server, switches the engine from the ON state to the OFF state, and switches the hydraulic circuit from the unlocked state to the locked state,
the remote operation apparatus includes:
a remote input interface which receives a specification operation by an operator for causing operation of the engine of the work machine to stop;
a remote operation mechanism which is operated by the operator for operating the work machine including the work mechanism;
a seat for the operator to be seated, around which the remote operation mechanism is arranged;
an operator state sensor including at least one of a seat load sensor which is provided on a support member of the seat and detects, in response to an operator state request transmitted from the remote operation assistance server, whether a seat load exists or not, a contact sensor or an operation mechanism load sensor provided on the remote operation mechanism, and an image pickup sensor for recognizing a face or facial expression of a person seated on the seat, the operator state sensor detecting, as an operator state, whether or not the operator is seated and exists on the seat which is a specified position where the operator should exist at a time of operating the remote operation mechanism by the operator, wherein the operator state request is generated by the remote operation assistance server in response to an engine stop instruction; and
remote wireless communication equipment which, in a case where the remote input interfaces receives the specification operation, transmits the engine stop instruction to the remote operation assistance server and transmits the operator state detected by the operator state sensor to the remoter operation assistance server, and
the remote operation assistance server includes:
a first assistance processing element and a second assistance processing element each comprised of a processor,
the remote operation assistance method comprising:
a step of receiving the engine stop instruction from the remote operation apparatus and generating the operator state request to transmit the operator state request to the remote operation apparatus,
a first assistance processing step of executing, by the first assistance processing element, processing for recognizes satisfiability of a first condition based on the engine stop instruction transmitted from the remote operation apparatus being received in the remote operation assistance server, determines whether or not the operator exists at the specified position based on the operator state transmitted from the remote operation apparatus, in the remote operation server, and, in a case where a result of determination is that the operator does not exist at the specified position, recognizes satisfiability of a second condition that sets a probability amount indicative of an intention of the operator to cause the engine of the work machine to stop being reflected on the engine stop instruction, and
a second assistance processing step of executing, by the second assistance processing element, in a case where it is recognized by the first assistance processing element that the first and second conditions are satisfied, first stop processing for causing operation of the work mechanism to stop without causing the operation of the engine of the work machine to stop, by causing the work machine control device to keep the engine in the ON state and to switch the hydraulic circuit from the unlocked state to the locked state in which the hydraulic circuit is shut off, by transmitting the first stop instruction to the work machine, based on communication with the work machine, and, the second assistance processing element executes, in a case where it is recognized by the first assistance processing element that the first condition is satisfied but the second condition is not satisfied, second stop processing for causing the operation of each of the work mechanism and the engine of the work machine to stop, by causing the work machine control device to switch the engine to the OFF state and switch the hydraulic circuit from the unlocked state to the locked state, by transmitting the second stop instruction to the work machine, based on communication with the work machine.
5 . A remote operation assistance server capable of mutually communicating between a
work machine and a remote operation apparatus for remotely operating the work machine, the work machine includes:
remote wireless communication equipment which receives a remote operation instruction, an engine operation instruction, a first stop instruction, and a second stop instruction, transmitted from the remote operation assistance server;
an engine which is capable of switching between an ON state in which the engine is started and an OFF state in which the engine is stopped;
a work machine operation mechanism which receives primary pressure oil supplied from a pilot pump in the ON state of the engine;
a hydraulic circuit which supplies the primary pressure oil from the pilot pump to the work machine operation mechanism, and is capable of being shut off;
a direction control valve which receives hydraulic oil supplied from a main pump in the ON state of the engine, and receives secondary pressure oil according to a movement of the work machine operation mechanism corresponding to the remote operation instruction;
a work mechanism which rotatably operates by receiving the hydraulic oil supplied corresponding to operation of the direction control valve via the direction control valve; and
a work machine control device which
switches the engine from the OFF state to the ON state in a case where the remote wireless communication equipment receives the engine operation instruction transmitted from the remote operation assistance server,
supplies the secondary pressure oil to the direction control valve according to the remote operation instruction by adjusting an operation aspect of the work machine operation mechanism according to the remote operation instruction transmitted from the remote operation assistance server and received by the remote wireless communication equipment,
in a case where the remote wireless communication equipment receives the first stop instruction transmitted from the remote operation assistance server, keeps the engine in the ON state and switches the hydraulic circuit supplying the primary pressure oil from an unlocked state in which the hydraulic circuit is not shut off to a locked state in which the hydraulic circuit is shut off, and,
in a case where the remote wireless communication equipment receives the second stop instruction transmitted from the remote operation assistance server, switches the engine from the ON state to the OFF state, and switches the hydraulic circuit from the unlocked state to the locked state,
the remote operation apparatus includes:
a remote input interface which receives a specification operation by an operator for causing operation of the engine of the work machine to stop;
a remote operation mechanism which is operated by the operator for operating the work machine including the work mechanism;
a seat for the operator to be seated, around which the remote operation mechanism is arranged;
an operator state sensor including at least one of a seat load sensor which is provided on a support member of the seat and detects, in response to an operator state request transmitted from the remote operation assistance server, whether a seat load exists or not, a contact sensor or an operation mechanism load sensor provided on the remote operation mechanism, and an image pickup sensor for recognizing a face or facial expression of a person seated on the seat, the operator state sensor detecting, as an operator state, whether or not the operator is seated and exists on the seat which is a specified position where the operator should exist at a time of operating the remote operation mechanism by the operator, wherein the operator state request is generated by the remote operation assistance server in response to an engine stop instruction; and
remote wireless communication equipment which, in a case where the remote input interfaces receives the specification operation, transmits the engine stop instruction to the remote operation assistance server and transmits the operator state detected by the operator state sensor to the remoter operation assistance server, and
the remote operation assistance server includes:
a first assistance processing element and a second assistance processing element each comprised of a processor, wherein
the first assistance processing element receives the engine stop instruction from the remote operation apparatus and generates the operator state request to transmit the operator state request to the remote operation apparatus,
the first assistance processing element recognizes satisfiability of a first condition based on the engine stop instruction transmitted from the remote operation apparatus being received in the remote operation assistance server, determines whether or not the operator exists at the specified position based on the operator state transmitted from the remote operation apparatus, in the remote operation server, and, in a case where a result of determination is that the operator does not exist at the specified position, recognizes satisfiability of a second condition that sets a probability amount indicative of an intention of the operator to cause the engine of the work machine to stop being reflected on the engine stop instruction, and
the second assistance processing element executes, in a case where it is recognized by the first assistance processing element that the first and second conditions are satisfied, first stop processing for causing operation of the work mechanism to stop without causing the operation of the engine of the work machine to stop, by causing the work machine control device to keep the engine in the ON state and to switch the hydraulic circuit from the unlocked state to the locked state in which the hydraulic circuit is shut off, by transmitting the first stop instruction to the work machine, based on communication with the work machine, and, the second assistance processing element executes, in a case where it is recognized by the first assistance processing element that the first condition is satisfied but the second condition is not satisfied, second stop processing for causing the operation of each of the work mechanism and the engine of the work machine to stop, by causing the work machine control device to switch the engine to the OFF state and switch the hydraulic circuit from the unlocked state to the locked state, by transmitting the second stop instruction to the work machine, based on communication with the work machine.