Patent Publication Number: US-2022220701-A1

Title: Work machine and remote operation support system

Description:
BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present invention relates to a work machine such as a hydraulic excavator as a remote operation target. 
     Description of the Related Art 
     A technique of controlling an operation of a work machine such as a hydraulic excavator with an actual machine operation by an operator who boards the work machine in addition to a remote operation by a remote control device has been proposed (see, e.g., Japanese Patent Laid-Open No. 7-71281). The operator switches, to a remote control side or an actual machine control side, an actual machine switch configured to switch to the actual machine operation or the remote operation in the work machine, which makes it possible to control the operation of the work machine in response to the remote operation with the remote control device or the actual machine operation. 
     When an actual machine switch is switched to a remote control side, a work machine can be remotely operated by a remote control device, but when the remote operation of the work machine ends, the work machine waits for communication until the actual machine switch is switched from the remote control side to an actual machine control side. Consequently, energy such as electric power for communication is wasted. 
     To solve the problem, an object of the present invention is to provide a work machine or the like which can switch between a power supply state and a power supply cutoff state of an actual machine control device irrespective of switching on or off an actual machine switch. 
     SUMMARY OF THE INVENTION 
     A work machine of the present invention is a work machine which is controlled to be operated, based on communication with a remote operation apparatus, the work machine comprising: 
     an actual machine power source; 
     an actual machine switch which allows the work machine to be remotely operated by the remote operation apparatus; 
     an actual machine control device comprising a switch terminal, a power source terminal and a ground terminal, the actual machine control device having a function of switching the ground terminal to be grounded or non-grounded in response to a command from the remote operation apparatus; 
     a four-pin relay configured to cut off or connect between a pair of relay terminals in response to whether a pair of excitation terminals are energized; and 
     a five-pin relay configured to connect between a reference relay terminal and a first relay terminal or connect between the reference relay terminal and a second relay terminal, in response to whether a pair of excitation terminals are energized, wherein 
     the actual machine power source is
         connected to the switch terminal of the actual machine control device through the actual machine switch,   connected to the power source terminal of the actual machine control device through the actual machine switch, and the reference relay terminal and the first relay terminal of the five-pin relay in order,   connected to the power source terminal of the actual machine control device through the pair of relay terminals of the four-pin relay and a forward first diode in order,   grounded through the pair of relay terminals of the four-pin relay, a forward second diode and the pair of excitation terminals of the five-pin relay in order,   connected to the ground terminal of the actual machine control device through the pair of excitation terminals of the four-pin relay, and   connected between the second diode and the five-pin relay through the actual machine switch, the reference relay terminal and the second relay terminal of the five-pin relay, and a forward third diode in order.       

    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an explanatory view concerning a configuration of a remote operation support system as an embodiment of the present invention; 
         FIG. 2  is an explanatory view concerning a configuration of a remote operation apparatus; 
         FIG. 3  is an explanatory view concerning a configuration of a work machine; 
         FIG. 4  is an explanatory view concerning a configuration of a power control device in the work machine; 
         FIG. 5  is an explanatory view concerning a basic function of the operation support system; 
         FIG. 6  is an explanatory view concerning a work environment image; 
         FIG. 7  is an explanatory view concerning a power supply start procedure of the power control device; and 
         FIG. 8  is an explanatory view concerning a power supply stop procedure of the power control device. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     (Configuration of Remote Operation Support System) 
     A remote operation support system as an embodiment of the present invention shown in  FIG. 1  comprises a remote operation support server  10  and a work machine  40 . The remote operation support system may be constituted of a remote operation apparatus  20  to remotely operate the work machine  40 , in addition to the remote operation support server  10  and the work machine  40 . The remote operation support server  10 , the remote operation apparatus  20  and the work machine  40  are configured to communicate with one another via a network. A mutual communication network between the remote operation support server  10  and the remote operation apparatus  20  may be the same as or different from a mutual communication network between the remote operation support server  10  and the work machine  40 . 
     To “recognize” information by constitutional elements of the present invention is a concept including any arithmetic processing for making the information available in subsequent arithmetic processing, such as receiving the information, reading the information from a storage device, searching the information from a database, measuring the information, determining, judging, presuming or predicting the information based on basic information received or obtained otherwise, and storing the information in the storage device. 
     (Configuration of Remote Operation Support Server) 
     The remote operation support server  10  comprises a database  102 , a first support processing element  121 , and a second support processing element  122 . The database  102  stores and holds captured image data and the like. The database  102  may be constituted of a database server separate from the remote operation support server  10 . Each support processing element is constituted of an arithmetic processing device (a single core processor or a multicore processor or a processor core included in the multicore processor), and reads required data and software from a storage device such as a memory, and executes after-mentioned arithmetic processing of the data as a target in accordance with the software. 
     (Configuration of Remote Operation Apparatus) 
     The remote operation apparatus  20  comprises a remote control device  200 , a remote input interface  210 , and a remote output interface  220 . The remote control device  200  is constituted of an arithmetic processing device (a single core processor or a multicore processor or a processor core included in the multicore processor), and reads required data and software from a storage device such as a memory, and executes arithmetic processing of the data as a target in accordance with the software. 
     The remote input interface  210  comprises a remote operation mechanism  211 . The remote output interface  220  comprises an image output device  221 , an acoustic output device  222 , and remote wireless communication equipment  224 . 
     The remote operation mechanism  211  includes a running operation device, a pivoting operation device, a boom operation device, an arm operation device, and a bucket operation device. Each operation device includes an operation lever receiving a rotating operation. The operation lever (running lever) of the running operation device is operated to move a lower running body  410  of the work machine  40 . The running lever may also serve as a running pedal. For example, a running pedal fixed to a base part or lower end of the running lever may be provided. The operation lever (pivot lever) of the pivot operation device is operated to move a hydraulic pivot motor included in a pivot mechanism  430  of the work machine  40 . The operation lever (boom lever) of the boom operation device is operated to move a boom cylinder  442  of the work machine  40 . The operation lever (arm lever) of the arm operation device is operated to move an arm cylinder  444  of the work machine  40 . The operation lever (bucket lever) of the bucket operation device is operated to move a bucket cylinder  446  of the work machine  40 . 
     The respective operation levers included in the remote operation mechanism  211  are arranged around a seat St on which an operator sits, for example, as shown in  FIG. 2 . The seat St has a form of a high back chair with arm rests, but may be a sitting part of any form on which the operator can sit, such as a form of a low back chair with no head rest, or a form of a chair with no back rest. 
     In front of the seat St, a pair of left and right running levers  2110  corresponding to left and right crawlers are arranged on left and right side by side. One operation lever may serve as a plurality of operation levers. For example, a left operation lever  2111  provided in front of a left frame of the seat St shown in  FIG. 2  may function as the arm lever when operated in a front-rear direction, and function as the pivot lever when operated in a left-right direction. Similarly, a right operation lever  2112  provided in front of a right frame of the seat St shown in  FIG. 2  may function as the boom lever when operated in the front-rear direction, and function as the bucket lever when operated in the left-right direction. The lever pattern may be arbitrarily changed in response to an operation instruction of the operator. 
     For example, as shown in  FIG. 2 , the image output device  221  is constituted of a central image output device  2210 , a left image output device  2211  and a right image output device  2212  arranged forward, diagonally forward left and diagonally forward right of the seat St, each device having a substantially rectangular screen. The screen (image display region) of each of the central image output device  2210 , the left image output device  2211  and the right image output device  2212  may have the same shape and size or different shapes and sizes. 
     As shown in  FIG. 2 , a right edge of the left image output device  2211  is adjacent to a left edge of the central image output device  2210  in such a manner that the screen of the central image output device  2210  and the screen of the left image output device  2211  form an inclination angle θ 1  (e.g., 120°≤θ 1 ≤150°). As shown in  FIG. 2 , a left edge of the right image output device  2212  is adjacent to a right edge of the central image output device  2210  in such a manner that the screen of the central image output device  2210  and the screen of the right image output device  2212  form an inclination angle θ 2  (e.g., 120°≤θ 2 ≤150°). The inclination angles θ 1  and θ 2  may be the same or different. 
     The respective screens of the central image output device  2210 , the left image output device  2211  and the right image output device  2212  may be parallel to a vertical direction, or inclined to the vertical direction. At least one image output device of the central image output device  2210 , the left image output device  2211  and the right image output device  2212  may be constituted of a plurality of divided image output devices. For example, the central image output device  2210  may be constituted of a pair of image output devices each including a substantially rectangular screen, the devices being adjacent to each other in an up-down direction. 
     The number of image output devices included in the image output device  221  may be arbitrarily changed. For example, the image output device  221  may be constituted of one image output device having a curved or bent surface to surround a front of the seat St. The image output device  221  may be constituted of four or more flat image output devices laterally continuously arranged to surround the front of the seat St. 
     The acoustic output device  222  is constituted of one or more speakers, and constituted of a central acoustic output device  2220 , a left acoustic output device  2221  and a right acoustic output device  2222  arranged behind the seat St, respectively in a left arm rest rear part and a right arm rest rear part, for example, as shown in  FIG. 2 . The central acoustic output device  2220 , the left acoustic output device  2221  and the right acoustic output device  2222  may have the same specification or different specifications. 
     (Configuration of Work Machine) 
     The work machine  40  comprises an actual machine control device  400 , an actual machine input interface  41 , an actual machine output interface  42 , and a work mechanism  440 . The actual machine control device  400  is constituted of an arithmetic processing device (a single core processor or a multicore processor or a processor core included in the multicore processor), and reads required data and software from a storage device such as a memory, and executes arithmetic processing of the data as a target in accordance with the software. 
     The work machine  40  is, for example, a crawler excavator (construction machine), and comprises a crawler type lower running body  410 , and an upper pivot body  420  pivotally mounted on the lower running body  410  via the pivot mechanism  430 , as shown in  FIG. 3 . The work machine  40  comprises an engine  460  as a drive source. The upper pivot body  420  has a front left part provided with a cab  424  (driver cab). The upper pivot body  420  has a front central part provided with the work mechanism  440 . 
     The actual machine input interface  41  comprises an actual machine operation mechanism  411 , an actual machine image capturing device  412 , and a positioning device  414 . The actual machine operation mechanism  411  comprises a plurality of operation levers arranged around a seat disposed in the cab  424  in the same manner as in the remote operation mechanism  211 . A drive mechanism or a robot which receives a signal corresponding to an operation mode of a remote operation lever and moves an actual machine operation lever based on the received signal is provided in the cab  424 . The actual machine image capturing device  412  is installed, for example, in the cab  424 , and captures an image of an environment including at least a part of the work mechanism  440  through a front window and a pair of left and right side windows. The front window and side windows may be partially or entirely omitted. The positioning device  414  is constituted of a GPS, a gyro sensor and the like as required. 
     The actual machine output interface  42  comprises actual machine wireless communication equipment  422 . 
     As shown in  FIG. 3 , the work mechanism  440  as a work mechanism comprises a boom  441  risably and lowerably mounted on the upper pivot body  420 , an arm  443  rotatably coupled to a tip of the boom  441 , and a bucket  445  rotatably coupled to a tip of the arm  443 . In the work mechanism  440 , the boom cylinder  442 , the arm cylinder  444  and the bucket cylinder  446  are mounted, each of which is constituted of an expandable and contractible hydraulic cylinder. 
     The boom cylinder  442  is interposed between the boom  441  and the upper pivot body  420  in such a manner that the boom cylinder receives supply of hydraulic oil and expands and contracts to rotate the boom  441  in a rising and lowering direction. The arm cylinder  444  is interposed between the arm  443  and the boom  441  in such a manner that the arm cylinder receives supply of hydraulic oil and expands and contracts to rotate the arm  443  relative to the boom  441  around a horizontal axis. The bucket cylinder  446  is interposed between the bucket  445  and the arm  443  in such a manner that the bucket cylinder receives supply of hydraulic oil and expands and contracts to rotate the bucket  445  relative to the arm  443  around the horizontal axis. 
     As shown in  FIG. 4 , the work machine  40  comprises an actual machine power source  80 , an actual machine switch  81 , a five-pin relay  82 , and a four-pin relay  84 . 
     The actual machine power source  80  is constituted of, for example, a secondary battery such as a lithium ion battery and/or a fuel battery and/or a capacitor. 
     The actual machine switch  81  is a switch that makes it possible to remotely operate the work machine  40  with the remote operation apparatus  20 . The actual machine switch  81  is provided, for example, in the cab  424 . 
     As shown in  FIG. 4 , the actual machine control device  400  comprises a switch terminal  480 , a power source terminal  481  and a ground terminal  482 . The actual machine control device  400  has a function of switching the ground terminal  482  to be grounded or non-grounded in response to a command from the remote operation apparatus  20 . 
     As shown in  FIG. 4 , the five-pin relay  82  is configured in such a manner that in a case where a pair of excitation terminals  823  and  824  are not energized, a reference relay terminal  820  and a first relay terminal  821  are connected, and in a case where the pair of excitation terminals  823  and  824  are energized, the reference relay terminal  820  and a second relay terminal  822  are connected. In the pair of excitation terminals  823  and  824 , one excitation terminal  824  on a downstream side seen from the actual machine power source  80  is grounded. 
     As shown in  FIG. 4 , the four-pin relay  84  is configured in such a manner that in a case where a pair of excitation terminals  843  and  844  are not energized, a pair of relay terminals  840  and  842  are cut off, and in a case where the pair of excitation terminals  843  and  844  are energized, the pair of relay terminals  840  and  842  are connected. 
     As shown in  FIG. 4 , the actual machine power source  80  is connected to the switch terminal  480  of the actual machine control device  400  through the actual machine switch  81 . The actual machine power source  80  is connected to the power source terminal  481  of the actual machine control device  400  through the actual machine switch  81 , and the reference relay terminal  820  and the first relay terminal  821  of the five-pin relay  82  in order. The actual machine power source  80  is connected to the power source terminal  481  of the actual machine control device  400  through the pair of relay terminals  840  and  842  of the four-pin relay  84  and a forward first diode  881  in order. The actual machine power source  80  is connected to the excitation terminal  823  on an upstream side seen from the actual machine power source  80  in the pair of excitation terminals  823  and  824  of the five-pin relay  82  through the pair of relay terminals of the four-pin relay  84 , and a forward second diode  882  in order. The actual machine power source  80  is connected to the ground terminal  482  of the actual machine control device  400  through the pair of excitation terminals  843  and  844  of the four-pin relay  84 . The actual machine power source  80  is connected between the second diode  882  and the upstream-side excitation terminal  823  of the five-pin relay  82  through the actual machine switch  81 , the reference relay terminal  820  and the second relay terminal  822  of the five-pin relay  82 , and a forward third diode  883  in order. 
     (Function of Remote Operation Support System) 
       FIG. 5  is a flowchart explaining a basic function of the remote operation support system with the above configuration. In the flowchart, each block denoted with a reference sign starting with “C” is used for simplicity of description, and the block has a meaning of transmission and/or reception of data and a meaning of conditional branch to execute processing in a branch direction on a condition of the transmission and/or reception of the data. The received data is stored in the storage device constituted of the database  102  and/or a nonvolatile or volatile memory. 
     In the remote operation apparatus  20 , it is determined whether a designating operation through the remote input interface  210  by the operator is present ( FIG. 5 /STEP 210 ). “The designating operation” is, for example, a tapping operation in the remote input interface  210  to designate the work machine  40  intended to be remotely operated by the operator. If the determination result is negative ( FIG. 5 /NO in STEP 210 ), a series of processing ends. On the other hand, if the determination result is positive ( FIG. 5 /YES in STEP 210 ), an environment confirmation request is transmitted to the remote operation support server  10  through the remote wireless communication equipment  224  ( FIG. 5 /STEP 212 ). 
     In the remote operation support server  10 , in a case where the environment confirmation request is received, the first support processing element  121  transmits the environment confirmation request to the corresponding work machine  40  ( FIG. 5 /C 110 ). 
     In the work machine  40 , in a case where the environment confirmation request is received through the actual machine wireless communication equipment  422  ( FIG. 5 /C 410 ), the actual machine control device  400  acquires a captured image through the actual machine image capturing device  412  ( FIG. 5 /STEP 410 ). Here, image processing may be executed by the actual machine control device  400  or an image processing device included in this actual machine control device. Captured image data subjected to the image processing is transmitted to the remote operation support server  10  through the actual machine wireless communication equipment  422  by the actual machine control device  400  ( FIG. 5 /STEP 412 ). 
     In the remote operation support server  10 , in a case where the captured image data is received by the first support processing element  121  ( FIG. 5 /C 112 ), environment image data corresponding to the captured image is transmitted to the remote operation apparatus  20  by the second support processing element  122  ( FIG. 5 /STEP 110 ). The environment image data is captured image data itself, and is additionally image data representing a simulated environment image generated based on the captured image. In a case where an image processing device  30  is constituted of the remote operation support server  10 , the environment image data may be generated by subjecting the captured image data to image processing by the image processing device  30 . 
     In the remote operation apparatus  20 , in a case where the environment image data is received through the remote wireless communication equipment  224  ( FIG. 5 /C 210 ), an environment image corresponding to the environment image data is outputted to the image output device  221  by the remote control device  200  ( FIG. 5 /STEP 214 ). 
     Consequently, for example, as shown in  FIG. 6 , in the environment image outputted to the image output device  221 , the boom  441  and the arm  443  which are parts of the work mechanism  440  and a pile of rubble or earth and sand (object of a work by the bucket  445 ) are reflected in front of the cab  424  through a window frame constituted of a right window frame Q 1 , an upper window frame Q 2 , a left window frame Q 3  and a lower window frame Q 4  which define the cab  424 . The environment image may be generated in such a manner that at least parts of the window frames Q 1  to Q 4  are not reflected, by image processing of the captured image or by view angle adjustment of the actual machine image capturing device  412 . In a case where the actual machine image capturing device  412  is not provided in the cab  424  but is provided outside, a captured image in which constituent components of the cab  424 , such as the window frames Q 1  to Q 4 , are not reflected, eventually the environment image can be acquired. 
     In the remote operation apparatus  20 , the remote control device  200  recognizes an operation mode of the remote operation mechanism  211  ( FIG. 5 /STEP 216 ), and a remote operation command corresponding to the operation mode is transmitted to the remote operation support server  10  through the remote wireless communication equipment  224  ( FIG. 5 /STEP 218 ). 
     In the remote operation support server  10 , in a case where the remote operation command is received by the second support processing element  122 , the remote operation command is transmitted to the work machine  40  by the first support processing element  121  ( FIG. 5 /C 114 ). 
     In the work machine  40 , in a case where an operation command is received by the actual machine control device  400  through the actual machine wireless communication equipment  422  ( FIG. 5 /C 412 ), an operation of the work mechanism  440  or the like is controlled ( FIG. 5 /STEP 414 ). For example, a work of scooping soil in front of the work machine  40  with the bucket  445 , pivoting the upper pivot body  420  and dropping the soil from the bucket  445  is executed. 
     (Function of Work Machine) According to the work machine  40  with the above configuration, in an initial state, as shown in  FIG. 4 , the actual machine switch  81  is off, the reference relay terminal  820  and the first relay terminal  821  of the five-pin relay  82  are connected, and the pair of relay terminals  840  and  842  of the four-pin relay  84  are not connected. Here, as shown in  FIG. 7 , on switching the actual machine switch  81  from off to on (see  FIG. 7 /an arc arrow S 11 ), a first power supply route to the actual machine control device  400  is formed from the actual machine power source  80  through the actual machine switch  81  in an on-state, the reference relay terminal  820  and the first relay terminal  821  of the five-pin relay  82 , and the power source terminal  481  in order (see  FIG. 7 /a dashed chain line arrow X 1 ). Consequently, the actual machine control device  400  transits from a power supply cutoff state to a power supply state. 
     Afterward, when electric power is supplied from the actual machine power source  80  through the actual machine switch  81  in the on-state and the switch terminal  480 , the actual machine control device  400  detects that the actual machine switch  81  is switched from off to on (see  FIG. 7 /a solid line arrow X 2 ). According to the detection result, in the actual machine control device  400 , the ground terminal  482  is switched from a non-grounded state to a grounded state (see  FIG. 7 /an arc arrow S 12 ). 
     As a result, current flows from the actual machine power source  80  across the pair of excitation terminals  843  and  844  of the four-pin relay  84  (see  FIG. 7 /a dashed arrow X 3 ), and in response to this, the pair of relay terminals  840  and  842  of the four-pin relay  84  are switched from a non-connected state to a connected state (see  FIG. 7 /an arc arrow S 13 ). Consequently, a second power supply route to the actual machine control device  400  is formed from the actual machine power source  80  through the pair of relay terminals  840  and  842  of the four-pin relay  84 , the forward first diode  881  and the power source terminal  481  in order (see  FIG. 7 /a double-dashed chain line arrow X 4 ). 
     Also, current flows between the pair of excitation terminals  823  and  824  of the five-pin relay  82  from the actual machine power source  80  through the pair of relay terminals  840  and  842  of the four-pin relay  84  and the forward second diode  882  (see  FIG. 7 /a dashed arrow X 5 ), and in response to this, a connection destination of the reference relay terminal  820  of the five-pin relay  82  is switched from the first relay terminal  821  to the second relay terminal  822  (see  FIG. 7 /an arc arrow S 14 ). Consequently, current flows from the second relay terminal  822  of the five-pin relay  82  via the third diode  883  through the pair of excitation terminals  823  and  824  of the five-pin relay  82 , and the five-pin relay  82  is in a self-excitation state (see  FIG. 7 /a dotted arrow X 6 ). 
     Further, the first power supply route (see  FIG. 7 /the dashed chain line arrow X 1 ) is cut off, while the second power supply route not through the actual machine switch  81  (see  FIG. 7 /the double-dashed chain line arrow X 4 ) is maintained. 
     Consequently, the actual machine control device  400  has a power-on state maintained as it is. Then, switching of the actual machine control device  400  to the power-on state and a power-off state is controlled only by the actual machine control device  400  itself. 
     Specifically, in a case where the remote operation apparatus  20  sends a power-off command to the actual machine control device  400 , as shown in  FIG. 8 , the ground terminal  482  is switched from a grounded state to a non-grounded state by the actual machine control device  400  (see  FIG. 8 /an arc arrow S 21 ). 
     In response to this switching, the current from the actual machine power source  80  across the pair of excitation terminals  843  and  844  of the four-pin relay  84  (see  FIG. 7 /the dashed arrow X 3 ) does not flow, and the pair of relay terminals  840  and  842  of the four-pin relay  84  are switched from the connected state to the non-connected state (see  FIG. 8 /an arc arrow S 22 ). Consequently, the second power supply route to the actual machine control device  400  from the actual machine power source  80  through the pair of relay terminals  840  and  842  of the four-pin relay  84  and the forward first diode  881  in order (see  FIG. 7 /the double-dashed chain line arrow X 4 ) is cut off, and the actual machine control device  400  is switched from power-on to power-off. Also, the current between the pair of excitation terminals  823  and  824  of the five-pin relay  82  from the actual machine power source  80  through the pair of relay terminals  840  and  842  of the four-pin relay  84  and the forward second diode  882  (see  FIG. 7 /the dashed arrow X 5 ) does not flow. 
     In the remote operation support system with the above configuration, when the remote operation of the work machine  40  by the remote operation apparatus  20  ends, the power-off command is issued from the remote operation apparatus  20  to the actual machine control device  400 . The power-off command may be manually issued by the operator, or may be automatically issued. 
     For example, when the remote operation of the work machine  40  by the remote operation apparatus  20  ends, the power-off command may be issued by receiving, in the remote input interface  210 , an operation to issue the power-off command by the operator. 
     Alternatively, for example, when determining that a predetermined work is ended by the remote operation of the work machine  40  by the remote operation apparatus  20 , the power-off command may be issued, or when determining that the remote operation mechanism  211  is not operated continuously for a predetermined time, the power-off command may be issued. 
     Consequently, in conjunction with the end of the remote operation of the work machine  40  by the remote operation apparatus  20 , the power-off command is issued to the actual machine control device  400 , and the second power supply route to the actual machine control device  400  is cut off. 
     Afterward, in a case where the actual machine switch  81  is switched from on to off (see  FIG. 8 /an arc arrow S 23 ), the current from the actual machine power source  80  across the pair of excitation terminals  823  and  824  of the five-pin relay  82  (see  FIG. 7 /the dotted arrow X 6 ) does not flow, and in response to this, the connection destination of the reference relay terminal  820  of the five-pin relay  82  is switched from the second relay terminal  822  to the first relay terminal  821  (see  FIG. 8 /an arc arrow S 24 ). As a result, the work machine  40  returns to such an initial state as shown in  FIG. 7 . 
     On returning to the initial state, the second power supply route to the actual machine control device  400  (see  FIG. 7 /the double-dashed chain line arrow X 4 ) is formed by switching the actual machine switch  81  from off to on again (see  FIG. 7 /the arc arrow S 11 ). 
     In the present embodiment, the ground terminal  482  is switched from the grounded state to the non-grounded state by the actual machine control device  400 , then the pair of relay terminals  840  and  842  of the four-pin relay  84  are switched from the connected state to the non-connected state, then the actual machine switch  81  is switched from on to off, and the connection destination of the reference relay terminal  820  of the five-pin relay  82  is switched from the second relay terminal  822  to the first relay terminal  821  (see  FIG. 8 /the arc arrows S 21 , S 22 , S 23  and S 24  in order), but this switching order may be varied. 
     For example, first, in the case where the actual machine switch  81  is switched from on to off (see  FIG. 8 /the arc arrow S 23 ), the electric power from the actual machine power source  80  through the switch terminal  480  (see  FIG. 7 /the solid line arrow X 2 ) is not supplied, the actual machine control device  400  detects that the actual machine switch  81  is switched from on to off. According to the detection result, the actual machine control device  400  switches the ground terminal  482  from the grounded state to the non-grounded state (see  FIG. 8 /the arc arrow S 21 ). In response to this switching, the current from the actual machine power source  80  across the pair of excitation terminals  843  and  844  of the four-pin relay  84  (see  FIG. 7 /the dashed arrow X 3 ) does not flow, and the pair of relay terminals  840  and  842  of the four-pin relay  84  are switched from the connected state to the non-connected state (see  FIG. 8 /the arc arrow S 22 ). Consequently, the second power supply route to the actual machine control device  400  from the actual machine power source  80  through the pair of relay terminals  840  and  842  of the four-pin relay  84  and the forward first diode  881  in order (see  FIG. 7 /the double-dashed chain line arrow X 4 ) is cut off, and the actual machine control device  400  is switched from power-on to power-off. Also, the current between the pair of excitation terminals  823  and  824  of the five-pin relay  82  from the actual machine power source  80  through the pair of relay terminals  840  and  842  of the four-pin relay  84  and the forward second diode  882  (see  FIG. 7 /the dashed arrow X 5 ) does not flow. 
     Then, in response to no flow of the current (see  FIG. 7 /the dotted arrow X 6 ) from the actual machine power source  80  across the pair of excitation terminals  823  and  824  of the five-pin relay  82 , the connection destination of the reference relay terminal  820  of the five-pin relay  82  is switched from the second relay terminal  822  to the first relay terminal  821  (see  FIG. 8 /the arc arrow S 24 ). As a result, the work machine  40  returns to the initial state. 
     Specifically, in response to the switching of the actual machine switch  81  from on to off, the actual machine control device  400  switches the ground terminal  482  from the grounded state to the non-grounded state, then the pair of relay terminals  840  and  842  of the four-pin relay  84  are switched from the connected state to the non-connected state, and then the connection destination of the reference relay terminal  820  of the five-pin relay  82  is switched from the second relay terminal  822  to the first relay terminal  821  (see  FIG. 8 /the arc arrows S 23 , S 21 , S 22  and S 24  in order). Therefore, both the first power supply route (see  FIG. 7 /the dashed chain line arrow X 1 ) and the second power supply route (see  FIG. 7 /the double-dashed chain line arrow X 4 ) are cut off. 
     (Effects) 
     Therefore, once the actual machine switch  81  is switched from off to on, the switching between the power-on state and the power-off state of the actual machine control device  400  is controlled by the actual machine control device  400  itself, and the work machine  40  does not wait for communication after the end of the remote operation. 
     Specifically, the second power supply route to the actual machine control device  400  is cut off immediately after the end of the remote operation of the work machine  40  by the remote operation apparatus  20 , and hence energy such as electric power for communication is not wasted. 
     Consequently, the power supply route to the actual machine control device  400  can be cut off, without the operator visiting the work machine  40  to turn the actual machine switch  81  from on to off. 
     To remotely operate the work machine  40  again after the power supply route to the actual machine control device  400  is cut off, it is necessary for the operator to visit the work machine  40  and switch the actual machine switch  81  from on to off. However, it is necessary for the operator to visit the work machine  40  and inspect the work machine  40  before remotely operating the work machine  40 , and a switching work of the actual machine switch  81  may be included in this inspection work and performed, which does not add to the operator burden. 
     Also, even in a case where the operator visits the work machine  40  to turn off the actual machine switch  81 , both the first power supply route (see  FIG. 7 /the dashed chain line arrow X 1 ) and the second power supply route (see  FIG. 7 /the double-dashed chain line arrow X 4 ) are cut off in response to the switching of the actual machine switch  81  from on to off. 
     Another Embodiment of Present Invention 
     At least part of functional elements of the remote operation support server  10  may be constituted of the remote operation apparatus  20  and/or the work machine  40 . For example, the first support processing element  121  may be constituted of the remote control device  200  and/or the actual machine control device  400  as a first arithmetic processing device. The second support processing element  122  may be constituted of the remote control device  200  and/or the actual machine control device  400  as a second arithmetic processing device. In a case where the functional element of the remote operation support server  10  is mounted in the remote operation apparatus  20 , information may be communicated by wired communication through wired network mounted in the remote operation apparatus  20  in place of the wireless communication in the above embodiment. Similarly, in a case where the functional element of the remote operation support server  10  is mounted in the work machine  40 , information may be communicated by wired communication through wired network mounted in the work machine  40  in place of the wireless communication in the above embodiment. 
     Depending on the on/off state of the actual machine switch  81 , operation control of the work machine  40  in response to the remote operation by use of the remote operation mechanism  211  by an operator in the remote operation apparatus  20 , or operation control of the work machine  40  in response to an actual machine operation by use of the actual machine operation mechanism  411  by an operator in the work machine  40  may be selectively switched. For example, in a case where the actual machine switch  81  is switched on, the operation control of the work machine  40  in response to the remote operation by use of the remote operation mechanism  211  is made effective, and in a case where the actual machine switch  81  is switched off, the operation control of the work machine  40  in response to the remote operation by use of the remote operation mechanism  211  is made ineffective. Consequently, when the operator who boards the work machine  40  operates the actual machine, the operation of the work machine  40  can be prevented from being influenced or interfered from the remote operation, by switching off the actual machine switch  81 . 
     The actual machine control device  400  may control the operation of the engine  460  depending on each of an operation command and an operation prohibiting command for the engine  460  as commands from the remote operation apparatus  20 . Consequently, the actual machine control device  400  may stop only the engine  460 , for example, in a state where the ground terminal  482  is maintained in the grounded state, or may switch the ground terminal  482  to the non-grounded state and further stop the engine  460 . 
     For example, the remote operation of the work machine  40  by the remote operation apparatus  20  may be interrupted. In this case, if the first power supply route (see  FIG. 7 /the dashed chain line arrow X 1 ) and the second power supply route (see  FIG. 7 /the double-dashed chain line arrow X 4 ) to the actual machine control device  400  are cut off, for returning the work machine  40  to the initial state shown in  FIG. 7 , the operator needs to visit the work machine  40  to switch the actual machine switch  81  from on to off, so that the remote operation of the work machine  40  by the remote operation apparatus  20  cannot be restarted quickly. Therefore, in a case where the remote operation of the work machine  40  by the remote operation apparatus  20  is interrupted, the operation prohibiting command for the engine  460  is sent as the command from the remote operation apparatus  20  to temporarily stop the operation of the engine  460 , so that fuel can be prevented from being wasted. Also, in a case where the remote operation of the work machine  40  by the remote operation apparatus  20  is resumed, the operation command for the engine  460  is sent as the command from the remote operation apparatus  20  to start the engine  460  again, so that the remote operation of the work machine  40  by the remote operation apparatus  20  can be quickly restarted without the operator visiting the work machine  40 . 
     Also, at the end of the remote operation of the work machine  40  by the remote operation apparatus  20 , the first power supply route (see  FIG. 7 /the dashed chain line arrow X 1 ) and the second power supply route (see  FIG. 7 /the double-dashed chain line arrow X 4 ) to the actual machine control device  400  are cut off, and hence the work machine  40  is not operated. Consequently, at the end of the remote operation of the work machine  40  by the remote operation apparatus  20 , the operation of the engine  460  can be stopped by automatically sending the operation prohibiting command for the engine  460  as the command from the remote operation apparatus  20 . 
     REFERENCE SIGNS LIST 
     
         
           10  remote operation support server 
           20  remote operation apparatus 
           40  work machine 
           41  actual machine input interface 
           42  actual machine output interface 
           80  actual machine power source 
           81  actual machine switch 
           82  five-pin relay 
           84  four-pin relay 
           102  database 
           121  first support processing element 
           122  second support processing element 
           200  remote control device 
           210  remote input interface 
           211  remote operation mechanism 
           220  remote output interface 
           221  image output device 
           222  acoustic output device 
           224  remote wireless communication equipment 
           400  actual machine control device 
           424  cab (driver cab) 
           440  work mechanism 
           445  bucket (work unit) 
           460  engine 
           480  switch terminal 
           481  power source terminal 
           482  ground terminal 
           820  reference relay terminal 
           821  first relay terminal 
           822  second relay terminal 
           823  upstream-side excitation terminal 
           824  downstream-side excitation terminal 
           840  upstream-side relay terminal 
           842  downstream-side relay terminal 
           843  upstream-side excitation terminal 
           844  downstream-side excitation terminal 
           881  first diode 
           882  second diode 
           883  third diode 
         
           FIG. 1 
         
           10  REMOTE OPERATION SUPPORT SERVER 
           102  DATABASE 
           121  FIRST SUPPORT PROCESSING ELEMENT 
           122  SECOND SUPPORT PROCESSING ELEMENT 
           40  WORK MACHINE 
           400  ACTUAL MACHINE CONTROL DEVICE 
           41  ACTUAL MACHINE INPUT INTERFACE 
           411  ACTUAL MACHINE OPERATION MECHANISM 
           412  IMAGE CAPTURING DEVICE 
           414  POSITIONING DEVICE 
           42  ACTUAL MACHINE OUTPUT INTERFACE 
           422  ACTUAL MACHINE WIRELESS COMMUNICATION EQUIPMENT 
           440  WORK MECHANISM (WORK ATTACHMENT) 
         # 1  OPERATOR 
         # 2  NETWORK 
           20  REMOTE OPERATION APPARATUS 
           200  REMOTE CONTROL DEVICE 
           210  REMOTE INPUT INTERFACE 
           211  REMOTE OPERATION MECHANISM 
           220  REMOTE OUTPUT INTERFACE 
           221  IMAGE OUTPUT DEVICE 
           224  REMOTE WIRELESS COMMUNICATION EQUIPMENT 
         
           FIG. 4 
         
           400  ACTUAL MACHINE CONTROL DEVICE 
         
           FIG. 5 
         
           40  WORK MACHINE 
         STEP 410  ACQUIRE CAPTURED IMAGE 
         STEP 412  TRANSMIT CAPTURED IMAGE DATA 
         STEP 414  CONTROL OPERATION OF WORK MACHINE OR THE LIKE 
           10  REMOTE OPERATION SUPPORT SERVER 
         STEP 110  TRANSMIT ENVIRONMENT IMAGE DATA 
           20  REMOTE OPERATION APPARATUS 
         STEP 210  IS DESIGNATING OPERATION PRESENT? 
         STEP 212  TRANSMIT ENVIRONMENT CONFIRMATION REQUEST 
         STEP 214  OUTPUT ENVIRONMENT IMAGE 
         STEP 216  RECOGNIZE OPERATION MODE OF REMOTE OPERATION MECHANISM 
         STEP 218  TRANSMIT REMOTE OPERATION COMMAND 
         
           FIG. 7 
         
           400  ACTUAL MACHINE CONTROL DEVICE 
         
           FIG. 8 
         
           400  ACTUAL MACHINE CONTROL DEVICE