Patent Publication Number: US-11663748-B2

Title: Display control device, display control system, and display control method

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a National Stage application under 35 U.S.C. § 371 of International Application No. PCT/JP2019/028255, filed on Jul. 18, 2019, which claims priority to Japanese Patent Application No. 2018-163775, filed on Aug. 31, 2018. The contents of the prior applications are incorporated herein in their entirety. 
     TECHNICAL FIELD 
     The present invention relates to a method for manufacturing a reactor and a reactor. 
     BACKGROUND ART 
     A technique of performing remote operation of a loading vehicle is known. In order to perform remote operation of the loading vehicle, it is necessary to be able to recognize a situation surrounding the loading vehicle from the outside. For this reason, the loading vehicle performed remote operation includes an imaging device that images a surrounding situation and a communication device that transmits the captured image to the outside. Accordingly, an operator can perform operation while visually recognizing the image transmitted from the loading vehicle. 
     In addition, Patent Literature 1 discloses a technique of displaying the loadage of a transport vehicle on a display device of the loading vehicle. 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1 
     PCT International Publication No. WO2013/065415 
     SUMMARY OF INVENTION 
     Technical Problem 
     In a case of performing remote operation of the loading vehicle, the operator visually recognizes the transport vehicle from the image displayed on a display. Thus, it is difficult to recognize the loadage of the transport vehicle. 
     An object of an aspect of the present invention is to provide a display control device, a display control system, and a display control method, which allow an operator of a loading vehicle related to remote control to visually recognize the loadage of a transport vehicle easily. 
     Solution to Problem 
     A first aspect of the present invention provides a display control device for a display device. The display control device includes: a captured image acquisition unit that is configured to acquire an image captured by an imaging device mounted on a loading vehicle; a loaded weight acquisition unit that is configured to acquire a loaded weight measured by a weight scale mounted on a transport vehicle; a display image generation unit that is configured to generate a display image obtained by disposing an image showing the loaded weight on the captured image; and a display control unit that is configured to output the display image to the display device. 
     Advantageous Effects of Invention 
     In the at least one aspect, the display control device allows the operator of the loading vehicle related to remote control to visually recognize the loadage of the transport vehicle easily. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a schematic view illustrating a configuration of an operation system according to a first embodiment. 
         FIG.  2    is a diagram illustrating an example of a travel route. 
         FIG.  3    is an external view of a loading vehicle according to the first embodiment. 
         FIG.  4    is an example of an image captured by an imaging device of the loading vehicle according to the first embodiment. 
         FIG.  5    is a schematic block diagram showing a configuration of a controlling gear according to the first embodiment. 
         FIG.  6    is a flowchart showing an operation method of the controlling gear according to the first embodiment. 
         FIG.  7    is a schematic block diagram showing a configuration of a control device of a remote operation room according to the first embodiment. 
         FIG.  8    is a view illustrating an example of an image cut out from an image captured by a front camera. 
         FIG.  9    is a view illustrating an example of a display image displayed by a display device according to the first embodiment. 
         FIG.  10    is a flowchart showing a display control method implemented by the control device for the remote operation room according to the first embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     First Embodiment 
     &lt;&lt;Remote Operation System&gt;&gt; 
       FIG.  1    is a schematic view illustrating a configuration of an operation system according to a first embodiment. 
     An operation system  1  includes one or a plurality of loading vehicles  100  that operate through remote control, a plurality of transport vehicles  200 , a controlling gear  300 , an access point  400 , and one or a plurality of remote operation rooms  500  that perform remote operation of the loading vehicles  100 . 
     The transport vehicle  200  travels in an unmanned manner along a travel route based on course data (for example, speed information and coordinates for which an unmanned transport car is to head) received from the controlling gear  300 . The transport vehicle  200  and the controlling gear  300  are connected to each other through communication via the access point  400 . The controlling gear  300  acquires a position and an azimuth direction from the transport vehicle  200  and generates course data used in the traveling of the transport vehicle  200  based on the position and the azimuth direction. The controlling gear  300  transmits the course data to the transport vehicle  200 . The transport vehicle  200  travels in an unmanned manner based on the received course data. That is, the operation system  1  includes an unmanned transfer system configured of the transport vehicle  200  and the controlling gear  300 . The operation system  1  according to the first embodiment includes the unmanned transfer system, but some or all of transport cars may be operated in a manned manner in another embodiment. In this case, it is not necessary for the controlling gear  300  to transmit course data and an instruction related to loading, but the controlling gear acquires the position and azimuth direction of the transport car. 
     The loading vehicle  100  is performed remote operation in response to an operation signal transmitted from the remote operation room  500 . The loading vehicle  100  and the remote operation room  500  are connected to each other through communication via the access point  400 . A control device  550  of the remote operation room  500  receives operation of the loading vehicle  100  from an operator and transmits the operation signal to the loading vehicle  100 . The loading vehicle  100  is driven in response to the operation signal received from the remote operation room  500 . That is, the operation system  1  includes a remote operating system configured of the loading vehicle  100  and the remote operation room  500 . 
     The loading vehicle  100  and the transport vehicle  200  operate at a work site (for example, a mine and a quarry). The remote operation room  500  is provided at a point separated away from the loading vehicle  100  and the transport vehicle  200  (for example, a city and an inside of the work site). 
     &lt;&lt;Travel Route&gt;&gt; 
       FIG.  2    is a diagram illustrating an example of a travel route. 
     A travel route R to be traveled is set for the transport vehicle  200 . The travel route R has a connection route R 1  which connects two areas A (for example, a loading site A 1  and a dumping site A 2 ) to each other and is determined in advance, an access route R 2 , an approach route R 3 , and an exit route R 4 , which are routes in each area A. The access route R 2  is a route that connects a standby point P 1 , which is one end of the connection route R 1  in each area A, and a predetermined turning point P 2  to each other. The approach route R 3  is a route that connects the turning point P 2  and a loading point P 3  or a dumping point P 4  to each other in each area A. The exit route R 4  is a route that connects the loading point P 3  or the dumping point P 4  and an exit point P 5 , which is the other end of the connection route R 1 , to each other in each area A. The loading point P 3  is a point set by operation by the operator of the loading vehicle  100 . The turning point P 2  is a point set by the controlling gear  300  according to the position of the loading point P 3  or the dumping point P 4 . 
     &lt;&lt;Remote Operation Room&gt;&gt; 
     The remote operation room  500  includes an operator&#39;s seat  510 , a display device  520 , a first operation device  530 , a second operation device  540 , and the control device  550 . 
     The display device  520  is disposed to face the operator&#39;s seat  510 . In the embodiment, the term “face” refers to a state where the front of the display device and the front of the operator&#39;s seat face each other so as to be parallel to each other or intersecting each other at an obtuse angle. The display device  520  is positioned in front of the operator&#39;s eyes when the operator sits in the operator&#39;s seat  510 . As illustrated in  FIG.  1   , the display device  520  is configured of a central display  521 , a left display  522 , a right display  523 , an upper display  524 , and a lower display  525 , which are arranged side by side. The left display  522  is provided on the left of the central display  521 . The right display  523  is provided on the right of the central display  521 . The upper display  524  is provided above the central display  521 . The lower display  525  is provided below the central display  521 . 
     In another embodiment, the number of displays configuring the display device  520  is not limited thereto. For example, the display device  520  may be configured of one display. In addition, the display device  520  may project an image on a curved surface or a spherical surface with a projector. 
     The first operation device  530  is an operation device for the remote operating system. The first operation device  530  is positioned within a range where the operator can operate when the operator sits in the operator&#39;s seat  510 . The first operation device  530  includes, for example, an electric lever and an electric pedal. The first operation device  530  receives inputs of a raising operation signal and lowering operation signal of a boom  131 , a pushing operation signal and pulling operation signal of an arm  132 , an excavating operation signal and dumping operation signal of a bucket  133 , a swinging operation signal of a swing body  120 , and a traveling operation signal of a travel body  110 . 
     The second operation device  540  is an operation device for the unmanned transfer system. The second operation device  540  is positioned within a range where the operator can operate when the operator sits in the operator&#39;s seat  510 . The second operation device  540  is configured of a touch panel. The second operation device  540  receives inputs of a loading point instruction signal, an accessing instruction signal, and a departure instruction signal for the transport vehicle  200 . The second operation device  540  transmits the input operation signals to the controlling gear  300 . The remote operation room  500  according to another embodiment may not include the second operation device  540 . 
     The control device  550  causes the display device  520  to display an image and vehicle body information which are received from loading vehicle  100 . That is, the control device  550  is an example of a display control device. In addition, the control device  550  transmits an operation signal input in the first operation device  530  to the loading vehicle  100 . 
     &lt;&lt;Transport Vehicle&gt;&gt; 
     The transport vehicle  200  according to the first embodiment is an off-road dump truck including a vessel. The transport vehicle  200  according to another embodiment may be a transport car other than a dump truck. 
     The transport vehicle  200  includes a position and azimuth direction calculator  210 , a payload meter  215 , and a control device  220 . 
     The position and azimuth direction calculator  210  calculates the position and azimuth direction of the transport vehicle  200 . The position and azimuth direction calculator  210  includes two receivers that receive positioning signals from an artificial satellite that configures Global Navigation Satellite System (GNSS). An example of GNSS is the Global Positioning System (GPS). The two receivers are provided at positions different from each other on the transport vehicle  200 . The position and azimuth direction calculator  210  detects the position of the transport vehicle  200  in a site coordinate system based on the positioning signals received by the receivers. The position and azimuth direction calculator  210  uses the respective positioning signals received by the two receivers to calculate an azimuth direction in which the transport vehicle  200  faces as a relationship between a provision position of one receiver and a provision position of the other receiver. Without being limited thereto, in another embodiment, for example, the transport vehicle  200  may include an inertial measurement unit (IMU), and an azimuth direction may be calculated based on the measurement result from the inertial measurement device. In this case, the drift of the inertial measurement unit may be corrected based on a traveling trajectory of the transport vehicle  200 . The transport vehicle  200  according to another embodiment may not include the position and azimuth direction calculator  210 . 
     The payload meter  215  is a weight scale that measures the weight of a load loaded on the vessel of the transport vehicle  200 , that is, the loaded weight of the transport vehicle  200 . For example, the payload meter  215  may measure a pressure applied to a suspension cylinder of the transport vehicle  200  and convert the pressure into the weight. 
     The control device  220  transmits the position and the azimuth direction, which are detected by the position and azimuth direction calculator  210 , and the loaded weight measured by the payload meter  215  to the controlling gear  300 . The control device  220  receives, from the controlling gear  300 , course data, a dumping instruction, an accessing instruction to the loading point, and a departure instruction from the loading point. The control device  220  causes the transport vehicle  200  to travel according to the received course data, or moves the vessel of the transport vehicle  200  up and down according to the dumping instruction. 
     Operation signals to the transport vehicle  200  include an accessing instruction signal and a departure instruction signal. The accessing instruction signal is a signal for instructing the transport vehicle  200  to access the loading point P 3 . The departure instruction signal is a signal for instructing the transport vehicle  200  to depart from the loading site A 1  when the loading is completed. 
     In addition, the control device  220  transmits an arrival notification to the controlling gear  300  when the transport vehicle  200  has arrived at the loading point P 3  in response to the accessing instruction signal. 
     &lt;&lt;Loading Vehicle&gt;&gt; 
       FIG.  3    is an external view of the loading vehicle according to the first embodiment. 
     The loading vehicle  100  according to the first embodiment is a hydraulic excavator. The loading vehicle  100  according to another embodiment may be a loading vehicle other than the hydraulic excavator such as a wheel loader. 
     The loading vehicle  100  includes work equipment  130  that is driven by a hydraulic pressure, the swing body  120  that supports the work equipment  130 , and the travel body  110  that supports the swing body  120 . 
     The work equipment  130  includes the boom  131 , the arm  132 , and the bucket  133 . A base end portion of the boom  131  is attached to the swing body  120  via a pin. 
     The arm  132  connects the boom  131  to the bucket  133 . A base end portion of the arm  132  is attached to a tip portion of the boom  131  via a pin. 
     The bucket  133  includes a blade for excavating earth and a container for accommodating the excavated earth. A base end portion of the bucket  133  is attached to a tip portion of the arm  132  via a pin. 
     The swing body  120  includes a cab  121 . The cab  121  is provided on the left of the work equipment  130 . The cab  121  is provided with a front camera  122 . The front camera  122  is provided in an upper front portion in the cab  121 . The front camera  122  captures an image of the front of the cab  121  through a windshield in a front portion of the cab  121 . Herein, the “front” refers to a direction in which the work equipment  130  is mounted on the swing body  120 , and the “rear” refers to a direction opposite to the “front”. The “side” refers to a direction (right-and-left direction) intersecting the front-and-rear direction. An example of the front camera  122  includes an imaging device using a charge coupled device (CCD) sensor and a complementary metal oxide semiconductor (CMOS) sensor. The loading vehicle  100  according to another embodiment may not include the cab  121 . Also in this case, the front camera  122  is provided at a position corresponding to the cab  121  to image the front. In addition, in another embodiment, the front camera  122  may be configured of two or more cameras. 
       FIG.  4    is an example of an image captured by an imaging device of the loading vehicle according to the first embodiment. The front camera  122  images a range where a loading operation target, which is in front of the work equipment  130  and the cab  121 , appears. That is, in an image G 1  captured by the front camera  122 , the loading operation target, which is in front of the work equipment  130  and the cab  121 , appears as illustrated in  FIG.  4   . In addition, since the cab  121  is provided on the left of the work equipment  130 , part of the boom  131  appears in a right portion of the image G 1 . In addition, a ceiling portion of the cab  121  appears in an upper portion of the image G 1 . 
     The loading vehicle  100  includes the front camera  122 , a bucket camera  123 , a position and azimuth direction calculator  124 , an inclination measuring instrument  125 , and a control device  126 . 
     The bucket camera  123  is provided on a front surface of the arm  132  and images the inside of the bucket  133 . Hereinafter, an image captured by the bucket camera  123  will be referred to as a bucket internal image. The bucket camera  123  is an example of a sensor. The loading vehicle  100  according to another embodiment may not include the bucket camera  123 . 
     The position and azimuth direction calculator  124  calculates a position of the swing body  120  and an azimuth direction in which the swing body  120  faces. The position and azimuth direction calculator  124  includes two receivers that receive positioning signals from an artificial satellite that configures GNSS. The two receivers are provided at positions different from each other on the swing body  120 . The position and azimuth direction calculator  124  detects a position of a representative point of the swing body  120  in a site coordinate system (the origin of an excavator coordinate system) based on the positioning signals received by the receivers. 
     The position and azimuth direction calculator  124  uses the respective positioning signals received by the two receivers to calculate an azimuth direction in which the swing body  120  faces as a relationship between a provision position of one receiver and a provision position of the other receiver. 
     In another embodiment, the position and azimuth direction calculator  124  may detect an azimuth direction in which the swing body  120  faces based on a measurement value of a rotary encoder or an IMU. In addition, the loading vehicle  100  according to another embodiment may not include the position and azimuth direction calculator  124 . 
     The inclination measuring instrument  125  measures the acceleration and angular speed of the swing body  120  and detects a posture (for example, a roll angle, a pitch angle, and a yaw angle) of the swing body  120  based on the measurement result. The inclination measuring instrument  125  is provided, for example, on a lower surface of the swing body  120 . The inclination measuring instrument  125  can use, for example, an inertial measurement unit (IMU). In addition, the loading vehicle  100  according to another embodiment may not include the inclination measuring instrument  125 . 
     The control device  126  transmits, to the remote operation room  500 , information including an image captured by the front camera  122 , an image captured by the bucket camera  123 , and the swinging speed, position, azimuth direction, and inclination angle of the swing body  120 . Hereinafter, information which is measured by various sensors included in the loading vehicle  100  and is transmitted by the control device  126  will be referred to as vehicle body information. The control device  126  receives an operation signal from the remote operation room  500 . The control device  126  drives the work equipment  130 , the swing body  120 , or the travel body  110  based on the received operation signal. 
     &lt;&lt;Controlling Gear&gt;&gt; 
       FIG.  5    is a block diagram showing a configuration of the controlling gear according to the first embodiment. 
     The controlling gear  300  manages the traveling of the transport vehicle  200 . 
     The controlling gear  300  is a computer including a processor  3100 , a main memory  3200 , a storage  3300 , and an interface  3400 . The storage  3300  stores a controlling program. The processor  3100  reads the controlling program from the storage  3300  to load the controlling program in the main memory  3200  and executes processing in accordance with the controlling program. The controlling gear  300  is connected to communication means via the interface  3400 . 
     The storage  3300  has storage areas as a travel route storage unit  3302  and a vehicle information storage unit  3303 . Examples of the storage  3300  include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), and a semiconductor memory. The storage  3300  may be an internal medium directly connected to a common communication line of the controlling gear  300 , or may be an external medium connected to the controlling gear  300  via the interface  3400 . The storage  3300  is a non-transitory tangible storage medium. 
     By correlating with the loading vehicle  100 , the loading point storage unit  3301  stores identification information and coordinates of the loading point P 3  at which the loading vehicle  100  performs loading. 
     The travel route storage unit  3302  stores the travel route R shown in  FIG.  2    for each transport vehicle  200 . The controlling gear  300  receives a loading point instruction signal to prompt the operator of the loading vehicle  100  to designate the coordinates of the loading point P 3  and sets the loading point P 3  in response to the loading point instruction signal. The controlling gear  300  calculates the access route R 2 , the approach route R 3 , and the exit route R 4  each time the loading point P 3  is set. The loading point P 3  may be designated by the operator of the transport vehicle  200  who manages the transport vehicle  200  in a control room in which the controlling gear  300  is provided. 
     The vehicle information storage unit  3303  stores the position information, azimuth direction information, loaded weight, maximum loaded weight, and standby information of each transport vehicle  200 . The standby information is information indicating whether or not the transport vehicle  200  is stopped at the loading point P 3 . That is, in a case where the transport vehicle  200  is stopped at the loading point P 3 , standby information indicates “true”, and in a case where the transport vehicle  200  is not at the loading point P 3 , standby information indicates “false”. 
     By executing the controlling program, the processor  3100  includes a vehicle information collection unit  3101 , a traveling course generation unit  3102 , an operation signal transmitting unit  3103 , a notification receiving unit  3104 , an update unit  3105 , and a loaded weight transmission unit  3106 . 
     The vehicle information collection unit  3101  receives position information, azimuth direction information, and loaded weight information from the transport vehicle  200  via the access point  400 . The vehicle information collection unit  3101  causes the vehicle information storage unit  3303  to store the received position information, azimuth direction information, and loaded weight information. 
     The traveling course generation unit  3102 , based on a travel route, which is stored in the travel route storage unit  3302 , and position information and azimuth direction information, which are stored in the vehicle information storage unit  3303 , generates course data indicating an area where the movement of the transport vehicle  200  is allowed and transmits the course data to the transport vehicle  200 . The course data is, for example, information indicating an area where the transport vehicle  200  can travel at a predetermined speed within a certain period of time and does not overlap a travel route of another transport vehicle  200 . In a case where a stop signal of the transport vehicle  200  is received from the remote operation room  500 , the traveling course generation unit  3102  transmits the stop signal to the transport vehicle  200 . 
     The operation signal transmitting unit  3103  receives, from the remote operation room  500 , an operation signal to the transport vehicle  200  and transmits the operation signal to the transport vehicle  200 . The operation signal to the transport vehicle  200  includes an accessing instruction signal and a departure instruction signal. The accessing instruction signal is a signal for instructing the transport vehicle  200  to access the loading point P 3 . The departure instruction signal is a signal for instructing the transport vehicle  200  to depart from the loading site A 1  when the loading is completed. 
     The notification receiving unit  3104  receives an arrival notification from the transport vehicle  200 . 
     In a case where an arrival notification from the transport vehicle  200  is received, the update unit  3105  updates standby information correlated with the transport vehicle  200  in the vehicle information storage unit  3303  to “true”. On the other hand, in a case where a departure instruction signal is received from the remote operation room  500 , the update unit  3105  updates standby information correlated with the transport vehicle  200  in the vehicle information storage unit  3303  to “false”. 
     The loaded weight transmission unit  3106  transmits the loaded weight of the transport vehicle  200  to the remote operation room  500  for operating the loading vehicle  100  correlated with the loading point P 3  of the transport vehicle  200  whose standby information indicates “true”. That is, the loaded weight transmission unit  3106  transmits the loaded weight of a target transport vehicle, which is a loading target of the loading vehicle  100 , out of the plurality of transport vehicles  200 , to the loading vehicle  100 . The target transport vehicle of the loading vehicle  100  is the transport vehicle  200  which is stopped at the loading point P 3  correlated with the loading vehicle  100  and of which standby information indicates “true”. 
     &lt;&lt;Operation Method of Controlling Gear&gt;&gt; 
       FIG.  6    is a flowchart showing an operation method of the controlling gear according to the first embodiment. 
     The controlling gear  300  executes the following processing for each predetermined control cycle. 
     The vehicle information collection unit  3101  receives position information, azimuth direction information, and loaded weight information from the transport vehicle  200  via the access point  400  (Step S 01 ). The vehicle information collection unit  3101  stores the received position information, azimuth direction information, and loaded weight information in the vehicle information storage unit  3303  (Step S 02 ). In addition, the notification receiving unit  3104  determines whether or not an arrival notification indicating that the transport vehicle has arrived at the loading point P 3  in response to an accessing instruction signal is received from the transport vehicle  200  (Step S 03 ). 
     In a case where the arrival notification is received from the transport vehicle  200  (Step S 03 : YES), the update unit  3105  updates standby information correlated with the transport vehicle  200  to “true” (Step S 04 ). In a case where the arrival notification is not received from the transport vehicle  200  (Step S 03 : NO), the standby information is not updated. 
     Next, the traveling course generation unit  3102  generates course data indicating an area where the movement of each transport vehicle  200  is allowed based on a travel route, which is stored in the travel route storage unit  3302 , and the position information and the azimuth direction information, which are stored in the vehicle information storage unit  3303  (Step S 05 ). The traveling course generation unit  3102  transmits the generated course data to the transport vehicle  200  via the access point  400  (Step S 06 ). 
     In addition, the operation signal transmitting unit  3103  receives, from the remote operation room  500 , an operation signal to the transport vehicle  200  and transmits the operation signal to the transport vehicle  200  (Step S 07 ). Specifically, in a case where the accessing instruction signal is received from the remote operation room  500 , the operation signal transmitting unit  3103  transmits the accessing instruction signal to the transport vehicle  200  stopped at the standby point P 1 , which is a starting point of the approach route R 3  whose end point is the loading point P 3  correlated with the loading vehicle  100  operated by the remote operation room  500 . In addition, in a case where a departure instruction signal is received from the remote operation room  500 , the operation signal transmitting unit  3103  transmits the departure instruction signal to the transport vehicle  200  stopped at the loading point P 3  correlated with the loading vehicle  100  operated by the remote operation room  500 . The update unit  3105  determines whether or not the received operation signal includes the departure instruction signal (Step S 08 ). In a case where the operation signal includes the departure instruction signal (Step S 08 : YES), the update unit  3105  updates the standby information correlated with the transport vehicle  200 , which is a destination for the departure instruction signal in the vehicle information storage unit  3303 , to “false” (Step S 09 ). 
     In a case where the operation signal does not include the departure instruction signal (Step S 08 : NO) or in a case where the standby information is updated based on the departure instruction signal in Step S 09 , the loaded weight transmission unit  3106  transmits the loaded weight and maximum loaded weight of the transport vehicle  200  to the remote operation room  500  for operating the loading vehicle  100  correlated with the loading point P 3  of the transport vehicle  200  whose standby information indicates “true” (Step S 10 ). 
     &lt;&lt;Control Device of Remote Operation Room&gt;&gt; 
       FIG.  7    is a schematic block diagram showing a configuration of the control device for the remote operation room according to the first embodiment. 
     The control device  550  is a computer including a processor  5100 , a main memory  5200 , a storage  5300 , and an interface  5400 . The storage  5300  stores a program. The processor  5100  reads the program from the storage  5300  to load the program in the main memory  5200 , and executes processing in accordance with the program. 
     Examples of the storage  5300  include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), and a semiconductor memory. The storage  5300  may be an internal medium directly connected to a common communication line of the control device  550 , or may be an external medium connected to the control device  550  via the interface  5400 . The storage  5300  is a non-transitory tangible storage medium. In another embodiment, in addition to the configuration or instead of the configuration, the control device  550  may include a custom large scale integrated circuit (LSI) such as a programmable logic device (PLD) or a semi-LSI such as application specific integrated circuit (ASIC). Examples of the PLD include Programmable Array Logic (PAL), Generic Array Logic (GAL), a complex programmable logic device (CPLD), and field programmable gate array (FPGA). In this case, some or all of functions realized by the processor  5100  may be realized by the integrated circuit. 
     By executing the program, the processor  5100  includes a vehicle body information receiving unit  5101 , an image cutout unit  5102 , a loaded weight receiving unit  5103 , a display image generation unit  5104 , a display control unit  5105 , and an operation signal transmission unit  5106 . 
     The vehicle body information receiving unit  5101  receives, from the loading vehicle  100 , information including an image captured by the front camera  122  and the swinging speed, position, azimuth direction, and inclination angle of the swing body  120 . That is, the vehicle body information receiving unit  5101  is an example of a captured image acquisition unit and a measurement value acquisition unit. 
       FIG.  8    is a view illustrating an example of an image cut out from an image captured by the front camera. 
     The image cutout unit  5102  cuts out each of a central image G 11  for displaying on the central display  521 , a left image G 12  for displaying on the left display  522 , a right image G 13  for displaying on the right display  523 , an upper image G 14  for displaying on the upper display  524 , and a lower image G 15  for displaying on the lower display  525 , from the image G 1  captured by the front camera  122 , which is received by the vehicle body information receiving unit  5101 . Each image is cut out such that the operator of the loading vehicle  100  easily recognizes the topography of an excavation target and the position of the work equipment  130 . In a case where the display device  520  is configured of one display, the image cutout unit  5102  may not cut out an image. 
     The loaded weight receiving unit  5103  receives information including the loaded weight and maximum loaded weight of the transport vehicle  200  from the controlling gear  300 . The controlling gear  300  stores a maximum loaded weight for each transport vehicle  200  in the vehicle information storage unit  3303 . Accordingly, the controlling gear  300  can recognize the maximum loaded weight of each transport vehicle  200  even in a case where the plurality of transport vehicles  200  having different vehicle classes travel. The loaded weight receiving unit  5103  is an example of a loaded weight acquisition unit. 
       FIG.  9    is a view illustrating an example of a display image displayed by the display device according to the first embodiment. 
     The display image generation unit  5104  generates, for example, a right image for display G 13   a  by disposing a loaded weight image G 2  showing the loaded weight of the transport vehicle  200  received by the loaded weight receiving unit  5103  and a bucket internal image G 3  received by the vehicle body information receiving unit  5101  on the right image G 13  cut out by the image cutout unit  5102 . The loaded weight image G 2  includes, for example, the loaded weight, maximum loaded weight, and remaining loaded weight of the transport vehicle  200 . Although a side view of the transport vehicle  200  is drawn in the loaded weight image G 2  of  FIG.  9   , the side view may be, for example, stored in advance in the storage  5300 . 
     The control device  550  causes the central display  521  to display the central image G 11 . The control device  550  causes the left display  522  to display the left image G 12 , The control device  550  causes thy: right display  523  to display the right image for display G 13   a , The control device  550  causes the upper display  524  to display the upper image G 14 . The control device  550  causes the lower display  525  to display the lower image G 15 . 
     The operation signal transmission unit  5106  generates an operation signal based on the operation of the first operation device  530  by the operator and transmits the operation signal to the loading vehicle  100 . In addition, the operation signal transmission unit  5106  generates an operation signal based on the operation of the second operation device  540  by the operator and transmits the operation signal to the controlling gear  300 . 
     &lt;&lt;Display Control Method of Remote Operation Room&gt;&gt; 
       FIG.  10    is a flowchart showing a display control method implemented by the control device for the remote operation room according to the first embodiment. When the loading vehicle  100  is started to be performed remote operation, the control device  550  executes the following display control in a predetermined cycle. 
     The vehicle body information receiving unit  5101  receives vehicle body information from the control device  126  of the loading vehicle  100  (Step S 21 ). Next, the image cutout unit  5102  cuts out each of the central image G 11 , the left image G 12 , the right image G 13 , the upper image G 14 , and the lower image G 15  from the image G 1  captured by the front camera  122  in the received vehicle body information (Step S 22 ). 
     Next, the loaded weight receiving unit  5103  receives the loaded weight and maximum loaded weight of the transport vehicle  200  from the controlling gear  300  (Step S 23 ). The display image generation unit  5104  generates the right image for display G 13   a  by disposing the loaded weight image G 2  showing the received loaded weight and maximum loaded weight and the bucket internal image G 3  on the right image G 13  (Step S 24 ). The display control unit  5105  generates a display signal for displaying the central image G 11 , the left image G 12 , the right image for display G 13   a , the upper image G 14 , and the lower image G 15  on the display device  520  and transmits the display signal to the display device  520  (Step S 25 ). 
     &lt;&lt;Workings and Effects&gt;&gt; 
     As described above, the control device  550  of the remote operation room  500  according to the first embodiment acquires a loaded weight measured in a target transport vehicle, which is a loading operation target of the loading vehicle  100 , out of the plurality of transport vehicles  200 , from the controlling gear  300  and causes the display device  520  to display the right image for display G 13   a  obtained by disposing the loaded weight image G 2  on the right image G 13 . Accordingly, the control device  550  allows the operator of the loading vehicle  100  to easily recognize the loadage of the transport vehicle  200 . In another embodiment, the loaded weight image G 2  may be disposed on an image other than the right image G 13 . 
     In addition, the control device  550  of the remote operation room  500  according to the first embodiment disposes the loaded weight image G 2  and the bucket internal image G 3  captured by the bucket camera  123  mounted on the loading vehicle  100  on the right image G 13 . Accordingly, the operator can recognize the loadage of the transport vehicle  200  while checking the state of the loading vehicle  100 . In particular, by making the bucket internal image G 3  visually recognizable, the operator in a remote control room can easily adjust the amount of load in the bucket  133 . In another embodiment, the bucket internal image G 3  may not be included in the right image for display G 13   a . The right image for display G 13   a  may include an image showing a measurement value measured by another sensor mounted on the loading vehicle  100  (for example, the inclination of the loading vehicle  100  and the posture of the work equipment  130 ). 
     In addition, in the operation system  1  according to the first embodiment, the controlling gear  300  receives, from the transport vehicle  200 , an arrival notification indicating the arrival to the loading point P 3  and transmits the loaded weight related to the transport vehicle  200  that is a transmitter of the arrival notification, to the remote operation room  500 . Accordingly, the controlling gear  300  can transmit the loaded weight measured in the target transport vehicle, which is a loading operation target of the loading vehicle  100 , to the remote operation room  500 . In another embodiment, the controlling gear  300  may specify a target transport vehicle without depending on the arrival notification. For example, the controlling gear  300  according to another embodiment may specify the transport vehicle  200  stopped at the loading point P 3  near the loading vehicle  100  based on position information of the transport vehicle  200 . In addition, in another embodiment, the controlling gear  300  may transmit the position information, azimuth direction information, and loaded weight of each of all of the transport vehicles  200  to the remote operation room  500 , and the control device  550  of the remote operation room  500  may specify a target transport vehicle. In addition, in another embodiment, the control device  126  of the loading vehicle  100  may have some or all of the functions of the control device  550 . In this case, the control device  126  may obtain payload information of the transport vehicle  200  through inter-vehicle communication. 
     In addition, although the control device  550  of the remote operation room  500  functions as the display control device for the display device  520  in the first embodiment, the invention is not limited thereto. For example, in another embodiment, some functions of the control device  550  may be realized by an external server device. In this case, the display control device is configured of the control device  550  and the external server device. 
     In addition, although the display control device is mounted on the operation system  1  in the embodiment described above, the invention is not limited thereto. For example, in another embodiment, the display control device may be applied to a radio control system that operates the loading vehicle  100  through wireless communication at a position outside the loading vehicle  100  where the loading vehicle  100  is visually recognizable. In a case of being applied to the radio control system, for example, a display device may be mounted on the control device. 
     INDUSTRIAL APPLICABILITY 
     The display control device according to the present invention allows the operator of the loading vehicle related to remote control to easily recognize the loadage of the transport vehicle.