Patent Description:
A construction machine at a site is connected by a wireless network, and in a case where a vehicle body greatly moves such as moving and turning, a direction and a position of an antenna subsidiary to the construction machine change accompanying a movement of the construction machine. Thus, there is a possibility that data lacks since a radio propagation environment between a wireless base station and the construction machine changes and a line capacity instantly decreases. The lack of data lowers visibility of a monitor image and lowers work efficiency during a remote operation.

Accordingly, a technology for enabling communication which is tough against the change of a communication environment, reducing disturbance of a video image and improving work efficiency during an operation when remotely operating a construction machine has been proposed (for example, see Patent Literature <NUM>). Specifically, second data is generated from first data generated by compressing video data by a video encoder and a correction data generation rate set according to an actuator driven in a construction machine. The "correction data generation rate" is a ratio of correction data to the first data. The "correction data" is the data generated for correction by using the first data. Then, third data for which the first data and the second data are combined is transmitted from the construction machine to a maneuvering device, and the third data is decoded and then displayed by a monitor of the maneuvering device.

Furthermore, patent document <CIT> is also a relevant piece of prior art.

However, in circumstances where an inter-frame difference of a moving image indicating a situation of a working machine and an environment thereof becomes large, such as a case where a work attachment of the working machine such as a hydraulic shovel rapidly moves, an amount of moving image data after compression by a video encoder temporarily increases. Therefore, the moving image data amount after the compression becomes excessive even when there is no decline of a line capacity and there is a possibility that discontinuity or the like of the moving image outputted to an image output device of a remote operation device occurs.

Therefore, an object of the present invention is to provide a device or the like capable of improving continuity of a moving image outputted to an image output device of a remote operation device even in circumstances where an inter-frame difference of the moving image becomes large.

An image processing device of the present invention comprises: a state detection element for detecting a remote operation mode of a working machine by a remote operation device or a moving mode of the working machine; an image prediction element configured to predict whether or not a data amount of a captured image indicating the captured image of the working machine and an environment thereof captured by an actual machine image capturing device is to exceed a threshold, based on the remote operation mode of the working machine by the remote operation device or the moving mode of the working machine detected by the state detection element; and an image compression element configured to eliminate high frequency components exceeding a specified frequency in a second specified image area excluding a first specified image area of the captured image on condition that it is predicted that the data amount of the captured image is to exceed the threshold by the image prediction element.

According to the image processing device of the configuration, in a case where it is predicted that the data amount of the captured image is to exceed the threshold in consideration of a detection result of the remote operation mode of the working machine by the remote operation device or the moving mode of the working machine, the high frequency components exceeding the specified frequency in the second specified image area excluding the first specified image area of the captured image are eliminated. Thus, the data amount of the captured image is reduced, and not only inter-frame continuity of the first specified image area of the image outputted to an image output device of the remote operation device but also visibility by an operator is improved.

The remote operation support system illustrated in <FIG> is configured by a remote operation support server <NUM>, and a remote operation device <NUM> for remotely operating a working machine <NUM>. The remote operation support server <NUM>, the remote operation device <NUM> and the working machine <NUM> are configured such that network communication with each other is possible. An intercommunication network of the remote operation support server <NUM> and the remote operation device <NUM> and an intercommunication network of the remote operation support server <NUM> and the working machine <NUM> may be the same or may be different.

In addition, a remote operation is a concept meaning that an operator operates the working machine <NUM> from a position away from the working machine <NUM> without boarding the working machine <NUM>.

Further, an operator is a concept indicating a person who operates the remote operation device <NUM> to maneuver the working machine <NUM>.

The remote operation support server <NUM> comprises a database <NUM>, a first support processing element <NUM> and a second support processing element <NUM>. The database <NUM> stores and holds captured image data or the like. The database <NUM> may be configured by a database server different from the remote operation support server <NUM>. The individual support processing element is configured by an arithmetic processing unit (a single-core processor or a multicore processor or a processor core configuring it), reads required data and software from a storage device such as a memory, and executes arithmetic processing to be described later according to the software for the data.

The remote operation device <NUM> comprises a remote controller <NUM>, a remote input interface <NUM> and a remote output interface <NUM>. The remote controller <NUM> is configured by an arithmetic processing unit (a single-core processor or a multicore processor or a processor core configuring it), reads required data and software from a storage device such as a memory, and executes arithmetic processing according to the software for the data.

The remote input interface <NUM> comprises a remote operation mechanism <NUM>. The remote output interface <NUM> comprises a remote image output device <NUM> and a remote wireless communication device <NUM>.

The remote operation mechanism <NUM> includes an operation device for traveling, an operation device for turning, an operation device for a boom, an operation device for an arm and an operation device for a bucket. The individual operation device includes an operation lever which receives a rotary operation. The operation lever (traveling lever) of the operation device for traveling is operated to move a lower traveling body <NUM> of the working machine <NUM>. The traveling lever may also serve as a traveling pedal. For example, the traveling pedal fixed to a base part or a lower end part of the traveling lever may be provided. The operation lever (turning lever) of the operation device for turning is operated to move a hydraulic turning motor configuring a turning mechanism <NUM> of the working machine <NUM>. The operation lever (boom lever) of the operation device for the boom is operated to move a boom cylinder <NUM> of the working machine <NUM>. The operation lever (arm lever) of the operation device for the arm is operated to move an arm cylinder <NUM> of the working machine <NUM>. The operation lever (bucket lever) of the operation device for the bucket is operated to move a bucket cylinder <NUM> of the working machine <NUM>.

The individual operation lever configuring the remote operation mechanism <NUM> is, for example, arranged around a seat St for an operator to sit, as illustrated in <FIG>. The seat St is in a form like a high back chair with armrests but may be a sitting part in an arbitrary form that the operator can sit such as a form like a low back chair without a headrest or a form like a chair without a backrest.

At the front of the seat St, a pair of left and right traveling levers <NUM> according to left and right crawlers are arranged side by side on left and right. One operation lever may serve as a plurality of operation levers. For example, a left side operation lever <NUM> provided on the front of a left side frame of the seat St illustrated in <FIG> may function as the arm lever when operated in a front-back direction and function as the turning lever when operated in a left-right direction. Similarly, a right side operation lever <NUM> provided on the front of a right side frame of the seat St illustrated in <FIG> may function as the boom lever when operated in the front-back direction and function as the bucket lever when operated in the left-right direction. A lever pattern may be arbitrarily changed by an operation instruction by the operator.

The image output device <NUM> is configured by a center image output device <NUM>, a left side image output device <NUM> and a right side image output device <NUM> each provided with a roughly rectangular screen and arranged respectively at the front, oblique left front and oblique right front of the seat St, as illustrated in <FIG> for example. Shapes and sizes of the respective screens (image display areas) of the center image output device <NUM>, the left side image output device <NUM> and the right side image output device <NUM> may be the same or may be different.

As illustrated in <FIG>, a right edge of the left side image output device <NUM> is adj acent to a left edge of the center image output device <NUM> so that the screen of the center image output device <NUM> and the screen of the left side image output device <NUM> form an inclination angle θ1 (for example, <NUM>°≤θ1≤<NUM>°). As illustrated in <FIG>, a left edge of the right side image output device <NUM> is adj acent to a right edge of the center image output device <NUM> so that the screen of the center image output device <NUM> and the screen of the right side image output device <NUM> form an inclination angle θ2 (for example, <NUM>°≤θ2≤<NUM>°). The inclination angles θ1 and θ2 may be the same or may be different.

The respective screens of the center image output device <NUM>, the left side image output device <NUM> and the right side image output device <NUM> may be parallel to a vertical direction or may be inclined to the vertical direction. At least one image output device of the center image output device <NUM>, the left side image output device <NUM> and the right side image output device <NUM> may be configured by a plurality of divided image output devices. For example, the center image output device <NUM> may be configured by a pair of image output devices which are provided with roughly rectangular screens and are adjacent up and down.

The working machine <NUM> comprises an actual machine controller <NUM>, an actual machine input interface <NUM>, an actual machine output interface <NUM> and a working mechanism <NUM>. The actual machine controller <NUM> comprises an image processing device <NUM>. The image processing device <NUM> comprises a state detection element <NUM>, an image prediction element <NUM> and an image compression element <NUM>. Each of components of the actual machine controller <NUM> and the image processing device <NUM> is configured by an arithmetic processing unit (a single-core processor or a multicore processor or a processor core configuring it), reads required data and software from a storage device such as a memory, and executes arithmetic processing according to the software for the data.

The working machine <NUM> is a crawler shovel (construction machine) for example, and as illustrated in <FIG>, comprises the crawler type lower traveling body <NUM> and an upper turning body <NUM> loaded on the lower traveling body <NUM> so as to be turned via the turning mechanism <NUM>. On a front left side part of the upper turning body <NUM>, a cab <NUM> (driver's cab) is provided. On a front center part of the upper turning body <NUM>, the working mechanism <NUM> is provided.

The actual machine input interface <NUM> comprises an actual machine operation mechanism <NUM>, the actual machine image capturing device <NUM> and an actual machine positioning device <NUM>. The actual machine operation mechanism <NUM> comprises a plurality of operation levers arranged similarly to the remote operation mechanism <NUM> around a seat arranged inside the cab <NUM>. The cab <NUM> comprises a drive mechanism or a robot which receives signals according to an operation mode of a remote operation lever and moves an actual machine operation lever based on the received signals. The actual machine image capturing device <NUM> is installed inside the cab <NUM> for example, and images an environment including at least a part of the working mechanism <NUM> over a front window and a pair of left and right side windows. Some or all of the front window and the side windows may be omitted. The actual machine positioning device <NUM> is configured by a GPS and a gyro sensor or the like as needed.

The actual machine output interface <NUM> comprises an actual machine wireless communication device <NUM>.

As illustrated in <FIG>, the working mechanism <NUM> as a working mechanism comprises a boom <NUM> mounted on the upper turning body <NUM> so as to be raised and lowered, an arm <NUM> rotatably connected to a distal end of the boom <NUM>, and a bucket <NUM> rotatably connected to the distal end of the arm <NUM>. The working mechanism <NUM> is mounted with the boom cylinder <NUM>, the arm cylinder <NUM> and the bucket cylinder <NUM> each configured by an extendable hydraulic cylinder.

The boom cylinder <NUM> is interposed between the boom <NUM> and the upper turning body <NUM> so as to be extended and contracted by receiving supply of hydraulic oil and rotate the boom <NUM> in a raising/lowering direction. The arm cylinder <NUM> is interposed between the arm <NUM> and the boom <NUM> so as to be extended and contracted by receiving the supply of the hydraulic oil and rotate the arm <NUM> around a horizontal axis to the boom <NUM>. The bucket cylinder <NUM> is interposed between the bucket <NUM> and the arm <NUM> so as to be extended and contracted by receiving the supply of the hydraulic oil and rotate the bucket <NUM> around the horizontal axis to the arm <NUM>.

The basic functions of the remote operation support system of the configuration described above will be described using a flowchart illustrated in <FIG>. In the flowchart, a block of "C•" is used for description simplification, means transmission and/or reception of data, and means conditional branching that processing in a branching direction is executed on condition that the data is transmitted and/or received.

In the remote operation device <NUM>, presence/absence of a specifying operation through the remote input interface <NUM> by an operator is determined (<FIG>/STEP210). The "specifying operation" is, for example, an operation of tapping or the like in the remote input interface <NUM> for specifying the working machine <NUM> that the operator intends to remotely operate. In a case where the determination result is negative (<FIG>/STEP210. NO), a series of processing is ended. On the other hand, in the case where the determination result is affirmative (<FIG>/STEP210. YES), an environment confirmation request is transmitted to the remote operation support server <NUM> through the remote wireless communication device <NUM> (<FIG>/STEP212).

In the remote operation support server <NUM>, in the case where the environment confirmation request is received, the environment confirmation request is transmitted to the corresponding working machine <NUM> by the first support processing element <NUM> (<FIG>/C <NUM>).

In the working machine <NUM>, in the case where the environment confirmation request is received through the actual machine wireless communication device <NUM> (<FIG>/C40), the actual machine controller <NUM> acquires a captured image through the actual machine image capturing device <NUM> (<FIG>/STEP410). Here, by the image processing device <NUM>, image processing to be described later in details is executed (<FIG>/STEP300). By the actual machine controller <NUM>, captured image data to which the image processing is performed is transmitted to the remote operation support server <NUM> through the actual machine wireless communication device <NUM> (<FIG>/STEP412).

In the remote operation support server <NUM>, in the case where the captured image data is received by the first support processing element <NUM> (<FIG>/C1 <NUM>), environment image data according to the captured image is transmitted to the remote operation device <NUM> by the second support processing element <NUM> (<FIG>/STEP110). The environment image data is image data indicating a simulated environment image generated based on the captured image other than the captured image data itself. In the case where the image processing device <NUM> is configured by the remote operation support server <NUM>, the environment image data may be generated by the image processing of the captured image data being performed by the image processing device <NUM>.

In the remote operation device <NUM>, in the case where the environment image data is received through the remote wireless communication device <NUM> (<FIG>/C21), the environment image according to the environment image data is outputted to the remote image output device <NUM> by the remote controller <NUM> (<FIG>/STEP214).

Thus, for example, as illustrated in <FIG>, the environment image projecting the boom <NUM> and the arm <NUM> which are a part of the working mechanism <NUM> and a heap of rubble or earth and sand (which is a working object by the bucket <NUM>) at the front of the cab <NUM> through a window frame demarcating the cab <NUM> and configured by a right window frame Q1, an upper window frame Q2, a left window frame Q3 and a lower window frame Q4 is outputted to the image output device <NUM>.

In the remote operation device <NUM>, the operation mode of the remote operation mechanism <NUM> is recognized by the remote controller <NUM> (<FIG>/STEP216), and a remote operation command according to the operation mode is transmitted to the remote operation support server <NUM> through the remote wireless communication device <NUM> (<FIG>/STEP218).

In the remote operation support server <NUM>, in the case where the remote operation command is received by the second support processing element <NUM>, the remote operation command is transmitted to the working machine <NUM> by the first support processing element <NUM> (<FIG>/C12).

In the working machine <NUM>, in the case where the operation command is received through the actual machine wireless communication device <NUM> by the actual machine controller <NUM> (<FIG>/C41), a movement of the working mechanism <NUM> or the like is controlled (<FIG>/STEP414). For example, work of scooping soil at the front of the working machine <NUM> by the bucket <NUM>, turning the upper turning body <NUM> and then dropping the soil from the bucket <NUM> is executed.

Details of an image processing function (see <FIG>/STEP300) of the image processing device <NUM> of the configuration described above will be described using a flowchart illustrated in <FIG>.

In the image processing device <NUM>, by the state detection element <NUM>, a moving mode of the working machine <NUM> is recognized or detected based on output signals of various kinds of sensors loaded on the working machine <NUM> (<FIG>/STEP302). Alternatively, by the state detection element <NUM>, the operation mode of the remote operation mechanism <NUM> may be recognized based on communication with the remote operation device <NUM> (see <FIG>/STEP216).

By the image prediction element <NUM>, based on the moving mode of the working machine <NUM>, whether or not a data amount when the captured image is encoded using inter-frame prediction is to exceed a threshold is determined (<FIG>/STEP304). For the captured image of one frame as an input image, the captured image of another frame after second delay time τ2 as a prediction image is predicted based on the moving mode of the working machine <NUM>, and whether or not the data amount when a difference between the input image and the prediction image is encoded is to exceed the threshold is determined. The second delay time τ2 is delay time until the moving mode of the working machine <NUM> is reflected in the captured image indicating the situation of the working machine <NUM> and the environment thereof.

For the captured image of one frame as the input image, the captured image of another frame after first delay time τ1 as the prediction image may be predicted based on the moving mode of the working machine <NUM>, and whether or not the data amount when the difference between the input image and the prediction image is encoded is to exceed the threshold may be determined. The first delay time τ1 is the delay time until the remote operation mode of the working machine <NUM> in the remote operation device <NUM> is reflected in the captured image indicating the situation of the working machine <NUM> and the environment thereof.

For example, in the case where the upper turning body <NUM> turns to the lower traveling body <NUM>, in the case where the bucket <NUM> moves bit by bit when shaking off earth and sand scooped by the bucket <NUM> (work part), and in the case where the upper turning body <NUM> largely vibrates when the working machine <NUM> is moved by a movement of the lower traveling body <NUM>, the difference between the input image and the prediction image becomes large. In these cases, as illustrated in <FIG> for example, in a period from a time t1 to a time t2, there are cases where the data amount (see a solid line) when the difference is encoded exceeds the threshold (see a broken line). The fact that the data amount of the captured image is to exceed the threshold at the time t1 can be predicted based on the moving mode of the working machine <NUM> (or the operation mode of the remote operation mechanism <NUM>) at the time the second delay time τ2 (or the first delay time τ1) before.

The threshold may be set adaptively or beforehand based on a height of a communication speed of the captured image data among the working machine <NUM>, the remote operation support server <NUM> and the remote operation device <NUM>, stability of the communication speed and/or communication charges.

In the case where the determination result is negative (<FIG>/STEP304. NO), the captured image data is compressed as usual by the image compression element <NUM> (<FIG>/STEP308). Specifically, as illustrated in <FIG>, parameter change processing and encoding processing by inter-frame prediction are performed to the captured image captured by the actual machine image capturing device <NUM>.

The parameter change processing is the processing of reducing the data amount of the captured image. For example, the processing of lowering a resolution (averaging processing with adjacent pixels), raising luminance (uniformly bringing all pixels to white), lowering the luminance (uniformly bringing all the pixels to black) or lowering contrast or the like is performed.

The inter-frame prediction is the processing of creating the prediction image for the input image and encoding the difference between the input image and the prediction image.

On the other hand, in the case where the determination result is affirmative (<FIG>/STEP304. YES), the captured image data is processed and compressed so that the data amount of the captured image becomes equal to or smaller than the threshold by the image compression element <NUM> (<FIG>/STEP306).

Specifically, as illustrated in <FIG>, the parameter change processing, high frequency component elimination processing and the encoding processing by the inter-frame prediction are performed to the captured image captured by the actual machine image capturing device <NUM>. As the parameter change processing, the resolution may be lowered by the averaging processing of the adjacent pixels (for example, the resolution is changed from <NUM>*<NUM> to <NUM>* <NUM>). As the parameter change processing, the luminance of all the pixels may be evenly increased by a specified value. When all the pixels are uniformly brought closer to white, compression is facilitated. As the parameter change processing, the luminance of all the pixels may be evenly reduced by a specified value. When all the pixels are uniformly brought closer to black, the compression is facilitated. As the parameter change processing, the contrast may be lowered by uniformly multiplying the contrast of all the pixels by a predetermined value <NUM>/X. The parameter change processing and the encoding processing by the inter-frame prediction are similar to usual compression processing illustrated in <FIG>.

When performing the high frequency component elimination processing, first, based on the moving mode of the working machine <NUM> detected by the state detection element <NUM>, a first specified image area configuring a part of the captured image is specified by the image compression element <NUM>. For example, in the case of the moving mode of moving the working mechanism <NUM> and scooping rubble or the like from one spot and placing it to another spot by the bucket <NUM>, as illustrated in <FIG>, an image area including at least a part of the working mechanism <NUM> and a heap obj of rubble or earth and sand, the image area being surrounded by a roughly rectangular boundary line C of which upper and lower parts are demarcated by the upper window frame Q2 and the lower window frame Q4 respectively, is specified as a first specified image area A1. An occupancy area of the first specified area A1 in the captured image may be set smaller as a threshold exceeding amount of the data amount of the captured image becomes larger.

In addition, in the case of the moving mode of scooping rubble or the like from one spot and placing it to another spot by the bucket <NUM> while turning the upper turning body <NUM> alternately to left and right to the lower traveling body <NUM> in addition to moving the working mechanism <NUM>, as illustrated in <FIG>, the image area wider than <FIG> including at least a part of the working mechanism <NUM> and the heap obj of rubble or earth and sand, the image area being surrounded by the boundary line C entirely demarcated by the whole window frames, may be specified as the first specified image area A1.

Further, in the case of the moving mode of turning the upper turning body <NUM> in a left direction to the lower traveling body <NUM>, the image area on a left side of the left window frame Q3 may be specified as the first specified image area A1, in addition to at least a part of the image area on an inner side of the window frame. Similarly, in the case of the moving mode of turning the upper turning body <NUM> in a right direction to the lower traveling body <NUM>, the image area on a right side of the right window frame Q1 may be specified as the first specified image area A1, in addition to at least a part of the image area on the inner side of the window frame.

As illustrated in <FIG>, in the case where a specified target object obj2 such as a truck or a worker is extracted on the left side of the left window frame Q3 or the like in the captured image, the image area on the inner side of a boundary line C2 surrounding the specified target object obj2 may be specified as a first specified image area A11. In <FIG>, similarly to <FIG>, the image area including at least a part of the working mechanism <NUM> and a heap obj of rubble or earth and sand, the image area being surrounded by the roughly rectangular boundary line C of which upper and lower parts are demarcated by the upper window frame Q2 and the lower window frame Q4 respectively, is specified as the first specified image area A1.

Then, high frequency components exceeding a specified frequency in a second specified image area A2 excluding the first specified image area A1 of the captured image are eliminated. At the time, for example, a method of eliminating the high frequency components with a small information amount after performing DST (discrete cosine transformation), that is, dividing the image into areas of <NUM>×<NUM> pixels and performing spatial frequency transformation in each divided area is used. Thus, the environment image in which the contrast in the second specified image area A2 is unclear (blurry) while the contrast in the first specified image area A1 is clear is outputted to the image output device <NUM> in the remote operation device <NUM> (see <FIG>/STEP214, <FIG>, <FIG> and <FIG>).

According to the image processing device <NUM> configuring the remote operation support system of the configuration, in the case where it is predicted that the data amount of the captured image is to exceed the threshold in consideration of a detection result of the moving mode of the working machine <NUM>, the high frequency components exceeding the specified frequency in the second specified image area A2 excluding the first specified image area A1 of the captured image are eliminated (see <FIG>/STEP304. YES→STEP306, <FIG>, <FIG> and <FIG>). Thus, for example, as illustrated in <FIG>, the data amount (see the solid line) of the captured image is reduced so that the data amount becomes equal to or smaller than the threshold even in the period from the time t1 to the time t2. Then, not only inter-frame continuity of the first specified image area A1 of the environment image outputted to the image output device <NUM> of the remote operation device <NUM> but also visibility by an operator is improved.

In the image processing device of the present invention, it is preferable that the image prediction element predicts, as a prediction image, the captured image after first delay time until the remote operation mode of the working machine in the remote operation device is reflected in the captured image indicating a situation of the working machine and the environment thereof or second delay time until the moving mode of the working machine is reflected in the captured image indicating the situation of the working machine and the environment thereof, based on the remote operation mode of the working machine by the remote operation device or the moving mode of the working machine detected by the state detection element, for the captured image of one frame corresponding to the captured image data as an input image, and predicts whether or not the data amount when a difference between the input image and the prediction image is encoded is to exceed the threshold.

According to the image processing device of the configuration, by considering the first delay time until the remote operation mode of the working machine in the remote operation device is reflected in the captured image indicating the situation of the working machine and the environment and/or the second delay time until the moving mode of the working machine is reflected in the captured image indicating the situation of the working machine and the environment thereof, whether or not the data amount when the difference between the input image and the prediction image is encoded is to exceed the threshold is predicted. Then, in the case where it is predicted that the data amount when encoding is performed is to exceed the threshold, the high frequency components exceeding the specified frequency in the second specified image area excluding the first specified image area of the captured image are eliminated. Thus, the data amount of the captured image is reduced, and not only the inter-frame continuity of the first specified image area of the image outputted to the image output device of the remote operation device but also the visibility by an operator is improved.

In the image processing device of the present invention, it is preferable that the image compression element specifies the first specified image area configuring a part of the captured image based on the remote operation mode of the working machine by the remote operation device or the moving mode of the working machine detected by the state detection element.

According to the image processing device of the configuration, the first specified image area can be specified in the captured image so as to include an object (for example, a part of the working machine or an object present around the working machine) for which it is predicted that an inter-frame difference is to exceed the threshold, that is, for which it is predicted that the movement or a displacement amount is relatively large in consideration of the remote operation mode of the working machine by the remote operation device or the moving mode of the working machine. Thus, not only the visibility of the object which is outputted to the image output device configuring the remote operation device, and for which it is predicted that the movement or the displacement amount is relatively large, is improved but also the remote operation of the working machine by the remote operation device based on the visual recognition result is facilitated for an operator.

In the image processing device of the present invention, it is preferable that the image compression element specifies an image area at least partially demarcated by a window frame demarcating a crew cabin of the working machine as the first specified image area, in the captured image indicating the situation outside the crew cabin through the window frame, which is captured by the actual machine image capturing device disposed inside the crew cabin.

According to the image processing device of the configuration, the continuity of the image outputted to the image output device of the remote operation device appropriately from a viewpoint of smoothness of the operation of the operator is improved, in consideration of a high probability of concentration of operator's attention on the image area at least partially demarcated by the window frame demarcating the crew cabin, in the captured image outputted to the image output device configuring the remote operation device.

Claim 1:
An image processing device (<NUM>) comprising:
a state detection element (<NUM>) for detecting a remote operation mode of a working machine (<NUM>) by a remote operation device (<NUM>) or a moving mode of the working machine;
an image prediction element (<NUM>) configured to predict whether or not a data amount of a captured image indicating the captured image of the working machine and an environment thereof captured by an actual machine image capturing device (<NUM>) is to exceed a threshold, based on the remote operation mode of the working machine by the remote operation device or the moving mode of the working machine detected by the state detection element; and
an image compression element (<NUM>) configured to eliminate high frequency components exceeding a specified frequency in a second specified image area excluding a first specified image area of the captured image on condition that it is predicted that the data amount of the captured image is to exceed the threshold by the image prediction element.