Teleoperation device for construction machinery

A remote operation device for remotely operating a construction machine having an attachment from a remote place distant from the construction machine, the remote operation device comprising:

• a vibration detector configured to detect a plurality of vibration components in a plurality of directions different from each other, the vibration components being included in a vibration caused on the attachment;
• a transmission device that transmits vibration information on the vibration of the attachment to an operator in the remote place;
• and
• a transmission control section that controls an operation of the transmission device,
• wherein a vibration determination condition for determining whether the vibration of the attachment is a vibration caused by the attachment's coming in contact with a different object is set in advance,
• the vibration determination condition includes a condition that an amplitude of a maximum vibration component largest in amplitude among the plurality of vibration components detected by the vibration detector is equal to or larger than a preset amplitude threshold,
• the transmission control section controls an operation of the transmission device to allow the vibration information to be transmitted to the operator only when the vibration determination condition is met,
• the remote operation device further comprises a remote operation lever to which an attachment operation is applied by the operator in the remote place, the attachment operation being an operation for causing the attachment to move,
• wherein the vibration determination condition further includes a condition that the attachment operation has been applied to the remote operation lever.

A remote operation device for remotely operating a construction machine having an attachment from a remote place distant from the construction machine, the remote operation device comprising:

• a vibration detector configured to detect a plurality of vibration components in a plurality of directions different from each other, the vibration components being included in a vibration caused on the attachment;
• a transmission device that transmits vibration information on the vibration of the attachment to an operator in the remote place;
• and
• a transmission control section that controls an operation of the transmission device,
• wherein a vibration determination condition for determining whether the vibration of the attachment is a vibration caused by the attachment's coming in contact with a different object is set in advance,
• the vibration determination condition includes a condition that an amplitude of a maximum vibration component largest in amplitude among the plurality of vibration components detected by the vibration detector is equal to or larger than a preset amplitude threshold,
• the transmission control section controls an operation of the transmission device to allow the vibration information to be transmitted to the operator only when the vibration determination condition is met,
• the vibration detector is disposed on the attachment and the vibration of the attachment, the vibration being detected by the vibration detector, is defined on a first coordinate system with the attachment as a reference, and
• the remote operation device further comprises:
• an operator's seat in which an operator sits in the remote place;
• and
• a coordinate system conversion section that converts vibration detection information detected by the vibration detector and defined on the first coordinate system, into vibration conversion information defined on a second coordinate system with the operator's seat in the remote place as a reference.