JP2020183696A - Construction machine management system, construction machine management program, construction machine management method, construction machine and external management device of construction machine - Google Patents

Abstract

To easily and accurately monitor a construction point formed by a construction machine by autonomously monitoring the construction point from the construction machine.SOLUTION: A construction machine management system comprises: a detection sensor unit 11 mounted to a construction machine 2 which is movable in a construction site area 1; and a position recognition unit 13a for recognizing the position information of a construction point formed by a movable working tool 3 in the construction site area 1 on the basis of a detection result of the detection sensor unit 11 with respect to an external index 1a installed in the construction site area 1, and a detection result of the detection sensor unit 11 with respect to a movable index 3a added to the movable working tool 3 possessed by the construction machine 2.SELECTED DRAWING: Figure 1

Description

The present invention relates to a construction machine management system, a construction machine management program, a construction machine management method, a construction machine, and an external management device for the construction machine.

In recent years, at construction sites, it has been practiced to monitor construction sites using construction machines used in the construction site area using electronic devices. This is because if the construction site can be recognized by the construction machine, for example, the work management during construction can be performed by collating the recognition result with the topographical data.

Conventionally, the monitor of the construction site by the construction machine is, for example, the total station (Total St).
ation, also referred to as "TS" below. ) Is installed in the construction site area, and the laser light emitted by the laser light emitting device is used (see, for example, Patent Document 1). In addition, for example, it may be performed using a global positioning satellite system (hereinafter also referred to as "GNSS") represented by GPS (Global Positioning System) (for example, Patent Document 2). reference).

JP-A-2002-340556 Special Table No. 09-500700

In the above-mentioned conventional technique, the monitoring of the construction site by the construction machine is performed by using TS or GNSS. In other words, while using TS or GNSS, which is an external system from the viewpoint of construction machinery, monitoring of the construction machinery is heteronomous.

However, the heteronomous monitor using an external system may have the following drawbacks. For example, TS or GNSS is generally expensive and requires specialized knowledge to use, so it cannot always be said that monitoring of construction machinery can be easily performed. Also,
Depending on the environment and conditions of the construction site area where the external system is used, the laser light or satellite radio waves that should reach the construction machine may be blocked, which may adversely affect the monitor accuracy.

Therefore, an object of the present invention is to provide a technique that enables the monitoring to be performed easily and with high accuracy by autonomously monitoring the construction site by the construction machine from the viewpoint of the construction machine.

The present invention has been devised to achieve the above object, and one aspect thereof is as follows.

According to one aspect of the invention
A detection sensor unit mounted on a construction machine that can move around the construction site area,
Based on the detection result of the detection sensor unit for the external index installed in the construction site area and the detection result of the detection sensor unit for the movable index attached to the movable work tool of the construction machine. , A position recognition unit that recognizes the position information of the construction site by the movable work tool in the construction site area,
A construction machinery management system is provided.

According to the present invention, by using the detection sensor unit mounted on the construction machine, it is possible to autonomously monitor the construction site by the construction machine, so that the monitoring can be performed easily and with high accuracy.

It is a figure explaining the basic technical idea of this invention, and is the functional block diagram which shows the schematic structure example of the construction machine management system to which the said technical idea is applied. It is explanatory drawing which shows typically the schematic structure example of the backhoe which is an example of the construction machine used in the construction site area in the 1st Embodiment of this invention. It is explanatory drawing which shows the example of the two-dimensional pattern of the marker figure used in the construction machine management system which concerns on 1st Embodiment of this invention, (a) is the figure which shows one specific example of a marker figure, (b) is a marker. It is a figure which shows other concrete example of a figure. It is a block diagram which shows the structural example of the construction machine management system which concerns on 1st Embodiment of this invention. It is a flow chart which shows an example of the flow of the processing procedure of the construction machine management method which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows the outline of the surveying technique by 2 camera images used in 1st Embodiment of this invention. It is explanatory drawing which shows the outline of the position recognition model of the bucket construction place used in the 1st Embodiment of this invention. It is explanatory drawing which shows the example of the operation guidance information output by the construction machine management system which concerns on 1st Embodiment of this invention, (a) is a figure which shows a specific example of operation guidance information, (b) is operation guidance information. It is a figure which shows another concrete example. It is a side view which shows typically the basic structure example of the slip foam machine which is an example of the construction machine used in the construction site area in the 2nd Embodiment of this invention. It is explanatory drawing which shows the construction state of the slip foam construction method performed using the slip foam machine in the 2nd Embodiment of this invention. It is explanatory drawing which shows the structural example of the front cutting machine which comprises the slip foam machine in 2nd Embodiment of this invention schematically, (a) is the view which saw from the front, (b) is the main part from the side. It is a view. It is explanatory drawing which shows typically the structural example of the rear molding machine which comprises the slip foam machine in the 2nd Embodiment of this invention, (a) is the view seen from the front, (b) is the view from the side of the main part. It is a figure. It is a perspective view which shows typically the schematic structure example of the slip foam machine which is an example of the construction machine used in the construction site area in the 2nd Embodiment of this invention. It is a block diagram which shows the structural example of the construction machine management system which concerns on 2nd Embodiment of this invention. It is a flow chart which shows an example of the flow of the processing procedure of the construction machine management method which concerns on 2nd Embodiment of this invention. It is explanatory drawing which shows the outline of the surveying technique used in the 2nd Embodiment of this invention, (a) is a figure which shows the relationship between a camera and a marker figure, (b) is a figure which explains the vector of a camera coordinate system, ( c) is a diagram modeled for obtaining the height, and (d) is a perspective view of (c) in the direction of OO'. It is explanatory drawing which shows the example of the operation guidance information output by the construction machine management system which concerns on 2nd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<1. Overview of basic technical ideas>
First, the outline of the basic technical idea of the present invention will be described.
FIG. 1 is a functional block diagram showing a schematic configuration example of a construction machine management system to which the basic technical idea of the present invention is applied.

(Overview of the system)
The construction machine management system in the example monitors the construction site of the construction machine 2 used in the construction site area 1 of the construction site by the movable work tool 3 possessed by the construction machine 2, and the monitoring result (that is, construction). It is configured to acquire the recognition result) of the part. Further, once the result of monitoring the construction site by the construction machine 2 is acquired, the work can be managed during the construction based on the result of the monitor.

Here, the construction site area 1 is an area to be constructed using the construction machine 2. Construction refers to construction or processing performed using the construction machine 2. The content (type) of construction is not particularly limited as long as it is performed using the construction machine 2.
Further, for the construction site area 1, it is assumed that construction plan data corresponding to the design data regarding the state after construction (for example, the terrain after construction) is prepared in advance. The data format of the construction plan data is not particularly limited as long as it can specify the state after construction.
The pre-construction or in-construction state in the construction site area 1 and the post-construction state specified by the construction plan data correspond to each other by using, for example, a reference point set in the construction site area 1. It is designed to be attached.

The construction machine 2 that performs the construction of the construction site area 1 is configured to be movable to an arbitrary position in the construction site area 1. The movement within the construction site area 1 may be self-propelled or may use another power source. Further, the construction machine 2 has a movable work tool 3 that can be operated in a stopped state or while moving, and by operating the movable work tool 3, construction is performed on the construction site area 1. It is configured. In such a construction machine 2, the movable work tool 3 actually works on the work piece (the movable work tool 3 is used as the construction site.
For example, it will be in contact with the ground).

A typical example of such a construction machine 2 is a construction machine for civil engineering use such as a hydraulic excavator or a bulldozer. For example, in the case of a hydraulic excavator, the bucket (excavator) attached to the tip of the arm corresponds to the movable work tool 3. However, the construction machine 2 referred to here is not limited to civil engineering use, and includes various work machines in a broad sense as long as it has a movable work tool 3 and is configured to be movable. Is done. For example
The construction machine 2 referred to here includes not only civil engineering machines such as hydraulic excavators and bulldozers, but also transportation machines such as trucks and loaders, cargo handling machines such as cranes, foundation work machines, drilling machines, tunnel work machines, and crushing machines. It includes concrete machines such as machines, paving machines, road maintenance machines, etc., and may also include snow compactors and self-propelled mowers.

(Knowledge obtained by the inventor)
By the way, when monitoring the construction site by the movable work tool 3 of the construction machine 2, it is preferable that the monitoring can be performed easily and with high accuracy. However, since the monitor by the above-mentioned conventional technique is heteronomously performed by using an external system, the monitor cannot always be performed easily and with high accuracy.

The construction site is monitored, for example, in order to enable work management during construction based on the monitoring result. Therefore, the position recognition of the construction site by the monitor is not sufficient with an accuracy of several meters, and must be performed with a high accuracy of at least several centimeters. When monitoring with such high accuracy, it is possible to use TS or GNSS, which are very expensive.
It is not always easy to introduce because it is very expensive. Moreover, TS or G
Since the use of NSS requires specialized knowledge, there is also a difficulty in terms of convenience. That is, T
When monitoring is performed with high accuracy using an external system such as S or GNSS, it cannot always be said that the monitoring can be performed easily.

Further, it is assumed that the construction site area 1 is set under various environments and conditions. Specifically, for example, the construction site area 1 is set in a place where laser light irradiation should be refrained, such as an urban area, or the construction site area 1 is set in a place where satellite radio waves do not reach, such as an underground space. It is possible. Therefore, when monitoring is performed using an external system, the laser beam or satellite radio waves may be blocked depending on the environment and conditions of the construction site area 1, which may adversely affect the monitor accuracy.

As a result of diligent studies based on these facts, the inventor of the present application autonomously views the construction site by the construction machine 2 from the construction machine 2 by using the detection sensor unit 11 mounted on the construction machine 2. I came up with the idea that it would be possible to perform the monitoring easily and with high accuracy by monitoring the system. In other words, the basic technical idea explained here is
It was devised based on a new idea that the construction machine 2 autonomously monitors the construction site by the construction machine 2 instead of the heteronomous monitor using an external system.

(System configuration example)
Specifically, as shown in FIG. 1, the construction machine management system has the following configuration. That is, the construction machine management system includes at least an information communication unit 12 that exchanges information between the detection sensor unit 11 mounted on the construction machine and the external management device 20, and the detection sensor unit 1.
1 and a computer unit 13 connected to the information communication unit 12 are provided.

The detection sensor unit 11 is the position of the construction machine 2 or the movable work tool 3 possessed by the construction machine 2.
It is used to detect attitude or orientation. The position referred to here is a coordinate position when the construction site area 1 is considered as a three-dimensional coordinate space. Posture is the amount of tilt with respect to the horizontal plane. The orientation is the direction of movement or the direction of movement.
Examples of such a detection sensor unit 11 include an image sensor (camera), an inclinometer, and the like.
Examples thereof include at least one of an acceleration sensor and a gyro sensor (angular acceleration sensor), preferably one configured by appropriately combining these. It is also conceivable to use a plurality of independent measurement type GPS devices as the detection sensor unit 11.

The information communication unit 12 is for establishing communication with the external management device 20. As such an information communication unit 12, for example, an LTE (Long Term Evolution) line, Wi-
Any device that establishes communication with the external management device 20 by using a known wireless communication technique such as Fi (Wireless Fidelity) or Bluetooth (registered trademark) may be used.
Examples of the external management device 20 that is the communication partner of the information communication unit 12 include a computer device that is arranged apart from the construction machine 2 (whether inside the construction site area 1 or outside the construction site area 1). Be done. However, the present invention is not limited to this, and if it has a function that can be equated with a computer device, for example, a portable tablet terminal can be used as an external management device 2
It may be 0. When the external management device 20 is portable, the person who has the external management device 20 can use the external management device 20 even when the external management device 20 is on board the construction machine 2.

The computer unit 13 is, for example, a so-called single board computer (Single Board).
Computer, hereinafter also referred to as "SBC". ), And is configured to realize the functions described below by executing a predetermined program set in advance. That is, the computer unit 13 has hardware resources as a computer, and by executing a predetermined program, the program (software) and the hardware resources cooperate with each other to acquire the position recognition unit 13a and data. Section 13b, difference information extraction section 13
c, It is configured to function as a guidance output unit 13d, an operation plan generation unit 13e, and an operation instruction unit 13f.

The position recognition unit 13a is a detection sensor unit for the detection result of the external index 1a installed in the construction site area 1 by the detection sensor unit 11 and the movable index 3a attached to the movable work tool 3 of the construction machine 2. This is a function of recognizing the position information of the construction site by the movable work tool 3 of the construction machine 2 in the construction site area 1 based on the detection result in 11.
As the external index 1a, for example, a stage staff installed at a reference point in the construction site area 1 or a scale equivalent thereto is used. A single external index 1a may be installed in the construction site area 1, or a plurality of external indicators 1a may be installed.
As the detection sensor unit 11 that detects the external index 1a, for example, an image sensor (camera) that captures an image of the external index 1a is used. In that case, the external index 1a is a two-dimensional marker figure identified by the image pattern, a light emitter having a two-dimensional light emitting surface identified by the light emitting pattern, or a blinking pattern as an example of the light emitting pattern. It is preferable that a light emitter having a point light source identified by the above is attached, because the external index 1a can be easily identified. However, if the external index 1a can be detected, the detection sensor unit 11 other than the image sensor 11
May be used.
Further, it is assumed that the movable index 3a is attached in advance to the movable work tool 3 of the construction machine 2.
The detection of the movable work tool 3 is the same as in the case of the external index 1a, for example, the movable work tool 3 is detected.
An image sensor (camera) that captures an image of is used. In that case, movable work tool 3
The movable index 3a is different from a two-dimensional marker figure having a pattern different from that of the external index 1a, a light source having a two-dimensional light emitting surface having a pattern different from that of the external index 1a, or an external index 1a. It is preferable that a light emitter having a point light source having a blinking pattern is attached, because it is easy to detect the movable work tool 3 and identify the movable index 3a. Further, the movable index 3a may be detected by using the detection sensor unit 11 other than the image sensor, as in the case of the external index 1a.

Then, based on the detection result of the external index 1a and the detection result of the movable index 3a, the position recognition unit 13a at least uses the surveying technique described in detail later, and at least the movable work tool 3 of the construction machine 2. Recognize the position of the construction site. As a result, it is possible to recognize the coordinate position in the construction site area 1 (three-dimensional coordinate space) for the construction location by the movable work tool 3.
Even if the position recognition unit 13a recognizes the posture or orientation of the construction machine 2 based on the detection result of the detection sensor unit 11 such as an inclinometer or a gyro sensor in addition to the position of the construction site. Good. That is, it is assumed that the position information recognized by the position recognition unit 13a includes at least information regarding the position of the construction machine 2, and more preferably information such as posture and orientation in addition to the position.

The data acquisition unit 13b is a function of acquiring construction plan data (design data) for the construction site area 1. The method for acquiring the construction plan data is not particularly limited. For example, the construction plan data may be acquired by storing the construction plan data in the storage area in the computer unit 13 in advance, or may be acquired through the information and communication unit 12 externally. It may be possible to obtain from.

The difference information extraction unit 13c uses the recognition result of the position recognition unit 13a as the movable work tool 3 of the construction machine 2.
After obtaining the result of monitoring the construction site by, the monitoring result is compared with the construction plan data acquired by the data acquisition unit 13b, and the difference of the construction site by the movable work tool 3 with respect to the construction plan data is extracted as difference information. It is a function. The method for extracting the difference information is not particularly limited, and for example, a known calculation method may be used.

The guidance output unit 13d is a function of generating operation guidance information of the movable work tool 3 based on the difference information extracted by the difference information extraction unit 13c and outputting the generated operation guidance information. The operation guidance information is information that guides the operation required for the construction machine 2 in order to match the construction location by the movable work tool 3 of the construction machine 2 with the construction plan data. The generation and output of such operation guidance information may be performed by using a known technique known as so-called machine guidance in the technical field of construction machinery. The output destination of the operation guidance information includes, for example, an operation panel operated by the operator of the construction machine 2, or an operation panel equivalent thereto, but the output destination is not limited to this, and the information communication unit 1
It may be output to the external management device 20 through 2.

The motion plan generation unit 13e is a function of generating motion plan information of the movable work tool 3 in the construction machine 2 based on the difference information extracted by the difference information extraction unit 13c. The motion plan information is information that specifies how the movable work tool 3 should be operated in order to match the construction site by the movable work tool 3 of the construction machine 2 with the construction plan data. In other words, the motion planning information is
This is information required to realize automatic control (automation of operation) of the operation of the construction machine 2.
The automatic control referred to here may be realized by using a known technique known as so-called machine control in the technical field of construction machinery.

The operation instruction unit 13f is a function of giving an operation instruction to the drive control unit 4 of the construction machine 2 based on the operation plan information generated by the operation plan generation unit 13e. When the operation instruction unit 13f gives an operation instruction, the drive control unit 4 operates the movable work tool 3 while following the operation instruction in the construction machine 2. The operation instruction to the construction machine 2 plays a part in the above-mentioned automatic control, and may be realized by using a known technique known as so-called machine control.

The functions of the respective units 13a to 13f described above are realized by the computer unit 13 executing a predetermined program. That is, the predetermined program that realizes the functions of each part (each means) 13a to 13f corresponds to one embodiment of the "construction machine management program" according to the present invention. In that case, the predetermined program that realizes each function is the computer unit 13.
As long as it can be installed in the computer, it may be stored and provided in a recording medium (for example, a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc.) that can be read by the computer unit 13. It may be provided from the outside through a network such as the Internet or a dedicated line.

Here, the case where the computer unit 13 has all the functions as the respective units 13a to 13f is taken as an example, but the present invention is not necessarily limited to this, and the computer unit 13 is at least the position recognition unit 13a. Anything that has the function of Regarding the functions as the other units 13b to 13f except the position recognition unit 13a, the external management device 20 may be provided instead of the computer unit 13, or the computer unit 13 and the external management device 20 are provided in an overlapping manner. It may be possible that neither the computer unit 13 nor the external management device 20 is provided.

(Processing operation example)
Subsequently, the processing operation in the construction machine management system having the above-described configuration will be described. The processing operation given here corresponds to a specific example of the construction machine management method.

When construction is performed using the construction machine 2 in the construction site area 1, first, at the position after the movement of the construction machine 2, the detection sensor unit 11 mounted on the construction machine 2 causes the construction site area 1 to be within the construction site area 1. The external index 1a set at the reference point is detected. For example, when an image sensor is used as the detection sensor unit 11, the external index 1a is continuously detected until the image of the external index 1a can be captured. When a plurality of external indexes 1a are installed, at least one external index 1a is detected.

Further, the detection sensor unit 11 detects the movable index 3a in addition to the detection of the external index 1a at the position of the construction machine 2 after the movement.

Then, when the detection sensor unit 11 detects the external index 1a and the movable index 3a, based on these detection results, for example, while using the surveying technique described in detail later, the construction site by the movable work tool 3 of the construction machine 2 is used. Recognize the position. As a result, the position recognition unit 13a recognizes the position (three-dimensional coordinate value) in the construction site area 1 with respect to the construction location by the movable work tool 3. At this time, the position recognition unit 13a also recognizes the posture or orientation of the movable work tool 3 as needed.

According to the recognition result obtained in this way, the absolute position (posture as necessary) in the construction site area 1 when the reference point is used as the reference point for the construction site by the movable work tool 3 possessed by the construction machine 2. Or, including the orientation.) Can be specified. That is, while using the detection sensor unit 11 mounted on the construction machine 2, the position recognition unit 13a based on the detection results of the external index 1a and the movable index 3a undergoes recognition processing, so that an external system such as TS or GNSS can be used. Without needing to do so, the construction site by the construction machine 2 can be autonomously monitored from the viewpoint of the construction machine 2.

After the recognition process by the position recognition unit 13a and the monitoring result of the construction site by the movable work tool 3 of the construction machine 2, the difference information extraction unit 13c acquires the monitoring result by the data acquisition unit 13b. In comparison with, the difference information from the construction plan data is extracted. After the difference information extraction unit 13c extracts the difference information, it is possible to perform the following machine guidance processing operation or machine control processing operation.

When performing the machine guidance processing operation, the guidance output unit 13d generates the operation guidance information based on the difference information extracted by the difference information extraction unit 13c. Then, the generated operation guidance information is output by, for example, the operation panel of the construction machine 2 or a similar one. As a result, the operator of the construction machine 2 can refer to the output contents of the operation panel.
It is possible to operate the construction machine 2 (that is, own machine) while grasping the construction contents based on the construction plan data, the posture and movement of the construction machine 2. Therefore, for the operator, it is very convenient to match the construction site by the movable work tool 3 of the construction machine 2 with the construction plan data. The output destination of the operation guidance information may be the external management device 20 connected via the information communication unit 12. In that case, for example, even if the operator who actually operates the construction machine 2 is an unskilled person, a skilled person who refers to the output contents of the external management device 20 arranged apart from the construction machine 2 constructs the construction machine 2. It is feasible to give operation advice to unskilled persons while grasping the construction situation by the machine 2.

When performing the machine control processing operation, the motion plan generation unit 13e generates the motion plan information based on the difference information extracted by the difference information extraction unit 13c so as to reduce the difference due to the difference information. Then, based on the motion plan information generated by the motion plan generation unit 13e, the motion instruction unit 13f gives an operation instruction to the drive control unit 4 of the construction machine 2. As a result, the construction machine 2 automatically operates the operation, posture, and the like of the construction machine 2 (that is, its own machine) so that the construction location by the movable work tool 3 matches the construction plan data. Construction machinery 2
When the automatic operation of the above is performed, the difference information extracted by the difference information extraction unit 13c and the operation plan generation unit 13
The operation plan information and the like generated by e can be output to the external management device 20 connected via the information and communication unit 12, and the operation and posture of the construction machine 2 can be auxiliaryly controlled from the external management device 20. It may be. By doing so, for example, an expert who operates the external management device 20 can appropriately modify the control content for the construction machine 2 while grasping the construction status of the construction machine 2. The accuracy and reliability of the automatic operation of the construction machine 2 can be improved.

(Action effect)
In the construction machine management system described above, the detection sensor unit 11 mounted on the construction machine 2 is used, and the detection results of the external index 1a and the movable index 3a are combined, and the position recognition unit 13a based on these detection results is used. By undergoing the recognition process in, the result of monitoring the construction site by the movable work tool 3 of the construction machine 2 is obtained. Therefore, it is possible to autonomously monitor the construction site by the movable work tool 3 of the construction machine 2 without requiring an external system such as TS or GNSS.

If it is an autonomous monitor using the detection sensor unit 11, TS or G is very expensive.
It will be easier to introduce than when using NSS. This is because popular products such as an image sensor (camera) and an inclinometer can be used as the detection sensor unit 11. Moreover, unlike TS or GNSS, it does not require specialized knowledge, so it is also excellent in terms of convenience. That is, if it is an autonomous monitor using the detection sensor unit 11, TS or G
Compared to the case of using an external system such as NSS, the monitoring can be performed more easily.

Further, if it is an autonomous monitor using the detection sensor unit 11, laser light or satellite radio waves from the outside are not essential, so the construction site area 1 must be set under various environments and conditions. Even if this is expected, it will be possible to respond flexibly and appropriately. For example, even if the construction site area 1 is set in a place where laser light irradiation should be refrained, such as an urban area, or the construction site area 1 is set in a place where satellite radio waves do not reach, such as an underground space, construction machinery It is possible to flexibly and appropriately monitor the construction site by the movable work tool 3 of No. 2, and the monitoring accuracy is not adversely affected.

Further, even in the case of autonomous monitoring using the detection sensor unit 11, the detection sensor unit 11 and the external index 1a or the like to be detected thereof are set, and the position recognition unit 13a is used.
Depending on the setting of the recognition processing algorithm in, the monitor can be performed with high accuracy on the order of several centimeters. That is, even by an autonomous monitor using the detection sensor unit 11.
It is possible to recognize the position, posture, etc. of the construction site by the movable work tool 3 of the construction machine 2 with high accuracy.

As described above, according to the technical idea of the present embodiment, the construction site by the movable work tool 3 of the construction machine 2 can be autonomously monitored by using the detection sensor unit 11 mounted on the construction machine 2. Therefore, the monitor can be performed easily and with high accuracy.

<2. First Embodiment>
Next, an embodiment in which the above-mentioned technical idea is embodied will be described with specific examples.
First, a case where the construction machine 2 is a backhoe, which is a kind of hydraulic excavator, will be described as the first embodiment.

(Construction machinery)
FIG. 2 is an explanatory diagram schematically showing a schematic configuration example of a backhoe, which is an example of a construction machine used in a construction site area in the first embodiment.
The backhoe 2, which is an example of a construction machine, is a construction machine called a hydraulic excavator in which a bucket (excavator) is attached toward the operator side, and is mainly used for excavation in a construction site area 1. More specifically, the backhoe 2 has a right endless track 2a and a left endless track 2b as traveling devices, and is configured to be movable within the construction site area 1. Further, the backhoe 2 has a swivel machine base 2c supported by a traveling device, and is configured so that an operator can board the machine base 2c and perform an operation (maneuvering).

The machine base 2c of the backhoe 2 has a first arm 3b and a second arm 3c as movable work tools 3.
And a bucket 3d is attached, and by operating these, excavation and the like are performed on the ground surface. That is, the position of the sword tip of the bucket 3d corresponds to the construction location by the bucket 3d.

Further, the backhoe 2 has an image sensor (which captures an image as a detection sensor unit 11).
The cameras) 11a and 11b and the tilt sensor 11c capable of detecting the tilt in the biaxial direction (specifically, the tilt in the left-right direction and the front-back direction) are mounted. Image sensors 11a, 11
b is composed of a plurality of (for example, two) cameras 11a and 11b arranged side by side facing the same direction at a position of an excellent field of view (for example, the ceiling surface or the front surface of the machine base 2c) in the backhoe 2. There is.
Further, a tilt sensor 11d capable of detecting the orientation (tilt) of the bucket 3d is attached to the movable work tool 3 included in the backhoe 2.
As the cameras 11a and 11b and the tilt sensors 11c and 11d, known ones may be used. Further, in addition to these, the backhoe 2 may be further provided with another detection sensor unit 11.

In the construction site area 1 where such a backhoe 2 is used, a stage staff as an external index 1a or a scale equivalent thereto is erected at a position serving as a reference point (a position where coordinates are specified in advance). A two-dimensional marker figure 1b identified by an image pattern is attached to the external index 1a. The external index 1a is a light emitting device having a two-dimensional light emitting surface identified by a light emitting pattern, or a point light source identified by a blinking pattern as an example of the light emitting pattern, instead of the marker figure 1b. A vessel may be attached. External index 1a
The marker figure 1b in the above is the object to be imaged by the cameras 11a and 11b.

When a plurality of reference points are set in the construction site area 1, an external index 1a and a marker figure 1b may be arranged at each reference point. That is, the external index 1a and the marker figure 1b may be individually installed at different positions in the construction site area 1.

Further, the movable work tool 3 included in the backhoe 2 is provided with a marker figure 3a as a movable index, for example, in the vicinity of the bucket 3d in the second arm 3c. Instead of the marker figure 3a, a light emitter having a two-dimensional light emitting surface identified by a light emitting pattern, or a light emitting device, or
A light emitter having a point light source identified by a blinking pattern as an example of a light emitting pattern may be attached. The marker figure 3a as the movable index is the marker figure 1 in the external index 1a.
Similar to b, it is the object to be imaged by the cameras 11a and 11b.

However, it is preferable that the marker figure 3a as the movable index and the marker figure 1b in the external index 1a are configured by two-dimensional patterns different from each other. In the case of a light emitter, it is preferable that the light emitting pattern or the blinking pattern is different from each other.
FIG. 3 is an explanatory diagram showing an example of a two-dimensional pattern of a marker figure used in the construction machine management system according to the present embodiment.
For example, when the two-dimensional pattern shown in FIG. 3A is used as the marker figure 1b, it is conceivable to use the two-dimensional pattern shown in FIG. 3B as the marker figure 3a. In this way, even when the detection of the marker figures 1b and 3a is performed using the same image sensors (cameras) 11a and 11b, the respective marker figures 1b and 3a can be easily and accurately identified.

(System configuration example)
Next, a configuration example of the construction machine management system according to the first embodiment will be described.
FIG. 4 is a block diagram showing a configuration example of the construction machine management system according to the first embodiment.

The construction machine management system according to the first embodiment includes cameras 11a and 11b and tilt sensors 11c and 11d as detection sensor units 11 mounted on the backhoe 2, and SBC 13 connected thereto. The SBC 13 functions as the computer unit 13 described above.

An external management device 20 is connected to the SBC 13 via a data communication terminal 12 as an information communication unit 12. Further, the tablet terminal 32 is connected to the SBC 13 via the Wi-Fi terminal 31. The tablet terminal 32 is used by the operator of the backhoe 2, and corresponds to an operation panel of the backhoe 2. If the operation panel of the backhoe 2 has a function of displaying an image, the tablet terminal 32 may be omitted.

Further, the SBC 13 has a mechanism control unit 4a as a drive control unit 4 included in the backhoe 2.
And the hydraulic control unit 4b are connected. The mechanism control unit 4a moves forward and backward on the right endless track 2a.
It controls the forward / backward movement of the left endless track 2b, the turning of the machine base 2c, and the like. The hydraulic control unit 4b controls the operations of the first arm 3b, the second arm 3c, and the bucket 3d that constitute the movable work tool 3.

The connection between the SBC 13 and the outside is, for example, USB (Universal Serial Bus) or I.
It is conceivable to use 2C (Inter-Integrated Circuit), but the method is not limited to this, and other known communication methods may be used.

(Processing operation example)
Next, an example of processing operation in the construction machine management system having the above-described configuration, that is, the construction machine management method in the first embodiment will be described.
FIG. 5 is a flow chart showing an example of the flow of the processing procedure of the construction machine management method according to the first embodiment.

In the construction machine management system having the above-described configuration, when monitoring the construction site by the backhoe 2, first, marker recognition is performed for the external index 1a installed at the reference point of the construction site area 1 (step 101, the following step is “S”. It is abbreviated.). Specifically, the external index 1a
The marker figure 1b attached to the above is imaged by the cameras 11a and 11b, and the captured image of the marker figure 1b is obtained. The imaging at this time is performed by a plurality of (for example, two) cameras 11a, 1.
Since 1b is used, if any one of the marker figures 1b arranged in the construction site area 1 is used, position recognition using the surveying technique described later can be performed. If a plurality of marker figures 1b are arranged in the construction site area 1, even if a shield exists between one marker figure 1b and the backhoe 2, an captured image of another marker figure 1b can be obtained. Since this is possible, the marker recognition of the external index 1a is not hindered.

Further, the marker recognition is performed not only on the marker figure 1b of the external index 1a but also on the marker figure 3a as a movable index attached to the movable work tool 3 of the backhoe 2 (S101). Specifically, the marker figure 3a attached to the movable work tool 3 is imaged by the cameras 11a and 11b, and the captured image of the marker figure 3a is obtained. At this time, if the imaging of the marker figures 1b and 3a is performed using the same cameras 11a and 11b, it is possible to prevent the configuration of the detection sensor unit 11 from becoming complicated.

Further, in the construction machine management system, the tilt sensor 11c recognizes the tilt of the backhoe 2 itself, and the tilt sensor 11d recognizes the tilt of the bucket 3d of the movable work tool 3 (S102).

When the marker recognition and the inclination recognition are performed, the construction machine management system subsequently performs SBC13.
The function as the position recognition unit 13a in the above is to determine the position (position recognition) of the construction site by the bucket 3d of the backhoe 2 (S103).

At the time of position determination, the position recognition unit 13a performs the first recognition process and the second recognition process.
First, as the first recognition process, based on the imaging result of the marker figure 1b of the external index 1a,
Recognize the position information of the backhoe 2 in the construction site area 1. Specifically, the imaging result obtained by one camera 11a, the imaging result obtained by the other camera 11b, and the cameras 11a, 11
Based on the positional relationship between the bs, the positional relationship between the marker figure 1b and the cameras 11a and 11b is recognized by using the surveying technique using the two-camera images described below.

FIG. 6 is an explanatory diagram showing an outline of a surveying technique using a two-camera image used in the first embodiment.
In the figure, A and B are the positions of the cameras 11a and 11b, T is the position of the survey target (for example, the marker figure 1b), and AA'and BB'are the optical axes of the cameras 11a and 11b, respectively. Represents. Further, Q represents the midpoint of AB, and Q'represents the midpoint of A'B'. Therefore, the relationship of AQ = BQ, A'Q'= B'Q', AA'‖QQ'‖, BB'is established. Note that each point of A', O, Q', and B'is a virtual point on the plane perpendicular to QQ', and A
′ And B ′ correspond to the center points (origins) of the captured images obtained by the cameras 11a and 11b.

Here, for example, the actual distance between the points I and J is expressed as IJ, the pixel distance between the points I and J on the image is expressed as IJp, and the distance from the size of the subject and the pixel distance of the subject to the subject. Consider a case where the characteristic values of the cameras 11a and 11b that can be measured in advance for obtaining the above are k. In that case, the relational expression shown below holds.

Based on the above relational expression, the survey target is based on the positional relationship of A and B with respect to the cameras 11a and 11b and the positional relationship of each point of A', O, Q'and B'in the captured image by each. It is possible to obtain the distance QT between the camera, the distance QO to the survey target on the optical axis surface, and the height distance OT from the optical axis surface to the survey target. Further, it is possible to obtain the distance and elevation angle from the point T to the point Q from the detection result of the elevation angle of the line segment QO from the horizontal plane by the inclination sensor 11c. It is also possible to obtain the absolute coordinates of the point Q, for example, by measuring the distance and elevation angle to the two marker figures 1b.

That is, the position recognition unit 13a uses the surveying technique using the two-camera images described above, and the predetermined portion of the backhoe 2 (for example, each camera 11a, 11b) as a reference for specifying the position of the backhoe 2. The three-dimensional coordinate position with respect to the marker figure 1b (that is, the reference point in the construction site area 1) is calculated and recognized for the point Q), which is the midpoint of the installation point. The three-dimensional coordinate position recognized in this way corresponds to the absolute position of the predetermined portion of the backhoe 2 in the construction site area 1.

At this time, the position recognition unit 13a identifies the position of the reference point where the external index 1a is installed based on the imaging result of the marker figure 1b, so that the orientation of the backhoe 2 in the construction site area 1 (that is, the machine base) The direction in which 2c is facing) can be recognized. Further, the position recognition unit 13a can also recognize the posture of the backhoe 2 itself (that is, the state of inclination in the construction site area 1) based on the detection result by the inclination sensor 11c.

When the above-mentioned first recognition process is performed in the position determination, the position recognition unit 13a subsequently performs the second recognition process. In the second recognition process, the position information of the construction site by the bucket 3d is recognized based on the imaging result of the marker figure 3a as the movable index. Specifically, the imaging result obtained by one camera 11a, the imaging result obtained by the other camera 11b, the positional relationship between the marker figure 3a and the bucket 3d, and the inclination sensor 11d for the bucket 3d. Based on the detection result, the marker figure 3a and the bucket 3 are further recognized after recognizing the positional relationship between the marker figure 3a and the cameras 11a and 11b while using the above-mentioned two-camera image surveying technique.
Recognize the positional relationship with the construction site according to d.

FIG. 7 is an explanatory diagram showing an outline of a position recognition model of a bucket construction location used in the first embodiment.
In the figure, S is the size of the first arm 3b, R is the size of the second arm 3c, P is the size of the bucket 3d, and R1 and R2 are the positions of the marker figures 3a on the second arm 3c. Both are known values at the time of use of the backhoe 2. Therefore, while using the above-mentioned two-camera image surveying technique, the tilt sensor 11d recognizes the horizontal distance M and the vertical distance H from the point Q on the AB optical axis plane of the cameras 11a and 11b to the marker figure 3a. If the rotation angle (inclination) of the bucket 3d is known based on the detection result by, the third order of the sword tip position of the bucket 3d with respect to the point Q (that is, a predetermined part of the back ho 2 as a reference for specifying the position of the back ho 2). The original coordinate position can be calculated and recognized. Bucket 3
The position of the sword tip of d corresponds to the position of the construction site by the bucket 3d. That is, the three-dimensional coordinate position recognized in this way is the backhoe 2 for the construction site by the bucket 3d.
It corresponds to the relative position with respect to the predetermined portion of.

At this time, the position recognition unit 13a also recognizes the posture or orientation of the movable work tool 3 by reflecting the recognition result regarding the posture of the backhoe 2 in the first recognition process. As a result, the position recognition unit 13a can correctly recognize the position of the sword tip of the bucket 3d in the backhoe 2 even when the backhoe 2 is tilted or the like.

By combining the absolute position recognition result in the first recognition process and the relative position recognition result in the second recognition process obtained in this way, the position recognition unit 13a can use the backhoe 2 bucket 3d.
It is possible to obtain the monitoring result of the absolute position in the construction site area 1 when the reference point is used as the reference for the construction location.

After that, as shown in FIG. 5, in the construction machine management system, the function as the difference information extraction unit 13c in the SBC 13 is the backhoe 2 for the construction plan data of the construction site area 1.
(S104). Specifically, the monitoring result of the construction location by the bucket 3d of the backhoe 2 is compared with the coordinate value of the corresponding position in the construction plan data of the construction site area 1, and the difference information between them is extracted.

After extracting the difference information, in the construction machine management system, the function as the guidance output unit 13d in the SBC 13 performs the machine guidance processing operation and outputs the operation guidance information, so that the backhoe 2 operator is notified of the backhoe 2. Display posture (
S105). At this time, the operation guidance information may be output by the external management device 20. That is, the attitude of the backhoe 2 may be displayed to the center expert who handles the external management device 20 (S106).

The operation guidance information is output in the following manner, for example.
FIG. 8 is an explanatory diagram showing an example of operation guidance information output by the construction machine management system according to the first embodiment.

It is conceivable that the operation guidance information is output on the display screen 41 as shown in FIG. 8A, for example. The display screen 41 of the illustrated example shows the bucket 3d of the backhoe 2 with respect to the construction surface 41a in which the three-dimensional shape is drawn in the wire frame format based on the construction plan data.
The image 41b representing the above is displayed and configured at a position where the extracted difference information is reflected. In the display screen 41, a guide line for guiding the current position of the bucket 3d to the construction surface 41a (
Induction curve) 41c may be displayed. Further, in the display screen 41, related numerical values (
For example, the coordinate value) may be displayed.

Further, the operation guidance information does not necessarily have to be output on the three-dimensional display screen 41, and may be, for example, on the two-dimensional display screen 42 as shown in FIG. 8B. It may be possible to switch between the three-dimensional form and the two-dimensional form according to the above.

If the operation guidance information is output on the display screens 41 and 42 as described above, it will be very convenient for the operator to match the construction location by the bucket 3d of the backhoe 2 with the construction plan data. .. Further, if the operation guidance information is output by the external management device 20, for example, even if the operator who actually operates the backhoe 2 is an unskilled person, a center skilled person at a remote location can use the backhoe 2. It is feasible to give operational advice to unskilled personnel while grasping the construction situation.

Further, in the construction machine management system, in addition to the above-mentioned machine guidance processing operation, or in addition to the machine guidance processing operation, the functions as the operation plan generation unit 13e and the operation instruction unit 13f in the SBC 13 perform the machine control processing operation. It may be a thing. Specifically, as shown in FIG. 5, first, the motion plan generation unit 13e performs a process of generating a movement curve for moving the bucket 3d to the construction surface (that is, posture control in the figure) as motion plan information. (S107), the movements for the movement are the hydraulic operation of the first arm 3b, the hydraulic operation of the second arm 3c, the hydraulic operation of the bucket 3d, the forward / backward operation of the right endless track 2a or the left endless track 2b, A process (that is, control generation in the figure) composed of each sequence of the turning operation of the machine base 2c is performed (S108). Then, the operation instruction unit 13f performs a process (that is, a control instruction in the drawing) of giving an operation instruction according to each sequence to the mechanism control unit 4a and the hydraulic control unit 4b (S109). In response to this operation instruction, the mechanism control unit 4a operates the right endless track 2a, the left endless track 2b or the machine base 2c as necessary (S110), and the hydraulic control unit 4b operates the first arm 3b as necessary. By operating the second arm 3c or the bucket 3d (S111), the bucket 3d of the backhoe 2 is guided to a predetermined position.

By performing such a machine control processing operation, it is possible to automatically adjust the position of the backhoe 2 so that the bucket 3d moves along the construction surface. That is, the operation, posture, and the like of the backhoe 2 are automatically operated so that the construction location by the bucket 3d matches the construction plan data.

In addition, when performing the machine control processing operation, here, the attitude control (S107)
), Control generation (S108) and control instruction (S109) are performed by the SBC 13, but these processes may be performed by the external management device 20 having a higher processing capacity than the SBC 13.

Further, the motion planning information (movement curve, etc.) generated by the attitude control (S107) may be output by the external management device 20 and used for control monitoring by the external management device 20 (the external management device 20 may be used).
S112). In this way, for example, the operation, posture, and the like of the backhoe 2 can be auxiliaryly controlled from the external management device 20. Therefore, the center expert at a remote location
Since it is possible to appropriately modify the control content for the backhoe 2 while grasping the construction status of the backhoe 2, the accuracy and reliability of the automatic operation of the backhoe 2 can be improved.

(Action effect)
According to the first embodiment described above, by using the detection sensor unit 11 mounted on the backhoe 2, the construction site of the backhoe 2 by the bucket 3d can be autonomously monitored, so that the monitor can be easily and expensively used. It becomes possible to do it with accuracy.

Further, according to the first embodiment, the monitoring result of the construction site by the bucket 3d is displayed.
Compared with the construction plan data of the construction site area 1, the difference between them is extracted as the difference information. Therefore, the machine guidance processing operation or the machine control processing operation can be performed based on the extracted difference information, which is very suitable for effectively utilizing the monitor result autonomously obtained by the backhoe 2.

Further, as described in the first embodiment, if the machine guidance processing operation or the machine control processing operation is performed based on the autonomous monitor result, it is very convenient for the backhoe 2 operator. It becomes a thing. Moreover, since these processing operations are performed based on the autonomous monitoring results (that is, the monitoring results obtained easily and with high accuracy), the reliability of the processing operations can be guaranteed.

Further, as described in the first embodiment, if the difference information or the operation plan information which is the derivation information from the difference information is exchanged with the external management device 20, a center expert at a remote location can send and receive. Advice and auxiliary control are possible. Therefore, it is very convenient for the operator, the center expert, and the like, and the accuracy, efficiency, reliability, and the like of the construction by the backhoe 2 can be also very excellent.

Further, in the first embodiment, the backhoe 2 has an image sensor (as a detection sensor unit 11).
Cameras) 11a and 11b are mounted, and by performing recognition processing on the images obtained by the image sensors 11a and 11b, the absolute position of the backhoe 2 and the relative position of the bucket 3d are recognized. In this way, if position recognition is performed using the cameras 11a and 11b, it can be introduced more easily than when using the very expensive TS or GNSS, and it is also specialized like the TS or GNSS. Since it does not require any knowledge, it is also excellent in terms of convenience, and as a result, the system can be easily constructed. Moreover, the cameras 11a and 11b
Since the image obtained in is analyzed and position recognition is performed, it is possible to perform position recognition with necessary and sufficient position accuracy (for example, high accuracy on the order of several centimeters) depending on the setting of the analysis algorithm.

Further, in the first embodiment, the detection of the marker figure 1b in the external index 1a and the detection of the marker figure 3a as the movable index in the second arm 3c are detected by the same image sensor (camera) mounted on the backhoe 2. ) 11a and 11b are used. Therefore, in recognizing the absolute position of the backhoe 2 and the relative position of the bucket 3d, the marker figure 1
Even when it is necessary to detect b and the marker figure 3a, it is not necessary to individually provide an image sensor (camera) corresponding to each, and it is possible to prevent the sensor configuration from becoming complicated. This leads to suppression of sensor introduction cost, reduction of processing load for image processing, and the like, and is also suitable for facilitating system construction.

Further, in the first embodiment, a plurality of image sensors arranged side by side facing the same direction (for example,
It is composed of two) cameras 11a and 11b. That is, one marker figure 1b
As a detection result for 3 and 3a, a plurality of (for example, two) captured images can be obtained. Therefore, for example, it is possible to use a surveying technique using a two-camera image, and it is possible to perform position recognition with high accuracy even when the marker figures 1b and 3a to be detected are singular.

Further, in the first embodiment, the marker figure 1b (or light emitter) having a two-dimensional pattern is attached to the external index 1a. Therefore, when the image sensors (cameras) 11a and 11b are used for the detection of the external index 1a, the pattern recognition technique can be used, so that the marker figure 1b included in the captured image can be easily and accurately identified and extracted. Can be done.
Further, in the first embodiment, since the marker figure 3a (or light emitter) as a movable index is attached to the second arm 3c of the backhoe 2, the marker figure 1b in the external index 1a is provided.
As in the case of, the marker figure 3a can be easily and accurately identified and extracted.
Moreover, if the marker figure 3a has a pattern different from that of the marker figure 1b, these will not be confused.

<3. Second Embodiment>
Next, a case where the construction machine 2 is a slip foam machine used in the so-called slip foam construction method will be described as a second embodiment. Here, the differences from the first embodiment will be mainly described, and the same contents as those in the first embodiment will be omitted.

(Construction machinery)
FIG. 9 is a side view schematically showing a basic configuration example of a slip foam machine, which is an example of a construction machine used in a construction site area in the second embodiment.
The slip foam machine 2, which is an example of a construction machine, is at least arranged on the front cutting machine (hereinafter, also simply referred to as “cutting machine”) 2d arranged on the front side in the traveling direction and on the rear side in the traveling direction. It is configured to include a rear molding machine (hereinafter, also simply referred to as a “molding machine”) 2e. The cutting machine 2d and the molding machine 2e are connected to each other and move integrally, but they may be configured to move as separate machines.

Here, the slip foam construction method performed by using the slip foam machine 2 will be briefly described.
FIG. 10 is an explanatory diagram showing a construction situation of a slip foam construction method performed using a slip foam machine.
In the construction by the slip foam method, first, an excavation process of excavating a groove is performed using a cutting machine 2d. After the excavation groove is formed, the steel form (mold) of the molding machine 2e is subsequently arranged in the groove of the excavation groove. Then, the ready-mixed concrete is put into the mold, and the ready-mixed concrete is compacted into a predetermined shape inside the mold, and the molding process is performed. These steps are performed while moving the cutting machine 2d and the molding machine 2e.
In this way, in the slip foam method, concrete structures (for example, U-shaped grooves) having the same cross section are continuously cast using a slip foam machine having a self-propelled function.
The concrete structure may have reinforcing bars laid inside. In that case, the cutting machine 2d and the molding machine 2e may be arranged apart from each other, and the reinforcing bars may be laid between the cutting machine 2d and the molding machine 2e.

In order to carry out the construction by such a slip foam method, the cutting machine 2d and the molding machine 2e in the slip foam machine 2 are each configured as described below.

FIG. 11 is an explanatory view schematically showing a configuration example of a front cutting machine constituting the slip foam machine according to the second embodiment.
As shown in FIG. 11A, the cutting machine 2d has a traveling device 2f such as an endless track (crawler) and a tire, and a vehicle body portion 2g supported by the traveling device 2f, and walks in the construction site area. It is configured to be movable. The vehicle body 2g is provided with a hydraulically operated actuator 2h.
The upper housing 3e and the excavation drum 3f as the movable work tool 3 are attached. The excavation drum 3f is rotatably supported by the upper housing 3e, and a plurality of cutter bits 3g are provided on the outer peripheral surface thereof.
In the cutting machine 2d having such a configuration, the actuator 2h moves the upper housing 3e, thereby controlling the position and orientation of the excavation drum 3f. In addition, FIG. 11 (b)
), The excavation drum 3f is rotated to perform excavation or the like on the ground surface. Excavated materials (soil, sand, stone, etc.) generated by the rotation of the excavation drum 3f.
Asphalt pieces, etc.) shall be conveyed by the conveyor 2i extending forward.

That is, in the cutting machine 2d, the upper housing 3e, the excavation drum 3f, and the cutter bit 3g, which are movable as they move, correspond to the movable work tool 3 of the construction machine 2. Further, the tip position of the cutter bit 3g provided on the outer peripheral surface of the rotating excavation drum 3f corresponds to the construction location by the movable work tool 3.

FIG. 12 is an explanatory view schematically showing a configuration example of a rear molding machine constituting the slip foam machine according to the second embodiment.
As shown in FIG. 12A, the molding machine 2e is a traveling device 2 similar to the cutting machine 2d described above.
It has j and a vehicle body portion 2k supported by the traveling device 2j, and is configured to be movable in the construction site area. An upper housing 3h and a mold 3i as a movable work tool 3 are attached to the vehicle body portion 2k via a hydraulically operated actuator 2l.
As shown in FIG. 12B, a concrete injector 2m for pouring ready-mixed concrete into the mold is connected to the mold 3i. Further, the mold 3i is provided with a vibrator 3j for filling the mold with ready-mixed concrete by vibration.
In the molding machine 2e having such a configuration, the actuator 2l moves the upper housing 3h, thereby controlling the position and orientation of the mold 3i. Further, by injecting concrete into the mold 3i whose position and posture are controlled and moving the mold 3i in the traveling direction, concrete structures having the same cross section are continuously cast.

That is, in the molding machine 2e, the upper housing 3h and the mold 3i that move as they move are
It corresponds to the movable work tool 3 of the construction machine 2. Further, the position where the mold 3i is arranged corresponds to the construction location by the movable work tool 3.

By the way, in the second embodiment described here, the slip foam machine 2 is equipped with the detection sensor unit 11.
FIG. 13 is a perspective view schematically showing a schematic configuration example of a slip foam machine which is an example of a construction machine used in a construction site area in the second embodiment.
The slip foam machine 2 is equipped with image sensors (cameras) 11e to 11h for capturing an image and tilt sensors 11i and 11j capable of detecting tilt as detection sensor units 11. The image sensors 11e to 11h are a plurality of (for example, two) cameras 11e and 11f arranged side by side on the side surface of the upper housing 3e in the cutting machine 2d facing downward, and the molding machine 2e.
It is composed of a plurality of (for example, two) cameras 11g and 11h arranged side by side facing downward on the side surface of the upper housing 3h in the above. When the cutting machine 2d and the molding machine 2e are connected, the camera 11f in the upper housing 3e of the cutting machine 2d and the camera 11g in the upper housing 3h of the molding machine 2e do not necessarily have to be provided separately. Instead, it may be shared by one camera. Further, the inclination sensors 11i and 11j are used in the upper housing 3e of the cutting machine 2d.
And the upper housing 3h of the molding machine 2e are individually arranged.
As the cameras 11e to 11h and the tilt sensors 11i and 11j, known ones may be used. Further, in addition to these, the slip foam machine 2 may be further provided with another detection sensor unit 11.

In the construction site area 1 where such a slip foam machine 2 is used, a two-dimensional marker figure identified by an image pattern as an external index 1a at a position serving as a reference point (a position whose coordinates are specified in advance). 1c is arranged. The marker figures 1c are cameras 11e to 11h.
It is assumed that a plurality of sheets are arranged at predetermined intervals along the traveling direction of the slip foam machine 2. In addition, instead of the marker figure 1c, a light emitter having a two-dimensional light emitting surface identified by a light emitting pattern or a light emitting device having a point light source identified by a blinking pattern may be arranged.

Further, the upper housing 3e constituting the movable work tool 3 of the cutting machine 2d and the upper housing 3h constituting the movable work tool 3 of the molding machine 2e are individually corresponding to the cameras 11e to 11h, respectively. A marker figure 3k as a movable index is attached to the surface. The marker figure 3k is a target of imaging by the cameras 11e to 11h, similarly to the marker figure 1c as the external index 1a. Therefore, it is preferable that the marker figure 3k is composed of a two-dimensional pattern different from the marker figure 1c. In addition, instead of the marker figure 3k, a light emitter having a two-dimensional light emitting surface identified by a light emitting pattern or a light emitting device having a point light source identified by a blinking pattern may be attached.

(System configuration example)
Next, a configuration example of the construction machine management system according to the second embodiment will be described.
FIG. 14 is a block diagram showing a configuration example of the construction machine management system according to the second embodiment.

The construction machine management system according to the second embodiment includes cameras 11e and 11f and tilt sensors 11i as detection sensor units 11 mounted on the upper housing 3e of the cutting machine 2d, and a molding machine 2e.
The camera 11g, 11h and the tilt sensor 11j as the detection sensor unit 11 mounted on the upper housing 3h of the above, and the SBC 13 connected to these are provided. The SBC 13 may be mounted on at least one of the cutting machine 2d and the molding machine 2e, and functions as the computer unit 13 described above.

The external management device 20 is connected to the SBC 13 via the data communication terminal 12, and Wi
The point that the tablet terminal 32 is connected via the −Fi terminal 31 is the same as in the case of the first embodiment.

Further, a hydraulic control unit 4c as a drive control unit 4 of the slip foam machine 2 is connected to the SBC 13. The hydraulic control unit 4c is an actuator 2h in the cutting machine 2d.
And it controls the operation of the actuator 2l in the molding machine 2e.

(Processing operation example)
Next, an example of processing operation in the construction machine management system having the above-described configuration, that is, the construction machine management method in the second embodiment will be described.
FIG. 15 is a flow chart showing an example of the flow of the processing procedure of the construction machine management method according to the second embodiment.

In the construction machine management system having the above-described configuration, when monitoring the construction site by the slip foam machine 2, first, marker recognition is performed on the marker figure 1c installed in the construction site area 1, and the markers are attached to the upper housings 3e and 3h. Marker recognition is performed for the marker figure 3k (S201). Specifically, the marker figures 1c and 3k are imaged by the cameras 11e to 11h to obtain captured images of the marker figures 1c and 3k. The imaging at this time is performed so that at least two marker figures 1c and one marker figure 3k fit in one image in each of the cameras 11e to 11h. If at least two marker figures 1c and one marker figure 3k are imaged, position recognition can be performed on each of the imaging results of the cameras 11e to 11h using a surveying technique described later. Therefore, it is assumed that the marker figures 1c are arranged at predetermined intervals set in consideration of the angles of view of the cameras 11e to 11h.

Further, in the construction machine management system, the tilt sensor 11i recognizes the tilt of the upper housing 3e of the cutting machine 2d, and the tilt sensor 11j recognizes the tilt of the upper housing 3h of the molding machine 2e (S202).

When the marker recognition and the inclination recognition are performed, the construction machine management system subsequently performs SBC13.
The function as the position recognition unit 13a in the above is to determine the position (position recognition) of the construction site by the slip foam machine 2 (S203).

At the time of position determination, the position recognition unit 13a recognizes each of the construction location by the cutting machine 2d and the construction location by the molding machine 2e based on the captured images of the marker figures 1c and 3k.
Specifically, the positions of the upper housings 3e and 3h on which the cameras 11e to 11h are mounted are recognized by using the surveying technique described below based on the imaging results obtained for each camera 11e to 11h. To do.

FIG. 16 is an explanatory diagram showing an outline of the surveying technique used in the second embodiment.
Here, as shown in FIG. 16A, a technique for measuring the lateral distance and height of the upper housing 3e of the cutting machine 2d based on the captured images of the marker figures 1c and 3k by the camera 11e. explain. Needless to say, the same surveying technique can be applied to images captured by other cameras 11f to 11h.
In FIG. 16A, P is the position of the camera 11e, and A and B are the two marker figures 1c.
Represents each position of, and R represents the position of the marker figure 3k. The distance AB between each marker figure 1c shall be defined and known at the time of their installation. Camera 11
It is assumed that the distance PR between e and the marker figure 3k is measured and known at the time of installation on these upper housings 3e. Further, the camera 11e is adjusted to the upper housing 3e so that the optical axis is along the vertical direction and the optical axis passes near the center of the marker figure 3k when the upper housing 3e is in the horizontal state. It is assumed that it has been installed.

Further, in FIGS. 16 (b) to 16 (d), O is the center of the image captured by the camera 11e.
d represents the inclination angle of the upper housing 3e (0 in the horizontal state, + in the direction of inclination toward the marker figure 1c), respectively.

Here, for example, the actual distance between the points I and J is expressed as IJ, the pixel distance between the points I and J on the image is expressed as IJp, and the distance from the size of the subject and the pixel distance of the subject to the subject. Consider a case where the characteristic value of the camera 11e that can be measured in advance for obtaining the above is k. Also, the camera 11
At the time of installation of e, an arbitrary vector in the camera coordinate system, which is orthogonal to the camera installation surface of the upper housing 3e on the horizontal plane and is oriented from the upper housing 3e to the marker figure 1c, is obtained as the vector S. C is the intersection of the straight line in the direction from R to the vector S and the line segment AB on the camera coordinates. Further, let O'be the foot of the perpendicular line from O to the line segment RC on the camera coordinates.
Then, the real coordinates C can be obtained from A and B by proportionally dividing ACP and BCP. Note that ∠ACO'is θ on the camera coordinates. Further, let R'be the projection of R on the plane including C perpendicular to the optical axis PO. O'is also treated on the same side.
In that case, the relational expression shown below holds.

Based on the above relational expression, the upper housing 3e on which the camera 11e is installed is based on the relationship between the position of one camera 11e, each position of the two marker figures 1c, and the position of one marker figure 3k. It is possible to obtain the lateral distance CD and the height PD for the position of.
Then, if the distance CD and the height PD are known, it is possible to obtain the point R, which is the position of the marker figure 3k, based on these. The point R, which is the position of the marker figure 3k, is on a straight line forming an angle θ with the line segment AB from the point C toward the upper housing 3e, and is at the distance CD-PRsin (d) from the point C toward the upper housing 3e. It is a point located at a height PD-PRcos (d) from the point C.

That is, the position recognition unit 13a uses the surveying technique described above, and the marker figure 1c
The points A and B are regarded as absolute positions, and the point R of the marker figure 3k is regarded as a relative position.
Based on these detection results, a predetermined portion of the upper housing 3e, which is one of the criteria for specifying the position of the upper housing 3e (specifically, the position of the point R with the marker figure 3k). Is calculated and recognized in its three-dimensional coordinate position.

The position recognition unit 13a performs the above position recognition process not only on the detection result by the camera 11e but also on the detection results by the other cameras 11f to 11h in exactly the same manner. As a result, the position recognition unit 13a is the upper housing 3e corresponding to each of the cameras 11e to 11h.
, The recognition result of the three-dimensional coordinate position is obtained for the predetermined portion of 3h.

At the time of position determination, when the position recognition results for the corresponding portions of the cameras 11e to 11h are obtained, the position recognition unit 13a then combines these position recognition results to form the upper housing 3e.
, 3h position information is recognized.

Specifically, for example, in the case of the upper housing 3e, the position recognition result based on the detection result of the camera 11e and the position recognition result based on the detection result of the camera 11f are used to determine the two marker figures in the upper housing 3e. Since the three-dimensional coordinate positions of each of the 3k (point R) are specified, the position recognition unit 13a determines the upper housing 3 in the construction site area 1 based on these three-dimensional coordinate positions.
Recognize the position, orientation, posture (tilt state), etc. of e. At this time, the position recognition unit 13a recognizes the posture of the upper housing 3e based on the detection result by the inclination sensor 11i.

In this way, the position recognition unit 13a combines the position recognition result based on the detection result of the camera 11e and the position recognition result based on the detection result of the camera 11f, and further, the tilt sensor 11i.
The position information of the upper housing 3e is recognized based on the detection result obtained by. As a result, for the cutting machine 2d, the construction site area when the position of the marker figure 1c, which is the reference point, is used as the reference for the construction location by the upper housing 3e as the movable work tool 3, the excavation drum 3f, and the cutter bit 3g. It is possible to obtain the monitor result of the absolute position within 1.

Further, for example, in the case of the upper housing 3h, the position recognition result based on the detection result of the camera 11g and the position recognition result based on the detection result of the camera 11h indicate that the two three-dimensional coordinate positions in the upper housing 3h are Since it is specified, the position recognition unit 13a recognizes the position, orientation, attitude (tilt state), etc. of the upper housing 3h in the construction site area 1 based on these three-dimensional coordinate positions. At this time, the position recognition unit 13a recognizes the posture of the upper housing 3h based on the detection result by the inclination sensor 11j.

In this way, the position recognition unit 13a combines the position recognition result based on the detection result of the camera 11g and the position recognition result based on the detection result of the camera 11h, and further, the tilt sensor 11j.
The position information of the upper housing 3h is recognized based on the detection result obtained by. As a result, for the molding machine 2e, the construction site by the upper housing 3h as the movable work tool 3 and the mold 3i is absolutely within the construction site area 1 when the position of the marker figure 1c, which is the reference point, is used as a reference. It is possible to obtain monitor results at various positions.

After that, as shown in FIG. 15, in the construction machine management system, the function as the difference information extraction unit 13c in the SBC 13 recognizes the attitude of the slip foam machine 2 with respect to the construction plan data of the construction site area 1 (S204). Specifically, the monitoring results of the construction sites by the cutting machine 2d and the molding machine 2e of the slip foam machine 2 are compared with the coordinate values of the corresponding positions in the construction plan data of the construction site area 1, and the difference between them. Extract information.

After extracting the difference information, in the construction machine management system, the function as the guidance output unit 13d in the SBC 13 performs the machine guidance processing operation and outputs the operation guidance information to the field worker who handles the slip foam machine 2. The posture of the slip foam machine 2 is displayed (S205).

The operation guidance information is output in the following manner, for example.
FIG. 17 is an explanatory diagram showing an example of operation guidance information output by the construction machine management system according to the second embodiment.

It is conceivable that the operation guidance information is output on the display screen 43 as shown in FIG. 17, for example. The display screen 43 of the illustrated example is configured by displaying an image 43b showing the slip foam machine 2 at a position where the extracted difference information is reflected on the construction surface 43a drawn based on the construction plan data. ing. A guide line (guide curve) 43c for guiding the current positions of the cutting machine 2d and the molding machine 2e of the slip foam machine 2 to the construction surface 43a may be displayed on the display screen 43. Further, in the display screen 43, a related numerical value (for example,
(Coordinate value) may be displayed.

If the operation guidance information is output on the display screen 43 like this, it is very convenient for the field worker to match the construction site by the cutting machine 2d and the molding machine 2e of the slip foam machine 2 with the construction plan data. It will be excellent in sex.

As shown in FIG. 15, the posture recognition of the slip foam machine 2 (S206) with respect to the construction plan data and the posture display (S207) of the slip foam machine 2 by outputting the operation guidance information are performed by the external management device 20. You may do it. If the operation guidance information is output by the external management device 20, for example, even if the field worker who actually operates the slip foam machine 2 is an unskilled person, a center skilled person at a remote place slips. It is feasible to give operation advice to unskilled persons while grasping the construction situation by the foam machine 2.

Further, the external management device 20 may perform a machine control processing operation separately from the machine guidance processing operation or in addition to the machine guidance processing operation. Specifically, the external management device 20 performs a process of generating a movement curve for moving the cutting machine 2d and the molding machine 2e of the slip foam machine 2 to the construction surface (that is, attitude control in the drawing) (that is, the posture control in the drawing).
S208), a process (that is, control generation in the drawing) is performed in which the operation for performing the movement is configured by each sequence such as the hydraulic operation of the actuators 2h and 2l (S209). And
A process of giving an operation instruction according to each sequence to the hydraulic control unit 4c (that is, a control instruction in the figure) is performed (S210). In response to this operation instruction, the hydraulic control unit 4c operates the actuators 2h and 2l as necessary (S211), so that the upper housing 3e in the cutting machine 2d
, Excavation drum 3f and cutter bit 3g, and upper housing 3h in the cutting machine 2e.
And guide the mold 3i to a predetermined position.

By performing such a machine control processing operation, the upper housing 3e, the excavation drum 3f and the cutter bit 3g in the cutting machine 2d, and the upper housing 3h and the mold 3i in the cutting machine 2e move along the construction surface. In addition, the positions of the cutting machine 2d and the molding machine 2e can be automatically adjusted. That is, the operation, posture, and the like of the slip foam machine 2 are automatically operated so that the construction points of the cutting machine 2d and the molding machine 2e match the construction plan data.

In addition, when performing the machine control processing operation, here, the attitude control (S208)
), The control generation (S209) and the control instruction (S210) are performed by the external management device 20 as an example, but these processes may be performed by the SBC 13 of the slip foam machine 2.

Further, the motion planning information (movement curve and the like) generated by the attitude control (S208) may be used for control and monitoring by the external management device 20 (S212). If you do this
For example, the operation, posture, and the like of the slip foam machine 2 can be auxiliaryly controlled from the external management device 20. Therefore, a center expert at a remote location can appropriately modify the control content for the slip foam machine 2 while grasping the construction status of the slip foam machine 2, so that the slip foam machine 2 can be automatically adjusted. It will be possible to improve the accuracy and reliability of driving.

(Action effect)
According to the second embodiment described above, by using the detection sensor unit 11 mounted on the slip foam machine 2, the construction site by the cutting machine 2d and the molding machine 2e of the slip foam machine 2 is autonomously monitored. Therefore, almost the same effect as in the case of the first embodiment described above can be obtained.

Further, in the second embodiment, as the detection sensor unit 11, a plurality of cameras 11e and 11f are mounted on the upper housing 3e of the cutting machine 2d, and the plurality of cameras 11g are also mounted on the upper housing 3h of the molding machine 2e.
, 11h is installed. Each of the cameras 11e to 11h has at least two marker figures 1c and one marker figure 3k as detection targets. That is, the image sensors are composed of a plurality of cameras 11e to 11h arranged side by side facing the same direction (for example, two cameras per housing), and each camera 11e to 11h is a plurality of indexes (specifically, two indexes). , Two marker figures 1c and one marker figure 3k) are targeted for detection. Then, at the time of position determination, the position recognition unit 13a individually recognizes the position of the detection results of the cameras 11e to 11h, and recognizes the position information of the upper housings 3e and 3h by appropriately combining these position recognition results. To do. Therefore, in the second embodiment, for each of the upper housings 3e and 3h, from the detection results of the respective cameras 11e to 11h, not only the three-dimensional coordinate position but also the orientation and posture (inclination state) and the like are determined. It can be recognized, and the recognition can be performed with high accuracy.

Further, in the second embodiment, a plurality of marker figures 1c arranged at predetermined intervals are used as the external index 1a. Therefore, it is very suitable when it is applied to the case where a long concrete structure is continuously cast by using the slip foam machine 2 having a self-propelled function. For example, in the slip foam method, a sensor line composed of a long continuous body may be laid along the traveling direction of the slip foam machine 2, and the slip foam machine 2 may be moved along the sensor line. On the other hand, if a plurality of marker figures 1c are used as the external index 1a, the slip foam machine 2 can be moved with high accuracy by interspersing the marker figures 1c without requiring the laying of a continuum. It will be possible. Moreover, unlike the case of the sensor line, it is possible to recognize the posture (tilt). Therefore, it is very suitable for application in the case of performing construction while moving the construction machine in a predetermined direction as in the slip foam construction method.

<4. Other embodiments>
Although the embodiments of the present invention have been specifically described above, the technical scope of the present invention is not limited to the above-described embodiments, and various changes can be made without departing from the gist thereof.

For example, the backhoe 2 in the first embodiment and the slip foam machine 2 in the second embodiment are exemplified as construction machines, but the technical scope of the present invention is not limited thereto. That is, the present invention relates to civil engineering machinery, transportation machinery, cargo handling machinery, foundation construction machinery, drilling machinery, tunnel construction machinery, concrete machinery such as crushers, paving machinery, road maintenance machinery, snow compactors, and self-propelled machines. It can be applied to various types of construction machinery such as mowing machines.
When the construction machine is a snow-packed vehicle, for example, by arranging an external index on the slope of the ski resort, the snow-packed vehicle autonomously monitors the construction site (snow-packed location) by the blade of the snow-packed vehicle. Will be possible. When the construction machine is a self-propelled mower, for example, by arranging an external index on the course of the golf course, the construction site (grass mowing location) by the cutter blade of the self-propelled mower can be determined. Self-propelled mowers can be monitored autonomously.

Further, in the first embodiment, the case where the marker figure 1b is attached to the external index 1a is given as an example, but the technical scope of the present invention is not limited to this. That is, the marker figure 1b
Even if is not attached, for example, if a scale or a similar one is used as the external index 1a, the position of the reference point where the external index 1a is placed can be determined by analyzing the image such as the scale of the scale. It is possible to identify.

Further, in both the first embodiment and the second embodiment, the case where the image sensors (cameras) 11a, 11b, 11e to 11h are used as the detection sensor unit 11 has been described as an example, but the technical scope of the present invention is limited. It is not limited to this. That is, the detection sensor unit 11 may use another sensor in place of the image sensor or in addition to the image sensor as long as it can at least recognize the position of the construction machine.
For example, it is conceivable to use an infrared camera or an infrared sensor as another sensor. If infrared rays are used, it is possible to perform highly accurate position recognition while suppressing the influence of lighting even in a special environment such as at night or at a tunnel construction site.
Further, as another sensor capable of performing position recognition, for example, it is conceivable to use a plurality of independent measurement type GPS devices. In recent years, inexpensive single-measurement type GPS devices have been on the market, and by using multiple GPS devices while taking advantage of the characteristic that the relative positions of GPS devices can be recognized with high accuracy. , It is possible to perform highly accurate position recognition on the order of at least several cm.

Further, in both the first embodiment and the second embodiment, the image sensors (cameras) 11a, 11b, 11e to 11h and the tilt sensors 11c, 11d, 1 are used as the detection sensor unit 11.
Although the case where 1i and 11j are used in combination is given as an example, the technical scope of the present invention is not limited to this. For example, even when the detection sensor unit 11 is composed of only an image sensor (camera), it is possible to perform position recognition based on the detection result. However, as described in the first embodiment and the second embodiment, if the image sensor (camera) and the tilt sensor are used in combination, the configuration of the detection sensor unit 11 is suppressed from becoming complicated. It becomes possible to perform highly accurate position recognition.

Further, in the first embodiment, in the second recognition process, the case where the position of the construction site is recognized by the bucket 3d based on the imaging result of the marker figure 3a as the movable index is given as an example. If tilt sensors are provided in each of the 3b, the second arm 3c, and the bucket 3d, the position recognition may be performed using the detection results of the tilt sensors. This is because the position of the sword tip of the bucket 3d can be specified by combining the detection results of the respective rotation angles of the first arm 3b, the second arm 3c, and the bucket 3d.

Further, in the second embodiment, a concrete structure (for example, U) is used by the slip foam method.
The case of driving a character groove) was given as an example, but in addition to the U-shaped groove, curbs, gutters, circular waterways, protective fences, etc.
The present invention can be applied in exactly the same manner even when the road surface pavement or the like is the object of construction.
Further, in the second embodiment, the case where the cutting machine 2d and the molding machine 2e are mainly interlocked has been described, but the cutting machine 2d and the molding machine 2e may be operated as separate construction machines. In that case, the machine guidance processing operation and the machine control processing operation will be performed separately for each.
Further, in the second embodiment, the actuator 2h is used for the machine control processing operation.
, 2 liters of hydraulic operation and the like are controlled as an example. For example, the traveling device 2f of the cutting machine 2d
Or, the operation of the traveling device 2j of the molding machine 2e may be controlled.
Further, in the second embodiment, the case where the present invention is applied to the slip foam machine 2 used in the slip foam construction method is given as an example, but if it is a construction machine that performs construction while moving in the traveling direction, for example, it is open. Like the front and rear housings of shield machines (open pit machines),
The present invention can be applied in exactly the same manner to a construction machine used in a separate construction method.

Further, in each of the above-described embodiments, the case where the technical idea of the present invention is embodied as a "construction machine management system" is given as an example, but the present invention is not necessarily limited to this.
For example, the present invention can also be established as a "construction machine management program" that causes a computer to execute autonomous monitoring processing of the construction machine described in each embodiment. That is, the present invention
"A computer connected to a detection sensor mounted on a construction machine that can move around the construction site area,
Based on the detection result of the detection sensor unit for the external index installed in the construction site area and the detection result of the detection sensor unit for the movable index attached to the movable work tool of the construction machine. , A position recognition means for recognizing the position information of the construction site by the movable work tool in the construction site area,
Construction machinery management program to function as. It can also be established as.

Further, for example, the present invention can also be established as a "construction machine management method" for autonomously monitoring the construction machine described in each embodiment. That is, the present invention
"Using the detection sensor unit mounted on the construction machine that can move around the construction site area,
Based on the detection result of the detection sensor unit for the external index installed in the construction site area and the detection result of the detection sensor unit for the movable index attached to the movable work tool of the construction machine. , A construction machine management method for recognizing the position information of a construction site by the movable work tool in the construction site area. It can also be established as.

Further, for example, the present invention can be established as a "construction machine" having a function of performing autonomous monitoring processing described in each embodiment. That is, the present invention
"A construction machine that can move around the construction site area.
The detection sensor unit mounted on the construction machine and
A computer unit connected to the detection sensor unit is provided.
The computer unit detects the detection result of the external index installed in the construction site area by the detection sensor unit and the detection of the movable index attached to the movable work tool of the construction machine by the detection sensor unit. A construction machine having a position recognition unit that recognizes position information of a construction site by the movable work tool in the construction site area based on the result. It can also be established as.

Further, for example, the present invention is configured to exchange information with and from a construction machine, and is configured to perform autonomous monitoring processing of the construction machine described in each embodiment. It can also be established as an "external management device". That is, the present invention
"An external management device for construction machinery that is located away from the movable construction machinery in the construction site area and is configured to exchange information with and from the construction machinery.
Using the detection sensor unit mounted on the construction machine that can move around the construction site area
Based on the detection result of the detection sensor unit for the external index installed in the construction site area and the detection result of the detection sensor unit for the movable index attached to the movable work tool of the construction machine. , Regarding the recognition result of recognizing the position information of the construction site by the movable work tool in the construction site area
It is configured to output at least either the recognition result or the information derived from the recognition result.
External management device for construction machinery. It can also be established as.

1 ... Construction site area, 1a ... External index, 1b, 1c ... Marker figure, 2 ... Construction machine (backhoe, slip foam machine), 2a ... Right endless track, 2b ... Left endless track, 2c ... Machine stand, 2
d ... front cutting machine, 2e ... rear molding machine, 2f ... traveling device, 2g ... vehicle body, 2h ... actuator, 3 ... movable work tool, 3a, 3k ... movable index (marker figure), 3b ... first arm, 3c
... second arm, 3d ... bucket, 3e ... upper housing, 3f ... excavation drum, 3g ... cutter bit, 3h ... upper housing, 3i ... mold, 3j ... vibrator, 11 ... detection sensor unit, 1
1a, 11b, 11e to 11h ... Image sensor (camera), 11c, 11d, 11i,
11j ... tilt sensor, 12 ... information communication unit (data communication terminal), 13 ... computer unit (S)
BC), 13a ... position recognition unit, 13b ... data acquisition unit, 13c ... difference information extraction unit, 13d
... Guidance output unit, 13e ... Operation plan generation unit, 13f ... Operation instruction unit, 20 ... External management device

Claims (13)

A detection sensor unit mounted on a construction machine that can move around the construction site area,
The detection result of the detection sensor unit for the external index installed at the position serving as the reference point of the construction site area and the detection sensor unit for the movable index attached to the movable work tool of the construction machine. Based on the detection result, a survey calculation is performed using the positional relationship between each position of the external index and the movable index and the position of the detection sensor unit, and the positional relationship between the external index and the detection sensor unit is determined. By recognizing, recognizing the positional relationship between the movable index and the detection sensor unit, recognizing the positional relationship between the movable index and the construction site by the movable work tool, and combining these recognition results, the reference point A position recognition unit that recognizes position information including three-dimensional coordinate values of the construction site by the movable work tool in the construction site area based on
Construction machinery management system equipped with. The position recognition unit is based on the first recognition process of recognizing the position information of the construction machine based on the positional relationship between the external index and the detection sensor unit, and the positional relationship between the movable index and the detection sensor unit. The construction machine management system according to claim 1, wherein the position information including the three-dimensional coordinate values is recognized for the construction site through a second recognition process for recognizing the position information of the construction site by the movable work tool. .. The construction machine management system according to claim 1, wherein the detection sensor unit is mounted on the construction machine for construction while moving in a predetermined direction. The construction machine management system according to any one of claims 1 to 3, wherein the position information recognized by the position recognition unit includes at least one of the posture and the orientation of the movable work tool. Claims 1 to 4 include a difference information extraction unit that compares the recognition result of the position recognition unit with the construction plan data for the construction site area and extracts the difference of the construction location with respect to the construction plan data as difference information. The construction machine management system according to any one of the above. The construction machine management system according to claim 5, further comprising a guidance output unit that outputs operation guidance information of the movable work tool generated based on the difference information extracted by the difference information extraction unit. Based on the difference information extracted by the difference information extraction unit, an operation plan generation unit that generates operation plan information of the movable work tool for matching the construction location with the construction plan data.
An operation instruction unit that gives an operation instruction to the drive control unit of the construction machine based on the operation plan information generated by the operation plan generation unit.
The construction machine management system according to claim 5 or 6. It is equipped with an information and communication unit that exchanges information between the construction machine and an external management device located separately.
The construction according to any one of claims 5 to 7, wherein the information given and received by the information and communication unit includes at least either the difference information extracted by the difference information extraction unit or the information derived from the difference information. Machine management system. The detection sensor unit has an image sensor that captures an image.
The construction machine management system according to any one of claims 1 to 8, wherein the position recognition unit is configured to perform position information recognition by performing recognition processing on an image obtained by the image sensor. A computer connected to a detection sensor mounted on a construction machine that can move around the construction site area
The detection result of the detection sensor unit for the external index installed at the position serving as the reference point of the construction site area and the detection sensor unit for the movable index attached to the movable work tool of the construction machine. Based on the detection result, a survey calculation is performed using the positional relationship between each position of the external index and the movable index and the position of the detection sensor unit, and the positional relationship between the external index and the detection sensor unit is determined. By recognizing, recognizing the positional relationship between the movable index and the detection sensor unit, recognizing the positional relationship between the movable index and the construction site by the movable work tool, and combining these recognition results, the reference point A position recognition means for recognizing position information including three-dimensional coordinate values of a construction site by the movable work tool in the construction site area based on
Construction machinery management program to function as. Using the detection sensor unit mounted on the construction machine that can move around the construction site area
The detection result of the detection sensor unit for the external index installed at the position serving as the reference point of the construction site area and the detection sensor unit for the movable index attached to the movable work tool of the construction machine. Based on the detection result, a survey calculation is performed using the positional relationship between each position of the external index and the movable index and the position of the detection sensor unit, and the positional relationship between the external index and the detection sensor unit is determined. By recognizing, recognizing the positional relationship between the movable index and the detection sensor unit, further recognizing the positional relationship between the movable index and the construction site by the movable work tool, and combining these recognition results, the reference point A construction machine management method that recognizes position information including three-dimensional coordinate values of a construction site by the movable work tool in the construction site area based on the above. A construction machine that can move around the construction site area
The detection sensor unit mounted on the construction machine and
A computer unit connected to the detection sensor unit is provided.
The computer unit describes the detection result of the detection sensor unit for an external index installed at a position serving as a reference point in the construction site area, and the movable index attached to the movable work tool of the construction machine. Based on the detection result of the detection sensor unit, a survey calculation is performed using the positional relationship between each position of the external index and the movable index and the position of the detection sensor unit, and the external index and the detection sensor unit are performed. The positional relationship between the movable index and the detection sensor unit is recognized, the positional relationship between the movable index and the construction site by the movable work tool is recognized, and these recognition results are combined. A construction machine having a position recognition unit that recognizes position information including three-dimensional coordinate values of a construction site by the movable work tool in the construction site area when the reference point is used as a reference. An external management device for a construction machine that is arranged away from a movable construction machine in the construction site area and is configured to exchange information with the construction machine.
Using the detection sensor unit mounted on the construction machine that can move around the construction site area
The detection result of the detection sensor unit for the external index installed at the position serving as the reference point of the construction site area and the detection sensor unit for the movable index attached to the movable work tool of the construction machine. Based on the detection result, a survey calculation is performed using the positional relationship between each position of the external index and the movable index and the position of the detection sensor unit, and the positional relationship between the external index and the detection sensor unit is determined. By recognizing, recognizing the positional relationship between the movable index and the detection sensor unit, further recognizing the positional relationship between the movable index and the construction site by the movable work tool, and combining these recognition results, the reference point Regarding the recognition result of the position information including the three-dimensional coordinate values of the construction site by the movable work tool in the construction site area when the above is used as a reference.
It is configured to output at least either the recognition result or the information derived from the recognition result.
External management device for construction machinery.