JP2022010037A - Construction management device, display device, and construction management method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a construction management method allowing real time terrain profile data upon banking work by a working machine to be updated.

SOLUTION: A real time storage part stores a real time terrain profile data which is three-dimensional data exhibiting a real time terrain profile of a construction object. A bucket position acquiring part acquires a position of a bucket from a working machine having a working machine including the bucket. An upper update flag acquiring part receives an input of the upper update flag exhibiting whether or not update of the real time terrain profile to an upper value is allowed to be updated. A real time terrain profile update section updates the real time terrain profile based on the bucket position when the upper update flag is on.

SELECTED DRAWING: Figure 10

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a construction management device, a display device, and a construction management method.

Patent Document 1 discloses a technique for generating current terrain data based on position information through which a bucket has passed in order to obtain a current terrain deformed as a result of construction of a construction target by a work machine. Specifically, according to the method described in Patent Document 1, the construction management device identifies the trajectory of the bucket cutting edge based on the position data of the bucket cutting edge, and the height of the position where the bucket cutting edge has passed is the current topography. If it is lower than the height of the data, the height of the current terrain data is updated to the height passed by the cutting edge of the bucket.

International Publication No. 2014/167740

Since the technique described in Patent Document 1 aims to obtain the latest current terrain in excavation work by a work machine, the terrain data is updated based on the lowest point at the cutting edge of the bucket. On the other hand, when the work machine performs embankment work, the bucket operates at a position higher than the height of the current construction target, so that the current terrain data is not updated and a deviation from the actual current terrain occurs.
An object of the present invention is to provide a construction management device, a display device, and a construction management method capable of updating the current topographical data at the time of embankment work by a work machine.

According to the first aspect of the present invention, the construction management device includes a current terrain storage unit that stores current terrain data, which is three-dimensional data representing the current terrain to be constructed, and a working machine including a boom, an arm, and a bucket. A bucket position acquisition unit that acquires a plane position and height in a plan view from above the contour point of the bucket from a working machine having the bucket, and a bucket height when the work state is a predetermined work state. Based on this, it is provided with a current terrain updating unit that updates the height of the current terrain data related to the plane position of the bucket to an upper value.

According to at least one of the above aspects, the construction management device can update the current topographical data at the time of embankment work by the work machine.

It is a figure which shows the example of the posture of a working machine. It is a schematic diagram which shows the structure of the construction management system which concerns on 1st Embodiment. It is a perspective view which shows the structure of the hydraulic excavator which concerns on 1st Embodiment. It is a schematic block diagram which shows the structure of the control system of the hydraulic excavator which concerns on 1st Embodiment. It is a block diagram which shows the structure of the work equipment control device which concerns on 1st Embodiment. It is a figure which shows the relationship between a plurality of contour points of a bucket, and a design surface. It is a flowchart which shows the operation of the work machine control apparatus which concerns on 1st Embodiment. It is a schematic block diagram which shows the structure of the construction management apparatus which concerns on 1st Embodiment. It is a flowchart which shows the operation of the construction management apparatus which concerns on 1st Embodiment. It is a figure which shows the example of the embankment work. It is a figure which shows the example of the update processing of the current topographical data by the construction management apparatus which concerns on 1st Embodiment. It is a flowchart which shows the operation of the construction management apparatus which concerns on 2nd Embodiment. It is a figure which shows the example of the update processing of the current topographical data by the construction management apparatus which concerns on 2nd Embodiment. It is a flowchart which shows the operation of the construction management apparatus which concerns on 3rd Embodiment. It is a flowchart which shows the operation of the construction management apparatus which concerns on 4th Embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings.
<Coordinate system>
FIG. 1 is a diagram showing an example of a posture of a working machine.
In the following description, a three-dimensional field coordinate system (Xg, Yg, Zg) and a three-dimensional vehicle body coordinate system (Xm, Ym, Zm) are defined, and the positional relationship will be described based on these.

The site coordinate system is a coordinate system composed of an Xg axis extending from north to south, a Yg axis extending from east to west, and a Zg axis extending in the vertical direction with the position of the GNSS reference station provided at the construction site as a reference point. An example of GNSS is GPS (Global Positioning System).

The vehicle body coordinate system is a coordinate system composed of an Xm axis extending back and forth, a Ym axis extending left and right, and a Zm axis extending up and down with reference to a representative point O defined for the swivel body 120 of the hydraulic excavator 100 described later. With respect to the representative point O of the swivel body 120, the front is called the + Xm direction, the rear is called the −Xm direction, the left is called the + Ym direction, the right is called the −Ym direction, the upward direction is called the + Zm direction, and the downward direction is called the −Zm direction.

The working machine control device 126 of the hydraulic excavator 100, which will be described later, can convert a position in one coordinate system to a position in another coordinate system by calculation. For example, the working machine control device 126 can convert a position in the vehicle body coordinate system to a position in the field coordinate system and vice versa.

<First Embodiment>
FIG. 2 is a schematic view showing the configuration of the construction management system according to the first embodiment.
The construction management system 1 includes a hydraulic excavator 100 and a construction management device 200. The hydraulic excavator 100 and the construction management device 200 are connected via the network N. The hydraulic excavator 100 is an example of a working machine. The work machine according to the other embodiment does not necessarily have to be the hydraulic excavator 100. The hydraulic excavator 100 transmits position information related to the site coordinate system of a plurality of contour points including the cutting edge of the bucket 133 to the construction management device 200.
The construction management device 200 generates the current topographical data of the construction site based on the position information of the plurality of contour points of the bucket 133 acquired from the hydraulic excavator 100.

《Hydraulic excavator》
FIG. 3 is a perspective view showing the configuration of the hydraulic excavator according to the first embodiment.
The hydraulic excavator 100 includes a traveling body 110, a swivel body 120 supported by the traveling body 110, and a working machine 130 operated by hydraulic pressure and supported by the swivel body 120. The swivel body 120 is freely swiveled and supported by the traveling body 110 around the swivel center.

The working machine 130 includes a boom 131, an arm 132, a bucket 133, a boom cylinder 134, an arm cylinder 135, and a bucket cylinder 136.

The base end portion of the boom 131 is attached to the swivel body 120 via the boom pin P1.
The arm 132 connects the boom 131 and the bucket 133. The base end portion of the arm 132 is attached to the tip end portion of the boom 131 via the arm pin P2.
The bucket 133 includes a cutting edge for excavating earth and sand and a storage portion for accommodating the excavated earth and sand. The base end portion of the bucket 133 is attached to the tip end portion of the arm 132 via the bucket pin P3. The bucket 133 may be a bucket for the purpose of leveling, such as a slope bucket, or a bucket having no accommodating portion.

The boom cylinder 134 is a hydraulic cylinder for operating the boom 131. The base end portion of the boom cylinder 134 is attached to the swivel body 120. The tip of the boom cylinder 134 is attached to the boom 131.
The arm cylinder 135 is a hydraulic cylinder for driving the arm 132. The base end of the arm cylinder 135 is attached to the boom 131. The tip of the arm cylinder 135 is attached to the arm 132.
The bucket cylinder 136 is a hydraulic cylinder for driving the bucket 133. The base end of the bucket cylinder 136 is attached to the arm 132. The tip of the bucket cylinder 136 is attached to the bucket 133.

The swivel body 120 is provided with a driver's cab 121 on which the operator is boarded. The driver's cab 121 is provided in front of the swivel body 120 and on the left side (+ Ym side) of the working machine 130. Inside the cab 121, an operating device 1211 for operating the working machine 130 is provided. Hydraulic oil is supplied to the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136 according to the operation amount of the operating device 1211, and the working machine 130 is driven.

《Hydraulic excavator control system》
FIG. 4 is a schematic block diagram showing the configuration of the control system of the hydraulic excavator according to the first embodiment.
The hydraulic excavator 100 includes a stroke detector 137, an operating device 1211, a position / orientation calculator 123, an inclination detector 124, a hydraulic device 125, a working machine control device 126, and an input / output device 127.

The stroke detector 137 detects the stroke lengths of the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136, respectively. Thereby, the working machine control device 126 detects the position and the posture angle in the vehicle body coordinate system of the working machine 130 including the bucket 133 based on the stroke lengths of the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136, respectively. be able to.

The operating device 1211 includes an operating lever 1212 provided on the right side of the cab 121 and an operating lever 1213 provided on the left side of the cab 121. The operation device 1211 detects the operation amount in the front-rear direction and the left-right direction of the operation lever 1212, and the operation amount in the front-rear direction and the left-right direction of the operation lever 1213, and outputs an operation signal according to the detected operation amount to the work equipment control device. Output to 126. The operation signal generation method by the operation device 1211 according to the first embodiment is a PPC (Pressure Proportional Control) method. The PPC method is a method in which the pilot hydraulic pressure generated by the operation of the operation lever 1212 and the operation lever 1213 is detected by the pressure sensor and the operation signal is generated. The operation lever 1212 and the operation lever 1213 operate the boom 131, the arm 132, the bucket 133, and the swivel body 120.

The position / orientation calculator 123 calculates the position of the swivel body 120 in the field coordinate system and the direction in which the swivel body 120 faces. The position / orientation calculator 123 includes a first receiver 1231 and a second receiver 1232 that receive positioning signals from artificial satellites constituting the GNSS. The first receiver 1231 and the second receiver 1232 are installed at different positions of the swivel body 120, respectively. The position / orientation calculator 123 detects the position of the representative point O (origin of the vehicle body coordinate system) of the swivel body 120 in the field coordinate system based on the positioning signal received by the first receiver 1231.
The position / orientation calculator 123 calculates the orientation of the swivel body 120 in the field coordinate system using the positioning signal received by the first receiver 1231 and the positioning signal received by the second receiver 1232.

The tilt detector 124 measures the acceleration and angular velocity of the swivel body 120, and based on the measurement results, the posture of the swivel body 120 (for example, a roll representing rotation with respect to the Xm axis, a pitch representing rotation with respect to the Ym axis, and a pitch with respect to the Zm axis). Detects yaw, which represents rotation. The tilt detector 124 is installed, for example, on the lower surface of the driver's cab 121. An example of the tilt detector 124 is an IMU (Inertial Measurement Unit).

The hydraulic device 125 includes a hydraulic oil tank (not shown), a hydraulic pump, a flow rate control valve, and an electromagnetic proportional control valve. The hydraulic pump is driven by the power of an engine (not shown) and supplies hydraulic oil to the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136 via the flow rate regulating valve. The electromagnetic proportional control valve limits the pilot hydraulic pressure supplied from the operating device 1211 based on the control command received from the working machine control device 126. The flow rate control valve has a rod-shaped spool, and adjusts the flow rate of hydraulic oil supplied to the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136 depending on the position of the spool. The spool is driven by pilot hydraulic pressure adjusted by an electromagnetic proportional control valve.

The work equipment control device 126 is based on the position and orientation of the swivel body 120 calculated by the position / orientation calculator 123, the tilt angle of the swivel body 120 detected by the tilt detector 124, and the stroke length detected by the stroke detector 137. , Identify the position and orientation of the bucket 133 in the field coordinate system. Further, the working machine control device 126 outputs a control command for the boom cylinder 134, a control command for the arm cylinder 135, and a control command for the bucket cylinder 136 to the electromagnetic proportional control valve of the hydraulic device 125.

The input / output device 127 displays a screen based on a signal from the work equipment control device 126. Further, the input / output device 127 generates an input signal according to the operation of the user and outputs the input signal to the work equipment control device 126. Examples of the input / output device 127 include a touch panel, a monitor, a mobile terminal, and the like. The input / output device 127 may be provided in the cab of the hydraulic excavator 100, or may be provided in, for example, a remote control room for remotely controlling the hydraulic excavator 100 outside the cab.

《Working machine posture》
Here, the position and posture of the working machine 130 will be described with reference to FIG. The working machine control device 126 calculates the position and the posture of the working machine 130, and generates a control command of the working machine 130 based on the position and the posture. The work equipment control device 126 has a boom angle α which is a posture angle of the boom 131 based on the boom pin P1, an arm angle β which is a posture angle of the arm 132 based on the arm pin P2, and a bucket 133 based on the bucket pin P3. The position of the bucket angle γ, which is the posture angle of, and the contour point of the bucket 133 in the vehicle body coordinate system is calculated. The contour points of the bucket 133 are a plurality of points set at predetermined positions along the contour of the bucket 133. The contour points according to the present embodiment include points on the cutting edge of the bucket 133, points on the bottom surface of the bucket 133, and a plurality of points on the bottom portion of the bucket 133. In another embodiment, the contour point does not have to be a point related to the above position as long as it is a point along the contour of the bucket 133. Further, in other embodiments, the contour point may be one point.

The boom angle α is represented by an angle formed by a half-line extending from the boom pin P1 in the upward direction (+ Zm direction) of the swivel body 120 and a half-line extending from the boom pin P1 to the arm pin P2. Depending on the posture (pitch angle) θ of the swivel body 120, the upward direction (+ Zm direction) and the vertical upward direction (+ Zg direction) of the swivel body 120 do not always match.
The arm angle β is represented by an angle formed by a half-line extending from the boom pin P1 to the arm pin P2 and a half-line extending from the arm pin P2 to the bucket pin P3.
The bucket angle γ is represented by an angle formed by a half-line extending from the arm pin P2 to the bucket pin P3 and a half-line extending from the bucket pin P3 to the cutting edge of the bucket 133.
Here, the bucket end angle η, which is the posture angle of the bucket 133 with respect to the swivel body 120, is equal to the sum of the boom angle α, the arm angle β, and the bucket angle γ. The bucket end angle η is equal to the angle formed by the half-line extending from the bucket pin P3 in the upward direction (+ Zm direction) of the swivel body 120 and the half-line extending from the bucket pin P3 to the cutting edge of the bucket 133.

The positions of the contour points of the bucket 133 are the boom length L1 which is the dimension of the boom 131, the arm length L2 which is the dimension of the arm 132, the bucket length L3 which is the dimension of the bucket 133, the boom angle α, the arm angle β, and the bucket angle γ. , The shape information of the bucket 133, the position of the representative point O of the swivel body 120 in the field coordinate system, and the positional relationship between the representative point O and the boom pin P1. The boom length L1 is the distance from the boom pin P1 to the arm pin P2. The arm length L2 is the distance from the arm pin P2 to the bucket pin P3. The bucket length L3 is the distance from the bucket pin P3 to the cutting edge of the bucket 133. The positional relationship between the representative point O and the boom pin P1 is represented by, for example, the position of the boom pin P1 in the vehicle body coordinate system.

《Intervention control》
The work machine control device 126 limits the speed in the direction in which the bucket 133 approaches the construction target so that the bucket 133 does not invade the design surface set at the construction site. Hereinafter, limiting the speed of the bucket 133 by the work equipment control device 126 is also referred to as intervention control.

In the intervention control, the work equipment control device 126 generates a control command for the boom cylinder 134 to prevent the bucket 133 from entering the design surface when the distance between the bucket 133 and the design surface becomes less than a predetermined distance, and hydraulic pressure is applied. The control command is output to the electromagnetic proportional control valve of the device 125. As a result, the boom 131 is driven so that the speed of the bucket 133 becomes a speed corresponding to the distance between the bucket 133 and the design surface. That is, the working machine control device 126 limits the speed of the bucket 133 by raising the boom 131 according to the control command of the boom cylinder 134. By intervention control, the operator of the hydraulic excavator 100 simply moves the bucket 133 along the design surface by operating the arm to scrape the earth and sand in contact with the bucket 133, and generate a surface corresponding to the flat design surface. The leveling work can be performed. The leveling work is an example of a predetermined working state.
In another embodiment, the control command of the arm cylinder 135 or the control command of the bucket cylinder 136 may be output in the intervention control. That is, in another embodiment, the speed of the bucket 133 may be limited by raising the arm 132 in the intervention control, or the speed of the bucket 133 may be directly limited.

<< Working machine control device >>
The work equipment control device 126 includes a processor 1261, a main memory 1262, a storage 1263, and an interface 1264.

The storage 1263 stores a program for controlling the working machine 130. Examples of the storage 1263 include HDD (Hard Disk Drive), SSD (Solid State Drive), non-volatile memory and the like. The storage 1263 may be internal media directly connected to the bus of the work equipment control device 126, or may be external media connected to the work equipment control device 126 via the interface 1264 or a communication line.

The processor 1261 reads a program from the storage 1263, expands it in the main memory 1262, and executes processing according to the program. Further, the processor 1261 allocates a storage area in the main memory 1262 according to the program. The interface 1264 is connected to the stroke detector 137, the operating device 1211, the position / orientation calculator 123, the tilt detector 124, the electromagnetic proportional control valve of the hydraulic device 125, the input / output device 127, and other peripheral devices to input signals. Output.

The program may be intended to realize some of the functions exerted by the work equipment control device 126. For example, the program may exert its function in combination with other programs already stored in the storage 1263 or in combination with other programs mounted on other devices.

FIG. 5 is a block diagram showing the configuration of the work equipment control device according to the first embodiment.
The work machine control device 126 includes a work machine information storage unit 601, an operation amount acquisition unit 602, a detection information acquisition unit 603, a bucket position identification unit 604, a target construction data storage unit 605, a distance identification unit 606, and a control line determination unit 607. It includes a target speed calculation unit 608, a control command generation unit 609, a control command output unit 610, a bucket position storage unit 611, a bucket position transmission unit 612, an upward update flag acquisition unit 613, and an upward update flag storage unit 614.

The work machine information storage unit 601 stores the boom length L1, the arm length L2, the bucket length L3, the position of the contour point of the bucket 133, and the positional relationship between the position of the representative point O of the swivel body 120 and the boom pin P1.

The operation amount acquisition unit 602 acquires an operation signal indicating an operation amount (pilot hydraulic pressure or an angle between the operation lever 1212 and the operation lever 1213, etc.) from the operation device 1211. For example, the operation amount acquisition unit 602 acquires the operation amount related to the boom 131, the operation amount related to the arm 132, the operation amount related to the bucket 133, and the operation amount related to turning.

The detection information acquisition unit 603 acquires the information detected by each of the position / orientation calculator 123, the tilt detector 124, and the stroke detector 137. For example, the detection information acquisition unit 603 may include position information of the swivel body 120 in the field coordinate system, the direction in which the swivel body 120 faces, the posture of the swivel body 120, the stroke length of the boom cylinder 134, the stroke length of the arm cylinder 135, and the bucket cylinder. Acquire the stroke length of 136.

The bucket position specifying unit 604 specifies the position and posture of the bucket 133 based on the information acquired by the detection information acquisition unit 603. At this time, the bucket position specifying unit 604 specifies the bucket end angle η. The bucket position specifying unit 604 specifies the bucket end angle η by the following procedure. The bucket position specifying unit 604 calculates the boom angle α from the stroke length of the boom cylinder 134. The bucket position specifying unit 604 calculates the arm angle β from the stroke length of the arm cylinder 135. The bucket position specifying unit 604 calculates the bucket angle γ from the stroke length of the bucket cylinder 136. Then, the bucket position specifying unit 604 calculates the bucket end angle η by adding the boom angle α, the arm angle β, and the bucket angle γ.

Further, the bucket position specifying unit 604 specifies the positions of the plurality of contour points of the bucket 133 in the field coordinate system based on the information acquired by the detection information acquisition unit 603 and the information stored in the work machine information storage unit 601. .. The bucket position specifying unit 604 specifies the position of the contour point of the working machine 130 in the field coordinate system by the following procedure. The bucket position specifying unit 604 specifies the position of the arm pin P2 in the vehicle body coordinate system based on the boom angle α acquired by the detection information acquisition unit 603 and the boom length L1 stored in the work machine information storage unit 601. The bucket position specifying unit 604 of the bucket pin P3 in the vehicle body coordinate system is based on the position of the arm pin P2, the arm angle β acquired by the detection information acquisition unit 603, and the arm length L2 stored by the work machine information storage unit 601. Identify the location. The bucket position specifying unit 604 positions and postures the bucket 133 based on the position of the bucket pin P3, the bucket angle γ acquired by the detection information acquisition unit 603, and the bucket length L3 stored in the work machine information storage unit 601. To identify. The bucket position specifying unit 604 specifies the position of the contour point of the bucket 133 in the vehicle body coordinate system based on the position and posture of the specified bucket 133 and the shape information of the bucket 133 stored in the work machine information storage unit 601. .. Then, the bucket position specifying unit 604 is a bucket in the vehicle body coordinate system based on the position information in the field coordinate system of the swivel body 120 acquired by the detection information acquisition unit 603, the direction in which the swivel body 120 faces, and the posture of the swivel body 120. The position of the contour point of 133 is converted into the position in the field coordinate system. The position of the contour point of the bucket 133 obtained at this time is, for example, the position of the center point in the width direction among the contour points of the bucket 133.

The target construction data storage unit 605 stores target construction data representing the design surface of the construction site. The target construction data is three-dimensional data represented by the site coordinate system, and is three-dimensional topographical data composed of a plurality of triangular polygons representing the design surface. The triangular polygons that make up the target construction data have sides in common with other adjacent triangular polygons. That is, the target construction data represents a continuous plane composed of a plurality of planes. The target construction data is stored in the target construction data storage unit 605 by being read from an external storage medium or being received from an external server via the network N.

The distance specifying unit 606 specifies the distance between each of the plurality of contour points E of the bucket 133 and the design surface. For example, the distance specifying unit 606 specifies the distance between the contour point E and the design surface by the following method. In another embodiment, the contour point may be provided only at one position of the bucket 133. In this case, the distance specifying unit 606 specifies the distance of the contour point from the design surface.
FIG. 6 is a diagram showing the relationship between a plurality of contour points of the bucket and the design surface. The plurality of contour points E according to the first embodiment are intersections of a plurality of cross sections of the bucket 133 and a plurality of vertical cross sections. The plurality of crossing lines of the bucket 133 are composed of a cutting edge line in which the cutting edge 133A of the bucket 133 is lined up, and a plurality of lines parallel to the cutting edge line and in regions such as the bottom surface 133B and the tail portion 133C of the bucket 133. The plurality of longitudinal sections of the bucket 133 consist of both side surfaces of the bucket 133 and a surface parallel to both sides and dividing between the side surfaces.
The distance specifying unit 606 specifies the line of intersection between each vertical cross section of the bucket 133 and the design surface. The distance specifying unit 606 obtains the distance between the contour point E on the vertical cross section and the specified line of intersection for each vertical cross section.

The control line determination unit 607 determines the control line G used for the intervention control of the bucket 133. The control line determination unit 607 determines, for example, the line of intersection between the vertical cross section of the bucket 133 including the contour point E related to the shortest distance specified by the distance identification unit 606 and the design surface as the control line G. In another embodiment, the vertical cross section for determining the control line is not limited to the one including the contour point E related to the shortest distance, and a predetermined surface such as a vertical cross section passing through the center of the bucket 133 or manually. It may be the selected surface.

The target speed calculation unit 608 refers to the boom target speed and the arm pin P2, which are the target speeds of the boom 131 with respect to the boom pin P1, based on the operation amounts of the operation lever 1212 and the operation lever 1213 acquired by the operation amount acquisition unit 602. The arm target speed, which is the target speed of the arm 132, and the bucket target speed, which is the target speed of the bucket 133 with reference to the bucket pin P3, are determined. Hereinafter, the vertical target speed of the bucket 133 with respect to the swivel body 120, which is represented by the sum of the vertical components of the boom target speed, the arm target speed, and the bucket target speed, is referred to as a bucket end target speed. Further, the speed of the boom 131 with respect to the boom pin P1 is referred to as a boom speed, the speed of the arm 132 with respect to the arm pin P2 is referred to as an arm speed, and the speed of the bucket 133 with respect to the bucket pin P3 is referred to as a bucket speed. The vertical speed of the bucket 133 with respect to the swivel body 120, which is represented by the sum of the vertical components of the boom speed, arm speed and bucket speed, is called the bucket end speed. Hereinafter, the vertical downward velocity is represented by a positive number, and the vertical upward velocity is represented by a negative number.

The control command generation unit 609 performs intervention control to control the working machine 130 so that the bucket 133 does not enter below the control line G based on the distance specified by the distance specifying unit 606. The control command generation unit 609 satisfies the boom 131 so as to satisfy the speed table showing the relationship between the distance between the contour point E of the bucket 133 and the control line G and the allowable upper limit of the bucket terminal velocity at which the bucket 133 approaches the control line G. Determine the vertical speed limit of. As an example of the speed table, there is a table in which the allowable upper limit value of the bucket terminal velocity approaches 0 as the distance between the contour point E of the bucket 133 and the control line G approaches 0. In the present embodiment, the control command generation unit 609 determines the speed limit in the vertical direction of the boom 131, but the speed limit is not limited to this, and for example, the speed limit in the normal direction may be determined.
For example, the control command generation unit 609 controls intervention when the bucket end target speed obtained by the boom target speed, the arm target speed, and the vertical component of the bucket target speed is larger than the allowable upper limit value of the bucket end speed in the speed table. I do. When performing intervention control, the control command generation unit 609 calculates the vertical speed limit of the boom 131 by subtracting the sum of the vertical components of the arm target speed and the bucket target speed from the upper limit of the bucket terminal speed. .. The control command generation unit 609 determines the boom speed from the vertical speed limit of the boom 131.
On the other hand, the control command generation unit 609 does not perform intervention control when the bucket terminal velocity is equal to or less than the allowable upper limit value of the bucket terminal velocity in the speed table. When no intervention control is performed, the control command generation unit 609 generates control commands for the boom 131, arm 132, and bucket 133 based on the boom target speed, arm target speed, and bucket target speed.

The control command output unit 610 outputs the control command of the boom 131, the control command of the arm 132, and the control command of the bucket 133 generated by the control command generation unit 609 to the electromagnetic proportional control valve of the hydraulic device 125.

The bucket position storage unit 611 is in the process of leveling, the positions of the plurality of contour points E of the bucket 133 specified by the bucket position specifying unit 604 in the field coordinate system, the intervention flag indicating the presence or absence of intervention control by the control command generation unit 609, and the leveling work. An upward update flag indicating whether or not to allow the current terrain data to be updated to an upper value (a value larger than the current Zg value) is stored in association with the time. When the intervention control is performed by the control command generation unit 609, the intervention flag is turned on. If the intervention control is not performed by the control command generation unit 609, the intervention flag is turned off. If the upward update flag is on, it is permissible to update the current terrain data to the upward value during the leveling operation. If the upward update flag is off, it is not permissible to update the current terrain data to the upward value during the leveling operation. Here, updating the height of the current terrain data to an upper value means updating the height value Zg1 at an arbitrary plane position (Xg1, Yg1) in the current terrain data to a value Zg1'higher than Zg1. That is, it means updating the current topographical data Xg1, Yg1, Zg1 at that point to Xg1, Yg1, Zg1'.

The bucket position transmission unit 612 transmits the information stored in the bucket position storage unit 611 to the construction management device 200.

Whether or not the upper update flag acquisition unit 613 allows the operator of the hydraulic excavator 100 to update the current terrain data to the upper value during the leveling work to the construction management device 200 via the input / output device 127. Accepts the input. The upward update flag acquisition unit 613 updates the upward update flag stored in the upward update flag storage unit 614 based on the input information.

<< Operation of work equipment control device >>
Hereinafter, the control method of the hydraulic excavator 100 according to the first embodiment will be described.
FIG. 7 is a flowchart showing the operation of the work equipment control device according to the first embodiment. The work equipment control device 126 executes the control shown below at each predetermined control cycle.
The operation amount acquisition unit 602 acquires the operation amount related to the boom 131, the operation amount related to the arm 132, the operation amount related to the bucket 133, and the operation amount related to turning from the operation device 1211 (step S1). The detection information acquisition unit 603 acquires the information detected by each of the position / orientation calculator 123, the inclination detector 124, and the stroke detector 137 (step S2).

The bucket position specifying unit 604 calculates the boom angle α, the arm angle β, and the bucket angle γ from the stroke length of each hydraulic cylinder (step S3). Further, the bucket position specifying unit 604 detects the calculated pin reference posture angles α, β, and γ, and the shape information of the boom length L1, the arm length L2, the bucket length L3, and the bucket 133 stored in the work machine information storage unit 601. Based on the position, orientation, and posture of the swivel body 120 acquired by the information acquisition unit 603, the positions of the bucket end angle η and the plurality of contour points E of the bucket 133 in the field coordinate system are calculated (step S4). The bucket position specifying unit 604 stores the positions of the plurality of contour points E of the bucket 133 in the bucket position storage unit 611 in association with the current time. At this time, the upward update flag acquisition unit 613 stores the upward update flag stored in the upward update flag storage unit 614 in the bucket position storage unit 611 in association with the current time (step S5). That is, when the upper update flag stored in the upper update flag storage unit 614 indicates on, the control command generation unit 609 records the upper update flag indicating on in the bucket position storage unit 611, and the upper update flag storage unit 614 records the upper update flag. When the upward update flag to be stored indicates off, the upward update flag indicating off is recorded in the bucket position storage unit 611.

The distance specifying unit 606 specifies the distance between each of the plurality of contour points E and the design surface represented by the target construction data stored in the target construction data storage unit 605 (step S6). The control line determination unit 607 determines the control line G based on the distance specified by the distance specifying unit 606 (step S7).

The target speed calculation unit 608 calculates the boom target speed, the arm target speed, and the bucket target speed based on the operation amount acquired by the operation amount acquisition unit 602 in step S1 (step S8).

The control command generation unit 609 determines whether or not the shortest distance specified by the distance specifying unit 606 is less than a predetermined distance (step S9). When the distance between the control line G and the contour point E of the bucket 133 is equal to or greater than a predetermined distance (step S9: YES), the control command generation unit 609 does not perform intervention control. When no intervention control is performed, the control command generation unit 609 generates control commands for the boom 131, the arm 132, and the bucket 133 based on the boom target speed, the arm target speed, and the bucket target speed (step S10). At this time, the control command generation unit 609 stores the intervention flag indicating that the intervention control is not performed in relation to the current time in the bucket position storage unit 611 (step S11). That is, the control command generation unit 609 turns off the intervention flag.

On the other hand, when the distance between the control line G and the contour point E of the bucket 133 is less than a predetermined distance (step S9: YES), the control command generation unit 609 performs intervention control. When performing intervention control, the control command generation unit 609 specifies an allowable upper limit value of the bucket terminal velocity based on the distance specified by the distance specifying unit 606 and the above-mentioned speed table stored in the working machine information storage unit 601. (Step S12). Next, the control command generation unit 609 calculates the bucket end target speed based on the boom target speed, the arm target speed, and the vertical component of the bucket target speed calculated in step S8 (step S13). Next, the control command generation unit 609 determines whether or not the bucket terminal velocity calculated in step S13 is less than the allowable upper limit value of the bucket terminal velocity specified in step S12 (step S14).

When the bucket end target speed is less than the allowable upper limit value of the bucket end speed (step S14: YES), the control command generation unit 609 sets the boom 131 and the arm 132 based on the boom target speed, the arm target speed, and the bucket target speed. And the control command of the bucket 133 is generated (step S10). On the other hand, when the bucket terminal velocity is equal to or higher than the allowable upper limit of the bucket terminal velocity (step S14: NO), the control command generation unit 609 uses the boom 131 and the arm based on the difference between the bucket terminal velocity and the bucket terminal velocity. Generate control commands for 132 and bucket 133 (step S15). At this time, the control command generation unit 609 stores the intervention flag indicating that the intervention control is performed in relation to the current time in the bucket position storage unit 611 (step S16). That is, the control command generation unit 609 turns on the intervention flag.

When the control command generation unit 609 generates a control command for the boom 131, the arm 132, and the bucket 133, the control command output unit 610 outputs the control command to the electromagnetic proportional control valve of the hydraulic device 125 (step S17). As a result, the hydraulic device 125 drives the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136.

By repeating the above processing, the position, the intervention flag, and the upward update flag of the plurality of contour points E in the field coordinate system are stored in the bucket position storage unit 611 of the work equipment control device 126 as a time series, respectively. To. The bucket position transmission unit 612 transmits the information stored in the bucket position storage unit 611 to the construction management device 200 via the network N at a predetermined timing.

<< Configuration of construction management equipment >>
FIG. 8 is a schematic block diagram showing the configuration of the construction management device according to the first embodiment.
The construction management device 200 is a computer including a processor 2100, a main memory 2200, a storage 2300, and an interface 2400. The storage 2300 stores the program. The processor 2100 reads a program from the storage 2300, expands it into the main memory 2200, and executes processing according to the program. The construction management device 200 is connected to the network N via the interface 2400. Further, the construction management device 200 is connected to an input / output device (not shown) via the interface 2400.

Examples of the storage 2300 include HDD (Hard Disk Drive), SSD (Solid State Drive), non-volatile memory and the like. The storage 2300 may be an internal medium directly connected to the bus of the construction management device 200, or may be an external medium connected to the construction management device 200 via the interface 2400. The storage 2300 is a non-temporary tangible storage medium.

The storage 2300 has a storage area as a target construction data storage unit 2301 and a current terrain storage unit 2302.
The target construction data storage unit 2301 stores target construction data representing the design surface of the construction site, similarly to the target construction data storage unit 605. The target construction data is, for example, data related to the site coordinate system.
The current terrain storage unit 2302 stores the current terrain data, which is three-dimensional data representing the terrain of the construction site. The current terrain data may be point cloud data representing the current terrain of the construction site, for example, by a set of points representing the height (Zg) on each grid dividing the horizontal plane (Xg-Yg plane) in the site coordinate system. .. The current topographical data may be updated to the latest data based on predetermined conditions.

By executing the program, the processor 2100 functions as a bucket position acquisition unit 2101, a time series selection unit 2102, a work state identification unit 2103, a distance identification unit 2104, a shortest distance line determination unit 2105, and a current terrain update unit 2106.

The bucket position acquisition unit 2101 acquires a time series of the positions of the plurality of contour points E of the bucket 133 in the field coordinate system, the intervention flag, and the upward update flag from the work equipment control device 126.

The time-series selection unit 2102 selects the time to be processed one by one from the time series of the contour point E acquired by the bucket position acquisition unit 2101, the intervention flag, and the upward update flag.

The work state specifying unit 2103 is in a work state in which the work state of the work machine 130 is leveled based on the intervention flag related to the time selected by the time series selection unit 2102 in the time series acquired by the bucket position acquisition unit 2101. Determine if it exists. That is, when the intervention flag indicates that the intervention control has been performed, the work state specifying unit 2103 determines that the work state is a leveling work state.

The distance specifying unit 2104 specifies the distance between each of the plurality of contour points E of the bucket 133 and the design surface, similarly to the distance specifying unit 606 of the work equipment control device 126. That is, the distance specifying unit 2104 specifies the line of intersection between each vertical section of the bucket 133 and the design surface, and obtains the distance between the contour point E on the vertical section and the specified line of intersection for each vertical section. ..

The shortest distance line determination unit 2105 uses the bucket width direction line passing through the contour point E relating to the shortest distance among the distances between each contour point specified by the distance identification unit 2104 and the design surface for updating the current topographical data. Determined to be the shortest distance line Lm. The bucket width direction line passing through the contour point E is a line segment that passes through the contour point E, extends in the width direction of the bucket 133, and has the same length as the width of the bucket 133.

When the work state specifying unit 2103 specifies that the work state is not a leveling work state, the current terrain update unit 2106 is a plane position corresponding to the position of the bucket 133 in the current terrain data stored by the current terrain storage unit 2302. The height value of the current terrain data according to the above is updated with the height of the contour point E of the shortest distance line Lm and the height of the current terrain data, whichever is lower. That is, the current terrain update unit 2106 has the lowest point height of the bucket 133 when the work state is not the leveling work state and the height of the lowest point of the bucket 133 is equal to or less than the height of the current terrain data. Now update the height of the current terrain data. The method of updating the current terrain data by the lowest point of the current terrain data and the bucket 133 is called the lowest point update. On the other hand, the current terrain updating unit 2106 does not update the current terrain data when the working state is not the leveling work state and the height of the lowest point of the bucket 133 is higher than the height of the current terrain data.
When the work state is specified by the work state identification unit 2103 as the work state, the current terrain update unit 2106 uses the current terrain data stored by the current terrain storage unit 2302 as the shortest distance line Lm and the current terrain data. Regardless of the positional relationship of, the height of the shortest distance line Lm is used for updating. That is, the current terrain update unit 2106 updates the current terrain data to an upper value when the work state is a leveling work state and the height of the shortest distance line Lm is higher than the height of the current terrain data. The method of updating the current topographical data to the upper value according to the position of the shortest distance line Lm is called upward update. Further, the method of updating the current terrain data according to the position of the shortest distance line Lm regardless of the height of the current terrain data is also referred to as constant update.
The current terrain update unit 2106 performs upward update when the upward update permission condition that the upward update flag and the intervention flag are on is satisfied, and updates the lowest point when the upward update permission condition is not satisfied. ..

As described above, the operator of the hydraulic excavator 100 can set in advance an upward update flag indicating whether or not the current terrain data is allowed to be updated to the upper value during the leveling operation. The upward update flag is acquired as a time series by the bucket position acquisition unit 2101.

<< Operation of construction management device >>
Hereinafter, the operation method of the construction management device 200 according to the first embodiment will be described.
FIG. 9 is a flowchart showing the operation of the construction management device according to the first embodiment.
The bucket position acquisition unit 2101 of the construction management device 200 acquires the position, the intervention flag, and the upward update flag of the plurality of contour points E of the bucket 133 in the field coordinate system from the work machine control device 126 of the hydraulic excavator 100. (Step S51).

The time-series selection unit 2102 selects one of the earliest times in the time-series of the position of the contour point E, the intervention flag, and the upward update flag, which has not been selected yet (step S52).
The distance specifying unit 2104 specifies the distance between each of the positions of the plurality of contour points E related to the selected time and the design surface (step S53). Next, the shortest distance line determination unit 2105 specifies the shortest distance line Lm passing through the contour point E having the shortest distance from the design surface (step S54).

The current terrain update unit 2106 determines whether or not the upward update flag related to the selected time is on (step S55). When the upward update flag is off (step S55: NO), the current terrain update unit 2106 has the current terrain data of points having the same plane position as the contour points E for a plurality of contour points E on the shortest distance line Lm. The height of the contour point E is compared with the height of the contour point E, and it is determined whether or not the height of the contour point E is less than the height of the current topographical data (step S56). Here, the "planar position" is a planar position in a plan view from above.

When the height of the contour point E is less than the height of the current terrain data (step S56: YES), the current terrain update unit 2106 sets the height of the current terrain data at the point having the same plane position as the contour point E. It is updated to the height of the contour point E (step S57). That is, the current terrain updating unit 2106 updates the current terrain data based on the height of the bucket 133 at the lowest point. On the other hand, when the height of the contour point E is equal to or higher than the height of the current terrain data (step S56: NO), the height of the current terrain data is not updated.

On the other hand, when the upward update flag is on (step S55: YES), whether the work state specifying unit 2103 is in the leveling work state of the work machine 130 based on the intervention flag related to the selected time. It is determined whether or not (step S58). When the working state of the working machine 130 is not the leveling working state (step S58: NO), the height of the contour point E is less than the height of the current terrain data in step S56 and step S57 in the current terrain updating unit 2106. If the target construction data height is updated.
On the other hand, when the working state of the working machine 130 is the leveling working state (step S58: YES), the current terrain updating unit 2106 proceeds to step S57, and the height of the contour point E is the height of the current terrain data. The height of the current terrain data is updated to the height of the contour point E regardless of whether it is less than or not. That is, the current terrain updating unit 2106 constantly updates the current terrain data based on the latest position of the bucket 133.

Next, the time series selection unit 2102 determines whether or not there is a time not selected in the time series acquired in step S51 (step S59). If there is a time that has not been selected (step S59: YES), the time-series selection unit 2102 returns the process to step S52 and selects the next time.
On the other hand, when there is no time not selected (step S59: NO), the construction management device 200 ends the update process of the current terrain data.

《Action / Effect》
FIG. 10 is a diagram showing an example of embankment work.
For example, when the construction site is flat in the laying work of an expressway, it is necessary to carry out embankment work in order to form a bank. The dump truck 300 carries the earth and sand required for the formation of the embankment and discharges the earth and sand to the construction site. As a result, a pile of earth and sand M is formed at the construction site. The hydraulic excavator 100 cuts down a pile of earth and sand M by a bucket 133, and forms a bank by a leveling operation. In this case, the current terrain after the start of construction will be higher than before the construction.

FIG. 11 is a diagram showing an example of update processing of the current topographical data by the construction management device according to the first embodiment.
If it is permissible to update the height of the current terrain data to the upper value during the leveling work and the work state is the leveling work state, the current terrain data is designed as shown in FIG. It is updated to the height of the contour point E closest to the surface. That is, according to the first embodiment, the construction management device 200 corresponds to the position of the bucket 133 based on the height through which the contour point E of the bucket 133 passes when the working state is the leveling work state. The height of the current terrain data at the plane position to be updated is updated to the upper value. As a result, the construction management device 200 can update the current terrain data so as to reflect the current terrain at the actual site during the embankment work by the hydraulic excavator 100. At this time, the height of the region of the current topographical data that the bucket 133 does not pass through is not updated upward. In this case, the input / output device 127 may display a diagram showing the current topography shown in FIG. That is, when the working state of the working machine 130 is the predetermined working state, the input / output device 127 updates and displays the line indicating the height of the current terrain based on the height of the bucket 133 to the upper position. Functions as a display device having a display unit (not shown). FIG. 11 is an example of a screen displayed on the display unit of the input / output device 127. The display unit displays at least an image of the bucket 133 viewed from the side, a line showing the design surface, and a line showing the current topography from the viewpoint of the hydraulic excavator 100 viewed from the side.

Further, the hydraulic excavator 100 according to the first embodiment is an intervention control for decelerating the working machine 130 based on the distance between the design surface and the bucket 133 when the distance between the design surface and the bucket 133 is less than a predetermined distance. Has a function. Then, the construction management device 200 determines that the work state is the leveling work when the work machine 130 is intervened and controlled. As a result, the construction management device 200 can automatically determine the working state without the input of the operator or the like.

Further, the construction management device 200 according to the first embodiment updates the height of the current topographical data based on the point closest to the design surface among the plurality of contour points E of the bucket 133. As a result, the construction management device 200 can appropriately update the height of the current topographical data regardless of whether the leveling work is performed on the cutting edge of the bucket 133 or the bottom surface of the bucket 133. can.

Further, the construction management device 200 according to the first embodiment acquires the position of the bucket 133 from the hydraulic excavator 100, and updates the height of the current terrain data at the lowest point based on the position of the bucket 133. The lowest point is updated, or the height of the current topographical data is updated upward. The construction management device 200 performs upward update when the upward update permission condition that the upward update flag and the intervention flag are on is satisfied, and performs the lowest point update when the upward update permission condition is not satisfied. As a result, the construction management device 200 can update the current topographical data to the upper value at the time of embankment work by the work machine.

<Second embodiment>
Next, the second embodiment will be described. The construction management device 200 according to the first embodiment determines that the leveling work is performed when the intervention control is performed, and allows the current topographical data to be updated to the upper value. At this time, if the operator of the hydraulic excavator 100 moves the bucket 133 upward at the end of the leveling work, the current terrain data may be updated to the upper value along with the movement. The construction management device 200 according to the second embodiment does not update the current terrain data even if the bucket 133 is moved upward at the end of the leveling work.

<< Configuration of construction management equipment >>
The construction management device 200 according to the second embodiment has the same configuration as that of the first embodiment, and the operations of the time series selection unit 2102 and the current terrain update unit 2106 are different from those of the first embodiment.

When the work related to the selected time is the leveling work, the time series selection unit 2102 specifies the time zone related to the leveling work after that time from the time series acquired in step S51. That is, the time series selection unit 2102 specifies a time zone from the start to the end of a series of leveling operations from the time series.
The current terrain update unit 2106 specifies the height of the lowest point for each plane position based on the positions of the plurality of contour points E related to each time in the time zone specified by the time series selection unit 2102, and determines the current terrain. Update. That is, the current terrain updating unit 2106 is the lowest point in the height of the contour point E at each time when the contour point E exists at a predetermined plane position a plurality of times during the above time zone. The height of the contour point E is determined to be the lowest point height, and the height of the current terrain at the plane position is updated.

<< Operation of construction management device >>
Hereinafter, the operation method of the construction management device 200 according to the second embodiment will be described.
FIG. 12 is a flowchart showing the operation of the construction management device according to the second embodiment.
The construction management device 200 according to the second embodiment executes the processes of steps S51 to S55 as in the first embodiment. When the construction management device 200 according to the second embodiment is not allowed to update the current topographical data to the upper value during the leveling work in step S55 (step S55: NO), and the working machine 130. When the working state of is not the leveling working state (step S58: NO), the processes of steps S56 to S59 are executed in the same manner as in the first embodiment.

On the other hand, when the working state of the working machine 130 is the leveling work state (step S58: YES), the time series selection unit 2102 specifies the time zone related to the leveling work state after the time selected in step S52 (step S58: YES). Step S151). Next, the current terrain updating unit 2106 specifies the height of the lowest point for each plane position based on the positions of the plurality of contour points E related to each time in the specified time zone (step S152).
Then, the current terrain updating unit 2106 updates the height of the current terrain data at the same plane position as each lowest point to the height of each lowest point (step S57).

《Action / Effect》
FIG. 13 is a diagram showing an example of update processing of the current topographical data by the construction management device according to the second embodiment.
When it is permissible to update the current terrain data to the upper value during the leveling work and the working state is the leveling work state, as shown in FIG. 13, in the time zone related to the leveling work state. It is updated to the height of the lowest point of the contour point E. For example, as shown in FIG. 13, when the bucket 133 moves upward after the leveling work is completed, the height of the plane position of the bucket 133 is higher than the height of the bucket 133 when the leveling work is actually performed. It gets higher. Therefore, in the second embodiment, the movement of the bucket 133 after the leveling work is completed is not used for updating the current terrain data. That is, according to the construction management device 200 according to the second embodiment, it is possible to prevent the current terrain data from being erroneously updated when the bucket 133 is moved upward at the end of the leveling work.

<Third embodiment>
Next, a third embodiment will be described. The construction management device 200 according to the third embodiment prevents the current terrain data from being erroneously updated even if the bucket 133 is moved upward at the end of the leveling work by a method different from that of the second embodiment. ..

<< Configuration of construction management equipment >>
The construction management device 200 according to the third embodiment has the same configuration as that of the first embodiment, and the operation of the bucket position acquisition unit 2101, the work state identification unit 2103, and the current terrain update unit 2106 is the first implementation. Different from the morphology.

The bucket position acquisition unit 2101 further acquires a time series of the operation amount of the work machine 130 from the work machine control device 126 of the hydraulic excavator 100. That is, the operation amount acquisition unit 602 of the work equipment control device 126 according to the third embodiment stores the operation amount of the boom 131, the arm 132, and the bucket 133 in the bucket position storage unit 611 in association with the time, and transmits the bucket position. The unit 612 transmits the positions of the plurality of contour points E, the intervention flag, and the upward update flag, as well as the manipulated variable of the boom 131, the arm 132, and the bucket 133. That is, the bucket position acquisition unit 2101 is an example of an operation signal acquisition unit that acquires an operation signal of the operation lever for operating the work machine 130.
The working state specifying unit 2103 determines whether or not the bucket 133 moves upward based on the amount of operation of the boom 131, the arm 132, and the bucket 133 acquired by the bucket position acquiring unit 2101.

<< Operation of construction management device >>
Hereinafter, the operation method of the construction management device 200 according to the third embodiment will be described.
FIG. 14 is a flowchart showing the operation of the construction management device according to the third embodiment.
In step S51, the bucket position acquisition unit 2101 of the construction management device 200 according to the third embodiment positions and intervenes in the field coordinate system of the plurality of contour points E of the bucket 133 from the work machine control device 126 of the hydraulic excavator 100. The time series of the flag, the upward update flag, and the operation amount of the working machine 130 is acquired (step S251).
Next, the construction management device 200 executes the processes of steps S52 to S55 as in the first embodiment. In the construction management device 200 according to the third embodiment, in step S55, when the upward update flag is off (step S55: NO), and when the working state of the working machine 130 is not the leveling working state (step S58: NO), the processing of steps S56 to S57 is executed in the same manner as in the first embodiment.

On the other hand, when the working state of the working machine 130 is the leveling working state (step S58: YES), the working state specifying unit 2103 boom operation determination unit operates the boom 131, the arm 132, and the bucket 133 at the selected time. Based on the amount, it is determined whether or not the bucket 133 moves upward (step S252). When it is determined that the bucket 133 moves upward (step S252: YES), the current terrain update unit 2106 does not update the height of the current terrain data to the upper value. That is, when it is determined that the bucket 133 moves upward, the current terrain updating unit 2106 prohibits updating the height of the current terrain data to the upper value. The operation of moving the bucket 133 upward is performed by the operator because the operator intends to finish the leveling work.

Then, when it is determined that the bucket 133 moves upward (step S253: YES), the current terrain update unit 2106 proceeds to step S57 and updates the height of the current terrain data based on the shortest distance line Lm. (Step S57).

《Action / Effect》
As described above, the construction management device 200 according to the third embodiment updates the height of the current topographical data when the work state is the leveling work state and the operation for raising the bucket 133 is not performed. .. This makes it possible to prevent the current terrain data from being erroneously updated when the bucket 133 is moved upward at the end of the leveling work, as in the second embodiment.
In another embodiment, the current terrain updating unit 2106 is set when the position of the bucket 133 is located in a region within a predetermined range in the vertical direction with respect to the design surface, and the working machine 130 is operated. The height of the current terrain data may be updated to the upper value based on the position of the bucket 133. The predetermined range of the design surface also includes a region within a predetermined range in the normal direction with respect to the design surface. Further, the operation of the working machine 130 includes an operation of moving the bucket 133 toward and away from the design surface.

<Fourth Embodiment>
The construction management device 200 according to the first embodiment updates the current topographical data to an upper value when the working state of the working machine 130 is the leveling working state. On the other hand, the construction management device 200 according to the fourth embodiment updates the current topographical data to the upper value when the working state of the working machine 130 is the rolling compaction working state. The compaction work is a work of compacting the ground by hitting earth and sand with the bottom surface of the bucket 133. The compaction working state is an example of a predetermined working state.

<< Configuration of construction management equipment >>
The construction management device 200 according to the fourth embodiment has the same configuration as that of the first embodiment, and the operation of the work state specifying unit 2103 is different from that of the first embodiment.

The work state specifying unit 2103 specifies a bottom surface angle, which is an angle between the bottom surface of the bucket 133 and the design surface, based on the target construction data and the positions of the plurality of contour points E of the bucket 133.
When the bottom surface angle is less than a predetermined angle, the work state specifying unit 2103 determines that the work state is a compaction work state. For example, during excavation work, the work machine 130 is lowered to the construction target while the cutting edge of the bucket 133 is directed toward the design surface, so that the bottom angle becomes large. On the other hand, at the time of rolling compaction work, the work machine 130 is lowered to the construction target while the bottom surface of the bucket 133 is facing the design surface, so that the bottom surface angle becomes small.

<< Operation of construction management device >>
Hereinafter, the operation method of the construction management device 200 according to the fourth embodiment will be described.
FIG. 15 is a flowchart showing the operation of the construction management device according to the fourth embodiment.
The construction management device 200 according to the fourth embodiment executes the processes of steps S51 to S55 as in the first embodiment. When the upward update flag is off in step S55, the construction management device 200 according to the fourth embodiment executes the processes of steps S56 to S57 as in the first embodiment. do.

On the other hand, when the upward update flag is on (step S55: YES), the work state specifying unit 2103 has an angle formed by the bottom surface of the bucket 133 and the design surface based on the positions of the plurality of contour points E selected in step S52. The bottom angle is specified (step S351). Next, the work state specifying unit 2103 determines whether or not the work state is the rolling work state based on the specified bottom surface angle (step S352).

When it is determined that the working state is not the compaction working state (step S352: NO), that is, when the bottom surface angle is equal to or larger than a predetermined angle, the construction management device 200 steps from step S56 as in the first embodiment. The process of S57 is executed. On the other hand, when it is determined that the working state is the rolling work state (step S352: YES), that is, when the bottom surface angle is less than a predetermined angle, the construction management device 200 proceeds to step S57 and proceeds to the contour point E. The height of the current terrain data is updated to the height of the contour point E regardless of whether the height of the current terrain data is less than the height of the current terrain data.

《Action / Effect》
As described above, according to the fourth embodiment, the construction management device 200 has the current topographical data relating to the plane position of the bucket 133 based on the height of the bucket 133 when the working state is the rolling work state. Update the height to the upper value. As a result, the construction management device 200 can update the current topographical data at the time of the rolling operation by the hydraulic excavator 100 at the time of embankment work. In the embodiment, it is determined whether the rolling work is performed based on the bottom angle, but it may be determined by another method whether the operation is a hot spot and the method of updating the current topographical data may be changed. ..

Although one embodiment has been described in detail with reference to the drawings, the specific configuration is not limited to the above-mentioned one, and various design changes and the like can be made.
In the above-described embodiment, the leveling work state and the compaction work state are given as examples of the predetermined work state, but in other embodiments, the excavation work, the intervention control state, etc. may be set as the predetermined work state. good.

The construction management device 200 according to the above-described embodiment updates the current topographical data using the shortest distance line Lm through which the contour point E closest to the design surface of the contour points E of the bucket 133 passes. Not limited to. For example, the construction management device 200 according to another embodiment may update the current terrain data by using the shortest distance line Lm through which the contour point E, which is the closest to the current terrain among the contour points of the bucket 133, passes. good. Further, for example, the construction management device 200 according to another embodiment may update the current topographical data by using a predetermined line of the bucket 133 such as the cutting edge and the bottom surface of the bucket 133. Further, in another embodiment, when the bucket 133 is located below the design surface, the construction management device 200 has the shortest point E of the contour points E of the bucket 133 through which the contour point E closest to the design surface passes. The current terrain data may be updated using the distance line Lm, that is, the line through which the contour point located at the bottom passes, instead of using the line located at the top.

Further, the construction management device 200 according to the above-described embodiment has determined that the leveling work is in progress when the intervention control is being performed, but the present invention is not limited to this. For example, in the construction management device 200 according to another embodiment, the line for updating the current topographical data is fixed to the cutting edge line, the intervention work is performed, and the contour point E related to the cutting edge among the contour points E of the bucket 133 is performed. May be updated upward at the contour point E on the cutting edge line when is closest to the design surface. In the construction management device 200 according to another embodiment, the height of the contour point E is increased when the contour point E related to other than the cutting edge of the bucket 133 is closest to the design surface even if the intervention work is performed. The height of the current terrain data may be updated only when it is lower than the height of the current terrain data. This is because the leveling work using the cutting edge of the bucket 133 is often performed in the construction, and then the finishing work is often performed on the bottom surface of the bucket 133.

Further, in another embodiment, the construction management device 200 may determine whether or not the work is leveling work based on the lever operation (combination of boom, arm, bucket operation), and the leveling work may be performed by analyzing the moving image data. It may be determined whether or not the work is done. Further, the determination of the leveling work may be made by AI (Artificial Intelligence) processing such as machine learning using the signal value of the lever operation and the image data.

Further, in another embodiment, the construction management device 200 determines a predetermined excavation work state, compaction work state, and the like when a pressure of a predetermined value or more is applied to the boom cylinder 134, the arm cylinder 135, or the bucket cylinder 136. It may be determined that it is in a working state, and the current terrain data may be updated upward. This is because pressure is applied to the working machine 130 in a predetermined work such as excavation or rolling, so that the working state can be determined by this. Further, in another embodiment, the construction management device 200 determines that the bucket 133 is in a predetermined work state such as an embankment work state when the bucket 133 enters a region within a predetermined range in the vertical direction with respect to the design surface. However, the current terrain may be updated upward. The fact that the bucket 133 is moving near the design surface is because there is a high possibility that the embankment work is being carried out. Each of the excavation work state, the compaction work state, and the embankment work state is an example of a predetermined work state.

The construction management device 200 not only updates the current terrain upward when the upward update flag is on, but also uses the same method as the lowest point when the lowest point of the bucket 133 is located below the current terrain. It may be updated downward. That is, the construction management device 200 may constantly update the current terrain based on the bucket position.

In the above-described embodiment, the construction management device 200 obtains the shortest distance line Lm of the bucket 133 and uses only the contour point E on the shortest distance line Lm for updating the current terrain, but the present invention is not limited to this. For example, the construction management device 200 according to another embodiment may update the current terrain by using the lines of a plurality of buckets 133 passing through each contour point E. That is, since the plane position differs depending on the line, the construction management device 200 may determine whether or not the current terrain should be updated for each line. Further, when there is data regarding the position of the contour point E in a plurality of lines at a predetermined plane position, even if the height of the current topographical data at the plane position is updated by using the height of the lowest point among them. good.

Further, the construction management device 200 according to another embodiment may update the current topography upward based on other conditions without using the upward update flag and the determination result of the leveling work. For example, the construction management device 200 according to another embodiment may be updated upward only when the intervention control using the intervention flag is activated. That is, the construction management device 200 according to another embodiment may update the current terrain data upward when the working state is the intervention control state. In that case, the intervention control state is an example of a predetermined working state.

Further, in the above-described embodiment, the working machine control device 126 transmits the intervention flag and the upward update flag to the construction management device 200 in addition to the bucket position information, but the present invention is not limited to this. For example, the work machine control device 126 according to another embodiment may transmit only the bucket position information and the upward update flag to the construction management device 200 by turning on the upward update flag at the time of intervention control. In this case, the construction management device 200 can omit the process of step S58 in FIG.

Further, in the above-described embodiment, the work machine control device 126, which is an in-vehicle device, and the construction management device 200, which is a server, share the above-mentioned processing, but the present invention is not limited to this. For example, in another embodiment, either one of the working machine control device 126 and the construction management device 200 may perform all the processing, and the working machine control device 126 and the construction management device 200 perform the above-mentioned implementation. The same processing may be executed by the division different from the form. For example, in the above embodiment, the construction management device 200 updates the current terrain, but in another embodiment, the working machine control device 126 stores the current terrain data, and the working machine control device 126 stores the current terrain data upward. It may be updated. That is, the construction management device 200 may be a device included in the work machine.

1 Construction management system, 100 hydraulic excavator, 120 swivel body, 110 traveling body, 130 work machine, 200 construction management device, 2101 bucket position acquisition unit, 2102 time series selection unit, 2103 work status identification unit, 2104 distance identification unit, 2105 Shortest distance line determination unit, 2106 Current terrain update unit, 2301 Target construction data storage unit, 2302 Current terrain storage unit, 2303 Upward update flag storage unit

According to the first aspect of the present invention, the construction management system is composed of a working machine having a current terrain storage unit for storing current terrain data, which is three-dimensional data representing the current terrain to be constructed, and a working machine including a bucket. , The bucket position acquisition unit that acquires the position of the bucket , the upward update flag acquisition unit that accepts the input of the upward update flag indicating whether or not the current terrain data is allowed to be updated to the upper value, and the upper portion. When the update flag is on, it includes a current terrain update unit that updates the current terrain data based on the position of the bucket.

Claims (10)

The current terrain storage unit that stores the current terrain data, which is three-dimensional data representing the current terrain to be constructed,
A bucket position acquisition unit that acquires the position of the bucket from a work machine having a work machine including a bucket,
A construction management device including a current terrain updating unit that updates the height of the current terrain data to an upper value based on the position of the bucket when the working state of the working machine is a predetermined working state. The work machine has an intervention control function for decelerating the work machine.
The bucket position acquisition unit acquires information indicating the position of the bucket and whether or not the work machine is in an intervention-controlled working state.
The construction management device according to claim 1, wherein the predetermined work state is a work state in which the work machine is intervened and controlled. The construction management device according to claim 1, wherein the predetermined work state is a leveling work state, a compaction work state, or an excavation work state. The bucket position acquisition unit acquires the position of each of the plurality of contour points of the bucket.
The construction management according to any one of claims 1 to 3, wherein the current terrain updating unit updates the height of the current terrain data based on the point closest to the design surface among the plurality of contour points. Device. The current terrain update unit sets the height of the current terrain data for each plane position in a plan view from above, and is the lowest point of the height of the bucket while the state of the working machine is a predetermined working state. The construction management device according to any one of claims 1 to 4, which is updated to the height of the above. The current terrain updating unit prohibits updating the height of the current terrain data to an upper value when the bucket is raised when the working state is a predetermined working state. The construction management device according to any one of items 1 to 4. A step of acquiring the position of the bucket from a work machine having a work machine including a bucket, and
When the working state of the working machine is a predetermined working state, the height of the current terrain data is increased based on the position of the bucket among the current terrain data which is three-dimensional data representing the current terrain of the construction target. Construction management method with steps to update to the value of. It is a display device that displays the current topography of the construction target and the bucket of the work machine installed in the work machine.
It is provided with a display unit that displays an image of the bucket viewed from the side, a line indicating the design surface, and a line indicating the current terrain from the viewpoint of the work machine viewed from the side.
When the working state of the working machine is a predetermined working state, a line indicating the height of the current terrain based on the position of the bucket is updated and displayed on the display unit at the upper position.
Display device. The current terrain storage unit that stores the current terrain data, which is three-dimensional data representing the current terrain to be constructed,
A bucket position acquisition unit that acquires the position of the bucket from a work machine having a work machine provided with a bucket.
With the current terrain update unit that updates the height of the current terrain data at the lowest point based on the position of the bucket, or updates the height of the current terrain data upward. ,
Equipped with
The current terrain update unit performs upward update when the upward update permission condition is satisfied, and updates the lowest point when the upward update permission condition is not satisfied.
Construction management equipment. The current terrain storage unit that stores the current terrain data, which is three-dimensional data representing the current terrain to be constructed,
A target construction data storage unit that stores the design surface of the construction target,
A bucket position acquisition unit that acquires the position of the bucket from a work machine having a work machine including a bucket,
An operation signal acquisition unit that acquires an operation signal of an operation lever for operating the work machine, and an operation signal acquisition unit.
When the position of the bucket is located within a predetermined range of the design surface and the work equipment is operated, the height of the current terrain data is updated to an upper value based on the position of the bucket. Construction management device equipped with a department.

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