JP2023006459A - Information processing device and control program for information processing device - Google Patents

Abstract

To suitably perform an operation control of a target using map information.SOLUTION: A shovel 100 comprises an imaging device 40 that acquires peripheral information, a range sensor 41, and a controller 30. Based on the acquired information, the controller 30 forms a local OGM 73 in which the acquired information is displayed on a map; based on the local OGM 73, the controller forms a global OGM 74 in which information in an area wider than an area of the local OGM 73 is displayed on a map; and based on the local OGM 73, the controller controls an operation of the shovel 100.SELECTED DRAWING: Figure 3

Description

The present invention relates to an information processing apparatus and its control program.

Conventionally, there is known a technique of acquiring information around an object using a camera or a physical sensor.
For example, in the technique described in Patent Document 1, map information such as map occupancy grid maps (OGM: Occupancy Grid Maps) representing the existence probability of objects around a target (vehicle) is created, and the target is determined using this map. controls the operation of This OGM is partitioned by grids and determines what the surrounding conditions are by indicating the existence probability of an object in each grid.

JP 2011-123551 A

However, simply creating a map of a range that includes the periphery of an object may not be used to appropriately control motion.
For example, if the target is a working machine, it is desirable that the grid size is finer so that even delicate work can be detected, and omnidirectional information including the front, back, left, right, and upward direction is also required. As a result, the calculation load becomes heavy and takes time, and there is a possibility that the operation cannot be controlled appropriately. Especially in small computers used in vehicles or in edge computing, the fear becomes stronger.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to suitably control the operation of a target using map information such as OGM.

The present invention is an information processing device,
an information acquisition means for acquiring information around an object;
first map creation means for creating first map information in which the information in the first region is displayed on a map based on the information acquired by the information acquisition means;
second map creation means for creating second map information in which the information in a second area wider than the first area is displayed on a map based on the first map information;
operation control means for controlling the operation of the target based on the first map information;
It was configured to include

Further, the present invention is a control program for an information processing apparatus comprising information acquisition means for acquiring information about the surroundings of an object,
the computer,
first map creation means for creating first map information in which the information in the first area is displayed on a map based on the information acquired by the information acquisition means;
second map creation means for creating second map information based on the first map information, in which the information in a second area wider than the first area is displayed on a map;
operation control means for controlling the operation of the target based on the first map information;
It was made to function as

Advantageous Effects of Invention According to the present invention, it is possible to suitably control the operation of an object using map information.

1 is a side view of a shovel according to this embodiment; FIG. 2 is a block diagram showing the system configuration of the excavator of FIG. 1; FIG. FIG. 5 is a data flow diagram showing the flow of data in object detection processing according to the present embodiment; It is a figure which shows an example of 1st OGM of this embodiment, 2nd OGM, and local OGM. It is a figure which shows an example of local OGM of this embodiment, and global OGM. It is a figure for demonstrating the modification of the object detection process of this embodiment. FIG. 5 is a diagram for explaining the relationship between the tilt angle of the imaging device and distance sensor of the present embodiment and the position and range of local OGM;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[Excavator configuration]
First, the configuration of the excavator 100 according to this embodiment will be described. The excavator 100 is equipped with the information processing device according to the present invention, and is configured so that the operation can be appropriately controlled using the map information.

FIG. 1 is a side view of a shovel 100 according to this embodiment.
As shown in this figure, the excavator 100 includes a lower traveling body 1, an upper revolving body 3 mounted on the lower traveling body 1 so as to be able to turn via a revolving mechanism 2, a boom 4, an arm 5 and a bucket as attachments. 6 and a cabin 10 in which an operator boards. The attachment is not limited to this as long as a working element (for example, bucket, crusher, crane device, etc.) is provided.

The lower traveling body 1 includes, for example, a pair of left and right crawlers, and each crawler is hydraulically driven by a traveling hydraulic motor (not shown) to cause the excavator 100 to travel.
The upper revolving structure 3 revolves with respect to the lower traveling structure 1 by being driven by a revolving hydraulic motor or an electric motor (both not shown).

The boom 4 is pivotally attached to the center of the front portion of the upper rotating body 3 so as to be able to be raised. An arm 5 is pivotally attached to the tip of the boom 4 so as to be vertically rotatable. rotatably pivoted; Boom 4, arm 5 and bucket 6 are hydraulically driven by boom cylinder 7, arm cylinder 8 and bucket cylinder 9, respectively.
The cabin 10 is a cockpit in which an operator boards, and is mounted on the front left side of the upper swing body 3, for example. The excavator 100 operates actuators to drive driven elements such as the lower traveling body 1, the upper revolving body 3, the boom 4, the arm 5 and the bucket 6 according to the operation of the operator in the cabin 10.

FIG. 2 is a block diagram showing the system configuration of the excavator 100. As shown in FIG.
As shown in this figure, the excavator 100 includes a controller 30, an imaging device 40, a distance sensor 41, an operation/posture state sensor 42, a position sensor 43, an operating device 45, and a display device in addition to the above configuration. 50 , an audio output device 60 and a communication device 80 . An information processing apparatus according to the present invention includes at least a controller 30 .

The imaging device 40 photographs the surroundings of the excavator 100 and outputs the image to the controller 30 . The imaging device 40 includes a rear camera 40B, a left camera 40L, and a right camera 40R. The “surroundings” of the excavator 100 may include at least a predetermined range within a predetermined distance from the excavator 100 .
The rear camera 40</b>B is attached to the rear portion of the upper revolving body 3 and images the rear of the upper revolving body 3 .
The left camera 40L is attached to the left side of the upper revolving body 3 and images the left side of the upper revolving body 3 .
The right camera 40R is attached to the right side of the upper revolving body 3 and captures an image of the right side of the upper revolving body 3 .
Each of these rear camera 40B, left camera 40L, and right camera 40R is attached to the upper revolving body 3 so that the optical axis is directed obliquely downward, and covers the area from the ground in the vicinity of excavator 100 to the distance from excavator 100. It has a directional imaging range (angle of view). Further, the horizontal imaging range (angle of view) of the rear camera 40B, the left camera 40L, and the right camera 40R is, for example, a range that includes substantially all directions around the excavator 100 .

The distance sensor 41 is a distance measuring means that measures the distance to an object around the excavator 100 and obtains information (two-dimensional or three-dimensional distance information), and outputs the obtained information to the controller 30 . The distance sensor 41 includes a rear distance sensor 41B, a left distance sensor 41L, and a right distance sensor 41R.
The rear distance sensor 41B is attached to the rear portion of the upper swing body 3 and measures the rear of the upper swing body 3 . The measurement range of the rear distance sensor 41B corresponds to the imaging range of the rear camera 40B.
The left distance sensor 41L is attached to the left side of the upper revolving body 3 and measures the left side of the upper revolving body 3 . The measurement range of the left distance sensor 41L corresponds to the imaging range of the left camera 40L.
The right distance sensor 41R is attached to the right side of the upper revolving body 3 and measures the right side of the upper revolving body 3 . The measurement range of the right distance sensor 41R corresponds to the imaging range of the right camera 40R.
In this embodiment, LIDAR (Light Detection and Ranging) using light is used as each distance sensor 41 . However, the type of the distance sensor 41 is not particularly limited, and may be, for example, a millimeter wave radar or a distance measuring device using a stereo camera.

The imaging device 40 and the distance sensor 41 are paired to measure and photograph in the same direction. Specifically, the rear camera 40B and the rear distance sensor 41B constitute a rear sensor unit 46B, the left camera 40L and the left distance sensor 41L constitute the left sensor unit 46L, and the right camera 40R and the right distance sensor 46L constitute the left sensor unit 46L. The sensor 41R constitutes a right sensor unit 46R.

The motion/posture state sensor 42 is a sensor that detects the motion state and posture state of the excavator 100 and outputs the detection result to the controller 30 . The motion/posture state sensor 42 includes a boom angle sensor, an arm angle sensor, a bucket angle sensor, a three-axis inertial sensor (IMU: Inertial Measurement Unit), a turning angle sensor, and an acceleration sensor.
These sensors may be composed of stroke sensors of cylinders such as booms, sensors that acquire rotation information such as rotary encoders, etc., or may be replaced by acceleration (which may also include speed and position) acquired by the IMU. good.
The arm angle sensor detects the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle").
The bucket angle sensor detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as "bucket angle").
The IMU is attached to each of the boom 4 and arm 5 and detects the acceleration of the boom 4 and arm 5 along three predetermined axes and the angular acceleration of the boom 4 and arm 5 about three predetermined axes.
The turning angle sensor detects a turning angle of the upper turning body 3 with respect to a predetermined angular direction. However, the turning angle is not limited to this, and the turning angle may be detected based on the GPS or IMU sensor provided on the upper turning body 3 .
The acceleration sensor is attached at a position away from the pivot axis of the upper swing body 3 and detects the acceleration at that position of the upper swing body 3 . As a result, it can be determined whether the upper rotating body 3 is rotating or whether the lower traveling body 1 is running based on the detection result of the acceleration sensor.

The position sensor 43 is a sensor that acquires information on the position (current position) of the excavator 100, and is a GPS (Global Positioning System) receiver in this embodiment. The position sensor 43 receives GPS signals including information on the position of the excavator 100 from GPS satellites, and outputs the acquired position information of the excavator 100 to the controller 30 . Note that the position sensor 43 may not be a GPS receiver as long as it can acquire information on the position of the excavator 100, and may use a satellite positioning system other than GPS, for example. The position sensor 43 may be provided on the lower traveling body 1 or may be provided on the upper revolving body 3 .

The operation device 45 is provided near the cockpit of the cabin 10, and is an operation means for an operator to operate each operation element (the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, etc.). In other words, the operating device 45 is operating means for operating each hydraulic actuator that drives each operating element. The operating device 45 includes, for example, levers, pedals, various buttons, and the like, and outputs operation signals to the controller 30 according to the content of these operations.
Further, the operation device 45 is also operation means for operating the imaging device 40, the distance sensor 41, the motion/posture state sensor 42, the position sensor 43, the display device 50, the audio output device 60, the communication device 80, and the like. to the controller 30.

The display device 50 is provided around the cockpit in the cabin 10 and displays various image information to be notified to the operator under the control of the controller 30 . The display device 50 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display, and may be of a touch panel type that also serves as at least part of the operation device 45 .

The voice output device 60 is provided around the cockpit in the cabin 10 and outputs various voice information to be notified to the operator under the control of the controller 30 . The audio output device 60 is, for example, a speaker, buzzer, or the like.

Based on a predetermined wireless communication standard, the communication device 80 communicates various information with remote external devices, other shovels 100, etc., through a predetermined communication network (for example, a mobile phone network with a base station as an end, an Internet network, etc.) NW. A communication device that sends and receives

The controller 30 is a control device that controls the operation of each part of the excavator 100 to drive and control the excavator 100 . The controller 30 is mounted inside the cabin 10 . The functions of the controller 30 may be realized by arbitrary hardware, software, or a combination thereof, and for example, it is mainly composed of a microcomputer including CPU, RAM, ROM, I/O, and the like. In addition to these, the controller 30 may be configured to include, for example, FPGA, ASIC, and the like.

The controller 30 also includes an OGM calculator 31 and an object detection determination unit 32 as functional units that execute various functions. Further, the controller 30 includes a storage section 35 as a storage area defined in an internal memory such as EEPROM (Electrically Erasable Programmable Read-Only Memory).

The OGM calculator 31 creates a two-dimensional occupancy grid map or OGM that expresses the quantized distance information based on the outputs from the imaging device 40 and the distance sensor 41 . OGM is a map representation of the existence probability of a specific detected object (detection target) such as position and speed. , which contains probability information about the existence probability of (see FIG. 4).
In this embodiment, an example of two-dimensional OGM is given, but the same applies to three-dimensional OGM with height information added.
More specifically, the OGM calculation unit 31 includes a camera OGM creation unit 311 that detects an object based on the output of the imaging device 40, analyzes the position of the object, and creates an OGM (first OGM 71 described later); A distance sensor OGM creation unit 312 that detects an object based on the output of 41 and creates an OGM (a second OGM 72 to be described later), and a local OGM creation unit that creates a local OGM 73 by synthesizing these OGMs. and a global OGM creator 314 that creates a broad global OGM 74 based on the local OGM 73 (see FIG. 3).

The object detection determination unit 32 performs detection determination of a specific object (detection target) around the excavator 100 based on each local OGM 73 created by the OGM calculation unit 31 . Then, the object detection determination unit 32 causes the display device 50 to output the detection result (determination result).

The storage unit 35 stores various programs and various data for operating each unit of the excavator 100 , and also functions as a work area for the controller 30 . The storage unit 35 of the present embodiment stores various programs, various data acquired by the imaging device 40, the distance sensor 41, and the like, calculation results, and the like. Further, the storage unit 35 stores in advance a feature amount (image feature amount) to be detected in an object detection process, which will be described later. In the storage unit 35, at least one feature value is associated with each of various types of objects and persons that can be selected as detection targets by the operator.

Also, the excavator 100 can communicate with the management device 200 through a predetermined communication network NW. The communication network NW may include, for example, a mobile communication network terminating at a base station. Also, the communication network NW may include a satellite communication network using a communication satellite in the sky. Also, the communication network NW may include the Internet network or the like. Also, the communication network NW may include a short-range communication network conforming to protocols such as WiFi and Bluetooth (registered trademark). Thereby, the excavator 100 can transmit (upload) various information to the management device 200 .
Also, the excavator 100 may be configured to be able to communicate with the support device 300 through the communication network NW.

A management device 200 (an example of an external device or an information processing device) is arranged at a location geographically separated from a user or the like possessing the excavator 100 and the support device 300 . The management device 200 is, for example, a server device installed in a management center or the like provided outside the work site where the excavator 100 works, and configured mainly by one or a plurality of server computers or the like. In this case, the server device may be an in-house server operated by a business operator that operates the system or a related business operator related to the business operator, or may be a rental server. Also, this server device may be a so-called cloud server. The management device 200 may be a server device (so-called edge server) arranged in a management office or the like in the work site of the excavator 100, or may be a stationary or portable general-purpose computer terminal. good.
As described above, the management device 200 can mutually communicate with each of the excavator 100 and the support device 300 through the communication network NW. As a result, the management device 200 can receive and store (accumulate) various information uploaded from the excavator 100 . In addition, the management device 200 can transmit various types of information to the support device 300 in response to requests from the support device 300 .

A support device 300 (an example of a user terminal or terminal device) is a user terminal used by a user. Users may include, for example, worksite supervisors, managers, excavator 100 operators, excavator 100 managers, excavator 100 service personnel, excavator 100 developers, and the like. The support device 300 is, for example, a general-purpose portable terminal such as a laptop computer terminal, a tablet terminal, or a smart phone possessed by the user. Further, the support device 300 may be a stationary general-purpose terminal such as a desktop computer. Further, the support device 300 may be a dedicated terminal (portable terminal or stationary terminal) for receiving provision of information.
The support device 300 can communicate with the management device 200 through the communication network NW. Accordingly, the support device 300 can receive information transmitted from the management device 200 and provide the information to the user through the display device mounted therein. Further, the support device 300 may be configured to communicate with the excavator 100 through the communication network NW.

[Excavator movement]
Next, the operation of the excavator 100 when executing object detection processing for detecting a specific surrounding object will be described.
FIG. 3 is a data flow diagram showing the flow of data in this object detection process, and FIGS. 4(a) to 4(c) show examples of the first OGM 71, second OGM 72, and local OGM 73, which will be described later. 5A and 5B are diagrams showing an example of a local OGM 73 and a global OGM 74, which will be described later.

The object detection process is executed by the controller 30 executing a predetermined program stored in an internal storage device on the CPU. This process may be executed/finished based on an operator's operation, or may be continuously executed while the excavator 100 is in operation.
In this embodiment, it is assumed that a human body (person) is detected as a detection target. Therefore, when the process is executed, for example, a human body is selected as a detection target by an operator's operation, and the feature amount (for example, a human face) corresponding to the detection target is read from the storage unit 35 and set. and

When the object detection process is executed, first, as shown in FIG. 3, the controller 30 acquires image information around the excavator 100 using the imaging device 40, and obtains distance information to objects around the excavator 100 using the distance sensor 41. get. The controller 30 causes the storage unit 35 to record the acquired image information and distance information. Note that the imaging device 40 and the distance sensor 41 here correspond to each other as a rear sensor unit 46B, a left sensor unit 46L, or a right sensor unit 46R.
Further, the controller 30 may perform photographing and measurement of the entire periphery while rotating the upper rotating body 3 .

Next, the controller 30 uses the OGM calculator 31 to create an OGM representing the presence of people (human bodies) around the excavator 100 .
Here, the OGM calculation unit 31 first creates separately a first OGM 71 based on the image acquired by the imaging device 40 and a second OGM 72 based on the distance information acquired by the distance sensor 41 .

The first OGM 71 is created by the camera OGM creation unit 311 as the OGM after a human body is detected based on the image information acquired by the imaging device 40 .
Here, for example, a first OGM 71 as shown in FIG. 4(a) is created. In the first OGM 71, the position of an object region R1 detected as a human body (an object presumed to be a human body) from the image captured by the imaging device 40 is displayed on a two-dimensional map partitioned in a grid pattern, for example.

The second OGM 72 is created by the distance sensor OGM creating unit 312 as the OGM after the human body is detected based on the distance information acquired by the distance sensor 41 .
Here, for example, a second OGM 72 as shown in FIG. 4B is created. In this second OGM 72, the position of the object region R2 detected as a human body (an object presumed to be) based on the distance information is displayed on a two-dimensional map partitioned into a grid similar to the first OGM 71, for example. displayed on a plane.

Next, as shown in FIG. 3, the OGM calculator 31 synthesizes the first OGM 71 and the second OGM 72 by the local OGM generator 313 to generate a local OGM 73 .
In the local OGM 73 of this embodiment, for example, as shown in FIG. 4C, both the first OGM 71 shown in FIG. 4A and the second OGM 72 shown in FIG. A grid in which the regions R1 and R2 exist is an object region R3 in which a human body is detected. That is, in each of the first OGM 71 and the second OGM 72, "1" is assigned to grids with object regions, and "0" is assigned to grids without object regions. is "1", the grid is defined as the object region R3.
However, this synthesizing method is not limited to that of this embodiment. For example, when each of the first OGM 71 and the second OGM 72 is created, not only "0" and "1" but also numerical values weighted according to the probability of existence of each object region are assigned to the grid of the object region. may Then, when the value obtained by summing (or multiplying) the object regions of the corresponding grid is equal to or greater than a predetermined threshold value at the time of synthesizing these, the grid may be set as the object region R3.

The local OGM 73 is an example of first map information according to the present invention, and is an OGM having a local range (region) in the vicinity of the excavator 100 as shown in FIG. In this embodiment, a plurality (six) of local OGMs 73 are created so as to surround the entire circumference of the excavator 100 .
The range and number of local OGMs 73 are not particularly limited. Further, it is preferable that the cell size of the local OGM 73 is as small as possible in order to improve the accuracy of object detection within a range in which the calculation load is not excessive.

Next, as shown in FIG. 3 , the controller 30 uses the object detection determination section 32 to detect and determine a person (human body) around the excavator 100 based on each local OGM 73 created by the OGM calculation section 31 . In this embodiment, it is determined that a person exists in the grid designated as the object region R3 in the local OGM 73 . Alternatively, it may be determined that a person exists only in grids (object regions R3) whose assigned numerical values are equal to or greater than a predetermined value.
By detecting an object using the local OGM 73 having a relatively narrow range in this way, the detection determination calculation can be speeded up. Note that the control that directly uses the local OGM 73 is not limited to object detection, but can be widely applied to motion control of the excavator 100, and is particularly suitable for motion control that requires quick response (for example, collision determination).
Then, the object detection determination unit 32 causes the display device 50 to output the detection result (determination result). This display mode is not particularly limited as long as the position or the like of the detection target can be identified.

Next, the OGM calculation unit 31 uses the global OGM creation unit 314 to create a global OGM 74 based on the local OGM 73 and the like.
The global OGM 74 is an example of second map information according to the present invention, and as shown in FIG. is an OGM with A global OGM creation unit 314 acquires peripheral information from a plurality of local OGMs 73 and creates a global OGM 74 . However, a range that is not included in any local OGM 73 may be created separately. The creation time (update cycle) of the global OGM 74 is longer than that of the local OGM 73 .
Note that the global OGM 74 may have a wider range than the local OGM 73 . Also, the cell size of the global OGM 74 may be coarser than the local OGM 73 .

Then, the global OGM creation unit 314 causes the display device 50 to output (information of) the global OGM 74 . By visually recognizing the global OGM 74, the operator can recognize the situation in a wide range around the excavator 100. FIG.
Note that the mode of using the global OGM 74 is not limited to information transmission (display) to the operator, and can be suitably applied to, for example, things that do not require responsiveness.

[Technical effect of the present embodiment]
As described above, according to the present embodiment, based on the information around the excavator 100 acquired by the imaging device 40 and the distance sensor 41, the local OGM 73 that displays the information of the local area around the excavator 100 on a map creates Based on this local OGM 73, a global OGM 74 is created in which information of an area wider than the area (range) of the local OGM 73 is displayed on a map. The operation of the excavator 100 is controlled based on the local OGM 73 .
By controlling the operation using the local OGM 73 with a narrow range in this way, the speed of the operation control can be increased compared to the case of simply creating a map including a wide area around the object and controlling the operation. Therefore, the map information can be used to suitably control the motion of the object.

Further, according to this embodiment, the global OGM 74 having a wider range than the local OGM 73 is output to the display device 50 .
As a result, even the global OGM 74, which requires a relatively long creation time (update cycle), can be suitably used for information transmission (display) to the operator.
In other words, the local OGM 73 with a shorter update cycle can be used to suitably control operations that require quick response, while the global OGM 74 with a longer update cycle can be used favorably for display applications that do not require quick response.

[Modification 1]
FIG. 6 is a diagram for explaining a modification of the object detection processing of this embodiment.
When performing object detection, the object detection determination unit 32 selects at least one local OGM 73 corresponding to the operation state from a plurality of local OGMs 73 based on the operation state of the excavator 100, and selects the selected local OGM 73. may be used for object detection.
Here, the "operating state" of the excavator 100 includes each state of the excavator 100 such as movement, turning, and operation of the attachment. Moreover, the local OGM 73 that is not used need not be created in the first place.

For example, as shown in FIG. 6A, when the excavator 100 moves, object detection (operation control) may be performed using only the local OGMs 73 (73RF, 73LF) positioned in the direction of travel.
Alternatively, as shown in FIG. 6B, when the excavator 100 (upper revolving body 3) turns, the local OGM 73 (73 RF , 73R, 73RB, 73L) may be used for object detection (operation control).

Thus, by selecting at least one local OGM 73 based on the operating state of the excavator 100 and controlling the operation of the excavator 100 based on the selected local OGM 73, the operation control can be further speeded up.

[Modification 2]
FIG. 7 is a diagram for explaining the relationship between the tilt angles of the imaging device 40 and the distance sensor 41 and the position and range (size) of the local OGM 73. As shown in FIG.
The detection positions and detection ranges of the imaging device 40 and the distance sensor 41 change according to the PTZ state (operation states of pan, tilt, and zoom). Therefore, as an example (tilt operation example) is shown in FIG. 7 , the position and range of the local OGM 73 change according to the PTZ states of the imaging device 40 and the distance sensor 41 .
Therefore, based on the desired position and range of the local OGM 73, the imaging device 40 and the distance sensor 41 may be appropriately PTZ-operated. In this case, each of the imaging device 40 and the distance sensor 41 is configured to be capable of PTZ operations (pan, tilt, and zoom operations), and of course the controller 30 can control this.

[others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments and modifications thereof.
For example, in the above embodiment, the imaging device 40 and the distance sensor 41 are mounted on the excavator 100, but the imaging device 40 and the distance sensor 41 may not be mounted on the excavator 100. Alternatively, it may be mounted on an unmanned aerial vehicle such as a drone. Then, the acquired data may be transmitted to the excavator 100 , or the data may be transmitted to the management device 200 or the support device 300 to execute detection processing, and the result thereof may be transmitted to the excavator 100 .

Further, in the above embodiment, the case where the detection results (based on the output) of the imaging device and the distance sensor are combined (fused) has been described as an example. However, the information acquisition means according to the present invention is not limited to an imaging device and a distance sensor as long as it can acquire information around the target (excavator), and includes, for example, a millimeter wave sensor and voice (sound sensor). (The combination is not limited).

Further, the information processing apparatus according to the present invention is not limited to the one mounted on the target as long as it processes information about the surroundings of the target.
In addition, the "target" in this case is not limited to excavators, but can be applied not only to construction machines in general, but also to working machines including construction machines.
Other details shown in the embodiments can be changed as appropriate without departing from the scope of the invention.

100 Excavator 30 Controller 31 OGM calculation unit 32 Object detection determination unit 35 Storage unit 40 Imaging device 41 Distance sensor 42 Motion/posture state sensor 50 Display device 73 Local OGM (first map information)
74 Global OGM (secondary map information)
200 management device 300 support device

Claims (8)

an information acquisition means for acquiring information around an object;
first map creation means for creating first map information in which the information in the first region is displayed on a map based on the information acquired by the information acquisition means;
second map creation means for creating second map information in which the information in a second area wider than the first area is displayed on a map based on the first map information;
operation control means for controlling the operation of the target based on the first map information;
comprising
Information processing equipment. display control means for displaying the second map information on the display means;
The information processing device according to claim 1 . The first map creation means creates a plurality of the first map information having areas different from each other,
The second map creation means creates the second map information based on the plurality of first map information.
The information processing apparatus according to claim 1 or 2. A detection means for detecting the operating state of the target,
The operation control means is
selecting at least one piece of first map information from the plurality of pieces of first map information based on the operating state of the target;
controlling the operation of the target based on the at least one first map information;
The information processing apparatus according to claim 3. The information acquisition means is
including imaging means for acquiring image information and ranging means for acquiring distance information,
Obtaining the position and existence probability of objects in the vicinity of the target as the information;
The information processing apparatus according to any one of claims 1 to 4. The imaging means and the distance measuring means are configured to be capable of PTZ operation,
The first map creating means causes the imaging means and the distance measuring means to perform PTZ operations based on the position and range of the first map information to be created.
The information processing device according to claim 5 . the object is a construction machine,
The information processing apparatus according to any one of claims 1 to 6. A control program for an information processing device comprising information acquisition means for acquiring information around an object,
the computer,
first map creation means for creating first map information in which the information in the first area is displayed on a map based on the information acquired by the information acquisition means;
second map creation means for creating second map information based on the first map information, in which the information in a second area wider than the first area is displayed on a map;
operation control means for controlling the operation of the target based on the first map information;
to function as
A control program for an information processing device.

Images