JP2023151586A - Work support system of construction machinery - Google Patents

Abstract

To provide a work support system capable of providing a warning regarding upcoming work.SOLUTION: A work support system of construction machinery includes a piece of construction machinery, a management unit, and a support unit. The management unit has an image generation unit that generates warning image data to promote warning regarding a scheduled operation of the construction machinery, and a display instruction unit that instructs the support unit to display a warning image represented by the warning image data.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work support system for construction machinery.

Conventionally, a technique is known in which a virtual wall, which is a virtual wall that demarcates the working range of a construction machine, is set and the construction machine is prevented from coming into contact with an object located outside the virtual wall.

International Publication 2019/189030

The conventional techniques described above do not take into consideration the work that construction machines are scheduled to perform in the future. For this reason, with the conventional technology, it is not possible to call attention to the work to be performed.

Therefore, in view of the above issues, the purpose is to call attention to the work that will be carried out in the future.

A construction machine work support system according to an embodiment of the present invention is a construction machine work support system including a construction machine, a management device, and a support device, wherein the management device is configured to control the scheduled construction machine. A work support system for construction machinery, comprising: an image generation unit that generates attention image data that urges attention regarding an operation; and a display instruction unit that causes the support device to display an attention image indicated by the attention image data. be.

It is possible to call attention to the work to be performed from now on.

FIG. 1 is a diagram showing an example of a system configuration of a work support system for construction machinery. It is a diagram showing an example of the configuration of a hydraulic system mounted on an excavator. It is a diagram showing an example of the hardware configuration of a management device. It is a figure explaining an attention-calling image. FIG. 2 is a diagram illustrating the functional configuration of each device included in the work support system. FIG. 2 is a sequence diagram illustrating the operation of the work support system. It is a figure explaining screen transition of a support device. It is a figure which shows the example of a display of an attention-calling image.

Below, with reference to the drawings, a construction machine work support system according to the present embodiment will be described. FIG. 1 is a diagram showing an example of the system configuration of a work support system for construction machinery. In this embodiment, an excavator 100 will be described as an example of a construction machine.

The construction machine work support system SYS of this embodiment includes a shovel 100, a management device 200, and a support device 300. In the following description, the construction machine work support system SYS will be simply expressed as the work support system SYS.

In the work support system SYS of this embodiment, the shovel 100, the management device 200, and the support device 300 are connected via a network or the like.

The excavator 100 of this embodiment acquires operating information indicating the operating status of its own machine, transmits it to the management device 200, and receives various information from the management device 200.

Specifically, the operation information of the excavator 100 includes location information indicating the current position of the excavator, scheduled work information indicating the content of the work scheduled for the future, orientation information indicating the orientation of the excavator, and information indicating the attitude of the excavator. Includes posture information to indicate, work content information to indicate work content, load factor information to indicate load factor, cumulative time information to indicate cumulative operating time, fuel information including fuel injection amount, CO ₂ emissions, work amount, etc. .

Note that the scheduled work information in this embodiment may be, for example, information indicating the content of work that the excavator 100 is scheduled to perform in a day at a work site. In other words, the scheduled work information may be information indicating the content of work that the excavator 100 is scheduled to perform in a certain period of time in the future.

Further, the scheduled work information of this embodiment may include, for example, the current target position of the toe and the target trajectory of the toe in a work scheduled in the future.

The management device 200 receives the operation information from the shovel 100, and aggregates the operation information for each work content of the shovel 100 indicated by the status information included in the operation information. Then, the management device 200 identifies a period during which the operation of each actuator is stopped while the engine is running (idling period) within the period during which the excavator 100 is not working, and Information regarding fuel during the period is displayed on the display device 40 of the excavator 100.

During the period in which the excavator 100 is not working, there is a period in which the engine is stopped, in addition to a period in which each actuator operation is stopped while the engine is running (an idling state period).

As mentioned above, the state in which the operation of each actuator of the excavator 100 is stopped is a state in which the engine 11 as the prime mover of the shovel 100 is turned on and no lever operation is performed, and a state in which the engine 11 is turned off. including the state of being

Note that an electric motor may be used as the prime mover instead of an engine. In this case, a power storage device is also installed to supply power to the electric motor. A power storage device is a device for storing electric power, and is, for example, an electric double layer capacitor, a lithium ion battery, a nickel metal hydride battery, or the like. In this case, the excavator 100 uses the inverter to control the electric motor to rotationally drive the main pump 14 using the electric power stored in the power storage device.

Furthermore, the management device 200 of this embodiment acquires position information indicating the position of the support device 300 and direction information indicating the direction in which the support device 300 is facing. Next, the management device 200 of this embodiment uses the location information included in the operation information acquired from the excavator 100, the scheduled work information, and the location information and direction information of the support device 300 to determine the future schedule of the excavator 100. Generate image data to call attention to work.

Then, the management device 200 causes the support device 300 to display an image that calls attention to the scheduled work of the shovel 100 in the future.

The support device 300 is, for example, a terminal device for supporting the work of the shovel 100. Specifically, the support device 300 of the present embodiment is a wearable terminal in the form of glasses worn by the worker P who supports the work of the excavator 100, and is AR (Augmented Reality) glasses having an augmented reality function. It's okay.

Further, the support device 300 may be VR (Virtual Reality) glasses that allow the worker P to experience virtual reality. Furthermore, the support device 300 may be, for example, a portable tablet terminal such as a smartphone. The worker P may be a person different from the operator who operates the shovel 100.

The support device 300 of this embodiment acquires position information indicating the current position of its own device and direction information indicating the direction in which the support device 300 is facing, and transmits them to the management device 200. Furthermore, the support device 300 of this embodiment may transmit image data captured by the imaging device to the management device 200. By transmitting the image data captured by the imaging device of the support device 300 to the management device 200, for example, the manager who manages the shovel 100 on the management device 200 side can be made to understand the environment of the work site. .

Note that the position information of the support device 300 may be indicated by coordinate values in a world coordinate system, and the direction in which the support device 300 is facing may be, for example, the direction in which an imaging device included in the support device 300 is facing. It's okay.

Further, the support device 300 receives image data indicating an image that urges attention, transmitted from the management device 200, and displays this image.

In the following description, an image that calls attention to future scheduled work for the excavator 100 may be expressed as a warning image. Furthermore, in the following description, image data showing an image that calls attention to future scheduled operations of the excavator 100 may be expressed as attention image data.

In this way, the management device 200 of the present embodiment generates alert image data regarding future operations of the shovel 100 based on the position information and scheduled work information of the shovel 100 and the position information and direction information of the support device 300. is generated and transmitted to the support device 300. The support device 300 receives the attention image data from the management device 200 and displays the attention image.

At this time, if the support device 300 is AR glasses having a transmissive display device, the alert image is displayed on the support device 300 as an AR image, and the worker P wearing the support device 300 It is visually recognized by the worker P along with the scenery he/she is looking at.

Furthermore, when the support device 300 is a smartphone or VR glasses, the support device 300 transmits image data captured by its own imaging device to the management device 200, along with position information and direction information. Then, a superimposed image in which the landscape image captured by the imaging device of the support device 300 and the attention-calling image are superimposed is displayed on the display device of the support device 300 . The superimposed image may be generated by the management device 200.

Note that in the example of FIG. 1, the management device 200 is realized by one information processing device, but the present invention is not limited to this. The management device 200 may be realized by a plurality of information processing devices. In other words, the functions realized by the management device 200 may be realized by a plurality of information processing devices.

Next, the shovel 100 of this embodiment will be explained. FIG. 1 shows a side view of excavator 100.

The excavator 100 has a lower traveling body 1, a turning mechanism 2, and an upper rotating body 3. In the excavator 100, an upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. A boom 4 is attached to the upper revolving body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5.

The boom 4, arm 5, and bucket 6 constitute a digging attachment as an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 with respect to the upper rotating structure 3 (hereinafter referred to as "boom angle"). For example, the boom angle becomes the minimum angle when the boom 4 is lowered the most, and increases as the boom 4 is raised.

The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle"). For example, the arm angle becomes the minimum angle when the arm 5 is most closed, and increases as the arm 5 is opened.

The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as "bucket angle"). For example, the bucket angle becomes the minimum angle when the bucket 6 is most closed, and increases as the bucket 6 is opened.

The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 are each a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotation angle around the connecting pin. It may be a rotary encoder, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor.

A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8.

A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. Boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B are also collectively referred to as "cylinder pressure sensors."

The boom rod pressure sensor S7R detects the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"). , "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"). , "arm bottom pressure") is detected.

The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"). , "bucket bottom pressure").

The upper revolving body 3 is provided with a cabin 10 which is a driver's room, and is equipped with a power source such as an engine 11. Furthermore, a sensor for detecting the amount of CO ₂ emissions may be provided near the exhaust mechanism of the engine 11.

Further, the upper revolving body 3 includes a controller 30, a display device 40, an input device 42, an audio output device 43, a storage device 47, a positioning device P1, a body tilt sensor S4, a turning angular velocity sensor S5, an imaging device S6, and a communication device T1. is installed.

The upper revolving body 3 may be equipped with a power storage unit that supplies electric power, a motor generator that generates electricity using the rotational driving force of the engine 11, and the like. The power storage unit is, for example, a capacitor, a lithium ion battery, or the like. A motor generator may function as an electric motor to drive a mechanical load, or may function as a generator to supply power to an electrical load.

The controller 30 functions as a main control unit that controls the drive of the shovel 100. In this embodiment, the controller 30 is composed of a computer including a CPU, RAM, ROM, and the like. Various functions of the controller 30 are realized, for example, by the CPU executing programs stored in the ROM. The various functions may include, for example, at least one of a machine guidance function that guides the manual operation of the shovel 100 by the operator, and a machine control function that automatically supports the manual operation of the shovel 100 by the operator. good.

The display device 40 is configured to display various information. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.

The input device 42 is configured to allow an operator to input various information to the controller 30. The input device 42 includes at least one of a touch panel, a knob switch, a membrane switch, etc. installed in the cabin 10.

The audio output device 43 is configured to output audio. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or may be an alarm device such as a buzzer. In this embodiment, the audio output device 43 is configured to output various information as audio in response to audio output commands from the controller 30.

The storage device 47 is configured to store various information. The storage device 47 is, for example, a nonvolatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices while the shovel 100 is in operation, or may store information acquired via the various devices before the shovel 100 starts operating.

The storage device 47 may store, for example, data regarding the target construction surface acquired via the communication device T1 or the like. The target construction surface may be set by the operator of the excavator 100, or may be set by a construction manager or the like.

The positioning device P1 is configured to measure the position of the upper revolving structure 3. The positioning device P1 may be configured to be able to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, detects the position and orientation of the upper rotating body 3, and outputs the detected value to the controller 30. Therefore, the positioning device P1 can also function as a direction detection device that detects the direction of the upper rotating body 3. The orientation detection device may be an orientation sensor attached to the upper revolving body 3.

The body inclination sensor S4 is configured to detect the inclination of the upper revolving body 3. In this embodiment, the body inclination sensor S4 is an acceleration sensor that detects the longitudinal inclination angle around the longitudinal axis and the lateral inclination angle around the left-right axis of the upper revolving superstructure 3 with respect to the virtual horizontal plane. The longitudinal axis and the lateral axis of the upper revolving body 3 are perpendicular to each other at, for example, the center point of the shovel, which is one point on the swing axis of the shovel 100.

The turning angular velocity sensor S5 is configured to detect the turning angular velocity of the upper rotating structure 3. The turning angular velocity sensor S5 may be configured to detect or calculate the turning angle of the upper rotating body 3. In this embodiment, the turning angular velocity sensor S5 is a gyro sensor. The turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.

The imaging device S6 is an example of a space recognition device, and is configured to acquire images around the excavator 100. In this embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100, a left camera S6L that images the space to the left of the shovel 100, and a right camera S6R that images the space to the right of the shovel 100. , and a rear camera S6B that images the space behind the shovel 100.

The imaging device S6 is, for example, a monocular camera having an imaging device such as a CCD or CMOS, and outputs a captured image to the display device 40. The imaging device S6 may be a stereo camera, a distance image camera, or the like. Furthermore, the imaging device S6 may be replaced with another spatial recognition device such as a three-dimensional distance image sensor, an ultrasonic sensor, a millimeter wave radar, a LIDAR or an infrared sensor, or a combination of another spatial recognition device and a camera. May be replaced.

The front camera S6F is attached to the ceiling of the cabin 10, that is, inside the cabin 10, for example. However, the front camera S6F may be attached to the outside of the cabin 10, such as the roof of the cabin 10 or the side surface of the boom 4. The left camera S6L is attached to the left end of the upper surface of the revolving upper structure 3, the right camera S6R is attached to the right end of the upper surface of the upper revolving structure 3, and the rear camera S6B is attached to the rear end of the upper surface of the revolving upper structure 3. . Note that the image data captured by the imaging device S6 of this embodiment may be included in the operation information.

The communication device T1 is configured to control communication with external equipment outside the excavator 100. In this embodiment, the communication device T1 controls communication with an external device via a satellite communication network, a mobile phone communication network, an Internet network, or the like. The external device is, for example, a management device 200 such as a server installed in an external facility, or a support device 300 such as a smartphone carried by a worker around the excavator 100.

Next, with reference to FIG. 2, a configuration example of a hydraulic system mounted on the excavator 100 will be described. FIG. 2 is a diagram showing an example of the configuration of a hydraulic system mounted on an excavator. FIG. 2 shows mechanical power transmission lines, hydraulic oil lines, pilot lines, and electrical control lines as double lines, solid lines, dashed lines, and dotted lines, respectively.

The hydraulic system circulates hydraulic oil from a left main pump 14L driven by the engine 11 to a hydraulic oil tank via a left center bypass line 40L or a left parallel line 42L, and a right main pump 14L driven by the engine 11. Hydraulic oil is circulated from the pump 14R to the hydraulic oil tank via the right center bypass line 40R or the right parallel line 42R.

The left center bypass line 40L is a hydraulic oil line that passes through the control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right center bypass line 40R is a hydraulic oil line that passes through the control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

The control valve 171 supplies the hydraulic oil discharged by the left main pump 14L to the left side travel hydraulic motor 1L, and also controls the hydraulic oil in order to discharge the hydraulic oil discharged by the left side travel hydraulic motor 1L to the hydraulic oil tank. It is a spool valve that switches the flow.

The control valve 172 supplies the hydraulic oil discharged by the right main pump 14R to the right-side travel hydraulic motor 1R, and discharges the hydraulic oil discharged by the right-hand travel hydraulic motor 1R to the hydraulic oil tank. It is a spool valve that switches the flow.

The control valve 173 controls the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A, and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank. It is a switching spool valve.

The control valve 174 is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank. .

The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7.

The control valve 175R is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank. .

The control valve 176L is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. .

The control valve 176R is a spool valve that switches the flow of hydraulic oil in order to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. .

The left parallel line 42L is a hydraulic oil line that runs parallel to the left center bypass line 40L. The left parallel line 42L can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the left center bypass line 40L is restricted or blocked by any of the control valves 171, 173, and 175L. . The right parallel line 42R is a hydraulic oil line that runs parallel to the right center bypass line 40R. The right parallel line 42R can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the right center bypass line 40R is restricted or blocked by any of the control valves 172, 174, and 175R. .

The left regulator 13L is configured to control the discharge amount of the left main pump 14L. In this embodiment, the left regulator 13L controls the discharge amount of the left main pump 14L, for example, by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. The right regulator 13R is configured to control the discharge amount of the right main pump 14R.

In this embodiment, the right regulator 13R controls the discharge amount of the right main pump 14R, for example, by adjusting the swash plate tilt angle of the right main pump 14R according to the discharge pressure of the right main pump 14R. For example, the left regulator 13L adjusts the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L to reduce the discharge amount. The same applies to the right regulator 13R. This is to prevent the pump absorption horsepower expressed by the product of the discharge pressure and the discharge amount from exceeding the output horsepower of the engine 11. Note that the pump absorption horsepower is the sum of the absorption horsepower of the left main pump 14L and the absorption horsepower of the right main pump 14R.

The left discharge pressure sensor 28L is an example of the discharge pressure sensor 28, detects the discharge pressure of the left main pump 14L, and outputs the detected value to the controller 30. The same applies to the right discharge pressure sensor 28R.

Here, negative control control employed in the hydraulic system shown in FIG. 2 will be explained.

In the left center bypass pipe 40L, a left throttle 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. The flow of hydraulic oil discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting control pressure, and outputs the detected value to the controller 30. In the right center bypass conduit 40R, a right throttle 18R is arranged between the most downstream control valve 176R and the hydraulic oil tank. The flow of the hydraulic oil discharged by the right main pump 14R is restricted by the right throttle 18R. The right throttle 18R generates a control pressure for controlling the right regulator 13R. The right control pressure sensor 19R is a sensor for detecting control pressure, and outputs the detected value to the controller 30.

The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as the control pressure increases, and increases the discharge amount of the left main pump 14L as the control pressure decreases. The discharge amount of the right main pump 14R is similarly controlled.

Specifically, as shown in FIG. 2, when the excavator 100 is in a standby state where none of the hydraulic actuators are operated, the hydraulic fluid discharged by the left main pump 14L passes through the left center bypass pipe 40L. The left aperture reaches 18L. The flow of hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge amount of the left main pump 14L to the minimum allowable discharge amount, and suppresses pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L.

On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of hydraulic oil discharged by the left main pump 14L reduces or disappears in the amount reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L, circulates sufficient hydraulic fluid to the hydraulic actuator to be operated, and ensures the drive of the hydraulic actuator to be operated. The same applies to the hydraulic oil discharged by the right main pump 14R.

With the above configuration, the hydraulic system of FIG. 2 can suppress wasteful energy consumption in each of the left main pump 14L and the right main pump 14R in the standby state. Wasted energy consumption is caused by pumping loss caused by hydraulic oil discharged by the left main pump 14L in the left center bypass line 40L, and pumping loss caused by hydraulic oil discharged by the right main pump 14R in the right center bypass line 40R. Including loss. Furthermore, in the case of operating the hydraulic actuator, the hydraulic system of FIG. 2 can supply necessary and sufficient hydraulic oil from each of the left main pump 14L and the right main pump 14R to the hydraulic actuator to be operated.

Next, a configuration for automatically operating the actuator will be described. The boom operation lever 26A is an example of an electric operation lever as the operation device 26, and is used to operate the boom 4. The boom operating lever 26A detects the operating direction and operating amount, and outputs the detected operating direction and operating amount to the controller 30 as operating data (electrical signal). During manual control, when the boom operating lever 26A is operated in the boom raising direction, the controller 30 controls the opening degree of the proportional valve 31AL according to the operating amount of the boom operating lever 26A.

Thereby, using the hydraulic oil discharged by the pilot pump 15, a pilot pressure corresponding to the operation amount of the boom operation lever 26A is applied to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Further, during manual control, when the boom operating lever 26A is operated in the boom lowering direction, the controller 30 controls the opening degree of the proportional valve 31AR according to the operating amount of the boom operating lever 26A. Thereby, using the hydraulic oil discharged by the pilot pump 15, a pilot pressure corresponding to the operation amount of the boom operation lever 26A is applied to the right pilot port of the control valve 175R.

The proportional valves 31AL and 31AR constitute a boom proportional valve 31A, which is an example of the proportional valve 31 as a solenoid valve. The proportional valve 31AL operates according to a current command adjusted by the controller 30. The controller 30 adjusts pilot pressure by hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31AL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R.

The proportional valve 31AR operates according to a current command adjusted by the controller 30. The controller 30 adjusts pilot pressure by hydraulic oil introduced from the pilot pump 15 through the proportional valve 31AR to the right pilot port of the control valve 175R. The pilot pressures of the proportional valves 31AL and 31AR can be adjusted so that the control valves 175L and 175R can be stopped at arbitrary valve positions.

With this configuration, during automatic excavation control, the controller 30 directs the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L through the proportional valve 31AL, regardless of the boom raising operation by the operator. and can be supplied to the left pilot port of the control valve 175R. That is, the controller 30 can automatically raise the boom 4. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR, regardless of the boom lowering operation by the operator. That is, the controller 30 can automatically lower the boom 4.

The arm operating lever 26B is another example of an electric operating lever as the operating device 26, and is used to operate the arm 5. The arm operation lever 26B detects the operation direction and amount of operation, and outputs the detected operation direction and amount of operation to the controller 30 as operation data (electrical signal). During manual control, when the arm operating lever 26B is operated in the arm opening direction, the controller 30 controls the opening degree of the proportional valve 31BR according to the operating amount of the arm operating lever 26B.

Thereby, using the hydraulic oil discharged by the pilot pump 15, a pilot pressure corresponding to the amount of operation of the arm operating lever 26B is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. Further, during manual control, when the arm operating lever 26B is operated in the arm closing direction, the controller 30 controls the opening degree of the proportional valve 31BL according to the operating amount of the arm operating lever 26B. Thereby, using the hydraulic oil discharged by the pilot pump 15, a pilot pressure corresponding to the amount of operation of the arm operating lever 26B is applied to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.

The proportional valves 31BL and 31BR constitute an arm proportional valve 31B, which is an example of the proportional valve 31. The proportional valve 31BL operates according to a current command adjusted by the controller 30. The controller 30 adjusts pilot pressure by hydraulic fluid introduced from the pilot pump 15 through the proportional valve 31BL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. The proportional valve 31BR operates according to a current command adjusted by the controller 30. The controller 30 adjusts pilot pressure by hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR. The pilot pressures of the proportional valves 31BL and 31BR can be adjusted so that the control valves 176L and 176R can be stopped at arbitrary valve positions.

With this configuration, the controller 30 directs the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R through the proportional valve 31BL, regardless of the arm closing operation by the operator. can be supplied to That is, the controller 30 can automatically close the arm 5. In addition, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR, regardless of the arm opening operation by the operator. can. That is, the controller 30 can automatically open the arm 5.

Thus, in automatic excavation control, the arm cylinder 8 and boom cylinder 7 automatically operate according to the amount of operation of the arm operation lever 26B, thereby performing speed control or position control of the work site.

The excavator 100 has a configuration for automatically turning the upper rotating body 3 to the left and right, a configuration for automatically opening and closing the bucket 6, and a configuration for automatically moving the lower rotating body 1 forward and backward. It may have the following configuration. In this case, a hydraulic system part related to the swing hydraulic motor 2A, a hydraulic system part related to the operation of the bucket cylinder 9, a hydraulic system part related to the operation of the left side travel hydraulic motor 1L, and a hydraulic system part related to the right side travel hydraulic motor 1R. may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7.

Next, with reference to FIG. 3, the hardware configuration of the management device 200 of this embodiment will be described. FIG. 3 is a diagram showing an example of the hardware configuration of the management device.

The management device 200 of this embodiment includes an input device 201, an output device 202, a drive device 203, an auxiliary storage device 204, a memory device 205, an arithmetic processing device 206, and an interface device 207, which are interconnected by a bus B. It's a computer.

The input device 201 is a device for inputting various types of information, and is realized by, for example, a touch panel. The output device 202 is used to output various types of information, and is realized by, for example, a display. Interface device 207 is used to connect to a network.

The work support program realized by each section described below is at least a part of various programs that control the management device 200. The work support program is provided, for example, by distributing the storage medium 208 or downloading it from a network. The storage medium 208 on which the work support program is recorded may be of various types, such as a storage medium that records information optically, electrically, or magnetically, or a semiconductor memory that records information electrically such as ROM or flash memory. A storage medium can be used.

Furthermore, when the storage medium 208 recording the work support program is set in the drive device 203, the work support program is installed from the storage medium 208 to the auxiliary storage device 204 via the drive device 203. The work support program downloaded from the network is installed in the auxiliary storage device 204 via the interface device 207.

The auxiliary storage device 204 stores the work support program installed in the management device 200, and also stores various necessary files, data, etc. by the management device 200. The memory device 205 reads and stores the work support program from the auxiliary storage device 204 when the management device 200 is started. The arithmetic processing unit 206 implements various processes as described below in accordance with the work support program stored in the memory device 205.

Further, the support device 300 of the present embodiment is a computer including an arithmetic processing unit and a memory device, similar to the management device 200. Further, the support device 300 may include a display device as an output device, and may have a hardware switch or the like as an input device.

In addition to the devices shown in FIG. 3, the support device 300 includes a GPS receiving unit that implements a GPS (Global Positioning System) function, an IMU (Inertial Measurement Unit), and an imaging device. The GPS receiver receives GPS signals from GPS satellites. The IMU is an inertial measurement device that detects the acceleration of the support device 300 and the direction in which the support device 300 is facing. Furthermore, the support device 300 of this embodiment has a sound collection device and may acquire audio data.

Next, an attention-calling image in the work support system SYS of this embodiment will be described with reference to FIG. 4. FIG. 4 is a diagram illustrating an attention-calling image.

The example in FIG. 4 shows a state where shovel 100-1 and shovel 100-2 are present at the work site.

Furthermore, in the example of FIG. 4, the excavator 100-1 is scheduled to turn from now on, and the excavator 100-2 will now travel in the direction indicated by arrow Y1 and in the direction indicated by arrow Y2. It is assumed that something is planned.

Further, in the example of FIG. 4, a first predetermined period in the future and a second predetermined period in the future are set in advance by the worker P as the period for calling attention. Here, the second predetermined period is longer than the first predetermined period. Specifically, in the example of FIG. 4, the first predetermined period is 10 seconds, and the second predetermined period is 60 seconds.

In this case, it can be seen from the position information and scheduled work information of the shovel 100-1 that the shovel 100-1 will turn within the work range 151 during the first predetermined period. Furthermore, it can be seen from the position information and scheduled work information of the shovel 100-2 that the shovel 100-2 will travel within the work range 152 during the second predetermined period.

In other words, the management device 200 determines whether the shovel 100-1 will perform the work in the first predetermined period (the next 10 seconds) based on the position information and scheduled work information acquired from the shovel 100-1 and the shovel 100-2. A work range 151 and a work range 152 in which the excavator 100-2 will work during a second predetermined period (the next 60 seconds) are specified.

Here, the work range in this embodiment refers to a space in which a part of the machine body may come into contact when the excavator 100 performs a scheduled work. In other words, the work range indicates the area in which the shovel 100 will operate during a predetermined period in the future.

When the work range 151 and the work range 152 are specified, the management device 200 of this embodiment causes the support device 300 to display an image of a virtual wall indicating the work range 151 and the work range 152.

Specifically, the management device 200 generates an image of a virtual wall indicating the work range 151 according to the line of sight direction of the worker P based on the position information and direction information of the support device 300 acquired from the support device 300; An image of a virtual wall indicating the work area 152 is generated.

Note that the image of the virtual wall showing the work range 151 and the image of the virtual wall showing the work range 152 are examples of attention-calling images.

Then, the management device 200 transmits attention image data indicating the attention image to the support device 300, and causes the support device 300 to display the attention image.

At this time, the management device 200 may generate an image of the virtual wall showing the work range 151 and an image of the virtual wall showing the work range 152 as images of different colors. The management device 200 also provides information indicating that the work range 151 is the work range during the first predetermined period (10 seconds) and that the work range 152 is the work range during the second predetermined period (60 seconds). may be included in the alert image.

In this embodiment, in this way, the support device 300 displays an image that calls attention to the worker P regarding the work that the excavator 100 is scheduled to perform in the future.

Therefore, according to the present embodiment, it is possible to alert the worker P regarding the work to be performed (the operation of the shovel 100).

Next, with reference to FIG. 5, the functional configuration of each device included in the work support system SYS of this embodiment will be described. FIG. 5 is a diagram illustrating the functional configuration of each device included in the work support system.

First, the functional configuration of the support device 300 will be explained. The support device 300 of this embodiment includes an input reception section 310, a display control section 320, an information output section 330, and a communication control section 340.

The input receiving unit 310 receives various inputs to the support device 300. Specifically, the input reception unit 310 receives an input operation from the worker P on the input device and an operation instruction using audio data acquired by the sound collection device.

The display control unit 320 causes the display device to display the image data received from the management device 200 via the communication control unit 340. The image data received from the management device 200 here may be alert image data.

The information output unit 330 outputs (sends) various information acquired by the support device 300 to the management device 200. Specifically, the information output unit 330 outputs position information of the support device 300 and direction information indicating the orientation of the support device 300 to the management device 200. Note that the support device 300 of this embodiment may continuously transmit the position information and direction information to the management device 200 immediately after the support device 300 is activated.

Further, the information output unit 330 may continuously transmit image data to the management device 200 when the support device 300 is a smartphone or VR glasses.

The communication control unit 340 controls communication between the support device 300 and the management device 200. Further, the communication control unit 340 may control communication between the support device 300 and the shovel 100.

Next, the functional configuration of the management device 200 will be explained. The management device 200 includes a display instruction section 210, a communication control section 220, an information acquisition section 230, and an image generation section 240.

The display instruction unit 210 instructs the support device 300 to display various information. Specifically, the display instruction unit 210 instructs the support device 300 to display a setting screen for a predetermined period and a warning image. The display instruction unit 210 may also instruct the display device 40 of the excavator 100 to display various types of information.

The communication control unit 220 controls communication between the management device 200 and the support device 300. Further, the communication control unit 220 controls communication between the management device 200 and the shovel 100.

The information acquisition unit 230 acquires operating information transmitted from the excavator 100. The information acquisition unit 230 also acquires position information, direction information, and image data transmitted from the support device 300. Furthermore, the information acquisition unit 230 acquires the value of the predetermined period set in the support device 300.

The image generation unit 240 specifies the work range of the excavator 100 in a set predetermined period based on the operation information of the excavator 100 acquired by the information acquisition unit 230 and the position information and direction information of the support device 300. Generates attention-calling image data according to the work scope.

Note that the image generation unit 240 may hold the value for a predetermined period acquired by the information acquisition unit 230. Further, when a plurality of values are set as the predetermined period, the image generation unit 240 specifies the work range of the shovel 100 for each of the plurality of values, and generates attention-calling image data.

Next, the functional configuration of shovel 100 will be explained. The functional configuration of the shovel 100 is realized by the controller 30 reading a program stored in a storage device such as a ROM.

The excavator 100 includes an operation information acquisition section 110 and a communication control section 120. The operation information acquisition unit 110 acquires operation information and transmits it to the management device 200. Communication control unit 120 controls communication between excavator 100 and external devices. Specifically, communication control unit 120 controls communication between shovel 100 and management device 200 and communication between shovel 100 and support device 300.

Next, with reference to FIG. 6, the operation of the work support system SYS of this embodiment will be described. FIG. 6 is a sequence diagram illustrating the operation of the work support system.

In the work support system SYS of this embodiment, the support device 300 transmits to the management device 200 a setting start instruction for displaying an attention-calling image (step S601). Note that the setting start instruction may be performed by operating an input device of the support device 300.

Upon receiving the setting start instruction, the management device 200 transmits a menu screen display instruction to the support device 300 using the display instruction unit 210 (step S602). In response to the display instruction, the support device 300 causes the display control unit 320 to display a menu screen on the display device (step S603).

The support device 300 receives an operation for setting a predetermined period for alerting on the menu screen, and transmits a request to display a screen for setting the predetermined period to the management device 200 (step S604).

The management device 200 uses the display instruction unit 210 to transmit an instruction to display a setting screen for a predetermined period to the support device 300 (step S605).

In response to this display instruction, the support device 300 displays a setting screen for a predetermined period, and the input receiving unit 310 receives the setting for a predetermined period (step S606). Subsequently, the support device 300 transmits to the management device 200 (step S607).

Furthermore, the support device 300 starts transmitting its own position information and direction information to the management device 200 using the information output unit 330 (step S608). Note that at this time, if the support device 300 is a device that is not an equivalent type, such as a smartphone or VR glasses, the image data captured by the imaging device is also sent to the management device 200 along with the position information and direction information. It's fine.

When the information acquisition unit 230 acquires the value indicating the predetermined period, the management device 200 sets the acquired value to the predetermined period (step S609).

When the excavator 100 starts work, the operation information acquisition unit 110 acquires operation information (step S610), and starts transmitting the information to the management device 200 (step S611).

Note that the timing at which the support device 300 starts transmitting position information and direction information to the management device 200 and the timing at which the shovel 100 starts transmitting operating information to the management device 200 are not limited to the timing shown in FIG. .

These timings may be, for example, before the setting start instruction is given to the management device 200 in step S601. In this embodiment, transmission of information from the support device 300 to the management device 200 and transmission of information from the shovel 100 to the management device 200 may be started at any timing. Furthermore, the transmission of information from the support device 300 to the management device 200 and the transmission of information from the shovel 100 to the management device 200 may be performed continuously.

The management device 200 uses the image generation unit 240 to generate attention image data based on the position information and direction information acquired from the support device 300 and the operation information acquired from the excavator 100 (step S612), and causes the support device 300 to be careful. The evocative image data is transmitted (step S613).

When the support device 300 receives the attention image data, the display control unit 320 causes the display device to display the attention image data (step S614).

Next, screen transitions in the support device 300 of this embodiment will be described with reference to FIGS. 7 and 8. Note that FIGS. 7 and 8 show a case where the support device 300 is a smartphone.

FIG. 7 is a diagram illustrating screen transitions in the support device. A screen 301 shown in FIG. 7 is an example of a menu screen displayed on the display device of the support device 300 in step S603 of FIG.

A list 301a showing types of work support is displayed on the screen 301. Types of work support include, for example, warning displays, maintenance information displays, and the like. On the screen 301, "warning display" is selected.

Note that when the support device 300 is AR glasses having a transmissive display device, the list 301a is an AR glass that is superimposed on the scenery that the worker P wearing the support device 300 is viewing. Displayed as an image.

When an operation is performed to send a setting request from the support device 300 with the “alert image” selected on the screen 301 , the screen 301 transitions to a screen 302 .

Screen 302 is an example of a setting screen displayed on support device 300 in step S606 of FIG.

Displayed on the screen 302 is a list 302a showing the period during which the warning is issued. In the example of the screen 302, "10 seconds," "60 seconds," and "1 minute" are displayed as a list of periods for alerting, and "10 seconds" and "60 seconds" are selected. That is, in the example of the screen 302, a plurality of values are set as the predetermined period for calling attention.

FIG. 8 is a diagram illustrating a display example of an attention-calling image. A screen 303 shown in FIG. 8 is an example of a screen displayed on the support device 300 in step S614 of FIG.

Further, the screen 303 shown in FIG. 8 is displayed on the support device 300, for example, at the work site shown in FIG. This is an example of a screen.

On the screen 303, a warning image 151a showing a work range 151 in 10 seconds set as a first predetermined period, and a warning image 152a showing a work range 152 in 60 seconds set as a second predetermined period, is displayed.

In FIG. 8, since the support device 300 is a smartphone, the image of the landscape including the shovel 100-1 and the shovel 100-2 captured by the support device 300 and the attention-calling images 151a and 152a are superimposed on the screen 303. A superimposed image is displayed.

In addition, when the support device 300 is transparent AR glasses, the alert images 151a and 152a are displayed on the support device 300 as AR images, and the worker P is visible.

Furthermore, on the screen 303, an image 303a indicating a first predetermined period corresponding to the attention-calling image 151a is displayed in association with the attention-calling image 151a. Further, on the screen 303, an image 303b indicating a second predetermined period corresponding to the attention-calling image 152a is displayed in association with the attention-calling image 152a.

Furthermore, on the screen 303, the attention-seeking image 151a and the attention-seeking image 152a are displayed in different colors. In other words, on the screen 303, the display modes of the attention-seeking image 151a and the attention-seeking image 152a are different.

Therefore, in this embodiment, the worker P can visually recognize that a plurality of values are set as the predetermined period. In other words, according to the present embodiment, it is possible to simultaneously alert the worker P to an area where the shovel 100 will operate in the near future and an area where the shovel 100 will operate in the distant future. .

Further, in this embodiment, the shape of the attention-seeking image 151a and the attention-seeking image 152a is a rectangular parallelepiped image, but the shape is not limited to this. The shape of the attention-seeking image may be, for example, hemispherical or other shapes.

Note that in this embodiment, the attention image data is generated by the management device 200, but the present invention is not limited thereto.

In this embodiment, the support device 300 may have a function of generating attention-calling image data. In that case, the support device 300 may acquire operation information from the excavator 100, generate attention image data using the own position information and direction information, and display the data.

Further, in this embodiment, the excavator 100 may have a function of generating attention-calling image data. In that case, the excavator 100 acquires position information and direction information from the support device 300, uses its own operating information to generate attention image data, and transmits it to the support device 300 by short-range wireless communication or the like. Bye.

In this embodiment, by generating the alert image data in the support device 300 and the excavator 100, for example, even if the communication environment at the work site is not set up, the alert regarding the operation to be performed can be alerted. The image can be displayed on the support device 300.

In this way, according to the present embodiment, the worker P using the support device 300 can intuitively understand the work that the excavator 100 will perform in the future, and can efficiently perform collaborative work.

Further, in the present embodiment, for example, even when the worker P does not visually recognize the shovel 100, a warning regarding the work to be performed by the shovel 100 in the future can be issued, and safety can be improved.

Although the embodiments for carrying out the present invention have been described above, the above content does not limit the content of the invention, and various modifications and improvements can be made within the scope of the present invention.

1 Lower traveling body 2 Swivel mechanism 3 Upper rotating body 30 Controller 40 Display device 100 Shovel 110 Operation information acquisition section 120 Communication control section 200 Management device 230 Information acquisition section 240 Image generation section 300 Support device 320 Display control section 330 Information output section

Claims (8)

A construction machine work support system including a construction machine, a management device, and a support device,
The management device includes:
an image generation unit that generates attention image data that calls attention to the scheduled operation of the construction machine;
A work support system for construction machinery, comprising: a display instruction unit that causes the support device to display a caution image indicated by the caution image data. The warning image is
The work support system for a construction machine according to claim 1, wherein the image is an image showing an area in which the construction machine will operate in a future predetermined period. A plurality of different values are set as the predetermined period,
3. The construction machine work support system according to claim 2, wherein the attention image is displayed on the support device for each of the plurality of values. The plurality of values are
4. The construction machine work support system according to claim 3, comprising a value indicating a first predetermined period and a value indicating a second predetermined period longer than the first predetermined period. 5. The construction machine work support system according to claim 4, wherein the warning images displayed for each of the plurality of values have different display modes. The management device includes:
an information acquisition unit that acquires operation information from the construction machine and acquires position information indicating the current position of the support device and direction information indicating the direction in which the support device is facing from the support device;
The work support system for construction machinery according to any one of claims 1 to 5, wherein the image generation unit generates the attention-calling image data using the operation information, the position information, and the direction information. . The operating information is
7. The construction machine work support system according to claim 6, comprising scheduled work information indicating future work contents of the construction machine and position information indicating the current position of the construction machine. The image generation unit includes:
acquiring image data captured by an imaging device of the support device, and generating superimposed image data on which the alerting image data is superimposed;
The display instruction section is
The work support system for a construction machine according to any one of claims 1 to 7, wherein a superimposed image indicated by the superimposed image data is displayed on the support device as the attention-calling image.

Images