JP6370686B2 - Excavator support system, excavator support device, and excavator support method - Google Patents

Description

  The present invention relates to an excavator support system and an excavator support device that support the management of construction by an excavator.

  An excavator equipped with a display system that displays a guidance screen for guiding the operation of the excavator is known (see Patent Document 1). The guidance screen includes an image showing the positional relationship between the blade edge of the bucket and the target construction surface.

JP 2012-172425 A

  However, Patent Document 1 only discloses that a guidance screen for guiding the operation of the excavator is presented to the operator of the excavator, and the screen presented to the administrator who manages the construction by the excavator is disclosed. Not mentioned.

  In view of the above, it is desirable to provide an excavator support system and an excavator support apparatus that visually support management of construction by an excavator.

  An excavator support system according to an embodiment of the present invention is an excavator support system that supports the management of construction by an excavator, and relates to a terrain information acquisition unit that acquires information on the terrain to be constructed, and the position and movement of the excavator. An excavator information acquisition unit for acquiring information, a work content determination unit for determining the content of work performed by the excavator based on information on the movement of the excavator, a topographic image representing the topography of the construction target, and the excavator And an output image generation unit that generates an output image by synthesizing the work content image representing the content of the selected work.

  The excavator support device according to an embodiment of the present invention includes the excavator that is discriminated based on the terrain image representing the terrain of the construction target generated from information on the terrain of the construction target and the information on the movement of the excavator. An output image generation unit configured to generate an output image by synthesizing with a work content image representing the content of the work performed by the excavator generated from the content of the work performed;

  By the above-mentioned means, an excavator support system and an excavator support device that visually support the management of construction by the shovel are provided.

It is a figure which shows the structural example of the shovel assistance system which concerns on the Example of this invention. It is a figure which shows the structural example of the shovel as a communication terminal which comprises a shovel support system. It is a functional block diagram which shows the structural example of each communication terminal which comprises an excavator assistance system. It is a figure which shows the flow of the output image generation process by the controller mounted in the shovel. It is a figure which shows the structural example of an output image. It is a figure which shows another structural example of an output image. It is a figure which shows another example of a structure of an output image. It is a functional block diagram which shows another structural example of each communication terminal which comprises an excavator assistance system.

  FIG. 1 is a diagram illustrating a configuration example of an excavator support system 100 according to an embodiment of the present invention. The excavator support system 100 mainly includes excavators PS1 and PS2 as construction machines, mobile terminals MS1 and MS2 as mobile stations, and an information center FS as a fixed station. The excavators PS1 and PS2, the portable terminals MS1 and MS2, and the information center FS function as communication terminals connected to each other through the communication network CN. Note that the mobile terminals MS1 and MS2 include smartphones, tablet PCs, notebook PCs, and the like.

  FIG. 2 is a diagram illustrating a configuration example of the excavator PS1 included in the excavator support system 100 of FIG. An upper swing body 3 is mounted on the lower traveling body 1 of the excavator PS1 via a swing mechanism 2. A boom 4 is attached to the upper swing 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, the arm 5, and the bucket 6 constitute an excavation attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively. 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 link. In addition, a body tilt sensor S4 is attached to the upper swing body 3.

  The boom angle sensor S <b> 1 is a sensor that detects the rotation angle of the boom 4. In this embodiment, the inclination angle of the boom 4 with respect to the horizontal plane is detected by detecting the gravitational acceleration, and as a result, the acceleration that detects the rotation angle of the boom 4 around the boom foot pin that connects the upper swing body 3 and the boom 4. It is a sensor.

  The arm angle sensor S <b> 2 is a sensor that detects the rotation angle of the arm 5. In the present embodiment, the acceleration sensor detects the inclination angle of the arm 5 with respect to the horizontal plane by detecting the gravitational acceleration, and thus detects the rotation angle of the arm 5 around the connecting pin that connects the boom 4 and the arm 5. .

  The bucket angle sensor S3 is a sensor that detects the rotation angle of the bucket 6. In this embodiment, the acceleration sensor detects the inclination angle of the bucket 6 with respect to the horizontal plane by detecting the gravitational acceleration, and thus detects the rotation angle of the bucket 6 around the connecting pin that connects the arm 5 and the bucket 6.

  At least one of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 includes a potentiometer that uses a variable resistor, a stroke sensor that detects a stroke amount of a corresponding hydraulic cylinder, and a rotation about a connecting pin. A rotary encoder that detects an angle may be used.

  The body tilt sensor S4 is a sensor that detects the tilt angle of the upper swing body 3 with respect to the horizontal plane. In the present embodiment, it is a biaxial acceleration sensor that detects an inclination angle of the upper revolving unit 3 with respect to the horizontal plane of the front and rear axes and the left and right axes.

  The turning angle sensor S5 is a sensor that detects the rotation angle of the turning mechanism 2 around the turning axis. In this embodiment, the turning angle sensor S5 is a resolver. The turning angle sensor S5 may be another rotation angle sensor such as a rotary encoder.

  The pressure sensor S6 is a sensor that detects the movement of the excavator in the form of pressure. In the present embodiment, the pressure sensor S6 detects a discharge pressure sensor that detects the discharge pressure of the hydraulic pump, a rod pressure sensor that detects the pressure of the rod side oil chamber of the hydraulic cylinder, and a pressure of the bottom side oil chamber of the hydraulic cylinder. Includes bottom pressure sensor.

The pilot pressure sensor S7 is a sensor that detects a pilot pressure generated by the operating device.
The operation device includes a boom operation lever, an arm operation lever, a bucket operation lever, a turning operation lever, a travel pedal, and the like. The hydraulic cylinder includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and the like.

  The positioning sensor S8 is a sensor that measures the position of the excavator. In this embodiment, the positioning sensor S8 is a GNSS receiver that detects the coordinates (latitude, longitude, altitude) of the shovel.

  The communication device D1 is a device that controls communication between the excavator PS1 and another communication terminal. In the present embodiment, the communication device D1 controls transmission and reception of information between the excavator PS1 and other communication terminals through wireless communication.

  Further, the upper swing body 3 is provided with a cabin 10, and an input device D2, a display device D3, a storage device D4, and a controller CR are mounted in the cabin 10.

  The input device D2 is a device for an excavator operator (administrator) to input various information. In this embodiment, the input device D2 is a button switch attached around the display screen of the display device D3. The operator of the excavator inputs various information to the controller CR through the input device D2. The input device D2 may be a touch panel. The input device D2 may be a USB memory. In this case, the operator can input information stored in the USB memory to the controller CR by inserting the USB memory into the USB connector installed in the cabin 10.

  The display device D3 is a device that outputs various image information. In the present embodiment, the display device D3 is a liquid crystal display installed in the cabin 10, and displays various types of information in accordance with display commands from the controller CR.

  The storage device D4 is a device that stores various types of information. In this embodiment, the storage device D4 is a semiconductor memory, and information on the terrain to be constructed (hereinafter referred to as “terrain information”) and information on the position and movement of the excavator (hereinafter referred to as “excavator information”). Memorize etc.

  The controller CR is an example of an excavator support device, and performs drive control of the excavator. In the present embodiment, the controller CR is configured by an arithmetic processing device including an arithmetic unit and a storage unit. Various functions of the controller CR are realized by the calculation unit executing a program stored in the storage unit.

  Next, a configuration example of each communication terminal constituting the excavator support system 100 will be described with reference to FIG. FIG. 3 is a functional block diagram showing a configuration example of the excavator PS1, the information center FS, and the mobile terminal MS1 as communication terminals constituting the excavator support system 100.

  In the present embodiment, the controller CR of the shovel PS1 includes a terrain information acquisition unit F1, a shovel information acquisition unit F2, a work content determination unit F3, an output image generation unit F4, and an output image display unit F5 as functional elements.

  The terrain information acquisition unit F1 is a functional element that acquires terrain information regarding the terrain to be constructed. In the present embodiment, the terrain information acquisition unit F1 reads the terrain information stored in the USB memory as the input device D2, and acquires the terrain information. Note that the terrain information acquisition unit F1 may acquire terrain information stored in another excavator PS2, information center FS, portable terminal MS1, MS2, etc. through the communication device D1. Then, the terrain information acquisition unit F1 stores the acquired terrain information in the storage device D4.

  The excavator information acquisition unit F2 is a functional element that acquires excavator information related to the position and movement of the excavator. In the present embodiment, the excavator information acquisition unit F2 includes the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the turning angle sensor S5, the pressure sensor S6, and the pilot pressure sensor S7 in the excavator PS1. Information about the movement of the excavator PS1 is acquired based on the output. The excavator information acquisition unit F2 acquires information related to the position of the excavator PS1 based on the output of the positioning sensor S8. The excavator information includes information related to the tip (toe) position of the bucket 6.

  Moreover, the excavator information acquisition part F2 memorize | stores the data which various sensors S1-S8 output in the memory | storage device D4 in time series as excavator information. This is because the work content determination unit F3 can be referred to.

  The excavator information acquisition unit F2 may receive excavator information from one or a plurality of excavators other than the excavator PS1, and store the received excavator information in the storage device D4 in time series so that the excavator information can be distinguished for each excavator. .

  The work content determination unit F3 is a functional element that determines the content of work performed by the excavator. In the present embodiment, the work content determination unit F3 determines the content of the work performed by the excavator PS1 based on the excavator information regarding the position and movement of the excavator PS1 acquired by the excavator information acquisition unit F2. The contents of the work include, for example, excavation, backfilling, earthing (rolling), leveling, filling, crane work, and the like.

  Specifically, the work content determination unit F3 performs the excavator PS1 within the predetermined time based on the outputs of the various sensors S1 to S8 over the past predetermined time stored in the storage device D4 by the excavator information acquisition unit F2. Determine the content of the work. The work content determination unit F3 is based on the excavator information received from each of the one or more excavators other than the excavator PS1, and the contents of the work performed by each of the one or more excavators other than the excavator PS1 within the predetermined time. May be determined.

  The output image generation unit F4 is a functional element that generates an output image. In the present embodiment, the output image generation unit F4 generates a terrain image from the terrain information acquired by the terrain information acquisition unit F1. The output image generation unit F4 generates a work content image representing the content of work performed by the excavator PS1 from the determination result of the work content determination unit F3. Then, the output image generation unit F4 generates an output image by combining the topographic image and the work content image. Note that the output image generation unit F4 represents the work contents representing the work contents performed by each of the one or more shovels other than the shovel PS1 based on the determination result of the work contents of each of the one or more shovels other than the shovel PS1. An image may be generated.

  The terrain image is, for example, a three-dimensional mesh image representing the terrain to be constructed, and the work content image is an image superimposed and displayed on the terrain image, for example, an image that expresses the difference in the work content by a different display method. is there. Note that different display methods include display methods using differences in color, pattern, brightness, and the like. The output image, which is a composite image of the topographic image and the work content image, is configured so that the viewpoint can be freely changed.

  Then, the output image generation unit F4 stores the generated output image in the storage device D4. The output image generation unit F4 transmits the output image to the other excavator PS2, the information center FS, the mobile terminals MS1, MS2, and the like through the communication device D1.

  The output image display unit F5 is a functional element that displays an output image on the display device. In the present embodiment, the output image display unit F5 displays the output image generated by the output image generation unit F4 on the display device D3 installed in the cabin 10 of the excavator PS1.

  Specifically, the output image display unit F5 displays the output image generated by the output image generation unit F4 on the display device D3 installed in the cabin 10 of the excavator PS1, and also displays the output image of the operator through the input device D2. The viewpoint for viewing the output image can be changed according to the input.

  As shown in FIG. 3, the information center FS includes a controller CRF, a communication device D1F, an input device D2F, a display device D3F, and a storage device D4F. And controller CRF has the output image display part F5F similar to the output image display part F5 in controller CR of shovel PS1.

  Specifically, the controller CRF is an example of an excavator support device, and the output image generated by the output image generation unit F4 of the excavator PS1 and transmitted through the communication device D1 is received by the communication device D1F and stored in the storage device D4F. To do. The output image display unit F5F refers to the output image stored in the storage device D4F, and displays the output image on the display device D3F installed in the information center FS. In addition, the output image display unit F5F can change the viewpoint of viewing the output image in accordance with the input through the input device D2F by the administrator in the information center FS.

  Similarly, as shown in FIG. 3, the mobile terminal MS1 includes a controller CRM, a communication device D1M, an input device D2M, a display device D3M, and a storage device D4M. The controller CRM includes an output image display unit F5M similar to the output image display unit F5 in the controller CR of the excavator PS1.

  Specifically, the controller CRM is an example of an excavator support device, and the output image generated by the output image generation unit F4 of the excavator PS1 and transmitted through the communication device D1 is received by the communication device D1M and stored in the storage device D4M. To do. Then, the output image display unit F5M refers to the output image stored in the storage device D4M and causes the display device D3M mounted on the mobile terminal MS1 to display the output image. In addition, the output image display unit F5M can change the viewpoint of viewing the output image according to the input through the input device D2M by the administrator having the mobile terminal MS1. Note that the mobile terminal MS1 may display an image displayed on the display device D3M on the display device D3 of the excavator PS1.

  With this configuration, the excavator support system 100 generates, as an output image, a three-dimensional mesh image in which the mesh color, background color, hatching pattern, and the like differ depending on the work content, and an operator (administrator) can arbitrarily The 3D mesh image is made visible from the viewpoint.

  Next, a specific example of a process in which the controller CR of the excavator PS1 generates an output image (hereinafter referred to as “output image generation process”) will be described with reference to FIG.

  First, the controller CR derives the attitude and position of the bucket 6 (step ST1). In the present embodiment, the excavator information acquisition unit F2 of the controller CR includes the bucket 6 based on the outputs of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, and the turning angle sensor S5 in the excavator PS1. The tip position of is derived. The derived tip position of the bucket 6 is stored in the storage device D4 in time series.

  Further, the controller CR derives the position of the excavator PS1 (step ST2). In the present embodiment, the excavator information acquisition unit F2 of the controller CR acquires the coordinates (latitude, longitude, altitude) of the center position of the excavator PS1 based on the output of the positioning sensor S8. Note that the coordinates of the center position of the excavator PS1 are, for example, one point on the swing axis of the upper swing body 3. Further, the excavator information acquisition unit F2 stores the acquired coordinates of the center position of the excavator PS1 and the outputs of the pressure sensor S6 and the pilot pressure sensor S7 in time series in association with the derived tip position of the bucket 6. Store in D4. In the case of a rolling operation, the position may be stored in association with the back position of the bucket 6 instead of the tip position of the bucket 6. Further, in the case of crane work, it may be stored in association with the hook position of the bucket 6.

  Thereafter, the controller CR calculates a change in the topography of the construction target (step ST3). In the present embodiment, the output image generation unit F4 of the controller CR includes the transition of the tip position of the bucket 6 stored in time series in the storage device D4 and the pre-construction stored in the storage device D4 by the terrain information acquisition unit F1. Based on the information on the terrain, information on the current terrain is calculated. That is, the information regarding the topography after excavation work by the shovel is performed. Then, the output image generation unit F4 generates a terrain image based on information on the current terrain.

  Further, the controller CR determines the work content of the excavator PS1 (step ST4). In the present embodiment, the work content determination unit F3 of the controller CR determines the work content of the excavator PS1 based on the transition of the outputs of the various sensors S1 to S8 stored in time series in the storage device D4. Specifically, the work content determination unit F3 determines what work has been performed in which region of the terrain to be constructed. Then, the output image generation unit F4 generates a work content image based on the determination result.

  Thereafter, the controller CR combines the topographic image and the work content image (step ST5). In the present embodiment, the output image generation unit F4 of the controller CR generates an output image by combining the topographic image and the work content image, and stores the generated output image in the storage device D4.

  Thereafter, the controller CR displays the generated output image on the display device D3. In the present embodiment, the output image display unit F5 of the controller CR refers to the output image stored in the storage device D4, displays the output image on the display device D3M, and inputs the input through the input device D2 by the administrator. The viewpoint for viewing the output image can be changed in accordance with.

  Next, a specific example of an output image displayed on the display device D3 will be described with reference to FIG. 5 (A1), FIG. 5 (B1), and FIG. 5 (C1) are horizontal plan views of the construction target ground from directly above, and the upper part of the output image corresponds to the north. 5 (A2), FIG. 5 (B2), and FIG. 5 (C2) are cross-sectional views of the construction target ground from the side, and the upper part of the output image corresponds to the vertically upper part. 5A2 is a cross-sectional view taken along line XX in FIG. 5A1, FIG. 5B2 is a cross-sectional view taken along line XX in FIG. 5B1, and FIG. FIG. 5C is a cross-sectional view taken along line XX in FIG. Note that the administrator can switch between a horizontal plan view and a cross-sectional view by an input through the input device D2. For example, the administrator may switch the display screen or move the display area by a swipe operation on the touch panel, and may change (enlarge / reduce) the display area by a pinch-out operation or a pinch-in operation on the touch panel.

  In FIGS. 5A2, 5B2 and 5C2, the solid line indicates the current ground height, the dotted line indicates the ground height before the work starts, and the broken line indicates after the work is completed. Indicates the target height of the ground. In FIG. 5, for convenience of explanation, the positions of the solid line, the dotted line, and the broken line are slightly shifted in order to avoid duplication.

  FIG. 5 is a diagram showing the progress of the backfilling operation by the excavator PS1, and the hatching of the dot pattern is a work content image indicating that the backfilling operation has been performed. In addition, the rough dot pattern hatching indicates that the ground height of the area where the backfilling operation has been performed does not reach the target height (insufficient backfilling state), and the fine dot pattern hatching is performed by the backfilling operation. This represents a state in which the height of the ground in the broken area has reached the target height. In addition, hatching of the hatched pattern represents a state where the height of the ground in the area where the backfilling operation has been performed exceeds the target height (overfilling state).

  By visually recognizing the output image configured as described above, the administrator can easily grasp the progress of the backfilling operation by the excavator PS1.

  Next, another specific example of the output image displayed on the display device D3 will be described with reference to FIG. 6A, 6 </ b> B <b> 1, and 6 </ b> C <b> 1 are horizontal plan views of the construction target ground from directly above, and the upper portion of the output image corresponds to the north. 6B1 and 6C1 are enlarged views of a region R indicated by a dotted rectangle in FIG. For example, the administrator can enlarge the area R of FIG. 6A by a pinch-out operation on the touch panel and display the enlarged area as shown in FIGS. 6B1 and 6B2. On the other hand, the administrator can reduce the display area of FIGS. 6B1 and 6B2 to be reduced and displayed as shown in FIG. 6A by a pinch-in operation on the touch panel.

  FIGS. 6B2 and 6C2 are cross-sectional views of the construction target ground from the side, and the upper part of the output image corresponds to the vertical upper part. 6B2 is a cross-sectional view taken along line XX in FIG. 6B1, and FIG. 6C2 is a cross-sectional view taken along line XX in FIG. 6C1. Note that the administrator can switch between a horizontal plan view and a cross-sectional view by an input through the input device D2. For example, the administrator can switch between FIG. 6 (B1) and FIG. 6 (B2) by a swipe operation on the touch panel, or can switch between FIG. 6 (C1) and FIG. 6 (C2).

  In addition, the solid line in FIGS. 6B2 and 6C2 indicates the current height of the ground, the dotted line indicates the height of the ground before the work starts, and the broken line indicates the target height of the ground after the work is completed. Show. In FIG. 6, for convenience of explanation, the positions of the solid line, the dotted line, and the broken line are slightly shifted in order to avoid duplication.

  FIG. 6 is a diagram showing the progress of excavation and backfilling work by the excavator PS1, and the hatching of the dot pattern indicates the state where the height of the ground in the area where the excavation and backfilling work is performed has reached the target height. Represent. Cross pattern hatching indicates that the ground level (depth) of the area where excavation work has been performed does not reach the target height (depth) (underexcavation state), and hatching in the hatched pattern is filled. This represents a state where the height of the ground in the area where the return operation has been performed exceeds the target height (overfill state). Further, hatching of the horizontal line pattern represents an area where the rolling work has been performed. It should be noted that the ground height (depth) of the area where excavation work has been performed is below the target height (depth) (excessive excavation state), and the ground height of the area where the backfill work has been performed is A state where the target height has not been reached and is not fixed (backfilling insufficient state) or the like may be expressed using another hatching pattern.

  By visually recognizing the output image configured as described above, the administrator can easily grasp the progress of excavation / backfilling work by the excavator PS1.

  Next, still another specific example of the output image displayed on the display device D3 will be described with reference to FIG. In addition, each of FIG. 7 (A) and FIG. 7 (B) is the horizontal plane view which looked at the ground of construction object from right above, and respond | corresponds to FIG. 5 (B1). Each of FIGS. 7A and 7B displays a topographic image as a three-dimensional mesh image, and represents a difference in work content image by a difference in hatching pattern. In this embodiment, the mesh interval of the three-dimensional mesh image is set to 1 meter, but the mesh interval can be set to an arbitrary distance. The mesh display may be partially omitted as shown in FIG. Further, mesh attributes (for example, line type, line width, color, etc.) may be different for each type of corresponding work content image, as shown in FIG. 7B. In that case, the hatching pattern may be omitted.

  By visually recognizing the output image configured in this way, the administrator can clearly distinguish the area where various operations by the excavator PS1 are completed and the area where the work is not completed.

  Next, with reference to FIG. 8, another configuration example of each communication terminal constituting the excavator support system 100 will be described. FIG. 8 is a functional block diagram showing another configuration example of the excavator PS1, the information center FS, and the mobile terminal MS1 as communication terminals constituting the excavator support system 100.

  The configuration of FIG. 8 is different from the configuration of FIG. 3 in that the controller CRF of the information center FS includes a terrain information acquisition unit F1F, a work content determination unit F3F, and an output image generation unit F4F instead of the controller CR of the excavator PS1. However, it is common in other points. Therefore, description of common parts is omitted, and different parts are described in detail.

  In the present embodiment, the excavator information acquisition unit F2 in the controller CR of the excavator PS1 acquires excavator information related to the position and movement of the excavator PS1 based on the outputs of the various sensors S1 to S8. In addition, the excavator information acquisition unit F2 stores data output from the various sensors S1 to S8 in the storage device D4 as excavator information in time series, and the stored excavator information through the communication device D1 to the other excavators PS2, Information is transmitted to the information center FS, the mobile terminals MS1, MS2, and the like.

  The terrain information acquisition unit F1F in the controller CRF of the information center FS acquires the terrain information through the input device D2F, similarly to the terrain information acquisition unit F1 in the controller CR of FIG. Then, the terrain information acquisition unit F1F stores the acquired terrain information in the storage device D4F.

  Further, the work content determination unit F3F in the controller CRF of the information center FS, like the work content determination unit F3 in the controller CR of FIG. 3, details of the work performed by the excavator PS1 based on the shovel information regarding the position and movement of the excavator PS1. Is determined. Specifically, the work content determination unit F3F receives excavator information from the excavator information acquisition unit F2 of the excavator PS1 through the communication device D1F and stores it in the storage device D4F. Then, the work content determination unit F3F determines the content of work performed by the excavator PS1 within the predetermined time based on the outputs of the various sensors S1 to S8 over the past predetermined time stored in the storage device D4F.

  Further, the output image generation unit F4F in the controller CRF of the information center FS generates a topographic image from the topographic information acquired by the topographic information acquisition unit F1F, similarly to the output image generation unit F4 in the controller CR of FIG. The output image generation unit F4F generates a work content image representing the content of work performed by the excavator PS1 from the determination result of the work content determination unit F3F. Then, the output image generation unit F4F generates an output image by combining the terrain image and the work content image.

  Then, the output image generation unit F4F stores the generated output image in the storage device D4F. The output image generation unit F4F transmits the output image to the excavators PS1, PS2, the mobile terminals MS1, MS2, and the like through the communication device D1F.

  The output image display unit F5F displays the output image generated by the output image generation unit F4F on the display device D3F installed in the information center FS.

  Specifically, the output image display unit F5F displays the output image generated by the output image generation unit F4F on the display device D3F, and sets the viewpoint for viewing the output image according to the administrator's input through the input device D2F. Make it changeable.

  With this configuration, the controller CRF generates, as an output image, a three-dimensional mesh image with different mesh colors, background colors, hatching patterns, etc. depending on the work contents, and the administrator can select the three-dimensional mesh from any viewpoint. Make the image visible.

  For example, as shown in FIG. 8, the excavator PS1 includes a controller CR, a communication device D1, an input device D2, a display device D3, and a storage device D4. The controller CR has an output image display unit F5.

  Then, the controller CR receives the output image generated by the output image generation unit F4F of the information center FS and transmitted through the communication device D1F by the communication device D1, and stores it in the storage device D4. And the output image display part F5 refers to the output image memorize | stored in the memory | storage device D4, and displays the output image on the display apparatus D3 installed in the cabin 10 of shovel PS1. Further, the output image display unit F5 can change the viewpoint of viewing the output image in accordance with the input through the input device D2 by the operator of the excavator PS1.

  Similarly, as shown in FIG. 8, the mobile terminal MS1 includes a controller CRM, a communication device D1M, an input device D2M, a display device D3M, and a storage device D4M. Further, the controller CRM includes an output image display unit F5M.

  Then, the controller CRM receives the output image generated by the output image generation unit F4F of the information center FS and transmitted through the communication device D1F by the communication device D1M and stores it in the storage device D4M. Then, the output image display unit F5M refers to the output image stored in the storage device D4M and causes the display device D3M mounted on the mobile terminal MS1 to display the output image. In addition, the output image display unit F5M can change the viewpoint of viewing the output image according to the input through the input device D2M by the administrator having the mobile terminal MS1.

  The information center FS may receive the excavator information transmitted from each of the plurality of excavators, and store the received excavator information in the storage device D4F in time series so that the excavator information can be distinguished for each excavator. In this case, the work content determination unit F3F of the information center FS determines the content of work performed by each of the plurality of shovels within the predetermined time based on the shovel information stored in the storage device D4F. Then, the output image generation unit F4F of the information center FS generates a work content image representing the content of work performed by each of the plurality of excavators.

  With this configuration, the controller CRF of the information center FS generates, as an output image, a three-dimensional mesh image with different mesh colors, background colors, hatching patterns, etc. depending on the work contents, and the administrator can select from any viewpoint. The three-dimensional mesh image is made visible.

  Further, the controller CRM of the mobile terminal MS1 may have a topographic information acquisition unit, a work content determination unit, and an output image generation unit, like the controller CRF of the information center FS. In this case, the terrain information acquisition unit of the controller CRM acquires the terrain information through the input device D2M. Then, the terrain information acquisition unit stores the acquired terrain information in the storage device D4M.

  The excavator information acquisition unit of the controller CRM receives the excavator information transmitted from each of the one or more excavators, and stores the received excavator information in the storage device D4M in time series so that the excavator information can be distinguished for each excavator. . Then, the work content determination unit of the controller CRM determines the content of work performed by each of the one or more shovels based on the shovel information stored in the storage device D4M. Further, the output image generation unit of the controller CRM generates a terrain image from the terrain information acquired by the terrain information acquisition unit. The output image generation unit generates a work content image representing the content of work performed by each of the one or more excavators from the determination result of the work content determination unit. The output image generation unit generates an output image by combining the topographic image and the work content image. Then, the output image generation unit stores the generated output image in the storage device D4M. In addition, the output image generation unit transmits the output image to the excavators PS1, PS2, the information center FS, the portable terminal MS2, and the like through the communication device D1F. Further, the output image display unit F5M displays the output image generated by the output image generation unit on the display device D3M mounted on the mobile terminal MS1.

  With this configuration, the controller CRM of the mobile terminal MS1 generates, as an output image, a three-dimensional mesh image in which the mesh color, background color, hatching pattern, and the like differ depending on the work content regarding one or more excavators, An administrator can visually recognize the three-dimensional mesh image from an arbitrary viewpoint.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the excavator support system 100 generates an output image by synthesizing the terrain image representing the terrain to be constructed at the current time and the work content image representing the work performed by the excavator up to the present time. . However, the present invention is not limited to this configuration. For example, the shovel support system 100 generates an output image by synthesizing a terrain image representing the terrain to be constructed at a specific time in the past and a work content image representing the content of work performed by the excavator up to the specific time. May be. In this case, the administrator may input the specific time through the input device D2F. With this configuration, the administrator can easily grasp the construction status at a specific time in the past.

  DESCRIPTION OF SYMBOLS 1 ... Lower traveling body 2 ... Turning mechanism 3 ... Upper turning body 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ... Bucket cylinder 10 ... Cabin 100 ... Excavator support system CN ... Communication network CR, CRF, CRM ... Controller D1, D1F, D1M ... Communication device D2, D2F, D2M ... Input device D3, D3F, D3M ... Display device D4, D4F, D4M ... Storage device F1, F1F ... Terrain information acquisition unit F2 ... Excavator information acquisition unit F3, F3F ... Work content determination unit F4, F4F: Output image generation unit F5, F5F, F5M: Output image display unit FS: Information center MS1, MS2: Mobile terminal PS1, S2 ... Excavator S1 ... Boom angle sensor S2 ... Arm angle sensor S3 ... Bucket angle sensor S4 ... Airframe tilt sensor S5 ... Turning angle sensor S6 ... Pressure sensor S7 ... Pilot pressure sensor S8 ... Positioning sensor

Claims (11)

An excavator support system for supporting construction management by an excavator,
A terrain information acquisition unit for acquiring information on the terrain to be constructed;
A shovel information acquisition unit that acquires information on the position and movement of the shovel based on detection values of a plurality of sensors including a boom angle sensor, an arm angle sensor, an end attachment angle sensor, and a pressure sensor ;
A work content discriminating unit for discriminating the content of work performed by the excavator based on information on the movement of the excavator;
An output image generation unit that generates an output image by combining a terrain image representing the terrain to be constructed and a work content image representing the content of work performed by the excavator;
Excavator support system having. The output image generation unit changes the color of the work content image for each content of work performed by the excavator and synthesizes the terrain image.
The shovel support system according to claim 1. The output image generation unit synthesizes a plurality of work content images representing the content of work performed by each of the plurality of excavators with the topographic image,
The shovel support system according to claim 1 or 2.   The excavator support system according to any one of claims 1 to 3, which is mounted on the excavator.   The shovel support system according to any one of claims 1 to 3, wherein the shovel support system is located outside the shovel.   The output image includes a horizontal plane image,
  The shovel support system according to any one of claims 1 to 5.   The position of the end attachment is associated with the coordinates and stored.
  The shovel support system according to any one of claims 1 to 6. At least one of the boom angle sensor, the arm angle sensor, and the end attachment angle sensor is an acceleration sensor.
  The shovel support system according to any one of claims 1 to 7.   In the output image, the progress of work is displayed.
  The shovel support system according to any one of claims 1 to 8. Excavator motion acquired by a plurality of sensors including a topographic image representing the topography of the construction target generated from information on the topography of the construction target, a boom angle sensor, an arm angle sensor, an end attachment angle sensor, and a pressure sensor An excavator having an output image generation unit that generates an output image by synthesizing with a work content image representing the content of the work performed by the shovel generated from the content of the work performed by the shovel determined based on information on Support device. An excavator support method for supporting construction management by an excavator,
  Obtaining information on the topography of the construction object;
  Obtaining information on the position and movement of the shovel based on detection values of a plurality of sensors including a boom angle sensor, an arm angle sensor, an end attachment angle sensor, and a pressure sensor;
  Determining the content of work performed by the excavator based on information on the movement of the excavator;
  Combining the terrain image representing the terrain to be constructed and the work content image representing the content of the work performed by the excavator to generate an output image,
  Excavator support method.

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