WO2022114005A1 - Information display system for work machine - Google Patents

Information display system for work machine Download PDF

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Publication number
WO2022114005A1
WO2022114005A1 PCT/JP2021/042999 JP2021042999W WO2022114005A1 WO 2022114005 A1 WO2022114005 A1 WO 2022114005A1 JP 2021042999 W JP2021042999 W JP 2021042999W WO 2022114005 A1 WO2022114005 A1 WO 2022114005A1
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WO
WIPO (PCT)
Prior art keywords
work machine
icon
display system
predetermined event
information display
Prior art date
Application number
PCT/JP2021/042999
Other languages
French (fr)
Japanese (ja)
Inventor
和也 関根
昌輝 日暮
芳明 堤
進也 井村
雅嗣 荒井
和吉 花川
Original Assignee
日立建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Priority to JP2022565374A priority Critical patent/JP7483935B2/en
Publication of WO2022114005A1 publication Critical patent/WO2022114005A1/en

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/08—Construction
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to an information display system that displays information indicating the status of a work machine when a predetermined event occurs.
  • Patent Document 1 various information collected by the event information collecting device, which is an in-vehicle device, is aggregated by the event information collecting device, which is a server device, and an image at the time of occurrence of a predetermined event and map information including the place where the predetermined event occurs are described. Is described on one screen and the system is disclosed to a third party.
  • the system described in Patent Document 1 merely displays the operation status of the vehicle at the time of occurrence of a predetermined event in a character format or as a graph of operation measurement values.
  • the operating state of the vehicle when a predetermined event occurs is displayed without knowing the relationship with the objects existing around the vehicle. Therefore, even if the system described in Patent Document 1 is applied to a work site, it is difficult for field workers having various attributes to share the operating state of the work machine when a predetermined event occurs, and the field worker. It is difficult to improve the safety awareness of.
  • an object of the present invention is to provide an information display system for a work machine capable of improving the safety awareness of field workers.
  • the information display system of the work machine of the present invention includes a server device for inputting information from an in-vehicle device of the work machine and a terminal device for displaying information created by the server device.
  • An information display system for a work machine that displays information indicating the status of the work machine when a predetermined event occurs, and the server device is an operation obtained by measuring the operation of the work machine when the predetermined event occurs. Based on the measured values, the detection results of the operation icon specifying unit that specifies the operation icon indicating the operation content of the work machine and the object detection device that detects the object existing around the work machine when the predetermined event occurs.
  • the operation status of the work machine at the time of the occurrence of the predetermined event is determined by using the object icon specifying unit that specifies the object icon indicating the relative position of the object with respect to the work machine, and the operation icon and the object icon.
  • the terminal device includes an operation status diagram creating unit for creating an operation status diagram to be shown, and is characterized in that the terminal device displays the operation status diagram.
  • an information display system for a work machine capable of improving the safety awareness of field workers.
  • FIG. 9A is a diagram illustrating the direction of the operation icon when the operation direction of the work machine is related to the front-rear direction
  • FIG. 9B is a diagram showing the operation icon when the operation direction of the work machine is related to the left-right direction. The figure explaining the direction.
  • FIG. 1 is a diagram showing a configuration of the information display system 1 of the present embodiment.
  • the information display system 1 is a system that displays information indicating the status of the work machine 2 when a predetermined event such as an accident or a very hat occurs.
  • the status of the work machine 2 is an operating status of the work machine 2, a status of the work place of the work machine 2, a status of the surroundings of the work machine 2, and the like.
  • the information display system 1 visualizes the status of the work machine 2 and displays it as a report so that the manager of the work machine 2 and the on-site worker can easily understand it.
  • the work machine 2 is, for example, a hydraulic excavator, a wheel loader, a dump truck, or the like that operates at a work site.
  • the number and type of work machines 2 are not particularly limited.
  • the information display system 1 includes a server device 4 for inputting information from the in-vehicle device 3 of the work machine 2 and a terminal device 7 for displaying information created by the server device 4, and is a work machine when a predetermined event occurs. It is a system that displays information indicating the situation of 2.
  • the information display system 1 includes an on-board unit 3 mounted on the work machine 2 and recording various information, a server device 4 that collects and processes various information recorded by the on-board unit 3, and a server device 4. It is provided with a terminal device 7 that displays the information processed by the above to an administrator or the like.
  • the communication network N may be a WAN (Wide Area Network) such as the Internet, or may be a dedicated LAN (Local Area Network).
  • WAN Wide Area Network
  • LAN Local Area Network
  • FIG. 2 is a diagram showing the configuration of the on-board unit 3 shown in FIG. 1 and its peripheral devices.
  • Peripheral devices mounted on the work machine 2 and provided on the input side of the on-board unit 3 include a camera 20, a GNSS (Global Navigation Satellite System) receiver 21, an IMU (Inertial Measurement Unit) 22, and a vehicle speed sensor 23.
  • the peripheral device includes an object detection device 24, a steering angle sensor 25, an operation pressure sensor 26, an airframe information transmission unit 27, and a recording command signal transmission unit 28.
  • the camera 20 photographs the surroundings of the work machine 2 and acquires images of objects such as obstacles and field workers existing around the work machine 2.
  • the camera 20 is composed of at least one image pickup device.
  • the GNSS receiver 21 acquires position information such as latitude and longitude in which the work machine 2 is located, and time information.
  • the GNSS receiver 21 is composed of receivers such as GPS (Global Positioning System) and GLONASS (Global Navigation Satellite System in English notation).
  • the IMU 22 measures the three-dimensional angular velocity and acceleration of the work machine 2 in the front-rear direction, the left-right direction, and the up-down direction. The measured value of the IMU 22 is used, for example, as information indicating the operating direction of the work machine 2.
  • the vehicle speed sensor 23 measures the traveling speed of the work machine 2.
  • the object detection device 24 is a device that detects an object existing around the work machine 2 and measures the distance of the detected object from the work machine 2.
  • the object detection device 24 is composed of, for example, a monocular camera, a stereo camera, a millimeter wave radar, a LiDAR (Light Detection and Ringing), an ultrasonic sonar, an RFID (Radio Frequency Identifier), and the like.
  • the object detection device 24 may be configured by using one or a plurality of these devices, or may be configured by combining devices of different detection types among these devices.
  • the detection result of the object detection device 24 includes the presence / absence of an object existing around the work machine 2 and the relative position of the object with respect to the work machine 2.
  • the detection result of the object detection device 24 may further include the recognition result of the detected object.
  • the steering angle sensor 25 measures the bending angle between the front part of the vehicle and the rear part of the vehicle.
  • the steering angle sensor 25 measures a turning angle indicating the turning amount of the upper turning body with respect to the lower traveling body.
  • the operating pressure sensor 26 measures the operating pressure that changes according to the operating amount of the operating lever.
  • the operation pressure sensor 26 measures the turning operation pressure, which is the operating pressure when the work machine 2 performs the turning operation.
  • the machine information transmission unit 27 is a function of transmitting machine information of the work machine 2.
  • the machine information is information that identifies the type of the work machine 2, such as the machine number and attribute information.
  • the machine information transmission unit 27 is composed of a part of a main controller that collectively controls each component of the work machine 2.
  • the aircraft information transmission unit 27 transmits the aircraft information to the vehicle-mounted device 3 via a bus compliant with a communication protocol such as CAN (Controller Area Network).
  • the recording command signal transmission unit 28 is a function of transmitting a recording command signal.
  • the recording command signal is a signal that commands the vehicle-mounted device 3 to extract and record video and vehicle body information when a predetermined event occurs.
  • the recording command signal transmission unit 28 is configured by a part of the main controller of the work machine 2 like the machine information transmission unit 27.
  • the recording command signal transmission unit 28 transmits the recording command signal to the vehicle-mounted device 3 via a bus compliant with a communication protocol such as CAN.
  • the on-board unit 3 includes a constant video recording unit 31, a constant vehicle body information recording unit 32, a control unit 33, an extracted video recording unit 34, an extracted vehicle body information recording unit 35, and a communication unit 36.
  • the constant video recording unit 31 is a recording device that constantly records the video captured by the camera 20.
  • the constant vehicle body information recording unit 32 is a recording device that constantly records vehicle body information of the work machine 2.
  • the vehicle body information of the work machine 2 includes the position information of the work machine 2 acquired by the GNSS receiver 21, the machine information of the work machine 2 transmitted by the machine information transmission unit 27, the detection result of the object detection device 24, and the detection result of the object detection device 24.
  • the operation measurement value obtained by measuring the operation of the work machine 2 is included.
  • the motion measured values are the angular velocity and acceleration measured by the IMU 22, the traveling speed measured by the vehicle speed sensor 23, the bending angle and turning angle measured by the steering angle sensor 25, and the operation measured by the operating pressure sensor 26. Including pressure.
  • the recording method is a circulation method, and when the capacity of the recording area is exhausted, the old video or the old vehicle body information is deleted in order.
  • the control unit 33 extracts video and vehicle body information at the time of a predetermined event from the video and vehicle body information stored in the constant video recording unit 31 and the constant vehicle body information recording unit 32, and extracts the extracted video recording unit 34 and the extracted vehicle body information recording. Have the unit 35 record.
  • the recording method is a circulation method, and when the capacity of the recording area becomes full, the oldest video or the old vehicle body information is deleted in order.
  • the communication unit 36 is a communication module that transmits the video and vehicle body information recorded in the extracted video recording unit 34 and the extracted vehicle body information recording unit 35 to the server device 4 via the communication network N.
  • the communication unit 36 may be provided separately from the vehicle-mounted device 3.
  • the extracted video recording unit 34 corresponds to an example of the video recording unit of the present invention.
  • FIG. 3 is a diagram illustrating the processing content of the control unit 33 shown in FIG.
  • the control unit 33 extracts the video and vehicle body information for a predetermined time before and after the time when the recording command signal is received from the video and vehicle body information recorded in the constant video recording unit 31 and the constant vehicle body information recording unit 32.
  • the control unit 33 causes the extracted video recording unit 34 and the extracted vehicle body information recording unit 35 to record the extracted video and vehicle body information. If the predetermined time for extracting the video and vehicle body information is too short, sufficient time cannot be secured to grasp the situation of the work machine 2, and if it is too long, unnecessary information is included to grasp the situation of the work machine 2. It will be lost.
  • the predetermined time from which the video and the vehicle body information are extracted is necessary and sufficient for grasping the situation of the work machine 2 immediately before the time when the predetermined event occurs and the situation of the work machine 2 immediately after the time when the predetermined event occurs. It's time.
  • the time when a predetermined event occurs includes not only the time when the predetermined event occurs but also the predetermined time before and after the time when the predetermined event occurs.
  • the control unit 33 can arbitrarily change the predetermined time from which the video and the vehicle body information are extracted.
  • the recording command signal that triggers the extraction of video and vehicle body information is such that the distance between the object detected by the object detection device 24 and the work machine 2 is equal to or less than the threshold value previously determined to be dangerous, and the work machine.
  • the operation lever of 2 When the operation lever of 2 is operated, it is transmitted from the recording command signal transmission unit 28.
  • the recording command signal is such that the distance between the object detected by the object detection device 24 and the work machine 2 is equal to or less than the threshold value previously determined to be dangerous, and the gate lock lever or the like of the work machine 2 is released for work.
  • the machine 2 is in an operable state, it is transmitted from the recording command signal transmitting unit 28.
  • FIG. 4 is a diagram showing the hardware configuration of the server device 4 and the configuration of the terminal device 7 shown in FIG.
  • the server device 4 includes a communication unit 41, a control unit 42, and a storage unit 43.
  • the communication unit 41 is a device that controls communication with each of the vehicle-mounted device 3 and the terminal device 7 via the communication network N.
  • the communication unit 41 receives the video and vehicle body information transmitted from the vehicle-mounted device 3 and transmits them to the control unit 42.
  • the communication unit 41 transmits the report stored in the storage unit 43 to the terminal device 7.
  • the control unit 42 includes a processor such as a CPU (central processing unit) and a memory.
  • the control unit 42 creates a report that visualizes the situation of the work machine 2 at the time of the occurrence of a predetermined event based on the image and the vehicle body information transmitted from the vehicle-mounted device 3 via the communication unit 41, and stores the report in the storage unit 43. do.
  • the terminal device 7 is composed of a personal computer having a communication function, a mobile terminal such as a tablet or a smartphone having a communication function, or the like.
  • the terminal device 7 receives the report transmitted from the communication unit 41 of the server device 4 and displays it on the display unit 71.
  • the display unit 71 of the terminal device 7 is composed of a display.
  • FIG. 5 is a diagram showing a functional configuration of the control unit 42 shown in FIG.
  • FIG. 6 is a diagram illustrating a work machine icon.
  • FIG. 7 is a diagram illustrating the types of operation icons.
  • FIG. 8 is a diagram illustrating the shape of the operation icon.
  • FIG. 9 is a diagram illustrating the direction of the operation icon.
  • FIG. 9A is a diagram illustrating the direction of the operation icon when the operation direction of the work machine 2 is related to the front-rear direction.
  • FIG. 9B is a diagram illustrating the direction of the operation icon when the operation direction of the work machine 2 is related to the left-right direction.
  • FIG. 10 is a diagram illustrating an object icon.
  • FIG. 11 is a diagram illustrating a report.
  • the control unit 42 includes a work machine icon specifying unit 51, a work machine icon database 52, an operation icon type specifying unit 53, and an operation icon type database 54. Further, the control unit 42 includes an operation icon shape specifying unit 55, an operation icon direction specifying unit 56, an operation icon specifying unit 57, an object position specifying unit 58, and an object icon specifying unit 59. Further, the control unit 42 includes an operation status map creation unit 60, an operation transition map creation unit 61, a work location map creation unit 62, a map information database 63, and a report creation unit 64.
  • the work machine icon specifying unit 51 identifies the work machine icon used for creating the operation status diagram described later, which is the display target of the information display system 1.
  • the work machine icon is a figure or a symbol indicating the type of the work machine 2.
  • FIG. 6 shows an example of a work machine icon showing a hydraulic excavator, wheel loader or dump truck.
  • the work machine icon specifying unit 51 creates an operation status diagram from a plurality of work machine icons stored in advance in the work machine icon database 52 based on the machine information included in the vehicle body information transmitted from the in-vehicle device 3. Identify the work machine icon used for.
  • the operation icon type specifying unit 53 specifies the type of operation icon used to create the operation status diagram.
  • the operation icon is a figure or a symbol indicating the operation content of the work machine 2 when a predetermined event occurs.
  • the type of the operation icon indicates the type of the operation content of the work machine 2 when a predetermined event occurs. Examples of the types of operation contents of the work machine 2 include running operation and turning operation.
  • FIG. 7 shows an example in which the operation icon is a linear arrow when the type of operation content is a running operation, and the operation icon is an arc-shaped arrow when the type of operation content is a turning operation.
  • the motion icon indicating the running motion is also referred to as a "running motion icon”
  • the motion icon indicating the turning motion is also referred to as a "turning motion icon”.
  • the type of operation content of the work machine 2 differs depending on the type of the work machine 2.
  • the hydraulic excavator in addition to the traveling motion of traveling by the lower traveling body, the hydraulic excavator performs a turning motion in which the upper swivel body swivels around the center of the swivel circle of the lower traveling body.
  • the wheel loader rotates at a turning radius according to the bending angle between the front part of the vehicle and the rear part of the vehicle. Since the center of rotation exists outside the vehicle, this rotational motion is different from the turning motion and is in the category of running motion. That is, if the type of the work machine 2 is a hydraulic excavator, the type of operation content includes a traveling operation and a turning operation. If the type of the work machine 2 is a wheel loader or a dump truck, the type of operation content includes a traveling operation but does not include a turning operation.
  • the operation icon type specifying unit 53 operates from among a plurality of operation icons stored in advance in the operation icon type database 54 based on the aircraft information included in the vehicle body information transmitted from the vehicle-mounted device 3 and the operation measurement value. Identify the type of action icon used to create the situation diagram.
  • the operation icon shape specifying unit 55 specifies the shape of the operation icon used to create the operation status diagram.
  • the shape of the operation icon indicates the operation speed of the work machine 2 when a predetermined event occurs. Examples of the operating speed of the work machine 2 include a traveling speed and a turning angular velocity.
  • FIG. 8 shows an example in which an arrow having a short shape is used when the operating speed is low, and an arrow having a long shape is used when the operating speed is high. If the operation of the work machine 2 is stopped, the operation icon is not displayed.
  • the operation icon shape specifying unit 55 specifies the shape of the operation icon used for creating the operation status diagram based on the operation measurement value included in the vehicle body information transmitted from the vehicle-mounted device 3.
  • the motion measurement value that is the basis for specifying the shape of the motion icon differs depending on the type of motion content.
  • the operation icon shape specifying unit 55 specifies the shape of the traveling operation icon indicating the traveling speed based on the traveling speed measured by the vehicle speed sensor 23, which is one of the motion measured values.
  • the motion icon shape specifying unit 55 specifies the shape of the swivel motion icon indicating the swivel angular velocity based on the swivel angular velocity measured by the IMU 22 which is one of the motion measurement values.
  • the shape of the operation icon may be predetermined so as to change steplessly according to the operation speed, instead of changing in three stages of stop, low speed, and high speed as shown in FIG.
  • the shape of the operation icon is not limited to the operation speed of the work machine 2 when a predetermined event occurs, and may be predetermined so as to indicate other operation measurement values such as the operation acceleration and the operation pressure of the work machine 2.
  • the operation icon direction specifying unit 56 specifies the direction of the operation icon used to create the operation status diagram.
  • the direction of the operation icon indicates the operation direction of the work machine 2 when a predetermined event occurs. Examples of the operating direction of the work machine 2 include a front-rear direction, a left-right direction, and a vertical direction.
  • FIG. 9A shows an example in which an arrow pointing upward on the paper surface if the operating direction of the traveling motion is in the forward direction, and an arrow pointing downward on the paper surface if the operating direction of the traveling motion is in the backward direction. .. In FIG.
  • FIG. 9B in the hydraulic excavator, if the operating direction of the turning operation is the right turning direction, a clockwise arrow is shown on the paper surface, and if the operating direction of the turning operation is the left turning direction, the counterclockwise direction is shown on the paper surface. An example of the arrow is shown.
  • the arrow in the wheel loader or dump truck, if the driving operation direction is the right steering direction, the arrow is tilted to the right on the paper surface, and if the driving operation operation direction is the left steering direction, the left is left on the paper surface. An example of a tilted arrow is shown.
  • the operation icon direction specifying unit 56 specifies the direction of the operation icon used for creating the operation status diagram based on the operation measurement value included in the vehicle body information transmitted from the vehicle-mounted device 3.
  • the motion measurement value that is the basis for specifying the direction of the motion icon differs depending on the type of motion content.
  • the operation icon direction specifying unit 56 specifies the direction of the traveling operation icon indicating the traveling direction based on the acceleration in the front-rear direction measured by the IMU 22 which is one of the motion measured values.
  • the operation icon direction specifying unit 56 indicates a turning operation icon indicating a turning direction based on the direction of the turning angular velocity measured by the IMU 22 which is one of the movement measured values.
  • the operation icon direction specifying unit 56 steers based on the positive / negative of the steering angle measured by the steering angle sensor 25, which is one of the operation measurement values. Specify the direction of the driving motion icon that indicates the direction. At this time, the operation icon direction specifying unit 56 changes the degree of inclination of the traveling operation icon based on the magnitude of the steering angle measured by the steering angle sensor 25.
  • the operation icon specifying unit 57 creates an operation status diagram based on the type, shape, and direction of the operation icon specified by the operation icon type specifying unit 53, the operation icon shape specifying unit 55, and the operation icon direction specifying unit 56. Identify the action icon used for.
  • the operation icon type specifying unit 53, the operation icon shape specifying unit 55, and the operation icon direction specifying unit 56 all specify the type, shape, and direction of the operation icon based on the operation measurement value transmitted by the vehicle-mounted device 3. do.
  • the type, shape, and direction of the operation icon is one of the forms of the operation icon. That is, the operation icon specifying unit 57 specifies an operation icon having a form based on the operation measurement value.
  • the object position specifying unit 58 specifies the relative position of the object detected by the object detecting device 24 with respect to the work machine 2 based on the detection result of the object detecting device 24 included in the vehicle body information transmitted from the vehicle-mounted device 3.
  • the object position specifying unit 58 may specify the distance from the work machine 2 to the object and the direction from the work machine 2 toward the object as the relative position of the object with respect to the work machine 2.
  • the object icon specifying unit 59 identifies the object icon used to create the operation status diagram.
  • the object icon is a figure or symbol indicating the relative position of the object with respect to the work machine 2 when a predetermined event occurs.
  • the object icon specifying unit 59 identifies the object icon used for creating the operation status diagram based on the detection result of the object detecting device 24. Specifically, the object icon specifying unit 59 identifies the object icon according to the distance from the work machine 2 specified by the object position specifying unit 58 to the object and the direction from the work machine 2 toward the object.
  • the black circle in FIG. 10 indicates the detected object.
  • the object icon is placed at a position close to the work machine 2, and if the distance from the work machine 2 to the object is long, the object icon is placed at a position far from the work machine 2.
  • An example of placement is shown.
  • the object icon is above the work machine icon, and if the direction from the work machine 2 to the object is backward, the object is below the work machine icon.
  • An example of arranging an icon is shown. In FIG.
  • the object is located to the right of the work machine icon, and if the direction from the work machine 2 to the object is to the left, the object is to the left of the work machine icon.
  • An example of arranging the icon is shown.
  • the operation status diagram creation unit 60 creates an operation status diagram to be displayed by the information display system 1.
  • the operation status diagram is a diagram showing an operation status of the work machine 2 when a predetermined event occurs.
  • the operation status diagram creating unit 60 uses the work machine icon specified by the work machine icon specifying unit 51, the operation icon specified by the operation icon specifying unit 57, and the object icon specified by the object icon specifying unit 59. And create an operation status diagram.
  • the operation status diagram creation unit 60 creates a diagram in which a work machine icon, an operation icon, and an object icon are drawn at the same time as an operation status diagram.
  • FIG. 11 shows an operation status diagram as reference numeral 111.
  • the work machine icon 111a, the operation icon 111b, and the object icon 111c are drawn at the same time.
  • the operation state FIG. 111 shown in FIG. 11 shows an operation state in which the hydraulic excavator is turning in the right turning direction by the turning angular velocity in the high speed range when the object is approaching the vicinity of the left side of the hydraulic excavator. Is shown.
  • the operation transition diagram creation unit 61 creates an operation transition diagram to be displayed by the information display system 1.
  • the operation transition diagram is a diagram showing the transition of the operation measurement value obtained by measuring the operation of the work machine 2 when a predetermined event occurs. That is, the operation transition diagram is a diagram showing time-series data of operation measurement values.
  • the operation transition diagram creation unit 61 creates an operation transition diagram showing the transition of the operation measurement value which is the basis for specifying the operation icon used in the operation status diagram created by the operation status diagram creation unit 60. Further, the operation transition diagram creation unit 61 may create an operation transition diagram showing the transition of the operation measurement value related to the operation measurement value.
  • the operation transition diagram is shown as reference numeral 112.
  • the operation transition diagram 112 shown in FIG. 11 is related to the operation transition diagram 112a showing the transition of the turning angular velocity, which is the movement measurement value used as the basis for specifying the movement icon 111b used in the operation status FIG. 111, and the turning angular velocity.
  • the operation transition diagram 112b showing the transition of the turning operation pressure, which is the motion measurement value to be performed, is included.
  • the operation transition FIG. 112 shown in FIG. 11 shows the operation state of the work machine 2 in which the turning angular velocity is increased based on the turning operation. That is, the operation transition diagram 112 shows the relationship between the operation status of the field worker and the operation status of the work machine 2.
  • the time point when the work machine 2 shows the operation status drawn in the operation status diagram 111 is shown as the marker 112c.
  • the work place map creation unit 62 creates a work place map to be displayed by the information display system 1.
  • the work place diagram is a diagram showing the work place of the work machine 2 when a predetermined event occurs.
  • the work place map creation unit 62 is a work place based on the position information acquired by the GNSS receiver 21 included in the vehicle body information transmitted from the vehicle-mounted device 3 and the map information stored in advance in the map information database 63. Create a diagram.
  • the map information database 63 may be provided outside the server device 4 connected to the communication network N, or may be provided in an external storage medium such as an SD card.
  • the work place diagram is shown as reference numeral 113.
  • the work place FIG. 113 shown in FIG. 11 shows a point indicated by the position information of the work machine 2 acquired by the GNSS receiver 21 as a marker 113a.
  • the report creation unit 64 creates a report that visualizes the status of the work machine 2 when a predetermined event occurs.
  • the report creation unit 64 creates a report including the operation status diagram created by the operation status diagram creation unit 60.
  • the report creation unit 64 creates a report described together with the operation status diagram created by the operation status diagram creation unit 60 and the operation transition diagram created by the operation transition diagram creation unit 61.
  • the report creation unit 64 is created by the operation status diagram created by the operation status diagram creation unit 60, the operation transition diagram created by the operation transition diagram creation unit 61, and the work location diagram creation unit 62. Create a report that includes the work location map that was created.
  • the report creation unit 64 is created by the operation status diagram created by the operation status diagram creation unit 60, the operation transition diagram created by the operation transition diagram creation unit 61, and the work location diagram creation unit 62. Create a report that describes the work location map and the video transmitted from the on-board unit 3.
  • the image transmitted from the on-board unit 3 is an image of the surroundings of the work machine 2 when a predetermined event occurs.
  • the display unit 71 is a display
  • the video described in the report may be the video itself (moving image) or a frame (still image) constituting the video.
  • the image around the work machine 2 when a predetermined event occurs is shown as reference numeral 114, and the report prepared by the report preparation unit 64 is shown as reference numeral 110.
  • the report 110 shown in FIG. 11 describes an operation status diagram 111, an operation transition diagram 112, a work location diagram 113, and an image 114 together so as to fit within a predetermined area.
  • the size of this predetermined area may be a standard size that is widely used as a display or printing paper.
  • the report 110 includes a date and time 115 at the time when a predetermined event occurs and a text 116 explaining the contents of the report 110 together with an operation status diagram 111, an operation transition diagram 112, a work location diagram 113, and a video 114. It may be described within a predetermined area.
  • the report creation unit 64 stores the created report in the storage unit 43.
  • the communication unit 41 transmits the report stored in the storage unit 43 to the terminal device 7.
  • the terminal device 7 receives the report transmitted from the communication unit 41 of the server device 4 and displays it on the display unit 71.
  • the display unit 71 displays an operation status diagram.
  • the display unit 71 displays the operation status diagram and the operation transition diagram together. More preferably, the display unit 71 displays the operation status diagram, the operation transition diagram, and the work location diagram together. More preferably, the display unit 71 displays an operation status diagram, an operation transition diagram, a work location diagram, and an image together.
  • the report creation unit 64 may be provided in the terminal device 7 or the work machine 2 instead of the control unit 42 of the server device 4. The same applies to the functions other than the report creation unit 64 included in the control unit 42.
  • the information display system 1 includes a server device 4 for inputting information from the in-vehicle device 3 of the work machine 2 and a terminal device 7 for displaying the information created by the server device 4, and a predetermined event.
  • This is an information display system for the work machine 2 that displays information indicating the status of the work machine 2 at the time of occurrence as a report.
  • the server device 4 includes an operation icon specifying unit 57 that specifies an operation icon indicating the operation content of the work machine 2 based on the operation measurement value obtained by measuring the operation of the work machine 2 when a predetermined event occurs.
  • the server device 4 includes an object icon specifying unit 59 that specifies an object icon indicating the relative position of the object with respect to the work machine 2 based on the detection result of an object existing around the work machine 2 when a predetermined event occurs.
  • the server device 4 includes an operation status diagram creating unit 60 that creates an operation status diagram showing an operation status of the work machine 2 when a predetermined event occurs by using an operation icon and an object icon.
  • the terminal device 7 displays an operation status diagram.
  • the information display system 1 expresses the operation content of the work machine 2 when a predetermined event occurs in a format that anyone can easily understand, such as an operation icon.
  • the information display system 1 represents the relative position of an object with respect to the work machine 2 when a predetermined event occurs in a format such as an object icon that is easy for anyone to understand.
  • the information display system 1 illustrates the operation status of the work machine 2 when a predetermined event occurs by using an operation icon and an object icon.
  • the information display system 1 automatically associates the operating status of the work machine 2 when a predetermined event occurs with the relative position of the object with respect to the work machine 2, and visualizes it as a format that can be easily grasped by any field worker. Can be displayed on.
  • the information display system 1 can make the field worker accurately and quickly grasp the operating status of the work machine 2 when a predetermined event occurs.
  • the information display system 1 can share the operating status of the work machine 2 when a predetermined event occurs with field workers, and can be useful for instructing safe driving. Therefore, the information display system 1 can improve the safety awareness of field workers as compared with the conventional one.
  • the conventional system simply displays the operating status of the vehicle as a character format or as a graph of motion measurement values.
  • the conventional system merely displays the operating status of the vehicle without knowing the relationship with the objects existing around the vehicle.
  • a large number of field workers belonging to different organizations such as a prime contractor, a subcontractor, a material importer, and a security contractor are mixed.
  • the nationalities of field workers also vary. Even if the conventional system is applied to a work site where field workers with various attributes coexist, the operating status of the work machine 2 at the time of a predetermined event is displayed in a format that can be easily understood by all field workers. It wasn't a system to do.
  • the communication environment at the work site is often not maintained, and it is difficult to reproduce the video recorded on the drive recorder at the work site. Even if the communication environment at the work site is in place, many field workers belong to different organizations, so the video recorded on the drive recorder is saved in a cloud server, etc., and the field worker It is difficult to make it freely playable from the viewpoint of information security. Some field workers are unfamiliar with terminal devices.
  • the site supervisor at the work site prints the still images that make up the video recorded on the drive recorder on paper media, and distributes them to the on-site workers at the morning assembly before the start of work, for example. Information may be shared by doing so.
  • the image printed on the paper medium does not always show the objects existing around the work machine so that the positional relationship with the work machine can be clearly understood.
  • the information display system 1 of the present embodiment visualizes the operating state of the work machine 2 when a predetermined event occurs in a format that is easy for anyone to understand by associating it with the relative position of the object with respect to the work machine 2. It can be displayed automatically.
  • the information display system 1 can smoothly share the operating status of the work machine 2 when a predetermined event occurs with the on-site worker, and can be useful for instructing safe driving. Therefore, the information display system 1 can improve the safety awareness of field workers as compared with the conventional one.
  • the information display system 1 prints an operation status diagram showing the operation status of the work machine 2 when a predetermined event occurs on a paper medium
  • the information display system 1 can share information with field workers simply by distributing the paper medium. .. Therefore, the information display system 1 can improve the safety awareness of the on-site worker as compared with the conventional case, regardless of the communication environment of the work site and the attributes of the on-site worker.
  • the information display system 1 further includes an operation transition diagram creating unit 61 in which the server device 4 creates an operation transition diagram showing the transition of the operation measurement value which is the basis for specifying the operation icon.
  • the terminal device 7 displays an operation status diagram and an operation transition diagram together.
  • the information display system 1 can visualize the operating status of the work machine 2 at the time of the occurrence of the predetermined event in detail together with the change over time, so that the operating status of the work machine 2 at the time of the occurrence of the predetermined event can be visualized. It is possible to make the field workers grasp more accurately.
  • the information display system 1 also creates an operation transition diagram showing the transition of the operation measurement values such as the related operation pressure, the relationship between the operation status of the field worker and the operation status of the work machine 2 can be obtained. It can be visualized.
  • the information display system 1 can more smoothly share the operating status of the work machine 2 when a predetermined event occurs, and can be useful for instructing safe driving. Therefore, the information display system 1 can further improve the safety awareness of field workers as compared with the conventional one.
  • the information display system 1 further includes a work place map creating unit 62 in which the server device 4 creates a work place map showing the work place of the work machine 2 when a predetermined event occurs.
  • the terminal device 7 displays an operation status diagram, an operation transition diagram, and a work location diagram together.
  • the information display system 1 can visualize the operating status of the work machine 2 when a predetermined event occurs in association with the status of the work place, so that the operating status of the work machine 2 when the predetermined event occurs can be visualized by the field worker. Can be grasped more accurately.
  • the information display system 1 can more smoothly share the operating status of the work machine 2 when a predetermined event occurs, and can be useful for instructing safe driving. Therefore, the information display system 1 can further improve the safety awareness of field workers as compared with the conventional one.
  • the information display system 1 further includes an extraction video recording unit 34 in which the server device 4 records a video around the work machine 2 when a predetermined event occurs.
  • the terminal device 7 displays an operation status diagram, an operation transition diagram, a work location diagram, and an image together.
  • the information display system 1 can visualize the operating state of the work machine 2 when a predetermined event occurs in relation to the detailed situation around the work machine 2, so that the operation of the work machine 2 when the predetermined event occurs can be visualized. It is possible to make the field workers grasp the situation more accurately.
  • the information display system 1 can more smoothly share the operating status of the work machine 2 when a predetermined event occurs, and can be useful for instructing safe driving. Therefore, the information display system 1 can further improve the safety awareness of field workers as compared with the conventional one.
  • the operation icon specifying unit 57 specifies an operation icon having a form based on the operation measurement value.
  • the information display system 1 can visualize the operating status of the work machine 2 at the time of the occurrence of the predetermined event in an easy-to-understand manner, so that the operating status of the work machine 2 at the time of the occurrence of the predetermined event can be further visualized for the field worker. It can be accurately grasped.
  • the information display system 1 can more smoothly share the operating status of the work machine 2 when a predetermined event occurs, and can be useful for instructing safe driving. Therefore, the information display system 1 can further improve the safety awareness of field workers as compared with the conventional one.

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Abstract

Provided is an information display system with which it is possible to increase the safety awareness of a site worker. An information display system 1 displays information indicating the status of a work machine 2 at the time of occurrence of a predetermined event. The information display system 1 comprises an operation icon identification section 57 that identifies an operation icon indicating the operation content of the work machine 2 on the basis of an operation measurement value obtained by measuring the operation of the work machine 2 at the time of occurrence of the predetermined event. The information display system 1 comprises an object icon identification section 59 that identifies an object icon indicating the relative position of an object that exists around the work machine 2 with respect to the work machine 2 on the basis of the result of detection of the object at the time of occurrence of the predetermined event. The information display system 1 comprises an operation status diagram creation section 60 that creates an operation status diagram indicating the operation status of the work machine 2 at the time of occurrence of the predetermined event using the operation icon and the object icon, and a display section 71 that displays the operation status diagram.

Description

作業機械の情報表示システムInformation display system for work machines
　本発明は、所定事象発生時の作業機械の状況を示す情報を表示する情報表示システムに関する。 The present invention relates to an information display system that displays information indicating the status of a work machine when a predetermined event occurs.
　事故やヒヤリハット等の所定事象が発生した時の車両の状況を示す情報をドライブレコーダに記録し、記録された情報をサーバ装置等に集約して、事故の再現や安全運転の指導に役立てるシステムが知られている（例えば、特許文献１）。多様な属性を有する現場作業者が混在する作業現場においても、このようなシステムを適用して、作業機械の安全運転の指導に役立て、現場作業者の安全意識を向上させることが望まれている。 A system that records information indicating the state of the vehicle when a predetermined event such as an accident or a hiyari hat occurs in a drive recorder, aggregates the recorded information in a server device, etc., and is useful for reproducing accidents and instructing safe driving. It is known (for example, Patent Document 1). It is desired to apply such a system to guide the safe operation of work machines and improve the safety awareness of field workers even in the work site where field workers with various attributes coexist. ..
　特許文献１には、車載器である事象情報収集装置にて収集された各種情報を、サーバ装置である事象情報集約装置によって集約し、所定事象発生時の映像と、発生場所を含む地図情報とを１つの画面に表示し、第三者に公開するシステムが記載されている。 In Patent Document 1, various information collected by the event information collecting device, which is an in-vehicle device, is aggregated by the event information collecting device, which is a server device, and an image at the time of occurrence of a predetermined event and map information including the place where the predetermined event occurs are described. Is described on one screen and the system is disclosed to a third party.
特許第４６７４１８７号公報Japanese Patent No. 4674187
　しかしながら、特許文献１に記載のシステムは、所定事象発生時の車両の動作状況を、単に文字形式として表示するか、動作計測値のグラフとして表示するかに過ぎない。加えて、特許文献１に記載のシステムでは、所定事象発生時の車両の動作状況を、車両の周囲に存在する物体との関連性も不明なまま表示する。よって、特許文献１に記載のシステムは、作業現場に適用されても、多様な属性を有する現場作業者の間において所定事象発生時の作業機械の動作状況を共有させることが難しく、現場作業者の安全意識を向上させることが難しい。 However, the system described in Patent Document 1 merely displays the operation status of the vehicle at the time of occurrence of a predetermined event in a character format or as a graph of operation measurement values. In addition, in the system described in Patent Document 1, the operating state of the vehicle when a predetermined event occurs is displayed without knowing the relationship with the objects existing around the vehicle. Therefore, even if the system described in Patent Document 1 is applied to a work site, it is difficult for field workers having various attributes to share the operating state of the work machine when a predetermined event occurs, and the field worker. It is difficult to improve the safety awareness of.
　上記事情に鑑みて、本発明は、現場作業者の安全意識を向上させることが可能な作業機械の情報表示システムを提供することを目的とする。 In view of the above circumstances, an object of the present invention is to provide an information display system for a work machine capable of improving the safety awareness of field workers.
　上記課題を解決するために、本発明の作業機械の情報表示システムは、作業機械の車載器からの情報が入力されるサーバ装置と前記サーバ装置により作成された情報を表示する端末装置とを備え、所定事象発生時の作業機械の状況を示す情報を表示する作業機械の情報表示システムであって、前記サーバ装置は、前記所定事象発生時の前記作業機械の動作を計測して得られた動作計測値に基づいて、前記作業機械の動作内容を示す動作アイコンを特定する動作アイコン特定部と、前記所定事象発生時の前記作業機械の周囲に存在する物体を検知する物体検知装置の検知結果に基づいて、前記作業機械に対する前記物体の相対位置を示す物体アイコンを特定する物体アイコン特定部と、前記動作アイコンと前記物体アイコンとを用いて、前記所定事象発生時の前記作業機械の動作状況を示す動作状況図を作成する動作状況図作成部と、を備え、前記端末装置は、前記動作状況図を表示することを特徴とする。 In order to solve the above problems, the information display system of the work machine of the present invention includes a server device for inputting information from an in-vehicle device of the work machine and a terminal device for displaying information created by the server device. , An information display system for a work machine that displays information indicating the status of the work machine when a predetermined event occurs, and the server device is an operation obtained by measuring the operation of the work machine when the predetermined event occurs. Based on the measured values, the detection results of the operation icon specifying unit that specifies the operation icon indicating the operation content of the work machine and the object detection device that detects the object existing around the work machine when the predetermined event occurs. Based on this, the operation status of the work machine at the time of the occurrence of the predetermined event is determined by using the object icon specifying unit that specifies the object icon indicating the relative position of the object with respect to the work machine, and the operation icon and the object icon. The terminal device includes an operation status diagram creating unit for creating an operation status diagram to be shown, and is characterized in that the terminal device displays the operation status diagram.
　本発明によれば、現場作業者の安全意識を向上させることが可能な作業機械の情報表示システムを提供することができる。 According to the present invention, it is possible to provide an information display system for a work machine capable of improving the safety awareness of field workers.
本実施形態の情報表示システムの構成を示す図。The figure which shows the structure of the information display system of this embodiment. 図１に示す車載器及びその周辺装置の構成を示す図。The figure which shows the structure of the vehicle-mounted device shown in FIG. 1 and the peripheral device thereof. 図２に示す制御部の処理内容を説明する図。The figure explaining the processing content of the control part shown in FIG. 図１に示すサーバ装置のハードウェア構成及び端末装置の構成を示す図。The figure which shows the hardware configuration of the server apparatus and the configuration of a terminal apparatus shown in FIG. 図４に示す制御ユニットの機能的構成を示す図。The figure which shows the functional configuration of the control unit shown in FIG. 作業機械アイコンを説明する図。The figure explaining the work machine icon. 動作アイコンの種類を説明する図。The figure explaining the type of the operation icon. 動作アイコンの形状を説明する図。The figure explaining the shape of the operation icon. 図９（ａ）は、作業機械の動作方向が前後方向に関する場合の動作アイコンの方向を説明する図であり、図９（ｂ）は、作業機械の動作方向が左右方向に関する場合の動作アイコンの方向を説明する図。FIG. 9A is a diagram illustrating the direction of the operation icon when the operation direction of the work machine is related to the front-rear direction, and FIG. 9B is a diagram showing the operation icon when the operation direction of the work machine is related to the left-right direction. The figure explaining the direction. 物体アイコンを説明する図。A diagram illustrating an object icon. 報告書を説明する図。A diagram illustrating the report.
　以下、本発明の実施形態について図面を用いて説明する。各実施形態において同一の符号を付された構成は、特に言及しない限り、各実施形態において同様の機能を有するので、その説明を省略する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. The configurations with the same reference numerals in the respective embodiments have the same functions in the respective embodiments unless otherwise specified, and thus the description thereof will be omitted.
　図１は、本実施形態の情報表示システム１の構成を示す図である。 FIG. 1 is a diagram showing a configuration of the information display system 1 of the present embodiment.
　情報表示システム１は、事故やヒヤリハット等の所定事象が発生した時の作業機械２の状況を示す情報を表示するシステムである。作業機械２の状況とは、作業機械２の動作状況、作業機械２の作業場所の状況、作業機械２の周囲の状況等である。情報表示システム１は、作業機械２の管理者や現場作業者が把握し易いよう、作業機械２の状況を可視化し、報告書として表示する。作業機械２は、例えば、作業現場において稼働する油圧ショベル、ホイールローダ又はダンプトラック等である。作業機械２の台数及び種類は特に限定されない。 The information display system 1 is a system that displays information indicating the status of the work machine 2 when a predetermined event such as an accident or a hilarious hat occurs. The status of the work machine 2 is an operating status of the work machine 2, a status of the work place of the work machine 2, a status of the surroundings of the work machine 2, and the like. The information display system 1 visualizes the status of the work machine 2 and displays it as a report so that the manager of the work machine 2 and the on-site worker can easily understand it. The work machine 2 is, for example, a hydraulic excavator, a wheel loader, a dump truck, or the like that operates at a work site. The number and type of work machines 2 are not particularly limited.
　情報表示システム１は、作業機械２の車載器３からの情報が入力されるサーバ装置４と、サーバ装置４により作成された情報を表示する端末装置７とを備え、所定事象発生時の作業機械２の状況を示す情報を表示するシステムである。具体的には、情報表示システム１は、作業機械２に搭載され各種情報を記録する車載器３と、車載器３により記録された各種情報を収集して処理するサーバ装置４と、サーバ装置４により処理された情報を管理者等に表示する端末装置７とを備える。 The information display system 1 includes a server device 4 for inputting information from the in-vehicle device 3 of the work machine 2 and a terminal device 7 for displaying information created by the server device 4, and is a work machine when a predetermined event occurs. It is a system that displays information indicating the situation of 2. Specifically, the information display system 1 includes an on-board unit 3 mounted on the work machine 2 and recording various information, a server device 4 that collects and processes various information recorded by the on-board unit 3, and a server device 4. It is provided with a terminal device 7 that displays the information processed by the above to an administrator or the like.
　情報表示システム１では、車載器３とサーバ装置４と端末装置７とが通信ネットワークＮを介して有線又は無線接続されている。通信ネットワークＮは、インターネット等のＷＡＮ（Wide Area Network）であってもよいし、専用のＬＡＮ（Local Area Network）であってもよい。 In the information display system 1, the vehicle-mounted device 3, the server device 4, and the terminal device 7 are connected by wire or wirelessly via the communication network N. The communication network N may be a WAN (Wide Area Network) such as the Internet, or may be a dedicated LAN (Local Area Network).
　図２は、図１に示す車載器３及びその周辺装置の構成を示す図である。 FIG. 2 is a diagram showing the configuration of the on-board unit 3 shown in FIG. 1 and its peripheral devices.
　作業機械２に搭載され車載器３の入力側に設けられた周辺装置は、カメラ２０と、ＧＮＳＳ（Global Navigation Satellite System）受信機２１と、ＩＭＵ（Inertial Measurement Unit）２２と、車速センサ２３とを含む。更に、当該周辺装置は、物体検知装置２４と、操舵角センサ２５と、操作圧センサ２６と、機体情報送信部２７と、記録指令信号送信部２８とを含む。 Peripheral devices mounted on the work machine 2 and provided on the input side of the on-board unit 3 include a camera 20, a GNSS (Global Navigation Satellite System) receiver 21, an IMU (Inertial Measurement Unit) 22, and a vehicle speed sensor 23. include. Further, the peripheral device includes an object detection device 24, a steering angle sensor 25, an operation pressure sensor 26, an airframe information transmission unit 27, and a recording command signal transmission unit 28.
　カメラ２０は、作業機械２の周囲を撮影し、作業機械２の周囲に存在する障害物や現場作業者等の物体の映像を取得する。カメラ２０は、少なくとも１台以上の撮像装置によって構成される。ＧＮＳＳ受信機２１は、作業機械２が位置する緯度及び経度等の位置情報、並びに、時刻情報を取得する。ＧＮＳＳ受信機２１は、ＧＰＳ（Global Positioning System）やＧＬＯＮＡＳＳ（英語表記でGlobal Navigation Satellite System）等の受信機によって構成される。ＩＭＵ２２は、作業機械２の前後方向、左右方向及び上下方向における３次元的な角速度及び加速度を計測する。ＩＭＵ２２の計測値は、例えば、作業機械２の動作方向を示す情報として用いられる。車速センサ２３は、作業機械２の走行速度を計測する。 The camera 20 photographs the surroundings of the work machine 2 and acquires images of objects such as obstacles and field workers existing around the work machine 2. The camera 20 is composed of at least one image pickup device. The GNSS receiver 21 acquires position information such as latitude and longitude in which the work machine 2 is located, and time information. The GNSS receiver 21 is composed of receivers such as GPS (Global Positioning System) and GLONASS (Global Navigation Satellite System in English notation). The IMU 22 measures the three-dimensional angular velocity and acceleration of the work machine 2 in the front-rear direction, the left-right direction, and the up-down direction. The measured value of the IMU 22 is used, for example, as information indicating the operating direction of the work machine 2. The vehicle speed sensor 23 measures the traveling speed of the work machine 2.
　物体検知装置２４は、作業機械２の周囲に存在する物体を検知し、検知された物体の作業機械２からの距離を計測する装置である。物体検知装置２４は、例えば、単眼カメラ、ステレオカメラ、ミリ波レーダ、ＬｉＤＡＲ（Light Detection and Ranging）、超音波ソナー、ＲＦＩＤ（Radio Frequency Identifier）等によって構成される。物体検知装置２４は、これらの装置を１又は複数台用いて構成されてもよいし、これらの装置のうちで異なる検知形式の装置を組み合わせて構成されてもよい。物体検知装置２４の検知結果は、作業機械２の周囲に存在する物体の有無と、作業機械２に対する物体の相対位置とを含む。物体検知装置２４の検知結果は、更に、検知された物体の認識結果を含んでもよい。 The object detection device 24 is a device that detects an object existing around the work machine 2 and measures the distance of the detected object from the work machine 2. The object detection device 24 is composed of, for example, a monocular camera, a stereo camera, a millimeter wave radar, a LiDAR (Light Detection and Ringing), an ultrasonic sonar, an RFID (Radio Frequency Identifier), and the like. The object detection device 24 may be configured by using one or a plurality of these devices, or may be configured by combining devices of different detection types among these devices. The detection result of the object detection device 24 includes the presence / absence of an object existing around the work machine 2 and the relative position of the object with respect to the work machine 2. The detection result of the object detection device 24 may further include the recognition result of the detected object.
　操舵角センサ２５は、例えば、作業機械２がホイールローダ等のアーティキュレート式の作業機械である場合、車両前部と車両後部との屈曲角を計測する。操舵角センサ２５は、例えば、作業機械２が油圧ショベル等の旋回動作を行う作業機械である場合、下部走行体に対する上部旋回体の旋回量を示す旋回角を計測する。操作圧センサ２６は、操作レバーの操作量に応じて変化する操作圧を計測する。例えば、操作圧センサ２６は、作業機械２が旋回動作を行う時の操作圧である旋回操作圧を計測する。 For example, when the work machine 2 is an articulated work machine such as a wheel loader, the steering angle sensor 25 measures the bending angle between the front part of the vehicle and the rear part of the vehicle. For example, when the work machine 2 is a work machine that performs a turning operation such as a hydraulic excavator, the steering angle sensor 25 measures a turning angle indicating the turning amount of the upper turning body with respect to the lower traveling body. The operating pressure sensor 26 measures the operating pressure that changes according to the operating amount of the operating lever. For example, the operation pressure sensor 26 measures the turning operation pressure, which is the operating pressure when the work machine 2 performs the turning operation.
　機体情報送信部２７は、作業機械２の機体情報を送信する機能である。機体情報は、機体番号や属性情報等の作業機械２の種類を特定する情報である。機体情報送信部２７は、作業機械２の各構成要素を統括的に制御するメインコントローラの一部によって構成される。機体情報送信部２７は、ＣＡＮ（Controller Area Network）等の通信プロトコルに準拠したバスを介して、機体情報を車載器３へ送信する。記録指令信号送信部２８は、記録指令信号を送信する機能である。記録指令信号は、所定事象発生時における映像及び車体情報を抽出して記録するよう車載器３に指令する信号である。記録指令信号送信部２８は、機体情報送信部２７と同様に、作業機械２のメインコントローラの一部によって構成される。記録指令信号送信部２８は、ＣＡＮ等の通信プロトコルに準拠したバスを介して、記録指令信号を車載器３へ送信する。 The machine information transmission unit 27 is a function of transmitting machine information of the work machine 2. The machine information is information that identifies the type of the work machine 2, such as the machine number and attribute information. The machine information transmission unit 27 is composed of a part of a main controller that collectively controls each component of the work machine 2. The aircraft information transmission unit 27 transmits the aircraft information to the vehicle-mounted device 3 via a bus compliant with a communication protocol such as CAN (Controller Area Network). The recording command signal transmission unit 28 is a function of transmitting a recording command signal. The recording command signal is a signal that commands the vehicle-mounted device 3 to extract and record video and vehicle body information when a predetermined event occurs. The recording command signal transmission unit 28 is configured by a part of the main controller of the work machine 2 like the machine information transmission unit 27. The recording command signal transmission unit 28 transmits the recording command signal to the vehicle-mounted device 3 via a bus compliant with a communication protocol such as CAN.
　車載器３は、常時映像記録部３１と、常時車体情報記録部３２と、制御部３３と、抽出映像記録部３４と、抽出車体情報記録部３５と、通信部３６とを備える。 The on-board unit 3 includes a constant video recording unit 31, a constant vehicle body information recording unit 32, a control unit 33, an extracted video recording unit 34, an extracted vehicle body information recording unit 35, and a communication unit 36.
　常時映像記録部３１は、カメラ２０により撮影された映像を常時記録する記録装置である。常時車体情報記録部３２は、作業機械２の車体情報を常時記録する記録装置である。作業機械２の車体情報は、ＧＮＳＳ受信機２１により取得された作業機械２の位置情報と、機体情報送信部２７により送信された作業機械２の機体情報と、物体検知装置２４の検知結果と、作業機械２の動作を計測して得られた動作計測値とを含む。動作計測値は、ＩＭＵ２２により計測された角速度及び加速度と、車速センサ２３により計測された走行速度と、操舵角センサ２５により計測された屈曲角や旋回角と、操作圧センサ２６により計測された操作圧とを含む。常時映像記録部３１及び常時車体情報記録部３２のそれぞれは、記録方式が循環方式であり、記録領域の容量の空きが無くなると、古い映像又は古い車体情報から順に削除する。 The constant video recording unit 31 is a recording device that constantly records the video captured by the camera 20. The constant vehicle body information recording unit 32 is a recording device that constantly records vehicle body information of the work machine 2. The vehicle body information of the work machine 2 includes the position information of the work machine 2 acquired by the GNSS receiver 21, the machine information of the work machine 2 transmitted by the machine information transmission unit 27, the detection result of the object detection device 24, and the detection result of the object detection device 24. The operation measurement value obtained by measuring the operation of the work machine 2 is included. The motion measured values are the angular velocity and acceleration measured by the IMU 22, the traveling speed measured by the vehicle speed sensor 23, the bending angle and turning angle measured by the steering angle sensor 25, and the operation measured by the operating pressure sensor 26. Including pressure. In each of the constant video recording unit 31 and the constant vehicle body information recording unit 32, the recording method is a circulation method, and when the capacity of the recording area is exhausted, the old video or the old vehicle body information is deleted in order.
　制御部３３は、常時映像記録部３１及び常時車体情報記録部３２に記憶された映像及び車体情報から、所定事象発生時の映像及び車体情報を抽出し、抽出映像記録部３４及び抽出車体情報記録部３５に記録させる。抽出映像記録部３４及び抽出車体情報記録部３５のそれぞれは、記録方式が循環方式であり、記録領域の容量の空きが無くなると、古い映像又は古い車体情報から順に削除する。通信部３６は、抽出映像記録部３４及び抽出車体情報記録部３５に記録された映像及び車体情報を、通信ネットワークＮを介して、サーバ装置４へ送信する通信モジュールである。通信部３６は、車載器３とは別個に設けられていてもよい。なお、抽出映像記録部３４は、本発明の映像記録部の一例に該当する。 The control unit 33 extracts video and vehicle body information at the time of a predetermined event from the video and vehicle body information stored in the constant video recording unit 31 and the constant vehicle body information recording unit 32, and extracts the extracted video recording unit 34 and the extracted vehicle body information recording. Have the unit 35 record. In each of the extracted video recording unit 34 and the extracted vehicle body information recording unit 35, the recording method is a circulation method, and when the capacity of the recording area becomes full, the oldest video or the old vehicle body information is deleted in order. The communication unit 36 is a communication module that transmits the video and vehicle body information recorded in the extracted video recording unit 34 and the extracted vehicle body information recording unit 35 to the server device 4 via the communication network N. The communication unit 36 may be provided separately from the vehicle-mounted device 3. The extracted video recording unit 34 corresponds to an example of the video recording unit of the present invention.
　図３は、図２に示す制御部３３の処理内容を説明する図である。 FIG. 3 is a diagram illustrating the processing content of the control unit 33 shown in FIG.
　制御部３３は、常時映像記録部３１及び常時車体情報記録部３２に記録された映像及び車体情報から、記録指令信号を受信した時点前後の所定時間分の映像及び車体情報を抽出する。制御部３３は、抽出された映像及び車体情報を、抽出映像記録部３４及び抽出車体情報記録部３５に記録させる。映像及び車体情報が抽出される所定時間が短過ぎると作業機械２の状況を把握するのに十分な時間が確保できず、長過ぎると作業機械２の状況を把握するのに不要な情報が含まれてしまう。映像及び車体情報が抽出される所定時間は、所定事象が発生した時点の直前における作業機械２の状況と、所定事象が発生した時点の直後における作業機械２の状況とを把握するために必要十分な時間である。本実施形態では、所定事象発生時とは、所定事象が発生した時点だけでなく、所定事象が発生した時点前後の所定時間を含むものとする。制御部３３は、映像及び車体情報が抽出される所定時間は、任意に変更することが可能である。 The control unit 33 extracts the video and vehicle body information for a predetermined time before and after the time when the recording command signal is received from the video and vehicle body information recorded in the constant video recording unit 31 and the constant vehicle body information recording unit 32. The control unit 33 causes the extracted video recording unit 34 and the extracted vehicle body information recording unit 35 to record the extracted video and vehicle body information. If the predetermined time for extracting the video and vehicle body information is too short, sufficient time cannot be secured to grasp the situation of the work machine 2, and if it is too long, unnecessary information is included to grasp the situation of the work machine 2. It will be lost. The predetermined time from which the video and the vehicle body information are extracted is necessary and sufficient for grasping the situation of the work machine 2 immediately before the time when the predetermined event occurs and the situation of the work machine 2 immediately after the time when the predetermined event occurs. It's time. In the present embodiment, the time when a predetermined event occurs includes not only the time when the predetermined event occurs but also the predetermined time before and after the time when the predetermined event occurs. The control unit 33 can arbitrarily change the predetermined time from which the video and the vehicle body information are extracted.
　なお、映像及び車体情報が抽出される契機となる記録指令信号は、物体検知装置２４により検知された物体と作業機械２との距離が予め危険と判断された閾値以下であり、且つ、作業機械２の操作レバーが操作された場合に、記録指令信号送信部２８から送信される。或いは、記録指令信号は、物体検知装置２４により検知された物体と作業機械２との距離が予め危険と判断された閾値以下であり、且つ、作業機械２のゲートロックレバー等が解除されて作業機械２が動作可能な状態にある場合に、記録指令信号送信部２８から送信される。 The recording command signal that triggers the extraction of video and vehicle body information is such that the distance between the object detected by the object detection device 24 and the work machine 2 is equal to or less than the threshold value previously determined to be dangerous, and the work machine. When the operation lever of 2 is operated, it is transmitted from the recording command signal transmission unit 28. Alternatively, the recording command signal is such that the distance between the object detected by the object detection device 24 and the work machine 2 is equal to or less than the threshold value previously determined to be dangerous, and the gate lock lever or the like of the work machine 2 is released for work. When the machine 2 is in an operable state, it is transmitted from the recording command signal transmitting unit 28.
　図４は、図１に示すサーバ装置４のハードウェア構成及び端末装置７の構成を示す図である。 FIG. 4 is a diagram showing the hardware configuration of the server device 4 and the configuration of the terminal device 7 shown in FIG.
　サーバ装置４は、通信ユニット４１と、制御ユニット４２と、記憶ユニット４３とを備える。通信ユニット４１は、通信ネットワークＮを介して、車載器３及び端末装置７のそれぞれとの通信を制御する装置である。通信ユニット４１は、車載器３から送信された映像及び車体情報を受信し、制御ユニット４２へ送信する。通信ユニット４１は、記憶ユニット４３に記憶された報告書を端末装置７へ送信する。制御ユニット４２は、ＣＰＵ（central processing unit）等のプロセッサ及びメモリを含んで構成される。制御ユニット４２は、車載器３から通信ユニット４１を介して送信された映像及び車体情報に基づいて、所定事象発生時の作業機械２の状況を可視化した報告書を作成し、記憶ユニット４３に記憶する。 The server device 4 includes a communication unit 41, a control unit 42, and a storage unit 43. The communication unit 41 is a device that controls communication with each of the vehicle-mounted device 3 and the terminal device 7 via the communication network N. The communication unit 41 receives the video and vehicle body information transmitted from the vehicle-mounted device 3 and transmits them to the control unit 42. The communication unit 41 transmits the report stored in the storage unit 43 to the terminal device 7. The control unit 42 includes a processor such as a CPU (central processing unit) and a memory. The control unit 42 creates a report that visualizes the situation of the work machine 2 at the time of the occurrence of a predetermined event based on the image and the vehicle body information transmitted from the vehicle-mounted device 3 via the communication unit 41, and stores the report in the storage unit 43. do.
　端末装置７は、通信機能を備えたパーソナルコンピュータ、又は、通信機能を備えたタブレットやスマートフォン等の携帯端末等によって構成される。端末装置７は、サーバ装置４の通信ユニット４１から送信された報告書を受信し、表示部７１によって表示する。端末装置７の表示部７１は、ディスプレイによって構成される。 The terminal device 7 is composed of a personal computer having a communication function, a mobile terminal such as a tablet or a smartphone having a communication function, or the like. The terminal device 7 receives the report transmitted from the communication unit 41 of the server device 4 and displays it on the display unit 71. The display unit 71 of the terminal device 7 is composed of a display.
　図５は、図４に示す制御ユニット４２の機能的構成を示す図である。図６は、作業機械アイコンを説明する図である。図７は、動作アイコンの種類を説明する図である。図８は、動作アイコンの形状を説明する図である。図９は、動作アイコンの方向を説明する図である。図９（ａ）は、作業機械２の動作方向が前後方向に関する場合の動作アイコンの方向を説明する図である。図９（ｂ）は、作業機械２の動作方向が左右方向に関する場合の動作アイコンの方向を説明する図である。図１０は、物体アイコンを説明する図である。図１１は、報告書を説明する図である。 FIG. 5 is a diagram showing a functional configuration of the control unit 42 shown in FIG. FIG. 6 is a diagram illustrating a work machine icon. FIG. 7 is a diagram illustrating the types of operation icons. FIG. 8 is a diagram illustrating the shape of the operation icon. FIG. 9 is a diagram illustrating the direction of the operation icon. FIG. 9A is a diagram illustrating the direction of the operation icon when the operation direction of the work machine 2 is related to the front-rear direction. FIG. 9B is a diagram illustrating the direction of the operation icon when the operation direction of the work machine 2 is related to the left-right direction. FIG. 10 is a diagram illustrating an object icon. FIG. 11 is a diagram illustrating a report.
　制御ユニット４２は、作業機械アイコン特定部５１と、作業機械アイコンデータベース５２と、動作アイコン種類特定部５３と、動作アイコン種類データベース５４とを備える。更に、制御ユニット４２は、動作アイコン形状特定部５５と、動作アイコン方向特定部５６と、動作アイコン特定部５７と、物体位置特定部５８と、物体アイコン特定部５９とを備える。更に、制御ユニット４２は、動作状況図作成部６０と、動作推移図作成部６１と、作業場所図作成部６２と、地図情報データベース６３と、報告書作成部６４とを備える。 The control unit 42 includes a work machine icon specifying unit 51, a work machine icon database 52, an operation icon type specifying unit 53, and an operation icon type database 54. Further, the control unit 42 includes an operation icon shape specifying unit 55, an operation icon direction specifying unit 56, an operation icon specifying unit 57, an object position specifying unit 58, and an object icon specifying unit 59. Further, the control unit 42 includes an operation status map creation unit 60, an operation transition map creation unit 61, a work location map creation unit 62, a map information database 63, and a report creation unit 64.
　作業機械アイコン特定部５１は、情報表示システム１の表示対象となる後述の動作状況図の作成に用いられる作業機械アイコンを特定する。作業機械アイコンは、作業機械２の種類を示す図形又は記号である。図６には、油圧ショベル、ホイールローダ又はダンプトラックを示す作業機械アイコンの例が示されている。作業機械アイコン特定部５１は、車載器３から送信された車体情報に含まれる機体情報に基づいて、作業機械アイコンデータベース５２に予め記憶された複数の作業機械アイコンのうちから、動作状況図の作成に用いられる作業機械アイコンを特定する。 The work machine icon specifying unit 51 identifies the work machine icon used for creating the operation status diagram described later, which is the display target of the information display system 1. The work machine icon is a figure or a symbol indicating the type of the work machine 2. FIG. 6 shows an example of a work machine icon showing a hydraulic excavator, wheel loader or dump truck. The work machine icon specifying unit 51 creates an operation status diagram from a plurality of work machine icons stored in advance in the work machine icon database 52 based on the machine information included in the vehicle body information transmitted from the in-vehicle device 3. Identify the work machine icon used for.
　動作アイコン種類特定部５３は、動作状況図の作成に用いられる動作アイコンの種類を特定する。動作アイコンは、所定事象発生時における作業機械２の動作内容を示す図形又は記号である。動作アイコンの種類は、所定事象発生時における作業機械２の動作内容の種類を示す。作業機械２の動作内容の種類としては、例えば、走行動作や旋回動作が挙げられる。図７には、動作内容の種類が走行動作であれば動作アイコンを直線状の矢印とし、動作内容の種類が旋回動作であれば動作アイコンを円弧状の矢印とする例が示されている。本実施形態では、走行動作を示す動作アイコンを「走行動作アイコン」とも称し、旋回動作を示す動作アイコンを「旋回動作アイコン」とも称する。 The operation icon type specifying unit 53 specifies the type of operation icon used to create the operation status diagram. The operation icon is a figure or a symbol indicating the operation content of the work machine 2 when a predetermined event occurs. The type of the operation icon indicates the type of the operation content of the work machine 2 when a predetermined event occurs. Examples of the types of operation contents of the work machine 2 include running operation and turning operation. FIG. 7 shows an example in which the operation icon is a linear arrow when the type of operation content is a running operation, and the operation icon is an arc-shaped arrow when the type of operation content is a turning operation. In the present embodiment, the motion icon indicating the running motion is also referred to as a "running motion icon", and the motion icon indicating the turning motion is also referred to as a "turning motion icon".
　作業機械２の動作内容の種類は、作業機械２の種類に応じて異なる。例えば、油圧ショベルは、下部走行体によって走行する走行動作の他に、上部旋回体が下部走行体の旋回サークルの中心を旋回中心として旋回する旋回動作を行う。例えば、ホイールローダは、車両前部と車両後部との屈曲角に応じた回転半径にて回転する。この回転動作は、回転中心が車両外部に存在することから、旋回動作とは異なる動作であり、走行動作の範疇である。すなわち、作業機械２の種類が油圧ショベルであれば、動作内容の種類は走行動作及び旋回動作を含む。作業機械２の種類がホイールローダ又はダンプトラックであれば、動作内容の種類は走行動作を含むが、旋回動作を含まない。 The type of operation content of the work machine 2 differs depending on the type of the work machine 2. For example, in the hydraulic excavator, in addition to the traveling motion of traveling by the lower traveling body, the hydraulic excavator performs a turning motion in which the upper swivel body swivels around the center of the swivel circle of the lower traveling body. For example, the wheel loader rotates at a turning radius according to the bending angle between the front part of the vehicle and the rear part of the vehicle. Since the center of rotation exists outside the vehicle, this rotational motion is different from the turning motion and is in the category of running motion. That is, if the type of the work machine 2 is a hydraulic excavator, the type of operation content includes a traveling operation and a turning operation. If the type of the work machine 2 is a wheel loader or a dump truck, the type of operation content includes a traveling operation but does not include a turning operation.
　動作アイコン種類特定部５３は、車載器３から送信された車体情報に含まれる機体情報と動作計測値とに基づいて、動作アイコン種類データベース５４に予め記憶された複数の動作アイコンのうちから、動作状況図の作成に用いられる動作アイコンの種類を特定する。 The operation icon type specifying unit 53 operates from among a plurality of operation icons stored in advance in the operation icon type database 54 based on the aircraft information included in the vehicle body information transmitted from the vehicle-mounted device 3 and the operation measurement value. Identify the type of action icon used to create the situation diagram.
　動作アイコン形状特定部５５は、動作状況図の作成に用いられる動作アイコンの形状を特定する。動作アイコンの形状は、所定事象発生時における作業機械２の動作速度を示す。作業機械２の動作速度としては、例えば、走行速度や旋回角速度が挙げられる。図８には、動作速度が低速であれば短い形状の矢印とし、動作速度が高速であれば長い形状の矢印とする例が示されている。作業機械２の動作が停止していれば、動作アイコンは表示されない。 The operation icon shape specifying unit 55 specifies the shape of the operation icon used to create the operation status diagram. The shape of the operation icon indicates the operation speed of the work machine 2 when a predetermined event occurs. Examples of the operating speed of the work machine 2 include a traveling speed and a turning angular velocity. FIG. 8 shows an example in which an arrow having a short shape is used when the operating speed is low, and an arrow having a long shape is used when the operating speed is high. If the operation of the work machine 2 is stopped, the operation icon is not displayed.
　動作アイコン形状特定部５５は、車載器３から送信された車体情報に含まれる動作計測値に基づいて、動作状況図の作成に用いられる動作アイコンの形状を特定する。動作アイコンの形状を特定する基になる動作計測値は、動作内容の種類に応じて異なる。例えば、動作アイコン形状特定部５５は、動作計測値の１つである車速センサ２３により計測された走行速度に基づいて、走行速度を示す走行動作アイコンの形状を特定する。例えば、動作アイコン形状特定部５５は、動作計測値の１つであるＩＭＵ２２により計測された旋回角速度に基づいて、旋回角速度を示す旋回動作アイコンの形状を特定する。 The operation icon shape specifying unit 55 specifies the shape of the operation icon used for creating the operation status diagram based on the operation measurement value included in the vehicle body information transmitted from the vehicle-mounted device 3. The motion measurement value that is the basis for specifying the shape of the motion icon differs depending on the type of motion content. For example, the operation icon shape specifying unit 55 specifies the shape of the traveling operation icon indicating the traveling speed based on the traveling speed measured by the vehicle speed sensor 23, which is one of the motion measured values. For example, the motion icon shape specifying unit 55 specifies the shape of the swivel motion icon indicating the swivel angular velocity based on the swivel angular velocity measured by the IMU 22 which is one of the motion measurement values.
　なお、動作アイコンの形状は、図８のように、停止、低速、高速の３段階に変化するのではなく、動作速度に応じて無段階に変化するように予め定められていてもよい。動作アイコンの形状は、所定事象発生時における作業機械２の動作速度に限定されず、作業機械２の動作加速度や操作圧等の他の動作計測値を示すように予め定められていてもよい。 Note that the shape of the operation icon may be predetermined so as to change steplessly according to the operation speed, instead of changing in three stages of stop, low speed, and high speed as shown in FIG. The shape of the operation icon is not limited to the operation speed of the work machine 2 when a predetermined event occurs, and may be predetermined so as to indicate other operation measurement values such as the operation acceleration and the operation pressure of the work machine 2.
　動作アイコン方向特定部５６は、動作状況図の作成に用いられる動作アイコンの方向を特定する。動作アイコンの方向は、所定事象発生時における作業機械２の動作方向を示す。作業機械２の動作方向としては、例えば、前後方向、左右方向又は上下方向が挙げられる。図９（ａ）には、走行動作の動作方向が前進方向であれば紙面において上向きの矢印とし、走行動作の動作方向が後進方向であれば紙面において下向きの矢印とする例が示されている。図９（ｂ）には、油圧ショベルにおいて、旋回動作の動作方向が右旋回方向であれば紙面において時計回りの矢印とし、旋回動作の動作方向が左旋回方向であれば紙面において反時計回りの矢印とする例が示されている。図９（ｂ）には、ホイールローダやダンプトラックにおいて、走行動作の動作方向が右操舵方向であれば紙面において右傾斜の矢印とし、走行動作の動作方向が左操舵方向であれば紙面において左傾斜の矢印とする例が示されている。 The operation icon direction specifying unit 56 specifies the direction of the operation icon used to create the operation status diagram. The direction of the operation icon indicates the operation direction of the work machine 2 when a predetermined event occurs. Examples of the operating direction of the work machine 2 include a front-rear direction, a left-right direction, and a vertical direction. FIG. 9A shows an example in which an arrow pointing upward on the paper surface if the operating direction of the traveling motion is in the forward direction, and an arrow pointing downward on the paper surface if the operating direction of the traveling motion is in the backward direction. .. In FIG. 9B, in the hydraulic excavator, if the operating direction of the turning operation is the right turning direction, a clockwise arrow is shown on the paper surface, and if the operating direction of the turning operation is the left turning direction, the counterclockwise direction is shown on the paper surface. An example of the arrow is shown. In FIG. 9B, in the wheel loader or dump truck, if the driving operation direction is the right steering direction, the arrow is tilted to the right on the paper surface, and if the driving operation operation direction is the left steering direction, the left is left on the paper surface. An example of a tilted arrow is shown.
　動作アイコン方向特定部５６は、車載器３から送信された車体情報に含まれる動作計測値に基づいて、動作状況図の作成に用いられる動作アイコンの方向を特定する。動作アイコンの方向を特定する基になる動作計測値は、動作内容の種類に応じて異なる。例えば、動作アイコン方向特定部５６は、動作計測値の１つであるＩＭＵ２２により計測された前後方向の加速度に基づいて、走行方向を示す走行動作アイコンの方向を特定する。例えば、動作アイコン方向特定部５６は、作業機械２の種類が油圧ショベルであれば、動作計測値の１つであるＩＭＵ２２により計測された旋回角速度の向きに基づいて、旋回方向を示す旋回動作アイコンの方向を特定する。例えば、動作アイコン方向特定部５６は、作業機械２の種類がホイールローダ又はダンプトラックであれば、動作計測値の１つである操舵角センサ２５により計測された操舵角の正負に基づいて、操舵方向を示す走行動作アイコンの方向を特定する。この際、動作アイコン方向特定部５６は、操舵角センサ２５に計測された操舵角の大きさに基づいて、走行動作アイコンの傾斜度合を変化させる。 The operation icon direction specifying unit 56 specifies the direction of the operation icon used for creating the operation status diagram based on the operation measurement value included in the vehicle body information transmitted from the vehicle-mounted device 3. The motion measurement value that is the basis for specifying the direction of the motion icon differs depending on the type of motion content. For example, the operation icon direction specifying unit 56 specifies the direction of the traveling operation icon indicating the traveling direction based on the acceleration in the front-rear direction measured by the IMU 22 which is one of the motion measured values. For example, if the type of the work machine 2 is a hydraulic excavator, the operation icon direction specifying unit 56 indicates a turning operation icon indicating a turning direction based on the direction of the turning angular velocity measured by the IMU 22 which is one of the movement measured values. Specify the direction of. For example, if the type of the work machine 2 is a wheel loader or a dump truck, the operation icon direction specifying unit 56 steers based on the positive / negative of the steering angle measured by the steering angle sensor 25, which is one of the operation measurement values. Specify the direction of the driving motion icon that indicates the direction. At this time, the operation icon direction specifying unit 56 changes the degree of inclination of the traveling operation icon based on the magnitude of the steering angle measured by the steering angle sensor 25.
　動作アイコン特定部５７は、動作アイコン種類特定部５３、動作アイコン形状特定部５５、及び、動作アイコン方向特定部５６により特定された動作アイコンの種類、形状及び方向に基づいて、動作状況図の作成に用いられる動作アイコンを特定する。動作アイコン種類特定部５３、動作アイコン形状特定部５５、及び、動作アイコン方向特定部５６は、何れも、車載器３により送信された動作計測値に基づいて動作アイコンの種類、形状及び方向を特定する。動作アイコンの種類、形状及び方向は、動作アイコンの形態の１つである。すなわち、動作アイコン特定部５７は、動作計測値に基づいた形態を有する動作アイコンを特定する。 The operation icon specifying unit 57 creates an operation status diagram based on the type, shape, and direction of the operation icon specified by the operation icon type specifying unit 53, the operation icon shape specifying unit 55, and the operation icon direction specifying unit 56. Identify the action icon used for. The operation icon type specifying unit 53, the operation icon shape specifying unit 55, and the operation icon direction specifying unit 56 all specify the type, shape, and direction of the operation icon based on the operation measurement value transmitted by the vehicle-mounted device 3. do. The type, shape, and direction of the operation icon is one of the forms of the operation icon. That is, the operation icon specifying unit 57 specifies an operation icon having a form based on the operation measurement value.
　物体位置特定部５８は、車載器３から送信された車体情報に含まれる物体検知装置２４の検知結果に基づいて、物体検知装置２４により検知された物体の作業機械２に対する相対位置を特定する。物体位置特定部５８は、作業機械２に対する物体の相対位置として、作業機械２から物体までの距離と、作業機械２から物体へ向かう方向とを特定してもよい。 The object position specifying unit 58 specifies the relative position of the object detected by the object detecting device 24 with respect to the work machine 2 based on the detection result of the object detecting device 24 included in the vehicle body information transmitted from the vehicle-mounted device 3. The object position specifying unit 58 may specify the distance from the work machine 2 to the object and the direction from the work machine 2 toward the object as the relative position of the object with respect to the work machine 2.
　物体アイコン特定部５９は、動作状況図の作成に用いられる物体アイコンを特定する。物体アイコンは、所定事象発生時における作業機械２に対する物体の相対位置を示す図形又は記号である。物体アイコン特定部５９は、物体検知装置２４の検知結果に基づいて、動作状況図の作成に用いられる物体アイコンを特定する。具体的には、物体アイコン特定部５９は、物体位置特定部５８により特定された作業機械２から物体までの距離と、作業機械２から物体へ向かう方向とに応じて、物体アイコンを特定する。 The object icon specifying unit 59 identifies the object icon used to create the operation status diagram. The object icon is a figure or symbol indicating the relative position of the object with respect to the work machine 2 when a predetermined event occurs. The object icon specifying unit 59 identifies the object icon used for creating the operation status diagram based on the detection result of the object detecting device 24. Specifically, the object icon specifying unit 59 identifies the object icon according to the distance from the work machine 2 specified by the object position specifying unit 58 to the object and the direction from the work machine 2 toward the object.
　図１０の黒丸は、検知された物体を示す。図１０には、作業機械２から物体までの距離が短ければ作業機械２に近い位置に物体アイコンを配置し、作業機械２から物体までの距離が長ければ作業機械２から遠い位置に物体アイコンを配置した例が示されている。図１０には、作業機械２から物体へ向かう方向が前方向であれば作業機械アイコンより上の位置、作業機械２から物体へ向かう方向が後方向であれば作業機械アイコンより下の位置に物体アイコンを配置した例が示されている。図１０には、作業機械２から物体へ向かう方向が右方向であれば作業機械アイコンより右の位置、作業機械２から物体へ向かう方向が左方向であれば作業機械アイコンより左の位置に物体アイコンを配置した例が示されている。 The black circle in FIG. 10 indicates the detected object. In FIG. 10, if the distance from the work machine 2 to the object is short, the object icon is placed at a position close to the work machine 2, and if the distance from the work machine 2 to the object is long, the object icon is placed at a position far from the work machine 2. An example of placement is shown. In FIG. 10, if the direction from the work machine 2 to the object is forward, the object is above the work machine icon, and if the direction from the work machine 2 to the object is backward, the object is below the work machine icon. An example of arranging an icon is shown. In FIG. 10, if the direction from the work machine 2 to the object is to the right, the object is located to the right of the work machine icon, and if the direction from the work machine 2 to the object is to the left, the object is to the left of the work machine icon. An example of arranging the icon is shown.
　動作状況図作成部６０は、情報表示システム１の表示対象となる動作状況図を作成する。動作状況図は、所定事象発生時の作業機械２の動作状況を示す図である。動作状況図作成部６０は、作業機械アイコン特定部５１により特定された作業機械アイコンと、動作アイコン特定部５７により特定された動作アイコンと、物体アイコン特定部５９により特定された物体アイコンとを用いて、動作状況図を作成する。具体的には、動作状況図作成部６０は、作業機械アイコンと、動作アイコンと、物体アイコンとを同時に描いた図を、動作状況図として作成する。 The operation status diagram creation unit 60 creates an operation status diagram to be displayed by the information display system 1. The operation status diagram is a diagram showing an operation status of the work machine 2 when a predetermined event occurs. The operation status diagram creating unit 60 uses the work machine icon specified by the work machine icon specifying unit 51, the operation icon specified by the operation icon specifying unit 57, and the object icon specified by the object icon specifying unit 59. And create an operation status diagram. Specifically, the operation status diagram creation unit 60 creates a diagram in which a work machine icon, an operation icon, and an object icon are drawn at the same time as an operation status diagram.
　図１１には、動作状況図が符号１１１として示されている。図１１に示す動作状況図１１１は、作業機械アイコン１１１ａと、動作アイコン１１１ｂと、物体アイコン１１１ｃとが同時に描かれている。図１１に示す動作状況図１１１は、物体が油圧ショベルの左側方の近傍に接近していた時、油圧ショベルが高速域の旋回角速度によって右旋回方向に旋回動作を行っていた、という動作状況を示している。 FIG. 11 shows an operation status diagram as reference numeral 111. In the operation status diagram 111 shown in FIG. 11, the work machine icon 111a, the operation icon 111b, and the object icon 111c are drawn at the same time. The operation state FIG. 111 shown in FIG. 11 shows an operation state in which the hydraulic excavator is turning in the right turning direction by the turning angular velocity in the high speed range when the object is approaching the vicinity of the left side of the hydraulic excavator. Is shown.
　動作推移図作成部６１は、情報表示システム１の表示対象となる動作推移図を作成する。動作推移図は、所定事象発生時の作業機械２の動作を計測して得られた動作計測値の推移を示す図である。すなわち、動作推移図は、動作計測値の時系列データを示す図である。動作推移図作成部６１は、動作状況図作成部６０により作成された動作状況図に用いられた動作アイコンを特定する基になった動作計測値の推移を示す動作推移図を作成する。更に、動作推移図作成部６１は、この動作計測値に関連する動作計測値の推移を示す動作推移図を作成してもよい。 The operation transition diagram creation unit 61 creates an operation transition diagram to be displayed by the information display system 1. The operation transition diagram is a diagram showing the transition of the operation measurement value obtained by measuring the operation of the work machine 2 when a predetermined event occurs. That is, the operation transition diagram is a diagram showing time-series data of operation measurement values. The operation transition diagram creation unit 61 creates an operation transition diagram showing the transition of the operation measurement value which is the basis for specifying the operation icon used in the operation status diagram created by the operation status diagram creation unit 60. Further, the operation transition diagram creation unit 61 may create an operation transition diagram showing the transition of the operation measurement value related to the operation measurement value.
　図１１には、動作推移図が符号１１２として示されている。図１１に示す動作推移図１１２は、動作状況図１１１に用いられた動作アイコン１１１ｂを特定する基になった動作計測値である旋回角速度の推移を示す動作推移図１１２ａと、この旋回角速度に関連する動作計測値である旋回操作圧の推移を示す動作推移図１１２ｂとを含んでいる。図１１に示す動作推移図１１２は、旋回操作に基づいて旋回角速度が増加した作業機械２の動作状況を示している。すなわち、動作推移図１１２は、現場作業者の操作状況と作業機械２の動作状況との関連性を示している。また、図１１に示す動作推移図１１２は、作業機械２が動作状況図１１１に描かれた動作状況を示した時点（すなわち所定事象発生時）を、マーカ１１２ｃとして示している。 In FIG. 11, the operation transition diagram is shown as reference numeral 112. The operation transition diagram 112 shown in FIG. 11 is related to the operation transition diagram 112a showing the transition of the turning angular velocity, which is the movement measurement value used as the basis for specifying the movement icon 111b used in the operation status FIG. 111, and the turning angular velocity. The operation transition diagram 112b showing the transition of the turning operation pressure, which is the motion measurement value to be performed, is included. The operation transition FIG. 112 shown in FIG. 11 shows the operation state of the work machine 2 in which the turning angular velocity is increased based on the turning operation. That is, the operation transition diagram 112 shows the relationship between the operation status of the field worker and the operation status of the work machine 2. Further, in the operation transition diagram 112 shown in FIG. 11, the time point when the work machine 2 shows the operation status drawn in the operation status diagram 111 (that is, when a predetermined event occurs) is shown as the marker 112c.
　作業場所図作成部６２は、情報表示システム１の表示対象となる作業場所図を作成する。作業場所図は、所定事象発生時の作業機械２の作業場所を示す図である。作業場所図作成部６２は、車載器３から送信された車体情報に含まれるＧＮＳＳ受信機２１により取得された位置情報と、地図情報データベース６３に予め記憶された地図情報とに基づいて、作業場所図を作成する。なお、地図情報データベース６３は、通信ネットワークＮに接続されたサーバ装置４の外部に設けられていてもよいし、ＳＤカード等の外部記憶媒体に設けられていてもよい。 The work place map creation unit 62 creates a work place map to be displayed by the information display system 1. The work place diagram is a diagram showing the work place of the work machine 2 when a predetermined event occurs. The work place map creation unit 62 is a work place based on the position information acquired by the GNSS receiver 21 included in the vehicle body information transmitted from the vehicle-mounted device 3 and the map information stored in advance in the map information database 63. Create a diagram. The map information database 63 may be provided outside the server device 4 connected to the communication network N, or may be provided in an external storage medium such as an SD card.
　図１１には、作業場所図が符号１１３として示されている。図１１に示す作業場所図１１３は、ＧＮＳＳ受信機２１により取得された作業機械２の位置情報が示す地点を、マーカ１１３ａとして示している。 In FIG. 11, the work place diagram is shown as reference numeral 113. The work place FIG. 113 shown in FIG. 11 shows a point indicated by the position information of the work machine 2 acquired by the GNSS receiver 21 as a marker 113a.
　報告書作成部６４は、所定事象発生時の作業機械２の状況を可視化した報告書を作成する。報告書作成部６４は、動作状況図作成部６０により作成された動作状況図を含む報告書を作成する。好適には、報告書作成部６４は、動作状況図作成部６０により作成された動作状況図と、動作推移図作成部６１により作成された動作推移図と併せて記載した報告書を作成する。更に好適には、報告書作成部６４は、動作状況図作成部６０により作成された動作状況図と、動作推移図作成部６１により作成された動作推移図と、作業場所図作成部６２により作成された作業場所図とを併せて記載した報告書を作成する。更に好適には、報告書作成部６４は、動作状況図作成部６０により作成された動作状況図と、動作推移図作成部６１により作成された動作推移図と、作業場所図作成部６２により作成された作業場所図と、車載器３から送信された映像とを併せて記載した報告書を作成する。 The report creation unit 64 creates a report that visualizes the status of the work machine 2 when a predetermined event occurs. The report creation unit 64 creates a report including the operation status diagram created by the operation status diagram creation unit 60. Preferably, the report creation unit 64 creates a report described together with the operation status diagram created by the operation status diagram creation unit 60 and the operation transition diagram created by the operation transition diagram creation unit 61. More preferably, the report creation unit 64 is created by the operation status diagram created by the operation status diagram creation unit 60, the operation transition diagram created by the operation transition diagram creation unit 61, and the work location diagram creation unit 62. Create a report that includes the work location map that was created. More preferably, the report creation unit 64 is created by the operation status diagram created by the operation status diagram creation unit 60, the operation transition diagram created by the operation transition diagram creation unit 61, and the work location diagram creation unit 62. Create a report that describes the work location map and the video transmitted from the on-board unit 3.
　車載器３から送信された映像は、所定事象発生時の作業機械２の周囲の映像である。報告書に記載される映像は、表示部７１がディスプレイである場合には、当該映像そのもの（動画像）であってもよいし、当該映像を構成するフレーム（静止画像）であってもよい。 The image transmitted from the on-board unit 3 is an image of the surroundings of the work machine 2 when a predetermined event occurs. When the display unit 71 is a display, the video described in the report may be the video itself (moving image) or a frame (still image) constituting the video.
　図１１には、所定事象発生時の作業機械２の周囲の映像が符号１１４として示され、報告書作成部６４により作成された報告書が符号１１０として示されている。図１１に示す報告書１１０は、所定領域内に収まるよう、動作状況図１１１と動作推移図１１２と作業場所図１１３と映像１１４とを併せて記載している。この所定領域の大きさは、ディスプレイや印刷用紙として普及している定形の大きさであってもよい。また、報告書１１０は、所定事象が発生した時点の日時１１５や、報告書１１０の内容を説明するテキスト１１６を、動作状況図１１１、動作推移図１１２、作業場所図１１３及び映像１１４と併せて所定領域内に記載してもよい。 In FIG. 11, the image around the work machine 2 when a predetermined event occurs is shown as reference numeral 114, and the report prepared by the report preparation unit 64 is shown as reference numeral 110. The report 110 shown in FIG. 11 describes an operation status diagram 111, an operation transition diagram 112, a work location diagram 113, and an image 114 together so as to fit within a predetermined area. The size of this predetermined area may be a standard size that is widely used as a display or printing paper. Further, the report 110 includes a date and time 115 at the time when a predetermined event occurs and a text 116 explaining the contents of the report 110 together with an operation status diagram 111, an operation transition diagram 112, a work location diagram 113, and a video 114. It may be described within a predetermined area.
　報告書作成部６４は、作成された報告書を記憶ユニット４３に記憶させる。通信ユニット４１は、記憶ユニット４３に記憶された報告書を端末装置７へ送信する。端末装置７は、サーバ装置４の通信ユニット４１から送信された報告書を受信し、表示部７１によって表示する。表示部７１は、動作状況図を表示する。好適には、表示部７１は、動作状況図と動作推移図とを併せて表示する。更に好適には、表示部７１は、動作状況図と動作推移図と作業場所図とを併せて表示する。更に好適には、表示部７１は、動作状況図と動作推移図と作業場所図と映像とを併せて表示する。 The report creation unit 64 stores the created report in the storage unit 43. The communication unit 41 transmits the report stored in the storage unit 43 to the terminal device 7. The terminal device 7 receives the report transmitted from the communication unit 41 of the server device 4 and displays it on the display unit 71. The display unit 71 displays an operation status diagram. Preferably, the display unit 71 displays the operation status diagram and the operation transition diagram together. More preferably, the display unit 71 displays the operation status diagram, the operation transition diagram, and the work location diagram together. More preferably, the display unit 71 displays an operation status diagram, an operation transition diagram, a work location diagram, and an image together.
　なお、上記の報告書作成部６４は、サーバ装置４の制御ユニット４２ではなく、端末装置７や作業機械２に設けられていてもよい。制御ユニット４２が備える報告書作成部６４以外の他の機能についても、同様である。 The report creation unit 64 may be provided in the terminal device 7 or the work machine 2 instead of the control unit 42 of the server device 4. The same applies to the functions other than the report creation unit 64 included in the control unit 42.
　以上のように、情報表示システム１は、作業機械２の車載器３からの情報が入力されるサーバ装置４と、サーバ装置４により作成された情報を表示する端末装置７とを備え、所定事象発生時の作業機械２の状況を示す情報を報告書として表示する作業機械２の情報表示システムである。サーバ装置４は、所定事象発生時の作業機械２の動作を計測して得られた動作計測値に基づいて、作業機械２の動作内容を示す動作アイコンを特定する動作アイコン特定部５７を備える。サーバ装置４は、所定事象発生時の作業機械２の周囲に存在する物体の検知結果に基づいて、作業機械２に対する物体の相対位置を示す物体アイコンを特定する物体アイコン特定部５９を備える。サーバ装置４は、動作アイコンと物体アイコンとを用いて、所定事象発生時の作業機械２の動作状況を示す動作状況図を作成する動作状況図作成部６０を備える。端末装置７は、動作状況図を表示する。 As described above, the information display system 1 includes a server device 4 for inputting information from the in-vehicle device 3 of the work machine 2 and a terminal device 7 for displaying the information created by the server device 4, and a predetermined event. This is an information display system for the work machine 2 that displays information indicating the status of the work machine 2 at the time of occurrence as a report. The server device 4 includes an operation icon specifying unit 57 that specifies an operation icon indicating the operation content of the work machine 2 based on the operation measurement value obtained by measuring the operation of the work machine 2 when a predetermined event occurs. The server device 4 includes an object icon specifying unit 59 that specifies an object icon indicating the relative position of the object with respect to the work machine 2 based on the detection result of an object existing around the work machine 2 when a predetermined event occurs. The server device 4 includes an operation status diagram creating unit 60 that creates an operation status diagram showing an operation status of the work machine 2 when a predetermined event occurs by using an operation icon and an object icon. The terminal device 7 displays an operation status diagram.
　すなわち、情報表示システム１は、所定事象発生時の作業機械２の動作内容を、動作アイコンといった誰もが把握し易い形式で表す。情報表示システム１は、所定事象発生時の作業機械２に対する物体の相対位置を、物体アイコンといった誰もが把握し易い形式で表す。情報表示システム１は、所定事象発生時の作業機械２の動作状況を、動作アイコンと物体アイコンとを用いて図示する。 That is, the information display system 1 expresses the operation content of the work machine 2 when a predetermined event occurs in a format that anyone can easily understand, such as an operation icon. The information display system 1 represents the relative position of an object with respect to the work machine 2 when a predetermined event occurs in a format such as an object icon that is easy for anyone to understand. The information display system 1 illustrates the operation status of the work machine 2 when a predetermined event occurs by using an operation icon and an object icon.
　これにより、情報表示システム１は、所定事象発生時の作業機械２の動作状況を、作業機械２に対する物体の相対位置と関連付け、現場作業者の誰もが把握し易い形式として可視化して自動的に表示することができる。情報表示システム１は、所定事象発生時の作業機械２の動作状況を、現場作業者に対して的確且つ迅速に把握させることができる。情報表示システム１は、所定事象発生時の作業機械２の動作状況を現場作業者に共有させることができ、安全運転の指導に役立てることができる。よって、情報表示システム１は、従来よりも現場作業者の安全意識を向上させることができる。 As a result, the information display system 1 automatically associates the operating status of the work machine 2 when a predetermined event occurs with the relative position of the object with respect to the work machine 2, and visualizes it as a format that can be easily grasped by any field worker. Can be displayed on. The information display system 1 can make the field worker accurately and quickly grasp the operating status of the work machine 2 when a predetermined event occurs. The information display system 1 can share the operating status of the work machine 2 when a predetermined event occurs with field workers, and can be useful for instructing safe driving. Therefore, the information display system 1 can improve the safety awareness of field workers as compared with the conventional one.
　従来のシステムは、車両の動作状況を、単に文字形式として表示するか、動作計測値のグラフとして表示するかに過ぎない。加えて、従来のシステムは、車両の周囲に存在する物体との関連性も不明なまま、車両の動作状況を表示するに過ぎない。作業現場には、作業の元請業者、下請業者、資材搬入業者及び警備業者等の異なる組織に属する多数の現場作業者が混在している。現場作業者の国籍も様々である。従来のシステムは、多様な属性を有する現場作業者が混在する作業現場に適用されても、所定事象発生時の作業機械２の動作状況を、現場作業者の誰もが把握し易い形式として表示するシステムではなかった。 The conventional system simply displays the operating status of the vehicle as a character format or as a graph of motion measurement values. In addition, the conventional system merely displays the operating status of the vehicle without knowing the relationship with the objects existing around the vehicle. At the work site, a large number of field workers belonging to different organizations such as a prime contractor, a subcontractor, a material importer, and a security contractor are mixed. The nationalities of field workers also vary. Even if the conventional system is applied to a work site where field workers with various attributes coexist, the operating status of the work machine 2 at the time of a predetermined event is displayed in a format that can be easily understood by all field workers. It wasn't a system to do.
　更に、作業現場の通信環境は整備されていない場合が多く、ドライブレコーダに記録された映像を作業現場において再生することは難しい。作業現場の通信環境が整備されていた場合であっても、現場作業者は異なる組織に属する者が多数混在しているので、ドライブレコーダに記録された映像をクラウドサーバ等に保存し現場作業者が自由に再生可能とすることは、情報セキュリティの観点からも難しい。現場作業者には、端末装置に不慣れな者も存在する。 Furthermore, the communication environment at the work site is often not maintained, and it is difficult to reproduce the video recorded on the drive recorder at the work site. Even if the communication environment at the work site is in place, many field workers belong to different organizations, so the video recorded on the drive recorder is saved in a cloud server, etc., and the field worker It is difficult to make it freely playable from the viewpoint of information security. Some field workers are unfamiliar with terminal devices.
　上記のような作業現場の事情から、作業現場の現場監督者は、ドライブレコーダに記録された映像を構成する静止画像を紙媒体に印刷し、例えば、作業開始前の朝礼において現場作業者に配布する等して、情報共有を図ることがある。しかしながら、紙媒体に印刷された画像には、作業機械の周囲に存在する物体が、作業機械との位置関係が明確に分かるように映っているとは限らない。更に、ドライブレコーダに記録された映像だけでは、所定事象発生時の作業機械の動作状況を把握することはできないし、作業場所の状況を把握することもできない。作業現場の現場監督者が、限られた時間内に、多様な属性を有する現場作業者に的確に情報伝達することは難しい。 Due to the above-mentioned circumstances at the work site, the site supervisor at the work site prints the still images that make up the video recorded on the drive recorder on paper media, and distributes them to the on-site workers at the morning assembly before the start of work, for example. Information may be shared by doing so. However, the image printed on the paper medium does not always show the objects existing around the work machine so that the positional relationship with the work machine can be clearly understood. Furthermore, it is not possible to grasp the operating status of the work machine at the time of the occurrence of a predetermined event, nor is it possible to grasp the status of the work place only from the video recorded on the drive recorder. It is difficult for the site supervisor of the work site to accurately convey information to the site workers with various attributes within a limited time.
　このようなことから、従来のシステムでは、多様な属性を有する現場作業者に対して所定事象発生時の作業機械の動作状況を共有させることが難しく、現場作業者の安全意識を向上させることは難しい。 For this reason, with conventional systems, it is difficult for field workers with various attributes to share the operating status of the work machine when a predetermined event occurs, and it is not possible to improve the safety awareness of field workers. difficult.
　これに対し、本実施形態の情報表示システム１は、所定事象発生時の作業機械２の動作状況を、作業機械２に対する物体の相対位置と関連付けて、誰もが把握し易い形式で可視化して自動的に表示することができる。情報表示システム１は、所定事象発生時の作業機械２の動作状況を現場作業者に円滑に共有させることができ、安全運転の指導に役立てることができる。よって、情報表示システム１は、従来よりも現場作業者の安全意識を向上させることができる。しかも、情報表示システム１は、所定事象発生時の作業機械２の動作状況を示す動作状況図を紙媒体に印刷すると、当該紙媒体を配布するだけで現場作業者に情報共有を図ることができる。よって、情報表示システム１は、作業現場の通信環境や現場作業者の属性に関わらず、従来よりも現場作業者の安全意識を向上させることができる。 On the other hand, the information display system 1 of the present embodiment visualizes the operating state of the work machine 2 when a predetermined event occurs in a format that is easy for anyone to understand by associating it with the relative position of the object with respect to the work machine 2. It can be displayed automatically. The information display system 1 can smoothly share the operating status of the work machine 2 when a predetermined event occurs with the on-site worker, and can be useful for instructing safe driving. Therefore, the information display system 1 can improve the safety awareness of field workers as compared with the conventional one. Moreover, when the information display system 1 prints an operation status diagram showing the operation status of the work machine 2 when a predetermined event occurs on a paper medium, the information display system 1 can share information with field workers simply by distributing the paper medium. .. Therefore, the information display system 1 can improve the safety awareness of the on-site worker as compared with the conventional case, regardless of the communication environment of the work site and the attributes of the on-site worker.
　更に、情報表示システム１は、サーバ装置４が、動作アイコンを特定する基となった動作計測値の推移を示す動作推移図を作成する動作推移図作成部６１を更に備える。情報表示システム１は、端末装置７が、動作状況図と動作推移図とを併せて表示する。 Further, the information display system 1 further includes an operation transition diagram creating unit 61 in which the server device 4 creates an operation transition diagram showing the transition of the operation measurement value which is the basis for specifying the operation icon. In the information display system 1, the terminal device 7 displays an operation status diagram and an operation transition diagram together.
　これにより、情報表示システム１は、所定事象発生時の作業機械２の動作状況をその時系列的な変化と併せて詳細に可視化することができるので、所定事象発生時の作業機械２の動作状況を現場作業者に対して更に的確に把握させることができる。加えて、情報表示システム１は、関連する操作圧等の動作計測値の推移を示す動作推移図を併せて作成すれば、現場作業者の操作状況と作業機械２の動作状況との関連性を可視化することができる。情報表示システム１は、所定事象発生時の作業機械２の動作状況を現場作業者に更に円滑に共有させることができ、安全運転の指導に役立てることができる。よって、情報表示システム１は、従来よりも現場作業者の安全意識を更に向上させることができる。 As a result, the information display system 1 can visualize the operating status of the work machine 2 at the time of the occurrence of the predetermined event in detail together with the change over time, so that the operating status of the work machine 2 at the time of the occurrence of the predetermined event can be visualized. It is possible to make the field workers grasp more accurately. In addition, if the information display system 1 also creates an operation transition diagram showing the transition of the operation measurement values such as the related operation pressure, the relationship between the operation status of the field worker and the operation status of the work machine 2 can be obtained. It can be visualized. The information display system 1 can more smoothly share the operating status of the work machine 2 when a predetermined event occurs, and can be useful for instructing safe driving. Therefore, the information display system 1 can further improve the safety awareness of field workers as compared with the conventional one.
　更に、情報表示システム１は、サーバ装置４が、所定事象発生時の作業機械２の作業場所を示す作業場所図を作成する作業場所図作成部６２を更に備える。情報表示システム１は、端末装置７が、動作状況図と動作推移図と作業場所図とを併せて表示する。 Further, the information display system 1 further includes a work place map creating unit 62 in which the server device 4 creates a work place map showing the work place of the work machine 2 when a predetermined event occurs. In the information display system 1, the terminal device 7 displays an operation status diagram, an operation transition diagram, and a work location diagram together.
　これにより、情報表示システム１は、所定事象発生時の作業機械２の動作状況を作業場所の状況に関連付けて可視化することができるので、所定事象発生時の作業機械２の動作状況を現場作業者に対して更に的確に把握させることができる。情報表示システム１は、所定事象発生時の作業機械２の動作状況を現場作業者に更に円滑に共有させることができ、安全運転の指導に役立てることができる。よって、情報表示システム１は、従来よりも現場作業者の安全意識を更に向上させることができる。 As a result, the information display system 1 can visualize the operating status of the work machine 2 when a predetermined event occurs in association with the status of the work place, so that the operating status of the work machine 2 when the predetermined event occurs can be visualized by the field worker. Can be grasped more accurately. The information display system 1 can more smoothly share the operating status of the work machine 2 when a predetermined event occurs, and can be useful for instructing safe driving. Therefore, the information display system 1 can further improve the safety awareness of field workers as compared with the conventional one.
　更に、情報表示システム１は、サーバ装置４が、所定事象発生時の作業機械２の周囲の映像を記録する抽出映像記録部３４を更に備える。情報表示システム１は、端末装置７が、動作状況図と動作推移図と作業場所図と映像とを併せて表示する。 Further, the information display system 1 further includes an extraction video recording unit 34 in which the server device 4 records a video around the work machine 2 when a predetermined event occurs. In the information display system 1, the terminal device 7 displays an operation status diagram, an operation transition diagram, a work location diagram, and an image together.
　これにより、情報表示システム１は、所定事象発生時の作業機械２の動作状況を作業機械２の周囲の詳細な状況に関連付けて可視化することができるので、所定事象発生時の作業機械２の動作状況を現場作業者に対して更に的確に把握させることができる。情報表示システム１は、所定事象発生時の作業機械２の動作状況を現場作業者に更に円滑に共有させることができ、安全運転の指導に役立てることができる。よって、情報表示システム１は、従来よりも現場作業者の安全意識を更に向上させることができる。 As a result, the information display system 1 can visualize the operating state of the work machine 2 when a predetermined event occurs in relation to the detailed situation around the work machine 2, so that the operation of the work machine 2 when the predetermined event occurs can be visualized. It is possible to make the field workers grasp the situation more accurately. The information display system 1 can more smoothly share the operating status of the work machine 2 when a predetermined event occurs, and can be useful for instructing safe driving. Therefore, the information display system 1 can further improve the safety awareness of field workers as compared with the conventional one.
　更に、情報表示システム１は、動作アイコン特定部５７が、動作計測値に基づいた形態を有する動作アイコンを特定する。 Further, in the information display system 1, the operation icon specifying unit 57 specifies an operation icon having a form based on the operation measurement value.
　これにより、情報表示システム１は、所定事象発生時の作業機械２の動作状況を更に分かり易く可視化することができるので、所定事象発生時の作業機械２の動作状況を現場作業者に対して更に的確に把握させることができる。情報表示システム１は、所定事象発生時の作業機械２の動作状況を現場作業者に更に円滑に共有させることができ、安全運転の指導に役立てることができる。よって、情報表示システム１は、従来よりも現場作業者の安全意識を更に向上させることができる。 As a result, the information display system 1 can visualize the operating status of the work machine 2 at the time of the occurrence of the predetermined event in an easy-to-understand manner, so that the operating status of the work machine 2 at the time of the occurrence of the predetermined event can be further visualized for the field worker. It can be accurately grasped. The information display system 1 can more smoothly share the operating status of the work machine 2 when a predetermined event occurs, and can be useful for instructing safe driving. Therefore, the information display system 1 can further improve the safety awareness of field workers as compared with the conventional one.
　以上、本発明の実施形態について詳述したが、本発明は、上記の実施形態に限定されるものではなく、特許請求の範囲に記載された本発明の精神を逸脱しない範囲で、種々の設計変更を行うことができるものである。 Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various designs are designed without departing from the spirit of the present invention described in the claims. You can make changes.
　１…情報表示システム、２…作業機械、４…サーバ装置、７…端末装置、２４…物体検知装置、３４…抽出映像記録部（映像記録部）、５７…動作アイコン特定部、５９…物体アイコン特定部、６０…動作状況図作成部、６１…動作推移図作成部、６２…作業場所図作成部 1 ... Information display system, 2 ... Work machine, 4 ... Server device, 7 ... Terminal device, 24 ... Object detection device, 34 ... Extracted video recording unit (video recording unit), 57 ... Operation icon identification unit, 59 ... Object icon Specific unit, 60 ... Operation status diagram creation unit, 61 ... Operation transition diagram creation unit, 62 ... Work location diagram creation unit

Claims (5)

  1. 　作業機械の車載器からの情報が入力されるサーバ装置と前記サーバ装置により作成された情報を表示する端末装置とを備え、所定事象発生時の作業機械の状況を示す情報を表示する作業機械の情報表示システムであって、
    　前記サーバ装置は、
    　　前記所定事象発生時の前記作業機械の動作を計測して得られた動作計測値に基づいて、前記作業機械の動作内容を示す動作アイコンを特定する動作アイコン特定部と、
    　　前記所定事象発生時の前記作業機械の周囲に存在する物体を検知する物体検知装置の検知結果に基づいて、前記作業機械に対する前記物体の相対位置を示す物体アイコンを特定する物体アイコン特定部と、
    　　前記動作アイコンと前記物体アイコンとを用いて、前記所定事象発生時の前記作業機械の動作状況を示す動作状況図を作成する動作状況図作成部と、を備え、
    　前記端末装置は、前記動作状況図を表示する
    　ことを特徴とする作業機械の情報表示システム。     A work machine equipped with a server device for inputting information from an in-vehicle device of the work machine and a terminal device for displaying information created by the server device, and displaying information indicating the status of the work machine when a predetermined event occurs. It is an information display system
    The server device is
    An operation icon specifying unit that specifies an operation icon indicating the operation content of the work machine based on an operation measurement value obtained by measuring the operation of the work machine when a predetermined event occurs.
    An object icon specifying unit that specifies an object icon indicating the relative position of the object with respect to the work machine based on the detection result of the object detection device that detects an object existing around the work machine when the predetermined event occurs.
    It is provided with an operation status diagram creating unit that creates an operation status diagram showing the operation status of the work machine at the time of the occurrence of the predetermined event by using the operation icon and the object icon.
    The terminal device is an information display system for a work machine, characterized in that the operation status diagram is displayed.
  2. 　前記サーバ装置は、前記動作アイコンを特定する基となった前記動作計測値の推移を示す動作推移図を作成する動作推移図作成部を更に備え、
    　前記端末装置は、前記動作状況図と前記動作推移図とを併せて表示する
    　ことを特徴とする請求項１に記載の作業機械の情報表示システム。     The server device further includes an operation transition diagram creating unit that creates an operation transition diagram showing the transition of the operation measurement value that is the basis for specifying the operation icon.
    The information display system for a work machine according to claim 1, wherein the terminal device displays the operation status diagram and the operation transition diagram together.
  3. 　前記サーバ装置は、前記所定事象発生時の前記作業機械の作業場所を示す作業場所図を作成する作業場所図作成部を更に備え、
    　前記端末装置は、前記動作状況図と前記動作推移図と前記作業場所図とを併せて表示する
    　ことを特徴とする請求項２に記載の作業機械の情報表示システム。     The server device further includes a work location map creating unit that creates a work location diagram showing the work location of the work machine when the predetermined event occurs.
    The information display system for a work machine according to claim 2, wherein the terminal device displays the operation status diagram, the operation transition diagram, and the work location diagram together.
  4. 　前記サーバ装置は、前記所定事象発生時の前記作業機械の周囲の映像を記録する映像記録部を更に備え、
    　前記端末装置は、前記動作状況図と前記動作推移図と前記作業場所図と前記映像とを併せて表示する
    　ことを特徴とする請求項３に記載の作業機械の情報表示システム。     The server device further includes a video recording unit that records video around the work machine when the predetermined event occurs.
    The information display system for a work machine according to claim 3, wherein the terminal device displays the operation status diagram, the operation transition diagram, the work location diagram, and the video together.
  5. 　前記動作アイコン特定部は、前記動作計測値に基づいた形態を有する前記動作アイコンを特定する
    　ことを特徴とする請求項１に記載の作業機械の情報表示システム。     The information display system for a work machine according to claim 1, wherein the operation icon specifying unit identifies the operation icon having a form based on the operation measurement value.
PCT/JP2021/042999 2020-11-27 2021-11-24 Information display system for work machine WO2022114005A1 (en)

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JP2001202589A (en) * 2000-01-19 2001-07-27 Ohbayashi Corp Wide area work managing system
JP2010204821A (en) * 2009-03-02 2010-09-16 Hitachi Constr Mach Co Ltd Working machine equipped with periphery monitoring device

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