JP2022173801A - Construction support system, and construction support method - Google Patents

Abstract

To provide a system etc. which can support a construction by a work machine for a region where an embedded object is present underground and a region surrounding the same.SOLUTION: Construction support information is formed in overall consideration of a relative arrangement mode or a mixed displacement mode of a first construction object region (a region corresponding to first reference closed surfaces S11, S12) where it is necessary to avoid interference between a work machine 40 and embedded objects E1, E2 in a construction object region and a second construction object region (a region corresponding to second reference closed surfaces E21, E22) where a construction with a ground surface as a reference is required while there is no possibility of interference between the work machine 40 and the embedded objects. Thus, the construction support information is utilized in a construction by the work machine 40, and a proper construction by the work machine 40 becomes possible in consideration of the relative arrangement mode or the mixed displacement mode of the first construction object region and the second construction object region in the construction object region.SELECTED DRAWING: Figure 7

Description

TECHNICAL FIELD The present invention relates to a technique for preventing accidental damage to an underground buried object during excavation by a work machine.

Accidentally damaging underground buried objects such as gas pipes, water pipes, power cables, communication cables, etc., while excavating the ground without the need to install markers on the said buried objects. Techniques for preventing this have been proposed (see, for example, Patent Literature 1). Specifically, based on the position data of the underground buried object in the ground coordinate system and the result of converting the measurement coordinate data of the specific part of the work vehicle in the vehicle body coordinate system into the coordinate data of the ground coordinate system, A separation distance between an object and a specific portion is obtained. Then, when the separation distance becomes equal to or less than the set distance, a specific operation is performed to avoid damage to the implant due to contact at the specific site.

Similarly, a technique has been proposed to prevent accidental damage to buried objects during excavation by an excavator (see, for example, Patent Document 2). Specifically, the buried object information is retrieved according to the three-dimensional position information of the work machine, and if the buried object exists within a predetermined range from the work machine, the three-dimensional position information of the work machine is calculated. Then, when it is determined that the buried object exists within a predetermined range from the working machine based on the three-dimensional position information and the buried object information, the operation of the working machine is stopped.

JP 2003-096811 A Japanese Patent Application Laid-Open No. 2008-216143

However, despite the fact that not only areas where buried objects exist in the ground but also surrounding areas where buried objects do not exist are subject to construction by working machines, construction information on areas where buried objects do not exist is lacking or lacking. Under certain circumstances, the working efficiency of the work machine may decrease.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a system or the like capable of assisting construction by a working machine targeting an area where an object is buried underground and its surrounding area.

The construction support system of the present invention is
an embedded object recognition element for recognizing the spatial occupation mode of an underground embedded object in a construction target area by a working machine;
A first reference plane recognition element that recognizes a first reference closed curved surface extending into the ground so as to cover the buried object from above based on the space occupation mode of the buried object recognized by the buried object recognition element. When,
a second reference plane recognizing element that recognizes a second reference closed curved surface that is spaced downward from the ground surface of the construction target area and horizontally separated from the first reference closed curved surface and extends into the ground; ,
a construction support information generation element that generates construction support information for supporting construction of the construction target area by the working machine as a result of combining the first reference closed curved surface and the second reference closed curved surface;
It has

According to the construction support system with this configuration, a first construction target area (first reference closed curved surface (e.g., spaced above the underground ) and the second construction target area (second reference closed curved surface (e.g., underground The construction support information is generated in a form in which the relative arrangement mode or mixed mode with the area corresponding to the closed plane on the side of the buried object, which is on the same plane as the bottom surface of the buried object, is comprehensively considered. Therefore, by using the construction support information for construction by the work machine, the work machine can perform appropriate construction in consideration of the relative arrangement mode or mixed mode of the first construction target area and the second construction target area in the construction target area. construction becomes possible. A “closed curved surface” is a concept that includes planes and curved surfaces surrounded by closed curves.

A component of the present invention "recognizes" information (or data) by obtaining such information by receiving, reading, searching, etc.; It is a concept encompassing all processes such as determining, measuring, identifying, estimating, predicting, etc. information that prepare the information in a form that can be used for execution of subsequent computations.

In the construction support system configured as described above,
The construction support information generation element recognizes a single continuous first reference closed curved surface as a result of combining the adjacent first reference closed curved surfaces recognized by the first reference surface recognition element. Preferably, the construction support information is generated by:

According to the construction support system having this configuration, when the adjacent first reference closed curved surfaces are combined, the underground space existing in the gap between the first reference closed curved surfaces is interpolated, so that the construction reference in the gap is is defined or clarified, construction support information is generated. Therefore, by using the construction support information for construction by the work machine, appropriate or efficient construction by the work machine can be achieved in view of the relative arrangement mode or mixed mode of the first construction target area and the second construction target area. becomes possible.

In the construction support system configured as described above,
The construction support information generation element generates a curvature of It is preferable that the construction support information is generated by recognizing the single first reference closed curved surface having different modes of change.

According to the construction support system having this configuration, in addition to the relative arrangement of the first construction target area that corresponds to the adjacent first reference closed curved surface, the operation characteristics of the work machine or the work mechanism are taken into consideration. Construction support information is generated. Therefore, by using the construction support information, in addition to the relative arrangement mode or mixed mode of the first construction target area and the second construction target area, the operation characteristics of the work machine or the work mechanism can be considered. Appropriate or efficient installation by machine becomes possible.

In the construction support system configured as described above,
The construction support information generating element recognizes a single composite reference closed curved surface having continuity as a result of combining the adjacent first reference closed curved surface and the second reference closed curved surface, thereby providing the construction support. It is preferred to generate information.

According to the construction support system having this configuration, when the adjacent first reference closed curved surface and second reference closed curved surface are combined, the ground existing in the gap between the first reference closed curved surface and the second reference closed curved surface By interpolating the space, the construction support information is generated in a form that defines or clarifies the construction standard in the gap. Therefore, by using the construction support information for construction by the work machine, appropriate or efficient construction by the work machine can be achieved in view of the relative arrangement mode or mixed mode of the first construction target area and the second construction target area. becomes possible.

In the construction support system configured as described above,
The construction support information generation element is formed by the adjacent direction of the first reference closed curved surface and the second reference closed curved surface, and the operation direction of the working machine or a working mechanism that constitutes the working machine in the construction target area. It is preferable that the construction support information is generated by recognizing the composite reference closed curved surface having different curvature change modes according to the angle.

According to the construction support system having this configuration, in addition to the relative arrangement mode of the adjacent first construction target area and the second construction target area corresponding to the adjacent first reference closed curved surface and the second reference closed curved surface, respectively, the work Construction support information is generated in a form that takes into consideration the operating characteristics of the machine or working mechanism. Therefore, by using the construction support information, in addition to the relative arrangement mode or mixed mode of the first construction target area and the second construction target area, the operation characteristics of the work machine or the work mechanism can be considered. Appropriate or efficient installation by machine becomes possible.

In the construction support system configured as described above,
Preferably, the construction support information generation element transmits the construction support information to a control device to cause the control device to control the operation of the work machine.

According to the construction support system having this configuration, the construction support information is used to control the operation of the work machine by the control device, thereby (while reducing the arithmetic processing load required for the control) the first construction target area. In view of the relative arrangement mode or mixed mode of the second construction target area and the second construction target area, appropriate or efficient construction by the working machine becomes possible.

In the construction support system configured as described above,
The construction support information generating element transmits the construction support information or the construction support image corresponding thereto to the operation device (actual machine operation device/remote operation device), thereby transmitting the construction support to the output interface constituting the operation device. It is preferable to output an image.

According to the construction support system having this configuration, the construction support image corresponding to the construction support information is output to the output interface that constitutes the operation device, thereby assisting the operator in operating the work machine through the operation device. As a result, (while reducing the arithmetic processing load required for output control of the construction support image), the work machine can perform appropriate or Efficient construction becomes possible.

Explanatory drawing about the structure of a construction support system. Explanatory drawing about the structure of a remote control. Explanatory drawing about the structure of a working machine. Explanatory drawing about the function of a construction support system (construction support system). Explanatory drawing about a work environment image. Explanatory drawing about recognition processing of a buried object. FIG. 10 is an explanatory diagram regarding recognition processing of the first and second reference closed curved surfaces; FIG. 10 is an explanatory diagram relating to recognition processing of a composite reference closed curved surface; Explanatory drawing about the example of construction using the construction support information by a working machine. FIG. 11 is an explanatory diagram relating to another embodiment of recognition processing of a combined reference closed curved surface;

(Configuration of construction support system)
The construction support system shown in FIG. 1 is composed of a construction support server 10 which is configured to be capable of mutual network communication with each of the remote control device 20 and the work machine 40 . A construction support system may be configured by the construction support server 10 , the remote controller 20 and/or the work machine 40 . The mutual communication network of construction support server 10 and remote control device 20 and the mutual communication network of construction support server 10 and work machine 40 may be the same or different.

(Configuration of construction support server)
The construction support server 10 includes a database 102 , a buried object recognition element 120 , a first reference plane recognition element 121 , a second reference plane recognition element 122 and a construction support information generation element 124 . The database 102 stores, in addition to captured image data, the spatial occupation mode of each underground buried object in the construction target area. The database 102 may be configured by a database server separate from the construction support server 10 . Each component of the construction support server 10 is configured by an arithmetic processing device (single-core processor or multi-core processor or a processor core that constitutes this), reads necessary data and software from a storage device such as a memory, and processes the data as a target. , the later-described arithmetic processing is executed according to the software.

(Configuration of remote control device)
The remote control device 20 includes a remote control device 200 , a remote input interface 210 and a remote output interface 220 . The remote control device 200 is configured by an arithmetic processing device (single-core processor or multi-core processor or a processor core constituting this), reads necessary data and software from a storage device such as a memory, and uses the data as a target for the software. Execute the arithmetic processing accordingly.

The remote input interface 210 has a remote control mechanism 211 . Remote output interface 220 includes remote image output device 221 , remote audio output device 222 , and remote wireless communication device 224 .

The remote control mechanism 211 includes a traveling operating device, a turning operating device, a boom operating device, an arm operating device, and a bucket operating device. Each operating device has an operating lever that receives a rotating operation. An operating lever (running lever) of the operating device for running is operated to move the lower running body 410 of the work machine 40 . The travel lever may also serve as a travel pedal. For example, a traction pedal may be provided that is fixed to the base or lower end of the traction lever. A control lever (swing lever) of the swing operation device is operated to move a hydraulic swing motor that constitutes the swing mechanism 430 of the work machine 40 . An operating lever (boom lever) of the boom operating device is operated to move the boom cylinder 442 of the work machine 40 . An operating lever (arm lever) of the arm operating device is operated to move the arm cylinder 444 of the working machine 40 . An operating lever (bucket lever) of the bucket operating device is operated to move the bucket cylinder 446 of the work machine 40 .

Each control lever that constitutes the remote control mechanism 211 is arranged around a seat St on which the operator sits, as shown in FIG. 2, for example. The seat St is in the form of a high-back chair with armrests, a low-back chair without a headrest, or a chair without a backrest. may be

Left and right travel levers 2110 corresponding to the left and right crawlers are arranged in a row in front of the seat St. One operating lever may serve as a plurality of operating levers. For example, the left operation lever 2111 provided in front of the left frame of the seat St shown in FIG. 2 functions as an arm lever when operated in the longitudinal direction, and when operated in the lateral direction. function as a pivot lever. Similarly, the right operation lever 2112 provided in front of the right frame of the seat St shown in FIG. It may function as a bucket lever in some cases. The lever pattern may be arbitrarily changed by an operator's operation instruction.

For example, as shown in FIG. 2, the remote image output device 221 includes a central remote image output device 2210 having substantially rectangular screens arranged in front, diagonally forward left, and diagonally forward right of the sheet St. It consists of a left remote image output device 2211 and a right remote image output device 2212 . The shapes and sizes of the respective screens (image display areas) of the central remote image output device 2210, the left remote image output device 2211 and the right remote image output device 2212 may be the same or different. The remote image output device 221 may consist of a single curved or bendable image output device, two or four or more image output devices arranged to surround the front of the sheet St.

As shown in FIG. 2, the left remote image is tilted such that the screen of the central remote image output device 2210 and the screen of the left remote image output device 2211 form an inclination angle θ1 (for example, 120°≦θ1≦150°). The right edge of output device 2211 is adjacent to the left edge of central remote image output device 2210 . As shown in FIG. 2, the right remote image is tilted such that the screen of the central remote image output device 2210 and the screen of the right remote image output device 2212 form an inclination angle θ2 (eg, 120°≦θ2≦150°). The left edge of output device 2212 is adjacent to the right edge of central remote image output device 2210 . The tilt angles θ1 and θ2 may be the same or different.

The respective screens of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be parallel to the vertical direction or may be inclined with respect to the vertical direction. At least one of the central remote image output device 2210, the left remote image output device 2211 and the right remote image output device 2212 may be composed of a plurality of divided image output devices. For example, the central remote image output device 2210 may consist of vertically adjacent image output devices having generally rectangular screens.

The remote sound output device 222 is composed of one or more speakers, for example, as shown in FIG. , a left sound output device 2221 and a right sound output device 2222 . The specifications of the central sound output device 2220, the left sound output device 2221, and the right sound output device 2222 may be the same or different.

(Configuration of working machine)
The working machine 40 includes a real machine control device 400 , a real machine input interface 41 , a real machine output interface 42 , and a working mechanism 440 . Each of the components of the actual machine control device 400 is configured by an arithmetic processing device (single-core processor or multi-core processor, or a processor core constituting this), reads necessary data and software from a storage device such as a memory, and stores the data. Arithmetic processing according to the software is executed as an object.

The work machine 40 is, for example, a crawler excavator (construction machine), and as shown in FIG. and an upper revolving body 420 . A cab 424 (driver's cab) is provided on the front left side of the upper swing body 420 . A work mechanism 440 is provided in the front central portion of the upper swing body 420 .

The real machine input interface 41 includes a real machine operating mechanism 411 , a real machine imaging device 412 , and a positioning device 414 . The actual machine operating mechanism 411 includes a plurality of operating levers arranged around a seat arranged inside the cab 424 in the same manner as the remote operating mechanism 211 . The cab 424 is provided with a drive mechanism or a robot that receives a signal corresponding to the operation mode of the remote control lever and moves the actual machine control lever based on the received signal. The actual machine imaging device 412 is installed inside the cab 424, for example, and images the environment including at least part of the working mechanism 440 through the front window and the left and right side windows. Some or all of the front window and side windows may be omitted. The positioning device 414 is composed of a GPS and, if necessary, a gyro sensor or the like.

The real machine output interface 42 includes a real machine wireless communication device 422 .

As shown in FIG. 3, a work attachment 440 as a work mechanism includes a boom 441 attached to the upper rotating body 420 so as to be able to rise and fall, and an arm 443 rotatably connected to the tip of the boom 441. and a bucket 445 rotatably connected to the tip of the arm 443 . The working mechanism 440 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446, which are configured by telescopic hydraulic cylinders.

The boom cylinder 442 is interposed between the boom 441 and the upper slewing body 420 so as to expand and contract when supplied with hydraulic oil to rotate the boom 441 in the hoisting direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to expand and contract when supplied with hydraulic oil to rotate the arm 443 about the horizontal axis with respect to the boom 441 . The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to expand and contract when supplied with hydraulic oil to rotate the bucket 445 with respect to the arm 443 about the horizontal axis.

(function)
The functions of the construction support system and imaging function control system configured as described above will be described with reference to the flow chart shown in FIG. In the flowchart, the block "C●" is used for simplification of the description, means transmission and/or reception of data, and processing in the branch direction is executed on the condition of transmission and/or reception of the data. It means a conditional branch.

In the remote control device 20, the remote control device 200 transmits a ground condition confirmation request to the construction support server 10 through the remote wireless communication device 224 (FIG. 4/STEP 210). The presence or absence of the first designation operation through the remote input interface 210 may be determined by the operator, and the ground condition confirmation request may be transmitted when the determination result is affirmative. The “first specifying operation” is, for example, an operation such as tapping on the remote input interface 210 for specifying the work machine 40 intended for remote operation by the operator.

In the construction support server 10, when the ground condition confirmation request is received, the ground condition confirmation request is transmitted to the corresponding work machine 40 by the first reference plane recognition element 121 (FIG. 4/C10).

When the work machine 40 receives the ground condition confirmation request through the actual wireless communication device 422 (FIG. 4/C40), the actual device control device 400 acquires the captured image through the actual device imaging device 412, and the actual device wireless communication device 422 The captured image data subjected to the image processing is transmitted to the remote control device 10 through the remote control device 10 (FIG. 4/STEP 410).

In the construction support server 10, when the captured image data is received by the first reference plane recognition element 121 (FIG. 4/C11), the environmental image data corresponding to the captured image is transmitted to the remote control device 20 by the second reference plane recognition element 122. (FIG. 4/STEP 110). The environmental image data is image data representing a simulated environmental image generated based on the captured image as well as the captured image data itself.

When the remote control device 20 receives environmental image data through the remote wireless communication device 224 (FIG. 4/C21), the remote control device 200 outputs an environmental image corresponding to the environmental image data to the remote image output device 221. (FIG. 4/STEP 212).

As a result, for example, as shown in FIG. 445) is output to the remote image output device 221.

In the remote operation device 20, the remote control device 200 transmits an underground situation confirmation request to the construction support server 10 through the remote wireless communication device 224 (FIG. 4/STEP 220). The presence or absence of the second specifying operation through the remote input interface 210 may be determined by the operator, and the underground condition confirmation request may be transmitted when the determination result is affirmative. The "second specifying operation" is, for example, an operation such as tapping on the remote input interface 210 for specifying the work machine 40 intended for remote operation by the operator. The second specifying operation may be the same operation as the first specifying operation, or may be a different operation.

When the construction support server 10 receives the underground condition confirmation request (FIG. 4/C20), the buried object recognition element 120 recognizes the spatial occupation of the underground buried object in the construction target area related to the underground condition confirmation request. Aspects are recognized (FIG. 4/STEP 120). As a result, for example, as shown in FIG. 6A, two cylindrical buried objects E1 and E2 which are not vertically overlapped but horizontally separated and extend at approximately the same underground depth position. Space occupation patterns in the ground are recognized.

The construction target area is specified by a set of coordinate values (X (longitude), Y (latitude)) of the world coordinate system representing the boundary thereof, for example. The construction target area is based on communication between the construction support server 10 and the remote control device 20 or the work machine 40 to be operated by the remote control device 20, for example, based on an identifier for identifying the remote control device 20 and/or the work machine 40. It is recognized by searching the database 102 . The space occupation mode of a buried object is specified, for example, by a set of coordinate values (X (longitude), Y (latitude), Z (altitude above sea level or distance from the ground surface)) of the world coordinate system representing its outer surface. The space occupancy of buried objects in the ground is measured by, for example, an underground probe, and the measurement results are registered in the database 102 in advance. The space occupancy state of the buried object in the ground is recognized by searching the database 102 based on the construction target area, for example.

Subsequently, based on the space occupation mode of the buried object recognized by the buried object recognition element 120, the first reference plane recognition element 121 recognizes the first reference extending into the ground so as to cover the buried object from above. A closed curved surface is recognized (FIG. 4/STEP 121).

As a result, for example, as shown in FIG. 6B, the first slab extends in the ground at a depth position spaced a first specified distance d1 above the upper ends of the buried objects E1 and E2 in the ground. Reference closed surfaces S11 and S12 are recognized. The first designated area d1 may be defined by the construction plan for the construction target area stored in the database 102 .

The first reference closed curved surfaces S11 and S12 may be defined as curved surfaces defined by a plurality of control points, such as Bezier curved surfaces and/or NURBS (non-uniform rational B-spline) curved surfaces. The curved surface may be defined as a curved surface having continuity (G1 continuity, G2 continuity or G3 continuity). For example, when the first reference closed curved surfaces S11 and S12 are defined by Bezier triangular curved surfaces, the domain of the control net of the Bezier triangular curved surfaces is defined by a triangular mesh stretched on the horizontal plane, and the underground buried objects E1 and E2 are defined by triangular meshes. The first reference closed curved surfaces S11 and S12 are defined so as to ensure the continuity of the triangular patches, with the control point being a point spaced upward from the upper end by the first designated distance d1.

Furthermore, it is spaced downward from the ground surface of the construction target area, and is horizontally spaced from the first reference closed curved surface recognized by the first reference surface recognition element 121 (does not overlap in the vertical direction) and extends into the ground. The existing second reference closed curved surface is recognized by the second reference surface recognition element 122 (FIG. 4/STEP 122).

As a result, for example, as shown in FIG. 6B, the second reference closed curved surfaces S21 and S22 extending in the ground at a depth position spaced downward from the ground surface by the second designated distance d2 are recognized. The second designated distance d2 may be defined by the construction plan for the construction target area stored in the database 102 . The second designated distance d2 may be defined such that the second reference closed curved surfaces S21 and S22 are recognized at the same depth position as the lower ends of the buried objects E1 and E2.

The second reference closed curved surfaces S21 and S22 are defined by a plurality of control points such as Bezier curved surfaces and/or NURBS (non-uniform rational B-spline) curved surfaces, like the first reference closed curved surfaces S11 and S12. It may be defined as a curved surface. The curved surface may be defined as a curved surface having continuity (G1 continuity, G2 continuity or G3 continuity). For example, when the second reference closed curved surfaces S21 and S22 are defined by Bezier triangular curved surfaces, the domain of the control net of the Bezier triangular curved surfaces is defined by a triangular mesh stretched on the horizontal plane, and is downwardly defined by a second designated distance d2 from the ground surface. The second reference closed curved surfaces S21 and S22 are defined so as to ensure the continuity of the triangular patches, with points spaced apart by .

Then, the construction support information generating element 124 generates construction support information as a result of combining the first reference closed surface and the second reference closed surface, and transmits the construction support information to the remote control device 20 (Fig. 4/ STEP 124).

Thereby, for example, as shown in FIG. 6C, a single composite reference closed curved surface CS is defined based on the first reference closed curved surfaces S11, S12 and the first reference closed curved surfaces S21, S22, and the single reference closed curved surface CS is defined as shown in FIG. is generated as the construction support information. Specifically, the adjacent first reference closed curved surfaces S11 and S12 are continuously connected or combined by the interpolation curved surface S00 to define a single new first reference closed curved surface. In addition, the new first reference closed curved surface (=S11+S00+S12) and the second reference closed curved surfaces S21 and S22 adjacent thereto are continuously connected or combined by the interpolation curved surfaces S01 and S02 to form a single composite reference surface. It is defined as a closed curved surface CS. Interpolated surfaces S00, S01 and S02 may be defined as surfaces defined by a plurality of control points, such as Bezier surfaces and/or NURBS surfaces.

A first composite reference closed curved surface is defined by continuously connecting the first reference closed curved surface S11 and the second reference closed curved surface S21 adjacent thereto by the interpolation curved surface S01. The second composite reference closed curved surface is defined by continuously connecting the adjacent second reference closed curved surfaces S22 by the interpolation curved surface S02, and the first composite reference closed curved surface (S11+S01+S21) and the second composite reference closed curved surface (S12+S02+S22 ) may be continuously connected or combined by the interpolating curved surface S00 to define a single combined reference closed curved surface CS.

When the remote control device 20 receives construction support information through the remote wireless communication device 224 (FIG. 4/C22), the remote control device 200 outputs a construction support image corresponding to the construction support information to the remote image output device 221. (FIG. 4/STEP 222).

As a result, for example, as shown in FIG. 5, the construction support image representing the extension of the composite reference closed curved surface CS in the construction target area is output to the remote image output device 221 in a form superimposed on the environment image. be done. Since the extension of the composite reference closed curved surface CS represented by the construction support information is defined in the world coordinate system, the extension of the composite reference closed curved surface CS is coordinate-transformed into the environment image coordinate system. For this coordinate conversion, the coordinate values in the world coordinate system of the work machine 40 are measured using GPS or the like, and the actual machine coordinate system of the actual machine imaging device 412 (the coordinate system whose position and attitude are fixed with respect to the upper rotating body 420) ) may be stored in the storage device and/or the database 102 constituting the remote control device 200 . The operator can operate the control lever that configures the remote control mechanism 211 to move the bucket 445 while viewing the environment image output to the remote image output device 221 and the construction support image superimposed thereon.

In addition, as shown in FIG. 7, a three-dimensional model image representing the spatial occupancy of the work machine 40, the buried objects E1 and E2, and the composite reference closed curved surface CS is sent to the remote image output device 221 as a construction support image. may be output. Since the extended form of the composite reference closed curved surface CS represented by the construction support information is defined in the world coordinate system, the coordinate values in the world coordinate system of the work machine 40 are measured using GPS or the like, and the remote control device 200 is controlled. It may be stored and held in a constituent storage device and/or database 102 .

In the remote operation device 20, the remote control device 200 recognizes the operation mode of the remote operation mechanism 211, and transmits a remote operation command corresponding to the operation mode to the remote operation support server 10 through the remote wireless communication device 224. (FIG. 4/STEP 220).

In the remote operation support server 10, when the remote operation command is received by the second support processing element 122, the remote operation command is transmitted to the work machine 40 by the first support processing element 121 (FIG. 4/ C14).

In the work machine 40, when the actual machine control device 400 receives an operation command through the actual machine wireless communication device 422 (FIG. 4/C44), the operation of the working mechanism 440 and the like is controlled (FIG. 4/STEP 414). For example, the bucket 445 digs up and scoops the soil in the construction target area in front of the work machine 40, rotates the upper revolving body 410, and then drops the soil from the bucket 445 outside the construction target area.

(Effect)
According to the construction support system having this configuration, the first construction target area (the area corresponding to the first reference closed curved surfaces S11 and S12) in which it is necessary to avoid interference between the work machine 40 and the buried objects E1 and E2 ) and the second construction target area (areas corresponding to the second reference closed curved surfaces E21 and E22) where there is no possibility of interference with the buried object by the work machine 40 but construction with the ground surface as the reference is required. Construction support information is generated in a form in which the mode or mixed mode is comprehensively considered (see FIGS. 6A, 6B, and 6C). Therefore, by using the construction support information for construction by the work machine 40, the construction by the work machine 40 can be performed in consideration of the relative arrangement mode or mixed mode of the first construction target area and the second construction target area in the construction target area. Appropriate construction becomes possible (see FIGS. 5 and 7).

A single new reference surface having continuity (G1, G2 or G3 continuity) as a result of combining adjacent first reference closed curved surfaces S11 and S12 corresponding to each of a plurality of buried objects E1 and E2. One reference closed surface (=S11+S00+S12) is recognized (see FIG. 6C).

By adopting this configuration, when the adjacent first reference closed curved surfaces S11 and S12 are combined, the underground space existing in the gap between the first reference closed curved surfaces S11 and S12 is interpolated by the interpolation curved surface S00. , the construction support information is generated in a form in which the construction standard for the gap is defined or clarified. Therefore, by using the construction support information for construction by the work machine, appropriate or efficient construction by the work machine 40 can be achieved in view of the relative arrangement mode or mixed mode of the first construction target area and the second construction target area. construction becomes possible.

Continuity (G1, G2 or G3 continuity) as a result of combining adjacent first reference closed surface S11 (or S12 or (S11+S00+S12)) and second reference closed surface S21 (or S22 or S21 and S22) Construction support information is generated after recognizing a single composite reference closed curved surface CS having a (see FIG. 6C).

With this configuration, when the adjacent first reference closed surface S11 (or S12, or (S11+S00+S12)) and the second reference closed surface S21 (or S22, or S21 and S22) are combined, the first reference closed surface By interpolating the underground space existing in the gap between the curved surface and the second reference closed curved surface with the interpolated curved surface S01 (or S02, or S01 and S02), construction is performed in a form in which the construction standard in the gap is defined or clarified. Supporting information is generated. Therefore, by using the construction support information for construction by the work machine, appropriate or efficient construction by the work machine 40 can be achieved in view of the relative arrangement mode or mixed mode of the first construction target area and the second construction target area. construction becomes possible.

(Another embodiment of the present invention)
Although the construction support system is composed of the construction support server 10 in the above embodiment, it may be composed of the remote control device 20 and/or the work machine 40 as another embodiment. That is, the embedded object recognition element 120, the first reference plane recognition element 121, the second reference plane recognition element 122 and/or the construction support information generation element 124 are configured by the remote controller 200 and/or the actual machine controller 400. good too.

In the above embodiment, the construction support information is generated by recognizing the composite reference closed curved surface CS obtained by combining the first reference closed curved surface and the second reference closed curved surface (see FIG. 6C). , the process of recognizing the composite reference closed curved surface CS may be omitted, and the construction support information may be generated according to only the space occupation mode of each of the first reference closed curved surface and the second reference closed curved surface. In the above embodiment, a single new first reference closed curved surface (=S11+S00+S12) was recognized as a result of combining at least two adjacent first reference closed curved surfaces S11 and S12 (see FIG. 6C). As another embodiment, the process of recognizing the single new first reference closed curved surface may be omitted.

In the above embodiment, the operation of the work machine 40 is controlled by the operator through the operation of the remote control mechanism 211 that constitutes the remote control device 20. However, in another embodiment, the actual machine operation mechanism 411 is controlled by the operator riding in the cab 424. Operation of work machine 40 may be controlled through manipulation. In this case, the construction support information is transmitted from the construction support server 10 to the corresponding work machine 40 (see FIG. 4/STEP 122), and the actual machine image output device arranged inside the cab 424, which constitutes the actual machine output interface 42, executes the construction. Assistance images may be output (see FIGS. 5 and 7). Also, the remote control device 20 may be omitted.

The construction support information generating element 124 may transmit the construction support information to the work machine 40 or the actual machine control device 400 to cause the actual machine control device to control the operation of the work machine 40 . Appropriate or efficient construction can be performed by the working machine 40 whose operation is automatically controlled in view of the relative arrangement mode or mixed mode of the first construction target area and the second construction target area.

The construction support information generation element 124 determines the curvature of curvature according to the angle θ between the adjacent directions of at least two first reference closed curved surfaces and the operation direction of the work mechanism 440 of the work machine 40 or the baguette 445 in the construction target area. The construction support information may be generated by recognizing a new first reference closed curved surface with a different change mode.

For example, as shown in FIG. 8, a plurality of first reference closed curved surfaces S11 to S15 corresponding to each of the plurality of buried objects E1 to E5 in the underground cross section parallel to the xz plane of the construction target area. Consider a situation in which In this situation, when the operating direction of the working mechanism 440 in the construction target area (the direction in which the bucket 445 is moved) is the x direction (when θ=0°), the x A single first reference closed curved surface CCS1 with a relatively small change in curvature (cumulative value) in the direction is recognized. On the other hand, in this situation, when the operation direction of the working mechanism 440 in the construction target area is the y direction (when θ=90°), the curvature in the x direction is A single first reference closed curved surface CCS2 with a relatively large change (cumulative value) is recognized. In this embodiment, the single first reference closed curved surface is defined such that the cumulative value of changes in curvature of the single first reference closed curved surface is an increasing function of θ (0°≦θ≦90°). ing. As the function of θ, a decreasing function or an increasing/decreasing function may be employed in addition to an increasing function.

According to the construction support system having this configuration, in addition to the relative layout of the adjacent first construction target areas corresponding to the adjacent first reference closed curved surfaces S11 to S15, the operation characteristics of the work machine 40 or the work mechanism 440 are taken into consideration. Construction support information is generated in the form of Therefore, by using the construction support information, in view of the operation characteristics of the working machine 40 or the working mechanism 440 in addition to the relative arrangement mode or mixed mode of the first construction target area and the second construction target area, Appropriate or efficient construction by the working machine 40 becomes possible.

The construction support information generating element 124 generates a compound curve in which the curvature changes differently according to the angle between the adjacent direction of the first reference closed curved surface and the second reference closed curved surface and the operation direction of the construction target area of the work machine 40 . The construction support information may be generated by recognizing the reference closed curved surface.

According to the construction support system having this configuration, in addition to the relative arrangement mode of the adjacent first construction target area and the second construction target area corresponding to the adjacent first reference closed curved surface and the second reference closed curved surface, respectively, the work Construction support information is generated in a form that takes into consideration the operating characteristics of the machine 40 or the work mechanism 440 . Therefore, by using the construction support information, in view of the operation characteristics of the working machine 40 or the working mechanism 440 in addition to the relative arrangement mode or mixed mode of the first construction target area and the second construction target area, Appropriate or efficient construction by the working machine 40 becomes possible.

10 Construction support server 20 Remote control device 40 Work machine 102 Database 120 Embedded object recognition element 121 First reference plane recognition element 122 Second reference plane recognition element 124 Construction support Information generation elements 200 Remote control device 210 Remote input interface 211 Remote operation mechanism 220 Remote output interface 221 Remote image output device 222 Remote sound output device 400 Actual machine control device 410 Actual machine input interface 420 Actual machine output interface 424 Cab (operator cab) 440 Working mechanism 445 Bucket (working part) CS Composite reference closed curved surface E1, E2 Buried object S00, S01, S02 Interpolation curved surface S11, S12 First reference closed curved surface S21, S22 Second reference closed curved surface.

Claims (8)

an embedded object recognition element for recognizing the spatial occupation mode of an underground embedded object in a construction target area by a working machine;
A first reference plane recognition element that recognizes a first reference closed curved surface extending into the ground so as to cover the buried object from above based on the space occupation mode of the buried object recognized by the buried object recognition element. When,
a second reference plane recognizing element that recognizes a second reference closed curved surface that is spaced downward from the ground surface of the construction target area and horizontally separated from the first reference closed curved surface and extends into the ground; ,
a construction support information generation element that generates construction support information for supporting construction of the construction target area by the working machine as a result of combining the first reference closed curved surface and the second reference closed curved surface;
construction support system. In the construction support system according to claim 1,
The construction support information generation element recognizes a single continuous first reference closed curved surface as a result of combining the adjacent first reference closed curved surfaces recognized by the first reference surface recognition element. A construction support system that generates the construction support information by In the construction support system according to claim 2,
The construction support information generation element generates a curvature of A construction support system that generates the construction support information by recognizing the single first reference closed curved surface with different change modes. In the construction support system according to any one of claims 1 to 3,
The construction support information generating element recognizes a single composite reference closed curved surface having continuity as a result of combining the adjacent first reference closed curved surface and the second reference closed curved surface, thereby providing the construction support. A construction support system that generates information. In the construction support system according to claim 4,
The construction support information generation element is formed by the adjacent direction of the first reference closed curved surface and the second reference closed curved surface, and the operation direction of the working machine or a working mechanism that constitutes the working machine in the construction target area. A construction support system that generates the construction support information by recognizing the composite reference closed curved surface with different curvature change modes depending on the angle. In the construction support system according to any one of claims 1 to 5,
The construction support system, wherein the construction support information generation element transmits the construction support information to the control device, thereby causing the control device to control the operation of the work machine. In the construction support system according to any one of claims 1 to 6,
A construction support system in which the construction support information generating element transmits the construction support information or the construction support image corresponding to the construction support information to the operation device, thereby outputting the construction support image to an output interface constituting the operation device. an embedded object recognition process for recognizing a space occupation mode of an underground embedded object in a construction target area by a working machine;
A first reference plane recognition process for recognizing a first reference closed curved surface extending into the ground so as to cover the buried object from above, based on the space occupation mode of the buried object recognized in the buried object recognition process. When,
a second reference plane recognizing step of recognizing a second reference closed curved surface that is downwardly spaced from the ground surface of the construction target area and horizontally separated from the first reference closed curved surface and extending into the ground; ,
a construction support information generation process for generating construction support information for supporting construction of the construction target area by the working machine as a result of combining the first reference closed curved surface and the second reference closed curved surface;
construction support methods including;

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