JP7552494B2 - Construction support system and construction support method - Google Patents

Description

The present invention relates to a technique for preventing accidental damage to buried objects in the ground while excavating the ground with a work machine.

A technology has been proposed that prevents buried objects such as gas pipes, water pipes, power cables, and communication cables from being accidentally damaged while an excavation vehicle is excavating the ground, without the need to place markers on the buried objects (see, for example, Patent Document 1). Specifically, the distance between the buried object and a specific part is calculated based on the position data of the buried object in the ground coordinate system and the result of converting the measured coordinate data of a specific part of the work vehicle in the vehicle body coordinate system into coordinate data in the ground coordinate system. Then, when the distance falls below a set distance, a specific operation is executed to avoid damage to the buried object due to contact with the specific part.

Similarly, a technique has been proposed to prevent buried objects in the ground from being accidentally damaged while an excavation machine is excavating the ground (see, for example, Patent Document 2). Specifically, buried object information is searched for according to the three-dimensional position information of the machine, and if a buried object is present within a predetermined range from the machine, the three-dimensional position information of the machine is calculated. Then, if it is determined that a buried object is present within a predetermined range from the machine based on this three-dimensional position information and the buried object information, operation of the machine is stopped.

JP 2003-096811 A JP 2008-216143 A

However, although the work machine is to carry out work not only in areas where buried objects exist underground but also in surrounding areas where no buried objects exist, if there is insufficient or no work information about areas where no buried objects exist, the work efficiency of the work machine may decrease.

The present invention therefore aims to provide a system that can assist in construction work by a work machine in areas where underground objects are present and in the surrounding areas.

The construction support system of the present invention comprises:
a buried object recognition element for recognizing a spatial occupation pattern of buried objects in an area to be worked on by a work machine;
a first reference surface recognition element that recognizes a first reference closed surface extending into the ground so as to cover the buried object from above, based on the spatial occupation mode of the buried object recognized by the buried object recognition element;
A second reference surface recognition element that recognizes a second reference closed surface that is spaced downward from the ground surface of the construction target area and extends underground at a horizontal distance from the first reference closed surface;
a construction support information generation element that generates construction support information for supporting construction of the construction target area by the work machine as a result of combining the first reference closed surface and the second reference closed surface;
It is equipped with:

According to the construction support system of this configuration, the construction support information is generated in a form that comprehensively takes into consideration the relative arrangement or mixture of the first construction target area (area corresponding to the first reference closed surface (e.g., a closed plane spaced above an underground buried object)) in which it is necessary to avoid interference between the work machine and the buried object in the construction target area, and the second construction target area (area corresponding to the second reference closed surface (e.g., a closed plane on the same plane as the bottom surface of the underground buried object and beside the buried object)) in which there is no possibility of interference with the buried object by the work machine but construction based on the ground surface is required. Therefore, by using the construction support information for construction by the work machine, appropriate construction by the work machine can be performed in consideration of the relative arrangement or mixture of the first construction target area and the second construction target area in the construction target area. The term "closed surface" is a concept that includes flat surfaces and curved surfaces enclosed by closed curves.

The components of the present invention "recognize" information (or data), which encompasses any process that prepares the information in a form that can be used to perform subsequent computations, such as obtaining the information by receiving, reading, searching, etc., or determining, measuring, identifying, estimating, predicting, etc. the information by performing computations on the underlying data or signals.

In the construction support system having the above configuration,
It is preferable that the construction support information generation element generates the construction support information by recognizing a single first reference closed surface having continuity as a result of combining adjacent first reference closed surfaces recognized by the first reference surface recognition element.

According to the construction support system having the above-described configuration, when adjacent first reference closed surfaces are combined, the underground space existing in the gap between the first reference closed surfaces is interpolated, and construction support information is generated in a form in which the construction reference in the gap is defined or clarified. Therefore, by using the construction support information in construction by a work machine, appropriate or efficient construction by the work machine can be performed in consideration of the relative arrangement or mixture of the first construction target area and the second construction target area.

In the construction support system having the above configuration,
It is preferable that the construction support information generation element generates the construction support information by recognizing the single first reference closed surface whose curvature changes in different ways depending on the angle between the adjacent directions of the first reference closed surface and the operation direction of the work machine or a work mechanism constituting the work machine in the construction target area.

According to the construction support system having this configuration, construction support information is generated in a form that takes into consideration the relative arrangement of adjacent first construction target areas corresponding to adjacent first reference closed surfaces as well as the operating characteristics of the work machine or work mechanism. Therefore, by utilizing this construction support information, appropriate or efficient construction by the work machine is possible in consideration of the operating characteristics of the work machine or work mechanism as well as the relative arrangement or mixed arrangement of the first construction target area and the second construction target area.

In the construction support system having the above configuration,
It is preferable that the construction support information generation element generates the construction support information by recognizing a single composite reference closed surface having continuity as a result of combining adjacent first reference closed surfaces and second reference closed surfaces.

According to the construction support system having the above-described configuration, when adjacent first and second reference closed surfaces are combined, the underground space existing in the gap between the first and second reference closed surfaces is interpolated, thereby generating construction support information in a form in which the construction reference in the gap is defined or clarified. Therefore, by using the construction support information for construction by a work machine, appropriate or efficient construction by the work machine can be performed in consideration of the relative arrangement or mixture of the first and second construction target areas.

In the construction support system having the above configuration,
It is preferable that the construction support information generation element generates the construction support information by recognizing the composite reference closed surface whose curvature changes differently depending on the angle between the adjacent directions of the first reference closed surface and the second reference closed surface and the operation direction of the work machine or a work mechanism constituting the work machine in the construction target area.

According to the construction support system having this configuration, construction support information is generated in a form that takes into consideration the relative arrangement of the adjacent first and second construction target areas corresponding to the adjacent first and second reference closed surfaces, respectively, as well as the operating characteristics of the work machine or work mechanism. Therefore, by utilizing this construction support information, appropriate or efficient construction by the work machine is possible in consideration of the operating characteristics of the work machine or work mechanism, in addition to the relative arrangement or mixed arrangement of the first and second construction target areas.

In the construction support system having the above configuration,
It is preferable that the construction support information generating element transmits the construction support information to a control device, thereby causing the control device to control the operation of the work machine.

According to the construction support system of this configuration, the construction support information is used to control the operation of the work machine by the control device, thereby enabling appropriate or efficient construction by the work machine in consideration of the relative arrangement or mixture of the first construction target area and the second construction target area (while reducing the computational processing load required for said control).

In the construction support system having the above configuration,
It is preferable that the construction support information generation element transmits the construction support information or a construction support image corresponding to the construction support information to an operation device (actual machine operation device/remote operation device), thereby outputting the construction support image to an output interface constituting the operation device.

According to the construction support system of this configuration, a construction support image corresponding to the construction support information is output to an output interface constituting an operation device, thereby supporting the operation of the work machine by the operator through the operation device. This enables appropriate or efficient construction by the work machine in consideration of the relative arrangement or mixture of the first construction target area and the second construction target area (while reducing the computational processing load required for output control of the construction support image).

FIG. 1 is an explanatory diagram of a configuration of a construction support system. FIG. 2 is an explanatory diagram relating to the configuration of a remote control device. FIG. 2 is an explanatory diagram relating to the configuration of a work machine. FIG. 2 is an explanatory diagram of functions of the construction support system (construction support system). FIG. FIG. 5A and 5B are explanatory diagrams relating to a recognition process of the first and second reference closed surfaces; FIG. 11 is an explanatory diagram relating to a recognition process of a composite reference closed surface. FIG. 4 is an explanatory diagram relating to a construction example using construction support information by a work machine. 13A and 13B are explanatory diagrams relating to another embodiment of the recognition process of a combined reference closed surface.

(Configuration of construction support system)
The construction support system shown in Fig. 1 is composed of a construction support server 10 configured to be able to communicate via a network with each of a remote operation device 20 and a work machine 40. The construction support system may be composed of the construction support server 10, and the remote operation device 20 and/or the work machine 40. The mutual communication network between the construction support server 10 and the remote operation device 20 and the mutual communication network between the construction support server 10 and the work machine 40 may be the same as or different from each other.

(Configuration of the 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 and holds the captured image data as well as the spatial occupancy patterns of buried objects in the construction target area. The database 102 may be configured as a database server separate from the construction support server 10. Each component of the construction support server 10 is configured by a calculation processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes the later-described calculation processing according to the software on the data.

(Configuration of remote control device)
The remote operation 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 with an arithmetic processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes arithmetic processing on the data according to the software.

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

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

The operating levers constituting the remote control mechanism 211 are arranged around the 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, but it may be in the form of a low-back chair without a headrest, or in the form of a chair without a backrest, or any other form of seating on which the operator can sit.

Left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat St. One operation lever may serve as multiple operation levers. For example, the left operation lever 2111 provided in front of the left frame of the seat St shown in FIG. 2 may function as an arm lever when operated in the forward/backward direction, and as a rotation lever when operated in the left/right direction. Similarly, the right operation lever 2112 provided in front of the right frame of the seat St shown in FIG. 2 may function as a boom lever when operated in the forward/backward direction, and as a bucket lever when operated in the left/right direction. The lever pattern may be changed as desired by the operator's operation instructions.

2, the remote image output device 221 is composed of a central remote image output device 2210, a left remote image output device 2211, and a right remote image output device 2212, each having a substantially rectangular screen arranged in front of the seat St, diagonally forward to the left, and diagonally forward to the right. The 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 have the same shape and size or may differ. The remote image output device 221 may be composed of a single curved or bendable image output device, or two or four or more image output devices arranged to surround the front of the seat St.

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

The 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 inclined 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 multiple divided image output devices. For example, the central remote image output device 2210 may be composed of adjacent image output devices above and below, each having a roughly rectangular screen.

The remote audio output device 222 is composed of one or more speakers, and is composed of a central audio output device 2220, a left audio output device 2221, and a right audio output device 2222, which are arranged behind the seat St, at the rear of the left armrest, and at the rear of the right armrest, as shown in FIG. 2. The specifications of the central audio output device 2220, the left audio output device 2221, and the right audio output device 2222 may be the same or different.

(Configuration of the work machine)
The work machine 40 comprises an actual machine control device 400, an actual machine input interface 41, an actual machine output interface 42, and a work mechanism 440. Each of the components of the actual machine control device 400 is made up of an arithmetic processing device (a single-core processor or a multi-core processor or a processor core constituting the same), which reads necessary data and software from a storage device such as a memory, and executes arithmetic processing on the data in accordance with the software.

The work machine 40 is, for example, a crawler excavator (construction machine), and as shown in FIG. 3, includes a crawler-type lower track body 410 and an upper rotating body 420 that is rotatably mounted on the lower track body 410 via a rotating mechanism 430. A cab 424 (operator's compartment) is provided on the front left side of the upper rotating body 420. A work mechanism 440 is provided in the front center of the upper rotating body 420.

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

The actual device output interface 42 is equipped with an actual device wireless communication device 422.

As shown in FIG. 3, the work attachment 440 as a working mechanism includes a boom 441 that is movably attached to the upper rotating body 420, an arm 443 that is rotatably connected to the tip of the boom 441, and a bucket 445 that is 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 that are configured as extendable hydraulic cylinders.

The boom cylinder 442 is interposed between the boom 441 and the upper rotating body 420 so as to extend and retract when supplied with hydraulic oil, thereby rotating the boom 441 in the hoisting direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to extend and retract when supplied with hydraulic oil, thereby rotating the arm 443 around a horizontal axis relative to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to extend and retract when supplied with hydraulic oil, thereby rotating the bucket 445 around a horizontal axis relative to the arm 443.

(function)
The functions of the construction support system and the imaging function control system having the above-mentioned configuration will be described with reference to the flowchart shown in Fig. 4. In the flowchart, a block "C" is used for the sake of simplicity, and means transmission and/or reception of data, and means a conditional branch in which processing in a branching direction is executed on the condition that the data is transmitted and/or received.

In the remote operation device 20, the remote control device 200 transmits a ground situation confirmation request to the construction support server 10 via the remote wireless communication device 224 (FIG. 4/STEP 210). The presence or absence of a first designation operation by the operator via the remote input interface 210 may be determined, and the ground situation confirmation request may be transmitted if the determination result is positive. The "first designation operation" is, for example, an operation such as tapping on the remote input interface 210 for the operator to designate the work machine 40 that he or she intends to remotely operate.

When a ground situation confirmation request is received by the construction support server 10, the first reference plane recognition element 121 transmits the ground situation confirmation request to the corresponding work machine 40 (Figure 4/C10).

When a ground situation confirmation request is received in the work machine 40 via the actual machine wireless communication device 422 (Fig. 4/C40), the actual machine control device 400 acquires an image via the actual machine imaging device 412, and the image data that has been subjected to the image processing is transmitted to the remote control device 10 via the actual machine wireless communication device 422 (Fig. 4/STEP 410).

When the construction support server 10 receives captured image data by the first reference plane recognition element 121 (FIG. 4/C11), the second reference plane recognition element 122 transmits environmental image data corresponding to the captured image to the remote control device 20 (FIG. 4/STEP 110). The environmental image data is not only the captured image data itself, but also image data representing a simulated environmental image generated based on the captured image.

When the remote operation 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. 5, an environmental image is output to the remote image output device 221 through the window frame that defines the cab 424, showing the boom 441 and arm 443, which are part of the work mechanism 440, and a pile of rubble or earth and sand in the construction area (the target of work by the bucket 445).

In the remote operation device 20, the remote control device 200 transmits a request to confirm the underground situation to the construction support server 10 via the remote wireless communication device 224 (FIG. 4/STEP 220). The presence or absence of a second designation operation by the operator via the remote input interface 210 may be determined, and the underground situation confirmation request may be transmitted if the determination result is positive. The "second designation operation" is, for example, an operation such as tapping on the remote input interface 210 for the operator to designate the work machine 40 that he or she intends to remotely operate. The second designation operation may be the same operation as the first designation operation, or may be a different operation.

When the construction support server 10 receives a request to confirm the underground situation (FIG. 4/C20), the buried object recognition element 120 recognizes the spatial occupation mode of the buried object in the construction target area related to the underground situation confirmation request (FIG. 4/STEP 120). As a result, for example, as shown in FIG. 6A, the spatial occupation mode in the ground of two cylindrical buried objects E1 and E2 that do not overlap vertically, are spaced apart horizontally, and extend at approximately the same underground depth is recognized.

The construction target area is identified, for example, by a set of coordinate values (X (longitude), Y (latitude)) in the world coordinate system that represent its boundaries. The construction target area is recognized, for example, by searching the database 102 based on an identifier for identifying the remote control device 20 and/or the work machine 40, based on communication between the construction support server 10 and the remote control device 20 or the work machine 40 that is the target of its operation. The spatial occupancy of the buried object is identified, for example, by a set of coordinate values (X (longitude), Y (latitude), Z (height above sea level or distance from the ground)) in the world coordinate system that represent its outer surface. The spatial occupancy of the buried object underground is measured, for example, by an underground probe, and the measurement results are registered in advance in the database 102. The spatial occupancy of the buried object underground is recognized, for example, by searching the database 102 based on the construction target area.

Next, based on the spatial occupancy pattern of the buried object recognized by the buried object recognition element 120, the first reference surface recognition element 121 recognizes a first reference closed surface extending into the ground so as to cover the buried object from above (Figure 4/STEP 121).

As a result, for example, as shown in FIG. 6B, first reference closed surfaces S11 and S12 extending underground at a depth position spaced upward by a first specified distance d1 from the upper ends of buried objects E1 and E2, respectively, are recognized. The first specified area d1 may be defined by a construction plan for the construction target area stored and held in database 102.

The first reference closed surfaces S11, S12 may be defined as surfaces defined by a plurality of control points, such as a Bezier surface and/or a NURBS (Non-Uniform Rational B-Spline) surface. The surface may be defined as a surface having continuity (G1 continuity, G2 continuity, or G3 continuity). For example, when the first reference closed surfaces S11, S12 are defined by a Bezier triangular surface, the domain of the control net of the Bezier triangular surface is defined by a triangular mesh stretched on a horizontal plane, and the control points are points spaced a first specified distance d1 above the upper ends of the buried objects E1, E2 in the ground, and the first reference closed surfaces S11, S12 are defined so that the continuity of the triangular patches is ensured.

Furthermore, a second reference closed surface that is spaced below the ground surface of the construction area and extends underground, spaced horizontally from the first reference closed surface recognized by the first reference surface recognition element 121 (without overlapping in the vertical direction), is recognized by the second reference surface recognition element 122 (Figure 4/STEP 122).

As a result, for example, as shown in FIG. 6B, second reference closed surfaces S21 and S22 extending underground at a depth position separated from the ground surface by the second specified distance d2 are recognized. The second specified distance d2 may be defined by a construction plan for the construction target area stored and held in the database 102. The second specified distance d2 may be defined so that the second reference closed 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 surfaces S21, S22 may be defined as a surface defined by a plurality of control points, such as a Bezier surface and/or a NURBS (Non-Uniform Rational B-Spline) surface, similar to the first reference closed surfaces S11, S12. The surface may be defined as a surface having continuity (G1 continuity, G2 continuity, or G3 continuity). For example, when the second reference closed surfaces S21, S22 are defined by a Bezier triangular surface, the domain of the control net of the Bezier triangular surface is defined by a triangular mesh stretched on a horizontal plane, and the point separated downward from the ground surface by a second specified distance d2 is set as the control point, and the second reference closed surfaces S21, S22 are defined so that the continuity of the triangular patch is ensured.

Then, the construction support information generation 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 information to the remote control device 20 (FIG. 4/STEP 124).

As a result, for example, as shown in FIG. 6C, a single composite reference closed surface CS is defined based on the first reference closed surfaces S11, S12 and the first reference closed surfaces S21, S22, and information or data representing the extension mode of the single composite reference closed surface is generated as construction support information. Specifically, the adjacent first reference closed surfaces S11 and S12 are defined as a single new first reference closed surface by being continuously connected or compounded by the interpolation surface S00. In addition, the new first reference closed surface (= S11 + S00 + S12) and the adjacent second reference closed surfaces S21, S22 are defined as a single composite reference closed surface CS by being continuously connected or compounded by the interpolation surfaces S01, S02. The interpolation surfaces S00, S01, and S02 may be defined as surfaces defined by multiple control points, such as Bezier surfaces and/or NURBS surfaces.

The first composite reference closed surface S11 and the adjacent second reference closed surface S21 are continuously connected by the interpolation surface S01 to define a first composite reference closed surface, the first composite reference closed surface S12 and the adjacent second reference closed surface S22 are continuously connected by the interpolation surface S02 to define a second composite reference closed surface, and the first composite reference closed surface (S11+S01+S21) and the second composite reference closed surface (S12+S02+S22) are continuously connected or combined by the interpolation surface S00 to define a single composite reference closed surface CS.

When construction support information is received in the remote operation device 20 via 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, a construction support image showing the extension of the composite reference closed surface CS in the construction target area is output to the remote image output device 221 in a form superimposed on the environmental image. Since the extension of the composite reference closed surface CS represented by the construction support information is defined in the world coordinate system, the extension of the composite reference closed surface CS is coordinate-converted into the environmental image coordinate system. For this coordinate conversion, the coordinate value in the world coordinate system of the work machine 40 is measured using a GPS or the like, and the actual machine coordinate system (a coordinate system in which the position and attitude are fixed relative to the upper rotating body 420) of the actual machine imaging device 412 may be stored and held in the storage device and/or database 102 constituting the remote control device 200. The operator can operate the operating lever constituting the remote control mechanism 211 to move the bucket 445 while viewing the environmental 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 showing the spatial occupation patterns of the work machine 40, buried objects E1, E2, and composite reference closed surface CS may be output to the remote image output device 221 as a construction support image. Since the extension pattern of the composite reference closed surface CS represented by the construction support information is defined in the world coordinate system, the coordinate values of the work machine 40 in the world coordinate system may be measured using a GPS or the like and stored in the storage device and/or database 102 constituting the remote control device 200.

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

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

In the work machine 40, when the actual machine control device 400 receives an operation command via the actual machine wireless communication device 422 (FIG. 4/C44), the operation of the work mechanism 440 and the like is controlled (FIG. 4/STEP 414). For example, the bucket 445 is used to dig up and scoop up soil in the target construction area in front of the work machine 40, the upper rotating body 410 is rotated, and the soil is dumped from the bucket 445 outside the target construction area.

(Action and Effect)
According to the construction support system configured as above, construction support information is generated in a form that comprehensively takes into consideration the relative arrangement or mixture of a first construction target area (area corresponding to first reference closed surfaces S11, S12) in which it is necessary to avoid interference between the work machine 40 and buried objects E1, E2 in the construction target area, and a second construction target area (area corresponding to second reference closed surfaces E21, E22) in which there is no possibility of interference with buried objects by the work machine 40 but construction based on the ground surface is necessary (see Figures 6A, 6B and 6C). Therefore, by using the construction support information for construction by the work machine 40, appropriate construction by the work machine 40 can be performed in consideration of the relative arrangement or mixture of the first construction target area and the second construction target area in the construction target area (see Figures 5 and 7).

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

By adopting this configuration, when adjacent first reference closed surfaces S11 and S12 are combined, the underground space existing in the gap between the first reference closed surfaces S11 and S12 is interpolated by the interpolation surface S00, and construction support information is generated in a form in which the construction standard in 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 performed in consideration of the relative arrangement or mixture of the first construction target area and the second construction target area.

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

By adopting this configuration, when the adjacent first reference closed surface S11 (or S12, or (S11+S00+S12)) and second reference closed surface S21 (or S22, or S21 and S22) are combined, the underground space existing in the gap between the first reference closed surface and the second reference closed surface is interpolated by the interpolation surface S01 (or S02, or S01 and S02), and construction support information is generated in a form in which the construction standard in 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 is possible in consideration of the relative arrangement or mixture of the first construction target area and the second construction target area.

Other Embodiments of the Invention
In the above embodiment, the construction support system is configured by the construction support server 10, but in other embodiments, it may be configured by the remote operation device 20 and/or the work machine 40. That is, the buried 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 may be configured by the remote control device 200 and/or the actual machine control device 400.

In the above embodiment, the construction support information is generated by recognizing a composite reference closed surface CS in which the first reference closed surface and the second reference closed surface are combined (see FIG. 6C). In another embodiment, the recognition process of the composite reference closed surface CS may be omitted, and construction support information may be generated according to only the spatial occupancy modes of the first reference closed surface and the second reference closed surface. In the above embodiment, a single new first reference closed surface (= S11 + S00 + S12) is recognized as a result of combining at least two adjacent first reference closed surfaces S11 and S12 (see FIG. 6C). In another embodiment, the recognition process of the single new first reference closed surface may be omitted.

In the above embodiment, the operation of the work machine 40 is controlled through the operation of the remote operation mechanism 211 constituting the remote operation device 20 by the operator, but in another embodiment, the operation of the work machine 40 may be controlled through the operation of the actual machine operation mechanism 411 by an operator in the cab 424. In this case, construction support information may be transmitted from the construction support server 10 to the corresponding work machine 40 (see FIG. 4/STEP 122), and a construction support image may be output to an actual machine image output device arranged inside the cab 424 constituting the actual machine output interface 42 (see FIG. 5 and FIG. 7). In addition, the remote operation 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, thereby causing the actual machine control device to control the operation of the work machine 40. Taking into account the relative arrangement or mixture of the first construction target area and the second construction target area, appropriate or efficient construction can be performed by the work machine 40, whose operation is automatically controlled.

The construction support information generating element 124 may generate construction support information by recognizing a new first reference closed surface whose curvature changes differently depending on the angle θ between the adjacent directions of at least two first reference closed surfaces and the operating direction of the work mechanism 440 or baguette 445 of the work machine 40 in the construction target area.

For example, as shown in FIG. 8, consider a situation in which a plurality of first reference closed surfaces S11 to S15 corresponding to a plurality of buried objects E1 to E5 are recognized in an underground cross section parallel to the x-z plane of the construction target area. In this situation, if the direction of operation (the direction in which the bucket 445 is moved) of the working mechanism 440 in the construction target area is the x direction (when θ = 0°), a single first reference closed surface CCS1 with a relatively small curvature change (accumulated value) in the x direction is recognized as shown by the dashed line in FIG. 8. On the other hand, in this situation, if the direction of operation of the working mechanism 440 in the construction target area is the y direction (when θ = 90°), a single first reference closed surface CCS2 with a relatively large curvature change (accumulated value) in the x direction is recognized as shown by the dashed line in FIG. 8. In this embodiment, the single first reference closed surface is defined so that the cumulative value of the curvature change of the single first reference closed surface is an increasing function of θ (0° ≦ θ ≦ 90°). As a function of θ, in addition to an increasing function, a decreasing function or a function that increases or decreases may be used.

According to the construction support system of this configuration, construction support information is generated taking into account the operating characteristics of the work machine 40 or work mechanism 440 in addition to the relative arrangement of the adjacent first construction target areas corresponding to the adjacent first reference closed surfaces S11 to S15. Therefore, by utilizing this construction support information, appropriate or efficient construction by the work machine 40 becomes possible in consideration of the operating characteristics of the work machine 40 or work mechanism 440 in addition to the relative arrangement or mixed arrangement of the first construction target area and the second construction target area.

The construction support information generating element 124 may generate construction support information by recognizing a composite reference closed surface whose curvature changes differently depending on the angle between the adjacent directions of the first reference closed surface and the second reference closed surface and the direction of operation of the work machine 40 in the construction target area.

According to the construction support system of this configuration, construction support information is generated in a form that takes into account the relative arrangement of the adjacent first and second construction target areas corresponding to the adjacent first and second reference closed surfaces, respectively, as well as the operating characteristics of the work machine 40 or work mechanism 440. Therefore, by utilizing the construction support information, appropriate or efficient construction by the work machine 40 becomes possible in consideration of the operating characteristics of the work machine 40 or work mechanism 440, in addition to the relative arrangement or mixed arrangement of the first and second construction target areas.

10: Construction support server, 20: Remote control device, 40: Work machine, 102: Database, 120: Buried object recognition element, 121: First reference surface recognition element, 122: Second reference surface recognition element, 124: Construction support information generation element, 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 (operating room), 440: Work mechanism, 445: Bucket (working part), CS: Composite reference closed surface, E1, E2: Buried object, S00, S01, S02: Interpolation surface, S11, S12: First reference closed surface, S21, S22: Second reference closed surface.

Claims (8)

a buried object recognition element for recognizing a spatial occupation pattern of buried objects in an area to be worked on by a work machine;
a first reference surface recognition element that recognizes a first reference closed surface extending into the ground so as to cover the buried object from above, based on the spatial occupation mode of the buried object recognized by the buried object recognition element;
A second reference surface recognition element that recognizes a second reference closed surface that is spaced downward from the ground surface of the construction target area and extends underground at a horizontal distance from the first reference closed surface;
a construction support information generation element that generates construction support information for supporting construction of the construction target area by the work machine as a result of combining the first reference closed surface and the second reference closed surface;
A construction support system that is equipped with the following: The construction support system according to claim 1,
A construction support system in which the construction support information generation element generates the construction support information by recognizing a single continuous first reference closed surface that is the result of combining adjacent first reference closed surfaces recognized by the first reference surface recognition element. The construction support system according to claim 2,
A construction support system in which the construction support information generation element generates the construction support information by recognizing the single first reference closed surface whose curvature changes in a different manner depending on the angle between the adjacent directions of the first reference closed surface and the operation direction of the work machine or a work mechanism constituting the work machine in the construction target area. In the construction support system according to any one of claims 1 to 3,
A construction support system in which the construction support information generation element generates the construction support information by recognizing a single composite reference closed surface having continuity as a result of combining the adjacent first reference closed surface and the adjacent second reference closed surface. In the construction support system according to claim 4,
A construction support system in which the construction support information generation element generates the construction support information by recognizing the composite reference closed surface whose curvature changes in a different manner depending on the angle between the adjacent direction of the first reference closed surface and the second reference closed surface and the operation direction of the work machine or a work mechanism constituting the work machine in the construction target area. In the construction support system according to any one of claims 1 to 5,
A construction support system in which the construction support information generating element transmits the construction support information to a 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 generation element transmits the construction support information or a construction support image corresponding thereto to an operation device, thereby causing an output interface constituting the operation device to output the construction support image. a buried object recognition process for recognizing a spatial occupation pattern of buried objects in an area to be worked on by a work machine;
a first reference surface recognition process for recognizing a first reference closed surface extending into the ground so as to cover the buried object from above, based on the spatial occupation pattern of the buried object recognized in the buried object recognition process;
A second reference surface recognition process for recognizing a second reference closed surface that is spaced downward from the ground surface of the construction target area and extends underground at a horizontal distance from the first reference closed surface;
a construction support information generating process for generating construction support information for supporting construction of the construction target area by the work machine as a result of combining the first reference closed surface and the second reference closed surface;
A construction support method comprising:

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