Work simulator, work simulation program, and work simulation method

Abstract

A work simulator (1) simulates, in a virtual space, a work site in which work is performed by a construction machine (40). A work simulator (1) includes a computer (13) that assists the configuration of at least one configuration object (T) in a work site (S) in a virtual space.

Description

Technical Field

[0001] This invention relates to a work simulator, a work simulation program, and a work simulation method for simulating a work site in a virtual space. Background Technology

[0002] For example, Patent Document 1 describes a work planning system for formulating work plans (see claim 1 of Patent Document 1).

[0003] For example, Patent Document 2 describes a management system for simulating the operation of engineering machinery (see paragraph 0094 of Patent Document 2).

[0004] Existing technical documents Patent documents Patent Document 1: Japanese Patent Publication No. 2022-11680 Patent Document 2: Japanese Patent Publication No. 2022-157635. Summary of the Invention

[0005] The problem that the invention aims to solve When users perform tasks such as configuring objects or regions within the simulator's virtual space, these tasks can be time-consuming and time-consuming. Therefore, it is desirable to reduce the time and effort spent on configuring these objects within the virtual space.

[0006] The purpose of this invention is to provide a job simulator, job simulation program, and job simulation method that can suppress the increase in effort and time spent on the task of configuring configuration objects in virtual space.

[0007] Solution to the problem The work simulator simulates a work site where construction machinery is operating within a virtual space. The work simulator includes a computer that assists in configuring at least one configuration object within the work site.

[0008] A job simulation program is a program used to simulate a work site in a virtual space where construction machinery is performing operations. The job simulation program instructs a computer to perform configuration assistance steps to assist in the configuration of at least one configuration object in the work site.

[0009] The job simulation method is a method of simulating a work site where construction machinery is performing operations in a virtual space. The job simulation method includes a configuration assistance step, in which a computer assists in configuring at least one configuration object in the work site.

[0010] The effects of the invention The aforementioned job simulator, job simulation program, and job simulation method can respectively suppress the increase in effort and time spent on jobs that configure objects in virtual space. Attached Figure Description

[0011] Figure 1 This is a block diagram representing the homework simulator 1.

[0012] Figure 2 It means Figure 1 The flowchart of the processing of computer 13 is shown.

[0013] Figure 3A It means Figure 1 The diagram shown is of the output device 15, and is a diagram of the case where the position of the equipment 65 is calculated based on the position of the construction machinery 40.

[0014] Figure 3B It means based on shape and Figure 3A The diagram shows the output device 15 displaying the position of the equipment 65 in the case of different engineering machinery areas A40.

[0015] Figure 4A It means that it has been set. Figure 1 The diagram shows the output device 15 displaying when the construction machinery 40 is in the working position P43c (working point).

[0016] Figure 4B It means that it has been set. Figure 4A The diagram shows the output device 15 displaying when the work position is P43c and the engineering machinery is set at position P40c.

[0017] Figure 4C It means Figure 4B The diagram shows the output device 15 displaying the setting assistance function of the work position P43c when it is used in the work area A45.

[0018] Figure 4D It means Figure 4B The diagram shows the output device 15 displaying the setting assistance function of the work position P43c when it is used in the loading dock area A61a.

[0019] Figure 5A It means Figure 1 The diagram shows the output device 15 displaying the working position P43c (working line) of the engineering machinery 40 when it is set on a slope.

[0020] Figure 5B It means that it has been set. Figure 5A The diagram shows the output device 15 displaying when the work position is P43c and the engineering machinery is set at position P40c.

[0021] Figure 5C It means Figure 1 The diagram shows the output device 15 when the working position P43c (work line) of the construction machinery 40 is set in the ground 31b.

[0022] Figure 5D It means Figure 5A The diagram shows the output device 15 displaying the working position P43c when it is set at a position offset from obstacle 63 by a distance L63.

[0023] Figure 6A It means that it has been set. Figure 1 The diagram shows the output device 15 when the construction machinery 40 is set at position P40c.

[0024] Figure 6B It means that it has been set. Figure 6A The diagram shows the output device 15 when the construction machinery is set in position P40c and working position P43c.

[0025] Figure 7A This indicates that it is displayed. Figure 1 The diagram shows the output device 15 when the construction machinery 40 can operate in the workable area A40b.

[0026] Figure 7B This indicates that the output device 15 is for Figure 7A The diagram shows a limited workable area A40b1, which is limited by the depth of the workable area A40b from the ground 31a.

[0027] Figure 7C This indicates that the output device 15 is for Figure 7A The diagram shows the limited workable area A40b, which is limited by the rotation angle of the construction machinery 40.

[0028] Figure 7D This indicates that the output device 15 is for Figure 1 The diagram shows the rated load of the construction machinery 40, displayed as Db2.

[0029] Figure 8A It indicates a judgment. Figure 1 The diagram shows the output device 15 displaying the state when the movable area A40a of the engineering machinery 40 is interfered with by the obstacle 63.

[0030] Figure 8B It means Figure 8A The diagram shows the output device 15 when the movable area A40a of the engineering machinery is interfered with by the obstacle 63.

[0031] Figure 8C It indicates the determination of shape and Figure 8A The diagram shown illustrates the output device 15 displaying the state of interference between the movable area A40a of different engineering machinery and obstacles such as 63.

[0032] Figure 9 It means Figure 1 The diagram shows the output device 15 when the construction machinery 40 and the second construction machinery 50 are configured at the work site S.

[0033] Figure 10A It means Figure 1 The diagram shows the grounding determination point P21 of the engineering machinery 40.

[0034] Figure 10B It means Figure 10A The diagram shows the output device 15 displaying the grounding determination point P21 and the like when they are projected onto the ground 31a.

[0035] Figure 10C It means Figure 10A The diagram shows the output device 15 when the engineering machinery 40 is positioned on an inclined ground 31a.

[0036] Figure 11 This is a block diagram representing the homework simulator 1.

[0037] Figure 12 It means Figure 11 The flowchart of the processing of computer 13 is shown.

[0038] Figure 13 It means storing at fixed intervals. Figure 11 The diagram shows the state of object 30 at the work site S.

[0039] Figure 14 This means storing data whenever a task starts. Figure 11 The diagram shows the state of object 30 at the work site S.

[0040] Figure 15 This means storing whenever an event occurs. Figure 11 The diagram shows the state of object 30 at the work site S.

[0041] Figure 16 This indicates that it is being stored manually. Figure 11 The diagram shows a specific example of the display screen displayed by the output device 15 when the object 30 at the work site S is in a certain state.

[0042] Figure 17 This indicates that you are selecting reset. Figure 11The diagram shows a specific example of the display screen displayed by the output device 15 when the reset timing occurs in the state of object 30 at the work site S shown.

[0043] Figure 18 This indicates that you are selecting reset. Figure 11 The diagram shows a specific example of the display screen displayed by the output device 15 after the reset timing of the state of object 30 in the work site S shown.

[0044] Figure 19 It means in Figure 12 The flowchart shown is a flowchart of the reset process of the computer 13 that is called.

[0045] Figure 20 It means in Figure 13 The diagram shows a specific example of the display screen displayed by the output device 15 in the case of automatic reset in the operator operation mode of step S30 in the flowchart shown. Detailed Implementation

[0046] Reference Figures 1 to 10C The description explains the job simulator 1 involved in the implementation method.

[0047] Job Simulator 1 is a simulator that simulates a work site in a virtual space, i.e., a job simulation. For example... Figure 1 As shown, the job simulator 1 includes a computer 13 and an output device 15.

[0048] The image of the work site S displayed by output device 15 is an image of a work site model that simulates the work site in virtual space. The image of the configuration object T displayed by output device 15 is an image of a configuration object model that simulates the configuration object configured in the work site in virtual space. The image of object 30, an example of configuration object T displayed by output device 15, is an image of an object model that simulates the object configured in the work site in virtual space. The image of region A, an example of configuration object T displayed by output device 15, is an image of a region model that simulates a region in the work site in virtual space. The image of construction machinery 40, an example of object 30 displayed by output device 15, is an image of a construction machinery model that simulates the construction machinery configured in the work site in virtual space.

[0049] Hereinafter, the work site model in the virtual space will be referred to as work site S, the configuration object model in the virtual space will be referred to as configuration object T, the object model in the virtual space will be referred to as object 30, the area model in the virtual space will be referred to as area A, and the engineering machinery model in the virtual space will be referred to as engineering machinery 40.

[0050] The at least one configuration object T may contain only a single configuration object T or may contain multiple configuration objects T. The at least one configuration object T may contain at least one object 30 or at least one region A. The at least one configuration object T may contain one or both of object 30 and region A.

[0051] [Configuration Assistance Steps] Computer 13 performs configuration assistance processing (configuration assistance step) to assist in the configuration of at least one configuration object T in the work site S within the virtual space. This reduces the increase in effort and time spent on configuring the configuration object T within the virtual space. The configuration assistance processing may include location setting processing, interference detection processing, and reset processing.

[0052] [Location Setting Steps] Computer 13 can also perform location setting processing (location setting steps) for setting the position of configuration object T in the work site S.

[0053] The at least one configuration object T includes a first configuration object T and a second configuration object T. If the position of the first configuration object T in the work site S is set, but the position of the second configuration object T in the work site S is not set, the computer 13 may also set the position of the second configuration object T based on the position of the first configuration object T in the position setting process.

[0054] The at least one configuration object T includes construction machinery 40. If the position of a first specific part of the construction machinery 40 in the work site S is set, but the position of a second specific part of the construction machinery 40 in the work site S is not set, the computer 13 may also set the position of the second specific part based on the position of the first specific part in the position setting process.

[0055] [Interference Determination Steps] For example, in such Figure 8A , Figure 8B , Figure 8C and Figure 9 In the embodiment shown, if the at least one configuration object T includes an engineering machinery area A40 set in virtual space in association with the position of the engineering machinery 40, and a determination object area A73 set in virtual space, the computer 13 can also perform interference determination processing (interference determination step) to determine the state of interference between the engineering machinery area A40 and the determination object area A73.

[0056] [Reset Steps] like Figures 11-20As with other embodiments shown, computer 13 can also perform a reset process (reset step) to reset the state in the virtual space to the state at a specified time.

[0057] The following describes in detail the job simulator 1 involved in this embodiment. However, the job simulator involved in this invention is not limited to the embodiment described below.

[0058] The job simulator 1 described in this embodiment may also include at least one information terminal. The information terminal may be, for example, a personal computer, a tablet computer, a smartphone, or other portable information terminal. The job simulator 1 includes an input device 11, a computer 13, and an output device 15. The job simulator 1 may also include a client device 10 and a server device 20.

[0059] Input device 11 is a device for inputting information into computer 13. Input device 11 includes operation input device 11a and information input device 11b.

[0060] The operation input device 11a is operated by the user (operator) of the job simulator 1. The user's operation of the operation input device 11a is also referred to as "manual operation." The operation input device 11a can also be used to set a position within the virtual space. The operation input device 11a can also be used to set the position of a configuration object T within the virtual space. The operation input device 11a can also be used to specify the position of a configuration object T within the virtual space. The operation input device 11a can also be used to select the position of a configuration object T within the virtual space. The configuration object T includes one or both of object 30 and region A.

[0061] The operation input device 11a can also be used to operate the construction machinery 40 in the virtual space. For example, the operation input device 11a can be used to indicate the start and end of the operation of the construction machinery 40 in the virtual space, to indicate the movement of the construction machinery 40 in the virtual space, and to indicate the movement of the upper rotating body 41b in the virtual space (see reference). Figure 3A The rotation of ) can also be used to indicate the auxiliary device 43 (see reference) in the virtual space. Figure 3A The operation input device 11a may include at least one of a mouse, keyboard, touch screen, and game controller. The operation input device 11a may include a joystick that simulates the left and right control levers in real construction machinery (the machinery corresponding to construction machinery 40), or an operation pedal that simulates the left and right control pedals (foot pedals) in real construction machinery.

[0062] Information input device 11b is a device for inputting various types of information (excluding information input through operation of input device 11a) into computer 13. This information may include, for example, information related to object 30, or information related to region A.

[0063] Computer 13 is equipped with functions such as signal input / output, computation, and information storage. Computer 13 includes a storage unit 13a and an arithmetic unit 13b. Computer 13 generates a work site S that simulates a work site in a virtual space. The arithmetic unit 13b executes the program stored in the storage unit 13a, i.e., the work simulation program, thereby realizing the functions of computer 13. For example, the functions of the object processing unit 13b1 and the area processing unit 13b2, which will be described later, can be listed as functions of computer 13.

[0064] Computer 13 can be connected to other devices wirelessly or via wired communication. These other devices can be, for example, input devices 11 or output devices 15. Information output by input device 11 is input to computer 13. Computer 13 outputs information to output device 15. Computer 13 (specifically, computer 13 of client device 10) can also exchange information with server device 20. The exchange between computer 13 of client device 10 and server device 20 can be conducted, for example, via mobile networks, optical networks, wireless LAN (Local Area Network), wired LAN, or other communication methods.

[0065] Storage unit 13a stores various types of information. Storage unit 13a stores job simulation programs.

[0066] The arithmetic unit 13b performs calculations, judgments, and other processing. The arithmetic unit 13b includes an object processing unit 13b1 and a region processing unit 13b2. The object processing unit 13b1 processes the object 30 (described later). The region processing unit 13b2 processes region A (described later).

[0067] Computer 13 can also use a coordinate system to define the virtual space. The coordinate system can be, for example, a three-dimensional orthogonal coordinate system (X, Y, Z). The storage unit 13a of computer 13 can also pre-store the coordinate system. Computer 13 can also set the coordinate system based on information input to input device 11. Computer 13 can also use the coordinate system as a reference to determine the work site S, object 30, and area A within the virtual space.

[0068] Output device 15 outputs information corresponding to instructions input from computer 13. Specifically, output device 15 may also display information corresponding to instructions input from computer 13. Output device 15 may also be a monitor with a screen. Output device 15 may also display the calculation results of computer 13. Output device 15 displays the virtual space calculated by computer 13. Specifically, the monitor, acting as output device 15, displays the work site S, object 30, and area A within the virtual space on the screen according to instructions input from computer 13. Output device 15 displays a GUI (Graphical User Interface) for users to perform work simulation operations. In the following description, the display of output device 15 is a display performed by output device 15 at the instruction of computer 13. Output device 15 may also output sound.

[0069] Server device 20 includes a computer that operates according to instructions from client device 10. Client device 10 includes the aforementioned input device 11, computer 13, and output device 15. The functions of job simulator 1 (e.g., the functions of object processing unit 13b1 and area processing unit 13b2) can also be implemented by client device 10 and server device 20. Alternatively, a portion of computer 13 (e.g., one of storage unit 13a and arithmetic unit 13b) may be located in client device 10, while another portion of computer 13 (e.g., the other of storage unit 13a and arithmetic unit 13b) may be located in server device 20. Input device 11 may also be located in server device 20 (not shown). In this case, information (e.g., the various types of information described above) may be input from input device 11 located in server device 20 to computer 13 located in client device 10. Job simulator 1 may also include multiple server devices 20. Alternatively, job simulator 1 may not include server devices 20.

[0070] The job simulator 1 (primarily computer 13) is configured to perform the following job simulations. The job simulation program causes computer 13 to execute the following job simulations. The job simulation method is the method for performing the following job simulations.

[0071] The work simulator 1 generates a virtual work site S, simulating a real-world work site. Work site S is a virtual model of a work site (construction site model) where construction machinery 40, acting as a model of the machinery, performs operations. For example, the work simulator 1 (construction planning simulator) is used to develop a plan for work site S, i.e., a construction plan. The work simulator 1 is used to develop plans related to the construction machinery 40 in work site S. The work simulator 1 is used to confirm the location, dimensions, operability (productivity), and safety of the construction machinery 40. The work simulator 1 can also be used to develop plans for objects or areas A other than the construction machinery 40. The work simulator 1 has object handling and area handling functions. The work simulator 1 may also have functions such as action mode switching, time change, and interference detection. The work simulator 1 may also have functions such as recording (saving) the conditions in work site S, and may also have the function of playing back the recorded conditions.

[0072] [Object handling function] The object processing unit 13b1 of computer 13 performs processing (object processing function, object processing steps) related to object 30, which is an example of a configuration object T. Object 30 is a model of an object obtained by modeling objects in the work site S in virtual space. Object 30 may be, for example, such as... Figure 4C The three-dimensional model shown can also be a two-dimensional model. The operation or function of the job simulator 1 can also be described as a "step" in the job simulation program and job simulation method. For example, processing object 30 can also be referred to as an "object processing step". Processing region A, which will be described later, can also be referred to as a "region processing step".

[0073] The processing of object 30 includes deleting object 30 from the virtual space and configuring object 30 within the virtual space. That is, the processing of object 30 includes deleting object 30 configured in the virtual space and configuring object 30 within the virtual space.

[0074] The configuration of object 30 can also be referred to as the configuration step or object configuration step. The configuration of object 30 includes both the new configuration of object 30 within the virtual space and the movement of object 30 within the virtual space. The new configuration of object 30 refers to the new configuration of object 30 within the virtual space at the work site S. The movement of object 30 refers to the movement of an object 30 that already exists at the work site S within the virtual space.

[0075] The movement of object 30 may include rotational movement or parallel movement. The movement of object 30 may also include changes in the posture of engineering machinery 40 within the virtual space. Changes in the posture of engineering machinery 40 refer to changes in the posture of engineering machinery 40 within the virtual space. The movement of object 30 may also be a change in the terrain 31 within the virtual space. Changes in terrain 31 refer to changes in the terrain 31 within the virtual space.

[0076] When object 30 is configured in a virtual space, computer 13 stores the location of object 30 configured in the virtual space. The processing of object 30 may also include the management of object 30 within the virtual space. The management of object 30 refers to managing the object 30 configured in the virtual space. For example, the management of object 30 may include managing multiple objects 30 in a list format. The processing of object 30 may also include toggling the display and non-display of each object 30 in the output device 15.

[0077] Unless otherwise specified, the phenomena within the virtual space will be described below. For example, "deploying construction machinery 40 on ground 31a" means that within the virtual space, construction machinery 40, an example of object 30, is deployed on ground 31a. For example, "establishing construction machinery area A40 around construction machinery 40" means that within the virtual space, construction machinery area A40, an example of area A, is established around construction machinery 40, an example of object 30.

[0078] The conditions for the computer 13 to process the object 30 are, for example, as described below. The computer 13 may also process the object 30 when a user manually operates the input device 11. That is, the computer 13 may also process the object 30 based on the user's manual operation. The computer 13 may also automatically process the object 30 when pre-set conditions are met.

[0079] The position of object 30 is described. Computer 13 can also store the reference position of object 30 in virtual space as the position of object 30. Computer 13 can also store the reference position of object 30 in virtual space and the orientation of object 30 in virtual space as the position of object 30.

[0080] The reference position of object 30 is the position that serves as a reference for object 30. For example, the reference position of object 30 could be the center of its lower surface or the center of gravity. The center of the lower surface of object 30 could also be, for example, the center of gravity of object 30. Figure 4B The center point 41ac of the lower surface of the engineering machinery is shown. The center point 41ac of the lower surface of the engineering machinery will be described below.

[0081] The orientation of object 30 can also be defined by its relative orientation with respect to a specified coordinate axis. The orientation of object 30 can also be defined by its relative pose with respect to a specified coordinate axis. The orientation of object 30 can also be defined by a rotation angle (e.g., a three-dimensional rotation angle) relative to a specified coordinate axis.

[0082] Specific examples of object 30 are described below. In this embodiment, the at least one configuration object T includes multiple objects 30. The multiple objects 30 may also include terrain 31 (surrounding environment information), construction machinery 40, and other objects 30.

[0083] The other object 30 may, for example, be the second engineering machinery 50 (see reference). Figure 9 ), can be a transport vehicle 61, or a cargo hoist 62 (see reference). Figure 4D (), can be an obstacle 63, equipment 65, or worker 67 (see reference) Figure 9 ).

[0084] like Figure 4B As shown, terrain 31 contains information related to the shape of the land at the work site S in the virtual space. Terrain 31 can be a two-dimensional or three-dimensional shape. Terrain 31 may also include, for example, flat land, sloping surfaces (e.g., slopes), uneven surfaces, etc. Terrain 31 may also include ground surface 31a and subsurface 31b. Ground surface 31a is the surface of terrain 31 (land surface), such as the surface of sand or soil. Subsurface 31b is the part of terrain 31 that is lower than ground surface 31a, such as the part containing sand or soil.

[0085] The terrain 31 can also be a terrain model simulating real land. In this case, the terrain 31 may also include information related to the shape generated based on the detection information of the real land. In this case, the detection information of the real land may also be information related to the environment of the actual work site. The detection information of the real land may also be information detected by an information acquisition device. The information acquisition device may be a stereo camera, a distance sensor, or a combination of a distance sensor and a two-dimensional camera. The aforementioned distance sensor may be, for example, LIDAR (Light Detection and Ranging) or millimeter-wave radar. The information acquisition device may be a device included in the information input device 11b, or it may be a device different from the information input device 11b. The information acquisition device inputs the detection information of the real land to the computer 13.

[0086] Additionally, terrain 31 may also include shape information (shape information of terrain 31) based on design data designed on a computer. The design data may also be data related to a design surface designed on a computer. The computer used to design the design data may be the job simulator 1, or a computer other than the job simulator 1.

[0087] Computer 13 can also be like Figure 1 As shown, terrain 31 is set in the virtual space and stored in the storage unit 13a. The computer 13 can set a single terrain 31 or multiple terrains 31 in the virtual space. Multiple terrains 31 may include terrain 31 before the operation in the virtual space, terrain 31 during the operation in the virtual space, and terrain 31 after the operation in the virtual space (completed terrain 31).

[0088] Similarly, regarding objects 30 other than terrain 31, computer 13 can set up a single object 30 or multiple objects 30 in the virtual space. Similarly, regarding region A, computer 13 can set up a single region A or multiple regions A in the virtual space.

[0089] The shape information of terrain 31 can also be input to computer 13 from input device 11. That is, computer 13 can also read the shape information of terrain 31 from input device 11. When a user inputs the shape information of terrain 31 into input device 11, computer 13 can obtain the shape information of terrain 31 input into input device 11.

[0090] Similarly, regarding objects 30 other than terrain 31, computer 13 can obtain the shape information of objects 30 input into input device 11. Similarly, regarding region A, computer 13 can obtain the shape information of region A input into input device 11.

[0091] Computer 13 can also cause terrain 31 to deform in virtual space as time passes during the simulation. That is, computer 13 can also cause the display of terrain 31 in output device 15 to change over time. Specific examples of how computer 13 deforms terrain 31 are described below.

[0092] exist Figure 4BIn the specific example shown, construction machinery 40 operates in virtual space, and the remote auxiliary device 43c, described later, performs operations on terrain 31 (e.g., sand). For example, in virtual space, construction machinery 40 excavates ground 31a. In this case, computer 13 can also cause terrain 31 to deform in virtual space over time according to the operations performed on terrain 31. That is, computer 13 can also cause the display of terrain 31 in output device 15 to change according to the operations performed on terrain 31. For example, computer 13 can also cause terrain 31 in virtual space to deform over time into the shape of pits, ditches, etc., formed by the excavation of sand. For example, computer 13 can also cause terrain 31 in virtual space to deform over time into the shape of a sand pile formed by the pushing and accumulation of sand.

[0093] Construction machinery 40 is a model of construction machinery performing operations, such as a model of construction machinery performing construction operations. Construction machinery 40 can be, for example, a model of an excavator, a model of a crane, a model of a bulldozer, or a model of a loader. The following mainly describes the case where construction machinery 40 is a model of an excavator. Construction machinery 40 includes a main body 41 and auxiliary devices 43. The main body 41 is the main part of construction machinery 40. The main body 41 includes a lower traveling body 41a and an upper rotating body 41b.

[0094] Computer 13 can also output instructions (operation steps of construction machinery 40) to operate in virtual space. Computer 13 can also operate construction machinery 40 in virtual space based on pre-set information. Output device 15 can also display the operation of construction machinery 40 according to the instructions input from computer 13. The pre-set information may, for example, be information related to a series of actions of construction machinery 40 during its operation. Storage unit 13a can also store this information.

[0095] Computer 13 can also cause construction machinery 40 to work in a virtual space based on manual operations applied by the user through input device 11 (refer to the operator operation mode described later). Alternatively, computer 13 can output instructions corresponding to the user's manual operations to output device 15, which displays an image showing construction machinery 40 working in the virtual space based on the instructions input from computer 13. Thus, construction machinery 40 performs actions corresponding to the user's manual operations on the screen of output device 15. Specifically, computer 13 can cause construction machinery 40 to move in the virtual space, can cause the upper rotating body 41b to rotate relative to the lower traveling body 41a in the virtual space, and can change the posture of auxiliary device 43 in the virtual space. Furthermore, computer 13 may also choose not to cause construction machinery 40 to work in the virtual space. That is, only construction machinery 40 may be configured in the virtual space work site S.

[0096] The computer 13 enables the lower walking body 41a to walk on a walking surface such as the ground 31a in a virtual space. The computer 13 can also cause the output device 15 to display the lower walking body 41a walking according to the manual operation of the user applied by the input device 11.

[0097] The lower traveling body 41a may have tracks 41a1 or wheels (not shown). The center point of the lower surface of the construction machinery 40 (i.e., the lower surface of the lower traveling body 41a) is called the lower surface center point 41ac of the construction machinery. For example, as Figure 10A As shown, the center point 41ac of the lower surface of the construction machinery is the intersection of the imaginary surface in contact with the lower surface of the lower traveling body 41a and the rotation center axis 41b1 described later. The center point 41ac of the lower surface of the construction machinery can also be set as the reference position of the construction machinery 40, for example.

[0098] Computer 13 can cause the upper rotating body 41b to rotate relative to the lower walking body 41a in virtual space. Computer 13 can also cause output device 15 to display that the upper rotating body 41b rotates relative to the lower walking body 41a according to the user's manual operation applied by input device 11.

[0099] The axis of rotation of the upper rotating body 41b relative to the lower traveling body 41a is called the rotation center axis 41b1. The upper rotating body 41b includes a cab 41b2. The cab 41b2 corresponds to the cab of an operator operating construction machinery in actual construction machinery. The cab 41b2 may also be fixed to the bottom (rotating frame) of the upper rotating body 41b. The cab 41b2 may also be movable relative to the bottom of the upper rotating body 41b. In this case, the cab 41b2 may also be a lifting cab, a linkage cab, or the like, with a mechanism that allows it to move up and down relative to the bottom of the upper rotating body 41b. Alternatively, the cab 41b2 may be a tilting cab, which has a mechanism that allows it to rotate up and down or tilt relative to the bottom of the upper rotating body 41b about a laterally extending axis of rotation, so as to facilitate observation of the upper from inside the cab 41b2. The cab 41b2 may also have accessories installed on the main body of the cab 41b2. These accessories may be, for example, protective parts for protecting the upper surface or front window of the cab 41b2 from flying objects.

[0100] [direction] Within the virtual space, the directions associated with the construction machinery 40 are defined as follows: The extension direction of the slewing center axis 41b1 is defined as the vertical direction. The extension direction of the rotation axis of the boom 43a1 (described later) relative to the upper slewing body 41b is defined as the horizontal direction. The directions orthogonal to the vertical and horizontal directions are defined as the front-back directions. In the front-back direction, the side of the auxiliary device 43 that protrudes relative to the upper slewing body 41b is defined as the front side, and the opposite side of this front side is defined as the rear side. The direction of rotation of the upper slewing body 41b relative to the lower traveling body 41a is defined as the rotation direction. Furthermore, the construction machinery 40 is sometimes positioned on an inclined plane (see reference...). Figure 10C Therefore, the vertical direction of the construction machinery 40 does not necessarily have to be consistent with the vertical direction, and the horizontal and front-back directions of the construction machinery 40 do not necessarily have to be consistent with the horizontal direction.

[0101] The auxiliary device 43 is a work device that performs operations in virtual space. The computer 13 can make the auxiliary device 43 rise and fall relative to the upper rotating body 41b, that is, it can make the auxiliary device 43 rotate up and down. The computer 13 can also cause the output device 15 to display the rise and fall of the auxiliary device 43 relative to the upper rotating body 41b according to the user's manual operation applied by the input device 11.

[0102] The auxiliary device 43 includes a base-side auxiliary device 43a and a distal-side auxiliary device 43c.

[0103] A base-end auxiliary device 43a is disposed between the distal auxiliary device 43c and the upper slewing body 41b. The base-end auxiliary device 43a includes a boom 43a1 and a stick 43a2. The boom 43a1 is rotatably (vertically) mounted to the upper slewing body 41b. The stick 43a2 is rotatably (forwardly and backwardly) mounted to the boom 43a1.

[0104] The distal attachment 43c is located at the distal end of the attachment 43. The distal attachment 43c is rotatably (rotatably forward and backward) mounted to the base-end attachment 43a, specifically, rotatably mounted to the boom 43a2. The distal attachment 43c can be a bucket used for digging or excavating. The distal attachment 43c can be a grab bucket, shearing machine, or other device for clamping the workpiece; it can also be a breaker hammer or other device for crushing the workpiece; or it can be a device with a magnet for attracting metallic workpieces. Figure 4D As shown, the remote attachment 43c may also include a hook 43cf. The hook 43cf is a component used to lift the loaded cargo 62. Figure 4B The object of the operation performed by the remote auxiliary device 43c shown can be sand, stone, wood, metal, resin, waste, concrete blocks, or other structures. Figure 4D The hoisted cargo 62 is shown.

[0105] The second construction machinery 50 is as follows: Figure 9 As shown, the model of the construction machinery configured in the virtual space is different from that of construction machinery 40. The second construction machinery 50 is the same as construction machinery 40 (e.g., excavator, crane, etc.). Specifically, the second construction machinery 50 is a machine that, like construction machinery 40, includes a main body 41 comprising a lower traveling body 41a and an upper rotating body 41b, and auxiliary devices 43. In the case of two construction machines at the work site S in the virtual space, when one of the two construction machines is construction machinery 40, the object 30 that is different from construction machinery 40 is the second construction machinery 50. The model of the second construction machinery 50 can be the same as or different from construction machinery 40. The number of construction machines configured in the virtual space can also be three or more.

[0106] Transport vehicle 61 is as follows Figure 4DAs shown, the vehicle model is configured in the virtual space, and is a model of a vehicle that transports the work object to be performed by the construction machinery 40. The transport vehicle 61 may also be a dump truck, for example. The transport vehicle 61 has a loading platform 61a. The loading platform 61a is a container for placing the work object. In addition, models of containers for placing work objects other than the loading platform 61a (not shown) may also be configured in the virtual space at the work site S.

[0107] The hoisted cargo 62 is a model of the work object that is lifted by the engineering machinery 40 in virtual space.

[0108] Obstacle 63 is as follows Figure 8C As shown, this is a model of an obstacle configured in the virtual space at the work site S, such as a model of an object that becomes an obstacle when the construction machinery 40 is operating. The obstacle 63 may include, for example, a building 63a, or other objects such as... Figure 8B The wall 63b shown is fixed to the ground 31a.

[0109] Equipment 65 is a model of equipment set up in the virtual space at the work site S. Equipment 65 may include partitions 65a, such as... Figure 9 As shown, it may include a camera device 65b, an antenna 65c, and a column 65d, as shown. Figure 8C As shown, it may also include road 65e.

[0110] Dividing device 65a is as follows Figure 3A As shown, a model of a partition is configured in the virtual space at the work site S. This partition is a component that separates the work site S and serves as a boundary. The partition 65a can be a traffic cone, a combination of a traffic cone and a barrier, or a fence temporarily set up on the ground 31a.

[0111] The camera device 65b is as follows Figure 9The image shown is a model of a camera device used to capture images of the work site S. For example, camera device 65b could also be a model of a camera that detects information obtained from an overview of the work site S. For example, camera device 65b could also be a model of a camera used when actual construction machinery is remotely operated or driven automatically. Camera device 65b could also be a model of a camera that allows the operator to monitor the surrounding conditions of the construction machinery when it is remotely operated. Camera device 65b could also be a model of a camera device used to monitor the worker 67 or construction machinery 40 at the work site S. Specifically, camera device 65b could also be a model of a camera device used to monitor whether there are workers 67 or construction machinery 40 approaching a specific area A or object 30. Camera device 65b could also be a model of a camera device used for purposes other than those described above. For example, camera device 65b could also be a model of a camera device fixed to an object 30 such as construction machinery 40. Camera device 65b could also be configured inside the cab 41b2. The camera device 65b can also be a model of a camera device that captures images from the operator's viewpoint. The camera device 65b can also be a model of a camera that captures two-dimensional images (a model of a surveillance camera, a model of a field camera, etc.). The camera device 65b can also be a model of a device that detects distance images (a model of a stereo camera, LiDAR, millimeter-wave radar, etc.). The distance image can, for example, be a three-dimensional image containing both two-dimensional and depth information.

[0112] Antenna 65c is a model of a component used for wireless communication with engineering machinery 40. For example, antenna 65c could also be a model of an antenna used in real engineering machinery when it is remotely operated or driven autonomously.

[0113] The column 65d is a model of a support pillar for the equipment. The equipment supported by the column 65d could be, for example, a camera device 65b or an antenna 65c.

[0114] Road 65e (see reference) Figure 8C This is a model of the parts through which people or vehicles pass (models of passageways, roads, etc.). In addition, equipment 65 may also include models other than those mentioned above. For example, equipment 65 may include models of materials, models of material storage areas (material yards), and models of light sources that illuminate the work site S.

[0115] The operator 67 is a human model, which can be a model of a person performing the work manually, or it can be a model of an observer.

[0116] [Region Processing Function] The region processing unit 13b2 of computer 13 performs processing (region processing function, region processing steps) related to a specific region A, namely the configuration object T. Region A is a region within a virtual space. Region A can be a region with a three-dimensional shape, a region with a two-dimensional shape, or a region with a one-dimensional shape within the virtual space. Region A can be a region represented by a solid shape, a region represented by a surface, or a region represented by a line within the virtual space. Region A can also be represented by points within the virtual space.

[0117] The processing of region A, like the processing of object 30, includes deleting region A within the virtual space and configuring region A within the virtual space. That is, the processing of region A includes deleting region A configured in the virtual space and configuring region A within the virtual space.

[0118] The configuration of region A can also be referred to as a configuration step or a region configuration step. The configuration of region A can also be referred to as the setting of region A. Computer 13 can also set region A based on the position of object 30. Specifically, for example, computer 13 can set an engineering machinery region A40, which is an example of region A, based on the position of engineering machinery 40. Computer 13 can also set region A based on the position of object 30 other than engineering machinery 40. Computer 13 can also set region A without based on the position of object 30. Specifically, for example, computer 13 can also set region A based on manual operation performed by the user on input device 11.

[0119] The conditions for computer 13 to process region A are, for example, as described below. Computer 13 may also process region A when a user manually operates the input device 11. Computer 13 may also process region A based on the user's manual operation. Computer 13 may also automatically process region A when pre-set conditions are met. For example, when object 30 is configured in the virtual space—specifically, when a new object 30 is configured, or when object 30 is moved—computer 13 may configure region A based on the position of object 30.

[0120] Specific examples of region A are described below. The at least one configuration object T may contain only one region A, or it may contain multiple regions A. The multiple regions A may also contain an object-consistent region Ao (see...). Figure 8A ), construction machinery area A40 and other areas A.

[0121] The other area A mentioned above could be, for example, work area A45, or... Figure 9 The second construction machinery area A50 shown can be a restricted area A71, or it can be... Figure 4D The loading dock area A61a shown can also be Figure 8C The area to be determined is A73.

[0122] The consistent region Ao of the object is as follows Figure 8A As shown, the area within the virtual space that is consistent with or substantially consistent with the area where object 30 exists (the area it occupies). The consistent area Ao can also be used, for example, for interference determination as described later. For instance, when construction machinery 40, as an example of object 30, is positioned at the work site S, computer 13 can also set the area consistent with the area where construction machinery 40 exists as the consistent area Ao related to construction machinery 40. Furthermore, object 30 and the consistent area Ao do not necessarily need to be distinct. That is, computer 13 may also treat object 30 and the consistent area Ao as a single piece of information, rather than treating them as different pieces of information.

[0123] Construction machinery area A40 is as follows Figure 1 As shown, this is the area in virtual space associated with the location of the construction machinery 40. The process of setting the construction machinery area A40 by the computer 13 can also be referred to as the construction machinery area setting step. The location of the construction machinery 40 can also be, for example, as shown... Figure 4B The engineering machinery is shown at location P40c.

[0124] When the construction machinery 40 moves within the virtual work site S, the computer 13 causes the construction machinery area A40 to move along with it. Furthermore, when the construction machinery 40 moves and the construction machinery area A40 moves, the computer 13 can also set the area (trajectory) traversed by the construction machinery area A40 as the new construction machinery area A40. The area Ao corresponding to objects associated with the construction machinery 40 (see reference) Figure 8A It is included in the construction machinery area A40.

[0125] Construction machinery area A40 can be as follows Figure 3A The movable area A40a of the engineering machinery shown can also be as follows: Figure 7A The workable area is shown as A40b.

[0126] like Figure 3AAs shown, the computer 13 sets the movable area A40a of the construction machinery 40 based on the range in which the construction machinery 40 may be positioned when it is working. The movable area A40a is used, for example, to confirm the distance between the construction machinery 40 and objects 30 surrounding it (safety confirmation). The computer 13 also sets the movable area A40a based on the range in which the construction machinery 40 may be positioned when the upper rotating body 41b rotates relative to the lower traveling body 41a while the construction machinery 40 is not moving. Specifically, the computer 13 may also set the movable area A40a based on one or both of the maximum operating radius of the auxiliary device 43 and the rear rotation radius of the upper rotating body 41b. Figure 3B In the specific example shown, the movable area A40a of the construction machinery includes the maximum operating radius area A40a1 and the rear radius area A40a2.

[0127] Computer 13 sets a maximum operating radius region A40a1 based on the maximum operating radius of auxiliary device 43. "Maximum operating radius" is the maximum value of the radius of auxiliary device 43 centered on the rotation center axis 41b1, i.e., the rotation radius of the auxiliary device. More specifically, "maximum operating radius" is the horizontal distance from the rotation center axis 41b1 to the farthest end of the farthest auxiliary device 43c when the farthest part of the farthest end of the farthest part of the farthest part of the upper rotating body 41b (the foremost position).

[0128] The maximum operating radius area A40a1 can be as follows: Figure 3A The circle shown in the top view can also be like... Figure 3B The image shows a fan-shaped or approximate fan-shaped area when viewed from above. For example, when the rotation angle of the upper rotating body 41b is limited, the maximum working radius area A40a1 can also be a fan-shaped or approximate fan-shaped area when viewed from above. Figure 3A In the specific example shown, the radius of the maximum working radius region A40a1 is the same as or approximately the same as the maximum working radius. However, the radius of the maximum working radius region A40a1 may not be the same as the maximum working radius; for example, it may be larger than the maximum working radius. Specifically, for example, the radius of the maximum working radius region A40a1 may also be the maximum working radius plus a specified value (with a margin).

[0129] like Figure 7C As shown, when the maximum operating radius region A40a1 is a three-dimensional shape, it can also be a cylindrical shape with a specified height. Similarly, Figure 8BThe rear radius region A40a2 shown can also be a cylindrical shape with a specified height. Additionally, the maximum working radius region A40a1 can also be a three-dimensional shape with a fan-shaped or approximately fan-shaped cross-section and a specified height. More specifically, the maximum working radius region A40a1 can also be a three-dimensional shape with a fan-shaped or approximately fan-shaped bottom and top surface. Similarly, Figure 8B The rear radius region A40a2 shown can also be a three-dimensional shape with a fan-shaped or roughly fan-shaped bottom and top surface and a specified height.

[0130] When viewed from above, if the maximum working radius area A40a1 is fan-shaped or approximately fan-shaped, the computer 13 moves the maximum working radius area A40a1 in the rotational direction as the upper rotating body 41b rotates; that is, it rotates the maximum working radius area A40a1 around the rotational center axis 41b1. Similarly, when viewed from above, if the rear radius area A40a2 is fan-shaped or approximately fan-shaped, the computer 13 moves the rear radius area A40a2 in the rotational direction as the upper rotating body 41b rotates; that is, it rotates the rear radius area A40a2 around the rotational center axis 41b1. Furthermore, the computer 13 can also set the area (trajectory) traversed by the maximum working radius area A40a1 as it moves in the rotational direction as a new maximum working radius area A40a1. Similarly, the computer 13 can also set the area (trajectory) traversed by the rear radius region A40a2 when the rear radius region A40a2 moves in the turning direction as the new rear radius region A40a2.

[0131] like Figure 3B As shown, computer 13 defines a rear radius region A40a2 based on the rear radius of rotation of the upper rotating body 41b. The "rear radius of rotation" is the horizontal distance from the rotation center axis 41b1 to the rear end of the upper rotating body 41b. The rear radius region A40a2 can be a circle when viewed from above, or a sector or approximately a sector when viewed from above. For example, when the rotation angle of the upper rotating body 41b is limited, the rear radius region A40a2 can also be a sector or approximately a sector when viewed from above. Figure 3B In the specific example shown, the radius of the rear radius region A40a2 is the same as or approximately the same as the rear turning radius. However, the radius of the rear radius region A40a2 may not be the same as the rear turning radius; for example, it may be larger than the rear turning radius. Specifically, for example, the radius of the rear radius region A40a2 may also be the rear turning radius plus a specified value (allowing for a margin).

[0132] Computer 13 may also set the movable area A40a of the construction machinery based solely on the maximum operating radius area A40a1. Alternatively, computer 13 may set the movable area A40a of the construction machinery based on both the maximum operating radius area A40a1 and the rear radius area A40a2. For example, computer 13 may also set the overlapping area of ​​the maximum operating radius area A40a1 and the rear radius area A40a2 as the movable area A40a of the construction machinery.

[0133] Computer 13 can also set the shape of the construction machinery area A40 differently depending on its purpose. This also applies to areas A other than construction machinery area A40. For example, computer 13 can also set area A based on a pre-defined mapping between the purpose of area A and the shape of area A, and the purpose of area A itself. The purpose of construction machinery area A40 could be, for example, simple display or interference detection.

[0134] Workable area A40b, such as Figure 7A As shown, this can also be used, for example, to confirm the workability (productivity) of construction machinery 40. Details of the workable area A40b will be described below. Figure 7B The defined workable area A40b1 shown is a region that is defined as a part of the workable area A40b. Details of the defined workable area A40b1 will be described below.

[0135] like Figure 1 As shown, work area A45 is the area where construction machinery 40 performs operations in virtual space. Work area A45 can also be referred to as the work range. For example, work area A45 is the area where construction machinery 40 is scheduled to perform operations. Computer 13 can also set work area A45 based on information such as construction plans input to computer 13 from information input device 11b. Information such as construction plans can be input to input device 11 by the user, and computer 13 can also set work area A based on the information input to input device 11.

[0136] like Figure 9 As shown, the second construction machinery area A50 is a region within the virtual space associated with the location of the second construction machinery 50. The location of the second construction machinery area A50 can also be the same as the construction machinery setting location P40c, which serves as the location of construction machinery 40. The second construction machinery area A50 can be... Figure 3A The movable area of ​​the construction machinery in the area A40 shown is the same as the movable area A40a of the construction machinery, or it can be the same as... Figure 7A The workable area is the same as the workable area A40b of the engineering machinery area A40 shown.

[0137] like Figure 4D As shown, the platform area A61a is a region within the virtual space that is set inside the platform 61a. When the construction machinery 40 performs operations on the platform 61a, the platform area A61a can also be the work area A45. The computer 13 can also set whether the construction machinery 40 performs operations on the platform 61a based on the selection made by the user and applied to the input device 11.

[0138] like Figure 8C As shown, restricted area A71 is an area in the virtual space where engineering machinery 40 cannot enter. Restricted area A71 is also called a prohibited zone. Computer 13 can also set restricted area A71 based on the location of object 30. For example, computer 13 can also set restricted area A71 based on the location of obstacle 63. Computer 13 can also set restricted area A71 based on the location of safety passages, roads, etc. Computer 13 can also set restricted area A71 based on the location of material storage areas such as material yards (not shown). Computer 13 can also set restricted area A71 based on terrain 31. Specifically, for example, computer 13 can also set restricted area A71 at unstable ground locations such as the top of a slope. Computer 13 can also set restricted area A71 based on information applied to input device 11 through user manual operation.

[0139] The judgment object region A73 is the region within the virtual space that becomes the object of interference judgment. The steps for setting the judgment object region A73 and the interference judgment will be described below.

[0140] [Action Mode Switching Function] Homework Simulator 1 has an action mode switching function. Homework Simulator 1 can also set any one of multiple action modes as its own mode.

[0141] Functions associated with each of the multiple action modes can also be configured to Figure 1 The computer 13 shown. The computer 13 can also switch the start and end of controls associated with multiple operating modes respectively. In this embodiment, the multiple operating modes include... Figure 2 The construction plan pattern shown in step S20, and Figure 2 The operator operation mode shown in step S30. In addition, functions related to operation modes other than these modes can also be set to the computer 13.

[0142] Figure 2 The construction plan mode shown in step S20 is the action mode used for construction planning. In step S20, computer 13 sets the mode of job simulator 1 to construction plan mode and performs calculations for construction planning.

[0143] For example, in construction planning mode, computer 13 can also instruct output device 15 to display an image of the work site S in virtual space. Figure 1 In the specific example shown, computer 13 instructs output device 15 to display an image overlooking the work site S. For example, in construction planning mode, computer 13 can also perform operations such as configuring and deleting objects 30, configuring and deleting area A, based on manual operations performed by the user on input device 11. In construction planning mode, computer 13 can also automatically perform operations such as configuring and deleting objects 30, configuring and deleting area A, based on a construction planning mode program pre-stored in storage unit 13a. The work simulation program may also include a construction planning mode program.

[0144] Figure 2 The operator operation mode shown in step S30 is the operation mode of the construction machinery 40, which simulates real construction machinery in the virtual space, and is operated by the operator. In step S30, the computer 13 sets the mode of the job simulator 1 to the operator operation mode and performs calculations for the operator operation mode.

[0145] For example, in operator mode, computer 13 causes construction machinery 40 to operate in virtual space based on manual operations performed by the user and applied through operation input device 11a. That is, computer 13 outputs instructions corresponding to the user's manual operation to output device 15, and output device 15 displays the movement of construction machinery 40 corresponding to the user's manual operation. Specifically, for example, if the user's manual operation is a walking operation corresponding to the walking of the lower walking body 41a, computer 13 outputs instructions corresponding to the walking operation to output device 15, and output device 15 displays the walking movement of the lower walking body 41a. If the user's manual operation is a posture change operation (changing the posture of auxiliary device 43 or upper rotating body 41b), computer 13 outputs instructions corresponding to the posture change operation to output device 15, and output device 15 displays the posture change of auxiliary device 43 or upper rotating body 41b. The posture change of auxiliary device 43 can be... Figure 4B The change in the posture of the boom 43a1 shown can also be a change in the posture of the stick 43a2, or a change in the posture of the remote auxiliary device 43c.

[0146] In operator mode, computer 13 can also cause the state of the work site S to change in virtual space according to the work of construction machinery 40. The state of the work site S includes, for example, the state of the object 30, i.e., the work target. The work target can be, for example, the sand or soil that forms the terrain 31, or... Figure 4DThe hoisted cargo 62 is shown. The computer 13 can also deform the terrain 31 in virtual space according to the progress of excavation, land preparation, and other operations performed by the construction machinery 40. The computer 13 can also move the hoisted cargo 62 in virtual space according to the progress of lifting operations performed by the construction machinery 40.

[0147] The operator operation mode can also be used to store (teach) the operation of the construction machinery 40. Teaching is performed as follows: While observing the construction machinery 40 displayed on the output device 15, the user manually operates the construction machinery 40 in a virtual space by applying operations to the operation input device 11a. The computer 13 stores data related to the operation of the construction machinery 40, i.e., teaching data. Then, the computer 13 can also make the construction machinery 40 operate based on the stored teaching data.

[0148] In addition to the functions mentioned above, computer 13 may also have a variety of other functions. Specific examples of these functions are described below.

[0149] Computer 13 may also have the function of simulating changes in the work site S over time, i.e., a time change function. That is, computer 13 may also perform time change steps to simulate changes in the work site S over time. For example, object 30 and area A may also change as time passes in the prescribed steps or work simulation.

[0150] Computer 13 has a configuration assistance function to assist in configuring configuration object T. Computer 13 can also perform configuration assistance steps to implement the configuration assistance function. Job simulator 1 can also have a field build assistance tool to implement the configuration assistance function. Details of the configuration assistance function will be described below.

[0151] Computer 13 has the function of determining mutual interference in region A, i.e., interference determination function. Computer 13 can also perform interference determination steps to implement the interference determination function. Details of the interference determination function will be described below. The interference determination function may also be included in configuration assistance functions.

[0152] [Specific examples of computer processing] Computer 13 is capable of performing multiple processes in multiple sequences. (See reference) Figure 2 An example illustrating the processing flow of computer 13. Figure 2 The specific example of the operation process shown includes the processing of steps S10 to S50.

[0153] In step S10, Figure 1The computer 13 shown sets up terrain 31, which is an example of object 30, in a virtual space. That is, the computer 13 configures terrain 31 in the virtual space. For example, the computer 13 reads information about terrain 31 from the information input device 11b. Alternatively, the computer 13 can also set up terrain 31 in the virtual space based on information input by the user to the input device 11. The computer 13 can also store information about pre-set terrain 31.

[0154] In step S20, the computer 13 sets the mode of the job simulator 1 to construction plan mode and begins control related to the construction plan mode. In construction plan mode, the object processing unit 13b1 configures and deletes objects 30. In construction plan mode, the area processing unit 13b2 configures (sets) and deletes area A. The computer 13 may configure and delete objects 30, and configure and delete area A based on information input by the user in the input device 11, or it may configure and delete objects 30, and configure and delete area A based on information pre-stored in the storage unit 13a.

[0155] In step S21, the computer 13 determines whether to initiate control related to the operator's operating mode. Specifically, the computer 13 determines whether the conditions for initiating control related to the operator's operating mode, i.e., the operator operating mode initiation condition, have been met. For example, the operator operating mode initiation condition may be that the user manually selects to start the operator operating mode (e.g., GUI operation). If the operator operating mode initiation condition is met (if "Yes" in step S21), the computer 13 proceeds to step S30. If the operator operating mode initiation condition is not met (if "No" in step S21), the computer 13 does not initiate control related to the operator operating mode and proceeds to step S40.

[0156] In step S30, the computer 13 sets the mode of the job simulator 1 to operator mode and begins control related to operator mode. In operator mode, the user can manually operate the construction machinery 40 within the virtual space constructed by the job simulator 1. Thus, the user can verify the operability of the construction machinery 40 within the virtual space.

[0157] In step S31, the computer 13 determines whether to terminate the operator operation mode. Specifically, the computer 13 determines whether the conditions for terminating the operator operation mode have been met, i.e., the operator operation mode termination condition. For example, the operator operation mode termination condition could be a user's manual operation (e.g., GUI operation) selecting to terminate the operator operation mode. If the operator operation mode termination condition is not met (if step S31 is "No"), the computer 13 continues with the operator operation mode-related control in step S30. If the operator operation mode termination condition is met (if step S31 is "Yes"), the computer 13 terminates the operator operation mode, and in step S20, sets the mode of the job simulator 1 to construction plan mode, and proceeds with the processing after step S20.

[0158] The computer 13 may also save the changes to the work site S that occurred during the operator operation mode (e.g., the shape of the changed ground 31a) in the storage unit 13a when ending the operator operation mode. The computer 13 may also set the work site S in the construction plan mode as the saved work site S when changing the mode of the work simulator 1 from operator operation mode to construction plan mode. In other words, the computer 13 may inherit the changes to the work site S in the operator operation mode in the construction plan mode. However, the computer 13 may also set the work site S in the construction plan mode as the work site S at the start time of the operator operation mode (e.g., the previous operator operation mode) when changing the mode of the work simulator 1 from operator operation mode to construction plan mode. In other words, the computer 13 may not inherit the changes to the work site S in the operator operation mode in the construction plan mode. The computer 13 may also allow the user to choose whether to inherit the changes to the work site S in the operator operation mode in the construction plan mode.

[0159] In step S40, computer 13 performs various calculations. For example, computer 13 performs calculations on various phenomena in the work site S. In step S40, computer 13 may also perform calculations related to safety in the work site S. For example, computer 13 may also perform interference determination as a safety-related calculation, as described later. In step S40, computer 13 may also calculate the workability (productivity) of the work performed by construction machinery 40. Computer 13 may output the result of the interference determination to output device 15, or it may output the calculation result of the workability (productivity) to output device 15. Thus, the user can confirm the safety of the work site S and the workability of construction machinery 40.

[0160] In step S50, the computer 13 determines whether to end the job simulation. Specifically, the computer 13 determines whether the conditions for ending the job simulation have been met, i.e., the job simulation end condition. For example, the job simulation end condition could be a user's manual operation (e.g., GUI operation) selecting to end the job simulation. If the job simulation end condition is met (if "Yes" in step S50), the computer 13 ends the job simulation. If the job simulation end condition is not met (if "No" in step S50), the computer 13 continues the job simulation. In this case, the computer 13 performs the processing after step S20 again.

[0161] [Specific example of setting the position manually] The position of the configuration object T within the virtual space can be set or specified by the user through manual operation. That is, the computer 13 can set the position of the object 30 within the virtual space and the position of the region A within the virtual space based on the user's manual operation. Specific examples of the method for setting the position through manual operation are described below.

[0162] Computer 13 can also set the position of configuration object T in virtual space based on values ​​input by the user in input device 11. These values ​​may be, for example, coordinates representing the position of configuration object T and / or values ​​indicating a specified direction. Values ​​indicating a specified direction may also be, for example, rotation angles relative to a defined coordinate axis.

[0163] Computer 13 can also set the position of the configuration object T in the virtual space based on user operations such as mouse or touch operations. Specifically, for example, the user moves the mouse pointer to select a position on the ground 31a. The user sets the position on the ground 31a by clicking the mouse. With the position on the ground 31a already set, the user sets a position above or below the ground 31a by moving the mouse pointer up or down (e.g., dragging) and clicking at the desired height. In a mode where the direction is set via GUI operations, the user moves the mouse pointer (e.g., dragging) and clicks in the desired direction, thereby setting the direction. Furthermore, the above method of setting the position through manual operation is only one example; various other methods can be used to set the position.

[0164] [Specific examples of configuring accessibility features] Computer 13 has the function of assisting in the configuration of configuration object T within a virtual space. Configuration object T is at least one of object 30 and region A. That is, configuration object T can be object 30, region A, or both object 30 and region A.

[0165] For example, as shown in [Example A] below, computer 13 can also calculate the position of configuration object T. Computer 13 can automatically configure configuration object T at the calculated position, or it can instruct output device 15 to output candidate positions of configuration object T. As shown in [Examples B], [Examples C], [Examples D] and [Examples E] below, computer 13 can also calculate information that helps in the configuration of configuration object T.

[0166] The following provides a specific example of configuring accessibility features. Furthermore, as mentioned above, refer to... Figure 1 This describes the input device 11, the computer 13, and the constituent elements of these devices (such as the storage unit 13a). Also refer to... Figure 1 Describe object 30, region A, and configuration object T.

[0167] [Example A] Calculation of the position of configuration object T As described above, in the job simulator 1, the computer 13 can also set the position of at least one configuration object T (object 30 and / or region A) through manual operation by the user. However, if the setting of the position of the configuration object T requires manual operation by the user, the setting job will be time-consuming and laborious.

[0168] Therefore, the computer 13 preferably calculates (automatically calculates) the position of the configuration object T, for example, in the following manner.

[0169] The at least one configuration object T includes a first configuration object T and a second configuration object T. When the position of the first configuration object T in the work site S is set, but the position of the second configuration object T in the work site S is not set, the computer 13 preferably sets the position of the second configuration object T based on the position of the first configuration object T.

[0170] The at least one configuration object T includes construction machinery 40. Even if the position of a first specific part of the construction machinery 40 in the work site S is set, but the position of a second specific part of the construction machinery 40 in the work site S is not set, the computer 13 can also set the position of the second specific part based on the position of the first specific part. Specifically, for example, the position of the first specific part is the position of the remote auxiliary device 43c when the construction machinery 40 is operating, i.e., the operating position P43c; the position of the main body of the machinery 41 in the work site S, i.e., the construction machinery setting position P40c, has already been set; the second specific part is the base-side auxiliary device 43a. The computer 13 can also set the position of the base-side auxiliary device 43a based on the operating position P43c and the construction machinery setting position P40c.

[0171] The following is based on Figure 3A Specific examples will be provided for further explanation.

[0172] Computer 13 based Figure 3A Given the set position P11, calculate the unset position P12. Set position P11 is the position of configuration object T whose position has been set. Unset position P12 is the position of configuration object T whose position has not yet been set.

[0173] For example, the computer 13 can output the calculated undefined position P12 as a candidate position for the configuration object T to the output device 15, and the output device 15 can display the candidate positions for the configuration object T. Thus, the user can select a candidate position for the configuration object T. If the user has already selected a candidate position for the configuration object T, the computer 13 can also set the selected candidate as the position of the configuration object T and configure the configuration object T at the set position. Alternatively, for example, the computer 13 can automatically configure the configuration object T at the calculated undefined position P12. By calculating the position of the configuration object T, the computer 13 can reduce the increase in time and effort required for the user to manually configure the configuration object T.

[0174] The position of a configuration object T of various types may be a set position P11 and an unset position P12. Specific examples of set position P11 and unset position P12 are described below.

[0175] The set location P11 can be the location of at least a portion of the construction machinery 40. For example, the set location P11 can be the location of the construction machinery area A40 associated with the location of the construction machinery 40, and the unset location P12, for example, as shown in [Example A1] below, can be the location of a configuration object T that is different from the construction machinery 40. Figure 4B As shown, the set position P11 can also be a position that is part of the construction machinery 40 as object 30, and the unset position P12, for example, as shown in [Example A2] below, can also be a position of a part of the construction machinery 40 that is different from the part corresponding to the set position P11. In addition, the set position P11 and the unset position P12 can also be the positions of objects T that are configured differently from the construction machinery 40.

[0176] [Example A1] Example of calculating the position of an object T that is different from the configuration object T of engineering machinery 40. For example, such as Figure 3A As shown, the set position P11 can also be the position of the construction machinery area A40. Specifically, the set position P11 can also be the position of the movable area A40a of the construction machinery. The unset position P12 can also be the position of a configuration object T that is different from the construction machinery 40. The computer 13 can also calculate the position of the configuration object T that is different from the construction machinery 40 based on the position of the construction machinery area A40 (e.g., the movable area A40a of the construction machinery).

[0177] Here, the computer 13 can also set the shape or size of the construction machinery area A40 according to the specifications such as the type or size of the construction machinery 40. In this example, the computer 13 calculates the position of the configuration object T that is different from the construction machinery 40 based on the construction machinery area A40. Thus, the computer 13 can calculate the appropriate position corresponding to the type or size of the construction machinery 40 as the position of the configuration object T that is different from the construction machinery 40.

[0178] The "configuration object T different from construction machinery 40" at the undefined location P12 can be either object 30 or region A. The "configuration object T different from construction machinery 40" is... Figure 3A In the example shown, it is device 65, specifically a partition 65a (e.g., a cone). "A configuration object T different from the engineering machinery 40" can be, for example... Figure 9 The second piece of construction machinery 50 shown can also be as follows: Figure 4D The transport vehicle 61 shown can also be as follows: Figure 1 Obstacle 63 is shown. "Configuration object T, different from engineering machinery 40" can be region A, for example, it could be as follows: Figure 9 The second construction machinery area A50 shown can also be as follows: Figure 1 The work area A45 shown can also be as follows: Figure 1 The restricted area shown is A71.

[0179] The undefined position P12 calculated by computer 13 (in) Figure 3A The specific example shown (for the position of the separating device 65a) is described below. Computer 13 calculates the undefined position P12 based on the movable area A40a of the construction machinery. For example, computer 13 sets the undefined position P12 further outward than the movable area A40a (away from the side of the construction machinery 40). Computer 13 may also set the undefined position P12 at a predetermined distance outward from the movable area A40a. This predetermined distance may also be a margin (e.g., 1m). Computer 13 may also set the undefined position P12 along the outer perimeter of the movable area A40a. Computer 13 may also set the undefined position P12 along the tangent of the arc-shaped portion of the movable area A40a. This tangent is located at... Figure 3A In the diagram, a double-dotted line represents a tangent. There can be one or more tangent lines.

[0180] Computer 13 can also change the engineering machinery area A40 used to calculate the undefined position P12 based on the type of configuration object T that becomes the calculation object of the undefined position P12 (e.g., partition 65a, etc.). For example, Figure 3BAs shown, computer 13 can also combine the maximum operating radius region A40a1 and the rear radius region A40a2 in various ways depending on the type of configuration object T that becomes the computing object with an undefined position P12. In this case, the rotation angle of the maximum operating radius region A40a1 can be limited, or the rotation angle can be unlimited. Figure 3B In the example shown, the engineering machinery area A40 used to calculate the undefined position P12 is the movable area of ​​the engineering machinery A40a marked with a slant.

[0181] When there are multiple calculated undefined positions P12 (in the figure, there are multiple separators 65a), the multiple undefined positions P12 are calculated, for example, in the following manner. Furthermore, Figure 3A and Figure 3B In this example, only one of the multiple undefined positions P12 (multiple separators 65a) is marked with a symbol. For example... Figure 3B As shown, the computer 13 can also set multiple undefined positions P12 at intervals. The interval can also be set in various ways. Specifically, the interval can be a setting value manually set by the user or a setting value preset by the computer 13. The computer 13 can also calculate multiple undefined positions P12 with equal or approximately equal intervals.

[0182] [Example A2] Example of calculating the posture of engineering machinery 40. For example, such as Figure 4B As shown, the set position P11 can be a position that is part of the construction machinery 40, which is part of the object 30. The unset position P12 can be a position of a part of the construction machinery 40 that is different from the set position P11. The computer 13 can also calculate the position of a part of the construction machinery 40 that is different from the set position P11 based on the position of a part of the construction machinery 40.

[0183] Here, the position (posture) of the construction machinery 40 depends on the position of the lower traveling body 41a (e.g., construction machinery setting position P40c), the rotation angle of the upper slewing body 41b relative to the lower traveling body 41a, and the posture of the auxiliary device 43. The posture of the auxiliary device 43 depends on the angle of the boom 43a1 relative to the upper slewing body 41b, the angle of the stick 43a2 relative to the boom 43a1, and the angle of the distal auxiliary device 43c relative to the stick 43a2. Setting the position of all parts of the construction machinery 40 manually by the user is time-consuming and laborious.

[0184] Therefore, preferably, when the position of a part of the construction machinery 40 is set (set position P11), the computer 13 calculates the position of the part of the construction machinery 40 that is different from the set position P11 (unset position P12) based on the set position P11. In this case, the effort and time spent on setting the positions of each part of the construction machinery 40 can be reduced.

[0185] [Example A2-1] Calculation of the posture of engineering machinery 40 based on the setting position P40c of the engineering machinery. For example, such as Figure 4B As shown, the set position P11 can be the setting position P40c of the construction machinery. The unset position P12 can be the position of other parts of the construction machinery 40 or the posture of the construction machinery 40. In this example, the computer 13 calculates the posture of the construction machinery 40 based on the setting position P40c and the preset posture (described later).

[0186] The construction machinery setting position P40c (already set position P11) is the location for setting the lower traveling body 41a. For example, the construction machinery setting position P40c is as follows: Figure 10A The image shows the location of the center point 41ac on the lower surface of the engineering machinery.

[0187] The calculated posture of the construction machinery 40 (the calculated unset position P12) can also be the posture of the auxiliary device 43, specifically, the position (angle) of the boom 43a1, stick 43a2, and distal auxiliary device 43c. The calculated posture of the construction machinery 40 can also be the rotation angle of the upper rotating body 41b relative to the lower traveling body 41a.

[0188] The aforementioned "preset posture" refers to the posture of the construction machinery 40 that is pre-set in the computer 13. Multiple postures of the construction machinery 40 can also be set as preset postures. Additionally, parameters related to the preset posture can be set manually by the user.

[0189] Specific examples of preset postures are described below. The preset posture can also be the maximum arrival posture. The maximum arrival posture is the posture of the construction machinery 40 when the radius of the auxiliary device 43 centered on the rotation center axis 41b1 ("auxiliary device rotation radius") reaches its maximum. The preset posture can also be the minimum rotation radius posture (not shown). The minimum rotation radius posture is the posture of the construction machinery 40 when the auxiliary device rotation radius reaches its minimum. The preset posture can also be a walking posture (not shown). The walking posture is the posture of the construction machinery 40 when it is walking. Specifically, the walking posture is... Figure 4B The stick 43a2 and the distal accessory 43c shown are positioned close to the boom 43a1.

[0190] Preset postures such as Figure 4D As shown, it can also be a lifting posture (crane operating posture). The lifting posture is the posture of the construction machinery 40 when it is lifting the load 62. Specifically, the lifting posture is a posture in which the distal end of the distal attachment 43c is brought close to the boom 43a2 to perform the operation using the hook 43cf. The parameters of the lifting posture can also be set by the user. For example, the lifting height (height of the hook 43cf) under the lifting posture can also be set. This lifting height can be the height above the lower surface of the construction machinery 40, the height above the load 62, or the height above the position where the load 62 is placed (e.g., platform 61a). In addition, the operating radius under the lifting posture can also be set, for example. The parameters of the lifting posture can also be set to the computer 13 based on the load 62. For example, the parameters of the lifting posture can also be preset to the computer 13 in association with the load 62. In this case, the computer 13 can also read and set parameters of the lifting posture associated with the lifted cargo 62 when the cargo 62 to be lifted is selected. For example, the parameters of the lifting posture can also be calculated by the computer 13 based on the state of the lifted cargo 62. The state of the lifted cargo 62 can be, for example, the mass, volume and / or shape of the lifted cargo 62.

[0191] The preset posture can also be a loading posture. The loading posture is the posture of the construction machinery 40 when loading work objects (sand, etc.) onto the transport vehicle 61. The parameters of the loading posture can also be set by the user. For example, the loading height (height of the remote attachment 43c) under the loading posture can also be set. This loading height can be the height above the lower surface of the construction machinery 40 or the height above the loading position (e.g., platform 61a). Additionally, the operating radius under the loading posture can also be set, for example. The parameters of the loading posture can also be set to the computer 13 based on the object being loaded (e.g., the transport vehicle 61). Hereinafter, the case where the "object being loaded" is the transport vehicle 61 will be explained. For example, the parameters of the loading posture can also be preset to the computer 13 in association with the transport vehicle 61. In this case, the computer 13 can also read and set the loading posture parameters associated with the transport vehicle 61 when the transport vehicle 61 is selected for loading work objects. For example, the parameters of the loading posture can also be calculated by the computer 13 based on the state of the transport vehicle 61. The state of the transport vehicle 61 can also be, for example, the size, height, and / or shape of the loading dock 61a.

[0192] Preset poses can also be Figure 5CThe digging posture shown is the posture of the construction machinery 40 when digging for the work object. The parameters of the digging posture can also be set by the user. For example, the digging height under the digging posture can also be set. This digging height can be the height upwards from the lower surface of the construction machinery 40, or the height downwards from the lower surface of the construction machinery 40 (depth). Additionally, the working radius under the digging posture can also be set. The angle of the distal attachment 43c (specifically, the bucket) under the digging posture can be set by the user, or automatically set by the computer 13 according to the angle of the excavated ground 31a, etc.

[0193] like Figure 4B As shown, the preset posture can also be a slope digging posture. The slope digging posture is the posture of the construction machinery 40 when its remote attachment 43c (specifically, the bucket) moves along the inclined ground 31a, i.e., the slope. The parameters of the slope digging posture can also be set by the user. For example, the digging depth (e.g., the depth from the slope) under the slope digging posture can also be set. The angle of the remote attachment 43c (specifically, the bucket) under the slope digging posture can be set by the user, or it can be automatically set by the computer 13 based on the angle of the slope (ground 31a), etc.

[0194] The specific examples of user-performed actions in [Example A2-1] are described below. User settings Figure 3A The construction machinery is set to position P40c as shown. For example, the user moves the mouse pointer to the desired location P40c and clicks. The user selects a preset posture from several options. The user can also set parameters related to the preset posture. Thus, the posture of the construction machinery 40 is set to the selected preset posture. The posture of the construction machinery 40 can also be adjusted from the preset posture to the posture desired by the user. For example, even with part of the auxiliary device 43 fixed, the posture (angle) of other parts of the auxiliary device 43 can be adjusted by the user's operation.

[0195] [Example A2-2] Calculation of the posture of construction machinery 40 based on the working position P43c and the setting position P40c. For example, such as Figure 4B As shown, the set position P11 can also be the working position P43c and the engineering machinery setting position P40c. The unset position P12 can also be the position of the base-side auxiliary device 43a. The computer 13 can also calculate the position of the base-side auxiliary device 43a based on the working position P43c and the engineering machinery setting position P40c.

[0196] The working position P43c is the position of a portion of the remote attachment 43c when the construction machinery 40 is performing operations. The working position P43c varies depending on the type of remote attachment 43c and the type of operation performed by the remote attachment 43c (construction machinery 40). At least one of the types of remote attachment 43c and the types of operations performed by the remote attachment 43c can be selected by the user or automatically by the computer 13.

[0197] For example, when the distal attachment 43c is a bucket and the construction machinery 40 is digging or compacting, the working position P43c can be the distal end (claw tip) of the distal attachment 43c (bucket). Additionally, for example, such as... Figure 4C As shown, when the remote attachment 43c is a bucket and the construction machinery 40 is discharging soil, the working position P43c can also be the central part of the area inside the remote attachment 43c (bucket). Furthermore, Figure 4C The posture of the construction machinery 40 shown can be either a posture in which soil is being dumped or a posture before excavation. Additionally, for example, if the distal attachment 43c is a device for holding the work object (not shown), the working position P43c can also be the position for holding the work object. Furthermore, for example, as... Figure 4D As shown, when using hook 43cf for lifting operations, the working position P43c is the position of hook 43cf, for example, it can be the position where the rope is installed in hook 43cf (lifting position).

[0198] like Figure 4B As shown, the work location P43c can be a point (work point). Work location P43c can be one point or multiple points. For example... Figure 5B As shown, the work location P43c can also be a line (work line). A work line can include straight lines or curves. The work location P43c can also be a surface (work surface) (not shown). A work surface can include planes or curved surfaces. The work location P43c can also be a three-dimensional shape (work 3D solid) (not shown).

[0199] The job position P43c is set, for example, in the following manner. The computer 13 can also set the job position P43c based on manual operation by the user. The job position P43c can also be set using the setting assistance function described later. The job position P43c can also be set automatically by the computer 13.

[0200] The following is a specific example of how computer 13 sets the job position P43c based on the user's manual operation.

[0201] like Figure 4AAs shown, if the work position P43c is a point (work point), the user can also specify the location they want to set as the work point, and the computer 13 will set the specified location as the work position P43c. For example, the user can also move the mouse pointer to the location they want to set as the work position P43c and click to specify the location, and the computer 13 will set the specified location as the work position P43c.

[0202] like Figure 5A As shown, the specific example of how to set the work position P43c when it is a line (work line) is described below. Alternatively, the user can specify the two ends (work start point, work end point) of the work line, i.e., the work position P43c, and the computer 13 sets the work position P43c based on the positions of the specified ends. Alternatively, the work line, i.e., the work position P43c, can be set by the user specifying the ends of the work line (e.g., the work start point), the angle of the work line, and the length of the work line. The work line, i.e., the work position P43c, can also be set by specifying a path point (intermediate point) by the user. The work line, i.e., the work position P43c, can also include a curve (e.g., a spline curve) calculated based on multiple points. For example, the work line, i.e., the work position P43c, can also be set based on a line drawn by the user dragging the mouse.

[0203] When the work position P43c is a surface (work surface) (not shown), for example, the user can specify the position of the outer perimeter of the work surface (points or lines on the perimeter), and the computer 13 sets the work position P43c based on the specified outer perimeter position. The method for specifying the points or lines on the perimeter can be the same as the method for specifying work points or work lines described above. When the work position P43c is a solid (work three-dimensional body) (not shown), for example, the user can specify the lower and upper surfaces of the work three-dimensional body, and the computer 13 sets the work position P43c based on the specified lower and upper surfaces. The method for specifying the lower and upper surfaces of the work three-dimensional body can be the same as the method for specifying the work surface described above.

[0204] The location of the work position P43c can also be restricted based on certain conditions. For example, the work position P43c can also be restricted according to the specifications of the construction machinery 40, etc. Specifically, it can also be set from... Figure 4B The upper limit of the distance from the rotation center axis 41b1 to the working position P43c, and the working line (refer to...) Figure 5B The upper limit of the length of the work surface or the upper limit of the size of the work surface or the three-dimensional body.

[0205] [Work position P43c setting assistance function] Computer 13 is the preferred computing method for [the following] Figure 4A The position of the work position P43c is shown. The computer 13 can also output the calculated position as a candidate work position P43c to the output device 15 (for example, to have the output device 15 display the position). The computer 13 can also automatically set the calculated position as the work position P43c. By having the computer 13 calculate the work position P43c, the effort and time spent setting the work position P43c can be reduced compared to the case where the user sets the work position P43c manually.

[0206] Computer 13 calculates the work position P43c, for example, in the following manner. Computer 13 can also calculate the work position P43c based on the conditions surrounding the construction machinery 40. These conditions could be, for example, the conditions of object 30 or the conditions of area A. Computer 13 can also calculate the work position P43c based on the type of work performed by the construction machinery 40 (e.g., excavation, loading, lifting, etc.). Computer 13 can also consider changes in the work position P43c over time during the work simulation. Specific examples of calculating the work position P43c are described below.

[0207] Computer 13 can also calculate the job position P43c based on object 30.

[0208] Computer 13 can also calculate the work location P43c based on terrain 31. For example, when the construction machinery 40 is performing excavation or slope excavation on terrain 31 (e.g., ground 31a), computer 13 can also calculate the work location P43c based on terrain 31. Computer 13 can also calculate the work location P43c on ground 31a (in... Figure 4A In the example shown, the location on the slope (P43c) is used as the work location. Figure 5C As shown, computer 13 can also calculate a position at a specified distance (offset) from the ground 31a as the working position P43c. In this case, computer 13 can calculate either a position lower than the ground 31a (deep position) as the working position P43c, or a position higher than the ground 31a (airborne) as the working position P43c. Figure 4A As shown, when the ground 31a is a slope, the computer 13 can also calculate the position P43c as the working position, which is a predetermined distance (offset) away from the ground 31a in a direction perpendicular to the ground 31a. The offset can be set manually by the user or preset by the computer 13.

[0209] When computer 13 calculates the work location P43c based on terrain 31, the terrain 31 on which the construction machinery 40 is deployed may be different from the terrain 31 used to calculate the work location P43c. For example, when the construction machinery 40 is deployed on terrain 31 (ground 31a) which is a model of real land (see reference). Figure 4B The computer 13 can also calculate the work location P43c based on the terrain 31, which serves as design data (design surface).

[0210] like Figure 5D As shown, computer 13 can also calculate the work position P43c based on obstacles 63 (e.g., wall 63b). For example, computer 13 can also calculate the position P43c as the work position at a specified distance (offset distance L63) away from obstacle 63.

[0211] like Figure 4D As shown, when the construction machinery 40 is performing lifting operations, the computer 13 can also calculate the working position P43c based on the hoisted cargo 62. For example, the computer 13 can also calculate the position directly above the hoisted cargo 62 at a specified distance (offset) upward from the hoisted cargo 62 as the working position P43c (not shown).

[0212] Computer 13 can also calculate the job location P43c based on region A.

[0213] like Figure 4C As shown, computer 13 can also calculate the work position P43c based on work area A45 (the area where construction machinery 40 performs operations). Computer 13 can also calculate a specified position within work area A45 as work position P43c. For example, computer 13 can also calculate the position of the center of gravity, the center of gravity, or the position of the end (corner) of work area A45 as work position P43c.

[0214] like Figure 5D As shown, computer 13 can also calculate the work position P43c based on the restricted area A71, etc. Computer 13 can also calculate the position P43c as the work position at a specified distance (offset distance LA71) away from the restricted area A71.

[0215] Computer 13 can also calculate the work location P43c based on object 30 and region A. For example, in the case of excavation work being performed by construction machinery 40, such as... Figure 5C As shown, computer 13 can also calculate the location at a specified depth below ground level 31a. Figure 4C The location within the work area A45 shown is designated as work position P43c. This is in the case of construction machinery 40 performing earthmoving operations (refer to...). Figure 4C , Figure 4DComputer 13 can also calculate the work location P43c (not shown) as a position within the work area A45 that is a specified distance higher than the dumping location. The dumping location can be, for example, ground level 31a, or... Figure 4D The cargo platform 61a shown.

[0216] Computer 13 can also consider the changes in time during the job simulation and calculate the job position P43c. For example, suppose that in the previous job performed by the construction machinery 40, the job was only completed in a part of the job area A45. In this case, computer 13 can also calculate the position to perform the job after the job in the previous job is completed as the job position P43c. In this case, the job sequence within the job area A45, i.e., the order in which the jobs are performed, can also be preset to computer 13.

[0217] [Specification of the angle of the remote accessory 43c] like Figure 4A As shown, after setting (determining) the operating position P43c, the position of at least a portion of the remote auxiliary device 43c is set (determined). At this time, the angle (or orientation, such as the angle relative to the ground) of the remote auxiliary device 43c may not yet be determined. In this case, the angle of the remote auxiliary device 43c is set, for example, in the following manner.

[0218] The computer 13 can also set the angle of the remote accessory 43c based on the user's manual operation. For example, the user can input the value corresponding to the angle of the remote accessory 43c into the input device 11, or input the angle through operation such as mouse operation, or select an angle from multiple angle options.

[0219] The computer 13 can set the angle of the remote auxiliary device 43c based on the type of operation of the engineering machinery 40, or it can set the angle of the remote auxiliary device 43c based on a preset posture set on the computer 13. For example, as Figure 4D As shown, when a preset lifting operation or lifting posture is selected, the computer 13 can also set the angle of the remote attachment 43c by bringing the distal end (e.g., the tip of the bucket's claw) closer to the boom 43a2. Additionally, for example, as... Figure 5C As shown, when a preset posture for digging operations or digging postures is selected, the computer 13 can also set the angle of the remote attachment 43c (bucket) by tilting it at a predetermined angle relative to the ground 31a. The aforementioned "predetermined angle" can also be a parameter set by the user (see the description of the preset postures).

[0220] [Setting sequence for work position P43c and construction machinery setting position P40c] In this [Example A2-2], as Figure 4B As shown, computer 13 calculates the position of the base-side auxiliary device 43a based on the working position P43c and the engineering machinery setting position P40c. Computer 13 can also pre-set one of the working position P43c and the engineering machinery setting position P40c.

[0221] like Figure 4A As shown, computer 13 can also, after setting the job position P43c, as... Figure 4B The installation position P40c of the construction machinery is set as shown. The setting of the working position P43c and the installation position P40c in this case is performed, for example, as follows: The computer 13 can also set the working position P43c based on manual operation by the user. Alternatively, the computer 13 can also use a setting assistance function to set the working position P43c. After setting the working position P43c, the computer 13 can also move the construction machinery 40 (e.g., the center point 41ac of the lower surface of the construction machinery) according to, for example, the movement of the mouse pointer caused by the user's operation. At this time, the computer 13 can also instruct the output device 15 to display the posture of the construction machinery 40 calculated based on inverse kinematics. Then, the user moves and clicks the mouse pointer, thereby the computer 13 can also set (determine) the position corresponding to the movement and click of the mouse pointer as the installation position P40c of the construction machinery.

[0222] like Figure 6A As shown, computer 13 can also, after setting the engineering machinery setting position P40c, as... Figure 6B The working position P43c is set as shown. In this case, the setting of the construction machinery position P40c and the working position P43c are performed, for example, as follows: For example, if the user moves and clicks the mouse pointer, the computer 13 can also set the position corresponding to the mouse pointer movement and click as the construction machinery position P40c. After setting the construction machinery position P40c, the computer 13 can also cause the remote auxiliary device 43c to move according to, for example, the movement of the mouse pointer caused by the user's operation. At this time, the computer 13 can also instruct the output device 15 to display the posture of the construction machinery 40 calculated based on inverse kinematics. Then, if the user moves and clicks the mouse pointer, the computer 13 can also set the position corresponding to the mouse pointer movement and click as the working position P43c. Alternatively, the computer 13 can also use the working position P43c setting assistance function to set the working position P43c.

[0223] [Calculation of the position of the base-side auxiliary device 43a] As described above, the working position P43c and the construction machinery setting position P40c are set. Next, the computer 13 calculates the position of the base-end side auxiliary device 43a based on the working position P43c and the construction machinery setting position P40c. At this time, the computer 13 calculates the position of the base-end side auxiliary device 43a according to inverse kinematics. Specifically, the computer 13 calculates the position of the boom 43a1 (the angle of the boom 43a1 relative to the upper rotating body 41b) and the position of the stick 43a2 (the angle of the stick 43a2 relative to the boom 43a1).

[0224] [Determine if the posture of the construction machinery at position 40 is valid] As described above, the computer 13 calculates the position of the base-side auxiliary device 43a based on inverse kinematics. However, based on the relative positions of the installation position P40c and the working position P43c, it estimates that the posture of the construction machinery 40 may not be valid, i.e., the posture of the construction machinery 40 may be practically impossible. For example, if the installation position P40c and the working position P43c are too far apart or too close, the posture of the construction machinery 40 may not be valid. Therefore, the computer 13 preferably determines whether the posture of the construction machinery 40 is valid.

[0225] Preferably, when the posture of the construction machinery 40 is incorrect, the computer 13 instructs the output device 15 to notify the user. Specific examples of this notification are as follows. The output device 15 may also output a message indicating that the posture of the construction machinery 40 is incorrect. This message may be, for example, an error message such as text or sound. The output device 15 may also change the display mode depending on whether the posture of the construction machinery 40 is correct or incorrect. The display mode may be represented by, for example, the color and transparency of the displayed construction machinery 40. The output device 15 may also display the construction machinery 40 when its posture is correct, and not display the construction machinery 40 or display it semi-transparently when its posture is incorrect. The output device 15 may also notify the user to correct the working position P43c or the construction machinery setting position P40c.

[0226] In this example, the user is notified if the posture of the construction machinery 40 is incorrect. Therefore, the user can determine whether the construction machinery 40 can be positioned relative to the desired work location (work position P43c) (whether the construction machinery positioning position P40c can be set). Alternatively, the user can determine whether the work can be performed relative to the desired position of the construction machinery 40 (construction machinery positioning position P40c) (whether the work position P43c can be set).

[0227] [Display of multiple poses for construction machinery 40] For example, after setting (determining) the posture of the construction machinery 40 as described in [Example A2-1] and [Example A2-2] above, the computer 13 instructs the output device 15 to display the construction machinery 40 in the set posture. The computer 13 may instruct the output device 15 to display only one posture of the construction machinery 40, or it may... Figure 5B As shown, the output device 15 displays multiple postures of the construction machinery 40. When the output device 15 displays multiple postures of the construction machinery 40, the computer 13 can instruct the output device 15 to simultaneously display multiple postures of the construction machinery 40, or it can instruct the output device 15 to display (animate) the changes (movements) of the postures of the construction machinery 40. By displaying multiple postures of the construction machinery 40, users can easily grasp the movements of the construction machinery 40.

[0228] The output device 15 displays various postures of the construction machinery 40, as detailed below.

[0229] When there are multiple work points at work position P43c (not shown), computer 13 can also instruct output device 15 to display the posture of construction machinery 40 when working at each work point.

[0230] When the working position P43c is the work line, the computer 13 can also instruct the output device 15 to display the posture of the construction machinery 40 when the remote auxiliary device 43c is located at multiple points on the work line. These multiple points may include a start point, an intermediate point, and an end point. When the working position P43c is the work line, the output device 15 can also display the trajectory of at least a portion of the auxiliary device 43 as the remote auxiliary device 43c moves along the work line. The displayed trajectory can be the trajectory of a point on the auxiliary device 43, i.e., a line, or a three-dimensional shape (a surface of the auxiliary device 43 or a three-dimensional trajectory) (a three-dimensional trajectory).

[0231] When the working position P43c is a surface (working surface) or a solid (working three-dimensional body), the output device 15 can also display the information in the following manner. In this case, the computer 13 can also instruct the output device 15 to simultaneously display the posture of the remote auxiliary device 43c when it is in a certain position within the working surface or the working three-dimensional body, as well as the posture of the remote auxiliary device 43c when it is in other positions. The computer 13 can also instruct the output device 15 to display at least a portion of the trajectory of the auxiliary device 43 when it moves within the working surface or the working three-dimensional body.

[0232] Computer 13 can also instruct output device 15 to display various postures of construction machinery 40 when it is performing various operations. For example, when construction machinery 40 is performing excavation and soil removal operations, computer 13 can also instruct output device 15 to simultaneously display the posture of construction machinery 40 when it is performing excavation operations (see reference). Figure 5C), and the posture of the construction machinery 40 during the earthmoving operation (refer to Figure 4C ).

[0233] Computer 13 can also instruct output device 15 to display multiple postures of a portion of the construction machinery 40, and only display one posture of other parts (not shown). For example, when the upper rotating body 41b is rotating, computer 13 can also instruct output device 15 to display multiple postures of the upper rotating body 41b and the auxiliary device 43. In this case, sometimes the display of the upper rotating body 41b overlaps and is difficult to see. Therefore, computer 13 can also instruct output device 15 to display multiple postures of the auxiliary device 43, and instruct output device 15 to display only one posture of the upper rotating body 41b.

[0234] Computer 13 can also instruct output device 15 to display the changes in posture (movements) of construction machinery 40 in an animated manner. For example, computer 13 can also instruct output device 15 to display the changes in posture of construction machinery 40 when remote auxiliary device 43c moves along the working position P43c of the work line in an animated manner.

[0235] [Example A3] Calculation of the position of the configuration object T, which is different from that of the engineering machinery 40. also, Figure 3A The set position P11 shown can also be the position of a configuration object T different from the construction machinery 40, and the unset position P12 can also be the position of a configuration object T different from the construction machinery 40. The computer 13 can also calculate the position of a configuration object T different from the construction machinery 40 based on the configuration object T different from the construction machinery 40. Specifically, for example, assuming... Figure 1 As shown, the restricted area A71 is set by the user's manual operation. The computer 13 can also calculate the position of the device 65 based on the position of the restricted area A71. For example, the computer 13 can also calculate the position of the inner and outer boundaries (or the vicinity) of the restricted area A71 as the position of the device 65.

[0236] [Example B] Provide auxiliary display of the configuration of configuration object T, etc. like Figure 7A As shown, the computer 13 preferably instructs the output device 15 to perform an auxiliary display of the configuration of the at least one configuration object T (at least one of object 30 and region A). For example, the computer 13 may also instruct the output device 15 to perform an auxiliary display of the configuration of the construction machinery 40. Specifically, the computer 13 may instruct the output device 15 to display the construction machinery region A40 as described in [Example B1] below, or as... Figure 7D As shown in Example B2 below, the output device 15 displays the capabilities of the construction machinery 40.

[0237] [Example B1] Display of the construction machinery area A40 Computer 13 can also cause output device 15 to display the construction machinery area A40 overlapping with the construction machinery 40. As described above, the construction machinery area A40 is associated with the position of the construction machinery 40. When the construction machinery 40 has moved, computer 13 causes the construction machinery area A40 to move along with the construction machinery 40. At this time, computer 13 causes output device 15 to display the moved construction machinery area A40. In addition, as described above, when the construction machinery 40 has moved and the construction machinery area A40 has moved, computer 13 can also set the area (track) traversed by the construction machinery area A40 as a new construction machinery area A40. In this case, computer 13 can also cause output device 15 to display the aforementioned "new construction machinery area A40".

[0238] [Example B1-1] Display of movable area A40a of construction machinery like Figure 7C As shown, computer 13 can also instruct output device 15 to display the movable area A40a of the construction machinery (see reference). Figure 3A , Figure 3B As described above, when viewed from above, if the maximum working radius area A40a1 is fan-shaped or roughly fan-shaped, it may sometimes rotate due to the rotation of the upper rotating body 41b. In this case, the computer 13 instructs the output device 15 to display the rotated maximum working radius area A40a1. Similarly, regarding the rear radius area A40a2, the computer 13 instructs the output device 15 to display the rotated rear radius area A40a2. Furthermore, as described above, when the upper rotating body 41b has rotated and the maximum working radius area A40a1 has moved in the rotation direction, the computer 13 may also set the area (track) traversed by the maximum working radius area A40a1 as the new maximum working radius area A40a1. Similarly, regarding the rear radius area A40a2, the computer 13 may also set the area (track) traversed by the rear radius area A40a2 as the new rear radius area A40a2. In this case, the computer 13 may also instruct the output device 15 to display the aforementioned "new maximum operating radius area A40a1" and / or "new rear end radius area A40a2".

[0239] [Example B1-2] Display of workable area A40b like Figure 7A As shown, computer 13 can also instruct output device 15 to display the operable area A40b. Operable area A40b is the area where the remote auxiliary device 43c can be configured when the auxiliary device 43 is operating. Operable area A40b and movable area A40a of the construction machinery (see reference) Figure 7C The differences are as follows.

[0240] like Figure 7C As shown, the movable area A40a of the construction machinery is the area that takes into account the forward and backward movement of the remote auxiliary device 43c, but does not consider the vertical movement of the remote auxiliary device 43c. Therefore, if only the movable area A40a of the construction machinery is displayed, the user will find it difficult to accurately determine the vertical extent to which the construction machinery 40 can perform its operations. On the other hand, as... Figure 7A As shown, the workable area A40b is the region that takes into account the movable area of ​​the distal auxiliary device 43c in the forward and backward and vertical directions. The workable area A40b indicates the extent to which the construction machinery 40 can perform operations in the forward and backward and vertical directions; specifically, it indicates the depth and height to which the construction machinery 40 can operate. The workable area A40b is determined by physical limitations such as the size and shape of the auxiliary device 43 and the working range of the actuator that operates the auxiliary device 43. The working range of the actuator can, for example, be the range of the stroke of the working cylinder.

[0241] The output device 15 displays the operable area A40b, thereby allowing the user to understand the operable area of ​​the construction machinery 40 at its installation location (construction machinery installation location P40c). This enables the user to, for example, conduct research or verification of the operability (productivity) of the construction machinery 40. As a result, the user can easily study the installation location of the construction machinery 40.

[0242] Computer 13, for example, instructs output device 15 to display the workable area A40b in the following manner.

[0243] Computer 13 can also cause output device 15 to display the workable area A40b in two dimensions. For example, computer 13 can also cause output device 15 to overlay a display of the mechanical body 41 and auxiliary devices 43 viewed from the side, i.e., a two-dimensional display, as well as a two-dimensional workable area A40b (working range diagram).

[0244] Computer 13 can also cause output device 15 to display the workable area A40b in three dimensions. For example, computer 13 can also cause output device 15 to overlay a two-dimensional (planar) workable area A40b, i.e., a work range diagram, onto the three-dimensionally displayed construction machinery 40 and display it (not shown). In this case, workable area A40b can also be displayed at the center of the auxiliary device 43 in the lateral (width direction). Computer 13 can also cause workable area A40b to rotate around the rotation center axis 41b1, following the rotation of the upper rotating body 41b relative to the lower traveling body 41a.

[0245] [Display of the restricted workable area A40b1] like Figure 7BAs shown, the computer 13 can also cause the output device 15 to display a defined operable area A40b1. The defined operable area A40b1 is an area within the operable area A40b that is smaller than the operable area A40b, and is a region defined as a part of the operable area A40b. For example, the defined operable area A40b1 is set based on at least one operable area definition value (a specified parameter).

[0246] As described above, the workable area A40b is a region determined by the physical limitations of the auxiliary device 43, etc. On the other hand, the workable area A40b1 is limited by at least one workable area limitation value set, for example, based on the limitations of the use of the construction machinery 40.

[0247] Specifically, the at least one workable area limitation value may include a limitation value based on the construction machinery 40, or a limitation value based on the work site S. The at least one workable area limitation value may also include a limitation value in the height direction. For example, the at least one workable area limitation value may include a limitation value in the height direction from the lower surface of the construction machinery 40, or a limitation value in the height direction (height or depth direction) from the ground 31a. For example, as... Figure 7B As shown, when the limit value of the workable area is set to a specified depth below the ground 31a, the computer 13 sets the limit of the workable area A40b1 to a height above the "specified depth".

[0248] The at least one workable area limitation value may include a limitation value in the front-rear direction of the upper rotating body 41b, and may also include a limitation value in the lateral direction of the upper rotating body 41b. For example, as Figure 7B As shown, when the limit value of the workable area is set to a predetermined position that is forward of the lower walking body 41a, the computer 13 sets the limit workable area A40b1 to a position that is forward of the predetermined position.

[0249] like Figure 7C As shown, the at least one workable area limit may also include a limit on the rotation direction (rotation angle) of the upper slewing body 41b. In this case, the limit on the rotation angle may be set to a value greater than 0 degrees and less than 360 degrees (an angle value), or it may be set according to a value that is a multiple of the width of the distal attachment 43c (e.g., the bucket).

[0250] Computer 13 may also make the display mode (e.g., display color) of the defined workable area A40b1 in the output device 15 different from the display mode of parts that are different from the defined workable area A40b1. For example, computer 13 may make the display of the defined workable area A40b1 in the output device 15 different from the display of the movable area A40a of the construction machinery, and may also make the display of the defined workable area A40b1 in the output device 15 different from the display of the terrain 31 outside the defined workable area A40b1.

[0251] [Example B2] indicates the capability of construction machinery 40. like Figure 7D As shown, computer 13 can also cause output device 15 to display the workable area A40b (see reference). Figure 7A In addition to the above, the computer 13 can also instruct the output device 15 to display the following information: (e.g., when the construction machinery 40 is performing lifting operations). The computer 13 can also instruct the output device 15 to display a rated load Db2, which indicates the working radius (the horizontal distance from the rotation center axis 41b1 to the hook 43cf) and the load that can be lifted. Figure 4D The computer 13 can also change the display mode, such as display color, of the output device 15 according to the load that can be lifted. The computer 13 can also cause the output device 15 to display a display showing the relationship between the working radius and the load, as well as the construction machinery 40, overlaid. In addition, the computer 13 can also cause the output device 15 to display a rated load table, which shows the relationship between the load that can be lifted and the working radius without overlapping with the construction machinery 40.

[0252] [Example C] Calculation of workable quantity (productivity) Computer 13 preferably calculates a value representing the workability (productivity) of construction machinery 40. The calculated value representing the workability can be the workability itself or a value related to the workability. Workability is the quantity of work objects (e.g., sand, etc.) that construction machinery 40 can work on. Specifically, for example, workability could also be the quantity of sand that construction machinery 40 can excavate. Computer 13 calculates the value representing the workability of construction machinery 40, thereby allowing the user to confirm the workability while simultaneously developing a work plan (e.g., configuring the work object T).

[0253] like Figure 7BAs shown, computer 13 can also calculate a value representing the workable quantity based on the workable area A40b. Computer 13 can also calculate a value representing workable quantities, such as the excavation volume, based on the defined workable area A40b1. For example, computer 13 can also calculate the area of ​​the two-dimensional region enclosed by the defined workable area A40b1 and the ground 31a as a value representing the workable quantity. Computer 13 can also calculate the volume, i.e., the product of this area and the width of the distal attachment 43c (here, the bucket), as a value representing the workable quantity. Computer 13 can also calculate the volume of the three-dimensional region enclosed by the defined workable area A40b1 and the ground 31a as a value representing the workable quantity. Computer 13 can also calculate the workable mass as a value representing the workable quantity based on this volume and the density of the work object (e.g., sand).

[0254] Computer 13 can also instruct output device 15 to display calculated values ​​representing workable quantities (e.g., area, volume, mass, etc.). Computer 13 can also instruct output device 15 to display values ​​based on the calculated workable quantities. For example, computer 13 can also, based on the calculated workable quantities, instruct output device 15 to change the display mode (e.g., display color) of the workable area A40b or the workable area A40b1 used to calculate the workable quantities.

[0255] [Example D] Interference detection function like Figure 8A As shown, computer 13 preferably performs an interference determination to determine the state of mutual interference between regions A. Region A includes a region Ao containing objects. In this case, the user can confirm the state of mutual interference between regions A. As a result, the user can confirm whether the position of object 30 or region A is appropriate. Mutual "interference" between regions A means that regions A overlap, that is, their positions overlap. The "state of interference" determined by computer 13 includes at least whether there is interference. The "state of interference" determined by computer 13 may include the amount of interference (e.g., area, volume), the duration of interference, and the number of times interference occurs.

[0256] Multiple regions A may become the targets of interference determination. For example, computer 13 may perform interference determination between the engineering machinery region A40 and the determination object region A73, as described in [Example D1] below. For example, computer 13 may also perform interference determination between a region A different from engineering machinery 40 (i.e., a region A different from engineering machinery region A40) and the determination object region A73, as described in [Example D2] below. Specific examples of interference determination are described below.

[0257] [Example D1] Interference determination between engineering machinery area A40 and judgment object area A73 Computer 13 can also determine interference between the construction machinery area A40 and the target area A73. This determination can be used, for example, to confirm whether the distance between the construction machinery 40 and the target area A73 can be maintained.

[0258] In this example, the determination object area A73 is an area A that is different from the construction machinery area A40. Multiple areas A can potentially be the determination object area A73. For example, the determination object area A73 could be, as in [Example D1-1] below, different from the second construction machinery area A50 (see...). Figure 9 Different areas A can also be like the second construction machinery area A50, as shown in [Example D1-2] (refer to...). Figure 9 ).

[0259] [Example D1-1] Interference determination between construction machinery area A40 and area A, which is different from the second construction machinery area A50. like Figure 8A As shown, computer 13 can also determine interference between engineering machinery area A40 and area A (an example of determination object area A73) which is different from the second engineering machinery area A50.

[0260] The determination object region A73 can also be object 30 (more specifically, the object-consistent region Ao related to object 30). For example, object 30 could be... Figure 4D The transport vehicle 61 shown can be Figure 4D The hoisted cargo 62 shown can be an obstacle 63, or it can be... Figure 8C The device 65 shown can also be Figure 9 The operator 67 is shown. The judgment object area A73 can also be an area A set based on the position of the object 30 as the judgment object, that is, an area A other than the object consistency area Ao. The judgment object area A73 can also be an area A set without being based on the position of the object 30 (for example, an area A set by the user's manual operation).

[0261] Specifically, for example, the target area A73 can also be a restricted area A71. For instance, the restricted area A71 can also be set at a predetermined distance from an object 30 (e.g., obstacle 63 in this example) and between that object 30. Figure 8C As shown, the inner and outer boundaries of the restricted area A71 can also be set based on the position of objects 30, such as the separating device 65a. The restricted area A71 can also be set manually by the user.

[0262] [Example D1-2] Interference determination between construction machinery area A40 and the second construction machinery area A50 like Figure 9As shown, computer 13 can also determine the interference between construction machinery area A40 and second construction machinery area A50. Second construction machinery area A50 is an example of the determination object area A73. For example, computer 13 can also determine the interference between construction machinery 40 and second construction machinery 50. In this case, "construction machinery 40" refers to the object-consistent area Ao (construction machinery area A40) related to construction machinery 40, and "second construction machinery 50" refers to the object-consistent area Ao (second construction machinery area A50) related to second construction machinery 50. By determining the interference between construction machinery area A40 and second construction machinery area A50, it is possible to determine the state in which multiple construction machines (construction machinery 40 and second construction machinery 50) are in contact or close proximity. In the case of determining the interference between the object-consistent area Ao related to construction machinery 40 and the object-consistent area Ao related to second construction machinery 50, it is possible to determine whether multiple machines (construction machinery 40 and second construction machinery 50) are in contact with each other.

[0263] [Example D2] Interference determination between region A (different from engineering machinery 40) and region A73 (the object of judgment) Furthermore, computer 13 can also determine interference between areas A that are set independently of engineering machinery 40. Specifically, for example, computer 13 can also perform... Figure 8C The interference determination between the device 65 (specifically, the object region Ao associated with the device 65) and the obstacle 63 (specifically, the object region Ao associated with the obstacle 63) is performed. In this case, for example, it can be determined whether the device 65 overlaps with the obstacle 63, or whether the device 65 is too close to the obstacle 63, etc.

[0264] [Change in judgment criteria] Computer 13 may also change the determination criteria for interference determination (at least one of the two regions A that are the objects of interference determination). For example, computer 13 may also change the determination criteria for interference determination according to the type of region A in which interference determination is performed.

[0265] Here, as a specific example, such as Figure 8A The diagram illustrates the interference determination between the construction machinery area A40 and the target area A73 (as described in [Example D1] above). The computer 13 can also change the construction machinery area A40 (determination criterion) used for interference determination based on the type of target area A73.

[0266] Specifically, for example in Figure 8A and Figure 8BIn the example shown, computer 13 performs interference determination between the construction machinery area A40 and the wall 63b (specifically, the area Ao corresponding to the object associated with the wall 63b). In this example, the construction machinery area A40 used for interference determination is the area formed by overlapping the maximum operating radius area A40a1 with a limited turning angle and the rear radius area A40a2. Furthermore, in Figure 8C In the example shown, computer 13 determines interference between the construction machinery area A40 and building 63a (specifically, the area Ao corresponding to objects associated with building 63a). In this example, the construction machinery area A40 used for interference determination is the maximum operating radius area A40a1. Additionally, in this example, computer 13 determines interference between the construction machinery area A40 and restricted area A71. In this example, the construction machinery area A40 used for interference determination is the maximum operating radius area A40a1. Thus, computer 13 can also change the determination criteria for interference based on the type of area A being determined.

[0267] [Utilization of the results of interference determination] The information from the interference determination results can also be used for various processing methods. Specific examples of how to utilize the interference determination results are described below.

[0268] Computer 13 can also, based on whether regions A interfere with each other, cause output device 15 to change the display mode (e.g., display color) of region A that has been determined to be interfered with. For example, computer 13 can also, based on whether regions A interfere with each other, change the display mode (e.g., display color) of region A. Figure 8B The interference between the engineering machinery area A40 and the judgment object area A73 shown, and Figure 8A If the construction machinery area A40 and the judgment object area A73 do not interfere with each other, the output device 15 changes the display mode of the judgment object area A73 (not shown). The computer 13 can also change the display mode of the construction machinery area A40 based on whether the construction machinery area A40 interferes with or does not interfere with the judgment object area A73. In this case, the computer 13 can also change the overall display mode of the construction machinery area A40 (not shown). Furthermore, the construction machinery area A40 sometimes comprises multiple parts (specifically, the maximum operating radius area A40a1 and the rear radius area A40a2). Figure 8B In the example shown, computer 13 causes output device 15 to change the display mode of only the part of the engineering machinery area A40 that interferes with the target area A73, in a way that is different from the display mode when there is no interference.

[0269] Computer 13 can also cause output device 15 to issue a notification when areas A interfere with each other. Computer 13 can also cause output device 15 to output a message indicating mutual interference in areas A. This message can be, for example, text, sound, or other error messages. Computer 13 can also cause output device 15 to output a notification reminding the user to change the position of configuration object T when areas A interfere with each other. In this case, computer 13 can also cause output device 15 to display options such as the position of configuration object T that will not cause mutual interference in areas A. Computer 13 can also cause output device 15 to output a notification reminding the user to change the model of construction machinery 40 when areas A interfere with each other. In this case, computer 13 can also cause output device 15 to display options such as the model of construction machinery 40 that will not cause mutual interference in areas A.

[0270] For example, there might be a situation where area A moves, such as when construction machinery 40 is working. In such cases, areas A may interfere with each other multiple times (the interfering state and the non-interfering state occur repeatedly). Therefore, computer 13 can also count the number of times areas A interfere with each other.

[0271] Computer 13 can also store the posture of construction machinery 40 when it interferes with the target area A73. In this case, computer 13 can also instruct output device 15 to display the stored posture of construction machinery 40. Thus, the user can grasp the posture of construction machinery 40 when it interferes with the target area A73.

[0272] [Configuration limitations based on interference determination results] Computer 13 can also restrict the configuration of the object T based on the result of interference determination. For example, computer 13 can also restrict the configuration of the object 30 to be configured (e.g., construction machinery 40, etc.) based on the result of interference determination. For example, computer 13 can restrict the configuration of the object 30 to be configured so that the region A associated with the object 30 to be configured and the determination object region A73 do not interfere with each other.

[0273] For example, if the construction machinery area A40 interferes with the target area A73, the computer 13 preferably restricts the configuration of the construction machinery 40 to avoid interference between the construction machinery area A40 and the target area A73. That is, the computer 13 can also restrict the configuration of the construction machinery 40 so that the construction machinery area A40 to be configured does not interfere with the target area A73. Specifically, for example, the computer 13... Figure 8B As shown in the example, the placement of the construction machinery 40 is restricted to locations where it would interfere with the construction machinery area A40 and the obstacle 63. Additionally, the computer 13, as... Figure 8AAs shown in the example, it allows the construction machinery 40 to be positioned in a location where it does not interfere with the obstacle 63 in the construction machinery area A40.

[0274] For example, computer 13 can also restrict the configuration of device 65, so that the device 65 to be configured (refer to...) Figure 8C The object region A73 (e.g., the object region Ao associated with obstacle 63) does not interfere with each other.

[0275] [Interference Detection During Time Changes] As described above, computer 13 can also change the state (position, shape, etc.) of region A according to the passage of time (changes in time, steps, etc.) during the work simulation. Furthermore, computer 13 can also determine the mutual interference between regions A when the state of region A changes. Computer 13 can also perform interference determination continuously or in stages based on continuous or phased time changes.

[0276] For example, in situations where the construction machinery 40 is operating (e.g., moving, turning, etc.), the construction machinery area A40 will move. In this case, the computer 13 performs an interference determination between the moving construction machinery area A40 and the target area A73. In this situation, interference determination during the operation of the construction machinery 40 can be performed.

[0277] [Time variations of multiple machines] like Figure 9 As shown, when multiple machines (construction machine 40 and second construction machine 50) are at the work site S, sometimes these machines work and move as time passes in the work simulation (time changes in the work simulation). In this case, computer 13 can, for example, determine interference in the following manner. Computer 13 can also determine the interference status of construction machine area A40 and second construction machine area A50 when construction machine 40 and second construction machine 50 are working, respectively. In this case, it is possible to confirm the work plan or safety when multiple machines (construction machine 40 and second construction machine 50) are working (operating) at the work site S.

[0278] In the event of interference from multiple machines (construction machine 40, second construction machine 50) in operation, various methods can be used to make the machines work. Computer 13 can also cause at least one of the construction machines 40 and 50 to operate according to the operator's operating mode ( Figure 2The user's manual operation in step S30) is performed while the computer 13 is operating. The computer 13 can also cause at least one of the construction machinery 40 and the second construction machinery 50 to operate based on pre-stored information, such as pre-taught information, according to the user's manual operation. The computer 13 can also cause at least one of the construction machinery 40 and the second construction machinery 50 to operate based on pre-stored work information (preset information) on the computer 13.

[0279] Specific examples of user-performed operations for enabling the construction machinery 40 and the second construction machinery 50 to operate are described below.

[0280] [Specific example of the operation 1] For example, a user selects the machine to be stored for operation (i.e., the machine to be taught) from multiple machines (construction machine 40, second construction machine 50). The user selects construction machine 40, for example, by operating the operation object selection unit (not shown) of the GUI. The user operates the selected construction machine 40 and makes it work. The computer 13 stores the operation of the construction machine 40. The user, for example, selects to start construction machine 40 working with the taught operation by operating the GUI. Thus, construction machine 40 starts working with the taught operation. Additionally, before, simultaneously with, or after construction machine 40 starts working, the user selects the machine (second construction machine 50) to be the object of interference determination. The user manually operates the second construction machine 50. Then, the computer 13 can also perform interference determination on the construction machine area A40 of the working construction machine 40 and the second construction machine area A50 of the working second construction machine 50.

[0281] [Specific example of the operation 2] Alternatively, the user can teach the construction machinery 40 and the second construction machinery 50 separately. For example, the user can operate the GUI to make the construction machinery 40 and the second construction machinery 50 work based on the taught information. Then, the computer 13 can also determine interference between the construction machinery area A40 of the working construction machinery 40 and the second construction machinery area A50 of the working second construction machinery 50.

[0282] [Specific example of the operation 3] Alternatively, for example, users can operate the GUI to make at least one of the construction machinery 40 and the second construction machinery 50 work based on preset information.

[0283] [Example E] Confirmation of field of vision As described above, computer 13 instructs output device 15 to display the work site S within the virtual space. Computer 13 can also instruct output device 15 to display multiple fields of view. Computer 13 can also instruct output device 15 to display fields of view from multiple positions (reference position, direction) from the work site S. Computer 13 can also instruct output device 15 to display fields of view with multiple viewing angles (range, viewing angle). Computer 13 can also instruct output device 15 to switch between displaying multiple fields of view. Computer 13 can also instruct output device 15 to display multiple fields of view simultaneously. Computer 13 can instruct output device 15 to display a field of view from object 30, or it can instruct output device 15 to display a field of view from region A. Computer 13 can instruct output device 15 to display a field of view from outside object 30, or it can instruct output device 15 to display a field of view from outside region A. Specific examples of the fields of view output by output device 15 are described below.

[0284] Computer 13 can also display an overall or majority view of the work site S from the output device 15 (site view mode). Computer 13 can also display a view from outside the construction machinery 40 (external viewpoint of the construction machinery). When displaying the external viewpoint of the construction machinery, the user can confirm the appearance of the construction machinery 40 as seen from its surroundings. This allows the user to easily grasp, for example, the distances between the construction machinery 40 and objects around it.

[0285] The computer 13 can also cause the output device 15 to display the field of view from the construction machinery 40. For example, the computer 13 can also cause the output device 15 to display the field of view from a camera (rear camera) or the like located on the rear side of the upper rotating body 41b.

[0286] Computer 13 can also instruct output device 15 to display the view from inside the cab 41b2 (cab viewpoint) (refer to second view V2). By displaying the cab viewpoint, the user can confirm the operator's view from inside the cab 41b2 (operator's line of sight). In this case, the user can confirm the operator's line of sight in advance even if they are not operating the actual construction machinery corresponding to the construction machinery 40. For example, the user can confirm where there will be blind spots when looking from the cab 41b2. As a result, hazard prevention activities become easier. When the cab viewpoint is displayed in operator operation mode, the user (operator) can confirm the view from the cab 41b2 while experiencing the operation of the construction machinery 40.

[0287] Furthermore, as mentioned above, sometimes the cab 41b2 is movable relative to the bottom of the upper rotating body 41b. In this case, the viewpoint (angle, height) inside the cab can be changed according to the position (angle, height) of the cab 41b2 relative to the bottom of the upper rotating body 41b. This allows the user to confirm the operator's line of sight when the position of the cab 41b2 relative to the bottom of the upper rotating body 41b has changed. Additionally, as mentioned above, sometimes the cab 41b2 is equipped with accessories (e.g., protective parts). In this case, the computer 13 can also instruct the output device 15 to display the viewpoint from inside the cab when the main body of the cab 41b2 is equipped with accessories. This allows the user to confirm the operator's line of sight when the main body of the cab 41b2 is equipped with accessories.

[0288] like Figure 8A As shown, sometimes the computer 13 performs interference determination between the construction machinery area A40 of the construction machinery 40 and the determination object area A73 (as described in [Example D1]). In this case, the computer 13 can also instruct the output device 15 to display a view overlooking the construction machinery 40 (the construction machinery 40 corresponding to the construction machinery area A40 where interference determination is performed) and the determination object area A73. In this case, the user can grasp the distance between the construction machinery 40 and the determination object area A73.

[0289] Furthermore, when computer 13 determines the interference between the engineering machinery area A40 and the target area A73 of the engineering machinery 40, computer 13 can also instruct output device 15 to display the field of view from the engineering machinery 40 to the target area A73. In this case, such as Figure 9 (Refer to second view V2) As shown, the field of view from the construction machinery 40 can be a view from inside the cab 41b2, or a view from a different location within the construction machinery 40 than the cab 41b2 (e.g., a rear camera). By displaying the field of view from the construction machinery 40 to the target area A73, the user can understand the field of view when observing from the construction machinery 40 toward the target area A73.

[0290] Computer 13 can also instruct output device 15 to display the field of view from objects 30 other than the construction machinery 40. Computer 13 can also instruct output device 15 to display the field of view from obstacles 63 (see reference). Figure 8C The output device 15 can display the field of view from the device 65 (camera device 65b, etc.) or the field of view from the operator 67 (observer, etc.).

[0291] The actual camera device 65b can be installed in various locations at the actual work site S. Sometimes, the user wants to determine the appropriate installation location for the camera device 65b. Therefore, the computer 13 instructs the output device 15 to display the field of view from the camera device 65b. This allows the user to determine (confirm) exactly where to install the camera device 65b at the work site S.

[0292] If an object 30, smaller than the construction machinery 40, such as a camera device 65b or an antenna 65c, is placed at the work site S, the user observing the display of the output device 15 may sometimes have difficulty determining the presence or location of the small object 30. Therefore, for example, the small object 30 (such as the camera device 65b) and the column 65d are preferably arranged as a set (integrated).

[0293] [Simultaneous display of multiple views] Computer 13 can also cause output device 15 to display multiple (more than two) views simultaneously. Computer 13 can also cause output device 15 to display a first view V1 and a second view V2. The first view V1 and the second view V2 are views from different locations (viewpoints) within virtual space. Computer 13 can also cause output device 15 to display three or more views (a third view, a fourth view, etc.). Specific examples of output device 15 displaying multiple views are described below.

[0294] Computer 13 can also cause output device 15 to display the view from the construction machinery 40 (construction machinery viewpoint) and the view from outside the construction machinery 40 (construction machinery external viewpoint) (overhead view). For example, in construction planning mode ( Figure 2 In step S20), the computer 13 can also instruct the output device 15 to display the external view from the construction machinery 40 in most of the display area. At this time, the computer 13 can also instruct the output device 15 to display the view from any (user-desired) location in a portion of the display area. This view from any location could be, for example, the view from the camera device 65b, the view from the operator 67 (e.g., an observer), or the view from the cab 41b2.

[0295] For example, in operator operation mode ( Figure 2 In step S30), the computer 13 may also display a large portion of the display area (e.g., screen) of the output device 15 showing the view from inside the cab 41b2, and a portion of the display area of ​​the output device 15 showing the view from outside the construction machinery 40. In this case, the user can experience the operation of the construction machinery 40 while confirming the state of contact or proximity between the construction machinery 40 and objects around it.

[0296] [Calculation of the configuration of object 30] As described above, computer 13 configures object 30 in the work site S within the virtual space. Object 30 is typically configured in a manner that is in contact with the ground 31a. Alternatively, there may be objects 30 that are not in contact with the ground 31a. For example, there may be objects 30 that float in the air (such as drones or other flying objects), or objects 30 that are configured only in the ground 31b.

[0297] The construction machinery 40 is configured to contact (or substantially contact) the ground 31a. Specifically, as... Figure 4B As shown, the lower surface of the lower walking body 41a is configured to contact (or substantially contact) the ground 31a. Specific examples of configuring the engineering machinery 40 onto the ground 31a are described below.

[0298] [Configuration Example 1] Computer 13 can configure the engineering machinery 40 so that the lower surface of the lower walking body 41a is in contact with the ground 31a. At this time, computer 13 can configure the engineering machinery 40 in a way that the lower surface of the lower walking body 41a is not lower than the ground 31a (without entering the ground 31b).

[0299] [Configuration example using grounding determination point P21] [Configuration Example 2] Preferably, the computational load on computer 13 regarding the configuration of engineering machinery 40 is suppressed. Specifically, such as... Figure 10C As shown, computer 13 can also calculate the contact between grounding determination point P21 and ground 31a, but does not calculate the contact between the entire lower surface of the engineering machinery 40 and ground 31a.

[0300] Grounding determination point P21 is used to determine whether the construction machinery 40 is in contact or substantially in contact with the ground 31a, thus positioning the construction machinery 40 on the ground 31a. For example... Figure 10A As shown, the grounding determination point P21 can be set to three or more specific points (locations) on the lower surface of the construction machinery 40. For example, the grounding determination point P21 can be set to four specific points on the lower surface of the construction machinery 40. For example, multiple grounding determination points P21 can also be configured at positions equidistant from the center point 41ac of the lower surface of the construction machinery.

[0301] When the lower traveling body 41a has left and right tracks 41a1, 41a1, the two ends of the long side of each track 41a1, 41a1, namely the front end and the rear end, can also be set as ground contact determination points P21. In this case, the total number of ground contact determination points P21 reaches 4 points. For example, as Figure 6BAs shown, when the track 41a1 has multiple rollers 41a2, ground contact determination points P21 can also be set at the positions below the foremost roller 41a2 in the long side direction and below the positions below the rearmost roller 41a2 in the long side direction (refer to...). Figure 10A ).like Figure 10A As shown, the ground contact determination point P21 can also be set at the center of the track 41a1 in the width direction. The ground contact determination point P21 can also be set at the end of the track 41a1 in the width direction, etc. (not shown).

[0302] When the lower walking body 41a has multiple wheels (not shown), a ground contact determination point P21 may be provided at the lower end of the wheel. The ground contact determination point P21 may be set at the center in the width direction of the wheel, or it may be provided at the end in the width direction of the wheel, etc.

[0303] like Figure 10C As shown, the computer 13 rotates the construction machinery 40 relative to the horizontal direction by making the three grounding determination points P21 contact the ground 31a. The computer 13 configures the construction machinery 40 so that the three grounding determination points P21 are in contact with the ground 31a. A specific example of this configuration is described below.

[0304] Computer 13 performs the following processing, or processing substantially equivalent to the following processing. For example... Figure 10B As shown, computer 13 displays the state of the construction machinery 40 when it is not tilted relative to the horizontal plane. Figure 4B Multiple grounding determination points P21, with the rotation center axis 41b1 extending vertically as shown, are projected onto the ground surface 31a (e.g., projected downwards in the vertical direction). Computer 13 calculates the position of the grounding determination points P21 projected onto the ground surface 31a (the position on the ground surface 31a). Computer 13 stores the position of the grounding determination points P21 projected onto the ground surface 31a as projected grounding determination points P23. Computer 13 calculates the ground surface P25 based on three or more projected grounding determination points P23. For example, computer 13 may also set the plane passing through three projected grounding determination points P23 as the ground surface P25. Regarding the calculation method of the ground surface P25, in the case of four or more projected grounding determination points P23, it is sufficient that at least three projected grounding determination points P23 are located on the ground surface P25. Alternatively, computer 13 can use calculation methods such as least squares to calculate the plane that minimizes the distance between the four or more projected grounding determination points P23 and the plane, and use the calculated plane as the grounding ground P25 (or perform a plane approximation).

[0305] Sometimes, the construction machinery 40 may not be positioned on the ground 31a. For example, when a user intends to position the construction machinery 40 on the ground 31a, it may sometimes be displayed higher than the ground 31a. In such cases, the computer 13 can instruct the output device 15 to display at least a portion of the ground surface P25. For instance, the computer 13 can instruct the output device 15 to display the area obtained by projecting a quadrilateral formed by connecting the positions of the four sides of the lower walking body 41a in the width direction and the front-rear direction onto the ground surface P25. The computer 13 can also instruct the output device 15 to display the area obtained by projecting (projecting downwards) the track 41a1 onto the ground surface P25 (not shown).

[0306] Computer 13 calculates the three-dimensional rotation angle of the ground plane P25 (e.g., the three-dimensional rotation angle relative to the horizontal direction). For example... Figure 10C As shown, the computer 13 rotates the construction machinery 40 relative to the horizontal direction in such a way that the three-dimensional rotation angle of the ground surface P25 is consistent with the three-dimensional rotation angle of the lower surface of the construction machinery 40 (specifically, the lower surface of the track 41a1). At this time, the computer 13 can also, for example, rotate the construction machinery 40 around the center point 41ac of the lower surface of the construction machinery.

[0307] Computer 13 aligns the lower surface of the rotating lower walking body 41a of the construction machinery 40 with the ground contact surface P25. At this time, for example, computer 13 can also position the center point 41ac of the lower surface of the construction machinery as the location P40c specified by the user (see reference). Figure 4B The construction machinery 40 is positioned directly above the location of the ground 31a. Alternatively, for example, the computer 13 can also position the construction machinery 40 so that the three grounding determination points P21 are aligned with the ground 31a.

[0308] In this [Configuration Example 2], compared to the case in [Configuration Example 1] where the lower surface of the lower walking body 41a is not lower than the ground 31a, the calculation load for configuring the construction machinery 40 on the ground 31a can be reduced.

[0309] [Contact determination between construction machinery 40 and ground 31a] Computer 13 can also determine that the lower surface of the construction machinery 40 is in "contact" with the ground 31a when three grounding determination points P21 are in contact with the ground 31a (on the ground 31a) and the remaining grounding determination point P21 is at a height above the ground 31a. Furthermore, when only three grounding determination points P21 are set, computer 13 can also determine that the lower surface of the construction machinery 40 is in "contact" with the ground 31a when all three grounding determination points P21 are in contact with the ground 31a.

[0310] [Regarding Method 1] The first method involves a work simulator 1 equipped with a computer 13. The computer 13 simulates a work site S in a virtual space, where construction machinery 40 performs operations. The computer 13 configures at least one configuration object T in the virtual space. The at least one configuration object T includes at least one of an object 30 and a region A. The computer 13 has a function to assist in configuring the at least one configuration object T.

[0311] In the first method, the computer 13 has the function of assisting in the configuration of the configuration object T. Therefore, compared with the case where the user performs all the operations of configuring the configuration object T manually, the effort and time spent on configuring the at least one configuration object T can be reduced.

[0312] [Regarding Method 2] In the second method, the at least one configuration object T includes a first configuration object and a second configuration object. If the position of the first configuration object T in the work site S is set, but the position of the second configuration object T in the work site S is not set, the computer 13 sets the position of the second configuration object T based on the position of the first configuration object T. Specifically, as follows... Figure 3A As shown, computer 13 calculates the undefined position P12 based on the defined position P11. The defined position P11 is a configuration object T whose position is already defined (see reference). Figure 1 The position of ) is not set. P12 is a configuration object T whose position is not set (see reference). Figure 1 The location of P11 is the location of at least a portion of the engineering machinery 40 configured in the virtual space.

[0313] In this second method, the computer 13 automatically calculates the unset position P12 based on the positions of at least a portion of the engineering machinery 40 configured in the virtual space, i.e., the set position P11. Therefore, compared to the case where the user manually sets all the unset positions P12, the effort and time spent setting the unset positions P12 can be reduced.

[0314] Specifically, for example, computer 13 can also set a region A associated with the location of construction machinery 40, namely construction machinery region A40. The set location P11 can also be the location of construction machinery region A40. In this case, computer 13 automatically calculates the unset location P12 based on the set location P11, i.e., construction machinery region A40. Thus, compared with the case where the user manually sets all the unset locations P12, the effort and time spent on setting the unset locations P12 can be reduced.

[0315] [Regarding Method 3] In the third method, the at least one configuration object T includes construction machinery 40. If the position of a first specific part of the construction machinery 40 in the work site S is set, but the position of a second specific part of the construction machinery 40 in the work site S is not set, the computer 13 sets the position of the second specific part based on the position of the first specific part.

[0316] In this third method, the computer 13 can set the position of the second specific part based on the position of the first specific part. Therefore, compared to the case where the user manually sets the positions of the first and second specific parts, the time and effort required for setting the positions can be reduced.

[0317] [Regarding Method 4] Method 4 is a specific example of method 3. In method 4, such as... Figure 4B As shown, the construction machinery 40 includes a main body 41 and an auxiliary device 43. The auxiliary device 43 is convex and convex relative to the main body 41. The auxiliary device 43 includes a distal auxiliary device 43c and a base-side auxiliary device 43a. The distal auxiliary device 43c is located at the distal end of the auxiliary device 43. The base-side auxiliary device 43a is disposed between the distal auxiliary device 43c and the main body 41. The set position P11 is the working position P43c and the construction machinery setting position P40c. The working position P43c is the position of at least a portion of the distal auxiliary device 43c when the construction machinery 40 is operating. The construction machinery setting position P40c is the position where the main body 41 is set. The unset position P12 is the position of the base-side auxiliary device 43a. The working position P43c and the construction machinery setting position P40c are examples of the positions of a first specific part. The position of the base-side auxiliary device 43a is an example of the position of a second specific part.

[0318] In this fourth method, the computer 13 automatically calculates the position (unset position P12) of the base-side auxiliary device 43a based on the working position P43c, which is the set position P11, and the engineering machinery setting position P40c, which is the set position P11. Therefore, compared to the case where the user manually sets the position of the base-side auxiliary device 43a, the effort and time spent setting the position of the base-side auxiliary device 43a can be reduced.

[0319] [Regarding Method 5] In the fifth method, after setting the work position P43c, the construction machinery setting position P40c is set.

[0320] In the fourth method described above, the working position P43c and the construction machinery setting position P40c are set to the pre-set position P11. Here, it is assumed that a suitable location for the working position P43c has already been predetermined. In this case, as in the fifth method, setting the construction machinery setting position P40c after setting the working position P43c provides greater convenience for the user.

[0321] [Regarding Method 6] In the sixth method, after setting the engineering machinery setting position P40c, the working position P43c is set.

[0322] In the fourth method described above, the work position P43c and the construction machinery setting position P40c are set to the pre-set position P11. Here, it is assumed that a suitable location for the construction machinery setting position P40c has already been predetermined. In this case, as in the sixth method, setting the work position P43c after setting the construction machinery setting position P40c provides greater convenience for the user.

[0323] [Regarding Method 7] In the seventh method, the computer 13 determines whether the posture of the construction machinery 40 when the remote auxiliary device 43c is configured in the working position P43c and the lower walking body 41a is configured in the construction machinery setting position P40c is a posture that the construction machinery 40 can assume.

[0324] In the fourth method described above, the position of the base-side auxiliary device 43a (unset position P12) is calculated based on the positions of the working position P43c and the construction machinery setting position P40c (set position P11). However, depending on the positions of the working position P43c and the construction machinery setting position P40c, sometimes the posture of the construction machinery 40 is not valid. Therefore, the work simulator 1 has the structure involved in the seventh method. As a result, the computer 13 can automatically determine whether the posture of the construction machinery 40 corresponding to the working position P43c and the construction machinery setting position P40c is a posture that the construction machinery 40 can assume.

[0325] [Regarding Method 8] In the eighth embodiment, the construction machinery 40 includes a main body 41 and an auxiliary device 43. The auxiliary device 43 is convex or convex relative to the main body 41. The auxiliary device 43 includes a distal auxiliary device 43c located at the distal end of the auxiliary device 43. For example... Figure 7A As shown, computer 13 sets up an operable area A40b. Operable area A40b is the area where the remote auxiliary device 43c can be configured when the auxiliary device 43 is working.

[0326] In this eighth method, the computer 13 is able to perform processing based on the operable area A40b (e.g., instructing the output device 15 to display, etc.).

[0327] [Regarding Method 9] In the 9th method, such as Figure 7B As shown, computer 13 sets a limited operable area A40b1. Based on the operable area limit value set by computer 13, the limited operable area A40b1 is set. The limited operable area A40b1 is within the range of operable area A40b and is smaller than operable area A40b.

[0328] In this ninth method, the computer 13 can perform processing based on the defined workable area A40b1. Specifically, for example, the computer 13 can instruct the output device 15 to display the defined workable area A40b1, or it can calculate a value representing the workability of the construction machinery 40 in the defined workable area A40b1.

[0329] [Regarding Method 10] In the 10th method, such as Figure 9 As shown, the computer 13 instructs the output device 15 to simultaneously display multiple views (e.g., first view V1 and second view V2) from different locations within the virtual space.

[0330] In this tenth method, the user can simultaneously view multiple views (e.g., first view V1 and second view V2). For example, the user can view multiple views while configuring a configuration object T (see [reference]). Figure 1 ) homework.

[0331] [Regarding Method 11] In the 11th method, such as Figure 10A As shown, computer 13 sets three or more specified points on the lower surface of the construction machinery 40 as grounding determination points P21. For example... Figure 10B As shown, computer 13 calculates the position of the projected grounding determination point P23 obtained by projecting the grounding determination point P21 onto the ground surface 31a. Computer 13 calculates the three-dimensional rotation angle of the ground surface P25 based on three or more projected grounding determination points P23. Figure 10C As shown, the computer 13 rotates the engineering machinery 40 in such a way that the three-dimensional rotation angle of the ground plane P25 is consistent with the three-dimensional rotation angle of the lower surface of the engineering machinery 40. The computer 13 configures the engineering machinery 40 in such a way that the lower surface of the engineering machinery 40 is consistent with the ground plane P25.

[0332] In this eleventh method, compared to the case of calculating the contact state between the entire lower surface of the construction machinery 40 and the ground 31a (for example, [Configuration Example 1] above), the computational load for calculating the configuration of the construction machinery 40 to the ground 31a can be reduced.

[0333] [Regarding Method 12] In the 12th method, the computer 13 has the function of enabling the construction machinery 40 to operate in a virtual space with the configuration object T configured.

[0334] In this 12th method, it is possible to simulate in a virtual space what would happen if the construction machinery 40 were working at a work site S with a configuration object T. Thus, the user or computer 13 can confirm (verify) what would happen if the construction machinery 40 were working at the work site S.

[0335] [Regarding Method 13] In the 13th method, such as Figure 4B As shown, the construction machinery 40 includes a lower traveling body 41a, an upper rotating body 41b, and an auxiliary device 43. The upper rotating body 41b is capable of rotating relative to the lower traveling body 41a. The auxiliary device 43 is capable of undulating relative to the upper rotating body 41b.

[0336] In this 13th method, the construction machinery 40 is a machine (specifically, an excavator, crane, etc.) that includes an upper rotating body 41b capable of rotating relative to the lower traveling body 41a and an auxiliary device 43 capable of undulating relative to the upper rotating body 41b. The work simulator 1 can assist in the configuration of the configuration object T within the work site S where the construction machinery 40 is performing operations.

[0337] Next, methods 14 through 19 will be explained.

[0338] The job simulator 1 described in methods 14 through 19 solves the following problem: Multiple regions are set within the virtual space. For example, even if a user looks at the display to determine the state of interference between regions, it may not be possible to properly determine the state of interference. Therefore, it is desirable to be able to reliably determine the state of interference between regions within the virtual space.

[0339] The job simulator 1 involved in methods 14 to 19 can reliably determine the state of mutual interference between regions within the virtual space.

[0340] [Regarding Method 14] In the 14th method, such as Figure 8AAs shown, computer 13 determines the interference state between construction machinery area A40 and target area A73. Construction machinery area A40 is set in association with the position of construction machinery 40 configured in virtual space. Target area A73 is area A set in virtual space.

[0341] In the 14th method, the computer 13 automatically determines the interference state between the construction machinery area A40 and the target area A73. Therefore, compared to a user looking at the display to determine whether the construction machinery area A40 and the target area A73 interfere, the interference state between the construction machinery area A40 and the target area A73 can be reliably determined. Thus, the mutual interference state of areas A within the virtual space can be reliably determined.

[0342] [Regarding Method 15] In the 15th method, the computer 13 restricts the configuration of the construction machinery 40 so that the construction machinery area A40 of the construction machinery 40 to be configured does not interfere with the judgment object area A73.

[0343] In the 15th method, compared to situations where, for example, in order to prevent the construction machinery area A40 and the determination object area A73 from interfering with each other, the user has to perform the operation of configuring the construction machinery 40 while looking at the display, the effort and time spent on configuring the construction machinery 40 can be reduced.

[0344] [Regarding Method 16] In the 16th method, such as Figure 9 As shown, computer 13 configures a second construction machine 50, which is different from construction machine 40. Computer 13 sets a second construction machine region A50 associated with the position of the second construction machine 50. Computer 13 determines the interference state between construction machine region A40 and second construction machine region A50 when construction machine 40 and second construction machine 50 are working, respectively.

[0345] In the 16th method, the interference state between the engineering machinery area A40 and the second engineering machinery area A50 when multiple machines (engineering machinery 40 and second engineering machinery 50) are working can be reliably determined.

[0346] [Regarding Method 17] In the 17th mode, the construction machinery 40 works simultaneously with the user's operation (refer to the operator operation mode described above), or works based on pre-stored information (refer to the teaching described above) according to the user's operation.

[0347] In the 17th method, it is possible to reliably determine the state of interference between the engineering machinery area A40 and the determination object area A73 when the engineering machinery 40 is operated in the manner desired by the user.

[0348] [Regarding Method 18] In the 18th method, the computer 13 stores the posture of the construction machinery 40 when the construction machinery area A40 interferes with the judgment object area A73.

[0349] In the 18th method, after interference determination, information on the posture of the construction machinery 40 when interference occurs between the construction machinery area A40 and the determined object area A73 can be used (for example, to confirm).

[0350] [Regarding Method 19] In the 19th mode, the computer 13 instructs the output device 15 to display a view overlooking the construction machinery 40 and the judgment object area A73, or instructs the output device 15 to display a view from the construction machinery 40 to the judgment object area A73 (refer to the second view V2).

[0351] In the 19th method, the view overlooking the construction machinery 40 and the judgment object area A73 is displayed on the output device 15, thus allowing the user to grasp the relative position of the construction machinery 40 corresponding to the construction machinery area A40 and the judgment object area A73. When the view from the construction machinery 40 to the judgment object area A73 is displayed on the output device 15, the following effect is achieved: In this case, the user can grasp what it looks like when observing from the construction machinery 40 corresponding to the construction machinery area A40 towards the judgment object area A73.

[0352] [Regarding Method 30] In the 30th method, such as Figure 1 As shown, the job simulation program is used to simulate a work site S in a virtual space where construction machinery 40 performs operations. The job simulation program instructs computer 13 to execute a configuration step and a configuration assistance step. The configuration step configures at least one of the object 30 and region A, namely the configuration object T, in the virtual space. The configuration assistance step assists in configuring the configuration object T.

[0353] In method 30, a configuration assistance step assists in configuring the configuration object T. Therefore, compared to the scenario where the user manually performs all the configuration operations for the configuration object T, the effort and time spent configuring the configuration object T can be reduced.

[0354] [Regarding Method 31] In the 31st method, the job simulation program is a program used to simulate the work site S in which construction machinery 40 performs operations in a virtual space. The job simulation program instructs computer 13 to execute an interference determination step. The interference determination step determines the interference state between the construction machinery area A40 and the determination target area A73. The construction machinery area A40 is set in association with the position of the construction machinery 40 configured in the virtual space. The determination target area A73 is area A set in the virtual space.

[0355] In the 31st method, the computer 13 can automatically determine the interference state between the construction machinery area A40 and the target area A73. Therefore, compared to a user looking at the display to determine whether the construction machinery area A40 and the target area A73 interfere, the interference state between the construction machinery area A40 and the target area A73 can be reliably determined. Thus, the mutual interference state of areas A within the virtual space can be reliably determined.

[0356] [Regarding Method 33] In the 33rd method, the job simulation method is a method of simulating a work site S in a virtual space where construction machinery 40 performs operations. The job simulation method includes a configuration step and a configuration assistance step. The configuration step configures at least one of the object 30 (which is the configuration object T) and region A in the virtual space. The configuration assistance step assists in configuring the configuration object T.

[0357] In method 33, a configuration assistance step assists in configuring the configuration object T. Therefore, compared to the scenario where the user manually performs all the configuration operations for the configuration object T, the effort and time spent configuring the configuration object T can be reduced.

[0358] [Regarding Method 34] In the 30th method, the job simulation method is a method that simulates a work site S in which construction machinery 40 performs operations within a virtual space. The job simulation method includes an interference determination step. The interference determination step determines the interference state between the construction machinery area A40 and the object area A73. The construction machinery area A40 is set in association with the position of the construction machinery 40 configured in the virtual space. The object area A73 is area A set in the virtual space.

[0359] In the 34th method, the interference state between the construction machinery area A40 and the target area A73 can be determined. Therefore, compared to a situation where the user looks at the display to determine whether the construction machinery area A40 and the target area A73 interfere, the interference state between the construction machinery area A40 and the target area A73 can be reliably determined. Thus, the mutual interference state of areas A within the virtual space can be reliably determined.

[0360] (Modified example) Figure 1 The work simulator 1 shown may also include at least a portion of the components of a remote operation device for remotely operating a physical machine (the physical machine constructed similarly to the construction machinery 40). The work simulator 1 may also be a work simulator utilizing the components of a remote operation device. For example, the work simulator 1 may be a work simulator installed on a remote operation device. For example, the remote operation device includes an input device 11, a computer 13, and an output device 15. The input device 11 includes operating devices (e.g., a joystick, an operating pedal) and outputs operating signals (joystick operating signals, pedal operating signals) corresponding to the operation of the operating devices. During remote operation, the computer 13 exchanges signals with the physical machine being remotely operated via a communication unit. During remote operation, the computer 13, based on the operating signals input from the input device 11, will adjust the operating device of the physical machine (corresponding to...) Figure 4B The device shown as accessory 43) or walking device (corresponding to Figure 4B The working signals (i.e., work command signals) of the device (such as the lower walking body 41a shown) are sent to the actual machine. When operating remotely, the computer 13 receives image data from the camera mounted on the actual machine or signals output by the sensors mounted on the actual machine via the communication unit. When operating remotely, the output device 15 (specifically, a monitor) outputs the image data (data acquired by the computer 13) of the camera mounted on the actual machine.

[0361] The job simulator 1 may also only have a portion of the components of a remote operating device. For example, the input device 11 may be a device that utilizes the components of a remote operating device, while the computer 13 and output device 15 may not be devices that utilize the components of a remote operating device. Alternatively, the input device 11 and output device 15 may each be a device that utilizes the components of a remote operating device, while the computer 13 may not be a device that utilizes the components of a remote operating device.

[0362] When the work simulator 1 is equipped with the input device 11 of the remote operation device, the user can use the input device 11 of the remote operation device for remotely operating the actual machine to operate the construction machinery 40 in the virtual space (for example, referring to the operator operation mode described above). Thus, the user can experience the feel of operating the actual machine by operating the construction machinery 40 in the virtual space. As a result, for example, it promotes the user's proficiency in operating the remote operation device. Furthermore, for example, it is easy to imagine the situation where the actual machine at the actual work site (corresponding to work site S) is operated using the remote operation device (what situations might occur, etc.).

[0363] When the work simulator 1 is equipped with a remote control output device 15, the user can operate the construction machinery 40 in the virtual space while observing the output device 15 of the remote control device as observed when remotely operating the actual machine. Furthermore, in this case, the output device 15 of the work simulator 1 can also be used as the output device 15 of the remote control device. Therefore, it is not necessary to use a different device (such as a monitor) than the output device 15 of the remote control device as the output device 15 of the work simulator 1.

[0364] When the work simulator 1 is equipped with an input device 11 and an output device 15 for a remote control device, the following effect can be achieved. In this case, the user can operate the construction machinery 40 in the virtual space by simultaneously observing the output device 15 of the remote control device as observed when remotely operating the actual machine, and operating the input device 11 of the remote control device as operated when remotely operating the actual machine. Therefore, compared to the case where the work simulator 1 only has one of the input device 11 and the output device 15 of the remote control device, the user can experience a feeling of operation that is closer to that of operating a real machine.

[0365] (Other variations) Various modifications can be made to the above embodiments and variations. For example, various examples of the above embodiments (including variations) can be combined with each other in various ways. For example, modifications can also be made. Figure 1 The connections of the constituent elements shown are as follows. For example, the number of constituent elements (including variations) in the above embodiments can be changed, and some constituent elements can be omitted. The "constituent element" includes constituent elements in the virtual space (specifically, object 30 and region A) (the same applies below). For example, the arrangement of constituent elements can be changed. For example, the inclusion relationship of constituent elements can be changed in various ways. For example, a constituent element described as a subordinate constituent element contained in a superior constituent element may not be included in that superior constituent element, or it may be included in other constituent elements. For example, a constituent element described as multiple different components or parts may be set as a single component or part. For example, a constituent element described as a single component or part may be divided into multiple different components or parts. For example, the number of constituent elements (including variations) can be changed. Figure 2 The steps in the flowchart shown are in a specific order, but some steps may be omitted. For example, each component may only have a portion of its features (function, configuration, shape, operation, etc.).

[0366] [Other Implementation Methods] Next, refer to Figures 11-20 The description covers the work simulator (action verification device), work simulation program (action verification program), and work simulation method (action verification method) involved in other embodiments.

[0367] First, the problems solved by the work simulator, work simulation program, and work simulation method involved in this other embodiment will be explained. In Patent Document 2, a management system for performing simulation of construction machinery is described; however, it is desirable to be able to reset the state in the virtual space at a desired time during the simulation of construction machinery.

[0368] The work simulator 1 (action verification device) involved in this other embodiment includes a computer 13, which simulates a work site in a virtual space, including the construction machinery 40 and the surrounding environment that is the work object of the construction machinery 40. The computer 13 resets the state in the virtual space to the state at a specified time.

[0369] The work simulation program (action verification program) involved in this other embodiment is a program used to simulate a work site in a virtual space, including the construction machinery 40 and the surrounding environment that is the work object of the construction machinery 40. The work simulation program causes the computer 13 to perform a reset step to reset the state in the virtual space to the state at a specified time.

[0370] The work simulation method (action verification method) involved in this other embodiment is a method for simulating a work site in a virtual space, including a construction machine 40 and the surrounding environment that becomes the work object of the construction machine 40. The work simulation method includes a reset step of resetting the state in the virtual space to the state at a specified time.

[0371] According to this other implementation, the state within the virtual space where the job simulation is performed can be reset at the desired time.

[0372] The following is for reference Figures 11-20 Description of Job Simulator 1. Job Simulator 1 can also be referred to as an action verification device.

[0373] like Figure 11 As shown, the job simulator 1 is a simulator that simulates a work site in a virtual space, i.e., a job simulation. The job simulator 1 may also have at least one information terminal. The information terminal can be a personal computer, a tablet computer, a smartphone, or other types of portable information terminals. The job simulator 1 includes an input device 11, a computer 13, and an output device 15. The job simulator 1 may also include a client device 10 and a server device 20. The output device 15 may also be a display device.

[0374] Input device 11 is a device for inputting information into computer 13. Input device 11 includes operation input device 11a and information input device 11b.

[0375] The operation input device 11a is operated by the user (worker, operator, etc.) of the work simulator 1. The user's operation of the operation input device 11a is also referred to as "manual operation." The operation input device 11a can also be used to set, specify, and select positions within the virtual space. The operation input device 11a can also be used to set objects 30 within the virtual space. The operation input device 11a can also be used to operate the construction machinery 40 within the virtual space. For example, the operation input device 11a can be used to indicate the start and end of the work of the construction machinery 40 within the virtual space, to indicate the movement of the construction machinery 40 within the virtual space, and to indicate the movement of the upper rotating body 41b within the virtual space (see reference). Figure 11 The rotation of ) can also be used to indicate the auxiliary device 43 (see reference) in the virtual space. Figure 11 The operation input device 11a may include at least one of a mouse, keyboard, touch screen, and game controller. The operation input device 11a may include a joystick that simulates the left and right control levers in real construction machinery (the machinery corresponding to construction machinery 40), or an operation pedal that simulates the left and right control pedals (foot pedals) in real construction machinery.

[0376] Information input device 11b is a device for inputting various types of information (excluding information input through operation of input device 11a) into computer 13. Such information may include, for example, information about object 30 (described later) and user-inputted request information regarding reset timing (described later).

[0377] Computer 13 is equipped with functions such as signal input / output, computation, and information storage. Computer 13 includes a storage unit 13a and an arithmetic unit 13b. Computer 13 generates a work site S that simulates a work site in a virtual space. The arithmetic unit 13b executes the program stored in the storage unit 13a, namely the work simulation program (action verification program), thereby realizing the functions of computer 13. For example, the functions of the object processing unit 13b1 and the reset timing processing unit 13b3, described later, can be listed as functions of computer 13.

[0378] Computer 13 can be connected to other devices wirelessly or via wired communication. These other devices can be, for example, input devices 11 or output devices 15. Information output by input device 11 is input to computer 13. Computer 13 outputs information to output device 15. Computer 13 (specifically, computer 13 of client device 10) can also exchange information with server device 20. The exchange between computer 13 of client device 10 and server device 20 can be conducted, for example, via mobile networks, optical networks, wireless LAN (local area network), wired LAN, or other communication methods.

[0379] Storage unit 13a stores various information. Storage unit 13a stores the job simulation program. Storage unit 13a stores historical information about the state within the virtual space. Storage unit 13a may also store the state of object 30 as the state within the virtual space. The state of object 30 may also include information related to the configuration of object 30 in the job site S within the virtual space.

[0380] Storage unit 13a stores reset timing. Storage unit 13a stores fixed time intervals. Storage unit 13a stores task determination conditions. Storage unit 13a stores event determination conditions. Storage unit 13a stores authentication information used for login. Authentication information may also be stored in storage unit 13a of server device 20. The historical data, reset timing, fixed time intervals, task determination conditions, and event determination conditions will be described below.

[0381] The arithmetic unit 13b performs calculations, judgments, and other processing. The arithmetic unit 13b includes an object processing unit 13b1 and a reset timing processing unit 13b3. The object processing unit 13b1 processes the object 30. The reset timing processing unit 13b3 stores candidate reset timings in the storage unit 13a. These processes will be described below.

[0382] Although not shown, the arithmetic unit 13b may also include an authentication processing unit. The authentication processing unit performs authentication for user login. The authentication processing unit uses user identification information to identify the user. The user identification information may also be stored in the storage unit 13a corresponding to the reset timing. The user identification information may, for example, be a username and user ID. The authentication process may also be executed in the arithmetic unit 13b of the server device 20.

[0383] The output device 15 performs output corresponding to the instructions input from the computer 13. Specifically, the output device 15 may also, for example, perform display corresponding to the instructions input from the computer 13. The output device 15 may also, for example, output... Figure 16 The recorded image 15a is shown. Output device 15 can also display the view from cab 41b2 in operator mode (described later). Output device 15 can also be, for example, a monitor with a screen. Output device 15 can also display the calculation results of computer 13. Output device 15 displays the virtual space calculated by computer 13. Output device 15 displays a GUI (Graphical User Interface) for users to perform work simulation operations. Output device 15 displays a GUI related to the specification of the reset timing (described later). In the following description, the display of output device 15 is a display performed by output device 15 at the command of computer 13. Output device 15 can also output sound.

[0384] Server device 20 includes a computer that operates according to instructions from client device 10. Client device 10 includes the aforementioned input device 11, computer 13, and output device 15. Server device 20 may also store authentication information for processing user authentication by the arithmetic unit 13b. Additionally, server device 20 may also perform authentication processing for authenticating users. The functions of job simulator 1 (e.g., the functions of object processing unit 13b1 and reset timing processing unit 13b3) may also be implemented by client device 10 and server device 20. Alternatively, a portion of computer 13 (e.g., one of storage unit 13a and arithmetic unit 13b) may be located in client device 10, while another portion of computer 13 (e.g., the other of storage unit 13a and arithmetic unit 13b) may be located in server device 20. Job simulator 1 may also include multiple server devices 20. Furthermore, job simulator 1 may also not include server devices 20. Input device 11 may also be located in server device 20 (not shown). In this case, information (e.g., the various types of information mentioned above) can also be input from the input device 11 provided on the server device 20 to the computer 13 provided on the client device 10.

[0385] The job simulator 1 (primarily computer 13) is configured to perform the following job simulations. The job simulation program (action verification program) causes computer 13 to execute the following job simulations. The job simulation method (action verification method) is the method for performing the following job simulations.

[0386] The work simulator 1 generates a virtual work site S that simulates a work site. Work site S is a site model (construction site model) in which construction machinery 40, acting as a model of construction machinery, performs operations within the virtual space. Work site S includes construction machinery 40 and its surrounding environment. The surrounding environment may also include terrain 31, which becomes the work object of construction machinery 40. Construction machinery 40 and its surrounding environment are examples of configuration objects T.

[0387] For example, the work simulator 1 (construction planning simulator) is used to develop a plan for the work site S, i.e., a construction plan. Work simulator 1 is used to develop plans related to the construction machinery 40 in the work site S. Work simulator 1 is used to confirm the location, dimensions, operability (productivity), and safety of the construction machinery 40. Work simulator 1 can also be used to develop plans for objects other than the construction machinery 40. Work simulator 1 has object handling functions. Work simulator 1 may also have functions such as action mode switching and time change functions. Work simulator 1 may have functions such as recording (saving) the conditions in the work site S, and may also have the function of playing back the recorded conditions.

[0388] [Object handling function] The object processing unit 13b1 of computer 13 performs processing (object processing function, object processing steps) related to object 30, which is an example of a configuration object T. Object 30 is a model of an object obtained by modeling objects in the work site S in virtual space. Object 30 can be a three-dimensional model or a two-dimensional model.

[0389] The processing of object 30 includes deleting object 30 in the virtual space, configuring object 30 in the virtual space, and resetting object 30. That is, the processing of object 30 includes deleting object 30 configured in the virtual space, configuring object 30 in the virtual space, and resetting the state of object 30 in the virtual space to the state at the specified time.

[0390] The configuration of object 30 includes the new configuration of object 30 in the virtual space, the movement of object 30 in the virtual space, and the initial configuration of object 30 in the virtual space. The new configuration of object 30 refers to the new configuration of object 30 in the work site S within the virtual space. The movement of object 30 refers to the movement of object 30 that is already in the work site S within the virtual space.

[0391] The movement of object 30 may include rotational movement or parallel movement. The movement of object 30 may also include changes in the posture of engineering machinery 40 within the virtual space. Changes in the posture of engineering machinery 40 refer to changes in the posture of engineering machinery 40 within the virtual space. The movement of object 30 may also be the deformation of terrain 31 within the virtual space. Deformation of terrain 31 refers to the deformation of terrain 31 within the virtual space.

[0392] When object 30 is configured in virtual space, computer 13 stores the position of object 30 configured in virtual space.

[0393] Computer 13 stores historical information related to the historical records of states within the virtual space. The object processing unit 13b1 of computer 13 stores the historical records of the states of object 30. The object processing unit 13b1 can also store changes in the state of object 30 in chronological order. For example, the object processing unit 13b1 stores the historical records of the position of object 30 at each moment.

[0394] The object processing unit 13b1 can also store historical records of physical quantities other than position for the object 30. For example, the object processing unit 13b1 can also store historical records of physical quantity information such as remaining fuel, operating time, and fuel consumption for the construction machinery 40, which is the object 30. The object processing unit 13b1 can also record the amount of movement of the work object moved by the construction machinery 40 per unit time as historical records. The work object is, for example, at least one of sand, metal, and wood. The object processing unit 13b1 can also store the total amount of movement of the work object moved by the construction machinery 40 as historical records. The object processing unit 13b1 can also store the number of moves (cycles) between specified locations as historical records. The specified locations are, for example, between a specified ground position and the loading platform of a dump truck. The object processing unit 13b1 can also record the number of cycles per unit time as historical records. The object processing unit 13b1 can also record the operating ratio of each drive unit of the construction machinery 40 as historical records. The operating ratio of the drive unit can be, for example, the ratio of the rotation time of the upper rotating body 41b to the driving time of the construction machinery 40. The object processing unit 13b1 can also record the operating ratio of each lever of the construction machinery 40 as historical data. For example, the object processing unit 13b1 can also store historical data on the position, orientation, quantity, and shape of objects 30 other than the construction machinery 40. The object processing unit 13b1 can also store historical data on the states of all objects 30 existing in the virtual space. The object processing unit 13b1 can permanently store historical data on the states of objects 30, or delete (or temporarily store) historical data on the states of objects 30 at a specified time.

[0395] The aforementioned "resetting of object 30" refers to changing the state of object 30 to the state of object 30 at the specified reset time. The reset time can be specified by the user or based on predetermined conditions. When resetting object 30, the object processing unit 13b1 reflects the state of object 30 determined at the specified time onto the state of object 30 after the reset.

[0396] All objects 30 within the virtual space can be reset. A portion of the objects 30 within the virtual space can also be reset. Alternatively, specified objects can be excluded from the reset process. For example, the reset object could be the position and / or posture of a dump truck. The reset object could also be the configuration of a work object. Work objects that are reset objects can be stones, wood, metal, resin, waste, scrap, or structures (concrete blocks, etc.). For example, the specified object not to be reset could be the position and / or posture of the construction machinery 40. For example, the specified object not to be reset could be an object 30 positioned in the surrounding environment (around the construction machinery 40). For example, the specified object not to be reset could be a non-deformable object 30. This "non-deformable object 30" could also be an object 30 that does not deform even when contacted by the construction machinery 40, for example, a block-shaped object 30 simulating a building (factory, etc.).

[0397] The processing of object 30 may also include the management of objects 30 within the virtual space. The management of object 30 refers to the management of objects 30 configured in the virtual space. For example, the management of object 30 may also include managing multiple objects 30 in a list format. The processing of object 30 may also include toggling the display and non-display of each object 30 in the output device 15.

[0398] Unless otherwise specified, the phenomena in the virtual space will be described below. For example, "deploying construction machinery 40 on ground 31a" means that in the virtual space, construction machinery 40, which is an example of object 30, is deployed on ground 31a, which is an example of object 30.

[0399] The conditions for the computer 13 to process the object 30 are, for example, as described below. The computer 13 may also process the object 30 when a user manually operates the input device 11. That is, the computer 13 may also process the object 30 based on the user's manual operation. The computer 13 may also automatically process the object 30 when pre-set conditions are met.

[0400] The position of object 30 is described. The computer can also store the reference position of object 30 in virtual space as the position of object 30. The computer 13 can also store the reference position of object 30 in virtual space and the orientation of object 30 in virtual space as the position of object 30.

[0401] The reference position of object 30 is the position that serves as the reference for object 30. For example, the reference position of object 30 can be the center of the lower surface of object 30, or it can be the center of gravity of object 30. The orientation of object 30 can also be defined by the relative orientation of object 30 with respect to a specified coordinate axis. The orientation of object 30 can also be defined by the relative posture of object 30 with respect to a specified coordinate axis. The orientation of object 30 can also be defined by the rotation angle with respect to a specified coordinate axis.

[0402] Specific examples of object 30 are described below. In this embodiment, the at least one configuration object T includes multiple objects 30. The multiple objects 30 may also include terrain 31 (surrounding environment information), construction machinery 40, and other objects 30. The other objects 30 may also include obstacles and equipment, for example.

[0403] like Figure 11 As shown, terrain 31 contains information related to the shape of the land at the work site S in the virtual space. Terrain 31 can be a two-dimensional or three-dimensional shape. Terrain 31 may also include, for example, flat land, sloping surfaces (e.g., slopes), uneven surfaces, etc. Terrain 31 may also include ground surface 31a and subsurface 31b. Ground surface 31a is the surface of terrain 31 (land surface), such as the surface of sand or soil. Subsurface 31b is the portion of terrain 31 that is lower than ground surface 31a, such as the portion containing sand or soil.

[0404] The terrain 31 can also be a terrain model simulating real land. In this case, the terrain 31 may also include information related to the shape generated based on the detection information of the real land. In this case, the detection information of the real land may also be information detected by an information acquisition device. The information acquisition device may be a stereo camera, a distance sensor, or a combination of a distance sensor and a two-dimensional camera. The aforementioned distance sensor may be, for example, a LIDAR (light detection and ranging) or a millimeter-wave radar. The information acquisition device may be a device included in the information input device 11b, or it may be a device different from the information input device 11b. The information acquisition device inputs the detection information of the real land to the computer 13.

[0405] Additionally, terrain 31 may also include shape information (shape information of terrain 31) based on design data designed on a computer. The design data may also be data related to a design surface designed on a computer. The computer used to design the design data may be the job simulator 1, or a computer other than the job simulator 1.

[0406] Computer 13 can also be like Figure 11As shown, terrain 31 is set in the virtual space and stored in the storage unit 13a. The computer 13 can set a single terrain 31 or multiple terrains 31 in the virtual space. Multiple terrains 31 may include terrain 31 before the operation in the virtual space, terrain 31 during the operation in the virtual space, and terrain 31 after the operation in the virtual space (completed terrain 31).

[0407] Similarly, regarding objects 30 other than terrain 31, computer 13 can set up a single object 30 or multiple objects 30 in the virtual space.

[0408] The shape information of terrain 31 can also be input to computer 13 from input device 11. That is, computer 13 can also read the shape information of terrain 31 from input device 11. When a user inputs the shape information of terrain 31 into input device 11, computer 13 can obtain the shape information of terrain 31 input into input device 11.

[0409] Similarly, the computer 13 can obtain the shape information of the object 30 input into the input device 11 from the input device 11, other than the terrain 31.

[0410] Computer 13 can also cause terrain 31 to deform in virtual space as time passes during the simulation. That is, computer 13 can also cause the display of terrain 31 in output device 15 to change over time. Specific examples of how computer 13 deforms terrain 31 are described below.

[0411] exist Figure 11 In the specific example shown, within a virtual space, construction machinery 40 operates, and a remote auxiliary device 43c performs operations on terrain 31 (e.g., sand). For example, within the virtual space, construction machinery 40 excavates ground 31a. In this case, computer 13 can also cause terrain 31 to deform within the virtual space over time according to the operations performed on terrain 31. That is, computer 13 can also cause the display of terrain 31 in output device 15 to change according to the operations performed on terrain 31. For example, computer 13 can also cause terrain 31 within the virtual space to deform over time into the shape of pits, trenches, etc., formed by the excavation of sand. For example, computer 13 can also cause terrain 31 within the virtual space to deform over time into the shape of a sand pile formed by the pushing and accumulation of sand.

[0412] Construction machinery 40 is a model of construction machinery performing operations, such as a model of construction machinery performing construction operations. Construction machinery 40 can be, for example, a model of an excavator, a crane, a bulldozer, a loader, or a dump truck (transport vehicle). The following mainly describes the case where construction machinery 40 is an excavator. Construction machinery 40 includes a main body 41 and auxiliary devices 43. The main body 41 is the main part of construction machinery 40. The main body 41 includes a lower traveling body 41a and an upper rotating body 41b.

[0413] Computer 13 can also output instructions to make construction machinery 40 work in virtual space. Computer 13 can also make construction machinery 40 work in virtual space based on pre-set information. Output device 15 can also display the construction machinery 40 working according to the instructions input from computer 13. The pre-set information may, for example, be information related to a series of actions of construction machinery 40 during the operation performed by construction machinery 40. Storage unit 13a can also store this information.

[0414] Computer 13 can also cause construction machinery 40 to work in a virtual space based on manual operations applied by the user through input device 11 (refer to the operator operation mode described later). Alternatively, computer 13 can output instructions corresponding to the user's manual operations to output device 15, which displays an image showing construction machinery 40 working in the virtual space based on the instructions input from computer 13. Thus, construction machinery 40 performs actions corresponding to the user's manual operations on the screen of output device 15. Specifically, computer 13 can cause construction machinery 40 to move in the virtual space, can cause the upper rotating body 41b to rotate relative to the lower traveling body 41a in the virtual space, and can change the posture of auxiliary device 43 in the virtual space. Furthermore, computer 13 may also choose not to cause construction machinery 40 to work in the virtual space. That is, only construction machinery 40 may be configured in the virtual space work site S.

[0415] Computer 13 enables the lower walking body 41a to walk on a walking surface such as ground 31a in virtual space. Computer 13 can also instruct output device 15 to display the lower walking body 41a walking according to the user's manual operation applied by input device 11. The lower walking body 41a may have tracks 41a1 or wheels (not shown).

[0416] Computer 13 can cause the upper rotating body 41b to rotate relative to the lower walking body 41a in virtual space. Computer 13 can also cause output device 15 to display that the upper rotating body 41b rotates relative to the lower walking body 41a according to the user's manual operation applied by input device 11.

[0417] The upper slewing body 41b may also include a driver's cab 41b2. The driver's cab 41b2 corresponds to the operator's cab in actual construction machinery. The driver's cab 41b2 may also be fixed to the bottom (slewing frame) of the upper slewing body 41b. The driver's cab 41b2 may also be movable relative to the bottom of the upper slewing body 41b. In this case, the driver's cab 41b2 can move horizontally up and down relative to the bottom of the upper slewing body 41b, can rotate horizontally up and down (rotational movement), or can move horizontally up and down and rotate. For example, the driver's cab 41b2 may be a lift-type driver's cab, a linkage-type driver's cab, or a tilt-type driver's cab. As a lift-type driver's cab, the driver's cab 41b2 can move horizontally up and down relative to the bottom of the upper slewing body 41b. As a linkage-type driver's cab, the driver's cab 41b2 is mounted at the bottom of the upper slewing body 41b via a linkage mechanism. As a linkage-type cockpit, the cockpit 41b2 can move up and down and forward and backward relative to the bottom of the upper rotating body 41b due to the operation of the linkage mechanism. As a tilting-type cockpit, the cockpit 41b2 can rotate up and down (tilt) relative to the bottom of the upper rotating body 41b about a laterally extending rotation axis. The cockpit 41b2 may also have accessories installed on the main body of the cockpit 41b2. These accessories may be, for example, protective parts for protecting the upper surface or front window of the cockpit 41b2 from flying objects.

[0418] The auxiliary device 43 is a work device that performs operations in virtual space. The computer 13 can make the auxiliary device 43 rise and fall relative to the upper rotating body 41b, that is, it can make the auxiliary device 43 rotate up and down. The computer 13 can also cause the output device 15 to display the rise and fall of the auxiliary device 43 relative to the upper rotating body 41b according to the user's manual operation applied by the input device 11.

[0419] The auxiliary device 43 includes a boom 43a1, a stick 43a2, and a remote auxiliary device 43c.

[0420] The boom 43a1 is rotatably mounted on the upper slewing body 41b. The stick 43a2 is rotatably mounted on the boom 43a1.

[0421] The distal attachment 43c is located at the distal end of the attachment 43. The distal attachment 43c is rotatably mounted to the boom 43a2. The distal attachment 43c can also be a bucket used for digging or excavating. The distal attachment 43c can be a grab bucket, shearing machine, or other device for clamping the work object; it can also be a breaker hammer or other device for crushing the work object; or it can be a device with a magnet for attracting metallic work objects. Figure 11The object (work object) of the operation performed by the remote auxiliary device 43c shown can be sand, stone, wood, metal, resin, waste, or a structure (concrete block, etc.).

[0422] [Region Processing Function] Although not illustrated, computer 13 can also process regions. A region is a region within virtual space and is an example of a configuration object T. A region can be a three-dimensional shape region within virtual space, a two-dimensional shape region within virtual space, a region represented by lines within virtual space, or a region represented by points within virtual space (position).

[0423] The processing of a region includes deleting the region (removing it from the virtual space) and configuring the region (configuring it for the virtual space). The configuration of a region can also be referred to as the setting of the region. The conditions for performing this region processing are, for example, as described below.

[0424] Computer 13 can also process region A when a user manually operates the input device 11. Computer 13 can also process region A based on the user's manual operation. Computer 13 can also automatically process region A when pre-set conditions are met. For example, when an object 30 is configured in a virtual space, computer 13 can configure a region based on the position of the object 30. For example, computer 13 can also set region A based on the position of the construction machinery 40.

[0425] Specifically, computer 13 can also define region A as the area where the construction machinery 40 will perform operations. Computer 13 can also define terrain 31, which is an object 30 within the region defined based on the construction machinery 40, as the work object of the construction machinery 40. Specifically, computer 13 can also define an object 30 within the region defined based on the construction machinery 40 as the reset object when resetting the construction machinery 40. Computer 13 can also define region A based on objects 30 other than the construction machinery 40.

[0426] Computer 13 can also set area A without being based on object 30. For example, computer 13 can also set area A based on user manual operation. Specifically, computer 13 can also set area A as a restricted area where construction machinery 40 cannot enter. The area can also be reset in the same way as the object 30 is reset.

[0427] [Action Mode Switching Function] The Homework Simulator 1 has an action mode switching function. The Homework Simulator 1 can also set any one of the multiple action modes as the mode of the Homework Simulator 1.

[0428] Functions associated with each of the multiple action modes can also be configured to Figure 11 The computer 13 shown. The computer 13 can also switch the start and end of controls associated with multiple operating modes respectively. In this embodiment, the multiple operating modes include... Figure 12 The construction plan mode shown in step S20, and Figure 12 The operator operation mode shown in step S30. In addition, functions related to operation modes other than these modes can also be preset to the computer 13.

[0429] Figure 12 The construction plan mode shown in step S20 is an action mode used for construction planning. In step S20, computer 13 sets the mode of job simulator 1 to construction plan mode and performs calculations for construction planning.

[0430] For example, in construction planning mode, computer 13 can also instruct output device 15 to display an image of the work site S in virtual space. Figure 11 In the specific example shown, computer 13 instructs output device 15 to display an image overlooking the work site S. For example, in construction planning mode, computer 13 can also perform operations such as configuring and deleting objects 30 based on manual operations performed by the user on input device 11. In construction planning mode, computer 13 can also automatically perform operations such as configuring and deleting objects 30, configuring and deleting area A based on a construction planning mode program pre-stored in storage unit 13a. The work simulation program may also include a construction planning mode program.

[0431] Figure 12 The operator operation mode shown in step S30 is a mode in which the operator can manipulate the operation of the construction machinery 40, which simulates real construction machinery in the virtual space. In step S30, the computer 13 sets the mode of the job simulator 1 to the operator operation mode and performs calculations for the operator operation mode.

[0432] For example, in operator mode, computer 13 causes construction machinery 40 to operate in virtual space based on manual operations performed by the user and applied through operation input device 11a. That is, computer 13 outputs instructions corresponding to the user's manual operation to output device 15, and output device 15 displays the movement of construction machinery 40 corresponding to the user's manual operation. Specifically, for example, if the user's manual operation is a walking operation corresponding to the walking of the lower walking body 41a, computer 13 outputs instructions corresponding to the walking operation to output device 15, and output device 15 displays the walking movement of the lower walking body 41a. If the user's manual operation is a posture change operation (changing the posture of auxiliary device 43 or upper rotating body 41b), computer 13 outputs instructions corresponding to the posture change operation to output device 15, and output device 15 displays the posture change of auxiliary device 43 or upper rotating body 41b. The posture change of auxiliary device 43 can be... Figure 11 The change in the posture of the boom 43a1 shown can also be a change in the posture of the stick 43a2, or a change in the posture of the remote auxiliary device 43c.

[0433] In operator mode, computer 13 can also cause construction machinery 40 to operate based on instructions other than manual operations performed by the user. For example, computer 13 can also cause construction machinery 40 to operate automatically when buttons (not shown) on the screen are pressed.

[0434] like Figure 20 As shown, in operator mode, computer 13 can also instruct output device 15 to display the view from the operator's cab 41b2 of the construction machinery 40 (see reference). Figure 11 The view from inside the cab 41b2. Specifically, the computer 13 can also cause the output device 15 to display a virtual space in front of the construction machinery 40 as seen from inside the cab 41b2 through the front window and the left and right side windows.

[0435] Additionally, computer 13 can also instruct output device 15 to output images from any location within the virtual space. For example, computer 13 can also instruct output device 15 to output images from the viewpoint of a camera positioned within the virtual space. The camera can also be freely positioned within the virtual space. For example, the camera can be freely positioned at any location within the virtual space from any line of sight. The camera can be configured according to a construction plan mode or an operator operation mode. Multiple cameras can also be set up within the virtual space. Furthermore, computer 13 can also instruct output device 15 to display images from cameras positioned within the virtual space (images within the virtual space in the direction of the camera's line of sight). Computer 13 can also instruct output device 15 to output an image from any one of the multiple cameras within the virtual space. Computer 13 can also instruct output device 15 to output an image from a specified camera among the multiple cameras within the virtual space. Computer 13 can also instruct output device 15 to simultaneously output images from multiple cameras within the virtual space.

[0436] In operator mode, computer 13 can also change the state of the work site S in virtual space according to the work of construction machinery 40. The state of the work site S includes, for example, the state of the work object, such as object 30. The work object can be, for example, the sand forming terrain 31, or the hoisted cargo 62. Computer 13 can also deform terrain 31 in virtual space according to the progress of excavation, land preparation, and other operations performed by construction machinery 40. Computer 13 can also move the hoisted cargo 62 in virtual space according to the progress of lifting operations performed by construction machinery 40.

[0437] Operator operation mode can also be used Figure 11 The operation of the construction machinery 40 shown is stored (teach-in). Teaching is performed as follows: While observing the construction machinery 40 displayed on the output device 15, the user manually operates the construction machinery 40 in a virtual space by applying operation input device 11a. The computer 13 stores data related to the operation of the construction machinery 40, i.e., teaching data. Then, the computer 13 can also make the construction machinery 40 operate based on the stored teaching data.

[0438] In operator mode, the reset timing processing unit 13b3 can also store the state of object 30 at the reset timing in the historical record of the state of object 30 changing over time in the job simulation. The reset timing is the time when the state of object 30 is stored, and it is the time when the state of object 30 can be reset (restored). The reset timing can be set automatically by computer 13 or manually by user operation.

[0439] Computer 13 can also automatically store the state of object 30 at the reset time. For example... Figure 13As shown, for example, computer 13 can also automatically store the state of object 30 at fixed intervals from the start of the task simulation, indicating the reset time. These fixed intervals can also be changed, for example, based on a user request via information input device 11b. Figures 13-15 As shown, the automatically stored reset timing can also include the start time of the job simulation.

[0440] like Figure 14 As shown, for example, computer 13 can also automatically store the state of object 30 at the reset time from the start of the job simulation, once the engineering machinery 40 manually operated by the user has begun a prescribed task. The prescribed task is the type of operation performed by the engineering machinery 40. For example, such as... Figure 14 As shown, the defined task may include the movement of the construction machinery 40, the loading operation of the dump truck performed by the construction machinery 40, and the leveling operation performed by the construction machinery 40. The computer 13 may also determine the type of operation performed by the construction machinery 40 based on the task determination conditions. The task determination conditions may also be pre-stored in the storage unit 13a. The task determination conditions are constructed using information specific to tasks such as the movement, loading operation, and leveling operation of the construction machinery 40. The specific information may include, for example, information related to the position of the construction machinery 40, information related to the operation of the construction machinery 40 (e.g., information related to lever operation), and information related to the posture of the auxiliary device 43.

[0441] like Figure 15 As shown, for example, computer 13 can also automatically store the state of object 30 at the reset time when a predetermined event occurs on the construction machinery 40 manually operated by the user. For example, the event is a phenomenon generated by the construction machinery 40, and is a phenomenon other than the task described above. Specifically, the event could be the construction machinery 40 approaching another object 30 to a predetermined distance, the construction machinery 40 entering a predetermined area, or the construction machinery 40 tilting. "Approaching another object 30 to a predetermined distance" may also include contact with another object 30.

[0442] Computer 13 can also determine whether a specified event has occurred on construction machinery 40 based on event determination conditions. Event determination conditions can also be pre-stored in storage unit 13a. Event determination conditions are constructed using information specific to the event. This specific information may include, for example, information related to the position of construction machinery 40, information related to the position of objects 30 in the surrounding environment, information about the relative position of construction machinery 40 and objects 30 in the surrounding environment, information related to the position of an area, and information about the relative position of construction machinery 40 and an area.

[0443] When recording the state of object 30 at the time of an event, computer 13 can also record state quantities at the time of the event along with the state of object 30. For example, the state quantities recorded at the time of the event could be the distance between object 30 (such as a person or obstacle approaching the machinery 40) and the machinery 40; the distance between the machinery 40 and the area it approaches; the amount of entry of the machinery 40 into the area; or the tilt angle of the machinery 40. For example, as shown in Figure 5, computer 13 can also determine the reset timing of recording the state of object 30 as a time period after the event occurred. Thus, computer 13 can reset the state of object 30 to the state it was in a time period before the event occurred.

[0444] Computer 13 can also record the state of object 30 at the reset time based on a manually entered request. Object processing unit 13b1 permanently or temporarily stores historical records of the state of object 30 and other states in the virtual space. When there is a state in the job simulation that you want to record as a resettable state, the user can manually specify the state that you want to record using a device such as input device 11. Computer 13 will determine the specified time as the reset time and record the state of object 30 at that reset time.

[0445] The user can also input a request in the input device 11 or similar device to cause the output device 15 to output the historical records of the state within the virtual space. In this case, the device inputs the request to the reset timing processing unit 13b3 of the computer 13. The reset timing processing unit 13b3 outputs the historical records within the virtual space to the output device 15 according to the user's request. The input device 11 can also be configured to allow the user to specify the historical records to be output to the output device 15, that is, to accept user specifications. In this case, the computer 13 can, for example... Figure 16 As shown, the output device 15 can output the history records in the virtual space via the recorded image 15a, or it can output the history records in the virtual space via a list of still images. The user can specify a history record from the history records in the virtual space that they want to record as a resettable state. The reset timing processing unit 13b3 records the state in the virtual space corresponding to the history record specified by the user as a resettable state.

[0446] The reset timing processing unit 13b3 can also store the state of the object 30 that resets the timing, corresponding to the identifiable information. The identifiable information may include, for example, a time from historical records, a task name, or an event name. The identifiable information may also be the identification information of a logged-in user.

[0447] [Reset Function] The object processing unit 13b1 resets the state within the virtual space. Resetting the state within the virtual space means restoring the changed state within the virtual space to the state at a specified time (reset time). The reset time does not necessarily have to be the start time of the job simulation; it can also be a midpoint in the time frame of the job simulation.

[0448] The object processing unit 13b1 restores the state of the changed object 30 in the virtual space to the state at the specified time (reset time). The computer 13 can perform the reset manually by the user requesting it, or it can perform the reset automatically. The reset can be performed in any operating mode. For example, the reset can be performed in a construction plan mode or an operator operation mode. In the case of a reset requested by the user, the object processing unit 13b1 can also instruct the output device 15 to display one or more candidates of the stored virtual space states, allowing the user to select one of the displayed candidates. The object processing unit 13b1 can also specify the object 30 as the reset target. The reset target is the object being reset. The object 30 as the reset target can be specified manually by the user or automatically by the computer 13. For example, in the case of a reset in operator operation mode, the reset target can be limited to the operating construction machinery 40 and / or the surrounding environment that is the work object of the construction machinery 40. The construction machinery 40 and the surrounding environment are examples of the object 30.

[0449] The reset target may also include objects 30 other than the construction machinery 40 and its surrounding environment. For example, the reset target may be all objects 30 within the virtual space. For example, the reset target may be at least one of the following: the operating construction machinery 40, objects 30 within the working area of ​​the construction machinery 40, and the work objects of the construction machinery 40. The object processing unit 13b1 may also determine the object 30 to be reset and the reset timing and perform the reset.

[0450] [Other Features] In addition to the functions mentioned above, computer 13 may also have a variety of other functions. Specific examples of these functions are described below.

[0451] Computer 13 may also have the function of simulating changes in the work site S over time, i.e., a time change function. That is, computer 13 may also perform time change steps to simulate changes in the work site S over time. For example, object 30 may also change as prescribed steps or time passes in the work simulation.

[0452] [Specific examples of computer processing] Computer 13 is capable of performing multiple processes in multiple sequences. (See reference) Figure 12 An example illustrating the processing flow of computer 13. Figure 12The specific example of the operation process shown includes the processing of steps S10 to S50.

[0453] In step S10, Figure 11 The computer 13 shown sets up (configures) an example of an object 30, namely terrain 31, in a virtual space. For example, the computer 13 reads information about terrain 31 from the information input device 11b.

[0454] In step S20, the computer 13 sets the mode of the job simulator 1 to construction plan mode and begins control related to the construction plan mode. In construction plan mode, the object processing unit 13b1 configures and deletes objects 30. Additionally, the object processing unit 13b1 can also reset objects 30 in construction plan mode.

[0455] In step S21, the computer 13 determines whether to initiate control related to the operator's operating mode. Specifically, the computer 13 determines whether the conditions for initiating control related to the operator's operating mode, i.e., the operator operating mode initiation condition, have been met. For example, the operator operating mode initiation condition may be that the user manually selects to start the operator operating mode (e.g., GUI operation). If the operator operating mode initiation condition is met (if "Yes" in step S21), the computer 13 proceeds to step S30. If the operator operating mode initiation condition is not met (if "No" in step S21), the computer 13 does not initiate control related to the operator operating mode and proceeds to step S40.

[0456] In step S30, the computer 13 sets the mode of the job simulator 1 to operator mode and begins control related to operator mode. In operator mode, the user can manually operate the construction machinery 40 within the virtual space constructed by the job simulator 1. Thus, the user can confirm the operability of the construction machinery 40 within the virtual space. Additionally, the computer 13 can also reset the object 30 in operator mode.

[0457] In step S31, the computer 13 determines whether to record a reset opportunity. The computer 13 performs this determination in parallel while controlling the construction machinery 40 to operate according to manual operations performed by the user. For example, the computer 13 can also use the change of an object 30 in virtual space as a trigger to perform the determination in step S31. Alternatively, the computer 13 can perform the determination in step S31 at predetermined intervals.

[0458] When the user requests to record the reset timing, the computer 13 determines that the reset timing needs to be recorded (step S31 is "yes") and proceeds to step S32.

[0459] For example, if the conditions for automatic recording are preset, the computer 13 can also perform the following processing. The conditions for automatic recording can be fixed time conditions for recording and resetting at fixed intervals, the task determination conditions, or event determination conditions. If the conditions for automatic recording are met (step S31 is "Yes"), the computer 13 performs the processing in step S32.

[0460] Without recording the reset timing (if step S31 is "No"), computer 13 performs the processing of step S33.

[0461] In step S32, the computer 13 processes the recording reset timing. If the user requests a recording reset timing, the computer 13 allows the user to decide on the reset timing. If automatic recording conditions are set, the computer 13 performs the following... Figures 13-15 The computer 13 then records the reset timing corresponding to the conditions for automatic recording. The computer 13 then performs the processing in step S33.

[0462] In step S33, the computer 13 determines whether to terminate the operator operation mode. Specifically, the computer 13 determines whether the conditions for terminating the operator operation mode have been met, i.e., the operator operation mode termination condition. For example, the operator operation mode termination condition could be a user's manual operation (e.g., GUI operation) selecting to terminate the operator operation mode. If the operator operation mode termination condition is not met (if step S33 is "No"), the computer 13 continues with the operator operation mode-related control in step S30. If the operator operation mode termination condition is met (if step S33 is "Yes"), the computer 13 terminates the operator operation mode, and in step S20, sets the mode of the job simulator 1 to construction plan mode, and proceeds with the processing after step S20.

[0463] Computer 13 can also save the changes to the work site S that occurred during the operator operation mode (e.g., the shape of the changed ground 31a) in storage unit 13a when ending the operator operation mode. Computer 13 can also set the work site S in the construction plan mode as the saved work site S when changing the mode of the work simulator 1 from operator operation mode to construction plan mode. In other words, computer 13 can also inherit the changes to the work site S in the operator operation mode in the construction plan mode. However, computer 13 can also set the work site S in the construction plan mode as the work site S at the start time of the operator operation mode (e.g., the previous operator operation mode) when changing the mode of the work simulator 1 from operator operation mode to construction plan mode. In other words, computer 13 can also choose not to inherit the changes to the work site S in the operator operation mode in the construction plan mode. Computer 13 can also allow the user to choose whether to inherit the changes to the work site S in the operator operation mode in the construction plan mode.

[0464] In step S40, computer 13 performs various calculations. For example, computer 13 performs calculations on various phenomena in the work site S. In step S40, computer 13 may also perform calculations related to safety in the work site S. For example, computer 13 may perform interference determination as a safety-related calculation. In step S40, computer 13 may also calculate the workability (productivity) of the work performed by construction machinery 40. Computer 13 may output the result of the interference determination to output device 15, or it may output the calculation result of the workability (productivity) to output device 15. Thus, the user can confirm the safety of the work site S and the workability of construction machinery 40.

[0465] In step S50, the computer 13 determines whether to end the job simulation. Specifically, the computer 13 determines whether the conditions for ending the job simulation have been met, i.e., the job simulation end condition. For example, the job simulation end condition could be a user's manual operation (e.g., GUI operation) selecting to end the job simulation. If the job simulation end condition is met (if "Yes" in step S50), the computer 13 ends the job simulation. If the job simulation end condition is not met (if "No" in step S50), the computer 13 continues the job simulation. In this case, the computer 13 performs the processing after step S20 again.

[0466] [A specific example of manually recording the state of object 30] Figure 16 This is a diagram showing the image displayed by the output device 15 when the state of object 30 is manually recorded. Figure 16In the example, historical footage of the operation of loading the dump truck (transport vehicle) by the construction machinery 40 is displayed on the display screen of the output device 15 as a simulation of the operation.

[0467] like Figure 16 As shown, the job simulator 1 can also be configured such that the user can observe the recording image 15a displayed on the output device 15 while specifying the desired reset time for the recording state. In this way, the job simulator 1 causes the output device 15 to display the recording image 15a to determine the desired time to record the state of the object 30. Figure 16 As shown, recorded image 15a can also be an image from the view inside the cockpit 41b2, such as a lift-type cockpit. Figure 11 As shown, recorded image 15a can also be an image of the construction machinery 40 viewed from a third-person perspective. The computer 13 preferably allows the user to operate the input device 11, thereby enabling the recording of image 15a to be stopped at any time. Specifically, as... Figure 16 As shown, the computer 13 can also display an indicator 15b below the recorded image 15a, allowing for adjustment of the playback timing. Thus, the state of the virtual space corresponding to the position of the indicator 15b is displayed by a still image (in a stopped state). Furthermore, to facilitate confirmation of the recorded image 15a, the input device 11 preferably enables functions such as fast forward or rewind of the recorded image 15a. Specifically, as... Figure 16 As shown, these functions or the operation panel 15c for determining the reset timing can also be displayed below the indicator 15b. Additionally, when the user determines the reset timing, the reset timing processing unit 13b3 can also display a dialog box confirming whether the reset timing has been determined. Specifically, as... Figure 16 As shown, the contents of the operation panel 15c can also be changed to a confirmation dialog box for deciding whether to reset.

[0468] [Specific examples of GUI instructions on specifying reset timing] For example, such as Figure 17 As shown, computer 13 can instruct output device 15 to display a candidate list 15d of states recorded in the virtual space, specifically a candidate list 15d of states of object 30. Computer 13 can also instruct output device 15 to display list 15d, for example, when a user requests to reset object 30.

[0469] List 15d contains multiple candidates. Each candidate is displayed in any row of list 15d. In list 15d, each row represents a candidate (reset timing). The multiple candidates are candidate reset timings. The user selects a reset timing by operating input device 11.

[0470] The reset timings shown in Listing 15d are associated with the user, task name, recording time, and tag, respectively. The user is the logged-in username when the state corresponding to each candidate is recorded. The task name can be the name of the task detected by the task judgment criteria or a name entered by the user. The recording time indicates the moment when the state corresponding to each candidate is recorded in the history. The tag indicates the condition under which the state corresponding to each candidate is recorded. For example, a tag indicating a reset timing recorded automatically at fixed intervals will be displayed as "Timed Recording." For example, a tag indicating a reset timing recorded automatically due to fulfilling task judgment criteria will display the name of the task corresponding to the task judgment criteria. For example, a tag indicating a reset timing recorded automatically due to fulfilling event judgment criteria will be displayed as "Event Recording." Alternatively, a tag indicating a reset timing recorded automatically due to fulfilling event judgment criteria may also display the name of the event.

[0471] Furthermore, although not illustrated, it is possible to simulate operations at multiple work sites S. In this case, list 15d may also include identification names for work sites S at each reset time.

[0472] In addition, such as Figure 18 As shown, the object to be reset can be selected. For example, the computer 13 can also display a screen for selecting the reset object on the output device 15 after the user has selected a reset time from list 15d. Specifically, the output device 15 can also display a selection screen 15e for selecting the construction machinery 40, an object 30 in the surrounding environment, or either of these. In addition, a preview image 15f can also be displayed on the output device 15. The preview image 15f is an image showing the state of the object 30 at the selected reset time.

[0473] [Specific examples of resetting the function] Figure 19 This is a flowchart illustrating an example of a reset process performed by computer 13. For example, the reset process may also be part of the terrain 31 setting within the processing of computer 13. Figure 12 The step S10 shown is executed. Alternatively, for example, the reset process can also be performed in the construction plan mode of the computer 13's processing (…). Figure 12 The step S20 shown is executed.

[0474] In step S100, computer 13 performs user authentication. In step S110, computer 13 reads the list 15d (overview) of the states of object 30 stored in storage unit 13a. Furthermore, computer 13 can filter the items in the overview of object 30 states based on the user being authenticated. For example, computer 13 can filter only the states of object 30 containing information related to the user being authenticated. For example, it can also exclude the states of object 30 belonging to users with higher-level roles among the users being authenticated.

[0475] In step S120, the computer 13 instructs the output device 15 to display a list 15d (overview) of the states of the object 30 (see reference). Figure 17 In step S130, the computer 13 determines whether a reset opportunity has been selected from the list of states of object 30. If no reset opportunity has been selected (if step S130 is "No"), the computer 13 re-executes the process of step S130. If a reset opportunity has been selected (if step S130 is "Yes"), the computer 13 proceeds to step S140.

[0476] In step S140, the computer 13 instructs the output device 15 to display the selection screen 15e for the reset object (see reference). Figure 18 Furthermore, in this routine, the terrain 31 is set from the processing of computer 13. Figure 12 If step S10 is invoked, the option for construction machinery 40 in the selection screen 15e can also be made unselectable. Additionally, the computer 13 instructs the output device 15 to display the state of the selected object 30 in the preview image 15f (see...). Figure 18 ).

[0477] In step S150, the computer 13 determines whether a reset object has been decided. If no reset object has been decided (if step S150 is "No"), the computer 13 re-executes the process of step S150. If a reset object has been decided (if step S150 is "Yes"), the computer 13 proceeds to step S160.

[0478] In step S160, the computer 13 reads the state of the determined reset timing of the object 30, reflects the read state to the state of the reset object 30, and ends the routine.

[0479] For example, steps S110 to S150 can be omitted, or the following processing can be performed instead of steps S110 to S150. Specifically, computer 13 can also determine whether there is a specific input signal from input device 11 (whether there is a specific operation). Computer 13 can also automatically select a specific state and a specific reset object when there is a specific input signal from input device 11, and perform a reset (automatic reset). Computer 13 can also restore the state after automatic reset to the state at the start time of the work simulation. Computer 13 can also select the surrounding environment of the construction machinery 40 as the automatic reset object and perform a reset on that surrounding environment.

[0480] [Specific examples of automatic reset] Reference Figure 20 This illustrates an example of an automatic reset performed through a specific operation. Figure 20 This is an example of a simulated image 15g displayed by the output device 15 during an operation in the operator's mode of a work simulation, where construction machinery 40 is loading a dump truck (transport vehicle) for 15 hours. Figure 20 The image 15g shows a simulation of a construction machine 40 operating on a concrete block 15j positioned on the ground. Specifically, the construction machine 40, equipped with a lifting magnet as a remote attachment 43c, moves the attracted concrete block 15j from a predetermined position on the ground to the loading platform of the dump truck 15h.

[0481] When computer 13 receives a specific signal from input device 11 (in the event of a specific operation on input device 11), computer 13 performs an automatic reset. Computer 13 may also display a reset button 15k on the display screen of output device 15 for accepting the specific operation. The specific operation is preferably simple. For example, the specific operation could be a touch operation on a touchscreen. For example, the specific operation could be the input of a shortcut key on a keyboard.

[0482] Upon receiving a specific signal from the input device 11, the computer 13 resets the concrete block 15j to the state at the start time of the work simulation. The computer 13 uses this reset to restore the concrete block 15j in the simulation image 15g to the state at the start of the simulation. Specifically, the concrete block 15j loaded onto the dump truck 15h's platform, and the concrete block 15j being held in place by the remote attachment device 43c, and other work objects that have moved from their initial positions, are deleted. Furthermore, the objects 30, such as the concrete blocks 15j piled on the ground, which were work objects at their initial positions, are restored to their initial state. Thus, for example, through automatic reset, the work objects of the construction machinery 40 are reset. Therefore, the user can reset the work objects with a simple operation, allowing for repeated practice of the work objects.

[0483] Furthermore, when the dump truck 15h moves during the simulation, its position can be restored to its initial position at the start of the simulation. The construction machinery 40 can also be designated as an object that is not reset. Therefore, it is possible to reset objects 30 other than the construction machinery 40.

[0484] [Regarding Method 20] The work simulator 1 involved in the 20th method includes a computer 13. The computer 13 simulates a work site S in a virtual space, including the construction machinery 40 and the surrounding environment of the work object that becomes the construction machinery 40. The computer 13 resets the state in the virtual space to the state of the specified time.

[0485] In the 20th method, the computer 13 can reset the state within the virtual space to the state at a specified time. Therefore, the state within the virtual space where the job simulation is performed can be reset at the desired time.

[0486] [Regarding Method 21] In the 21st method, the computer 13 resets the state of the engineering machinery 40 in the virtual space to the state of the specified time.

[0487] In the 21st method, the state of the construction machinery 40 in the virtual space can be reset to the state at a specified time. Therefore, the state of the construction machinery 40 in the virtual space can be reset at the desired time.

[0488] [Regarding Method 22] In the 22nd method, the at least one configuration object includes the surrounding environment that becomes the working object of the engineering machinery, and the computer 13 resets the state of the object 30 in the surrounding environment in the virtual space to the state of the specified time.

[0489] In the 22nd method, the state of the objects 30 in the surrounding environment within the virtual space can be reset to the state at a specified time. Therefore, the state of the objects 30 in the surrounding environment within the virtual space can be reset at the desired time.

[0490] [Regarding Method 23] In the 23rd method, such as Figure 13 As shown, the computer 13 records the state in the virtual space at predetermined intervals and resets the state in the virtual space to the state at the specified interval of the recorded state.

[0491] In the 23rd method, the state within the virtual space can be recorded at predetermined intervals (fixed intervals), and reset to the state at the specified interval of the recorded state. Thus, the state of objects 30 in the surrounding environment within the virtual space can be reset at the desired intervals recorded at predetermined intervals.

[0492] [Regarding Method 24] In the 24th method, such as Figure 14 As shown, the computer 13 records the state in the virtual space at the start time of one task or multiple tasks in the engineering machinery 40, and resets the state in the virtual space to the state at the specified time in the recorded state.

[0493] In the 24th method, the state within the virtual space can be recorded at the start of a task performed by the engineering machinery 40, and then reset to the state at a specified time within the recorded state. Thus, the state of the objects 30 in the surrounding environment within the virtual space can be reset at the desired time within the recorded time whenever a task begins.

[0494] [Regarding Method 25] In the 25th method, such as Figure 15 As shown, the computer 13 records the state in the virtual space at the time when one or more events related to the engineering machinery 40 occur, and resets the state in the virtual space to the state at the specified time in the recorded state.

[0495] In the 25th method, the state within the virtual space can be recorded at the time an event related to the construction machinery 40 occurs, and then reset to the state at the specified time within the recorded state. Thus, the state of the objects 30 in the surrounding environment within the virtual space can be reset at the desired time within the recorded time whenever an event occurs.

[0496] [Regarding Method 26] In the 26th method, the computer 13 records the state in the virtual space when the engineering machinery 40 approaches the specified object 30 to within a specified distance.

[0497] In the 26th method, the state within the virtual space can be recorded when the construction machinery 40 approaches the specified object 30 to within a specified distance. Therefore, the state within the virtual space can be reset to the state where the construction machinery 40 is approaching the specified object 30 to within a specified distance.

[0498] [Regarding Method 27] In the 27th method, the computer 13 records the state in the virtual space when the engineering machinery 40 enters the designated area.

[0499] In method 27, the state within the virtual space can be recorded when the construction machinery 40 enters the designated area. Therefore, the virtual space can be reset to the state of the construction machinery 40 entering the designated area.

[0500] [Regarding Method 28] In the 28th embodiment, the job simulator 1 also includes an output device 15 and an input device 11. For example... Figure 16 As shown, computer 13 outputs the historical records of the state within the virtual space to output device 15 in a manner that can be specified via input device 11. Computer 13 then resets the state within the virtual space to the state at the time corresponding to the specified historical records.

[0501] In method 28, the user can confirm the history of the state in the virtual space while resetting the state in the virtual space at the time desired by the user.

[0502] A specific example of method 28 may also have the structure described below. That is, the job simulator 1 may have an output device 15, and the computer 13 may instruct the output device to display one or more scenes contained in the history of the state within the virtual space, and reset the state within the virtual space to the state at the time corresponding to the scene selected from the one or more scenes. The scenes contained in the history may, for example, be as follows: Figure 16 The scene shown is displayed on the output device 15.

[0503] [Regarding Method 29] In the 29th method, the computer 13 excludes specified objects and resets the state within the virtual space. Specifically, the at least one configuration object T includes multiple configuration objects T, and the computer 13 resets the state within the virtual space to the state at a specified time for a portion of the multiple configuration objects T, while not resetting the state within the virtual space to the state at the specified time for another portion of the multiple configuration objects T.

[0504] In method 29, the specified objects are excluded during the reset, thus maintaining the state of the specified objects and continuing the job simulation.

[0505] [Regarding Method 32] The job simulation program involved in Method 32 is a program used to simulate a job site S in a virtual space, which includes the construction machinery 40 and the surrounding environment of the object 30 that is the work object of the construction machinery 40. The job simulation program instructs the computer 13 to perform a reset step as a configuration aid step, which resets the state in the virtual space to the state at a specified time.

[0506] In method 32, the state within the virtual space can be reset to the state at a specified time. Therefore, the state within the virtual space where the job simulation is performed can be reset at the desired time.

[0507] [Regarding Method 35] The operation simulation method involved in Method 35 is a method of simulating a work site S in a virtual space, which includes the construction machinery 40 and the surrounding environment of objects 30 that are the work objects of the construction machinery 40. The operation simulation method includes a reset step of resetting the state in the virtual space to the state at a specified time as the configuration auxiliary step.

[0508] In method 35, the state within the virtual space can be reset to the state at a specified time. Therefore, the state within the virtual space where the job simulation is performed can be reset at the desired time.

[0509] (Modified example) Various modifications can be made to the above embodiments. For example, multiple examples of the above embodiments (including modifications) can be combined with each other in various ways. For example, changes can also be made. Figure 11 The connections of the constituent elements shown are as follows. For example, the number of constituent elements (including variations) in the above embodiments can be changed, and some constituent elements can be omitted. The "constituent element" includes constituent elements in virtual space (specifically, object 30) (the same applies below). For example, the arrangement of constituent elements can be changed. For example, the inclusion relationship of constituent elements can be changed in various ways. For example, a constituent element described as a subordinate constituent element contained in a superior constituent element may not be included in that superior constituent element, or it may be included in other constituent elements. For example, a constituent element described as multiple components or parts that are different from each other may be set as a single component or part. For example, a constituent element described as a single component or part may be divided into multiple components or parts that are different from each other. For example, the number of constituent elements (including variations) in the above embodiments can be changed. Figure 12 and Figure 19 The flowchart shown may be in the order of steps, or some steps may be omitted. For example, each component may only have a part of its characteristics (function, configuration, shape, operation, etc.).

[0510] The work simulator 1 may also be equipped with a remote operation device for remotely operating the actual machine (the actual machine constructed in the same manner as the construction machinery 40). The work simulator 1 may also be a work simulator installed on the remote operation device. The remote operation device includes an input device 11, a computer 13, and an output device 15. The input device 11 has operating devices (e.g., a joystick, an operating pedal) and outputs operating signals (joystick operating signals, pedal operating signals) corresponding to the operation of the operating devices. During remote operation, the computer 13 exchanges signals with the actual machine being remotely operated via a communication unit. During remote operation, based on the operating signals input from the input device 11, the computer 13 will adjust the operating device of the actual machine (corresponding to the auxiliary device 43 (see reference 45)). Figure 11 )) or walking device (corresponding to the lower walking body 41a (refer to Figure 11 The computer 13 sends work command signals (work instruction signals) to the physical machine. When operating remotely, the computer 13 receives image data from the camera mounted on the physical machine or signals output by the sensors mounted on the physical machine via the communication unit. When operating remotely, the output device 15 (specifically a monitor) outputs the image data from the camera mounted on the physical machine (data acquired by the computer 13).

[0511] The work simulator 1 is equipped with a remote control device, allowing the user to operate the construction machinery 40 in the virtual space using the same device (for example, referring to the operator operation mode described above). This allows the user to experience the feel of operating a real machine by operating the construction machinery 40 in the virtual space. As a result, for example, it helps the user become more proficient in operating the remote control device. Furthermore, it makes it easier to estimate, for example, the scenarios (what situations might occur, etc.) of operating the actual machine at the actual site (corresponding to the work site S) using the remote control device.

[0512] The construction machinery 40 configured in the virtual space is not limited to one unit; multiple units can also be configured. These multiple construction machinery 40 units can be operated in operator mode or, based on a construction plan, via automatic driving. Furthermore, multiple units of the configured construction machinery 40 can also be selected as reset targets. The configured multiple construction machinery 40 units can be any type of construction machinery, not limited to excavators.

Claims

1. A work simulator that simulates a work site where construction machinery performs operations in a virtual space, the work simulator being characterized by comprising: A computer assists in configuring at least one configuration object in the work site within the virtual space.

2. The job simulator according to claim 1, characterized in that, The at least one configuration object includes a first configuration object and a second configuration object. If the location of the first configuration object in the work site is set, but the location of the second configuration object in the work site is not set, the computer sets the location of the second configuration object based on the location of the first configuration object.

3. The job simulator according to claim 1, characterized in that, The at least one configuration object includes the engineering machinery. If the position of a first specific part of the construction machinery at the work site is set, but the position of a second specific part of the construction machinery at the work site is not set, the computer sets the position of the second specific part based on the position of the first specific part.

4. The job simulator according to claim 3, characterized in that, The engineering machinery includes: Mechanical body; and The auxiliary device is capable of undulating relative to the main mechanical body, wherein, The auxiliary device includes: A remote accessory, located at the distal end of the accessory; and A base-side accessory is disposed between the distal accessory and the mechanical body. The location of the first specific part is the location of the remote auxiliary device, i.e., the working position, when the engineering machinery is operating. The location of the construction machinery is defined, that is, the position where the main body of the machinery will be placed at the work site. The second specific part is the base-side accessory device. The computer sets the position of the base-side auxiliary device based on the working position and the setting position of the engineering machinery.

5. The job simulator according to claim 4, characterized in that, After setting the work location, the computer sets the installation location of the construction machinery.

6. The job simulator according to claim 4, characterized in that, After setting the installation location of the engineering machinery, the computer sets the working location.

7. The job simulator according to any one of claims 4 to 6, characterized in that, The computer determines whether the posture of the construction machinery when the remote auxiliary device is configured at the working position and the mechanical body is configured at the construction machinery setting position is a posture that the construction machinery can assume.

8. The job simulator according to any one of claims 1 to 7, characterized in that, The engineering machinery includes: Mechanical body; and The auxiliary device is capable of undulating relative to the main mechanical body, wherein, The accessory device includes a distal accessory device located at the distal end of the accessory device. The computer-defined workable area is the area in which the remote auxiliary device can be configured by the movement of the auxiliary device.

9. The job simulator according to claim 8, characterized in that, The computer sets a defined operable area within the operable area but smaller than the operable area, based on at least one operable area limit value set by the computer.

10. The job simulator according to any one of claims 1 to 9, characterized in that, The computer output device simultaneously displays multiple views from different locations within the virtual space.

11. The job simulator according to any one of claims 1 to 10, characterized in that, The at least one configuration object includes the engineering machinery. The computer Set at least three grounding determination points on the lower surface of the engineering machinery. Calculate the positions of the three or more projected grounding determination points obtained by projecting the three or more grounding determination points onto the ground. Based on the three or more projected grounding determination points, calculate the ground plane. Calculate the rotation angle of the ground plane relative to the specified reference. The engineering machinery is rotated in such a manner that the rotation angle of the ground contact surface is consistent with the rotation angle of the lower surface of the engineering machinery relative to the specified reference. The construction machinery is positioned at the work site in such a manner that the lower surface of the construction machinery is aligned with the ground contact surface.

12. The job simulator according to any one of claims 1 to 11, characterized in that, The computer enables the engineering machinery to operate in a state where at least one configuration object is configured within the virtual space.

13. The job simulator according to claim 1, characterized in that, The engineering machinery includes: Lower walking body; The upper rotating body is capable of rotating relative to the lower traveling body; and The auxiliary device is capable of undulating relative to the upper rotating body.

14. The job simulator according to claim 1, characterized in that, The at least one configuration object includes: An area for construction machinery is defined in the virtual space in association with the location of the construction machinery; and The target area is defined within the virtual space, wherein... The computer determines the state of interference between the engineering machinery area and the area to be determined.

15. The job simulator according to claim 14, characterized in that, When interference occurs between the engineering machinery area and the target area, the computer restricts the configuration of the engineering machinery to avoid interference between the engineering machinery area and the target area.

16. The job simulator according to claim 14 or 15, characterized in that, The at least one configuration object includes: The second type of construction machinery is construction machinery that is different from the aforementioned construction machinery; and The second construction machinery area, associated with the location of the second construction machinery, is set in the virtual space, wherein... The computer determines the state of interference between the engineering machinery area and the second engineering machinery area when the engineering machinery and the second engineering machinery are working.

17. The job simulator according to any one of claims 14 to 16, characterized in that, The computer enables the construction machinery to work simultaneously with the user's operation, or to work based on pre-stored information according to the user's operation.

18. The job simulator according to any one of claims 14 to 17, characterized in that, The computer stores the posture of the engineering machinery when the engineering machinery area interferes with the determination object area.

19. The job simulator according to any one of claims 14 to 18, characterized in that, The computer can display a view overlooking the construction machinery and the area to be judged, or it can display a view from the construction machinery to the area to be judged.

20. The job simulator according to claim 1, characterized in that, The computer resets the state within the virtual space to the state at the specified time.

21. The job simulator according to claim 20, characterized in that, The computer resets the state of the engineering machinery in the virtual space to the state at the specified time.

22. The job simulator according to claim 20 or 21, characterized in that, The at least one configuration object includes the surrounding environment that becomes the working object of the construction machinery. The computer resets the state of the surrounding environment within the virtual space to the state at the specified time.

23. The job simulator according to any one of claims 20 to 22, characterized in that, The computer The state within the virtual space is recorded at predetermined time intervals. The state within the virtual space is reset to the state at the specified time in the recorded state.

24. The job simulator according to any one of claims 20 to 22, characterized in that, The computer The state within the virtual space is recorded at the moment the task performed by the engineering machinery begins. The state within the virtual space is reset to the state at the specified time in the recorded state.

25. The job simulator according to any one of claims 20 to 22, characterized in that, The computer Record the state within the virtual space at the time when an event related to the construction machinery occurs. The state within the virtual space is reset to the state at the specified time in the recorded state.

26. The job simulator according to claim 25, characterized in that, The computer records the state within the virtual space when the engineering machinery approaches a specified object to within a specified distance.

27. The job simulator according to claim 25 or 26, characterized in that, The computer records the state within the virtual space when the construction machinery enters the designated area.

28. The job simulator according to any one of claims 20 to 27, characterized in that, It also includes output devices and input devices. The computer The historical records of the state within the virtual space can be output to the output device in a manner that can be specified via the input device. The state within the virtual space is reset to the state at the time corresponding to the specified historical record.

29. The job simulator according to any one of claims 20 to 28, characterized in that, The at least one configuration object contains multiple configuration objects. The computer resets the state in the virtual space to the state at a specified time for a portion of the plurality of configuration objects, and does not reset the state in the virtual space to the state at a specified time for another portion of the plurality of configuration objects.

30. A job simulation program for simulating a work site in which construction machinery performs operations in a virtual space, characterized in that, The computer is instructed to perform configuration assistance steps to assist in the configuration of at least one configuration object in the work site within the virtual space.

31. The job simulation program according to claim 30, characterized in that, The at least one configuration object includes: An area for construction machinery is defined in the virtual space in association with the location of the construction machinery; and The target area is defined within the virtual space, wherein... The computer is instructed to perform an interference determination step to determine the state of interference between the engineering machinery area and the object area to be determined, as a configuration assistance step.

32. The job simulation program according to claim 30, characterized in that, The configuration assistance step involves instructing the computer to perform a reset step that resets the state within the virtual space to the state at a specified time.

33. A job simulation method for simulating a work site in a virtual space where construction machinery performs operations, the job simulation method being characterized by comprising: The configuration assistance step assists in configuring at least one configuration object in the work site within the virtual space.

34. The job simulation method according to claim 33, characterized in that, The at least one configuration object includes: An area for construction machinery is defined in the virtual space in association with the location of the construction machinery; and The target area is defined within the virtual space, wherein... The operation simulation method includes an interference determination step, which determines the state of interference between the engineering machinery area and the object area, as a configuration auxiliary step.

35. The job simulation method according to claim 33, characterized in that, The configuration assistance step includes a reset step that resets the state within the virtual space to the state at a specified time.

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