Work vehicle control terminal and work vehicle control method

Abstract

A work vehicle control terminal has: a drawing data holding section that holds drawing data including work coordinates at which a self-propelled work vehicle performs work and position information of a line, i.e., a drawing reference core, that is a reference for the work coordinates; a field reference core information holding section that holds measured position information of a field reference core that corresponds to the drawing reference core; and a position information transmission section that transmits position information corresponding to the work coordinates to the work vehicle based on the position information of the drawing reference core and the measured position information of the field reference core. The work vehicle control terminal has a display section that displays information and a reference core superimposition display output section that outputs data that superimposes the drawing reference core and the field reference core on the display section based on the position information of the drawing reference core and the measured position information of the field reference core.

Description

Technical Field

[0001] This invention relates to a control terminal for work vehicles and a control method for work vehicles. Background Technology

[0002] In the past, at equipment installation or construction sites, the locations of equipment or bolts to be installed were designated according to black lines drawn on-site. Therefore, the accuracy of these black lines was very important, and they were drawn by skilled professionals using a chalk line method.

[0003] In recent years, technologies for implementing ink-printing lines by autonomous mobile machines have been disclosed. Patent Document 1 provides a technique for calculating a reference position in an ink-printing robot, wherein the reference is used to control the ink-printing robot.

[0004] Patent document 1 states: "Next, the operator sets a prism (not shown) at the location of a reference core on site, and the position of the reference core is measured by a tracking total station 2 (S51). The communication device 3 receives the position information of the reference core from the tracking total station 2 via a wireless communication path, and sends the position information of the reference core to the ink line drawing robot 1. The PC17 of the ink line drawing robot 1 sets the received position information of the reference core (S31). Thus, the PC17 can map the coordinate system of the ink line data 52 to the coordinate system of the site."

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2019-196988 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] Even when using an autonomous ink-printing robot, there are still tasks that involve matching coordinates with design drawings using a black line drawn by a person as a reference (called a reference core).

[0010] In Patent Document 1, although the coordinates are set based on a reference core, the accuracy of the ink-printing line of the reference core itself is not considered. Therefore, there is a problem that the accuracy of the ink-printing line position of the ink-printing robot will also deteriorate if the reference core itself deviates during the ink-printing process.

[0011] Methods used to solve problems

[0012] To address the aforementioned problems, the present invention employs, for example, the structure described in the claims. This application includes multiple means for solving the aforementioned problems, one example being: a work vehicle control terminal comprising: a drawing data holding unit that holds drawing data, the drawing data being pre-made drawing data including the work coordinates of an autonomously moving work vehicle and position information of a drawing reference core, the drawing reference core being a line serving as a reference for the aforementioned work coordinates; a field reference core information holding unit that holds measured position information of a field reference core extending from the work site and corresponding to the drawing reference core; and a position information transmitting unit that, based on the position information of the drawing reference core and the measured position information of the field reference core, transmits position information corresponding to the work coordinates to the work vehicle; characterized in that it further comprises: a display unit that displays information; and a reference core overlay display output unit that, based on the position information of the drawing reference core and the measured position information of the field reference core, outputs data that overlays the drawing reference core and the field reference core on the display unit.

[0013] Invention Effects

[0014] According to the present invention, the working accuracy of a work vehicle that can autonomously move to a specified position on the work site and perform specified tasks is improved. Attached Figure Description

[0015] Figure 1 This is a diagram illustrating the overall structure of Example 1.

[0016] Figure 2 This is a block diagram of the overall structure of Embodiment 1.

[0017] Figure 3 This is a diagram illustrating an example of the screen display on the control terminal of Embodiment 1.

[0018] Figure 4 This is a flowchart illustrating the operation and processing of Embodiment 1.

[0019] Figure 5 This diagram illustrates an example where a reference core with a large deviation exists in the screen display of the control terminal in Embodiment 2.

[0020] Figure 6 This is a diagram illustrating an example of an occasional deviation occurring in the screen display of the control terminal in Embodiment 3. Detailed Implementation

[0021] Hereinafter, embodiments of the present invention will be described based on the accompanying drawings.

[0022] Example 1

[0023] When using an autonomous ink-marking robot to mark lines on a construction site, at least two reference black lines (reference cores) must be drawn on-site to ensure the ink lines are marked as shown on the design drawings. These reference lines are used to match the coordinates on the design drawings with the coordinates on the work site. This allows the robot to calculate the positional information corresponding to the coordinates of the designated ink-marking location on the design drawings, enabling it to move autonomously and mark the lines.

[0024] However, the ground on site is unlikely to be perfectly flat, and the reference core is drawn by people (professionals). Therefore, it cannot always be exactly the straight lines and angles shown on the design drawings.

[0025] Therefore, this invention visualizes the deviation between the reference core on the design drawing and the actual reference core by displaying the reference core drawn out on-site overlapping with the reference core on the design drawing.

[0026] By identifying this deviation, it is possible to at least assist in applying ink lines at a more accurate location. For example, if a large deviation is identified, the ink lines can be reapplied on-site based on this deviation, thereby helping to improve the accuracy of the ink lines applied by the ink-appliing robot. Furthermore, even after reapplying the ink lines on-site, correcting the coordinates of the ink-applied areas based on the identified deviation can also contribute to improving ink line accuracy.

[0027] Hereinafter, embodiments of the present invention will be described using the accompanying drawings.

[0028] Figure 1 This is a diagram illustrating the overall structure of Example 1.

[0029] The measuring machine 101 transmits the measurement information of the black line (reference core) 104 to the laying-out robot 102, thereby allowing the laying-out robot 102 to calculate and determine the location of the measuring machine 101 at the construction site. Then, based on the coordinate information of the laying-out points on the design drawings held by the control terminal 103 and the coordinate information obtained from the actual measurement of the position of the laying-out robot 102 by the measuring machine 101, the ink line position 105 is determined. Through the autonomous movement of the laying-out robot 102 and its ability to print on the ground, ink lines can be implemented on-site as if they were recorded on the design drawings.

[0030] The line-laying robot 102 is equipped with a prism that serves as the measurement point for the measuring machine 101. Furthermore, it has a driving function, enabling it to autonomously move to the ink-printing line position 105. Then, the ink-printing line is executed by the onboard printing mechanism drawing ink dots on the ground in the vertical direction of the prism.

[0031] The control terminal 103 is a device that communicates with the measuring machine 101 and the wire-laying robot 102, allowing the operator to give instructions and control. Furthermore, it stores the current status of the measuring machine 101 and the wire-laying robot 102, as well as the coordinate information required for marking the ink lines. In Embodiment 1, the operator can also set a suitable position for the measuring machine based on the information displayed by the control terminal 103.

[0032] Reference core 104 is a line prepared by the operator on the construction site to serve as a reference for various construction positions. It is usually drawn out in a grid pattern with multiple lines.

[0033] The ink line position 105 indicates the location information of the installation site when constructing machinery and equipment. The position is determined based on the distance from the reference core 104 and is drawn using crosshairs or similar methods. In this figure, an example is shown where two reference cores 104 are drawn as intersecting X and Y axes.

[0034] A prism 106 is placed on a reference core 104 to measure the distance between the reference core 104, which is drawn out by the operator, and the measuring machine 101. Measurements are taken at at least two points on the same reference core 104 to determine the position of the reference core 104.

[0035] Figure 2 This is a block diagram of the overall structure of Embodiment 1.

[0036] The control terminal 201 includes a CPU 202, ROM 203, RAM 204, a touch panel display 205, a control application 206, and a wireless communication unit 207. That is, it is a display mechanism for design drawings, etc., and also an input mechanism for setting and instructing the system.

[0037] ROM 203 is a storage device that stores the program executed by CPU 202 and design drawing data. RAM 204 is a storage device used by CPU 202 to execute programs, etc. The touch panel display 205 is a display device capable of simultaneously displaying both design drawing data and the reference chip 104 measured on-site.

[0038] The control application 206 is a program that instructs the wire-laying robot 102 and overlays the design drawings with the measured reference core. The CPU 202 is a mechanism that executes the program stored in the ROM 203. The wireless communication unit 207 is an interface for communicating with the wire-laying robot 102 and the measuring machine 215.

[0039] The wire-laying robot 102 includes a PC 209, a travel mechanism 210, a printing mechanism 211, a directional prism 212, a wire-laying robot control application 213, and a wireless communication unit 214. The PC 209 is the control mechanism of the wire-laying robot 102.

[0040] The traveling mechanism 210 has wheels and is a traveling mechanism that controls the rotation of the wheels. The printing mechanism 211 has an inkjet printer mechanism and is a drawing mechanism that draws lines or characters at the line placement position.

[0041] The orientation prism 212 is mounted on the upper part of the printing mechanism 211, and its position is measured by the measuring machine 215 to determine the position of the wire-laying robot 102. The wire-laying robot control application 213 is a program that coordinates the directional control of the traveling mechanism 210, the printing mechanism 211, and the orientation prism 212 to perform the wire-laying operation.

[0042] The wireless communication unit 214 is an interface for communicating with the control terminal 201 and the measuring machine 215. The wire-laying robot 102 includes a PC 209, a travel mechanism 210, a printing mechanism 211, a directional prism 212, a wire-laying robot control application 213, and a wireless communication unit 214.

[0043] In addition, the measuring machine 215 has the function of measuring the position information of the prism 212, which serves as the measurement location, and notifying the user.

[0044] Figure 3 This is a diagram illustrating an example of the screen display of the control terminal in Embodiment 1.

[0045] On screen 301 of control terminal 103, a drawing 302 of architectural drawing data stored in control terminal 103 is displayed. Based on the setting position information obtained from the measurement performed by surveying machine 101, the position 303 of the surveying machine can be overlaid on the drawing 302 of architectural drawing data on control terminal 103. The position 306 of the ink line, represented by a cross, is included in the drawing 302 of architectural drawing data and represents the coordinate position of the ink line actually being drawn by the line-laying robot 102.

[0046] Furthermore, on screen 301, the reference core 304 of the design drawing and the reference core 305 measured according to the setting position of the measuring machine 101 can be displayed over and over. By displaying their respective reference cores on the same screen, the differences between the not-so-perfectly consistent design drawings and the actual site can be visualized.

[0047] Figure 4 This is a flowchart illustrating the operation and processing of Example 1.

[0048] Explain the processing flow performed by the control terminal 201.

[0049] S401 instructs the input of data for the ink line printing operation. This instruction is transmitted wirelessly to and read by the line-laying robot 102.

[0050] S402 receives the result obtained by measuring the position of the prism 106, which is set at an arbitrary position on the reference core 104, as measured by the measuring machine 101. To obtain the position information of one reference core, measurements are taken at at least two different points on the reference core 104. Therefore, to measure and depict the positions of two reference cores, measurements are taken at at least two points (or at least three points if the prism 106 is set at the intersection of the reference cores) for each reference core, and the measurement results are received.

[0051] The measurement results are also wirelessly transmitted to the wire-laying robot 102, which determines the position of the measuring machine 101 based on the measurement results. That is, if we consider the two reference cores 104 as corresponding to the X-axis and Y-axis that extend in a straight line on a two-dimensional plane, then by performing the measurement as described above, we can obtain information equivalent to the X-coordinate and Y-coordinate of the measuring machine 101.

[0052] S403 displays the reference core 104, which measures the position of the measuring machine 101, on the design drawing 302 based on the measurement results.

[0053] S404 keeps the architectural drawing 302 in a fixed display state, enabling corrections to the coordinate movement and rotation of the measuring machine 101. In conjunction with this, the reference core 104 measured by the measuring machine 101 moves. This correction allows the reference cores 104 to overlap more closely and become more consistent. The laying-out robot 102 receives this correction information and repositions the measuring machine 101. Alternatively, the measured reference core 305 can be fixed while the architectural drawing 302 is moved, thereby correcting the two reference cores 104 to a more overlapping position.

[0054] S405 instructs the execution of ink lines, and the line-laying robot 102 executes ink lines based on the set position information of the measuring machine 101.

[0055] This describes the processing flow performed in the wire-laying robot 102.

[0056] S411 receives instructions from the control application 206 and reads in the data needed for the ink line operation. The line-laying robot 102 obtains the reference core coordinates and ink dot coordinates from the drawing required for the line-laying operation.

[0057] S412 calculates and determines the position of the measuring machine 101 based on the results measured by the measuring machine 101. This position is calculated based on information from a portion of the measured results (two axes if it is the reference core 104), which is an intermediate generated value in this embodiment.

[0058] S413 receives the correction information made in S404, adds it to the position information of the measuring machine 101 calculated in S412, and determines it as the new position information.

[0059] Based on the position information of S413, S414 repeatedly moves towards the ink line position 105 and prints ink dots.

[0060] Furthermore, this invention illustrates an example where, when calculating the position of the inking line portion, the position of the measuring machine 101, calculated based on the distances between the two reference cores 104 and the measuring machine 101, is used as a reference. The relative positional relationship with the measuring machine 101 is then calculated, and the line-laying robot 102 is moved for control. However, it is not necessarily necessary to use the position of the measuring machine 101 as a reference. For example, if the positional relationship between the two reference cores 104 is known, the intersection point of the two reference cores 104 can be considered as the zero-point coordinate (0, 0). Using this zero-point coordinate as a reference, the position of the inking line portion is calculated, and the position coordinates are indicated to the line-laying robot 102.

[0061] Example 2

[0062] The coordinates of the inking line are calculated based on two orthogonal black lines (reference cores). However, as mentioned earlier, these are not strictly straight lines as shown on the design drawings. By measuring multiple black lines and visualizing their differences from the drawings, it is possible to identify reference cores with larger deviations, which helps in selecting the reference cores for more accurate calculation of the inking line coordinates.

[0063] Hereinafter, Embodiment 2 of the present invention will be described with reference to the accompanying drawings.

[0064] Figure 5 This is an example of the control terminal's screen display in Embodiment 2, showing a diagram of a reference core with a large deviation. Reference core 501 is depicted on the diagram based on measurements of multiple reference cores. By comparing it with reference core 502 on the design drawing, it is possible to identify reference cores that have experienced significant deviations, such as reference core 503. By calculating the coordinates of the ink lines using reference cores 504 other than those with large deviations, the ink lines can be correctly applied.

[0065] In this way, since at least two black lines are used in the calculation of the ink line coordinates, even when more than three black lines are drawn out on-site and displayed overlappingly, it is easy to visually identify which black line has a larger deviation. Furthermore, it is possible to select the reference core used in the ink line coordinate calculation. In other words, because reference cores with larger deviations can be excluded from the ink line coordinate calculation, more accurate ink line coordinates can be obtained.

[0066] To visualize the magnitude of this deviation, the color of the reference core itself, the line, or the surrounding area is changed to emphasize the deviation (distance) between the reference core on the drawing and the corresponding reference core obtained by measurement, thus enabling the identification of the black line with a larger deviation.

[0067] Example 3

[0068] When measuring multiple black lines, and considering that the deviations are not limited to a single line but occur sporadically, selecting a reference core to calculate the coordinates of the ink line can potentially result in significant deviations in the ink line results. In Example 3, by correcting the calculated position of the measuring machine, the deviations in the positions of multiple ink lines can be averaged out.

[0069] Hereinafter, Embodiment 3 of the present invention will be described with reference to the accompanying drawings.

[0070] Figure 6 This is an example of the screen display of the control terminal in Embodiment 3, which is a diagram of a state in which an occasional deviation has occurred.

[0071] Based on the results obtained from measuring multiple reference cores, reference core 601 is depicted on the drawing. By comparing it with reference core 602 on the design drawing, it can be determined that regardless of which reference core is used to calculate the coordinates of the ink line, the ink line result will have a large error. By correcting the position of the measuring machine, a state 603 that averages the deviation is found, thereby increasing the possibility of implementing ink lines within an acceptable error range.

[0072] Furthermore, the present invention is not limited to the above-described embodiments, but includes various modifications.

[0073] For example, the above embodiments have been described in detail for ease of understanding and illustration of the invention, and are not limited to forms that necessarily possess all the structures described. Regarding the ink-marking robot, it can also be applied to work vehicles that autonomously move to specified locations on the ground, walls, or ceilings to perform specified tasks.

[0074] Furthermore, it is possible to replace a portion of the structure of one embodiment with the structure of another embodiment. Additionally, it is possible to add structures from other embodiments to the structure of one embodiment.

[0075] Furthermore, for a portion of the structure of each embodiment, other structures can be added, deleted, or replaced. Additionally, information such as programs, tables, and files implementing each structure can be stored in recording devices such as memory, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

[0076] Label Explanation

[0077] 101 Measuring Machine

[0078] 102 Wire Laying Robot

[0079] 103 Control Terminal (Tablet PC)

[0080] 104 reference core

[0081] 105 Ink line position

[0082] 301 Control Terminal Screen

[0083] 302 The construction design drawings displayed on the terminal

[0084] 303 The setting position of the measuring machine is calculated by measuring the measuring machine.

[0085] Reference core on 304 architectural design drawings

[0086] 305 is the reference core calculated based on the setting position of the measuring machine and the measurement results.

[0087] 501 The reference core calculated based on the setting position of the measuring machine and the measurement results

[0088] Reference core on 502 architectural design drawings

[0089] 503 is a reference core capable of identifying deviations from architectural design drawings.

[0090] 504 can identify reference cores that are consistent with architectural design drawings.

[0091] 601 The reference core calculated based on the setting position of the measuring machine and the measurement results

[0092] Reference core on 602 architectural design drawings

[0093] 603 Comparison status after measuring machine position correction

Claims

1. A work vehicle control terminal having: a map data holding section that holds map data that is prepared in advance, the map data including work coordinates at which a work vehicle that autonomously moves performs work, and position information of a map reference core that is a line serving as a reference for the work coordinates; a field reference core information holding section that holds measured position information of a field reference core that is introduced at a work site and corresponds to the map reference core; and a position information transmission section that transmits position information corresponding to the work coordinates to the work vehicle on the basis of the position information of the map reference core and the measured position information of the field reference core, the work vehicle control terminal characterized by further comprising: a display section that displays information; a reference core superimposition display output section that outputs data for superimposition display of the map reference core and the field reference core on the display section on the basis of the position information of the map reference core and the measured position information of the field reference core; and a movement command input section that accepts a command for moving at least one of the superimposition displayed map reference core and the field reference core on the display section, the display section displaying at least one of the map reference core and the field reference core at a position after movement on the basis of the accepted command for movement, the map data holding section including position information of a plurality of map reference cores, the field reference core information holding section including measured position information of a plurality of field reference cores corresponding to the position information of the plurality of map reference cores, a plurality of the map reference cores and a plurality of the field reference cores being respectively drawn on the display section on the basis of the position information of the plurality of map reference cores and the measured position information of the plurality of field reference cores, a comparison being made between the plurality of field reference cores and the plurality of map reference cores, the field reference core for which a large deviation has occurred being excluded, and the field reference cores other than the reference core for which a large deviation has occurred being used to calculate the work coordinates at which an ink line is drawn.

2. The work vehicle control terminal according to claim 1, characterized in that: the position information transmission section corrects the position information corresponding to the work coordinates transmitted to the work vehicle on the basis of a difference in the position after movement of at least one of the map reference core and the field reference core.

3. The work vehicle control terminal according to claim 1 or 2, characterized in that: the position information transmission section accepts selection of the field reference core used to calculate the position information corresponding to the work coordinates, and transmits the position information corresponding to the work coordinates to the work vehicle on the basis of the measured position information of the selected field reference core and the position information of the map reference core corresponding to the selected field reference core.

4. The work vehicle control terminal according to claim 1 or 2, characterized in that: the display section emphasizes display of the map reference core and the field reference core at a position corresponding to a deviation between the map reference core and the field reference core on the basis of the magnitude of the deviation. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 5. The work vehicle control terminal according to claim 3, characterized in that, the display section emphasizes display of the map reference core and the field reference core at a position corresponding to the deviation, according to the magnitude of the deviation of the map reference core from the field reference core corresponding to the map reference core.

6. A work vehicle control method having: a map data holding step, a map data holding section holding map data, the map data being prepared in advance, containing work coordinates in which a work vehicle autonomously moves to perform work, and position information of a map reference core that is a line serving as a reference for the work coordinates; a field reference core information holding step, a field reference core information holding section holding measured position information of a field reference core that is drawn at a work site and corresponds to the map reference core; and a position information transmitting step, a position information transmitting section transmitting position information corresponding to the work coordinates to the work vehicle, based on the position information of the map reference core and the measured position information of the field reference core; the work vehicle control method being characterized by further having: a reference core superimposed display output step, a reference core superimposed display output section outputting data for superimposed display of the map reference core and the field reference core on a display section, based on the position information of the map reference core and the measured position information of the field reference core; a superimposed display step, the display section superimposedly displaying the map reference core and the field reference core based on input from the reference core superimposed display output section; and a movement command input step, a movement command input section receiving a command to move at least one of the superimposedly displayed map reference core and field reference core on the display section, the display section displaying at least one of the map reference core and the field reference core at a position after movement, based on the received movement command, the map data holding section containing position information of a plurality of map reference cores, the field reference core information holding section containing measured position information of a plurality of field reference cores corresponding to the position information of the plurality of map reference cores, a plurality of map reference cores and a plurality of field reference cores are respectively drawn on the display section, based on the position information of the plurality of map reference cores and the measured position information of the plurality of field reference cores, the plurality of field reference cores and the plurality of map reference cores are compared, and the field reference core for which a large deviation has occurred is excluded, and the field reference core other than the reference core for which a large deviation has occurred is used to calculate the work coordinates for which an ink line is drawn.

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