Work assistance system, control method of work assistance system, control program of work assistance system

Abstract

With a portable information terminal device, even in the case where connection of wireless communication with the portable information terminal device is temporarily cut off, the operator's operation is appropriately assisted. There are: detection devices (11A, 11B, 11C) held to movable portions (4, 5, 6) of a work machine, which acquire and output posture information of the movable portions (4, 5, 6) by sensors; a display (14) that displays assistance information that assists the operator's operation; a main body device (12) that acquires the posture information from the detection devices (11A, 11B, 11C), transmits by data communication realized by wireless communication, and receives the assistance information by data communication realized by wireless communication, and outputs it to the display (14); and a portable information terminal device (13) that receives the posture information transmitted from the main body device (12), generates the assistance information from the posture information and transmits it to the main body device (12). The portable information terminal device (13) detects a change amount of the posture information required before work on a work target is performed and outputs the assistance information.

Description

Technical Field

[0001] This invention relates to a work assistance system, a control method for the work assistance system, and a control program for the work assistance system, which can be applied to work machinery such as hydraulic excavators. Background Technology

[0002] The prior art provides a type of construction machinery equipped with equipment guidance functions (a type of construction machinery with a work assistance system, i.e., so-called ICT construction machinery).

[0003] Here, equipment guidance is a technique that uses surveying technologies such as total stations (TS) and GNSS (Global Navigation Satellite System) to assist in the operation of machinery. Based on this equipment guidance, operators can be appropriately assisted in their operations, improving work efficiency, safety, and accuracy.

[0004] In this type of ICT construction machinery, sensors are placed on the movable parts of the machinery, and information (hereinafter appropriately referred to as auxiliary information) is generated based on the detection results of the sensors to assist the operator's operation (for example, Patent Document 1).

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2015-14147 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] In addition, portable information terminal devices such as smartphones and tablets have data communication functions enabled by wireless communication, as well as sufficient computing and processing capabilities.

[0010] Therefore, it is believed that if sensor detection results are sent to a portable information terminal device via data communication achieved through wireless communication, and the portable information terminal device generates auxiliary information, such a job assistance system can be easily constructed. Furthermore, it is believed that by easily handling version upgrades and changes to the program used to generate auxiliary information, a job assistance system can be flexibly constructed.

[0011] However, in the case of using a portable information terminal device, it is foreseeable that the wireless communication connection with the portable information terminal device may be temporarily interrupted. In this case, the device's guidance function is temporarily impaired, resulting in difficulties in properly assisting the operator's operation.

[0012] The present invention was made in view of the above problems, and its purpose is to provide a work assistance system, a control method for the work assistance system, and a control program for the work assistance system that can appropriately assist the operator's operation even when the wireless communication connection with the portable information terminal device is temporarily cut off.

[0013] Methods for solving problems

[0014] To address the aforementioned problem, technical solution 1 is an operation assistance system comprising: a detection device held in the movable part of a work machine, which acquires and outputs attitude information of the movable part via a sensor; a display showing auxiliary information to assist the operator's operation; a main unit acquiring the attitude information from the detection device, transmitting it via data communication achieved through wireless communication, and receiving the auxiliary information via data communication achieved through the wireless communication, and outputting it to the display; and a portable information terminal device receiving the attitude information transmitted from the main unit, generating the auxiliary information based on the attitude information, and sending it to the main unit, wherein the portable information terminal device detects the change in the attitude information required before construction on the construction target and outputs the auxiliary information.

[0015] According to the structure of technical solution 1, by detecting the change in attitude information required before construction on the target and outputting auxiliary information, even if the wireless communication connection with the portable information terminal is temporarily cut off and the portable information terminal cannot generate auxiliary information, the main device can still generate and provide auxiliary information based on the previously obtained auxiliary information and the change in attitude information obtained from the detection device. Therefore, the portable information terminal can be used to assist the operator's operation, even if the wireless communication connection with the portable information terminal is temporarily cut off.

[0016] In the structure of technical solution 1, the invention of technical solution 2 is that when the wireless communication connection between the main device and the portable information terminal device is interrupted, the main device obtains the attitude information from the detection device and generates the auxiliary information, and outputs it to the display.

[0017] According to the structure of technical solution 2, through a more specific structure, even if the wireless communication connection with the portable information terminal device is temporarily cut off, it can still appropriately assist the operator's operation.

[0018] Technical solution 3 is a control method for a work assistance system, wherein the work assistance system has:

[0019] The system comprises: a detection device held in the movable part of the working machinery, which acquires and outputs attitude information of the movable part via sensors; a display showing auxiliary information to assist the operator; a main unit acquiring the attitude information from the detection device, transmitting it via data communication achieved through wireless communication, and receiving the auxiliary information via data communication achieved through wireless communication, and outputting it to the display; and a portable information terminal device receiving the attitude information transmitted from the main unit, generating the auxiliary information based on the attitude information, and sending it to the main unit. In the control method of the work assistance system, the portable information terminal device detects the change in the attitude information required before construction on the construction target and outputs the auxiliary information. When the wireless communication connection between the main unit and the portable information terminal device is interrupted, the main unit acquires the attitude information from the detection device, generates the auxiliary information, and outputs it to the display.

[0020] According to the structure of technical solution 3, by detecting the change in attitude information required before construction on the target and outputting auxiliary information, even if the wireless communication connection with the portable information terminal is temporarily interrupted and the portable information terminal cannot generate auxiliary information, the main device can still generate and provide auxiliary information based on the previously obtained auxiliary information and the change in attitude information obtained from the detection device. Therefore, by obtaining attitude information from the detection device and generating auxiliary information in the main device when the wireless communication connection with the portable information terminal is interrupted, the portable information terminal can be used to assist the operator's operation, and the operator's operation can be appropriately assisted even when the wireless communication connection with the portable information terminal is temporarily interrupted.

[0021] Technical solution 4 is a control program for a work assistance system. Prescribed processing steps are executed through the execution of an arithmetic processing circuit. The work assistance system includes: a detection device held in place of a movable part of a work machine, which acquires and outputs attitude information of the movable part via a sensor; a display showing auxiliary information to assist the operator's actions; a main unit acquiring the attitude information from the detection device, transmitting it via data communication achieved through wireless communication, and receiving the auxiliary information via data communication achieved through wireless communication, and outputting it to the display; and a portable information terminal device receiving the attitude information transmitted from the main unit. The process includes: a cut-off detection step, which detects a cut-off of the wireless communication connection between the main device and the portable information terminal device; and a posture information generation step, which, when a cut-off of the wireless communication connection between the main device and the portable information terminal device is detected in the cut-off detection step, obtains the posture information from the detection device in the main device and generates the auxiliary information, and outputs it to the display.

[0022] According to the structure of technical solution 4, by detecting the change in attitude information required before construction on the target and outputting auxiliary information, even if the wireless communication connection with the portable information terminal device is temporarily cut off and the portable information terminal device cannot generate auxiliary information, the main device can still generate and provide auxiliary information based on the previously obtained auxiliary information and the change in attitude information obtained from the detection device. Therefore, when the cutoff of the wireless communication connection between the main device and the portable information terminal device is detected in the cutoff detection step, the main device obtains attitude information from the detection device and generates auxiliary information, outputting it to the display. This allows the portable information terminal device to assist the operator's operation, even if the wireless communication connection with the portable information terminal device is temporarily cut off.

[0023] Invention Effects

[0024] According to the present invention, even when the wireless communication connection with the portable information terminal device is temporarily interrupted, the operator's operation can still be appropriately assisted.

[0025] Brief description of the attached diagram

[0026] Figure 1 This is a diagram illustrating the work assistance system according to the first embodiment of the present invention.

[0027] Figure 2 yes Figure 1 A block diagram of the work assistance system.

[0028] Figure 3 It is a flowchart illustrating the actions of a job assistance system.

[0029] Figure 4 It means Figure 3 The subsequent flowchart.

[0030] Figure 5 It is a diagram used to illustrate the target surface for construction. Detailed Implementation

[0031] [First Implementation]

[0032] Figure 1 This is a diagram illustrating the work assistance system 1 according to the first embodiment of the present invention. Figure 2 It's a block diagram.

[0033] The operation assistance system 1, in the hydraulic excavator 2 which is used as operating machinery, uses the equipment guidance function to assist the operator in operating the hydraulic excavator 2.

[0034] Here, the hydraulic excavator 2 has a boom 4, arm 5, and bucket 6 sequentially mounted on its main body 3, which travels automatically via tracks. Furthermore, the work assistance system 1 is not limited to hydraulic excavators; it can be widely applied to various work machines used in foundation improvement and civil engineering / construction work.

[0035] The operation assistance system 1 includes detection devices 11A, 11B, and 11C, a main unit 12, a portable information terminal device 13, and a display 14. Detection devices 11A, 11B, and 11C are respectively installed on the boom 4, arm 5, and bucket 6, which are movable parts of the hydraulic excavator 2. Furthermore, detection devices 11A, 11B, and 11C may also be installed only on a portion of the boom 4, arm 5, and bucket 6, and can be installed in various locations as needed.

[0036] The detection devices 11A, 11B, and 11C have a sensor unit 21, a computing unit 22, a wireless communication unit 23, and a power supply 24. They are held in the movable part of the working machine and acquire and output the attitude information of the movable part through the sensor.

[0037] The sensor unit 21 has a sensor that acquires and outputs three-dimensional acceleration information and angular velocity information.

[0038] The arithmetic unit 22 processes the measurement results from the sensor output from the sensor unit 21 using the built-in arithmetic processing circuit to obtain attitude information representing the attitude of the corresponding movable part.

[0039] In this embodiment, although the sensor of the sensor unit 21 uses an IMU (Inertial Measurement Unit) sensor, it is not limited to an IMU sensor. Sensors other than three-axis sensors can also be used, and various structures capable of detecting attitude information can be widely applied. In addition, the sensor is not limited to a structure that can directly obtain information about the attitude of the movable part. For example, structures that can indirectly detect the attitude of the movable part, such as a ranging sensor that measures the distance from the ground, can be widely applied.

[0040] In addition, in this embodiment, the attitude information includes, for example, the angle of the movable part of the hydraulic excavator 2 relative to the reference line in the forward and backward direction of the ground plane LH and the angular velocity involved in that angle.

[0041] The wireless communication unit 23 transmits the attitude information obtained by the arithmetic unit 22 to the main device 12 via data communication achieved through wireless communication. Although the wireless communication of this wireless communication unit 23 uses BLUETOOTH (registered trademark), it can widely use wireless communication capable of data communication.

[0042] Power supply 24 uses the power of the battery to output power for the operation of detection devices 11A, 11B, and 11C.

[0043] In this way, the operation is carried out using the power of the battery, and the attitude information is output through data communication realized by wireless communication. Thus, in the work assistance system 1, even without the installation of power supply cables and data communication cables, detection devices 11A, 11B, and 11C can be configured, and it can be easily applied to the desired work machinery.

[0044] Display 14 is an image display device installed in the operator's seat of the hydraulic excavator 2, which displays auxiliary information input from the main unit 12 regarding the operations of the auxiliary operator. In addition, auxiliary information can be communicated via sound or alarms, either in addition to or in place of the display on display 14.

[0045] Specifically, in this embodiment, the auxiliary information is the required operating amount of the boom 4, arm 5, and bucket 6 for construction on the target surface LT. Therefore, the display 14 provides the auxiliary information in a visually observable manner by displaying the three systems in a segmented bar chart format, corresponding to the boom 4, arm 5, and bucket 6 respectively. Furthermore, the method of providing the auxiliary information is not limited to this; various methods can be applied.

[0046] The main unit 12 is installed on the main body 3 of the working machine 2. It obtains attitude information from the detection devices 11A, 11B, and 11C, transmits it through data communication via wireless communication, and receives auxiliary information through data communication via wireless communication and outputs it to the display 14. Therefore, the main unit 12 has a sensor unit 31, a computing unit 32, and a wireless communication unit 33.

[0047] The sensor unit 31 is configured in the same manner as the sensor unit 21 of the detection devices 11A, 11B, and 11C, and outputs the attitude information of the main body 3.

[0048] The wireless communication unit 33 transmits and receives various data between the detection devices 11A, 11B, 11C and the portable information terminal device 13 through data communication realized by wireless communication.

[0049] The arithmetic unit 32 executes the control program involved in the main unit 12 of the work assistance system 1 using its built-in arithmetic processing circuit, thereby controlling the operation of each part. Thus, the arithmetic unit 32 processes the sensor measurement results output from the sensor unit 31, obtains the attitude information of the main unit 3, and obtains attitude information from the detection devices 11A, 11B, and 11C, based on instructions from the portable information terminal device 13. Furthermore, it transmits this attitude information to the portable information terminal device 13 via data communication achieved through wireless communication. Additionally, it receives auxiliary information transmitted from the portable information terminal device 13 and outputs this auxiliary information to the display 14 for display.

[0050] In this series of processes, the arithmetic unit 32 detects the disconnection of the wireless communication connection with the portable information terminal device 13 according to the time interval of obtaining attitude information indicated by the portable information terminal device 13. In addition, when the disconnection of the wireless communication connection is detected, attitude information is obtained from the detection devices 11A, 11B, 11C and the sensor unit 31 to generate auxiliary information, which is then output to the display 14.

[0051] Therefore, in the operation assistance system 1, the portable information terminal device 13 is used to assist the operator's operation, and the operator's operation is appropriately assisted even when the wireless communication connection with the portable information terminal device 13 is temporarily cut off.

[0052] The portable information terminal device 13 is a so-called smartphone or tablet terminal carried by the operator. It generates auxiliary information by means of the attitude information obtained by the main device 12 and detected by the detection devices 11A, 11B, and 11C, and sends the generated auxiliary information to the main device 12.

[0053] More specifically, the portable information terminal device 13 includes a display unit 41, a computing unit 42, and a wireless communication unit 43.

[0054] Here, the display unit 41 is formed by an image display panel such as a liquid crystal display panel, and displays various image information involved in the portable information terminal device 13.

[0055] The wireless communication unit 43, under the control of the arithmetic unit 42, transmits and receives various data with the main device 12 using data communication achieved by wireless communication, and performs tasks such as program version upgrades involved in the processing of the work assistance system 1 by connecting to the network.

[0056] The arithmetic unit 42 uses its built-in arithmetic processing circuit to execute the program of the work assistance system 1, and controls the operation of each part, thereby assisting the operator's operation.

[0057] Figure 3 and Figure 4 This is a flowchart illustrating the processing steps involved in the operation assistance system 1 of the arithmetic unit 42, together with the processing steps of the arithmetic unit 32 of the main device 12.

[0058] When the operation assistance system 1 is activated by selecting a menu displayed on the display unit 41 of the portable information terminal device 13, such as... Figure 5 As shown, the portable information terminal device 13 accepts input of the construction start position and construction end position, and accepts the setting of the construction target surface LT (SP1-SP2). Furthermore, in Figure 5 The diagram uses virtual lines to show the movable state of the bucket 6 up to the target surface LT. The construction start position is the location where construction begins. Figure 5 In the example, the contact surface LH of the hydraulic excavator 2 is used. Additionally, the construction end position is the location where construction ends. The construction start and end positions can be input by entering height and depth values ​​based on the current position of the bucket 6, or they can be set experimentally by digging with the bucket 6.

[0059] Next, in the work assistance system 1, the portable information terminal device 13 requests the main device 12 to send attitude information. As a result, the main device 12 obtains attitude information from the detection devices 11A, 11B, and 11C, and sends the obtained attitude information together with the attitude information detected by the sensor unit 31 of the main device 12 to the portable information terminal device 13 (SP3).

[0060] Next, in the operation assistance system 1, the portable information terminal device 13 detects the current posture (SP4) of the operating machinery based on the posture information from the main unit 12. Furthermore, this posture detection is performed, for example, by detecting the tilt of the boom 4, arm 5, and bucket 6 based on the posture information detected by the detection devices 11A, 11B, and 11C.

[0061] Next, in the operation assistance system 1, the portable information terminal device 13 calculates, based on the information of the construction target surface LT and the current posture of the operating machinery (hydraulic excavator 2), the degree of change in posture information from the detection device required to approach the construction target surface LT (SP5). More specifically, the portable information terminal device 13 calculates the tilt of the boom 4, arm 5, and bucket 6 so that the back of the bucket 6 is in contact with the construction target surface LT. By calculating the difference between the posture information at this tilt and the posture information from the detection device, it detects the amount of change in posture information required before construction on the target surface and executes the operation.

[0062] Here, if the change in attitude information required before construction on the target is small, the construction surface can be considered close to the target surface LT. Therefore, the change in attitude information required before construction can be communicated to the operator to assist their operation. Thus, in this embodiment, the change in attitude information required before construction is carried out is used as auxiliary information.

[0063] The operation assistance system 1 sends the assistance information (SP6) to the main unit 12 via the portable information terminal device 13. At this time, the portable information terminal device 13 also sends the coordinate information of the construction target surface LT. Thus, if the change in attitude information required before construction on the target is applied to the assistance information, even if the wireless communication between the portable information terminal device 13 and the main unit 12 is interrupted, assistance information can still be generated on the main unit 12 side based on the attitude information detected by the detection devices 11A, 11B, and 11C and the assistance information previously obtained by the main unit 12. Therefore, by using the portable information terminal device 13 to assist the operator's operation, even if the wireless communication connection with the portable information terminal device 13 is temporarily interrupted, the operator's operation can still be appropriately assisted.

[0064] Therefore, the operation assistance system 1 outputs the assistance information to the display 14 in the main device 12 and provides feedback to the user (SP7).

[0065] Next, the work assistance system 1 ( Figure 4 (Step SP8) Determine whether the portable information terminal device 13 and the main device 12 are wirelessly connected. Here, the work assistance system 1 calls the portable information terminal device 13 in the main device 12 according to the time interval of obtaining the attitude information indicated by the portable information terminal device 13. When a response is received from the portable information terminal device 13, it is determined that the portable information terminal device 13 and the main device 12 are wirelessly connected.

[0066] When the portable information terminal device 13 is wirelessly connected to the main device 12, the operation assistance system 1 requests attitude information to be sent from the portable information terminal device 13 to the main device 12 to obtain the attitude information of the detection devices 11A, 11B, and 11C, and detects the current attitude through this attitude information. In addition, based on the current attitude, in the same manner as in step SP5, the change in attitude information required before construction on the construction target (the difference value relative to the construction target surface) is calculated to generate assistance information (SP9).

[0067] Next, the operation assistance system 1 sends the generated assistance information (SP10) from the portable information terminal device 13 to the main device 12, and outputs the assistance information from the main device 12 to the display 14 (SP11). After a certain period of time, it determines whether the portable information terminal device 13 and the main device 12 are wirelessly connected, and repeats a series of processes (SP8). Thus, the operation assistance system 1 generates assistance information based on the change in attitude information required before construction on the construction target, and generates and outputs assistance information in sequence according to the attitude information of the detection devices 11A, 11B, and 11C.

[0068] In contrast, if the wireless communication connection between the portable information terminal device 13 and the main device 12 is interrupted, the operation assistance system 1 obtains attitude information (SP12) from each detection device 11A, 11B, and 11C in the main device 12.

[0069] Next, the operation assistance system 1 compares the acquired attitude information with the received assistance information from the portable information terminal device 13 in the main unit 12 to generate assistance information (SP13). More specifically, the operation assistance system 1 generates assistance information by comparing the acquired attitude information with the received assistance information from the portable information terminal device 13 and reducing the amount of change in attitude information acquired by the main unit 12.

[0070] Therefore, in Figure 4 In the processing steps, steps SP12-SP13 are attitude information generation steps. When the wireless communication connection between the main device 12 and the portable information terminal device 13 is detected to be cut off, attitude information is obtained from the detection devices 11A, 11B, and 11C in the main device 12 and auxiliary information is generated and output to the display 14.

[0071] When the operation assistance system 1 generates auxiliary information on the main device 12 side, it outputs the generated auxiliary information from the main device 12 to the display 14 and provides feedback to the user (SP11). After a certain period of time, it determines whether the portable information terminal device 13 is wirelessly connected to the main device 12 and repeats a series of processes (SP8).

[0072] Furthermore, in the portable information terminal device 13, when the instruction is completed, the processing step (SP14) is terminated.

[0073] Based on the above structure, by detecting changes in the attitude information required before construction on the target and outputting auxiliary information, even if the wireless communication connection with the portable information terminal is temporarily severed and the portable information terminal cannot generate auxiliary information, the main device can still generate and provide auxiliary information based on the previously obtained auxiliary information and the changes in attitude information obtained from the detection device. Therefore, using the portable information terminal to assist the operator's operation can appropriately assist the operator's operation even if the wireless communication connection with the portable information terminal is temporarily severed.

[0074] In addition, when the wireless communication connection with the portable information terminal device is interrupted, attitude information is obtained from the detection device in the main device and auxiliary information is generated. Thus, through a more specific structure, the operator's operation can be appropriately assisted even when the wireless communication connection with the portable information terminal device is temporarily cut off.

[0075] [Other Implementation Methods]

[0076] The preferred specific structure for implementing the present invention has been described in detail above. However, various modifications can be made to the structure of the above-described embodiments without departing from the spirit of the present invention.

[0077] Symbol Explanation

[0078] 1: Operation assistance system; 2: Hydraulic excavator; 3: Main body; 4: Boom; 5: Arm; 6: Bucket; 11A, 11B, 11C: Detection device; 12: Main body device; 13: Portable information terminal device; 14: Display; 21, 31: Sensor unit; 22, 32, 42: Computing unit; 23, 33, 43: Wireless communication unit; 24: Power supply; 41: Display unit.

Claims

1. A job assistance system, characterized in that, have: A detection device, which is held in the movable part of the working machinery, acquires and outputs the attitude information of the movable part through sensors; A display that shows auxiliary information to assist the operator's actions; The main device obtains the attitude information from the detection device, transmits it via data communication achieved through wireless communication, and receives the auxiliary information via data communication achieved through wireless communication, and outputs it to the display. as well as A portable information terminal device receives the attitude information sent from the main device, generates the auxiliary information based on the attitude information, and sends it to the main device. The portable information terminal device detects the change in the attitude information required before construction can proceed on the construction target and outputs the auxiliary information. The main unit includes an arithmetic unit, which performs the following processes through the execution of built-in arithmetic processing circuitry. The cut-off detection process detects the cut-off of the wireless communication connection between the main device and the portable information terminal device. as well as The attitude information generation process involves obtaining the attitude information from the detection device and generating the auxiliary information in the main device when the disconnection detection process detects a disconnection of the wireless communication connection between the main device and the portable information terminal device, and then outputting it to the display.

2. A control method for a work assistance system, characterized in that, The job assistance system has the following features: A detection device, which is held in the movable part of the working machinery, acquires and outputs the attitude information of the movable part through sensors; A display that shows auxiliary information to assist the operator's actions; The main device obtains the attitude information from the detection device, transmits it via data communication achieved through wireless communication, and receives the auxiliary information via data communication achieved through wireless communication, and outputs it to the display. as well as A portable information terminal device receives the attitude information sent from the main device, generates the auxiliary information based on the attitude information, and sends it to the main device. In the control method of the aforementioned work assistance system, The portable information terminal device detects the change in the attitude information required before construction can proceed on the construction target and outputs the auxiliary information. Furthermore, the following processing steps are performed by the execution of the arithmetic processing circuitry provided by the main device. The cut-off detection step detects the cut-off of the wireless communication connection between the main device and the portable information terminal device; as well as In the attitude information generation step, when the disconnection of the wireless communication connection between the main device and the portable information terminal device is detected in the disconnection detection step, the attitude information is obtained from the detection device in the main device and the auxiliary information is generated and output to the display.

3. A control program for a work assistance system, which executes predetermined processing steps through the execution of an arithmetic processing circuit, characterized in that: The job assistance system has the following features: A detection device, which is held in the movable part of the working machinery, acquires and outputs the attitude information of the movable part through sensors; A display that shows auxiliary information to assist the operator's actions; The main device obtains the attitude information from the detection device, transmits it via data communication achieved through wireless communication, and receives the auxiliary information via data communication achieved through wireless communication, and outputs it to the display. as well as A portable information terminal device receives the attitude information sent from the main device, generates the auxiliary information based on the attitude information, and sends it to the main device. The portable information terminal device detects the change in the attitude information required before construction can proceed on the construction target and outputs the auxiliary information. The processing steps include: The cut-off detection step detects the cut-off of the wireless communication connection between the main device and the portable information terminal device; as well as In the attitude information generation step, when the disconnection of the wireless communication connection between the main device and the portable information terminal device is detected in the disconnection detection step, the attitude information is obtained from the detection device in the main device and the auxiliary information is generated and output to the display.

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