Job information setting system, job information setting program, and job information setting method

Abstract

A work information setting system (1) includes a controller (50) capable of executing work position setting control for setting a work position, an input section (41) that accepts input of information used for the work position setting control, and an output section (43) that outputs information associated with the work position setting control. The controller (50) causes the output section (43) to output surrounding information of a construction machine in the work position setting control, acquires an indication position that is a position in the surrounding information output by the output section (43) and is also a position input by the input section (41), and sets a work position that is position information used when the actual construction machine (10) works by automatic control, based on the indication position.

Description

Technical Field

[0001] This invention relates to an operation information setting system, operation information setting program, and operation information setting method for setting operation information used in engineering machinery. Background Technology

[0002] For example, Patent Document 1 describes a technique in which a worker operates construction machinery to indicate position information (see paragraph 0032 of Patent Document 1). This position information is used in the automatic control of the construction machinery.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Publication No. 2022-55296.

[0004] However, in the technology described in Patent Document 1, the operator needs to operate the construction machinery to indicate the location information. Therefore, this indicating operation is time-consuming and labor-intensive. Summary of the Invention

[0005] The purpose of this invention is to provide a work information setting system, work information setting program, and work information setting method that can reduce the time and effort required to use position information for indicating operations in the automatic control of construction machinery.

[0006] Solution to the problem The work information setting system of this invention includes a controller, an input unit, and an output unit. The controller is capable of executing work position setting control for setting a work position. The input unit receives input information used in the work position setting control. The output unit outputs information associated with the work position setting control. In the work position setting control, the controller instructs the output unit to output surrounding information of the construction machinery. The work position setting control obtains an indicated position. The indicated position is the position in the surrounding information output by the output unit, and is also the position input by the input unit. The work position setting control sets the work position based on the indicated position. The work position is the actual position information used by the construction machinery when it performs operations through automatic control.

[0007] Furthermore, the work information setting program involved in this invention causes a computer to execute an output step, an indication position acquisition step, and a work position setting step. The output step causes the output unit to output surrounding information of the construction machinery. The indication position acquisition step acquires an indication position. The indication position is the position in the surrounding information output by the output unit, and also the position input by the input unit. The work position setting step sets the work position based on the indication position. The work position is the actual position information used by the construction machinery when it performs operations through automatic control.

[0008] Furthermore, the operation information setting method of the present invention includes an output step, an indication position acquisition step, and an operation position setting step. The output step causes the output unit to output surrounding information of the construction machinery. The indication position acquisition step acquires an indication position. The indication position is the position in the surrounding information output by the output unit, and also the position input by the input unit. The operation position setting step sets the operation position based on the indication position. The operation position is the actual position information used by the construction machinery when it performs operations through automatic control. Attached Figure Description

[0009] Figure 1 This is a diagram of an engineering machine or similar device, which is viewed horizontally according to one embodiment of the present invention, and is described as an example of a work information setting system.

[0010] Figure 2 yes Figure 1 The diagram shown is a block diagram of the job information setting system.

[0011] Figure 3 This indicates that it is displayed in Figure 1 A diagram showing the working position of the display unit, etc.

[0012] Figure 4 It represents the start position, end position, etc. of a task. Figure 3 The image.

[0013] Figure 5 It is based on point cloud information to provide instructions. Figure 4 The corresponding location shown in the diagram Figure 3 The image.

[0014] Figure 6 It means Figure 3 A diagram showing the indicated location and working location, etc.

[0015] Figure 7 It means Figure 6 The image shows the capture and release operation locations, etc., when the number of capture and release operation locations is changed.

[0016] Figure 8 It means to Figure 6 The image shows the capture and release operation location, etc., under the condition that the distance is changed.

[0017] Figure 9 It indicates horizontal observation. Figure 4 The image of the sand pile, etc. shown corresponds to Figure 3 The image.

[0018] Figure 10 It indicates horizontal observation. Figure 4 The images of containers, etc., shown correspond to Figure 3 The image.

[0019] Figure 11 yes Figure 4 The corresponding situation when the indicated position is inappropriate Figure 4 The image.

[0020] Figure 12 It is by Figure 2 The flowchart shown illustrates the process of setting the job position by the controller.

[0021] Figure 13 It is by Figure 2 The flowchart shown illustrates the processes performed by the controller, such as storing job locations.

[0022] Figure 14 It means that it includes through Figure 13 The selection screen corresponding to the preset data of the job location that is processed and stored. Figure 3 The image.

[0023] Figure 15 It means Figure 14 The management screen for the preset data shown corresponds to Figure 3 The image. Detailed Implementation

[0024] The following is for reference Figures 1 to 15 This invention describes a work information setting system 1 according to one embodiment of the present invention. Figure 1 This is a diagram of engineering machinery 10, etc., in the horizontal observation operation information setting system 1. Figure 2 yes Figure 1 The block diagram shown is for the job information setting system 1. Figure 3 This indicates that it is displayed in Figure 1 A diagram showing the working position W of the display unit 43.

[0025] The job information setting system 1 is for setting and... Figure 1 The system for displaying operation-related information (operation information) of the construction machinery 10 shown. For example... Figure 3As shown, the job information setting system 1 is a system that displays (outputs) surrounding information A in the display unit 43 (output unit) while setting job information (e.g., job position W) based on instructions given through the input unit 41. Figure 1 As shown, the work information setting system 1 includes construction machinery 10, posture sensor 20, ambient information sensor 30, information processing device 40, and controller 50. Furthermore, the work information setting system 1 can be a system that does not include construction machinery 10, or it can be a system that includes a portion of construction machinery 10.

[0026] Construction machinery 10 is machinery used for performing operations. Construction machinery 10 can also be construction machinery used for construction work. Construction machinery 10 can be, for example, an excavator or a crane. The following description addresses the case where construction machinery 10 is an excavator. Construction machinery 10 is capable of automatic driving. Construction machinery 10 can be operated by a worker (operator) inside the cab 13a, or it can be remotely operated. Construction machinery 10 includes a main body 10a, auxiliary devices 15, and a drive control unit 17 (see reference). Figure 2 ) and the Ministry of Communications 19.

[0027] The mechanical body 10a is the main body of the engineering machinery 10. The mechanical body 10a includes a lower main body 11 and an upper rotating body 13.

[0028] The lower main body 11 supports the upper rotating body 13. For example, the lower main body 11 is a lower walking body capable of walking on a walking surface (the ground, etc.). In this case, the lower main body 11 may be equipped with tracks or wheels.

[0029] The upper rotating body 13 is rotatable relative to the lower main body 11 about a rotation axis extending in the upward and downward direction. The upper rotating body 13 is rotatably mounted on the lower main body 11. An auxiliary device 15 is installed on the upper rotating body 13. The upper rotating body 13 has a cab 13a. The cab 13a is the part that allows the operator to operate the construction machinery 10.

[0030] (direction) The extension direction of the rotation axis of the upper rotating body 13 relative to the lower main body 11 is defined as the vertical direction Z. The extension direction of the auxiliary device 15 (specifically, the boom 15a) relative to the rotation axis of the upper rotating body 13 is defined as the horizontal direction of the upper rotating body. The direction that intersects (e.g., is orthogonal) with each of the horizontal and vertical directions Z of the upper rotating body is defined as the front-rear direction X of the upper rotating body. In the front-rear direction X of the upper rotating body 13, the direction in which the auxiliary device 15 protrudes relative to the upper rotating body 13 is defined as the front direction X1 of the upper rotating body 13. The front-rear direction of the lower main body 11 that intersects (e.g., is orthogonal) with the vertical direction Z is defined as the front-rear direction U of the lower main body 11. One of the directions in the front-rear direction U of the lower main body 11 is defined as the front direction U1 of the lower main body 11. When the lower main body 11 is capable of movement, the front direction U1 of the lower main body 11 is the direction in which the lower main body 11 moves forward. For example, when the lower body 11 has tracks, the forward / backward direction U of the lower body is the direction of the long side of the tracks. In this case, the forward direction U1 of the lower body 11 is, for example, from the travel motor located at the rear of the tracks towards the front idler wheel located at the front of the tracks. Figure 3 As shown, the angle in the rotation direction of the upper rotating body 13 relative to the lower main body 11 is defined as the rotation angle θ. For example, the rotation angle θ is the angle between the straight line extending in the forward direction X1 of the upper rotating body 13 and the reference position of the lower main body 11 (e.g., the straight line extending in the forward direction U1 of the lower main body 11). The rotation angle θ when the forward direction U1 of the lower main body 11 coincides with the forward direction X1 of the upper rotating body 13 is set to 0° for example. The upper rotating body 13 rotates in such a way that the straight line extending in the forward direction X1 of the upper rotating body 13 moves to the right in the rotation direction relative to the straight line extending in the forward direction U1 of the lower main body 11, and the rotation angle θ increases accordingly. Furthermore, in this case, the rotation angle θ can also be defined such that when the upper rotating body 13 rotates in the left direction, the rotation angle θ increases.

[0031] Auxiliary device 15 is a device for performing operations. For example... Figure 1 As shown, the auxiliary device 15 is mounted on the main body 10a of the machine, and more specifically, on the upper rotating body 13. For example, the auxiliary device 15 includes a boom 15a, a stick 15b, and a distal auxiliary device 15c (working device). The boom 15a is mounted on the upper rotating body 13 in an undulating manner (rotatable in a way that it can move up and down in the X-direction and Z-direction of the upper rotating body 13). The stick 15b is mounted on the boom 15a in a rotatable manner (rotatable in a way that it can move up and down in the X-direction and Z-direction of the upper rotating body 13).

[0032] The remote attachment 15c (working device) is the part that performs the work. The remote attachment 15c is located at the distal end of the attachment 15. The remote attachment 15c is rotatably mounted on the boom 15b (it can rotate in the forward / backward X direction and the up / down Z direction towards the upper rotating body 13). The remote attachment 15c can also be a bucket capable of performing operations such as digging and excavating. The remote attachment 15c can be a device for clamping the work object (grab bucket, shear, etc.), a device for crushing the work object (breaker hammer, etc.), or a magnet for attracting metallic work objects. The work object that the remote attachment 15c works on can be, for example, sand, stone, wood, metal, resin, waste, or a structure (concrete block, etc.).

[0033] Drive control unit 17 (see reference) Figure 2 The drive control unit 17 controls multiple actuators that move the construction machinery 10. The actuators are included in the construction machinery 10. The drive control unit 17 may have a hydraulic circuit for controlling hydraulic actuators or an electrical circuit for controlling electric actuators. The drive control unit 17 controls a slewing motor that, as the actuator, rotates the upper slewing body 13 relative to the lower body 11. The drive control unit 17 controls a boom cylinder that, as the actuator, moves the boom 15a relative to the upper slewing body 13. The drive control unit 17 controls a stick cylinder that, as the actuator, rotates the stick 15b relative to the boom 15a. The drive control unit 17 controls a remote accessory cylinder (e.g., a bucket cylinder) that, as the actuator, rotates the remote accessory 15c relative to the stick 15b.

[0034] The communication unit 19 communicates between the construction machinery 10 and equipment located outside the construction machinery 10. For example, the communication unit 19 communicates between the construction machinery 10 and the information processing device 40. For example, when the ambient information sensor 30 is located outside the construction machinery 10, the communication unit 19 communicates between the construction machinery 10 and the ambient information sensor 30. The communication unit 19 can perform both wireless and wired communication.

[0035] Posture sensor 20 (reference) Figure 2The posture sensor 20 detects the posture of the construction machinery 10. The posture sensor 20 can also detect the position and orientation of the construction machinery 10 relative to the work site. The posture sensor 20 can also detect the position and orientation of a reference part of the construction machinery 10 relative to the work site. The reference part of the construction machinery 10 can be, for example, a specific part of the upper rotating body 13 or the lower main body 11, or, for example, the mounting part (boom foot) on which the boom 15a is mounted to the upper rotating body 13. The posture sensor 20 can also detect the slope of the construction machinery 10 relative to the horizontal plane. The posture sensor 20 can also detect information about the rotation of the upper rotating body 13 relative to the lower main body 11 (e.g., rotation angle θ (refer to...)). Figure 3 )).

[0036] The posture sensor 20 can also detect information about the rotation of the boom 15a relative to the upper rotating body 13 (elevation angle, rotation angle, etc.). The posture sensor 20 can also detect information about the rotation of the stick 15b relative to the boom 15a. The posture sensor 20 can also detect information about the rotation of the bucket relative to the stick 15b. The posture sensor 20 can be equipped with a sensor for detecting angles (e.g., a rotary encoder), a sensor for detecting tilt relative to the horizontal direction, and a sensor for detecting the stroke of the working cylinder driving the auxiliary device 15. The posture sensor 20 can also detect the posture of the construction machinery 10 based on one or both of two-dimensional (described later) and three-dimensional (described later) information. In this case, one or both of the two-dimensional and three-dimensional information can also be captured by a camera device (described later). The posture sensor 20 can be mounted on the construction machinery 10 or disposed outside the construction machinery 10 (e.g., at the work site). This same principle applies to the surrounding information sensor 30, the information processing device 40, and the controller 50.

[0037] The ambient information sensor 30 is a sensor that detects information about objects (surrounding objects) around the construction machinery 10 (hereinafter referred to as ambient information A). For example, the ambient information sensor 30 is a camera device that captures images of the surrounding objects. The ambient information sensor 30 can also detect two-dimensional information about the surrounding objects (e.g., position, shape, etc. in a two-dimensional image). The ambient information sensor 30 can also detect three-dimensional information about the surrounding objects (e.g., three-dimensional coordinates, three-dimensional shape, distance images (images with depth information), etc.). The ambient information sensor 30 can be passive or active. Specifically, the ambient information sensor 30 can also be equipped with a camera (single-lens camera) for detecting two-dimensional information.

[0038] The ambient information sensor 30 may also include a stereo camera for detecting three-dimensional information. The ambient information sensor 30 may also irradiate surrounding objects with electromagnetic waves and detect the reflected waves, thereby detecting the three-dimensional information of the surrounding objects. The ambient information sensor 30 may include a Time-of-Flight (TOF) sensor that detects distance based on the time from the irradiation wave to the return of the reflected wave, or a sensor that detects distance based on the frequency of the reflected wave. The ambient information sensor 30 may also include a device that uses light (e.g., laser) to detect three-dimensional information, such as LiDAR (Light Detection and Ranging). The ambient information sensor 30 may also include a device that uses radio waves to detect three-dimensional information (e.g., millimeter-wave radar).

[0039] Only one ambient information sensor 30 may be installed, or multiple ambient information sensors 30 may be installed. Multiple ambient information sensors 30 may also cooperate to output each other's detection results. For example, the ambient information sensor 30 mounted on the construction machinery 10 and the detection container A3 (see reference) may also be installed separately. Figure 4 The surrounding information sensor 30 (described later) is used to locate the surrounding objects. Only one type (method, etc.) of the surrounding information sensor 30 can be used, or multiple types of surrounding information sensors 30 can be combined. The surrounding information sensor 30 can also detect three-dimensional information of surrounding objects based on three-dimensional information (e.g., distance images) and two-dimensional information (e.g., two-dimensional images). Furthermore, the surrounding information sensor 30 can also capture images of objects other than those in the surrounding area. For example, if the posture sensor 20 is equipped with a camera, the surrounding information sensor 30 and the posture sensor 20 can be shared. The surrounding information sensor 30 can also output detected three-dimensional information (e.g., point cloud data detected by LiDAR). The surrounding information sensor 30 can also output detected two-dimensional information (e.g., image data detected by a single-lens camera).

[0040] Information processing device 40 is used to process work information of construction machinery 10 (e.g., work position W, described later). Figure 3 Information processing device 40 is a device for processing information related to the operation of construction machinery 10. Information processing device 40 can be, for example, a tablet computer, a smartphone, or a personal computer. Information processing device 40 can also be located outside the construction machinery 10. Information processing device 40 can also be communicatively connected to construction machinery 10 via communication unit 19. Information processing device 40 can also be located inside the construction machinery 10 (e.g., inside the cab 13a). Information processing device 40 includes an input unit 41 and a display unit 43 (output unit).

[0041] Input unit 41 is a device for inputting information. Input unit 41 is the part that receives information used for the work position setting control (details will be described later). Input unit 41 instructs controller 50. For example, input unit 41 is operated by the operator (accepting operator operations) and is a device for the operator to input information. Input unit 41 instructs controller 50 based on the operator's operation. Specifically, input unit 41 may include a touchscreen, a mouse, or a keyboard.

[0042] Display unit 43 is an output device for outputting information. Display unit 43 displays information. Display unit 43 outputs information for the operation position setting control, which will be described later. Display unit 43 displays information based on signals output from controller 50. Specifically, display unit 43 is a device for displaying images (monitor). Display unit 43 may also be a device utilizing technologies such as VR (Virtual Reality) or AR (Augmented Reality).

[0043] like Figure 2 As shown, the controller 50 is a computer that performs signal input / output, arithmetic (processing), and information storage. For example, the program stored in the storage unit 50b is executed in the arithmetic unit 50a, thereby realizing the functions of the controller 50. The controller 50 can be connected to other devices wirelessly or via wired communication.

[0044] When the controller 50 has multiple components, these components can be connected to each other wirelessly or via wired communication. For example, detection results are input to the controller 50 from the posture sensor 20 and the ambient information sensor 30. For example, the controller 50 (work command unit 55c described later) can also perform automatic driving of the construction machinery 10. The controller 50 performs work position setting control (described later). The controller 50 can be mounted on the construction machinery 10 or disposed outside the construction machinery 10. The controller 50 can also be distributed among multiple parts (or form a distributed system). The controller 50 includes a computing unit 50a and a storage unit 50b. In addition, the controller 50 includes an information processing device controller 51, an ambient recognition controller 53 (coordinate transformation controller), and a machine controller 55.

[0045] The arithmetic unit 50a performs information processing. The storage unit 50b stores information. For example, the storage unit 50b stores the job location W (described later). Figure 3 The information, etc., are processed by the information processing device controller 51, the surrounding recognition controller 53, and the mechanical controller 55, respectively.

[0046] An information processing device controller 51 is provided in the information processing device 40. The information processing device controller 51 controls the display (image display) of the display unit 43. The information processing device controller 51 controls the information input through the input unit 41.

[0047] Surrounding recognition controller 53 (coordinate transformation controller) is, for example, mounted on engineering machinery 10 (see reference). Figure 1 The surrounding recognition controller 53 processes the information about surrounding objects (detecting surrounding information Ad) acquired by the surrounding information sensor 30. The surrounding recognition controller 53 has the function of a coordinate transformation controller that performs coordinate transformations as described later.

[0048] The mechanical controller 55 is mounted on the engineering machinery 10 (see reference). Figure 1 The mechanical controller 55 controls the operation of the construction machinery 10. The mechanical controller 55 may also be installed separately from the surrounding identification controller 53. For example, the functions of the mechanical controller 55 may include a work plan setting unit 55a and a work instruction unit 55c.

[0049] Work planning setting section 55a settings as follows Figure 3 The work plan for the construction machinery 10 shown. This "work plan" contains information related to the objectives of the work performed by the construction machinery 10. Work plan setting unit 55a (see reference). Figure 2 The work plan is set based on the work position W (described later), which is set based on the instruction position I (described later) specified in the input unit 41. The work plan may also include information on the target route for the construction machinery 10 to travel. The work plan may also include information on the target range for the operation performed by the remote attachment 15c (e.g., capture work position Wa1, release work position Wa3, etc., described later). The work plan may also include information on the target path (e.g., movement path We, described later) of a specific part of the attachment 15 (e.g., the distal end of the remote attachment 15c). The target path is, for example, information including the location information (coordinates) of multiple target points and the order of the target points. The work plan may also include information on the target trajectory of a specific part of the attachment 15. The target trajectory is information obtained by adding time information to the target path information.

[0050] The work plan setting unit 55a (see reference) can be configured in various ways. Figure 2The parameters of the work plan can be arbitrarily set as long as they are parameters that can derive the posture of the construction machinery 10. The coordinate axes representing the parameters of the work plan can also be arbitrarily set. The origin (reference position) of this coordinate axis can also be set at the work site. The origin of this coordinate axis can also be set at a specific part of the construction machinery 10, for example, at a specific part of the upper slewing body 13. Specifically, for example, the origin of this coordinate axis can be set at the mounting part (boom pivot) where the boom 15a is mounted on the upper slewing body 13, or it can be set at the rotation center of the upper slewing body 13 relative to the lower body 11. Specifically, the work plan can also include the forward / backward X direction and the vertical Z direction of the upper slewing body 13 (refer to...). Figure 1 Information on the rotation angle θ and the angle (or posture) of the distal accessory 15c. Information on the forward / backward direction X of the upper rotating body 13 could also be, for example, the distance from the origin of the coordinate axis to a specific part of the accessory 15 (e.g., the distal end of the distal accessory 15c). Information on the vertical direction Z (refer to...) Figure 1 The information could be, for example, the height from the origin of the coordinate axis to a specific part of the auxiliary device 15. The angle information of the remote auxiliary device 15c could be, for example, the angle of the remote auxiliary device 15c relative to the horizontal direction (or, the horizontal plane), or the angle of the remote auxiliary device 15c relative to the boom 15b.

[0051] like Figure 2 As shown, the work command unit 55c outputs a command (signal) to the drive control unit 17 to operate the construction machinery 10. For example, the work command unit 55c can also control the construction machinery 10 in such a way that the construction machinery 10 operates according to the work plan set by the work plan setting unit 55a (described later). In this case, the work command unit 55c controls the operation of the construction machinery 10 based on the detection value of the posture sensor 20.

[0052] (Work) The job information setting system 1 operates as follows. The job information setting program instructs the controller 50 (computer) to perform the following processing, which in turn causes the job information setting system 1 to perform the following tasks. The job information setting method is performed as follows. Alternatively, each task of the job information setting system 1 can be defined as a "step" in the job information setting program and job information setting method. Hereinafter, refer to... Figure 2 Explain the controller 50 and its constituent elements.

[0053] (Work of construction machinery 10) As mentioned above, Figure 1 The construction machinery 10 shown can be operated by an operator inside the cab 13a, or remotely operated by an operator from outside the construction machinery 10 (remote operation device), and can also be driven automatically.

[0054] Construction machinery 10 utilizes information and communication technology (ICT) (e.g., ICT construction machinery). For example, construction machinery 10 can also be operated by a worker based on the function of a machine guidance system (MG). Specifically, the work plan is set by the work plan setting unit 55a. Then, the work information setting system 1 provides guidance, such as the location to be worked, to the worker, enabling construction machinery 10 to perform work according to the work plan. This guidance is output, for example, to the cab 13a of construction machinery 10 or to an output device (not shown) provided by a remote control device. The worker then operates construction machinery 10 according to the guidance. As a result, construction machinery 10 performs work according to the work plan.

[0055] Alternatively, for example, the construction machinery 10 can also operate using a machine control system (MC) (an example of automatic control). Specifically, the work plan is set by the work plan setting unit 55a. Then, the operator operates only a portion of the auxiliary device 15 (e.g., only the boom 15a). At this time, the controller 50 (work command unit 55c) automatically controls the elements not operated by the operator (e.g., the stick 15b, the remote auxiliary device 15c) so that the construction machinery 10 performs operations according to the work plan. At this time, the controller 50 uses the posture sensor 20 (see reference 55c) as a reference. Figure 2 The detection value is used to control the operation of the construction machinery 10 (the same applies in the case of automatic driving). As a result, the construction machinery 10 performs operations according to the work plan.

[0056] Alternatively, for example, the construction machinery 10 can also operate using automatic driving (an example of automatic control). In this case, the controller 50 (work instruction unit 55c) controls the operation of the construction machinery 10 so that the construction machinery 10 automatically performs operations according to the work plan.

[0057] (Work position setting control) The controller 50 performs the control of setting the work position, i.e., work position setting control. The following are the processes performed by the controller 50 within the work position setting control process. An overview of the work position setting control is described below. Figure 3As shown, the controller 50 instructs the display unit 43 to display the surrounding information A of the construction machinery 10 (display step, output step). The controller 50 acquires the indicated position I input by the input unit 41 (indicated position acquisition step). Based on the indicated position I (position in the image) input by the input unit 41, the controller 50 sets the actual working position W in the work site (working position setting step). Then, based on the working position W, the controller 50 sets the construction machinery 10 (more specifically, the actual construction machinery 10 (see reference)) to... Figure 1 Autonomous driving.

[0058] In this work position setting control, the operator can observe the surrounding information A (e.g., an image of the work site) displayed on the display unit 43 while simultaneously indicating (inputting, specifying, setting) the indicated position I. This allows the operator to easily input and confirm the indicated position I. Next, the controller 50 sets the work position W based on the indicated position I. Therefore, the operator does not need to operate the actual construction machinery 10 (see reference 10) to set the work position W. Figure 1 The following describes the details of the work position setting control performed by the controller 50.

[0059] (show) The controller 50 instructs the display unit 43 to display an image (display step). The image displayed by the display unit 43 may include, for example, an image of surrounding information A, an image of the construction machinery 10, an image of the indicated position I, and an image of the working position W. The image displayed by the display unit 43 may also include images other than those mentioned above (e.g., a graphical user interface (see [reference]). Figure 14 )wait).

[0060] (The image of surrounding information A is displayed) Display unit 43 displays ambient information A. Display unit 43 displays an image representing ambient information A. Ambient information A is information about the surroundings of the construction machinery 10 (specifically, the work site).

[0061] Surrounding information A may also include images of the work site surrounding the construction machinery 10. Display unit 43 can display images of the work site viewed from multiple directions, including images viewed from above, images viewed from an oblique angle, and images viewed from the side (see reference). Figure 9 The display unit 43 can also display images viewed from multiple directions, and this is also true for images other than those at the work site (such as images of construction machinery 10).

[0062] Figure 4 This indicates the corresponding start position Wc1, end position Wc3, etc. of the task. Figure 3 The image. (As shown) Figure 4As shown, the surrounding information A may also include information about the terrain A1 of the work site. Terrain A1 may include, for example, a sand pile A1a, ground slope (slope, etc.), and ground unevenness. The surrounding information A may also include information about the container A3 that holds the work object. Container A3 may also be a loading platform for a vehicle (e.g., a dump truck) transporting the work object. Container A3 may not be a loading platform; for example, it may be a container placed on the ground, or a container (sand pit) set in the ground. The surrounding information A may also include information about objects A5 located at the work site. For example, object A5 may be an obstacle, or a component that divides the work site into areas (in...). Figure 3 The container A3 can be a cone-shaped barrel, or it can be a fence, etc. In addition, container A3 can also be contained within object A5.

[0063] When the surrounding information A changes, the display unit 43 can also update the surrounding information A displayed by the display unit 43 to the changed surrounding information A. For example, when the surrounding information A changes due to the operation of the construction machinery 10, the display unit 43 can also update the displayed surrounding information A to the changed surrounding information A. Specifically, it is expected that in situations such as Figure 4 As shown, when the construction machinery 10 performs operations that deform the terrain A1 (excavation, dumping, etc.), the terrain A1 will change. In this case, the display unit 43 updates the displayed terrain A1 to the changed terrain A1. The changed surrounding information A (e.g., terrain A1) is, for example, the surrounding information A detected by the surrounding information sensor 30 (the detected surrounding information Ad described later).

[0064] The surrounding information A may also include information indicating the location associated with the operation performed by the construction machinery 10. The surrounding information A may also include information indicating candidate locations (candidate locations) for the operation performed by the construction machinery 10. The surrounding information A may also include information on candidate locations for capture operations (e.g., excavation operations) performed by the construction machinery 10, such as information on a sand pile A1a for excavation operations by the construction machinery 10. The surrounding information sensor 30 may also include information on candidate locations for release operations (e.g., dumping operations) performed by the construction machinery 10, such as information on a container A3 for dumping operations by the construction machinery 10. The surrounding information A may also include information on locations where the construction machinery 10 intends to perform operations. The surrounding information A may also include information on locations where the construction machinery 10 is prohibited from entering (restricted areas). This restricted area information may include, for example, information on locations where workers might pass through (e.g., passageways), or information on obstacles (an example of object A5). The surrounding information A includes detected surrounding information Ad and non-detected surrounding information Ae.

[0065] The detected surrounding information Ad is the actual surrounding information A. The detected surrounding information Ad is generated by the surrounding information sensor 30 (refer to) which detects the actual conditions around the engineering machinery 10. Figure 1 The image of the detected ambient information Ad displayed on the display unit 43 can be an image of two-dimensional information detected by the ambient information sensor 30, or an image of three-dimensional information detected by the ambient information sensor 30. Specifically, for example, the image of the detected ambient information Ad may include an image captured by a camera (real-world image), or an image representing point cloud information detected by LiDAR, etc. (point cloud information image). The image of the detected ambient information Ad may also include an image generated by the controller 50 based on the information detected by the ambient information sensor 30 (computer graphics).

[0066] Non-detection surrounding information Ae is surrounding information A that is different from detection surrounding information Ad. For example, non-detection surrounding information Ae may also include surrounding information A that the operator (arbitrarily) sets to the controller 50 through the operation input unit 41. Non-detection surrounding information Ae may also be surrounding information A that is input to the controller 50 from a unit different from the input unit 41 (e.g., storage device, communication line, etc.) and set to the controller 50. The image of non-detection surrounding information Ae displayed on the display unit 43 may be two-dimensional information or three-dimensional information. Specifically, for example, the image of non-detection surrounding information Ae may also include an image of map information of the work site. In cases where the construction machinery 10 is performing operations that deform the terrain A1, the image of non-detection surrounding information Ae may also include an image of the terrain A1 (design surface) as the target. The image of non-detection surrounding information Ae may also include images of predetermined locations in the work site, such as images indicating restricted areas.

[0067] Display unit 43 displays (overlays) an image formed by overlaying the various images mentioned above. For example, display unit 43 can display multiple types of detected surrounding information Ad overlapping each other, or it can display non-detected surrounding information Ae overlapping each other, or it can overlay detected surrounding information Ad and non-detected surrounding information Ae. Specifically, for example, display unit 43 can also overlay a real-world image captured by a camera and a point cloud information image detected by LiDAR, etc. In addition, for example, display unit 43 can also overlay map information and point cloud information images of the work site.

[0068] (Image of construction machinery 10) Display unit 43 displays an image of the construction machinery 10. Display unit 43 overlays the surrounding information A (specifically, an image representing the surrounding information A) and the image of the construction machinery 10. Through this overlay display, the operator can easily determine the relative position of the surrounding information A and the construction machinery 10. For example, the operator can easily determine the position of the construction machinery 10 at the work site. As a result, the operator can easily determine the relative position of the construction machinery 10 and the indicated position I (described later), thereby enabling easy indication and confirmation of the indicated position I. The image of the construction machinery 10 can be a real photograph, a point cloud image, or a computer graphic.

[0069] Display unit 43 displays images of the indicated position I and the working position W.

[0070] (Indicating location I) The controller 50 acquires the indicated position I (indication position acquisition step). Indication position I is the position indicated by the input unit 41. Indication position I is the position indicated by the operator. Indication position I is the position used to determine the work position W. Specifically, indication position I is the position in the surrounding information A displayed on the display unit 43 (the position in the displayed image), and also the position input via the input unit 41. For example, the operator observes the image displayed on the display unit 43 while inputting (indicating, specifying) the position (indication position I) in the image displayed on the display unit 43 via the input unit 41. Indication position I can directly become the work position W, or it can become the position used to determine the work position W.

[0071] (Comparison with the previous method of indicating position I) Previously, indicating position I was done through methods such as teaching, which was time-consuming and laborious. Specifically, teaching was conducted in the following manner. The operator rode in the actual construction machinery 10 (see reference). Figure 1The operator operates or remotely operates the actual construction machinery 10 to move a specific part of the auxiliary device 15 (such as the distal end of the remote auxiliary device 15c) to the desired indicated position I. In this state, the operator performs an operation to determine the indicated position I (e.g., pressing a button). Thus, the position of the specific part of the auxiliary device 15 is determined as the indicated position I. When there are multiple indicated positions I, the operator needs to (repeatedly) indicate the indicated position I for each of the multiple indicated positions I through this teaching. Specifically, for example, when indicating the four endpoints of the start position Wc1 and the four endpoints of the end position Wc3, the teaching needs to be performed eight times. In addition, when changing the indicated position I (or the working position W), the operator also needs to perform the teaching again, which is time-consuming and laborious. Thus, the task of indicating the indicated position I is burdensome. Therefore, in situations where the indicated position I needs to be re-indicated (setting the working position W), the operator may find the task tedious and perform it perfunctorily. In this situation, it is possible for the construction machinery 10 to automatically operate while the working position W is improperly set. Furthermore, during teaching, the construction machinery 10 needs to actually move in order to indicate the indicated position I. Therefore, the operator performing the teaching operation needs to pay attention to objects around the construction machinery 10 (obstacles, personnel, etc.) and operate the construction machinery 10, thus consuming time and effort. This places a burden on the operator performing the teaching operation. Additionally, personnel around the construction machinery 10 need to pay attention to it.

[0072] On the other hand, in this embodiment, even without operating the actual construction machinery 10, the operator can observe the image on the display unit 43, indicate the instruction position I, and set the work position W. This reduces the time and effort spent on indicating the instruction position I. Specifically, the instruction operation for the instruction position I can be simplified, thereby reducing work time. Furthermore, the operator indicating the instruction position I does not need to pay attention to the surroundings of the construction machinery 10. Additionally, when indicating the instruction position I, operators around the construction machinery 10 do not need to pay attention to the machinery itself.

[0073] (The shape of the indicator position I, etc.) The indicated location I can also be a point (see reference). Figure 3The indicated position I can also be a range (area). When the indicated position I is a range, it can be a polygon, a circle, an ellipse, or a shape similar to these shapes (e.g., a roughly polygonal shape). The shape of the indicated position I can also be selected by the operator through the input unit 41. The indicated position I can also be any shape specified by the operator. When the indicated position I is a polygon, it can also be a quadrilateral, such as a trapezoid, a parallelogram (including rhombuses), or a rectangle (including squares). For example, when the indicated position I is used to indicate a movement path We (described later), it can also be a line. When the indicated position I is a line, it can be a straight line or a curve. There can be only one indicated position I (only one indicated position I can be indicated) or there can be multiple indicated positions I. The indicated position I can be one or more points, one or more lines, or one or more ranges (areas). The indicated position I can also be a combination of two or more of the following: points, lines, and ranges.

[0074] Indicator position I may also have horizontal information. Indicator position I may also have vertical information (see reference). Figure 9 ).

[0075] (Begin entering the conditions for position I) The controller 50 can also select a mode (indication mode) for accepting instructions (input, designation) at indication position I. The controller 50 can also accept instructions at indication position I when the indication mode is selected via the input unit 41. If the input method (e.g., touch, click, etc.) at the input unit 41 is a specific method set by the controller 50 (e.g., double tap, double click, etc.), the controller 50 can also determine the input at the input unit 41 as an instruction at indication position I.

[0076] (Indication method for position I) As described above, a predetermined position (i.e., indication position I) in the image displayed by the display unit 43 is input through the input unit 41, thereby indicating indication position I. The indication position I is a new indication, which is the setting of a new indication position I, and a "change indication" which changes (adjusts) the already set indication position I. Specific examples of the indication of indication position I are described below.

[0077] like Figure 3The following describes a specific example of indicating position I when it is a point. A specific example of a new indication of position I is described below. Position I can be indicated by touching a touchscreen (an example of input unit 41), clicking a mouse (an example of input unit 41), or inputting via a designated key (an example of input unit 41). For example, the touch for indicating position I of a new point can be a single tap or a double tap (the same applies to clicks and key inputs).

[0078] The specific example of changing the indicator position I is as follows. While the indicator (touch or click, the same below) is active and the previous indicator position I is selected, dragging the indicator position I and placing it at the new indicator position I will change (move) the indicator position I. Alternatively, while the indicator is active and the previous indicator position I is selected, setting the indicator to the new indicator position I will change the indicator position I.

[0079] like Figure 4 The following describes a specific example of indicating position I when the indicated position I is a range. A new example of indicating position I within a range is described below. For example, the indicated position I of a polygon can also be indicated by indicating the endpoints (corners) of the polygon. Specifically, for example, one endpoint (corner) of a rectangle can be indicated and dragged to become the endpoint (corner) of the opposite corner of the rectangle, thereby indicating the indicated position I of the rectangle (refer to the indicated position I of the start position Wc1). The indicated position I of a rectangle can also be indicated by indicating all four endpoints (corners) of the rectangle (refer to the indicated position I of the end position Wc3). For example, the position that is the center of a circle can also be indicated and dragged to become the outer perimeter of the circle, thereby indicating the indicated position I of the circle.

[0080] Figure 5 It is based on point cloud information to provide instructions. Figure 4 The corresponding position I shown is... Figure 3 The image. (As shown) Figure 5 As shown, the new indication position I of the indication range can also be determined based on point cloud information obtained from LiDAR or similar sources. Specifically, for example, display unit 43 displays an image representing point cloud information viewed from a certain direction (e.g., directly above). The operator indicates (selects) multiple endpoints of the indication position I that are desired to be set as the range from the points in the point cloud information (see reference). Figure 5 (The points indicated by black circles in the diagram). Next, the controller 50 can set the range surrounded by the multiple points selected by the operator as the range indication position I.

[0081] Figure 4The specific examples of changing the indication position I within the shown range are described below. Alternatively, while the entire original indication position I is indicated (selected), dragging the indication position I and placing it at the position of the changed indication position I will change (move) the indication position I. Alternatively, selecting a portion of the outer frame of the original indication position I (e.g., an endpoint or edge), dragging that portion, and placing it at the changed position will also change (move) the indication position I.

[0082] Furthermore, the method of indicating position I (new indication and change indication) described above is only one example. Indication of position I can also be performed in various other ways.

[0083] (Indication method of indicator position I corresponding to the type of work position W) As described above, the indicator position I is used to set the work position W. As explained below, there are multiple types of work positions W (e.g., work start position Wc1, movement path We, etc.). Therefore, the indication method of the indicator position I can be changed depending on the type of work position W determined by the indicator position I. Furthermore, the indication method of the indicator position I can be changed depending on whether it is used to determine a certain type of work position W or to determine other types of work positions W (types different from the aforementioned "certain type").

[0084] The type of work position W determined by the indicated position I can also be changed depending on the input method of the input unit 41 used to indicate the indicated position I. Specifically, for example, it can also be indicated by a single touch of the input unit 41. Figure 3 The indicated position I of the operation start position Wc1 shown can be used to indicate the indicated position I of the operation end position Wc3 via the double touch of the input unit 41.

[0085] The type of work position W determined by the indication position I can also be changed according to the indication order of the indication position I. Specifically, for example, the indication position I indicated first can be set as the indication position I of the work start position Wc1, and the indication position I indicated later can be set as the indication position I of the work end position Wc3.

[0086] (The effect produced by pointing to position I while observing the image) The operator can observe the surrounding information A displayed on the display unit 43 while simultaneously indicating the indicated position I via the input unit 41. When the surrounding information Ad (information about the actual work site) is displayed on the display unit 43, the operator can observe the actual work site conditions while indicating the indicated position I. Therefore, the operator can indicate the indicated position I appropriate to the actual work site conditions. Furthermore, as... Figure 4As shown, sometimes non-detection surrounding information Ae (such as map information, design surface, restricted areas, etc.) is displayed on the display unit 43. For example, when a restricted area is displayed on the display unit 43, the operator can observe the restricted area (the area where work should be avoided) and indicate the instruction position I. In this case, the operator can specify the instruction position I in order to avoid the restricted area. In addition, when a design surface (the shape of the ground to be targeted) is displayed on the display unit 43, the operator can observe the design surface and indicate the instruction position I. Thus, for example, the operator can anticipate the terrain A1 at the end of the work and set the instruction position I accordingly. Furthermore, since the operator can observe the design surface and indicate the instruction position I, the instruction position I can be set considering the location where the construction machinery 10 should focus its work.

[0087] (Work location W) The controller 50 sets the working position W based on the indicated position I input to the input unit 41 (working position setting step). The working position W is the position information used by the actual construction machinery 10 when it is performing operations. The working position W is the position information used by the actual construction machinery 10 when it is performing operations through automatic control.

[0088] (Types of work location W) The controller 50 can set multiple types of work positions W. Work positions W can also be set according to the content of the work. For example, work positions W can also include work positions W corresponding to the type of work. Work positions W can also include specific positions in a cyclical operation within the automatic driving of the construction machinery 10. Work positions W can also include movement paths We.

[0089] (The job location W corresponding to the type of job) The job position W may also include job positions W corresponding to the type of job. For example, job position W may also include capture job position Wa1 and release job position Wa3.

[0090] The capture operation location Wa1 is the location where the remote attachment 15c captures the target object. For example, the capture operation location Wa1 could also be the location where the remote attachment 15c (e.g., a bucket) digs sand (the digging location). Figure 3 As shown, the capture operation position Wa1 can also be the position where the remote auxiliary device 15c captures the target object in a single operation. In this case, the size of the capture operation position Wa1 can be set based on the size of the remote auxiliary device 15c (the size of the release operation position Wa3 is also the same). Alternatively, the shape of the capture operation position Wa1 can be set based on the shape of the remote auxiliary device 15c (the shape of the release operation position Wa3 is also the same). Figure 4As shown, the capture operation location Wa1 can also be the range (e.g., the excavation area) of the target object captured by the remote auxiliary device 15c in multiple operations.

[0091] Release position Wa3 is the position where the remote auxiliary device 15c releases the object being worked on. For example, release position Wa3 is the position where the remote auxiliary device 15c (e.g., bucket) discharges sand (soil discharge position). Figure 3 As shown, the release position Wa3 can also be the position where the remote auxiliary device 15c releases the work object in a single operation. For example... Figure 4 As shown, the release operation location Wa3 can also be the range (e.g., the soil dumping area) within which the remote auxiliary device 15c releases the work object during multiple operations.

[0092] (Job position W in a cyclic job) The work position W may also include a specific position in a cycle of operation within the automatic driving system of the construction machinery 10. For example, the work position W may also include a work start position Wc1 and a work end position Wc3.

[0093] Here, a cyclical operation in the automatic driving of the construction machinery 10 is described. The construction machinery 10 sometimes repeats a cyclical operation multiple times via automatic driving. This cyclical operation is determined by the work planning setting unit 55a (see reference). Figure 2 The operation can be configured as follows: A cyclic operation may also include operations performed by the remote auxiliary device 15c at the operation start position Wc1. A cyclic operation may also include movement of the remote auxiliary device 15c from the operation start position Wc1 to the operation end position Wc3. A cyclic operation may also include operations performed by the remote auxiliary device 15c at the operation end position Wc3. A cyclic operation may also include movement of the remote auxiliary device 15c from the operation end position Wc3 back to the operation start position Wc1.

[0094] The operation start position Wc1 is the position where the remote auxiliary device 15c performs the operation. For example, the operation start position Wc1 is the starting position for the remote auxiliary device 15c to perform the operation in a cycle. The operation start position Wc1 can also be part or all of the capture operation position Wa1.

[0095] The end-of-operation position Wc3 is the position where the remote auxiliary device 15c performs operations after the operation at the start-of-operation position Wc1. The end-of-operation position Wc3 can be, for example, a reversal position of the movement of the remote auxiliary device 15c in a cyclical operation. The end-of-operation position Wc3 can also be part or all of the release-of-operation position Wa3.

[0096] The movement path We is the path traversed by the remote auxiliary device 15c when it moves between a certain working position W (position 1) and other working positions W (position 2). The movement path We can also be the path between the capture working position Wa1 and the release working position Wa3. The movement path We can also be the path between the start working position Wc1 and the end working position Wc3. An intermediate position, namely the intermediate position We1, can also be set within the movement path We (see [reference]). Figure 9 ).

[0097] Furthermore, you can set only one type of job position W from the various types mentioned above, or you can set multiple types. For example, you can set a capture job position Wa1 without setting a release job position Wa3. For example, you can set a job start position Wc1 without setting a job end position Wc3. In addition, you can also set a job position W of a different type than the types mentioned above.

[0098] (The shape and quantity of work location W) Similar to the example of the shape of the indicated position I described above, the shape of the work position W can be set in various ways. For example, the work position W can be a point, a line, or a range. Specifically, the capture work position Wa1, release work position Wa3, work start position Wc1, and work end position Wc3 can each be a point or a range. The movement path We can also be a line. Furthermore, similar to the indicated position I, only one work position W can be set, or multiple work positions W can be set. Multiple work positions W of the same type can also be set (e.g., multiple work start positions Wc1, etc.).

[0099] (Method for setting the work position W) Figure 6 It means Figure 3 This is a diagram showing the indicated position I and the working position W, etc. As described above, the controller 50 sets the working position W based on the indicated position I. The relationship between the indicated position I and the working position W can be set in various ways. For example, the controller 50 can also set the working position W at a position overlapping with the indicated position I. The controller 50 can also set the working position W at a position consistent with the indicated position I. The controller 50 can also set the working position W at a position different from the indicated position I (see [reference]). Figure 6 (To be described later). Controller 50 can also set one or more operating positions W based on an indication position I (see reference). Figure 6 (To be described later). Controller 50 can also set one or more working positions W based on multiple indicated positions I. Controller 50 can also set based on the indicated position I of a point (see...). Figure 3The controller 50 can also set the working position W of a point, line, or range based on the indicated position I of a line. The controller 50 can also set the working position W of a point, line, or range based on the indicated position I of the range (see reference). Figure 4 The controller 50 can set a work position W, which is a point, line, or range. The controller 50 can also set multiple work positions W (work positions W smaller than the indicated position I) within the range indicated position I. The controller 50 can also restrict the location of the set work position W to the range of indicated position I.

[0100] The following description primarily focuses on the case where the operating position W is the location where the remote auxiliary device 15c captures or releases the work object in a single operation. Furthermore, the operating position W used in the following description can also be applied to an operating position W different from "the location where the remote auxiliary device 15c captures or releases the work object in a single operation".

[0101] like Figure 6 As shown in the left part, the controller 50 can also set the work position W to the indicated position I (the position overlapping with the indicated position I). Specifically, for example, if the indicated position I is a point, the work position W can be a point that coincides with the indicated position I, or it can be a range centered on the indicated position I (center of the graph).

[0102] like Figure 6 As shown in the central and right-side portions, the controller 50 can also set the work position W around the indicated position I. The controller 50 can also set the work position W away from (away from) the indicated position I. For example, the controller 50 can also set the work position W around the indicated position I. In this case, the shape formed by the multiple work positions W (the shape surrounding the indicated position I) can be a polygon (e.g., in...). Figure 6 The shape can be a quadrilateral or a hexagon, or it can be a circle, an ellipse, or a shape similar to these shapes (e.g., a roughly polygonal shape). The shape formed by multiple work positions W can also be determined by the operator through the input unit 41 (see reference). Figure 3 Use ) to choose.

[0103] When the work position W is set to a position deviating from (away from) the indicated position I, the distance L1 from the indicated position I to the work position W can be set in various ways. Distance L1 can also be a value preset (before setting the work position W) to the controller 50. Distance L1 can also be a value obtained by the operator via input unit 41 (see reference). Figure 3 The input (specified) value can be selected. For example, while the indicator position I is selected, the indicator position I can be dragged to set the distance L1. For example, the value can also be selected from the display unit 43 (see input unit 41). Figure 3The distance L1 can be selected from the options displayed on the screen. Alternatively, the distance L1 can be set by entering a value in the input unit 41. The distance L1 can also be changed. For example, with the previous work position W selected, the work position W can be dragged and placed to the new work position W, thereby changing the distance L1. Alternatively, the changed distance L1 can be entered from the options displayed on the display unit 43 via the input unit 41, thereby changing the distance L1. Alternatively, the changed distance L1 value can be entered via the input unit 41, thereby changing the distance L1.

[0104] Figure 7 It means Figure 6 The diagram shows images of capture and release operation positions Wa, etc., when the number of capture and release operation positions Wa is changed. When multiple operation positions W are set around the indicator position I, the number of operation positions W surrounding the indicator position I can be set in various ways. For example, as... Figure 7 As shown, the number of all work positions W around the indicated position I can be set, or the number of work positions W in each ring surrounding the indicated position I can be set. The number of work positions W can also be a number preset (before setting the work positions W) to the controller 50. The number of work positions W (in...) Figure 7 The number of excavations (indicated by the number of times) can also be the number input (specified) by the operator through the input unit 41. It can also be input through the input unit 41 (see reference). Figure 3 ), from display unit 43 (refer to Figure 3 The number of work positions W can be selected from the options displayed on the screen. For example, the number of work positions W can also be set by entering a value in the input unit 41. The number of work positions W can also be changed. For example, the number of work positions W can be changed by entering a changed number from the options displayed on the screen 43 through the input unit 41. The number of work positions W can also be changed by entering a numerical value of the changed number. Changing (moving) the work positions W results in changing the number of work positions W (described later).

[0105] (The order of jobs at multiple job positions W) When multiple job positions W are set, the order of jobs at each job position W is set as follows, for example. Figure 7 As shown, it can be accessed through input unit 41 (refer to...) Figure 3 The input of the controller 50 sets (specifies) the order of operations at the work positions W. Specifically, the controller 50 can be set to specify the order in which work positions W are individually designated (touch or click, etc.) as the order of operations. Furthermore, Figure 7The numbers within the work positions W shown represent a specified order. Additionally, the controller 50 can automatically determine and set the order of operations at multiple work positions W. For example, the controller 50 can also determine the order based on surrounding information A (see reference). Figure 3 The controller 50 can set the sequence of operations at work position W. For example, the controller 50 can also set the sequence of operations at work position W in order of distance from the upper rotating body 13, either from far to near or from near to far.

[0106] (A specific example of how to set the movement path We) Figure 8 It means Figure 6 The image shown is a diagram of the capture and release operation position Wa, etc., when the distance L1 is changed. Figure 9 It indicates horizontal observation. Figure 4 The image of the sand pile A1a, etc., shown corresponds to Figure 3 The image. Figure 10 It indicates horizontal observation. Figure 4 The image of container A3, etc., shown corresponds to Figure 3 The diagram shows that the controller 50 can also set the movement path We as described below (see figure). Figure 3 (etc.). For example... Figure 9 As shown, the controller 50 can set the movement path We based on the indicated position I of the line indicated (manually indicated) by the input unit 41. The controller 50 can also automatically set the movement path We according to conditions. For example, the controller 50 can also... Figure 3 When the start position Wc1 and end position Wc3 are set as shown, the movement path We is set (automatically set) by connecting the start position Wc1 and the end position Wc3. The controller 50 can also set the movement path We by connecting the capture position Wa1 and the release position Wa3 when the capture position Wa1 and the release position Wa3 are set. Figure 9 As shown, if the intermediate position We1 of the movement path is set, the movement path We is set by using the intermediate position We1 of the movement path. For example... Figure 4 As shown, the controller 50 can also set the movement path We along an arc or approximately an arc centered on the rotation center of the upper rotating body 13 relative to the lower main body 11. In this case, the controller 50 can also set the movement path We using the specification information (such as size, shape, etc.) of the construction machinery 10. For example, the controller 50 can also set the movement path We such that the distance (rotation radius) from the rotation center to the movement path We is less than or equal to the maximum value of the rotation radius of the construction machinery 10. The controller 50 can also set the movement path We based on surrounding information A (described later).

[0107] (The height of the work position W) like Figure 9 As shown, the controller 50 can also set the position of the work position W in the vertical direction (height position). For example, as described above, the indicator position I may also have height direction information. In this case, the controller 50 can also set the height position of the work position W based on the position of the indicator position I in the vertical direction (height position). The controller 50 can also set the height position of the work position W when the indicator position I does not have height position information. The controller 50 can also set the height position of the work position W based on the height information of the work position W input to the input unit 41. The controller 50 can, as... Figure 9 The example shown illustrates how to set the height of the movement path We. Alternatively, you can set... Figure 3 The height positions of the operation start position Wc1, capture operation position Wa1, operation end position Wc3, and release operation position Wa3 are shown.

[0108] like Figure 9 As shown, the controller 50 can also set the height position of the work position W based on the operation performed through the input unit 41. The height position of the work position W can be set by touching or clicking on the input unit 41, or by numerical input. The input unit 41 can also be used to set the work position W (in... Figure 9 The image shows the height position of the middle position We1 in the movement path (in the image). Figure 9 The slider B is used to set the height of the work position W. The controller 50 can also set the height of the work position W based on surrounding information A.

[0109] (Setting the work location W based on surrounding information A) The controller 50 can also set the work position W based on the indicated position I and the surrounding information A. For example, the controller 50 can also automatically set the work position W based on the indicated position I and the surrounding information A. The controller 50 can also determine a location that should not be set as the work position W based on the indicated position I and the surrounding information A, and thus not set the work position W at that location. Specific examples of the controller 50 setting (or not setting) the work position W based on the indicated position I and the surrounding information A are described below.

[0110] The controller 50 can also set the operating position W based on information about locations that the remote auxiliary device 15c should avoid (an example of surrounding information A). For example, the controller 50 may not operate in locations that the remote auxiliary device 15c should avoid (e.g., the location of a sand pile A1a, container A3 (see reference)). Figure 10 Set the work position W on the location of the work position, etc.

[0111] The controller 50 can also set the work position W based on information about the location through which the remote auxiliary device 15c should pass (an example of surrounding information A). For example, the controller 50 can set the work position W (e.g., the movement path We, etc.) to the location through which the remote auxiliary device 15c should pass.

[0112] The controller 50 can also set a work position W that takes into account changes in the conditions of the work site. Specifically, the controller 50 can also set the work position W based on anticipated surrounding information A, which changes due to the operation of the construction machinery 10. For example, sometimes objects (such as a sand pile A1a) that were not present at the start of the work may appear after the work begins. In this case, the controller 50 can set the work position W at the location of that object (e.g., the sand pile A1a), or it can set the work position W to avoid that object (e.g., the sand pile A1a).

[0113] Controller 50 can also Figure 4 The highest position of the work object (e.g., a sand pile A1a) within the indicated position I (an example of surrounding information A) is designated as the first work position W for the remote auxiliary device 15c to perform operations. Alternatively, the controller 50 may also designate the positions surrounding this highest position as the next work position W for the remote auxiliary device 15c to perform operations. Furthermore, the controller 50 may also designate the highest position among the work objects (e.g., sand pile A1a) after operations have been performed at this highest position as the next work position W for the remote auxiliary device 15c to perform operations.

[0114] The controller 50 can also set the work position W based on obstacle information (an example of surrounding information A). The controller 50 can also set the work position W to a location that suppresses interference (contact) between the obstacle and the auxiliary device 15. This "obstacle" can also be terrain A1, more specifically, terrain A1 before the start of work, or terrain A1 that has changed after the start of work. The aforementioned "obstacle" can be container A3 (e.g., the bottom of a platform, a baffle, etc.), or object A5 located at the work site (see reference...). Figure 3 The operating position W can also be set based on obstacle information. Similarly, the controller 50 can also set the operating position W based on a restricted area (an example of surrounding information A). The controller 50 can also set the operating position W in a way that prevents the auxiliary device 15 from entering the restricted area.

[0115] The controller 50 can also set the operation position W based on surrounding information A, including container A3 (e.g., a loading dock). For example, the controller 50 can also set the release operation position Wa3 based on information about container A3. Specifically, as... Figure 10As shown, the controller 50 can also set the release operation position Wa3 in such a way that the object to be released is released into the interior of the container A3 when the remote auxiliary device 15c performs the release operation. Additionally, as described above, the controller 50 can also use a position that can suppress interference between the container A3 and the auxiliary device 15 as the operation position W. For example, the controller 50 can also set the movement path We of the remote auxiliary device 15c to a position higher than the container A3.

[0116] (Change (adjustment) of work location W) The controller 50 can also change (adjust) the set (pre-set) work position W.

[0117] The controller 50 can also change the set work position W based on the input made by the operator in the input unit 41 (the work position W can also be changed arbitrarily by the operator). A specific example of changing the work position W based on the input in the input unit 41 is the same as a specific example of changing the indicator position I based on the input in the input unit 41. For example, the controller 50 can also change the work position W according to the change in the indicator position I when the indicator position I is changed.

[0118] The controller 50 can also automatically change the set work position W according to specified conditions. For example, the controller 50 can also change the work position W based on surrounding information A. Specifically, for example, if the surrounding information A is changed after the work position W is set, the controller 50 can also change the work position W based on the changed surrounding information A.

[0119] (Change of linkage at work position W) The controller 50 can also automatically change other work positions W according to the change of work position W when a certain work position W is changed (linked).

[0120] For example, in Figure 3 If one or both of the operation start position Wc1 and operation end position Wc3 are changed, the controller 50 can also automatically change the movement path We between the operation start position Wc1 and the operation end position Wc3. Similarly, if one or both of the capture operation position Wa1 and release operation position Wa3 are changed, the controller 50 can also automatically change the movement path We between the capture operation position Wa1 and the release operation position Wa3.

[0121] like Figure 8As shown, when the position (relative position) of the work position W relative to the indication position I changes, the controller 50 can also automatically change other work positions W according to the change in work position W. Specifically, for example, the controller 50 may add a work position W between the work position W after the position change and the indication position I, or reduce a work position W. Specifically, for example, the controller 50 may add or reduce a work position W based on the distance L1 between the work position W after the position change and the indication position I. If the distance L1 increases (for example, if the increase in distance L1 is greater than a predetermined distance), the controller 50 may add a new work position W between the work position W after the position change and the indication position I (adding a work position W, see reference). Figure 8 (The dashed circle on the right side). When the distance L1 decreases (for example, when the reduction in distance L1 is greater than a specified distance), the controller 50 reduces or eliminates a certain working position W between the working position W after the position change and the indicated position I.

[0122] (Restrictions on changing the work location W) Controller 50 can also limit Figure 3 The changeable range of the work position W is shown. For example, the controller 50 may also restrict changes to the work position W based on surrounding information A. Specifically, the controller 50 may also restrict (e.g., make it impossible) changes to the work position W in areas where work should be avoided. Additionally, the controller 50 may also restrict the changeable range of the work position W based on the specifications of the construction machinery 10. Specifically, the controller 50 may also restrict changes to the work position W in locations where the remote auxiliary device 15c cannot be configured (specifically, locations too close to or too far from the upper rotating body 13).

[0123] (Judgment of validity) Figure 11 yes Figure 4 The indicated position I is not appropriate. Figure 4 The image. (As shown) Figure 11 As shown, the controller 50 can also determine whether one or both of the indicated position I and the working position W are appropriate (appropriateness) based on the surrounding information A.

[0124] For example, controller 50 sets a suitable location (e.g., range) as an indication location I or a working location W based on surrounding information A. Specifically, controller 50 may also set a location that overlaps with the sand pile A1a when viewed from above as a suitable location as a capture working location Wa1. Additionally, controller 50 may also set a location that overlaps with the sand pile A1a when viewed from above as a suitable location as an indication capture working location Wa1 (see reference). Figure 4The controller 50 can also set positions such as those overlapping with container A3 when viewed from above as suitable positions for use as release operation position Wa3 or as indication of release operation position Wa3. The controller 50 can also set positions overlapping with areas where work should be avoided as unsuitable positions for use as operation position W or indication position I. The following mainly explains the case where the controller 50 determines the appropriateness of indication position I (not operation position W but indication position I). The following explanation of determining the appropriateness of indication position I can be replaced with an explanation of determining the appropriateness of operation position W.

[0125] Controller 50 will be adapted as the position indicating position I (in) Figure 11 In the example shown, the location of the sand pile A1a and container A3 is compared with the indicated position I. Specifically, the controller 50 determines whether the indicated position I deviates from a suitable position (e.g., whether the deviation (distance) is above a specified value). If the indicated position I deviates from a suitable position (if the deviation is above a specified value), the controller 50 determines that the indicated position I is inappropriate. In this case, the controller 50 may also output a specified signal (NG signal, etc.). If the indicated position I does not deviate from a suitable position (e.g., if the deviation is less than a specified value), the controller 50 determines that the indicated position I is appropriate.

[0126] (Handling after appropriateness determination) The controller 50 may also issue a notification if the indicated position I is not appropriate. This notification may also prompt the operator to reset the indicated position I. The controller 50 may also instruct the display unit 43 to display this notification. The controller 50 may also instruct the display unit 43 to display candidate positions that would make the indicated position I appropriate. The controller 50 may also automatically change (adjust) the indicated position I to make it appropriate.

[0127] (Coordinate transformation) As described above, the operator observes the image displayed on the display unit 43 and instructs (inputs) the indicated position I or the changed work position W via the input unit 41. The controller 50 sets the actual work position W in the work area based on the input via the input unit 41. At this time, the controller 50 performs coordinate transformation between the coordinates in the image displayed on the display unit 43 (coordinates in virtual space) and the coordinates representing the actual position in the work area (real coordinates). Furthermore, the aforementioned "coordinates representing the actual position in the work area" are, for example, the aforementioned "coordinate axes representing parameters of the work plan." For example, the controller 50 uses the scale information of the image displayed on the display unit 43 to perform the coordinate transformation.

[0128] Additionally, as mentioned above, the ambient information sensor 30 (refer to...) Figure 1 ) detection Figure 4 The detected surrounding information Ad is shown. This detected surrounding information Ad may also include information represented by coordinates in the actual work site. In addition, the non-detected surrounding information Ae may also include information represented by coordinates in the actual work site. The controller 50 converts the coordinates of the surrounding information A (real coordinates) represented by coordinates in the actual work site into coordinates in the image displayed on the display unit 43 (coordinates in virtual space).

[0129] Coordinate transformation can also be performed by Figure 2 Any of the components of the controller 50 shown (information processing device controller 51, surrounding recognition controller 53, and mechanical controller 55) can be used. When coordinate transformation is performed by a controller 50 different from the mechanical controller 55 (e.g., surrounding recognition controller 53), the mechanical controller 55 does not need to perform coordinate transformation processing (calculation). This reduces the processing load on the mechanical controller 55.

[0130] The specific example of coordinate transformation is described below. The ambient information sensor 30 acquires detected ambient information Ad. The ambient recognition controller 53 converts the detected ambient information Ad, represented by coordinates indicating the actual position in the work site, into detected ambient information Ad represented by coordinates in the image displayed on the display unit 43. Then, the display unit 43 displays the coordinate-transformed detected ambient information Ad. Furthermore, the display unit 43 may also display non-detected ambient information Ae (see reference...). Figure 4 ).like Figure 4 As shown, the operator indicates the position in the image displayed by the display unit 43 through the input unit 41. For example, the operator indicates (inputs) a new or changed indicated position I, or a changed working position W, through the input unit 41. Figure 2 The surrounding recognition controller 53 shown converts the position information represented by the coordinates (coordinates in virtual space) in the image displayed by the display unit 43 into coordinates (real coordinates) representing the position in the actual work site. Then, the controller 50 (e.g., the information processing device controller 51 or the machine controller 55) sets the work position W based on the position information after coordinate conversion.

[0131] (A specific example of setting the work position W) Figure 12 It is by Figure 2 The flowchart shows the process of setting the work position W by the controller 50. (Refer to...) Figure 12 The flowchart shown illustrates specific examples of setting the work position W, etc. Here, the setting (specifically, manual setting (step S10)) is explained. Figure 3 The following are specific examples of the operation start position Wc1 and operation end position Wc3. Unless otherwise specified, the following descriptions will follow the processing order performed by the controller 50. However, the processing order can be changed in various ways. (See reference...) Figure 12 illustrate Figure 12 The steps S1 to S80 are shown.

[0132] In step S1, controller 50 obtains Figure 3 The surrounding information A is shown. For example, controller 50 (more specifically, surrounding recognition controller 53) can also obtain the surrounding information from surrounding information sensor 30 (see reference 53). Figure 1 The detected surrounding information Ad. The controller 50 can also obtain non-detection surrounding information Ae (see reference). Figure 4 ).

[0133] In step S2, the controller 50 instructs the display unit 43 to display surrounding information A (e.g., an image of the work site around the construction machinery 10).

[0134] In step S3, the controller 50 determines whether to manually set (set without using the preset data described later) the work position W. For example, the controller 50 allows the operator to choose whether to manually set the work position W or select a stored work position W. Specifically, for example, the controller 50 instructs the display unit 43 to display a selection section (button, etc.) for manually setting the work position W, and a selection section (not shown) for selecting a stored work position W. If the work position W is not manually set (if step S3 is "No"), the controller 50 instructs the display unit 43 to display a preset data selection screen (see reference). Figure 14 (To be described later). Next, the controller 50 applies the stored job position W to the operation of the construction machinery 10 (e.g., sends it to the machine controller 55) (step S90) and ends the process. If the job position W is manually set (if "yes" is set in step S3), the controller 50 advances the process to step S10.

[0135] In step S10 (steps S11 to S33), the work position W is manually set. Specific examples of manually setting the work position W are described below.

[0136] In step S11, the controller 50 (e.g., the information processing device controller 51) determines whether one or both of the work start position Wc1 and the work end position Wc3 have not been set. If one or both of the work start position Wc1 and the work end position Wc3 have not been set (if step S11 is "yes"), the controller 50 proceeds to step S12. If both the work start position Wc1 and the work end position Wc3 have been set (if step S11 is "no"), the controller 50 ends the process of setting the work position W. In this case, the controller 50 applies the set work position W to the operation of the construction machinery 10. Specifically, for example, the work instruction unit 55c controls the operation of the construction machinery 10 based on the set work position W (in this example, the work start position Wc1 and the work end position Wc3) to enable the construction machinery 10 to perform automatic driving or mechanical control. In addition, for example, in the case of mechanical guidance, instructions for the operator are output based on the set work position W.

[0137] In step S12, the controller 50 determines whether the necessary processing involves setting the job start position Wc1. If the controller 50 determines that it involves setting the job start position Wc1 (if "yes" is true in step S12), the process proceeds to step S21. For example, the controller 50 may also determine that it involves setting the job start position Wc1 if the job start position Wc1 is selected via the input unit 41. Alternatively, the controller 50 may determine that it involves setting the job start position Wc1 even if the job start position Wc1 is not set. If the controller 50 determines that the necessary processing does not involve setting the job start position Wc1 (if "yes" is true in step S12), the process proceeds to step S31. For example, the controller 50 may also determine that it does not involve setting the job start position Wc1 (but rather setting the job end position Wc3) if the job end position Wc3 is selected via the input unit 41. Alternatively, for example, if the start position Wc1 has been set but the end position Wc3 has not been set, the controller 50 may determine that it is not the start position Wc1 that has been set (but the end position Wc3).

[0138] In steps S21 to S23, the controller 50 sets the operation start position Wc1.

[0139] In step S21, the controller 50 obtains the position of the work start position Wc1 as a point. Specifically, the controller 50 obtains the instruction position I input by the operator through the input unit 41, thereby obtaining the position of the work start position Wc1 as a point.

[0140] In step S22, as Figure 4As shown, the controller 50 acquires the shape of the work start position Wc1, which is a range (area). For example, the controller 50 acquires information about the shape (polygon, circle, etc.) of the work start position Wc1 input by the operator through the input unit 41.

[0141] In step S23, the controller 50 obtains the position of the work start position Wc1 as the range. Specifically, the controller 50 obtains the instruction position I input by the operator through the input unit 41, thereby obtaining the position of the work start position Wc1 as the range.

[0142] In steps S31 to S33, the controller 50 sets the job end position Wc3 in roughly the same way as in steps S21 to S23, where the job start position Wc1 is set. Specifically, in step S31, as... Figure 3 As shown, the controller 50 obtains the position of the work end position Wc3 as a point. In step S32, as... Figure 4 As shown, controller 50 acquires the shape of the work end position Wc3 as the range. In step S33, controller 50 acquires the position of the work end position Wc3 as the range. After step S10 ends, controller 50 proceeds to step S80.

[0143] In step S80, the controller 50 applies the preset work position W (work start position Wc1 or work end position Wc3) to the operation of the construction machinery 10. Specifically, for example, when the construction machinery 10 is in automatic driving or mechanical control mode, that is, when the work position W is set by the information processing device controller 51, the following processing is performed. In this case, the information processing device controller 51 sends the preset work position W to the machine controller 55 (specifically, the work instruction unit 55c). In addition, for example, when mechanical guidance is performed, instructions for the operator are output based on the preset work position W. Then, the controller 50 returns the process to step S11.

[0144] (Storage and retrieval of job location W) The controller 50 can also read stored job positions W (previously set job positions W, preset job positions W). The summary of the processing of storing (job information storage control) and reading (job information reading control) job positions W by the controller 50 is as follows.

[0145] The controller 50 stores (or stores in the storage unit 50b) the work position W set by the controller 50. The controller 50 instructs the display unit 43 to display the stored work position W in a manner selectable via the input unit 41 (see reference). Figure 14The controller 50 sets the work position W selected by the input unit 41 as the work position W used by the construction machinery 10.

[0146] In this way, the controller 50 reads the stored work position W, thereby enabling the previously set work position W to be used for subsequent operations. This allows for the reuse of previously set work positions W multiple times. Consequently, the time and effort required for operators to manually set the work position W can be eliminated. This allows operations to begin earlier by the amount of time saved from manually setting the work position W. Furthermore, by reading the stored work positions W, the controller 50 can eliminate variations in the work position W set by each operator (deviations in the work position W setting). Therefore, by using work positions W with high work efficiency, the operational efficiency of the construction machinery 10 can be ensured.

[0147] The details of the storage (job information storage control) and retrieval (job information retrieval control) of job location W are described below. Furthermore, the following refers to... Figure 13 , Figure 14 , Figure 15 illustrate Figure 13 The steps S10 to S92 are shown. Figure 13 It is by Figure 2 The flowchart shows the process performed by the controller 50, including storing the job position W. Figure 14 It means that it includes through Figure 13 The selection screen corresponding to the preset data of the job location W that is processed and stored. Figure 3 The image. Figure 15 It means Figure 14 The management screen for the preset data shown corresponds to Figure 3 The image.

[0148] (Storage of preset data) The controller 50 instructs the storage unit 50b to store the job position W that was set manually (step S10) (step S41). The information containing the job position W stored by the controller 50 is called preset data.

[0149] like Figure 15 As shown, the preset data can also include information about the type of work location W (in Figure 15 (The middle part represents the work item). In the "Types of Work Location W", for example, there are... Figure 4 The diagram shows the job start position Wc1, job end position Wc3, job capture position Wa1, job release position Wa3, and movement path We.

[0150] like Figure 15As shown, the preset data can also include registration date information. This registration date can be the date the preset data was registered (stored), or the date the job location W was set. The registration date information can include year information, date information, and weekday information. The registration date information can also include the time information when the preset data was registered.

[0151] The preset data may also include name (preset name) information. The preset name can also be set via input from the input unit 41 (e.g., arbitrarily by the operator). The preset name or its initial value can also be automatically set by the controller 50 based on the content of the preset data (e.g., registration date, machine model, type of work position W, etc.). The controller 50 can also change an already set preset name to the preset name set via the input unit 41.

[0152] The preset data may also include information about the model of the construction machinery 10. This "information about the model of the construction machinery 10" is, for example, information about the model of the construction machinery 10 that can utilize the information of the working position W set in the preset data. Specifically, the "information about the model of the construction machinery 10" may include information about the size (e.g., tonnage) of the construction machinery 10, and may also include information about the remote auxiliary device 15c (see reference). Figure 4 Information on the type of construction machinery 10 (bucket, grab bucket, etc.). The "model information of construction machinery 10" may include the specifications of construction machinery 10, the model name of construction machinery 10, and information for individual identification of construction machinery 10.

[0153] Preset data can also include information tags. Information tags can be used for categorizing or searching the preset data. A preset data set can contain one or more information tags, which can be added or removed arbitrarily by the operator (e.g., by pressing...). Figure 15 (Add information tags using the "Add Tag" function). In addition, information other than the work location W (machine type, type of work location W, etc.) in the above preset data can also be used as information tags.

[0154] The preset data may also include visual information V corresponding to the work position W. Visual information V helps the operator select an appropriate work position W. Visual information V also prevents the operator from selecting (setting) an incorrect work position W. Specifically, visual information V may include an image representing the work position W (e.g., points, lines, ranges, etc.), or an image representing the surrounding information A corresponding to the work position W. For example... Figure 4As shown, the image representing the surrounding information A, which serves as visual information V, can also be an image displayed on the display unit 43 when the indicator position I corresponding to the work position W is indicated. The image representing the surrounding information A, which serves as visual information V, can also be an image of the work site, such as a real-life image, point cloud information image, computer graphics, etc., as described above. Visual information V may also include an image of the construction machinery 10.

[0155] (A specific example of storing job location W) Storage unit 50b (refer to) storage (registration) work location W (preset data) Figure 2 It can also be the storage unit 50b of any device or controller, such as the storage unit 50b of the information processing device controller 51 or the storage unit 50b of the mechanical controller 55. Hereinafter, unless otherwise specified, "operating position W" may be replaced with "preset data".

[0156] The timing for the controller 50 to store (register) the job location W can be set in various ways. Specific examples of this timing are described below.

[0157] For example, the work position W is manually set (new setting) ( Figure 13 During step S10), the controller 50 can also store (register) the job position W. Figure 13 Step S41). Specifically, for example, when the work position W is newly set, the controller 50 causes the display unit 43 to display a screen (not shown) that allows selection via the input unit 41 whether to save the work position W. Then, the controller 50 can also save the work position W if the selection to save the work position W is entered via the input unit 41.

[0158] Additionally, the controller 50 can switch between multiple modes, and can also be set to store the work position W as one of the modes. Specifically, for example, when the controller 50 is set to store the work position W, the operator can manually set (newly set) the work position W (step S10). At this time, the controller 50 can also store the newly set work position W (step S41).

[0159] (Number of job locations W stored) The controller 50 can store only one work position W or multiple work positions W. The controller 50 can also store multiple work positions W of different types (e.g., capture work position Wa1, release work position Wa3, etc.). The controller 50 can also store multiple work positions W corresponding to different models of construction machinery 10. The controller 50 can also store multiple work positions W corresponding to different work sites. By storing multiple work positions W, the stored work positions W can be utilized according to various scenarios (work site, machine model, work content, etc.).

[0160] (Relationship to the work location W) Controller 50 can also link (associate, correspond) multiple job positions W to each other when storing multiple job positions W (see reference). Figure 13 (Steps S51 to S56). For example, controller 50 can also link multiple work positions W of different types to each other. Specifically, for example, controller 50 can also link two or more work positions W in the capture work position Wa1, work start position Wc1, work end position Wc3, release work position Wa3, and movement path We to each other.

[0161] The controller 50 can also process multiple contacted job locations W at the same time. For example, the controller 50 can select multiple contacted job locations W at the same time, apply multiple job locations W to a job at the same time, and manage multiple job locations W at the same time (described later).

[0162] Controller 50 can also link multiple newly set (manually set) work positions W to each other (see reference). Figure 13 (If step S51 is "yes"). For example, the operator manually sets multiple work positions W (e.g., work start position Wc1 and work end position Wc3) simultaneously (using a series of operations at roughly the same time). Figure 13 Step S52). The controller 50 stores multiple job positions W that are set together. At this time, the controller 50 can also link the multiple job positions W stored together with each other. Figure 13 (Step S53). At this time, the controller 50 may also cause the display unit 43 to display a screen that allows selection via the input unit 41 whether to link the multiple work positions W to each other. Next, if the input unit 41 selects to link the newly set multiple work positions W to each other, the controller 50 may link the multiple work positions W to each other.

[0163] Controller 50 can also link multiple existing (stored) job locations W to each other (see reference). Figure 13 (If step S51 is "No"). For example, the controller 50 instructs the display unit 43 to display a screen for linking multiple work positions W to each other. The multiple work positions W to be linked are selected by the operator through the input unit 41. Figure 13 Step S55). Next, based on the input from the input unit 41, the controller 50 connects the multiple work positions W to each other ( Figure 13 Step S56).

[0164] (Management of work location W) Controller 50 can also manage stored job locations W. Management of job locations W can include searching for, changing, and deleting job locations W. Figure 13 Steps S61 and S62). For example, as... Figure 15 As shown, the controller 50 can also display a screen on the display unit 43 showing the management of stored job positions W. Next, the controller 50 performs management of the job positions W based on the input from the input unit 41 used for managing the job positions W. Furthermore, the above-described process of linking multiple existing (stored) job positions W together... Figure 13 Step S56) can also be included in the management of the work location W.

[0165] The controller 50 can also manage various contents of the preset data (name, model, information tags, etc.). Specifically, the controller 50 can also search for preset data based on various contents of the preset data (e.g., by preset name, e.g., by model). For example, the controller 50 can also instruct the display unit 43 to display the preset data according to its contents (see reference). Figure 14 Specifically, for example, after selecting the display capture job position Wa1 via input unit 41 (in... Figure 14 In the case where the area is designated as the "excavation area", the controller 50 instructs the display unit 43 to display preset data for one or more capture operation positions Wa1. In this case, the controller 50 may also instruct the display unit 43 not to display preset data other than the capture operation position Wa1.

[0166] The controller 50 can also manage job positions W individually. The controller 50 can also manage multiple job positions W that are interconnected. The controller 50 can also manage multiple preset data based on the content of preset data (e.g., preset data for capturing job position Wa1). The controller 50 can also delete all job positions W stored in the storage unit 50b at once.

[0167] (Application of W-direction operation) The controller 50 applies the stored work position W to the operation of the construction machinery 10. Figure 13 Steps S91 and S92). For example, the controller 50 allows the operator to select the stored work location W ( Figure 13 Step S91). Specifically, as Figure 14As shown, the controller 50 instructs the display unit 43 to display a screen for selecting the work position W (a preset data selection screen). The preset data selection screen, for example, contains a list of preset data that can be selected. Next, based on the input from the input unit 41, the controller 50 applies the selected work position W to the operation of the construction machinery 10. For example, when the construction machinery 10 is operating via automatic driving or mechanical control, the information of the work position W is sent from the information processing device controller 51 to the mechanical controller 55 (specifically, the work instruction unit 55c). Figure 13 (Step S92). Additionally, for example, in the case of mechanical guidance, instructions for the operator are output based on the selected work position W.

[0168] Depend on Figure 1 The effects of the job information setting system 1 shown are as follows. The job information setting system 1 includes an input unit 41 and a display unit 43. The input unit 41 receives information used for job position setting control (accepts information input). The display unit 43 outputs job position setting control information (related information).

[0169] [Structure 1] Work position setting control (controller 50) Figure 3 As shown, the display unit 43 displays the surrounding information A of the construction machinery 10. The work position setting control obtains the indicated position I. The indicated position I is the position in the surrounding information A displayed on the display unit 43, and it is also the position input through the input unit 41. Based on the indicated position I, the work position setting control sets the actual position information used by the construction machinery 10 when it performs operations through automatic control, namely the work position W.

[0170] According to the above [Structure 1], the work information setting system 1 can display surrounding information A on the display unit 43 while receiving instructions for setting the indicated position I of the work position W through the input unit 41. Therefore, the operator does not need to operate the actual construction machinery 10 for specifying the indicated position I (see [reference]). Figure 1 Therefore, the time and effort required to indicate the indicated position I (the position information used by the construction machinery 10 for operations performed by automatic control) can be suppressed. As a result, the time and effort required to set the working position W can be suppressed.

[0171] [Structure 2] as follows Figure 4 As shown, display unit 43 displays the ambient information sensor 30 (refer to) that detects ambient information A. Figure 1 The detected surrounding information Ad.

[0172] According to the above [structure 2], while displaying the (actual) ambient information A detected by the ambient information sensor 30 (i.e., detected ambient information Ad) on the display unit 43, the instruction for the instruction position I can be received through the input unit 41. This further reduces the time and effort required to instruct the instruction position I. Consequently, the time and effort required to set the operation position W can be further reduced.

[0173] [Structure 3] When the surrounding information A changes due to the operation of the construction machinery 10, the display unit 43 updates the detected surrounding information Ad displayed on the display unit 43.

[0174] According to the above [structure 3], even if the ambient information A changes due to the operation of the construction machinery 10, the changed ambient information Ad will still be displayed on the display unit 43. Therefore, the input unit 41 can accept the input of the indicated position I corresponding to the changed ambient information Ad. This further reduces the time and effort required to indicate the indicated position I. Consequently, the time and effort required to set the working position W can be further reduced.

[0175] [Structure 4] Display unit 43 overlays an image of construction machinery 10 onto surrounding information A.

[0176] According to the above [structure 4], the display unit 43 can display the relative positions of the construction machinery 10, the surrounding information A, and the indicated position I. This further reduces the time and effort required to indicate the indicated position I. Consequently, the time and effort required to set the working position W can be further reduced.

[0177] [Structure 5] The working position W is one or more of the following positions: the start position Wc1, the end position Wc3, and the movement path We. The start position Wc1 is the position where the remote auxiliary device 15c (working device) of the construction machinery 10 performs its work. The end position Wc3 is the position where the remote auxiliary device 15c performs its work after the work at the start position Wc1. The movement path We is the position traversed by the remote auxiliary device 15c when it moves between the start position Wc1 and the end position Wc3.

[0178] According to the above [structure 5], it is possible to suppress the time and effort of indicating position I for determining one or more of the positions of the operation start position Wc1, operation end position Wc3 and movement path We.

[0179] [Structure 6] The working position W is one or more of the following: the capture working position Wa1, the release working position Wa3, and the movement path We. The capture working position Wa1 is the position where the remote attachment 15c of the construction machinery 10 captures the work object. The release working position Wa3 is the position where the remote attachment 15c releases the work object. The movement path We is the position traversed by the remote attachment 15c when it moves between the capture working position Wa1 and the release working position Wa3.

[0180] According to the above [structure 6], it is possible to suppress the time and effort of indicating position I for determining one or more of the positions of capture operation position Wa1, release operation position Wa3 and movement path We.

[0181] [Structure 7] The job position setting control is based on the indicated position I and the surrounding information A to set the job position W.

[0182] In the above [structure 7], the work position W is set based on the surrounding information A. Therefore, compared to the case where the operator sets the work position W entirely manually while considering the surrounding information A, the time and effort required to set the work position W can be further reduced.

[0183] [Structure 8] The job position setting control changes the job position W that has been set in the job position setting control based on the input of the input unit 41.

[0184] According to the above [structure 8], the work position W can be changed based on the input to the input unit 41. For example, the work position W can be changed (e.g., arbitrarily changed) by having the operator input to the input unit 41.

[0185] [Structure 9] The work position setting control is based on one or more of the following information: [Information 9A], [Information 9B], [Information 9C], and [Information 9D], to set the work position W. [Information 9A] is information about locations that the remote auxiliary device 15c should avoid. [Information 9B] is information about locations that the remote auxiliary device 15c should pass through. [Information 9C] is anticipated ambient information A, which is the ambient information A after the conditions change due to the operation of the construction machinery 10. [Information 9D] is information about the specifications of the construction machinery 10.

[0186] Based on the above [structure 9], the appropriate work position W corresponding to the above information can be automatically set through work position setting control.

[0187] [Structure 10] as follows Figure 6 As shown, the job position setting control sets the job position W to one or two of the indicated position I and the positions surrounding indicated position I.

[0188] According to the above [structure 10], the working position W can be set based on the instruction position I indicated by the input unit 41.

[0189] [Structure 11] as follows Figure 8 As shown, the job position setting control is to either add a new job position W or reduce the job position W between the new job position W and the indicator position I when the position of the job position W changes relative to the indicator position I.

[0190] According to the above [structure 11], for example, compared to the case where the operation of adding or deleting the work position W between the work position W and the instruction position I is performed entirely by the operator through manual operation, the time and effort required to set the work position W can be reduced.

[0191] [Structure 12] as follows Figure 11 As shown, the work position setting control can determine the indicated position I and the work position W based on surrounding information A (refer to...). Figure 3 Is one or two of the positions in () appropriate?

[0192] Based on the above [structure 12], the indicated position I and the working position W (refer to) can be automatically determined through the working position setting control. Figure 3 Whether one or two of the positions are appropriate. It is not necessary for the operator to determine whether these positions are appropriate.

[0193] [Structure 13] as follows Figure 2 As shown, the work information setting system 1 includes a controller 50 for setting and controlling the work position. The controller 50 includes a surrounding identification controller 53 (coordinate transformation controller) and a machine controller 55. The surrounding identification controller 53 converts the coordinates in the surrounding information A displayed on the display unit 43 into coordinates representing the actual position in the work site. The machine controller 55 is separately installed from the surrounding identification controller 53 and controls the operation of the construction machinery 10.

[0194] In the above [structure 13], the surrounding recognition controller 53 (coordinate transformation controller) performs coordinate transformation processing. Therefore, the mechanical controller 55 does not need to perform coordinate transformation processing. This reduces the computational load on the mechanical controller 55.

[0195] [Structure 14] Work position setting control command storage unit 50b (refer to) Figure 2 Store the set job location W (refer to) Figure 3 ).like Figure 14 As shown, the work position setting control command display unit 43 displays the storage unit 50b in a manner selectable via the input unit 41 (see reference). Figure 2The work position W stored in the input unit 41 is used by the construction machinery 10 for its operation. The work position setting control sets the work position W selected via the input unit 41 as the work position W used for the operation of the construction machinery 10 (see reference). Figure 13 Steps S91 and S92).

[0196] According to the above [structure 14], the previously set work position W can be used as the work position W used for the operation of the construction machinery 10.

[0197] [Structure 15] Work position setting control command storage unit 50b (refer to) Figure 2 Store multiple job locations W.

[0198] According to the above [structure 15], the working position W used by the construction machinery 10 can be changed according to the working conditions, for example. For example, the operator can select an appropriate working position W from multiple working positions W.

[0199] [Structure 16] The job position setting control links multiple job positions W to each other (see reference). Figure 13 Steps S51 to S56).

[0200] According to the above [structure 16], the job information setting system 1 can process multiple associated job locations W at the same time (e.g., search, management, application, etc.).

[0201] [Structure 17] Work position setting control command storage unit 50b (refer to) Figure 2 The system stores visual information V corresponding to the set work position W and displays the visual information V on the display unit 43.

[0202] According to the above-described [structure 17], the display unit 43 can display visual information V corresponding to the stored work position W. For example, when the operator selects the work position W used for the operation of the construction machinery 10, the operator can select an appropriate work position W.

[0203] The effects produced by the job information setting program are as follows.

[0204] [Structure 18] The job information setting procedure instructs the controller 50 (computer) to execute the display step, the indication position acquisition step, and the job position setting step. For example... Figure 4 As shown, the display steps instruct the display unit 43 to display the surrounding information A of the construction machinery 10 (see reference). Figure 12 Step S2). The step of obtaining the indicated position I (refer to...) Figure 12(Steps S21-S23, S31-S33). The indicated position I is the position in the surrounding information A displayed by the display unit 43, and it is also the position input by the input unit 41. The work position setting step sets the position information used by the actual construction machinery 10 when it is working by automatic control, i.e., the work position W, based on the indicated position I (refer to the same steps).

[0205] According to the above [structure 18], the controller 50 can display ambient information A on the display unit 43 while receiving instructions for setting the indicated position I of the work position W via the input unit 41. Therefore, the operator does not need to operate the actual construction machinery 10 to specify the indicated position I. This reduces the time and effort required to specify the indicated position I. Consequently, the time and effort required to set the work position W can be reduced.

[0206] The effects produced by the job information setting method are as follows.

[0207] [Structure 19] The work information setting method includes a display step, an indication position acquisition step, and a work position setting step. The display step instructs the display unit 43 to display the surrounding information A of the construction machinery 10 (see reference). Figure 12 Step S2). The step of obtaining the indicated position I (refer to...) Figure 12 (Steps S21-S23, S31-S33). The indicated position I is the position in the surrounding information A displayed by the display unit 43, and it is also the position input by the input unit 41. The work position setting step sets the position information used by the actual construction machinery 10 when it is working by automatic control, i.e., the work position W, based on the indicated position I (refer to the same steps).

[0208] According to the above [structure 19], while displaying surrounding information A on the display unit 43, the input unit 41 can receive instructions for setting the instruction position I of the work position W. Therefore, the operator does not need to operate the actual construction machinery 10 to specify the instruction position I. This reduces the time and effort required to specify the instruction position I. Consequently, the time and effort required to set the work position W can also be reduced.

[0209] (Modified example) Various modifications can be made to the above embodiments. For example, the modifications in the above embodiments can be combined with each other in various ways. For example, the number of the constituent elements (including modifications) of the above embodiments can be changed, or some of the constituent elements can be omitted. For example, the modifications can also be made... Figure 2 The connections between the constituent elements are shown. For example, the inclusion relationships between the constituent elements can be changed in various ways.

[0210] For example, a subordinate component described as a component of a higher-level component may not be included in that higher-level component, or it may be included in other components. For example, a component or part described as multiple distinct elements or parts may also be defined as a single element or part. For example, a component or part described as a single element or part may also be divided into multiple distinct elements or parts. For example, it can be changed. Figure 12 and Figure 13 The steps in the flowchart shown may be in a sequence, or some steps may be omitted. For example, the controller 50 may perform essentially the same processing as in the above-described embodiments (including variations). Various processing methods may also be combined in various ways. For example, each component may only have a portion of its respective features (function, configuration, shape, operation, etc.).

[0211] Furthermore, in the above description, an image was displayed using a display unit 43, which is an example of an output unit according to the present invention. However, the output unit may also use other methods to output information related to the work position setting control, information about the surroundings of the construction machinery, etc. As an example, the output unit may also output the information using an audio signal. In addition, the output unit may also output the information to other controllers, and the controller 50 may obtain the indicated position based on the processing result of the other controller. In this case, the other controller may also be a controller with machine learning capabilities that can indicate the most suitable indicated position for the current operation.

[0212] The job information setting system according to the first aspect of the present invention includes: The controller is capable of performing job position setting control to set the job position; The input unit accepts input of information used for the operation position setting control; and The output unit outputs information associated with the work position setting control, wherein... The controller is in the setting control of the working position. The output unit is instructed to output information about the surrounding environment of the construction machinery. The indicated position is obtained, which is the position in the surrounding information output by the output unit and also the position input by the input unit. Based on the indicated location, the actual location information used by the engineering machinery when it performs operations through automatic control is set, i.e., the working position.

[0213] The job information setting system according to the second aspect of the present invention can also be, in the job information setting system according to the first aspect, The output unit outputs the detected ambient information obtained by the ambient information sensor that detects the ambient information.

[0214] The job information setting system according to the third aspect of the present invention can also be the job information setting system according to the second aspect. When the surrounding information changes due to the operation of the construction machinery, the output unit updates the detected surrounding information output by the output unit.

[0215] The job information setting system according to the fourth aspect of the present invention can also be any of the job information setting systems according to the first to third aspects. The output unit overlays an image of the engineering machinery onto the surrounding information.

[0216] The job information setting system according to the fifth aspect of the present invention can also be the job information setting system according to any one of the first to fourth aspects. The work location includes one or more of the work start location, work end location, and movement path locations. The start position of the operation is the position where the working device of the construction machinery performs the operation; The work end position is the position where the work device performs work after the work at the work start position; The movement path is the position traversed by the working device as it moves between the start position and the end position of the operation.

[0217] The job information setting system according to the sixth aspect of the present invention can also be the job information setting system according to any one of the first to fifth aspects. The job location includes one or more of the following: the capture job location, the release job location, and the movement path. The capture operation location is the location where the working device of the engineering machinery captures the target object; The release operation position is the position where the working device releases the work object; The movement path is the position traversed by the working device as it moves between the capture position and the release position.

[0218] The job information setting system according to the seventh aspect of the present invention can also be the job information setting system according to any one of the first to sixth aspects. In the work position setting control, the controller sets the work position based on the indicated position and the surrounding information.

[0219] The job information setting system according to the eighth aspect of the present invention can also be the job information setting system according to any one of the first to seventh aspects. In the work position setting control, the controller changes the work position that has been preset in the work position setting control based on the input of the input unit.

[0220] The job information setting system according to the ninth aspect of the present invention can also be any of the job information setting systems according to the first to eighth aspects. In the operation position setting control, the controller sets the operation position based on one or more of the following information: Information on the locations that the working devices of the construction machinery should avoid; Information on the location that the working device should pass through; The surrounding information is the anticipated change in the surrounding information due to the operation of the construction machinery; and Information regarding the specifications of the construction machinery.

[0221] The job information setting system according to the tenth aspect of the present invention can also be the job information setting system according to any one of the first to ninth aspects. In the operation position setting control, the controller sets the operation position to one or two of the indicated position and the positions surrounding the indicated position.

[0222] The job information setting system according to the 11th aspect of the present invention can also be the job information setting system according to the 10th aspect. In the work position setting control, when the position of the work position relative to the indicated position changes, the controller either adds or reduces the work position between the changed work position and the indicated position.

[0223] The job information setting system according to the 12th aspect of the present invention can also be the job information setting system according to any one of the 1st to 11th aspects. In the operation position setting control, the controller determines, based on the surrounding information, whether one or both of the indicated position and the operation position are appropriate.

[0224] The job information setting system according to the 13th aspect of the present invention can also be the job information setting system according to any one of the 1st to 12th aspects. The controller includes: A coordinate transformation controller transforms the coordinates in the surrounding information output by the output unit into coordinates representing the actual position in the work site; and The mechanical controller is set separately from the coordinate transformation controller and controls the movement of the engineering machinery.

[0225] The job information setting system according to the 14th aspect of the present invention can also be the job information setting system according to any one of the 1st to 13th aspects. In the operation position setting control, the controller instructs the storage unit to store the preset operation position. The output unit outputs the job position stored in the storage unit in a manner selectable by the input unit. The work position selected through the input unit is set as the work position used by the construction machinery.

[0226] The job information setting system according to the 15th aspect of the present invention can also be the job information setting system according to the 14th aspect. In the job position setting control, the controller instructs the storage unit to pre-store multiple job positions.

[0227] The job information setting system according to the 16th aspect of the present invention can also be the job information setting system according to the 15th aspect. The controller, in the work position setting control, enables multiple work positions to be linked to each other.

[0228] The job information setting system according to the 17th aspect of the present invention can also be, in the job position setting control according to the 14th aspect, In the work position setting control, the controller causes the storage unit to store visual information corresponding to the preset work position, and causes the output unit to output the visual information.

[0229] The job information setting procedure according to the 18th aspect of the present invention causes the computer to perform the following steps: The output step instructs the output unit to output information about the surrounding environment of the construction machinery. The indicated position acquisition step involves acquiring an indicated position, which is the position in the surrounding information output by the output unit and also the position input by the input unit; and The work position setting step involves setting the actual work position, i.e., the position information used by the engineering machinery when it performs operations through automatic control, based on the indicated position.

[0230] The job information setting method according to the 19th aspect of the present invention includes: The output step instructs the output unit to output information about the surrounding environment of the construction machinery. The indicated position acquisition step involves acquiring an indicated position, which is the position in the surrounding information output by the output unit and also the position input by the input unit; and The work position setting step involves setting the actual work position, i.e., the position information used by the engineering machinery when it performs operations through automatic control, based on the indicated position.

Claims

1. A job information setting system, characterized in that... include: The controller is capable of performing job position setting control to set the job position; The input unit accepts input of information used for the operation position setting control; as well as The output unit outputs information associated with the work position setting control, wherein... The controller is in the setting control of the working position. The output unit is instructed to output information about the surrounding environment of the construction machinery. The indicated position is obtained, which is the position in the surrounding information output by the output unit and also the position input by the input unit. Based on the indicated location, the actual location information used by the engineering machinery when it performs operations through automatic control is set, i.e., the working position.

2. The job information setting system according to claim 1, characterized in that, The output unit outputs the detected ambient information obtained by the ambient information sensor that detects the ambient information.

3. The job information setting system according to claim 2, characterized in that, When the surrounding information changes due to the operation of the construction machinery, the output unit updates the detected surrounding information output by the output unit.

4. The job information setting system according to any one of claims 1 to 3, characterized in that, The output unit overlays an image of the engineering machinery onto the surrounding information.

5. The job information setting system according to any one of claims 1 to 4, characterized in that, The work location includes one or more of the work start location, work end location, and movement path locations. The start position of the operation is the position where the working device of the construction machinery performs the operation; The work end position is the position where the work device performs work after the work at the work start position; The movement path is the position traversed by the working device as it moves between the start position and the end position of the operation.

6. The job information setting system according to any one of claims 1 to 5, characterized in that, The job location includes one or more of the following: the capture job location, the release job location, and the movement path. The capture operation location is the location where the working device of the engineering machinery captures the target object; The release operation position is the position where the working device releases the work object; The movement path is the position traversed by the working device as it moves between the capture position and the release position.

7. The job information setting system according to any one of claims 1 to 6, characterized in that, In the work position setting control, the controller sets the work position based on the indicated position and the surrounding information.

8. The job information setting system according to any one of claims 1 to 7, characterized in that, In the work position setting control, the controller changes the work position that has been preset in the work position setting control based on the input of the input unit.

9. The job information setting system according to any one of claims 1 to 8, characterized in that, In the operation position setting control, the controller sets the operation position based on one or more of the following information: Information on the locations that the working devices of the construction machinery should avoid; Information on the location that the working device should pass through; The surrounding information is the anticipated change in the surrounding information due to the operation of the construction machinery; and Information regarding the specifications of the construction machinery.

10. The job information setting system according to any one of claims 1 to 9, characterized in that, In the operation position setting control, the controller sets the operation position to one or two of the indicated position and the positions surrounding the indicated position.

11. The job information setting system according to claim 10, characterized in that, In the work position setting control, when the position of the work position relative to the indicated position changes, the controller either adds or reduces the work position between the changed work position and the indicated position.

12. The job information setting system according to any one of claims 1 to 11, characterized in that, In the operation position setting control, the controller determines, based on the surrounding information, whether one or both of the indicated position and the operation position are appropriate.

13. The job information setting system according to any one of claims 1 to 12, characterized in that, The controller includes: A coordinate transformation controller transforms the coordinates in the surrounding information output by the output unit into coordinates representing the actual position in the work site; and The mechanical controller is set separately from the coordinate transformation controller and controls the movement of the engineering machinery.

14. The job information setting system according to any one of claims 1 to 13, characterized in that, In the operation position setting control, the controller instructs the storage unit to store the preset operation position. The output unit outputs the job position stored in the storage unit in a manner selectable by the input unit. The work position selected through the input unit is set as the work position used by the construction machinery.

15. The job information setting system according to claim 14, characterized in that, In the job position setting control, the controller instructs the storage unit to pre-store multiple job positions.

16. The job information setting system according to claim 15, characterized in that, The controller is in the setting control of the working position. This connects the multiple work locations to each other.

17. The job information setting system according to claim 14, characterized in that, In the work position setting control, the controller causes the storage unit to store visual information corresponding to the preset work position, and causes the output unit to output the visual information.

18. A job information setting program, characterized in that, Instruct the computer to perform the following steps: The output step instructs the output unit to output information about the surrounding environment of the construction machinery. The indicated position acquisition step involves acquiring an indicated position, which is the position in the surrounding information output by the output unit and also the position input by the input unit; and The work position setting step involves setting the actual work position, i.e., the position information used by the engineering machinery when it performs operations through automatic control, based on the indicated position.

19. A method for setting job information, characterized in that... include: The output step instructs the output unit to output information about the surrounding environment of the construction machinery. The indicated position acquisition step involves acquiring an indicated position, which is the position in the surrounding information output by the output unit and also the position input by the input unit; and The work position setting step involves setting the actual work position, i.e., the position information used by the engineering machinery when it performs operations through automatic control, based on the indicated position.

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