Worksite simulation system

Abstract

Provided is a work site simulation system including a computer (20). The computer (20) sets a region of a part of shape information of a work site S, i.e., a site model (M11), as a selection region, and converts the site model (M11) within the selection region into a changeable model (M15). The changeable model (M15) is shape information for which a change process performed by the computer (20) is permitted. The change process includes at least one of deformation, movement, addition, and deletion. The computer (20) restricts the change process with respect to the site model (M11) compared to the change process permitted to be performed on the changeable model (M15).

Description

Technical Field

[0001] This invention relates to a work site simulation system that simulates a work site in a virtual space. Background Technology

[0002] Patent document 1 describes a simulation of the actions of an excavator as a construction machine in a virtual environment.

[0003] However, the computational load on the computer is significant in order to perform the simulation.

[0004] Existing technical documents Patent documents Patent document 1: International Patent Publication No. 2021 / 241716. Summary of the Invention

[0005] The purpose of this invention is to provide a work site simulation system, which includes a computer that simulates the working actions of construction machinery in a virtual space, thereby reducing the computational load on the computer used to perform the simulation.

[0006] Provided is a work site simulation system, which includes a computer that simulates the movements of construction machinery in a virtual work site. The computer acquires shape information, i.e., a site model, related to the shape of the work site, sets a portion of the site model as a selection area, and converts the site model into a modifiable model within the selection area. The modifiable model is shape information that allows the computer to perform modification processes, including at least one of deformation, movement, addition, and deletion. Compared to modification processes allowed on the modifiable model, the computer restricts modification processes on the site model. The restriction on modification processes for the site model includes prohibiting any modification processes allowed on the modifiable model from being performed on the site model. Attached Figure Description

[0007] Figure 1 This is a block diagram illustrating the work site simulation system according to an embodiment of the present invention.

[0008] Figure 2 This is a block diagram of the model conversion processing unit contained in the aforementioned work site simulation system.

[0009] Figure 3 It is a flowchart representing the process executed by the computer contained in the work site simulation system.

[0010] Figure 4It is a perspective view showing an image of a work site simulated in virtual space by the work site simulation system, viewed from an obliquely upward perspective.

[0011] Figure 5 It is a diagram showing an image of a selected area or similar area set in a site model of the work site as viewed from an obliquely upward perspective.

[0012] Figure 6A It is a top view showing the site model within a selected area in the image and the modifiable model converted from the site model.

[0013] Figure 6B It is a diagram representing the multiple meshes that constitute the modifiable model.

[0014] Figure 7 It is a graph representing the vertices Vpg, etc., of multiple polygonal faces in the said field model.

[0015] Figure 8 This is a diagram showing an image displayed by the display unit included in the work site simulation system in the construction plan mode.

[0016] Figure 9 It means to observe from an obliquely upward position. Figure 8 A 3D view of the physical calculation area and other images set in the modifiable model shown.

[0017] Figure 10 This refers to the image displayed by the display unit in operator operation mode. Figure 9 The image shown is an view of the work site from inside the cab, depicting the state before digging with the bucket.

[0018] Figure 11 It is an image showing the state of the bucket digging sand in the direction of accumulation, as observed from the cab of the construction machinery in the virtual space.

[0019] Figure 12 It is an image showing the work site after the sand and soil have been excavated, viewed from an oblique angle above.

[0020] Figure 13 This indicates that the upper rotating body of the engineering machinery, viewed from an oblique angle, is... Figure 12 The image shown is a diagram of the state in which the state begins to turn.

[0021] Figure 14 It is an image showing the state of sand being discharged from the bucket as viewed from the cab.

[0022] Figure 15 It is an image showing the state of the bucket digging sand in the direction of rotation, viewed from an obliquely upward angle.

[0023] Figure 16 This is an image showing the state of the bucket digging sand towards the dump truck, viewed from an obliquely upward angle.

[0024] Figure 17 It indicates a horizontal view. Figure 4 The image shown is a diagram of the work site. Detailed Implementation

[0025] Reference Figures 1 to 17 The preferred embodiments of the present invention are described below.

[0026] Figure 1 This refers to the work site simulation system 1 involved in the described embodiment. The work site simulation system 1 simulates [the work site] in a virtual space. Figure 1 The system described is for the work site S. The work site simulation system 1 at least simulates the actions of the construction machinery 60 in the work site S. The work site simulation system 1 can also simulate the state (actions, etc.) of objects 50 other than the construction machinery 60. The work site simulation system 1 includes, for example, at least one of a personal computer, a tablet computer, and a smartphone. The work site simulation system 1 according to the embodiment includes a remote operating device that remotely operates the real construction machinery, i.e., the actual machine corresponding to the construction machinery 60 in the virtual space described later.

[0027] The work site simulation system 1 can be used for various purposes. For example, it can be used to develop work plans, i.e., construction plans, for real-world work sites. It can also be used to develop plans related to real-world construction machinery in real-world work sites. Furthermore, it can be used as an operation simulation device to simulate the operation of real-world construction machinery. Specifically, it can be used as a practice device, such as a training device or teaching device, to allow users to learn operations related to real-world construction machinery (riding or remote operation). This allows users to efficiently practice operating real-world construction machinery by operating the construction machinery 60 in a virtual space, thereby efficiently mastering the operation. The work site simulation system 1 can also be used as an action verification device to verify the actions (behaviors) of the construction machinery 60. It can also be used as a condition verification device to verify various conditions in the work site S, other than the actions of the construction machinery 60. Finally, it can be used to reproduce the operation of real-world construction machinery in a virtual space based on its operational data, i.e., to create a digital twin.

[0028] Figure 1The work site simulation system 1 shown includes a client device 10C and a server device 10S. The client device 10C includes an input unit 11, a computer 20, and an output unit 40, and the server device 10S includes a computer 20S.

[0029] The client device 10C and the server device 10S each include a computer. The server device 10S operates according to instructions input from the client device 10C. The functions of the job site simulation system 1 are implemented by the client device 10C and the server device 10S. At least one of the input unit 11 and the output unit 40 may be included in the server device 10S, or may be included in both the client device 10C and the server device 10S. The computers 20 and 20S each include a storage unit 20a and a processing unit 20b. One of the computers 20 and 20S may be omitted. The job site simulation system 1 may have only a single client device 10C or multiple client devices 10C. Similarly, the job site simulation system 1 may have only a single server device 10S or multiple server devices 10S. The client device 10C and the server device 10S can be connected to each other wirelessly or via wired communication. In the described embodiment, information is exchanged between the client device 10C and the server device 10S via communication methods such as mobile networks, optical networks, wireless LANs (Local Area Networks), and wired LANs. The work site simulation system 1 can also be configured without the server device 10S.

[0030] The input unit 11 is a device for inputting information into the computer 20. The input unit 11 allows the user (operator, worker) of the work site simulation system 1 to perform operations on the input unit 11 to input the information. The input unit 11 can also be used to perform operations to cause the construction machinery 60 to move within the virtual space. For example, the input unit 11 can be used to instruct the construction machinery 60 to start and stop its movement, or it can be used to cause the construction machinery 60 to perform actions, such as... Figure 4 The lower main body 61 shown walks and makes Figure 4The upper rotating body 63 is shown to rotate, and the operation of the working device is performed. The input unit 11 can also be operated by a GUI (Graphical User Interface) for the user to operate in the work site simulation system 1. The input unit 11 can also be operated by other than the above-mentioned operations. The input unit 11 includes at least one of a mouse, keyboard, touch screen, and game controller. Alternatively, the input unit 11 may include levers and pedals that simulate the operating components of real construction machinery, such as left and right joysticks and left and right operating pedals (foot pedals). The input unit 11 may also be included in the remote operating device. The input unit 11 can also input information to the computer 20 independently of the operation performed by the user.

[0031] The computer 20 performs signal input / output, calculation, and information storage. The computer 20 simulates the work site S within the virtual space. The computer 20 has multiple functions; the work site simulation program stored in the storage unit 20a is executed by the calculation unit 20b, thereby realizing the multiple functions. The computer 20 can be connected to other devices (such as the input unit 11 and the output unit 40) via wireless communication or wired communication. Specifically, the same communication used to connect the client device 10C and the server device 10S can also be applied. The information is input from the input unit 11 to the computer 20. The computer 20 inputs instructions to the output unit 40.

[0032] The storage unit 20a stores information. The storage unit 20a stores programs.

[0033] The arithmetic unit 20b performs calculations, specifically, it performs calculations, judgments, and other processing.

[0034] The multiple functions include Figure 1 The model conversion processing unit 21 and behavior processing unit 23 are shown.

[0035] The model conversion processing unit 21 is a data conversion unit that performs model conversion processing. As detailed below, the model conversion processing is to convert... Figure 5 The field model M11 shown is converted to Figure 8 The processing of the modifiable model M15 is shown. The field model M11 is, for example, as shown... Figure 5 The shape information shown is related to the shape of the work site S. The modifiable model M15 is information about the shape and is shape information that allows the computer 20 to perform modification processing on the modifiable model M15, including at least one of deformation, movement, addition and deletion.

[0036] like Figure 2 As shown, the model conversion processing unit 21 includes a selection area setting unit 21a, a site model removal unit 21b, and a modifiable model generation unit 21c. As detailed below, the selection area setting unit 21a sets... Figure 5 The selection area A13 shown is the area to be converted from the site model M11 to the modifiable model M15. The site model removal unit 21b performs the process from... Figure 6A The process of removing the site model M11 shown is to delete the portion corresponding to the selected area A13. The modifiable model generation unit 21c performs the following process: for the portion removed from the selected area A13 by the site model removal unit 21b, it generates the modifiable model M15 to replace that portion.

[0037] The behavior processing unit 23 performs behavior processing, which is related to... Figure 1 The processing unit 23 calculates the behavior of the object 50 in the virtual space shown. The behavior processing unit 23 calculates the behavior to be performed by the object 50 in the virtual space, which is a behavior that simulates (reproduces) the behavior of a real object.

[0038] The output unit 40 is capable of outputting information. The output unit 40 outputs information according to instructions input from the computer 20. The output unit 40 outputs information related to phenomena within the virtual space.

[0039] The output unit 40 includes a display unit 41 and a sound output unit 43.

[0040] The display unit 41 displays information according to instructions input from the computer 20. The display unit 41 displays an image (video) of the virtual space calculated by the computer 20. The display unit 41 may also display the calculation results of the computer 20. The display unit 41 may also display a GUI. The display unit 41 includes a monitor (screen). The display unit 41 in this embodiment, as described below, includes a monitor for the remote operating device.

[0041] The sound output unit 43 outputs sound (outputs audio) according to instructions input from the computer 20. The sound output unit 43 includes a speaker. The sound output unit 43 may also include a speaker for the remote operating device.

[0042] At least a portion of the work site simulation system 1 can also be installed on the remote operating device. Specifically, the input unit 11 may also include a device (lever, pedal, switch, etc.) for inputting information to the remote operating device. When the input unit 11 is used to remotely operate the actual machine and to move the construction machinery 60 in the virtual space, it allows the user to operate the construction machinery 60 in the virtual space and experience an operating feel close to that of the actual machine, thereby, for example, promoting the user's proficiency in operating the remote operating device. Similarly, the computer 20 may also include a component constituting part of the remote operating device. In this case, the computer 20 exchanges signals with the actual machine, which is the object of the remote operation, via communication. Specifically, the computer 20 sends a work instruction signal, a signal used to move the actual machine, to the actual machine based on the operating signal input from the input unit 11. Additionally, the computer 20 receives signals output by sensors mounted on the actual machine, such as image data from a camera mounted on the actual machine and sound data from a microphone mounted on the actual machine, via the communication method. The output unit 40 may also include means for outputting information from the remote operating device. For example, if the display unit 41 is a monitor for the remote operating device, it may display image data acquired by a camera mounted on the device. For example, if the sound output unit 43 is a speaker for the remote operating device, it may output sound data acquired by a microphone mounted on the device.

[0043] When the construction machinery 60 in the virtual space can be operated (specifically, having the operator operation mode described later), and the output unit 40 includes a device for output from the remote operation device, the user can perform operations related to the construction machinery 60 in the virtual space while perceiving the same information (seen, heard) as when remotely operating the actual machine, i.e., the output (display, sound) from the output unit 40. Furthermore, in this case, the output unit 40 can also be used as a device for output from the remote operation device. This eliminates the need to prepare a different device (monitor, etc.) as the output unit 40 of the work site simulation system 1 than the device for output from the remote operation device. Additionally, when the construction machinery 60 in the virtual space can be operated by the work site simulation system 1 (i.e., having the operator operation mode described later), and both the input unit 11 and the output unit 40 can be used for remotely operating the actual machine, the user experience is closer to that of operating the actual machine compared to when only one of the input unit 11 and the output unit 40 is used.

[0044] like Figure 4 As shown, the computer 20 sets up the work site S and the plurality of objects 50 in the virtual space.

[0045] The work site S is the location where the construction machinery 60 performs operations or other actions within the virtual space. In principle, the following description refers to phenomena occurring within the virtual space. For example, in principle, the actions of the construction machinery 60 refer to the actions of the construction machinery 60 within the virtual space.

[0046] The plurality of objects 50 are objects from the actual work site that have been simulated, i.e., modeled. The objects 50 are three-dimensional models. Figure 4 The plurality of objects 50 illustrated include land 51, work objects 53, objects inside containers 55, construction machinery 60, and vehicles 90.

[0047] The land 51 is the land of the work site S. Figure 8 The illustrated land 51 includes flat land, sloping surfaces, uneven surfaces, etc. The land 51 includes ground surface 51g, which is the surface of the land 51.

[0048] The work object 53 is the object to be worked on by the engineering machinery 60. The work object 53 can also be... Figure 4 The example includes any of the following: sand 53s, rock, magnets such as metals that can be attracted by a magnet, resin, waste, timber such as logs, concrete blocks, and other structures. The sand 53s comprises at least one of soil, sand, and gravel. The shape of the work object 53 can be varied. The work object 53 can be a work object composed of surfaces having height-related information, or it can simulate the sand 53s that constitute the ground 51g. The work object 53 can also be a work object with a cuboid or approximately cuboid shape, for example, simulating an object that can be attracted by a magnet, or a work object simulating a structure such as a concrete block. Alternatively, the work object 53 can also be a work object with a cylindrical or approximately cylindrical shape, for example, simulating a log, or a work object simulating a pillar.

[0049] The object 55 inside the container is the object 50 that is placed into the container. Examples of the container include... Figure 4 The bucket 65d of the engineering machinery 60 and the loading platform 91 of the vehicle 90 are shown. Figure 4 In the example shown, the object 55 inside the container is the work object 53. The object 55 inside the container can also be an object other than the work object 53.

[0050] The construction machinery 60 is machinery used for operations. The construction machinery 60 can be construction machinery used for construction operations, or loading and unloading machinery used for loading and unloading operations. Examples of the construction machinery 60 include excavators, cranes, bulldozers, and loaders.

[0051] The engineering machinery 60 includes a main body 60a and multiple operating devices.

[0052] The mechanical body 60a is the main body of the engineering machinery 60. The mechanical body 60a includes the lower body 61 and the upper rotating body 63.

[0053] The lower main body 61 supports the upper rotating body 63 on the lower side of the upper rotating body 63. Figure 4 The illustrated lower body 61 is a lower walking body capable of walking on a walking surface (e.g., ground 51g). However, the lower body 61 may not necessarily be capable of walking.

[0054] The lower main body 61 includes Figure 17 The lower frame 61a and the pair of left and right walking parts 61b are shown.

[0055] The lower frame 61a is a frame (structure) that supports the pair of walking parts 61b. Each pair of walking parts 61b includes a portion that moves relative to the lower frame 61a; specifically, it includes a portion that performs walking motions. The pair of walking parts 61b can be either tracks or multiple wheels. The pair of walking parts 61b are respectively positioned on both sides of the lower main body 61 in the width direction, i.e., the left-right direction.

[0056] The upper slewing body 63 is rotatably mounted on the lower body 61 relative to the lower body 61. The upper slewing body 63 includes a slewing frame (not shown) and a cab 63c disposed on the slewing frame.

[0057] The engineering machinery 60 has a vertical direction Z, a front-rear direction X, a lateral direction Y, and a rotation direction R. The vertical direction Z is the direction extending from the central axis (rotation axis) of the rotational action of the upper rotating body 63 relative to the lower main body 61. The vertical direction Z includes a direction from the lower main body 61 toward the upper rotating body 63 (vertical direction Z1) and a direction downwards (vertical direction Z2) opposite to the vertical direction Z1. The front-rear direction X of the upper rotating body is orthogonal to the vertical direction Z and is the direction in which the auxiliary device 65 operates relative to the upper rotating body 63. The front-rear direction X of the upper rotating body includes a forward direction X1 (facing the cab 63c) and a rearward direction X2 (opposite to the forward direction X1). The lateral direction Y of the upper rotating body is orthogonal to both the vertical direction Z of the machine and the front-back direction X of the upper rotating body, and is the direction in which the central axis of rotation of the auxiliary device 65 (described later) extends. The rotation direction R is the direction of the rotation of the upper rotating body 63 relative to the lower main body 61. The bottom surface of the engineering machinery 60 may also be inclined relative to the horizontal direction in the virtual space. Therefore, the front-back direction X and the lateral direction Y of the upper rotating body may not be consistent with the horizontal direction in the virtual space, and the vertical direction Z of the machine may not be consistent with the vertical direction in the virtual space. However, the following explanation is based on the premise that the vertical direction Z of the machine is consistent with the vertical direction in the virtual space.

[0058] The cab 63c is the operator-operated part of a real engineering machine. The cab 63c can be a cab fixed to the slewing frame of the upper slewing body 63, or it can be a movable cab capable of relative movement relative to the slewing frame. This relative movement includes, for example, at least one of parallel movement along the vertical direction Z of the machine and rotation in the vertical direction Z of the machine. Specifically, if the cab 63c is a movable cab, it can also be a lift-type cab, a linkage-type cab, or a tilt-type cab. If it is a lift-type cab, the cab 63c can move relative to the slewing frame of the upper slewing body 63 in the vertical direction Z of the machine. In the case of the linkage-type cockpit, the cockpit 63c is connected to the slewing frame of the upper slewing body 63 via a linkage mechanism that allows the cockpit 63c to move relative to the slewing frame in the mechanical vertical direction Z and the mechanical front-rear direction X of the upper slewing body, respectively. In the case of the tilting cockpit, the cockpit 63c can rotate, i.e., tilt, relative to the slewing frame of the upper slewing body 63 about a rotation axis extending in the mechanical vertical direction Z of the upper slewing body.

[0059] The plurality of working devices include a bulldozer blade 64 and the auxiliary device 65. Each working device performs a working action for a specific task on the work object 53 (e.g., moving the work object 53).

[0060] Specifically, the bulldozer blade 64 includes a plate-shaped member (e.g., a soil-discharging plate) extending in the width direction of the lower body 61 and in the vertical Z direction of the machine, and as... Figure 17 As shown, it is mounted on the lower frame 61a. The bulldozer blade 64 can also be mounted on the lower frame 61a in a way that allows it to move relative to the lower frame 61a in the vertical Z direction of the machine.

[0061] The auxiliary device 65 is mounted on the upper rotating body 63 and rotates together with the upper rotating body 63. Figure 4The illustrated auxiliary device 65 includes a boom 65a, a stick 65b, and a distal auxiliary device 65c. The boom 65a is rotatably connected to the upper rotating body 63 relative to it, i.e., rotatably in the vertical direction Z. The stick 65b is rotatably connected to the boom 65a relative to it in the vertical direction Z. The distal auxiliary device 65c is rotatably connected to the stick 65b relative to it in the vertical direction Z. The distal auxiliary device 65c constitutes the distal end of the auxiliary device 65. The distal auxiliary device 65c is capable of capturing (holding) and releasing the work object 53. Figure 4 The illustrated distal attachment 65c is the bucket 65d. Alternatively, the distal attachment 65c may be any of the following: a magnet that uses magnetic force to attract the workpiece 53, a device for clamping the workpiece 53 (grab bucket, shear, rotary fork, etc.), or a device for crushing the workpiece 53 (cylinder, etc.). The device for clamping the workpiece 53 (e.g., rotary fork) has a stick connection portion connected to the stick 65b and a clamping portion that clamps the workpiece 53. The clamping portion rotates relative to the stick connection portion, thereby allowing the clamping portion to easily change the direction in which it clamps the workpiece 53, i.e., the opening and closing direction. The opening and closing direction can, for example, be changed to either the forward / backward direction X of the upper rotating body or the lateral direction Y of the upper rotating body.

[0062] The bucket 65d has a shape that functions as a container for holding (accommodating) the work object 53, and is capable of performing operations such as digging up the work object 53 and excavating the work object 53.

[0063] Specifically, such as Figure 17 As shown, the bucket 65d has a bucket opening surface 65e and a bucket distal end back surface 65f. The bucket opening surface 65e is a surface that includes an opening formed by the bucket 65d through which the work object 53 is discharged from the bucket 65d and through which the work object 53 enters the bucket 65d. The bucket distal end back surface 65f constitutes the distal side portion of the bucket 65d, that is, the portion opposite to the distal end of the stick 65b, and is, for example, planar.

[0064] The construction machinery 60 is configured to operate within the virtual space. Examples of these operations include the walking motion of the lower body 61, the rotational motion of the upper rotating body 63, and the actions of the working device, such as the changing posture of the auxiliary device 65. The construction machinery 60 may operate based on information pre-stored in the computer 20, or it may operate based on manual operations performed by the user, for example, in an operator operation mode described later. Multiple construction machinery 60s may also be configured within the virtual space, and the construction machinery 60 selected from these multiple construction machinery 60s may be chosen as the object of manual operation by the user.

[0065] The vehicle 90 includes a loading platform 91 that functions as a container, and a vehicle body 90a that supports the loading platform 91. Figure 4 As shown, the vehicle 90 is a transport vehicle, such as a dump truck, capable of transporting the contents (e.g., the work object 53) contained in the loading platform 91.

[0066] exist Figure 4 In the example shown, the platform 91, which functions as the container, is box-shaped and opens upwards. Specifically, the platform 91 includes a platform bottom 91a and a platform enclosure 91c. The platform bottom 91a is the bottom (base surface) of the platform 91. The platform enclosure 91c protrudes upwards from the periphery of the platform bottom 91a in a manner that surrounds the space above the platform bottom 91a.

[0067] The specifications of the container, represented by the loading dock 91, such as at least a portion of the location, size, and shape of the loading dock 91, can be set in various ways. For example, information about the loading dock 91 can be pre-stored in the computer 20, or it can be set based on information related to the specifications of the vehicle 90 pre-stored in the computer 20. Alternatively, information about the loading dock 91 can also be set based on manual operations performed by the user, specifically, based on... Figure 1 The input unit 11 shown can be arbitrarily set according to the operation applied, and the pre-stored information can also be changed according to the manual operation. Alternatively, the information of the platform 91 can also be set based on the values ​​(indicating position, size, etc.) input to the computer 20. The selection area A13, which is set based on these values ​​as described below, is the same. For example, the information about the platform 91 can be set based on values ​​indicating the coordinates of the vertices of the platform 91's shape when viewed from above, such as the coordinates of the four corners of the platform bottom 91a, or based on values ​​indicating the height of the platform enclosure 91c. The information about the platform 91 can also be set based on... Figure 5The area change unit G5, which is described later, or the same part as the area change unit G5, is set or changed by the operation performed on it.

[0068] The plurality of objects 50 are not limited to the objects themselves. For example, the plurality of objects 50 may include containers different from the platform 91 and the bucket 65d, such as containers placed on the ground 51g, or pits dug on the ground 51g to accommodate the work object 53, such as sand pits. Additionally, the plurality of objects 50 may include obstacles such as buildings, or equipment placed at the work site S, such as traffic cones or barriers. The plurality of objects 50 may also include water. Specifically, the plurality of objects 50 may include puddles on the ground 51g, or water accumulated in containers. Alternatively, only a single object 50 may be placed at the work site S.

[0069] The work site simulation system 1 described in this embodiment has an operator operation mode (operator mode) that allows a user to operate the construction machinery 60. The operator operation mode simulates the operation of real construction machinery. In this mode, the computer 20, based on manual operations applied by the user to the input unit 11, causes the construction machinery 60 to perform actions such as movement and posture changes. Specifically, at least a portion of the lower body 61, upper slewing body 63, boom 65a, stick 65b, and distal auxiliary device 65c of the construction machinery 60 are operated manually by the user. Figure 17 When the bulldozer blade 64 shown is included in the construction machinery 60, the bulldozer blade 64 can also be operated manually by the user.

[0070] In the operator operation mode, the operation can also be adjusted according to the actions of the construction machinery 60, such as actions performed during operation. Figure 4 The state changes of the work site S are shown. In this embodiment, as described below, the land 51 is deformed and the work object 53 is moved according to the operation of the construction machinery 60.

[0071] The work site simulation system 1 may also have modes other than the operator operation mode. For example, the work site simulation system 1 may also have a mode for planning operations in the work site S, i.e., a construction planning mode. With such multiple modes, the computer 20 can also... Figure 5 and Figure 10 The mode change unit G1 is displayed on the display unit 41. The mode change unit G1, displayed by the display unit 41, is a GUI that allows the user to specify the desired mode from among the plurality of modes. In this embodiment, Figure 5 The mode change unit G1 shown is used to enable the mode to be changed by the operation applied through the mode change unit G1. Figure 10 The operator operation mode (operator mode) shown is displayed as described. Figure 10 The mode change unit G1 shown is designed to change the mode to a different state through operations performed on it. Figure 5 The construction plan mode shown is displayed.

[0072] The display unit 41 can also display images from various viewpoints. For example... Figure 10 As illustrated, in the operator operation mode, the computer 20 instructs the display unit 41 to display an image seen from a viewpoint inside the driver's cab 63c. Additionally, in Figure 5 In the illustrated construction plan mode, the computer 20 instructs the display unit 41 to display images from a viewpoint outside the construction machinery 60, specifically, an image overlooking the work site S. However, the viewpoint can be set in various ways. For example, the display unit 41 may display only an image from a single viewpoint, or it may display multiple images from multiple viewpoints simultaneously.

[0073] Specifically, the model conversion processing unit 21 of the computer 20 performs the model conversion processing, that is, converts the field model M11 into the modifiable model M15. Specifically, as described below.

[0074] The computer 20 in Figure 4 In the simulation of the work site S shown, at least one of the following processes—deformation, movement, addition, and deletion—of the plurality of objects 50, such as the work object 53, is performed: a change process. Although this change process increases the computational load on the computer 20, the work site simulation system 1 can alleviate the computational load on the computer 20 caused by the change process. Specifically, the computer 20 performs, as follows: Figure 3 The process is shown in the flowchart.

[0075] First, the computer 20, specifically the model conversion processing unit 21, obtains as follows: Figure 5 The site model M11 shown is the shape information of the work site S. Figure 3 (See step S11). Next, the computer 20 sets a portion of the site model M11 as the selected area A13 (step S13). Then, the computer 20 converts the site model M11 into a different area within the selected area A13. Figure 8The modifiable model M15 is shown (step S15). The computer 20 performs change processing on the modifiable model M15. On the other hand, compared to the change processing allowed to be performed on the modifiable model M15, the change processing performed on the field model M11 is restricted. This can suppress the increase in the computational load of the computer 20 caused by the change processing, thereby enabling the computer 20 to perform calculations using a computational method that can perform calculations at high speed. The details of the model conversion process will be described below.

[0076] The site model M11 obtained in step S11, as described above, is the shape information of the work site S, and in this embodiment, it includes three-dimensional shape information. Specifically, the site model M11 includes... Figure 7 The diagram shows multiple polygonal faces PG. Each polygonal face PG has multiple vertices Vpg, but these vertices Vpg are not regular but irregularly arranged; that is, they are set in various positions. The site model M11 may also contain information about the actual work site. For example, the site model M11 may contain information obtained by performing a 3D (3-dimensional) scan of the actual work site, or it may contain shape information appropriately converted from a 2D image of the actual work site. Alternatively, the site model M11 may also contain information about a virtual work site S, such as design information.

[0077] The site model M11 includes Figure 4 The plurality of objects 50 shown. That is, the site model M11 involved in this embodiment includes at least a portion of the land 51, the work object 53 (e.g., sand 53s, etc.), the construction machinery 60, and the vehicle 90. The site model M11 may also include color-related information, such as information related to the color of the sand 53s, etc.

[0078] exist Figure 3 In step S13 shown, the selection area A13 set by the computer 20, specifically by the selection area setting unit 21a, as described above, is converted from the site model M11. Figure 8 The area shown in the modifiable model M15 is the conversion area. The selection area A13 can be a part of the area of ​​the site model M11, or it can be the entire area. Alternatively, multiple selection areas A13 can be set within the site model M11. The multiple selection areas A13 can include overlapping areas or only include separate areas.

[0079] The selected area A13 is set to overlap with the site model M11. The selected area A13 can also be set to overlap with the three-dimensional site model M11 in three dimensions. The selected area A13 can also be set to overlap with the site model M11 in two dimensions when viewed from above in the virtual space, that is, when viewed from above in the virtual space.

[0080] The selection area A13 can also have various shapes. For example, the selection area A13 can be any shape among cuboid (a cuboid model for specifying a range, a region cuboid), prism, cylinder, and polygonal prism. The shape of the selection area A13 when viewed from above in the virtual space, i.e., its planar shape, is also not limited. The planar shape can also be any shape among polygons such as rectangles, rhombuses, trapezoids, quadrilaterals, circles, and ellipses.

[0081] The shape of the selection area A13 can also be changed. The selection area shape includes at least one parameter among the parameters of the position, shape, and size of the selection area A13. For example, the position of the selection area A13 can be changed by parallel movement of the selection area A13, or by rotation of the selection area A13.

[0082] The selection area A13 can be arbitrarily set according to manual operation performed by the user on the input unit 11, and can also be changed according to the manual operation. The initial value of the parameter of the selection area A13 can also be set. In the above embodiment, the selection area A13 is automatically set by the computer 20. Specific examples are described below.

[0083] Example 1: The selection area A13 can also be set based on the location of the construction machinery 60. This allows the selection area A13 to be set at an appropriate location corresponding to the location of the construction machinery 60, thereby allowing the appropriate area corresponding to the location of the construction machinery 60 to be converted from the site model M11 to the modifiable model M15. In Example 1, the construction machinery 60 is set (configured) at the work site S before the selection area A13 is set (determined). For example, the construction machinery 60 is set (configured) at the work site S after the site model M11 is set and before the selection area A13 is set (determined). The selection area A13 can also be set to include part or all of the construction machinery 60. The computer 20 automatically sets the selection area A13 based on the location of the construction machinery 60. This reduces the time required for the user to set the selection area A13.

[0084] Unlike Example 1, where the selection area A13 is not set based on the position of the construction machinery 60, the timing of setting the construction machinery 60 in the work site S is independent of whether the selection area A13 is set before or after setting it. Alternatively, when the selection area A13 is set based on the position of the construction machinery 60, it can be temporarily set (temporarily determined) before setting the construction machinery 60, and then, after setting the construction machinery 60, the temporarily determined selection area A13 can be finally determined based on the position of the construction machinery 60. For example, the temporarily determined selection area A13 can also be changed to a different final selection area A13.

[0085] Specifically, the selection area A13 can be set based on the range of motion that the construction machinery 60 can perform. That is, the computer 20 can automatically set the selection area A13 based on the range of motion that the construction machinery 60 can perform.

[0086] For example, the selection area A13 can be set based on the range within which the construction machinery 60 can operate without moving. Specifically, the selection area A13 can be set based on the range reachable by the distal auxiliary device 65c, i.e., the auxiliary device's operating range. More specifically, the auxiliary device's operating range is the range that the distal auxiliary device 65c can reach by the rotation of the upper rotating body 63 and the posture change of the auxiliary device 65 when the lower main body 61 is not moving. As an example of setting the selection area A13 based on the operable range, the selection area A13 can be set based on the maximum turning radius. The maximum turning radius is the distance from the rotation center axis to the distal end of the distal auxiliary device 65c when the distal auxiliary device 65c is in a position that is maximally away from the rotation center axis of the upper rotating body 63. As an example of setting the selection area A13 based on the operable range, the selection area A13 can be set based on the range within which the distal auxiliary device 65c can move in the vertical direction Z of the machinery.

[0087] If the travel range of the engineering machinery 60 has been defined, the selection area A13 can also be set based on the travel range.

[0088] The selection area A13 can also be set based on both the walkable range and the workable range. Additionally, the selection area A13 can be set to move in accordance with the position of the construction machinery 60 as it moves. That is, the selection area A13 can also be updated as the construction machinery 60 moves.

[0089] Example 2: The selected region A13 can also be based on Figure 4 The position of the vehicle 90 shown is set. This allows the selection area A13 to be set at an appropriate location corresponding to the position of the vehicle 90, thereby enabling the site model M11 to be converted into the modifiable model M15 within an appropriate range. In Example 2, the vehicle 90 is set (configured) at the work site S before the selection area A13 is set. For example, the selection area A13 can be set to include the vehicle 90. The computer 20 can also automatically set the selection area A13 based on the position of the vehicle 90. This reduces the time required for the user to set the selection area A13.

[0090] In Example 2, the selection area A13 may also be set to include at least a portion of the loading dock 91 of the vehicle 90, such as the interior of the loading dock 91.

[0091] Example 3: When both the construction machinery 60 and the vehicle 90 are present at the work site S, the selection area A13 can also be set based on the respective positions of the construction machinery 60 and the vehicle 90. For example, the selection area A13 can also be set to include both the construction machinery 60 and the vehicle 90.

[0092] Example 4: The computer 20 can also set the selection area A13 based on the values ​​input to the computer 20. This allows for precise setting of parameters such as the position and size of the selection area A13 according to specific values. The setting involved in Example 4 is particularly effective in situations where the specific values ​​for setting the position of the selection area A13 (e.g., design position) or the size of the selection area A13 (e.g., design dimensions) have been predetermined. Such situations include, for example, accommodating... Figure 4 The container of the work object 53 shown is a pit (e.g., a sand pit) dug in the ground 51g, and the specific values ​​indicating the location or size of the pit have been predetermined. Based on these values, the selection area A13 is set, which allows for precise determination of whether it will be converted into the modifiable model M15 (see reference). Figure 8 (area).

[0093] For example, the selection area A13 can also be set based on a positional specification value that specifies the location of the selection area A13. The positional specification value can also include the coordinates of the selection area A13 in an appropriate coordinate system. The coordinates can be the coordinates of the centroid of the selection area A13, or they can be... Figure 6A A specific location on the outer edge of the selected area A13 shown (in) Figure 6A The coordinates of the selected area A13 (where A13 is the angle of the selected area). The specified position value may also include the rotation angle of the selected area A13 relative to a predetermined reference direction, such as the direction of the construction machinery 60.

[0094] The value used to set the selection area A13 can also be a specified value that specifies the size (dimension) of the selection area A13. For example, if the selection area A13 has a cuboid shape, the specified size value can also be the height, width, and depth of the cuboid. If the selection area A13 has a cylindrical shape, the specified size value can also be the radius and height of the cylinder.

[0095] The value used to set the selection area A13 can also be manually input into the computer 20 by the user's operation on the input unit 11. This allows the user to arbitrarily set the value of the parameter of the selection area A13. For example, the computer 20 can also cause the display unit 41 to display... Figure 5 The parameter input section G3 is shown. The parameter input section G3 is a GUI that allows the user to manually input the numerical values ​​of the parameters in the selection area A13. Values ​​are input to the parameter input section G3 via the input section 11.

[0096] The value used to set the selection area A13 can also be a value pre-stored by the computer 20, such as the design location or the design size.

[0097] Example 5: The selected region A13 can also be based on Figure 5 The operation performed by the illustrated area change unit G5 is set.

[0098] The region changing unit G5 is displayed so that the user can change the selection region form of the selection region A13, that is, at least one of the position, shape, and size of the selection region A13. The region changing unit G5 is displayed in the GUI of the display unit 41. The computer 20 changes the selection region form according to the operation performed by the user on the region changing unit G5. Figure 5 The illustrated region change unit G5 includes a plurality of coordinate axes (in) Figure 5The image contains three axes: X, Y, and Z. These axes can be coordinate axes based on the work site S or on the engineering machinery 60, for example, axes corresponding to the forward / backward direction (X) of the upper rotating body, the lateral direction (Y) of the upper rotating body, and the vertical direction (Z) of the machinery. When the selected area A13 is rotated, the area changing unit G5 may include an image showing the central axis of rotation, or an image showing the direction of rotation. The central axis of rotation can be any one of the multiple coordinate axes, or an axis different from that axis. For example, by... Figure 5 An operation (e.g., a dragging operation) is applied to the image of any coordinate axis of the region changing unit G5, and the parameters of the selected region A13 are changed according to this operation. Ideally, the region changing unit G5 is as follows: Figure 5 As shown, it is displayed at an appropriate position within the selection area A13, such as the center position. The operation applied by the area changing unit G5 can also be used to change an area different from the selection area A13, for example... Figure 9 The operation of adding area A23 or deleting area A25 of the object shown.

[0099] exist Figure 5 In the example shown, in addition to the area changing unit G5, the display unit 41 also displays a change object selection unit G7. The change object selection unit G7 is displayed so that the user can select parameters (e.g., position, shape, and size) of the object to be changed by the area changing unit G5. The change object selection unit G7 is a GUI displayed by the display unit 41. The computer 20 determines the object to be changed by the area changing unit G5 based on the operation performed by the user on the change object selection unit G7.

[0100] The selection area A13 can also be set using various combinations of the above examples. Alternatively, the selection area A13 can be set using methods different from the examples described above.

[0101] The manual operation performed to set the selection area A13 can be any of the following: numerical input, drag operation, click operation, touch operation, and key operation other than numerical input (cursor key operation, etc.), or a combination of multiple operations.

[0102] The computer 20 can also automatically set the selection area A13 based on objects 50 other than the construction machinery 60 and the vehicle 90, such as land 51, work objects 53, and obstacles. The selection area A13 automatically set by the computer 20 can be directly determined as the final selection area A13, or it can be changed (adjusted) through manual operation, etc.

[0103] The computer 20 can also be associated Figure 5 The selection area A13 and object 50 are shown. For example, the computer 20 can also move the selection area A13 as the object 50 associated with the selection area A13 moves among the plurality of objects 50. For example, the position of the selection area A13 can be represented by coordinates based on the position of the object 50 associated with the selection area A13. For example, when the computer 20 automatically sets the selection area A13 based on the position of the object 50 selected from the plurality of objects 50, it can also associate the selection area A13 with the selected object 50, or it can associate the selection area A13 with objects 50 unrelated to its setting.

[0104] As described above, the computer 20, specifically the modifiable model generation unit 21c, converts the site model M11 into a modifiable model within the selected area A13. Figure 8 The modifiable model M15 shown is Figure 3 Step S15 (as shown) is used to generate the modifiable model M15. Specifically, the computer 20 generates the modifiable model M15 by converting the site model M11 into objects 50 in the modifiable model M15.

[0105] When the selection area A13 is set after the modifiable model M15 is generated, for example, when a new selection area A13 is set or an existing selection area A13 is changed, the computer 20 can, while maintaining the generated modifiable model M15, convert the field model M11 into the modifiable model M15 in the newly set selection area A13 (i.e., add a new modifiable model M15), or it can delete the generated modifiable model M15 and convert the field model M11 into the modifiable model M15 in the newly set selection area A13 (i.e., update the modifiable model M15). For example, the user can also manually select whether to add or update the modifiable model M15. That is, the computer 20 can also decide to add or update the modifiable model M15 based on the manual operation.

[0106] After generating the modifiable model M15, if the selected area A13 moves with the movement of the construction machinery 60 as in Example 4 above, the computer 20 can also convert (e.g., update) the site model M11 into the modifiable model M15 in the selected area A13 after it has moved as described above.

[0107] The modifiable model M15 is shape information that can be modified by the computer 20. The modifiable model M15 contains three-dimensional shape information. Ideally, the shape of the modifiable model M15 is simpler than the shape of the field model M11. Figure 6A The illustrated modifiable model M15 contains information including multiple rectangles divided horizontally and vertically, i.e., the multiple meshes MS, and as shown below... Figure 6B The diagram shows a combination of multiple height information given to the multiple grid MS respectively.

[0108] The modifiable model M15 may include Figure 4 The land 51 shown may also include the work object 53. For example, the modifiable model M15 may include sand 53s (sand model), or it may include work objects 53 other than sand 53s. The modifiable model M15 may also include the object 55 inside the container. The construction machinery 60 and the vehicle 90 are not included in the modifiable model M15 converted from the site model M11.

[0109] The modifiable model M15 can be generated by various methods, that is, it can be converted from the field model M11. Specific examples of these methods are described below.

[0110] Specifically, the computer 20, the scene model removal unit 21b, from... Figure 6A The scene model M11 shown is removed, meaning the portion within the selected area A13 is deleted. Specifically, the computer 20 obtains the following: Figure 7 The information of all vertices Vpg of polygon faces PG that exist within the selected region A13 is included in the vertices Vpg of the plurality of polygon faces PG in the scene model M11, and all polygon faces PG containing such obtained vertices Vpg are deleted. Figure 7 In the middle, delete the polygonal face PG with the shadow line. Thus, delete the polygonal face PG in the area that is one size larger than the selected area A13. Figure 7 The vertices Vpg of the polygonal face PG contained in the illustrated scene model M11 are not regular but are arranged irregularly. Therefore, when viewed from above, the periphery of the area removed from the scene model M11 may appear as an irregular shape, such as a jagged line. Alternatively, the computer 20 may not remove the portion of the scene model M11 corresponding to the selected region A13, but instead retain that portion and generate a new one. Figure 6A The modifiable model M15 shown is illustrated.

[0111] Specifically, the computer 20, specifically the modifiable model generation unit 21c, generates the modifiable model M15 within the selected area A13. The plurality of rectangular meshes MS contained in the modifiable model M15 are, for example, squares. The size of one side of each mesh MS, i.e., the mesh size, is a predetermined size (e.g., 100 mm) pre-stored in the computer 20. All meshes MS have the same size as each other. That is, the modifiable model M15 is divided at equal intervals. Figure 6A and Figure 6B The image shows only a portion of the multiple mesh MSs.

[0112] The computer 20 sets the height information of each grid MS. Figure 6B Within each grid MS shown, examples of numerical values ​​corresponding to the height information are illustrated. For example, the computer 20 sets the height information of each grid MS based on the height of a specific object 50 among the plurality of objects 50, such as the height of the bottom surface of the construction machinery 60 (e.g., 0). The computer 20 sets (calculates) the initial value of the height information of each grid MS, i.e., the value before performing change processing on the modifiable model M15. For example, the computer 20 calculates the initial value of the height information of a grid MS based on the height information of the site model M11 within the region of a grid MS. Specifically, the computer 20 sets the average height of the vertices Vpg of the polygon face PG of the site model M11 within the region of the grid MS as the initial value of the height information of this grid MS. More specifically, the computer 20 calculates the initial value of the height information of a grid MS according to the following formula.

[0113] [Mathematical Expression 1] h: Initial value of the height information of a grid MS Py,n: Height information of vertices Vpg within a region of a mesh MS. N: The number of vertices Vpg within a region of a grid MS.

[0114] like Figure 5 As shown, when there is a data-deficient portion Mdm in the field model M11, the computer 20 can also generate a new data model at the location of the data-deficient portion Mdm. Figure 8 The modifiable model M15 shown is used to supplement the missing data portion Mdm. That is, the computer 20 can also fill in the missing data portion Mdm.

[0115] In the site model M11, the missing data portion Mdm can be generated, for example, as described below. When the site model M11 is obtained by 3D scanning a real work site, it is possible that the site model M11 is generated even if a portion of the real work site fails to be scanned; this failed scan portion may become the missing data portion Mdm. Furthermore, if the information upon which the site model M11 is based includes information about the terrain and information other than the terrain (e.g., information about the construction machinery 60), and the site model M11 is obtained solely based on the information about the terrain, excluding the information other than the terrain, the excluded information other than the terrain may become the missing data portion Mdm.

[0116] The specific method by which the computer 20 supplements the missing data portion Mdm can be varied. For example, the computer 20 may also generate (supplement) the missing data portion Mdm at its location based on the portion of data already present in the site model M11. Figure 8 The modifiable model M15 is shown. Specifically, the computer 20 can also set based on the height information of the portion surrounding the missing data portion Mdm. Figure 6A and Figure 6B The initial height information of each grid MS in the modifiable model M15 is shown. For example, the computer 20 can also... Figure 5 The average height around the missing data portion Mdm shown is set to the height of the modifiable model M15 that is supplemented to the missing data portion Mdm. Figure 6B The initial height information of the grid (MS) shown.

[0117] The computer 20 is capable of... Figure 8 The change processing is performed on the modifiable model M15 shown. The change processing includes at least one of deformation, movement, addition, and deletion of the model. The computer 20 does not restrict the change processing for the modifiable model M15. Alternatively, the computer 20 makes the restrictions on the change processing for the modifiable model M15 less restrictive than the restrictions on the change processing for the field model M11.

[0118] In other words, compared to the change processing allowed to be performed on the modifiable model M15, the computer 20 restricts the change processing that can be performed on the field model M11. The restriction on change processing for the field model M11 also includes prohibiting all change processing for the field model M11. That is, the computer 20 may perform change processing on the modifiable model M15 without performing any change processing on the field model M11, or it may perform change processing on the modifiable model M15 and only perform change processing on the field model M11 that is restricted compared to the change processing that can be performed on the modifiable model M15. For example, the computer 20 may be able to perform change processing on the entire or a portion of the modifiable model M15 (e.g., ...). Figure 9 When performing change processing on the physical calculation area A17 shown, the change processing is not performed on the entire site model M11. Alternatively, if specific change processing (e.g., deformation and movement) can be performed on the modifiable model M15, only the change processing excluding the specific change processing can be performed on the site model M11.

[0119] Specifically, when the construction machinery 60 comes into contact with an object in the modifiable model M15, the computer 20 executes the modification process, thereby simulating the operation performed by the construction machinery 60. More specifically, when the construction machinery 60 comes into contact with an object in the modifiable model M15, for example, when an operation is performed on that object, the computer 20 performs at least one of the following: movement and deformation of the object. For example, such as... Figure 12 As shown, when the bucket 65d performs the action of digging sand 53s in the modifiable model M15, the computer 20 causes the sand 53s to move or deform in a manner as if the sand 53s had been dug.

[0120] On the other hand, even Figure 8 The construction machinery 60 shown in the diagram contacts an object in the site model M11, but the computer 20 does not cause that object to move or deform. Specifically, the computer 20 processes data in a manner that causes the bucket 65d to pass through the object in the site model M11. This limits the modification processing, preventing the site model M11 from undergoing the movement and deformation modification processing that would occur when the bucket 65d contacts an object in the modifiable model M15. This reduces the computational load on the computer 20.

[0121] The computer 20 displays the modifiable model M15 on the display unit 41. The color of the displayed modifiable model M15 can also be set based on the color information in the field model M11. Specifically, the computer 20 obtains information corresponding to... Figure 6A The computer 20 displays information related to the color of the position of the modifiable model M15 (e.g., the position of each grid MS) in the field model M11, and sets the color of the modifiable model M15 at that position to be the same as, or close to, the color of the field model M11 obtained as described above. That is, the computer 20 reflects the color of the field model M11 in the modifiable model M15.

[0122] Figure 6A The illustrated modifiable model M15 is as follows: Figure 6B The multiple grid MSs, each possessing height information, are shown. The computer 20 can also smoothly connect them. Figure 6B The surface formed by the surfaces of the plurality of meshes MS illustrated is used as the modifiable model M15, and is made as follows: Figure 8 As shown, it is displayed on the display unit 41. For example, the computer 20 may also decide to display... Figure 6A and Figure 6B The curves (e.g., spline curves) that are interconnected by the multiple meshes MS shown will be used as the modifiable model M15 and displayed on the display unit 41.

[0123] As described above, the modifiable model M15 is a model simulating the operation performed by the engineering machinery 60, and its shape information differs from that of the work site S, i.e., the site model M11. Therefore, ideally, the computer 20 should display an image on the display unit 41 that allows the user to perceive the actual position of the modifiable model M15. Furthermore, ideally, the computer 20 should display images on the display unit 41 that allow the user to distinguish between the site model M11 and the modifiable model M15. Specifically, the computer 20 can display the site model M11 and the modifiable model M15 in different colors, or it can display only the outer perimeter (frame) of the modifiable model M15 on the display unit 41. For example, the computer 20 can display (draw) the inner and outer boundary lines of the modifiable model M15 on the display unit 41. For example, although... Figure 7 The gap between the polygonal face PG of the field model M11 (which was deleted as described above) and the outer periphery of the selected area A13 (i.e., the outer periphery of the modifiable model M15) is devoid of data. However, the computer 20 can also set the display of this portion, i.e., the boundary portion between the field model M11 and the modifiable model M15, to be different from the display of both the field model M11 and the modifiable model M15. In this way, Figure 8 The boundary between the modifiable model M15 and the field model M11 shown can also be displayed on the display unit 41.

[0124] As described above, the modifiable model M15 can simulate the operations performed by the construction machinery 60, while the site model M11 cannot perform this simulation. Therefore, ideally, when a pre-defined notification target part of the construction machinery 60 leaves the area of ​​the modifiable model M15, the computer 20 instructs the output unit 40 to output a notification related to the departure, thereby informing the user of the departure. This allows the user to operate the equipment in a way that prevents the notification target part of the construction machinery 60 from leaving the modifiable model M15.

[0125] For example, when the notification target part of the construction machinery 60 is removed from the area of ​​the modifiable model M15 when viewed from above, the computer 20 instructs the output unit 40 to output a notification. The notification output from the output unit 40 can be a notification made via display or a notification made via sound. The notification target part can be the entire construction machinery 60 or a part of the construction machinery 60. The target part may, for example, include any one of the lower body 61, the upper rotating body 63, and the working device.

[0126] The computer 20, for example, can perform calculations to cause the object 50 contained in the modifiable model M15 to move (perform at least one of deformation and movement of the object 50), as part of the modification processing performed on the modifiable model M15. However, if calculations are performed to cause the object 50 to perform physically consistent actions over the entire area of ​​the modifiable model M15, the computational load on the computer 20 may be significantly increased.

[0127] To suppress this increase in computational load, ideally, the computer 20 should be configured as follows: Figure 9 The illustrated physical calculation area A17 is an area where the computer 20 is permitted to perform physical calculations to cause the object 50 in the modifiable model M15 to perform physically conforming actions. That is, the computer 20 is prohibited from performing calculations to cause the object 50 to perform physically conforming actions in areas other than the physical calculation area A17; specifically, calculations to cause the object 50 to perform at least one of physical movement or deformation. Thus, limiting the area where the physical calculations are performed also effectively restricts the modification process.

[0128] Regarding the case where the simulated object 50 in the modifiable model M15 is the sand 53s, a specific example of the physical calculation will be explained. When the sand 53s is placed in an area of ​​the work site S other than the physical calculation area A17, the computer 20 sets the shape of the placed sand 53s to a shape that does not conform to physical phenomena, such as a simple shape like a cuboid. On the other hand, when the sand 53s is placed in the physical calculation area A17, the computer 20 performs calculations to make the placed sand 53s perform actions that conform to physical phenomena. For example, it makes the sand 53s deform due to the upper part of the placed sand 53s moving downwards due to its own weight, for example, deforming into a gentle, roughly conical shape.

[0129] To reduce the computational load, the physical calculation region A17 is set only within a portion of the modifiable model M15, rather than the entire modifiable model M15. Ideally, the physical calculation region A17 is set in areas where the physical calculation is highly necessary. For example, if the area near the construction machinery 60 is expected to have a higher need for physical calculation than the area far from the construction machinery 60, then ideally, the computer 20 sets the physical calculation region A17 based on the location of the construction machinery 60 in the work site S. Specific examples are shown below.

[0130] Example 1: The physical calculation area A17 can be set based on the position of a pre-defined reference part in the construction machinery 60. The reference part can be the entire construction machinery 60 or a part of the construction machinery 60, such as the bucket 65d. The physical calculation area A17 can also be set in the area that overlaps with the reference part of the construction machinery 60 when viewed from above, as well as in the area surrounding the reference part.

[0131] When the reference location is set as an appropriate location of the auxiliary device 65, such as the bucket 65d, the physical calculation area A17 can also be set as the area from the bucket 65d to a position that is a predetermined size away from the outer side of the upper rotating body in the lateral direction Y (e.g., 5m away from the bucket 65d to the left and right respectively), and from the bucket 65d to a position that is a predetermined size away from the outer side of the upper rotating body in the front-rear direction X (e.g., 10m).

[0132] When using a numerical value to set the position of the physical calculation area A17, this value can also be set as the size of the bucket 65d multiplied by a constant coefficient. This value can be, for example, the distance from the bucket 65d to the outer perimeter of the physical calculation area A17 when viewed from above, or the size of the physical calculation area A17 (e.g., the lateral Y-axis dimension of the upper rotating body and the longitudinal X-axis dimension of the upper rotating body). The coefficient can be a value pre-stored in the computer 20, or a value input to the computer 20 through manual operation by the user.

[0133] The physical calculation region A17 can also be set based on the movable range of the auxiliary device 65 in the vertical direction Z of the machine. For example, the lower limit position of the physical calculation region A17, i.e., the lowest position in the vertical direction Z of the machine, can also be set to a position offset downward by a predetermined distance relative to the position of the far end of the distal auxiliary device 65c when it is located at the lowest position in the vertical direction Z of the machine. Similarly, the upper limit position of the physical calculation region A17, i.e., the highest position in the vertical direction Z of the machine, can also be a position offset upward by a predetermined distance relative to the position of the far end of the distal auxiliary device 65c when it is located at the lowest position in the vertical direction Z of the machine.

[0134] The reference location can also be at least one of the pair of walking parts 61b. For example, the physical calculation area A17 can also be set to a position directly below one of the pair of walking parts 61b, or a position around it, such as the position between the pair of walking parts 61b and each other.

[0135] Example 2 of setting a physical calculation area: The physical calculation area A17 can also be set based on a specific location where the engineering machinery 60 performs operations, i.e., a specific work location. The specific work location can also be set to the interior of the container, such as the interior of the loading platform 91, the interior of the bucket 65d, and the interior of the sand pit. Alternatively, the specific work location can also be the location on the ground 51g where the work object 53 is placed, such as the location of a sand pile.

[0136] The shape of the physical calculation region A17 can be set in various ways. For example, the shape of the physical calculation region A17 when viewed from above can be a polygon, such as... Figure 9 The rectangles, rhombuses, trapezoids, and other quadrilaterals shown can also be circles. The physical calculation area A17 can be set in a single location or distributed across multiple locations.

[0137] The computer 20 can also move the physical calculation area A17 according to changes in the conditions of the work site S. For example, when the computer 20 sets the physical calculation area A17 based on the position of the construction machinery 60, it can make the physical calculation area A17 move with the construction machinery 60. If an object 50 within the physical calculation area A17 moves out of the physical calculation area A17, the computer 20 can maintain (preserve) the object 50 within the physical calculation area A17 without causing it to perform a physically correct action.

[0138] When two or more objects contained in the plurality of objects 50 interact with each other ( Figure 3 Step S20 is "Yes", that is, when the plurality of objects 50 includes two or more interacting objects, the computer 20 simulates the behavior of the behavior simulation object (step S21). The behavior simulation object is an object contained within the interacting object whose behavior is simulated by the computer 20. When the plurality of objects 50 includes the interacting object, the computer 20 simulates at least one of the deformation and movement of the behavior of the behavior simulation object contained in the interacting object. Objects 50 in the modifiable model M15 may become the behavior simulation object. Objects that are not objects 50 in the modifiable model M15, specifically, objects 50 in the scene model M11 may also be excluded from the behavior simulation object. When the physical calculation area A17 is set in the modifiable model M15, objects 50 within the physical calculation area A17 may become the behavior simulation object, and objects 50 outside the physical calculation area A17 may be excluded from the behavior simulation object.

[0139] The aforementioned objects 50 may all serve as the objects for the behavior simulation. Specifically, the objects for the behavior simulation may also include any one of the land 51 containing the ground 51g and the work object 53 containing the sand 53s. The objects for the behavior simulation may include any one of the following: objects 50 positioned above the ground 51g, objects 55 inside the container, construction machinery 60, and vehicles 90, and may also include water, etc.

[0140] The interaction may include interactions involving contact between the interacting objects, or non-contact interactions without such contact. The non-contact interactions, as described below, may also be interactions generated by any of magnetic force, electrostatic force, and gravity. Gravity is the attractive force acting between the land 51 (Earth) and an object 50 other than the land 51 (e.g., the work object 53).

[0141] The interaction may also include the interaction between the working device and the work object 53, which becomes the object of the work performed by the working device. The interaction may include the interaction between at least one of the pair of walking parts 61b (e.g., tracks) of the lower body 61 and the ground 51g, and may also include the interaction between the work objects 53 and each other.

[0142] The computer 20 determines (calculates) the behavior of the simulated object based on at least one physical quantity (parameter) of the simulated object. The computer 20 may also determine at least one of the movement and deformation of the simulated object based on the physical quantity of the simulated object.

[0143] When the object simulating the behavior is the work object 53, the physical quantity used to determine the behavior of the work object 53 may include the amount by which the work device moves the work object 53. The physical quantity may also include the relative position of the work object 53 with respect to the work device. The physical quantity may also include the force applied by the work device to the work object 53.

[0144] The behavior of the simulated object, as simulated by the computer 20, can be set in various ways. The processing (calculation) of simulating the behavior performed by the computer 20 is included in the above-described change processing. Examples of the behavior of the object 50 are described below.

[0145] The computer 20 can also simulate the movement of the simulated object caused by the interaction between the interacting objects. For example, the computer 20 can also... Figure 11 As shown, the simulated work object 53, captured by the remote attachment 65c, moves as the remote attachment 65c moves. Alternatively, the computer 20 can also... Figure 14 As shown, the movement (e.g., falling) of the work object 53 is simulated as it is released (e.g., discharged) from the remote attachment 65c.

[0146] The computer 20 can also simulate the deformation of the simulated object caused by the interaction between the interacting objects. For example, the computer 20 can also simulate the deformation of the task object 53 as... Figure 11 The remote accessory 65c shown deforms upon contact with the work object 53.

[0147] Alternatively, the computer 20 may also simulate the deformation of the behavior simulation object as it moves.

[0148] The simulated behavior object can also be particle-shaped. The computer 20 can also simulate the appearance of the particle-shaped simulated behavior object. The computer 20 does not need to calculate the behavior of each of the multiple particles constituting the simulated behavior object. The computer 20 instructs the display unit 41 to display the particle-shaped simulated behavior object, that is, to display particles, so that the user observing the display unit 41 can understand that the simulated behavior object is particle-shaped. The particles can be granules or powder. Figure 14 As shown, the powder can be dust or ash (e.g., dirt).

[0149] The computer 20 can also simulate the behavior of water when another object 50 enters the water, which is an example of the object being simulated. Specifically, the computer 20 can also simulate the appearance of the splashing water when the other object 50 enters the water (e.g., falls into the water).

[0150] The computer 20 can also be as follows Figure 11 As shown, the movement and deformation of sand 53s excavated by the bucket 65d are simulated.

[0151] The computer 20 can also simulate the behavior of sand 53s excavated by the bucket 65d within the bucket 65d. For example, the computer 20 can also simulate the behavior of sand 53s excavated by the bucket 65d and entering the bucket 65d. The computer 20 can also simulate the movement of sand 53s within the bucket 65d as the bucket 65d moves during excavation. For example, the computer 20 can also simulate the movement of sand 53s within the bucket 65d in the same direction as the bucket 65d moves in the same direction as the excavation of sand 53s in the rearward direction X2 of the upper rotating body, i.e., in the gathering direction. The computer 20 can also simulate the movement of sand 53s during or after excavation, such as... Figure 12 The deformation of the sand 53s during the process of being piled into the bucket 65d as shown.

[0152] The computer 20 can also simulate the action of the bucket 65d, such as... Figure 12The behavior of the excavated ground 51g is shown. The computer 20 can also simulate the deformation of the sand 53s of the ground 51g as it is excavated until it reaches a concave shape. The computer 20 can also simulate the movement of the excavated sand 53s of the ground 51g around the excavation location, i.e., the excavation position, made by the bucket 65d.

[0153] The computer 20 can also simulate the behavior of the sand 53s around the excavation position rising higher than the ground surface 51g before excavation. For example, the computer 20 can simulate the behavior of the sand 53s located on the two outer sides (left and right sides) of the upper rotating body in the lateral direction Y and the rear side of the upper rotating body in the longitudinal direction X of the upper rotating body, which are closer to the excavation position than the excavation position, rising higher than the ground surface 51g before excavation, when the bucket 65d excavates in the rear direction X of the upper rotating body. At this time, the computer 20 can simulate the behavior of the sand 53s located on the rear side of the upper rotating body in the longitudinal direction X of the upper rotating body, which is closer to the excavation position than the excavation position, rising the highest.

[0154] The computer 20 can also determine its position based on physical quantities, such as... Figure 11 The physical quantity described illustrates the behavior of sand 53s inside and outside the bucket 65d during excavation. The physical quantity may also include quantities related to the movement of the sand 53s excavated by the bucket 65d, such as distance and velocity. The physical quantity may also include the change in the amount (soil mass) of the sand 53s within the bucket 65d. The physical quantity may also include quantities related to the relative position of the bucket 65d with respect to the sand 53s, such as digging depth and digging angle. The physical quantity may also include the force exerted by the bucket 65d on the sand 53s for excavation, i.e., the digging force. The physical quantity may also include the mass (soil quality) of the sand 53s. Soil quality may also include, for example, moisture content and viscosity.

[0155] The computer 20 can also simulate the behavior of sand 53s as it becomes granular through the excavation process, such as the deformation of sand 53s from blocky to granular. The computer 20 can simulate the particles of the excavated sand 53s, or the powder (e.g., dust) of the sand 53s.

[0156] For example, the computer 20 can simulate the process of sand 53s inside the bucket 65d becoming particles during excavation. The computer 20 can set the sand 53s inside the bucket 65d as particles in its entirety, or it can set only the sand 53s directly above the distal end (claw tip) of the bucket 65d as particles.

[0157] The computer 20 can also simulate the process of sand 53s near the bucket 65d becoming granular during excavation. Specifically, the computer 20 can set the sand 53s on the ground 51g at the excavation location to granular form, or it can set the sand 53s around the excavation location to granular form. The computer 20 can also maintain sand 53s that has been temporarily set to granular form directly as granular.

[0158] The computer 20 can maintain the sand 53s within the bucket 65d in a particle-like state during excavation, and can also maintain the sand 53s outside the bucket 65d and near the bucket 65d in a particle-like state. The computer 20 can, for example, determine whether the bucket 65d is excavating the sand 53s as described below. The computer 20 can also determine that the bucket 65d is excavating when the following condition is met: the distal end (claw tip) of the bucket 65d is located below the ground 51g in the vertical Z direction of the machine, and the bucket 65d is moving, i.e., generating a speed. Conversely, the computer 20 can also determine that the bucket 65d is not excavating if the above condition is not met.

[0159] The computer 20 can also change the display of the particle-shaped sand 53s, i.e., the appearance of the particles, according to physical quantities (conditions). For example, the computer 20 can also determine whether to display the sand 53s as particles based on the physical quantities. The computer 20 can also change at least one of the quantity of the sand 53s displayed as particles, the shape of the particles, and the size of the particles, according to the physical quantities.

[0160] The computer 20 can also change the display of the particle-shaped sand 53s according to the position of the sand 53s. Specifically, the computer 20 can also display the particle-shaped sand 53s in different forms inside and outside the bucket 65d. For example, the computer 20 can also simulate the behavior of the sand 53s inside the bucket 65d becoming particle-shaped and moving while collapsing during excavation. In addition, the computer 20 can also simulate the sand 53s outside the bucket 65d and around the excavation position during excavation (see reference). Figure 12 (This refers to the behavior of becoming particles and accumulating.)

[0161] The computer 20 can also change the display of particulate sand 53s based on the change in the amount of sand 53s in the bucket 65d. Specifically, the greater the change in the amount of soil in the bucket 65d, the more particulate sand 53s the computer 20 displays; the smaller the change in the amount of soil in the bucket 65d, the less particulate sand 53s the computer 20 displays.

[0162] The computer 20 can also change the display of particulate sand 53s based on the relative position of the bucket 65d with respect to the sand 53s. Specifically, the computer 20 can also change the display of particulate sand 53s based on the digging depth of the bucket 65d relative to the sand 53s, for example, the distance from the ground 51g to the far end of the bucket 65d. The computer 20 can also change the display of particulate sand 53s based on the angle of the far end back face 65f of the bucket relative to the sand 53s, i.e., the digging angle (bucket angle). More specifically, the greater the digging depth, and the closer the angle of the far end back face 65f of the bucket relative to the ground 51g is to a right angle, the more particulate sand 53s the computer 20 displays. Conversely, the smaller the digging depth, and / or the smaller the angle of the far end back face f of the bucket relative to the ground 51g, the less particulate sand 53s the computer 20 displays.

[0163] The computer 20 can also change the display of particulate sand 53s based on the force applied by the bucket 65d to the sand 53s, in other words, based on the reaction force borne by the bucket 65d from the sand 53s. For example, the greater the force, the more particulate sand 53s the computer 20 produces, and the smaller the force, the less particulate sand 53s the computer 20 produces.

[0164] The computer 20 can also change the display of the granular sand 53s according to the quality (soil texture) of the sand 53s. As mentioned above, the soil texture may include, for example, water content and viscosity. Specifically, the higher the water content and viscosity of the sand 53s, the larger the particles of the granular sand 53s will be, and conversely, the lower the water content and viscosity of the sand 53s, the smaller the particles of the granular sand 53s will be.

[0165] The computer 20 can also simulate the leveling operation, i.e., the operation of making the sand 53s flat by the remote auxiliary device 65c (specifically, the bucket 65d), in the same way as the excavation of sand 53s by the remote auxiliary device 65c.

[0166] The computer 20 can also be as follows Figure 13 As shown, the simulation depicts the behavior of the work object 53 captured by the distal attachment 65c while the upper rotating body 63 is rotating relative to the lower body 61 (moving in the rotation direction R). As the upper rotating body 63 rotates relative to the lower body 61, the distal attachment 65c rotates relative to the lower body 61, i.e., moves in the rotation direction R.

[0167] The computer 20 can also simulate the movement of the work object 53 captured by the remote attachment 65c as the remote attachment 65c rotates, primarily moving in the air. For example, the computer 20 can also simulate the movement of sand 53s in the bucket 65d as the bucket 65d rotates.

[0168] The computer 20 can also simulate the movement of sand 53s within the bucket 65d due to centrifugal force as the bucket 65d rotates, i.e., the relative movement of the sand 53s within the bucket 65d. For example, the computer 20 can also simulate the sand 53s spilling (falling) from the bucket 65d as it rotates. The computer 20 can also simulate the sand 53s spilling from the bucket 65d deforming into particle form.

[0169] Specifically, the computer 20 can also be as follows: Figure 14 As shown, the movement (fall) and deformation of sand 53s discharged from the bucket 65d are simulated.

[0170] The computer 20 can also simulate the behavior of the sand 53s in the bucket 65d during soil discharge, i.e., when the sand 53s is discharged from the bucket 65d. For example, the computer 20 can also simulate the decrease of the sand 53s in the bucket 65d as the sand 53s moves (falls) from the bucket 65d. The computer 20 can also simulate the emptying of the sand 53s in the bucket 65d during soil discharge, i.e., the bucket 65d becoming empty. The computer 20 can also simulate the sand 53s falling from the bucket 65d during soil discharge, i.e., moving downwards. The computer 20 can also simulate the accumulation of sand 53s at the position where the sand 53s falls from the bucket 65d during soil discharge, i.e., the falling position. The position where the sand 53s accumulates can be, for example, the ground 51g or the platform 91.

[0171] Examples of physical quantities used to determine the behavior of sand 53s during soil discharge include the amount of movement of sand 53s discharged from the bucket 65d, the amount of change in the amount of sand 53s (soil volume) within the bucket 65d, the position of sand 53s within the bucket 65d, and the soil quality.

[0172] The computer 20 can also simulate the behavior of sand 53s falling from the bucket 65d into particle form. The computer 20 can also simulate the behavior of sand 53s falling from the bucket 65d into particle form. If lumpy sand 53s falls from the bucket 65d, it is easy to cause a sense of disharmony for the user, but if particle-shaped sand 53s falls from the bucket 65d, it causes less disharmony for the user. For example, the computer 20 sets the sand 53s directly below and around the bucket 65d during the excavation process to be particle-shaped.

[0173] The computer 20 can also change the display of granular sand 53s according to the position of the sand 53s. Specifically, the computer 20 can simulate granular sand 53s falling to a position directly below the bucket 65d, and on the other hand, simulate the generation of powdery sand 53s (dust) around the granular sand 53s falling directly below the bucket 65d.

[0174] The computer 20 can also change the display of particulate sand 53s based on the change (reduction) in the amount of sand 53s in the bucket 65d. Specifically, the greater the reduction in the amount of sand 53s in the bucket 65d, the more particulate sand 53s the computer 20 displays; conversely, the smaller the reduction in the amount of sand 53s in the bucket 65d, the less particulate sand 53s the computer 20 displays.

[0175] The computer 20 can also be as follows Figure 15 As shown, the simulation depicts the movement and deformation of sand 53s when the bucket 65d digs sand 53s in the rotation direction R. More specifically, the computer 20 can also simulate the behavior of the sand 53s when the upper rotating body 63 and the auxiliary device 65 rotate relative to the lower main body 61, with at least a portion of the bucket 65d buried in the sand 53s, i.e., at a position lower than the ground surface 51g.

[0176] The computer 20 can also simulate the pushing of sand 53s by the side of the bucket 65d (the outer side of the upper rotating body in the lateral direction Y) as it digs in the rotation direction R, and the subsequent movement of the sand 53s in the rotation direction R. The computer 20 can also simulate the behavior where the sand 53s located at the front (rear side of the upper rotating body in the front-rear direction X), the far side (front side of the upper rotating body in the front-rear direction X), and the outer side of the rotation direction R at the digging position rises higher than the ground level 51g of the sand 53s before digging. For example, the computer 20 can simulate the behavior where the sand 53s surrounding the digging position of the bucket 65d rises the highest on the front side of the bucket 65d in the rotation direction R (left side if rotating to the left, right side if rotating to the right).

[0177] The computer 20 can also be as follows Figure 16 As shown, the simulation depicts the movement and deformation of sand 53s when the bucket 65d digs sand 53s in the forward direction X1 of the upper rotating body. More specifically, the computer 20 can also simulate the behavior of the sand 53s when at least a portion of the bucket 65d is buried in the sand 53s, i.e., when at least a portion of the bucket 65d is lower than the ground surface 51g, and when the boom 65b and the bucket 65d move in the forward direction X1 of the upper rotating body, i.e., when they move towards the boom.

[0178] For example, the computer 20 can simulate the movement of sand 53s in the forward direction X1 of the upper rotating body due to the pushing of the bucket's distal back end 65f moving in the direction of the pusher arm. The computer 20 can also simulate the behavior of sand 53s located on the two outer sides (left and right sides) of the upper rotating body in the lateral direction Y and the front side of the upper rotating body in the longitudinal direction X at the digging position, rising higher than the ground level 51g of the sand 53s before digging as the pusher arm moves. For example, the computer 20 can also simulate the behavior of the sand 53s surrounding the digging position, located on the front side of the upper rotating body in the longitudinal direction X, being pushed by the bucket 65d and rising the highest.

[0179] The computer 20 can also simulate... Figure 17 The bulldozer blade 64 is shown performing operations on the object 53. For example, the computer 20 can simulate the behavior of pushing (bullfighting) sand 53s by the bulldozer blade 64. For example, the computer 20 can simulate the behavior of leveling sand 53s flat by the bulldozer blade 64. Specific examples of the behavior of the sand 53s pushed by the bulldozer blade 64 can also be equivalent to or substantially equivalent to the digging of sand 53s by the bucket 65d.

[0180] The computer 20 can also be as follows Figure 16 As shown, the simulation utilizes the traveling parts 61b (e.g., tracks) of the lower body 61 rotating relative to the ground 51g (walking surface) to press against the sand 53s constituting the ground 51g, and the sand 53s deforms accordingly. For example, the computer 20 can simulate the formation of unevenness, i.e., turning marks 51t, on the flat ground 51g before the lower body 61 rotates due to the rotation of the lower body 61. The rotation of the lower body 61 relative to the ground 51g can be, for example, a rotation performed by the movement of the pair of traveling parts 61b in opposite directions, i.e., a turn in place, or a rotation performed by combining the stopping of one of the traveling parts 61b with the movement of the other traveling part 61b, i.e., a unilateral turn. The computer 20 can also simulate the generation of granular sand 53s around the traveling parts 61b due to the rotation of the lower body 61 relative to the ground 51g.

[0181] The computer 20 can also simulate the behavior of the sand 53s constituting the ground 51g as the lower body 61 walks on the ground 51g (walking surface). For example, the computer 20 can simulate the formation of uneven surfaces, i.e., walking marks 51r, on the flat ground 51g before the lower body 61 walks due to the lower body 61 walking. The computer 20 can also simulate the generation of granular sand 53s around the pair of walking parts 61b as the lower body 61 walks on the ground 51g.

[0182] The computer 20 can also simulate the movement of the object 55 inside the container as the container moves. For example, as described above, the computer 20 can simulate the movement of the object 55 (e.g., sand 53s) inside the bucket 65d as the container moves. Figure 13 The bucket 65d moves in tandem with the movement of the sand 53s within the bucket 65d. Similarly, the computer 20 can simulate the movement of the object 55 within the container of the platform 91 in the same manner as the movement of the sand 53s within the bucket 65d. Figure 4 The platform 91 shown moves as it moves.

[0183] The computer 20 can also simulate the movement of objects 55 from the inside to the outside of the container as the container moves, such as spilling or flowing out. The computer 20 can also change the behavior of the objects 55 exiting the container based on the physical quantities of the container and the objects 55 within it. The computer 20 can determine whether the objects 55 exit the container from its interior based on these physical quantities, and can also change the amount of objects 55 exiting the container. For example, the computer 20 can change the behavior of the objects 55 exiting the container based on a comparison between the height (e.g., stacking height) of the objects 55 and the height of the container wall. When the container is the platform 91, an example of the container wall is the platform enclosure 91c; when the container is the bucket 65d, an example of the container wall is the side of the bucket 65d (the outer surface of the upper rotating body in the lateral direction Y). Specifically, the computer 20 can simulate a situation where, if the height of the object 55 inside the container is below the height of the container's walls, the object 55 will remain inside the container regardless of whether the container moves. Conversely, the computer 20 can also simulate a situation where, if the height of the object 55 inside the container exceeds the height of the container's walls, the object 55 will exit the container as the container moves. Furthermore, the computer 20 can also change the manner in which the object 55 exits the container based on the container's moving speed. For example, the greater the container's moving speed, the greater the amount of object 55 exiting the container as the computer 20 causes.

[0184] The remote attachment 65c is not limited to the bucket 65d. The remote attachment 65c can be a magnet that attracts the work object 53, or it can be a device capable of holding the work object 53. The simulated object is not limited to sand 53s. The simulated object can also be a work object 53 other than sand 53s, such as a magnet, waste, or a structure. Specifically, when the remote attachment 65c is a magnet, and the work object 53 is a magnet that can be attracted to the magnet by its magnetic force, the computer 20 can also simulate the behavior of the work object 53 attracted by the magnet. Furthermore, when the remote attachment 65c is a device capable of holding the work object 53, it can also simulate the behavior of the work object 53 held by the remote attachment 65c. Additionally, the simulated object can also be an object 50 other than the work object 53.

[0185] The modifiable model M15 can also be set (configured) in multiple areas. Additionally, the behavior simulation object can also be set (configured) in multiple areas. For example, at least one of the modifiable model M15 and the behavior simulation object can include a ground 51g and an object 50 positioned above the ground 51g. The position above the ground 51g is a position further up in the vertical Z direction of the machine than the ground 51g, and is a suspended position above the ground 51g. In the following description, "modifiable model M15" can also be replaced with the behavior simulation object.

[0186] When the modifiable model M15 includes ground 51g and an object 50 positioned away from ground 51g, the computer 20 can simulate not only operations on ground 51g (e.g., excavation), but also operations at positions away from ground 51g as described below.

[0187] like Figure 12 As shown, the modifiable model M15 may also include the ground 51g and the work object 53 captured by the remote attachment 65c. Thus, the computer 20 can perform modification processing (e.g., movement, deformation) on the work object 53 captured by the remote attachment 65c, simulating the operations (capture, movement, release, etc.) performed by the remote attachment 65c on the work object 53.

[0188] The modifiable model M15 may also include ground 51g and objects 55 inside a container. For example, the modifiable model M15 may also include ground 51g and sand 53s inside the bucket 65d. Thus, the computer 20 can simulate operations (digging, moving, dumping, etc.) performed by the bucket 65d on the sand 53s. Additionally, as... Figure 17 As shown, the modifiable model M15 may also include the ground 51g and the work object 53 within the platform 91. Therefore, the computer 20 can simulate operations performed on the work object 53 within the platform 91 (e.g., movement and leveling of sand 53s within the platform 91). The modifiable model M15 may also include the ground 51g, such as... Figure 12 The work object 53 is shown in the bucket 65d and the work object 53 in the platform 91. Thus, the computer 20 can simulate the following operation: the work object 53 is captured from the ground 51g by the bucket 65d, the work object 53 is moved to the platform 91, the work object 53 is released onto the platform 91, and the work object 53 is stacked onto the platform 91.

[0189] For example, when the modifiable model M15 includes the ground 51g and the interior of the platform 91, and the bucket 65d discharges sand 53s directly above the platform enclosure 91c (baffle) of the platform 91, the computer 20 simulates, for example, a portion of the sand 53s discharged from the bucket 65d falling onto the ground 51g outside the platform 91, and further simulates the accumulation of the sand 53s falling onto the ground 51g. On the other hand, the computer 20 simulates the remaining portion of the sand 53s discharged from the bucket 65d, i.e., the sand 53s that does not fall onto the ground 51g, falling into the platform 91, and further simulates the accumulation of the sand 53s falling into the platform 91.

[0190] When viewed from above, an object 50 positioned at an elevation of 51g above the ground is positioned within the range of a modifiable model M15 defined in the ground 51g. For example, sand 53s within the bucket 65d positioned at an elevation of 51g above the ground is positioned within the range of the modifiable model M15 of the ground 51g when viewed from above.

[0191] When an object 50 positioned away from the ground 51g has moved out of the range of the modifiable model M15 in the ground 51g, the computer 20 may set the object 50 to a non-modifiable model M15 model, or may instruct the output unit 40 to output (notify) that no modification processing can be performed on the object 50.

[0192] The computer 20 can add new objects 50 to the work site S within the virtual space, and can also delete specific objects 50 from the work site S. Figure 3 The step S23 shown is also possible (the addition or deletion can be performed by inputting instructions into the computer 20). Figure 3 Step S22 is "Yes".

[0193] The computer 20 can also set the state of the object 50 simulated by the changeable model M15 to a predetermined state, i.e., a specified state. The specified state may be accompanied by the addition of a new object 50 to the work site S, or it may be accompanied by the deletion of a specific object 50 from the work site S.

[0194] The computer 20 can also restore the state of a specific object 50 to its initial state, i.e., it can reset it. The specified state can also be the initial state. The initial state can also be the state at the time the changeable model M15 was generated. Figure 8The state shown is when the site model M11 is converted into the changeable model M15. The specified state is not limited to the initial state. The specified state can be determined based on information input by the user through the input unit 11, or it can be a state recorded by the computer 20 at specified input times during the simulation (calculation) of the work site S. The input times can be arbitrarily specified by the user through the input unit 11, or they can be automatically set by the computer 20 (e.g., at specified intervals or when a specified event occurs). The computer 20 can set the state of one object 50 to a specified state, or it can set the states of multiple objects 50 to specified states separately.

[0195] The computer 20 can also set the state of the ground 51g to a predetermined state. The predetermined state of the ground 51g can be, for example, the initial state, or the ground 51g being in a specific shape, such as a planar state.

[0196] The computer 20 can also set the state of the object 55 inside the container to a predetermined state. Examples of the predetermined state of the object 55 inside the container include the initial state, the state that the container is empty (i.e., there is no object 55 inside the container), and the state that the container contains a specific amount of object 55. The specific amount can be a amount pre-stored by the computer 20, or it can be a amount determined by the computer 20 based on information input to the computer 20 through the input unit 11 (e.g., a amount manually set by the user).

[0197] The computer 20 sets the object 50 to the predetermined state according to a command (instruction) for setting the object 50 to the predetermined state. For example, the computer 20 may also cause the display unit 41 to display a part that can be operated by an instruction to set the object 50 to the predetermined state, namely an operation unit (e.g., a button or other GUI). In this case, the computer 20 sets the object 50 to the predetermined state based on the instruction operation applied to the operation unit.

[0198] In this way, the computer 20 can repeatedly simulate the same situation by setting the state of the object 50 to the predetermined state.

[0199] For example, in Figure 1When the work site simulation system 1 shown is used as an operation simulation device (e.g., a practice device) to simulate the operation of real-world construction machinery, setting the state of the object 50 to the predetermined state allows the user to easily practice the same operation repeatedly. For example, it eliminates the need for the user to operate the construction machinery 60 to set the object 50 to a specific state (e.g., return it to its original position), which would otherwise require considerable effort.

[0200] Specifically, the specified state of the work object 53 is that it has been... Figure 13 When the remote attachment 65c is in the captured state, the following effects may be achieved. For example, when the remote attachment 65c performs a series of operations including capturing the work object 53 (e.g., digging), lifting and rotating (moving to the release position), releasing the work object 53 (e.g., discharging soil), and resetting and rotating (resetting to the captured position), setting the work object 53 to the predetermined state allows the user to easily practice a portion of the series of operations repeatedly (e.g., practicing only capturing, practicing only releasing). More specifically, when the user operates with sand 53s loaded in the bucket 65d, lifting and rotating the bucket 65d and discharging soil from the bucket 65d, the computer 20 sets the sand 53s to the predetermined state of the bucket 65d being loaded with sand 53s. This allows the user to practice the lifting and rotating and discharging operations without performing the resetting and digging operations.

[0201] Furthermore, the specified state of the work object 53 is as follows: Figure 17 In the case of the state within the loading dock 91 shown, the computer 20 can appropriately simulate the state of the work object 53 within the loading dock 91 by setting the work object 53 to the predetermined state. For example, when the construction machinery 60 piles (e.g., dumps soil) the work object 53 onto the loading dock 91 and the work object 53 accumulates in the loading dock 91, the computer 20 sets the work object 53 within the loading dock 91 to the predetermined state that the work object 53 does not exist in the loading dock 91 (the loading dock 91 is empty). Thus, it is possible to simulate the situation where, after the vehicle 90 leaves the work site S, the vehicle 90, which is in an empty state, enters the work site S, and the loading dock 91 of the vehicle 90 becomes empty.

[0202] The computer 20 can also be as follows Figure 9As shown, the computer 20 processes the addition of an object 50 to the work site S. Specifically, the computer 20 can add (input) the work object 53 to the work site S, or it can add objects 50 other than the work object 53. For example, the computer 20 can add an object 50 to the ground 51g, or it can add objects 50 to the ground 51g. Figure 17 Add 50 new objects to the container shown.

[0203] The computer 20 can simulate the situation where the work object 53 is added (introduced) to the work site S by adding (introducing) the work object 53. For example, the computer 20 can simulate the situation where the work object 53 is added by adding objects (e.g., objects moved into the work site S). Figure 17 The computer 20, including the platform 91 and conveyor belt shown, can simulate the situation where the work object 53 is put into the work site S. For example, even if the construction machinery 60 is performing a capture (e.g., digging) operation on the work object 53, and the work object 53 is reduced from the position where the operation is performed, the computer 20 can continuously simulate the operation of the construction machinery 60 on the work object 53 by adding work objects 53 to the work position.

[0204] exist Figure 1 When the work site simulation system 1 shown is used as an operation simulation device (e.g., a practice device) to simulate the operation of real-world construction machinery, adding the work object 53 to the work site S allows the user to practice effectively. For example, the computer 20 allows the user to... Figure 4 The vehicle 90 shown throws sand 53s onto the ground 51g to form a pile of sand 53s, i.e., a sand pile. The engineering machinery 60 is repeatedly practiced to perform operations (e.g., capture, leveling) on ​​the sand pile.

[0205] The processing of the newly added object 50 is performed as follows. The computer 20 is configured in the work site S as follows: Figure 9 The object addition area A23 is shown. The object addition area A23 is the area where an object 50 (e.g., work object 53) is to be added. The computer 20 adds the quantity of objects 50 set by the computer 20 to the object addition area A23 in the work site S. The object addition area A23 is set within the area of ​​the modifiable model M15. Therefore, the computer 20 adds the object 50 to the object addition area A23 within the area of ​​the modifiable model M15.

[0206] Similar to the selection area A13, the position, shape, and size of the object addition area A23 can be set in various ways. The initial state of the object addition area A23 can also be stored in the computer 20. The position, shape, and size of the object addition area A23 can be automatically set by the computer 20 based on the conditions of the work site S (the position of object 50, etc.), or it can be manually set by the user. Specific examples of setting the object addition area A23 are the same as specific examples of setting the selection area A13. The initial value of the input quantity of object 50 in the object addition area A23 can also be set. This input quantity can, for example, be automatically set by the computer 20 based on the conditions of the work site S, or it can be manually set by the user.

[0207] The computer 20 can also delete specific objects 50 from the work site S. The computer 20 can also delete objects 50 from a portion of the modifiable model M15. Specifically, the computer 20 can delete the work object 53 from the work site S, and can also delete objects 50 other than the work object 53. The computer 20 can delete objects 50 from the ground 51g, and can also delete... Figure 17 The object 55 inside the container shown.

[0208] like Figure 14 As shown, when the remote auxiliary device 65c releases (e.g., removes soil) the work object 53 and the work object 53 is added at the release position, the computer 20 can also continuously simulate the work for the work object 53 by deleting the work object 53 from the release position where the work object 53 has increased, as described above.

[0209] The process of deleting the object 50 is performed, for example, as described below. The computer 20 is configured in the work site S as follows: Figure 9The object deletion area A25 is shown. The object deletion area A25 is the area where a specific object 50 (e.g., work object 53) is to be deleted. The object deletion area A25 is the area in the modifiable model M15 where objects 50 are deleted. The computer 20 deletes objects 50 (e.g., work object 53) within the object deletion area A25 in the modifiable model M15. If at least a portion of the object deletion area A25 is contained within the site model M11, the computer 20 may not delete objects 50 located in the site model M11 within the object deletion area A25. The position, shape, and size of the object deletion area A25 can be set in various ways. Specific examples of setting the position, shape, and size of the object deletion area A25 are the same as specific examples of setting the object addition area A23.

[0210] The computer 20 can also calculate the quantity of at least a portion of the plurality of objects 50. The quantity of the object 50 calculated by the computer 20 is the object quantity, as shown below. Figure 10 As shown, the quantity may include the mass of the object 50 or the volume of the object 50. The computer 20 can also calculate the quantity of the object at a specified time point. The computer 20 can also calculate the change in the quantity of the object from a specified first time point to a second time point after the first time point.

[0211] The computer 20 can also calculate the workload of the construction machinery 60. The workload represents productivity or work volume. The computer 20 can also calculate, for example, the quantity of the work object 53 as the workload.

[0212] The computer 20 can calculate the quantity of the work object 53 within a specific area as the object quantity, and can also calculate the change in that quantity. The specific area includes the area where the work object 53 is concentrated, such as a sand pile.

[0213] The computer 20 can also calculate the quantity of the object 55 inside the container as the quantity of the object. For example, the computer 20 can calculate... Figure 12 The quantity of the work object 53 within the bucket 65d shown (e.g.) Figure 10 The amount of soil in the bucket or its change (as shown) can also be used to calculate the amount of the work object 53 captured (excavated) by the bucket 65d, and can also be used to calculate Figure 4 The quantity of the work object 53 within the loading dock 91 shown (e.g.) Figure 10 The amount of soil inside the dump truck shown. The workload of the computer 20 can also be calculated based on the amount of the object 55 inside the container (e.g., based on the change in that amount).

[0214] The computer 20 can utilize the values ​​calculated as described above (the quantity of the object, the workload calculated based on the quantity of the object, etc.) to calculate the value in various ways. For example, the computer 20 can output the calculated value from the output unit 40 and notify the user, or it can make the calculated value as follows: Figure 10 The calculated value is displayed as shown on the display unit 41, and can also be displayed as shown. Figure 1 The calculated value is output from the sound output unit 43 as shown. The computer 20 can also store the calculated value in... Figure 1 The storage unit 20a is shown. The computer 20 can also perform workload assessments, etc., based on the calculated values.

[0215] The computer 20 can be configured in various ways, such as Figure 4 The color of the object 50 is shown on the display unit 41. The computer 20 can also change the color of the object 50 according to the conditions of the work site S.

[0216] For example, when the object 50 is as Figure 12 When the work includes deformable sand 53s, the computer 20 can also display the surface of the deformed sand 53s differently from the surface of the undeformed sand 53s. This allows the user to easily distinguish between the deformed and undeformed sand 53s.

[0217] The deformation of the sand 53s can be, for example, caused by the contact of the construction machinery 60 with the sand 53s. Specifically, the deformation of the sand 53s can also include deformation caused by the construction machinery 60 performing an operational action (e.g., digging) on ​​the sand 53s. More specifically, the deformed sand 53s can include sand 53s that have sunk due to the digging, or sand 53s that have bulged around the location where the digging took place. Alternatively, the deformed sand 53s can include... Figure 14 The sand 53s shown as being piled up due to soil removal may also include sand 53s of ground 51g deformed by the movement of the main body 60a, such as the movement of the lower body 61 or the rotation of the upper rotating body 63. Such deformed ground 51g of sand 53s is not necessarily the object of operation of the engineering machinery 60, i.e., the work object 53.

[0218] The computer 20 determines Figure 12The computer 20 determines whether to change the display of the sand 53s by checking for deformation, specifically whether the sand 53s has deformed. For example, to determine whether deformation exists, the computer 20 compares the current height of the sand 53s (current height) with the past height of the sand 53s. The past height is, for example, the height of the sand 53s at the predetermined determination object location in the initial state when the site model M11 is converted to the modifiable model M15. The current height is the current height of the sand 53s at the height determination location. If the absolute value of the difference between the past height and the current height exceeds a threshold, the computer 20 determines that the sand 53s at the determination object location is deformed; if the difference is below the threshold, it determines that the sand 53s at the determination object location is not deformed. The threshold can be 0 or a value greater than 0.

[0219] As an example of distinguishing the surface appearance of deformed sand 53s from that of undeformed sand 53s as described above, the computer 20 can also make the color of the deformed sand 53s surface different from that of the undeformed sand 53s surface. For example, the computer 20 can also set the color of the deformed sand 53s surface to be darker than the color of the undeformed sand 53s surface. In this case, the color of the sand 53s deformed by the operation of the construction machinery 60 (e.g., excavation) becomes darker than the color of other sand 53s, thereby effectively simulating the change of sand 53s due to the operation of real construction machinery. The reason is that in real sand, the inner sand generally contains more moisture and has a darker color than the surface sand.

[0220] As described above, the sand 53s displayed differently depending on whether it is deformed or not indicates that the sand to be changed is at least a portion of the sand 53s in the modifiable model M15. That is, the sand to be changed can be all the sand 53s in the modifiable model M15, or it can be a portion of the sand 53s in the modifiable model M15. The portion of sand 53s can be the sand 53s constituting the ground 51g, or it can be the sand 53s that has been deformed due to a specific operation (e.g., excavation).

[0221] The computer 20 can also change the display of the surface based on the change in the height of the deformed sand 53s. Specifically, the computer 20 can also change the display of the deformed sand 53s based on the difference between the surface height of the deformed sand 53s at a predetermined display location (viewed from above) and the surface height of the sand 53s before deformation. This change can be a change in the shade or hue of the sand surface. The change can also use a heatmap, a method that visualizes the strength of matrix-type digital data using color. As described above, changing the display of the sand 53s based on the change in the surface height caused by the operation of the construction machinery 60 allows the user to easily grasp the workload (e.g., digging depth, pile height).

[0222] Configure the aforementioned work site simulation program to enable Figure 1 The computer 20 of the work site simulation system 1 shown executes a work site simulation method equivalent to the processing described above.

[0223] As described above, a work site simulation system is provided, comprising a computer that simulates the working actions of construction machinery in a virtual work site. The computer acquires shape information, i.e., a site model, related to the shape of the work site, sets a region of the site model as a selection area, and converts the site model into a modifiable model within the selection area. The modifiable model is shape information that allows the computer to perform modification processes, which are at least one of deformation, movement, addition, and deletion. The computer restricts modification processes for the site model compared to those allowed to be performed on the modifiable model.

[0224] The limitations imposed on the change processing of the field model can reduce the computational load on the computer for the simulation.

[0225] More specifically, the computer sets a portion of the field model as the selected area, and converts the field model into the modifiable model within the selected area. Therefore, unlike the case where the entire field model is converted into the modifiable model, the area of ​​the modifiable model can be smaller than the area of ​​the field model before the conversion, thereby reducing the computational load on the computer caused by the change processing.

[0226] The restriction on the change processing of the site model can also be to prohibit any change processing that is permitted on the changeable model from being performed on the site model. This minimizes the computational load on the computer.

[0227] Ideally, the modifiable model includes the object of the operation performed by the construction machinery, i.e., the work object. This allows the work site simulation system to simulate the operation performed by the construction machinery on the work object.

[0228] Ideally, the computer sets the selection area based on the range of motion of the construction machinery. This allows the appropriate area in the site model corresponding to the range of motion of the construction machinery to be set as the selection area. Specifically, it prevents the selection area—the area of ​​the site model converted into the modifiable model—from becoming too large relative to the range of motion of the construction machinery, thereby effectively reducing the computational load on the computer caused by the modification process. On the other hand, it prevents the selection area from becoming too small relative to the range of motion of the construction machinery, thereby allowing the computer to appropriately perform modification processing on the objects around the construction machinery in motion. Thus, the work site simulation system can appropriately simulate the conditions around the construction machinery in motion. In addition, by automatically setting the selection area, the computer can reduce the effort required for the user to manually set the selection area.

[0229] The computer can also set the selection area based on the values ​​input to the computer. This allows for precise setting of the selection area based on the values.

[0230] Ideally, the work site simulation system includes a display unit capable of displaying information, and the computer displays a region modification unit on the display unit. The region modification unit can be subjected to operations to change the shape of a selected region, the selected region shape including at least one of the position, shape, and size of the selected region. The computer changes the shape of the selected region according to the operations applied to the region modification unit, thereby allowing the user to easily change the shape of the selected region by applying the operations to the region modification unit.

[0231] The computer 20 may also designate a portion of the area of ​​the modifiable model as a physical calculation area. The physical calculation area is an area where the computer is permitted to perform calculations to cause objects within the modifiable model to behave in accordance with physical phenomena.

[0232] The setting of the physical calculation area restricts the calculations used to make the object perform actions that conform to physical phenomena, i.e., the area of ​​physical calculation, thereby reducing the computational load on the computer.

[0233] Ideally, the computer sets the physical calculation area based on the location of the construction machinery at the work site. This enables a more accurate simulation corresponding to the location of the construction machinery.

[0234] Ideally, the work site simulation system also includes an output unit capable of outputting information. In this case, when the computer causes the output unit to output a notification if the notification object part of the construction machinery moves out of the area of ​​the modifiable model, the user can be aware of the move.

[0235] Ideally, the computer sets the objects contained in the modifiable model to a predetermined state. This improves the convenience of the work site simulation system.

[0236] The computer can, for example, set the ground contained in the modifiable model to the specified state. This enables simulations related to the operation of the construction machinery on the ground.

[0237] The modifiable model may also include objects placed inside the container, i.e., objects within the container. This allows the computer to perform modification processing on the objects within the container, thereby enabling the computer to simulate the conditions inside the container.

[0238] Furthermore, the computer can also set the state of the object inside the container to the predetermined state. Therefore, it can also respond to changes in the state inside the container.

[0239] The computer can also calculate the quantity of the object inside the container. This allows the computer to perform processing using information related to the quantity of the object inside the container. For example, if the container is a bucket and the object inside is sand, the computer can calculate the quantity of sand excavated from the bucket. Additionally, if the container is a platform and the object inside is work-related material, the computer can calculate the quantity (e.g., the amount of work) of the work-related material piled on the platform.

[0240] When the modifiable model includes the work object, the computer can also calculate the change in quantity of the work object within a defined calculation area within the modifiable model. This enables the computer to perform processing using the change in quantity of the work object within the calculation area.

[0241] When the modifiable model includes the work objects, the computer can also set up new object areas within the modifiable model, and add a determined amount of work objects within those new object areas. This allows the work site simulation system to simulate adding new work objects to the work site. For example, the work site simulation system can simulate feeding the work objects into a work platform, conveyor belt, etc., at the work site.

[0242] When the modifiable model includes the work object, the computer can also set an object deletion area within the modifiable model and delete the determined work object within that area. This allows the work site simulation system to simulate the disappearance of the work object from the work site. For example, the work site simulation system can simulate the restoration of a work object (e.g., a pile of sand) that has been piled up due to work performed by the construction machinery to its pre-work state (e.g., level ground).

[0243] In the case where the work site simulation system includes the display unit and the modifiable model comprises deformable sand 53s, it is ideal that the computer displays the surface of the deformed sand in a different form than the surface of the undeformed sand on the output unit. This allows the user to easily determine whether the displayed sand is deformed.

[0244] Ideally, the computer sets up two or more interacting objects within the virtual space, each containing a simulated behavior object, and simulates the behavior of the simulated behavior objects as they interact with each other. The behavior includes at least one of deformation and movement of the simulated behavior objects. This allows the behavior of the simulated behavior objects in the virtual work environment to more closely resemble the behavior of objects in a real work environment. In other words, it enables the reproduction of the behavior of objects in a real work environment with higher accuracy within the virtual space. This reduces the user's sense of incongruity with the behavior of the simulated behavior objects in the virtual space.

[0245] The object being simulated can also include sand. This allows the computer to simulate the behavior of the sand.

[0246] The object simulating the behavior may also include the ground. This allows the computer to simulate the behavior of the ground. Examples of such behavior include the accumulation of sand and soil on the ground, and the digging of the sand and soil that makes up the ground.

[0247] The objects simulating behavior can also include the ground and objects positioned above the ground. This allows the computer to simulate not only the behavior of the ground but also the behavior of objects positioned above the ground.

[0248] The simulated objects may also include objects placed inside a container, i.e., objects within a container. This allows the computer to simulate the behavior of objects within the container, such as objects in a bucket or a loading dock.

[0249] The behavior simulation object may also include the task object. This enables the computer to simulate the task object.

[0250] In this scenario, ideally, the interacting objects comprise the work object and the work device contained within the engineering machinery, performing work on the work object. This allows the computer to simulate the behavior of the work object caused by the interaction between the work device and the work object, thereby enabling the computer to simulate the work performed by the work device on the work object.

[0251] The computer can also simulate the behavior of the simulated object as it moves. This makes the behavior of the objects in the virtual work area, i.e., the simulated behavior, more closely resemble the behavior of objects in the real work area.

[0252] The computer can also simulate particle-like objects. This allows the behavior of objects in the virtual workspace—that is, the simulated behavior—to more closely resemble the behavior of objects in a real workspace.

[0253] When the simulated object includes the work object, the computer can also determine the behavior of the particle-like work object based on physical quantities relating to the work object. These physical quantities help to make the behavior of the particle-like work object more closely resemble the behavior of a real work object. These physical quantities include, for example, at least one of the amount by which the work device moves the work object, the relative position of the work device to the work object, and the force exerted by the work device on the work object.

[0254] For example, when the simulated object contains sand in the bucket of the working device of the construction machinery, it is ideal that the physical quantity includes at least one of the following: the change in the amount of sand in the bucket, the amount of sand moved by the bucket, the relative position of the bucket to the sand, and the pushing force exerted by the bucket on the sand. This physical quantity will more effectively help to make the behavior of particulate sand in the virtual space approximate the behavior of particulate sand in a real work site.

[0255] Various modifications can be made to the above embodiments (including variations thereof). For example, the number of constituent elements in the above embodiments can be changed, or some constituent elements can be omitted. For example, the configuration of the constituent elements can be changed. For example, the configuration of the constituent elements can be changed. Figure 1 and Figure 2 The connections between the constituent elements shown are as follows. For example, the inclusion relationships of the constituent elements can be varied. For example, a subordinate constituent element described as contained within a superior constituent element may not be included in that superior constituent element, or it may be included in other constituent elements. For example, a constituent element described as multiple distinct elements may be presented as a single element. For example, a constituent element described as a single element may be divided into multiple distinct elements. For example, the relationships between the constituent elements can be changed. Figure 3 The flowchart shown may follow a sequence of steps, or a portion of the steps may be omitted. For example, various information (values, ranges, etc.) may be pre-defined. Figure 1 The computer 20 shown can also be set by reading information from an external storage device. Various information can be set directly by the user's manual operation, or it can be set to the computer 20 based on information set by the user's manual operation. For example, various information can be changed without modification, can be changed manually, or can be automatically changed by the computer 20 according to certain conditions. For example, the computer 20 can also perform processing substantially the same as the processing (calculation, judgment, etc.) described in the above embodiments. For example, the mathematical formulas used in the processing, the processing order, and the information used in the processing can be varied. Specifically, the computer 20 can also use information that can be converted into various types of information used in the above embodiments for processing. The processing performed by the computer 20 can also be combined in various ways. For example, each component may only have a portion of its respective characteristics (function, configuration, shape, operation, etc.).

Claims

1. A work site simulation system, characterized in that, This includes computers that simulate the movements of construction machinery in a virtual work environment. The computer acquires shape information, i.e., a site model, related to the shape of the work site, sets a portion of the site model as a selection area, and converts the site model into a modifiable model within the selection area. The modifiable model is shape information that allows the computer to perform modification processing on the modifiable model, and the modification processing includes at least one of deformation, movement, addition, and deletion. The computer restricts change processing for the field model, compared to change processing that is allowed to be performed on the changeable model.

2. The work site simulation system according to claim 1, characterized in that, The computer prohibits the execution of any change processing that is permitted on the changeable model from being performed on the field model.

3. The work site simulation system according to claim 1, characterized in that, The modifiable model includes the objects of the operations performed by the engineering machinery, i.e., the work objects.

4. The work site simulation system according to claim 1, characterized in that, The computer sets the selection area based on the range of motion that the engineering machinery can perform.

5. The work site simulation system according to claim 1, characterized in that, The computer sets the selection area based on the values ​​input to the computer.

6. The work site simulation system according to claim 1, characterized in that, It also includes the display section, The computer displays a region changing unit on the display unit. The region changing unit can be subjected to an operation to change the shape of the selection region, which includes at least one of the position, shape, and size. The computer changes the shape of the selection region according to the operation applied to the region changing unit.

7. The work site simulation system according to claim 1, characterized in that, The computer designates a portion of the area of ​​the modifiable model as a physical calculation area, which is an area that allows the computer to perform calculations to make the objects contained in the modifiable model perform actions that conform to physical phenomena.

8. The work site simulation system according to claim 7, characterized in that, The computer sets the physical calculation area based on the location of the construction machinery at the work site.

9. The work site simulation system according to claim 1, characterized in that, It also includes an output section capable of outputting information. When the notification target part of the engineering machinery is removed from the area of ​​the modifiable model, the computer instructs the output unit to output a notification.

10. The work site simulation system according to claim 1, characterized in that, The computer sets the objects contained in the modifiable model to a predetermined state.

11. The work site simulation system according to claim 10, characterized in that, The computer sets the ground contained in the modifiable model to the specified state.

12. The work site simulation system according to claim 1, characterized in that, The modifiable model includes objects that are placed into a container, i.e., objects inside the container.

13. The work site simulation system according to claim 12, characterized in that, The computer sets the state of the objects inside the container to a predetermined state.

14. The work site simulation system according to claim 12, characterized in that, The computer calculates the amount of the object inside the container.

15. The work site simulation system according to claim 3, characterized in that, The computer calculates the change in quantity of the work object within the set calculation object area in the modifiable model.

16. The work site simulation system according to claim 3, characterized in that, The computer sets a new object area within the modifiable model, determines the quantity of the work object, and adds the determined quantity of the work object within the new object area of ​​the modifiable model.

17. The work site simulation system according to claim 3, characterized in that, The computer sets an object deletion area within the modifiable model and deletes the determined work object within the object deletion area.

18. The work site simulation system according to claim 1, characterized in that, It also includes a display unit capable of displaying information. The modifiable model contains deformable sand. The computer displays the deformed surface of the sand in a different form than the undeformed surface of the sand on the display unit.

19. The work site simulation system according to claim 1, characterized in that, The computer sets up two or more interacting objects, including behavior simulation objects, in the virtual space, and simulates the behavior of the behavior simulation objects as the interacting objects interact with each other, wherein the behavior of the behavior simulation objects includes at least one of deformation and movement of the behavior simulation objects.

20. The work site simulation system according to claim 19, characterized in that, The object being simulated contains sand.

21. The work site simulation system according to claim 19, characterized in that, The object simulating the behavior includes the ground.

22. The work site simulation system according to claim 19, characterized in that, The simulated object includes the ground and objects positioned away from the ground.

23. The work site simulation system according to claim 19, characterized in that, The simulated object includes objects that are placed into a container, i.e., objects inside the container.

24. The work site simulation system according to claim 19, characterized in that, The simulated object of the behavior includes the object of the operation performed by the working device contained in the engineering machinery, i.e., the work object.

25. The work site simulation system according to claim 24, characterized in that, The interacting object includes the work object and the work device contained in the engineering machinery and performing work on the work object.

26. The work site simulation system according to claim 19, characterized in that, The computer simulation shows that the object being simulated deforms as it moves.

27. The work site simulation system according to claim 19, characterized in that, The computer simulates the particle-like behavior of the simulated object.

28. The work site simulation system according to claim 26, characterized in that, The simulated object includes the object of the operation performed by the working device contained in the engineering machinery, i.e., the work object. The computer determines the behavior of the particle-shaped work object based on physical quantities related to the work object.

29. The work site simulation system according to claim 28, characterized in that, The physical quantity includes at least one of the following: the amount by which the working device moves the work object, the relative position of the working device with respect to the work object, and the force exerted by the working device on the work object.

30. The work site simulation system according to claim 29, characterized in that, The object being simulated includes the work object, which comprises the sand and soil inside the bucket of the working device of the engineering machinery. The physical quantity includes at least one of the following: the change in the amount of sand in the bucket, the amount of sand moved by the bucket, the relative position of the bucket to the sand, and the pushing force exerted by the bucket on the sand.

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