Management system

Abstract

Management system, comprising: a position detection unit configured to obtain a position of a work machine; a position detection unit configured to obtain a position of the work machine; an object detection unit configured to obtain a three-dimensional shape of a buried object; a position calculation unit configured to calculate a position of the buried object using the position of the work machine obtained by the position detection unit, the posture of the work machine obtained by the posture detection unit, and the three-dimensional shape of the buried object obtained by the object detection unit; and an information acquisition unit configured to acquire information about the buried object, including at least the position of the buried object obtained by the position calculation unit.

Description

Area

[0001] The present invention relates to a management system for managing a position of a buried object buried in the ground. background

[0002] There are work machines with imaging devices. JP 2013-036243 A discloses a technique for generating construction plan image data based on construction plan data stored in a storage unit and position information from a stereo camera, superimposing the construction plan image data and the current state image data captured by the stereo camera, and three-dimensionally displaying a superimposed synthesized image on a three-dimensional display device. State of the art

[0003] JP 2013- 036 243 A, DE 101 60 084 A1, JP 2008-216 143 A, WO 2008 / 064 852 A2, JP 2004- 198 169 A, US 2014 / 0 218 225 A1, US 2006 / 0 091 888 A1, DE 10 2010 050 888 A1.

[0004] DE 101 60 084 A1, JP 2008-216 143 A and WO 2008 / 064 852 A2 disclose a management system with a position detection unit for obtaining a position of a work machine, with a detection unit for obtaining a posture of the work machine, and with an object detection unit configured to detect a buried object. Technical problem

[0005] When a work machine constructs a structure, excavation work may be performed. In a case where a buried object is buried in the ground, there is a possibility that the work machine may damage the buried objects if the work continues without knowing the existence of the buried objects. For this reason, it is desirable to obtain information (hereinafter referred to as buried object information) including at least the position of the buried object in advance. Since the buried object information is obtained by operator measurement, a workload for obtaining the buried object information is increased.

[0006] It is an object of the present invention to at least reduce a workload to obtain information about the buried object and to reduce a possibility of damage to a buried object under construction. Solution to the problem

[0007] According to a first aspect of the present invention, a management system comprises: a position detection unit configured to obtain a position of a work machine; a posture detection unit configured to obtain a posture of the work machine; an object detection unit configured to obtain a three-dimensional shape of a buried object; a position calculation unit configured to obtain a position of the buried object using the position of the work machine obtained by the position detection unit, the posture of the work machine obtained by the posture detection unit, and the three-dimensional shape of the buried object obtained by the object detection unit;and an information acquisition unit configured to acquire information about the buried object, including at least the position of the buried object obtained by the position calculation unit;

[0008] According to a second aspect of the present invention, in the management system according to the first aspect, the object detection unit comprises a stereo camera mounted on the work machine and including at least a pair of imaging devices, and wherein the management system further comprises an identifier assignment unit configured to assign an identifier to an image of the buried object imaged by the imaging device.

[0009] According to a third aspect of the present invention, a management system comprises: a position detection unit configured to obtain a position of a work machine; a posture detection unit configured to obtain a posture of the work machine; a work implement position detection unit configured to obtain a position of at least a portion of a work implement included in the work machine; a position calculation unit configured to obtain a position of a buried object using the position of the work machine obtained by the position detection unit, the posture of the work machine obtained by the posture detection unit, and the position of the portion of the work implement detected by the work implement position detection unit;and an information acquisition unit configured to acquire information about the buried object, including at least the position of the buried object obtained by the position calculation unit;

[0010] According to a fourth aspect, the present invention comprises the management system according to any one of the first to third aspects, wherein the information about the buried object further comprises at least one of a size of the buried object, a type of the buried object, and a date on which the information about the buried object was acquired.

[0011] According to a fifth aspect of the present invention, the management system according to any one of the first to fourth aspects further comprises a storage device configured to store the information about the buried object.

[0012] According to a sixth aspect of the present invention, a management system comprises: a position detection unit configured to obtain a position of a work machine; at least one imaging device configured to image a buried object; and an information acquisition unit configured to acquire an image of the buried object obtained by the imaging device, wherein the information acquisition unit is configured to add to the image of the buried object an identifier indicating that the buried object is included in the image, and a position and a date of the work machine at a time when the image of the buried object is acquired, and is configured to store the resulting data. Advantageous effects of the invention

[0013] According to one aspect of the present invention, it is possible to realize at least one of the following measures: reducing the workload for obtaining information about a buried object and reducing a possibility of damage to a buried object under construction. Short description of the drawings Fig. 1 is a perspective view illustrating an excavator according to a first embodiment. Fig. 2 is a perspective view of a vicinity of a cab of the excavator according to the first embodiment. Fig. 3 is a diagram illustrating a shape measuring system and a management system according to the first embodiment. Fig. 4 is a diagram showing an example of a hardware configuration of various electronic devices included in an excavator and a management device. Fig. 5 is a diagram for describing shape information obtained by the shape measuring system according to the first embodiment. Fig. 6 is a diagram showing an example of a state where a buried object is installed in a hole. Fig. 7 is a view illustrating an example of a distance image of a buried object imaged by a pair of imaging devices. Fig. 8 is a diagram illustrating an example of a buried object database including information about a buried object. Fig. 9 is a flowchart illustrating an operation example of a management method according to the first embodiment. Fig. 10 is a flowchart illustrating another operation example of the management method according to the first embodiment. Fig. 11 is a diagram illustrating an example of measuring a position of a buried object using a working device in a second embodiment. Fig. 12 is a diagram illustrating an example of a detected image according to a third embodiment. Description of embodiments

[0014] Modes (embodiments) for carrying out the present invention will be described in detail with reference to the drawings. First embodiment<Gesamtaufbau des Baggers>

[0015] Fig. 1 is a perspective view illustrating an excavator 1 according to a first embodiment. Fig. 2 is a perspective view of a cab surrounding of the excavator 1 according to the first embodiment. The excavator 1 as a work machine includes a vehicle body 1B and a work implement 2. The vehicle body 1B includes a swing body 3, a cab 4, and a traveling body 5. The swing body 3 is attached to the traveling body 5 so as to be swingable around the swing center axis Zr. The swing body 3 accommodates devices such as a hydraulic pump and a motor.

[0016] The swing body 3 is swung with the work tool 2 attached thereto. A handrail 9 is attached to an upper portion of the swing body 3. Antennas 21 and 22 are attached to the handrail 9. The antennas 21 and 22 are global navigation satellite system (GNSS) antennas. The antennas 21 and 22 are arranged to be separated from each other by a certain distance along a direction parallel to the Ym axis of the vehicle body coordinate system (Xm, Ym, Zm). The antennas 21 and 22 receive GNSS radio waves and output signals corresponding to the received GNSS radio waves. The antennas 21 and 22 may be GPS (Global Positioning System) antennas.

[0017] The cabin 4 is mounted on the front portion of the swing body 3. A communication antenna 25A is attached to the roof of the cabin 4. The traveling body 5 has crawler belts 5a and 5b. When the crawler belts 5a and 5b rotate, the excavator 1 moves.

[0018] The working device 2 is attached to the front portion of the vehicle body 1B. The working device 2 includes a boom 6, a handle 7, a bucket 8 as a working tool, a boom cylinder 10, a handle cylinder 11, and a bucket cylinder 12. In the embodiment, the front of the vehicle body 1B is the direction from a backrest 4SS of a cab 4S to a Fig. 2. The rear of the vehicle body 1B is the direction side of the operating device 35 toward the backrest 4SS of the cab 4S. The front portion of the vehicle body 1B is a portion at the front of the vehicle body 1B and is a portion on the opposite side of the counterweight WT of the vehicle body 1B. The operating device 35 is a device for operating the work implement 2 and the swing body 3, and includes a right lever 35R and a left lever 35L.

[0019] The boom cylinder 10, the handle cylinder 11 and the bucket cylinder 12, which are Fig. 1 are hydraulic cylinders driven by hydraulic oil pressure, i.e., hydraulic pressure. Boom cylinder 10 drives boom 6 by expanding and contracting under hydraulic pressure. Shaft cylinder 11 drives shaft 7 by expanding and contracting under hydraulic pressure. Bucket cylinder 12 drives bucket 8 by expanding and contracting under hydraulic pressure.

[0020] The bucket 8 has a plurality of buckets 8B. The plurality of cutting edges 8B are aligned in the width direction of the bucket 8. The tip of the cutting edge 8B is a cutting edge 8BT. The bucket 8 is an example of a work tool. The work tool is not limited to the bucket 8.

[0021] The swing body 3 includes a position detection device 23, which is an example of a position detection unit, and an inertial measurement unit (IMU) 24, which is an example of a posture detection unit. The position detection device 23 obtains the position of the excavator 1. Specifically, the position detection device 23 detects the current positions of the antennas 21 and 22 and the orientation of the swing body 3 in the global coordinate system (Xg, Yg, Zg) using the signals detected by the antennas 21 and 22, and outputs the current position and orientation. The orientation of the swing body 3 represents the orientation of the swing body 3 in the global coordinate system. The orientation of the swing body 3 can be expressed, for example, by the front-backward direction of the swing body 3 around the Zg axis of the global coordinate system.The azimuth angle is the angle of rotation of the reference axis in the front-to-back direction of the swivel body 3 around the Zg axis of the global coordinate system. The orientation of the swivel body 3 is represented by the azimuth angle.

[0022] The IMU 24 receives the attitude of excavator 1. The attitude of excavator 1 is expressed by a roll angle θr, a pitch angle θp, and an azimuth angle θd. The roll angle θr, the pitch angle θp, and the azimuth angle θd of excavator 1 are obtained from the acceleration and angular velocity acting on excavator 1. The IMU 24 detects the acceleration and angular velocity acting on the IMU, that is, the acceleration and angular velocity acting on excavator 1, to obtain and output the roll angle θr, the pitch angle θp, and the azimuth angle θd of excavator 1. In this way, the IMU 24 obtains the attitude of the excavator 1. A calculation unit can obtain the roll angle θr, the pitch angle θp and the azimuth angle θd of the excavator 1 using the acceleration and angular velocity detected by the IMU 24.In this case, the IMU 24 and the calculation unit described above serve as a posture detection unit. The roll angle θr, pitch angle θp, and azimuth angle θd of the excavator 1 can be obtained by devices other than the IMU 24, for example, a gyroscope or the like. <bildgebungsvorrichtung>

[0023] As in Fig. 2, the excavator 1 includes a plurality of imaging devices 30a, 30b, 30c, and 30d in the cab 4. In the following description, in the case where they are not distinguished from each other, a plurality of imaging devices 30a, 30b, 30c, and 30d are appropriately referred to as one imaging device 30. Among the plurality of imaging devices 30, one imaging device 30a and one imaging device 30c are arranged on the side of the work machine 2. The type of the imaging device 30 is not limited, but in the embodiment, for example, an imaging device including a CCD (couple charged device) image sensor or a CMOS (couple charged device) image sensor is used.

[0024] As in Fig. As shown in FIG. 2, the imaging device 30a and the imaging device 30b are arranged at predetermined intervals in the booth 4 in the same direction or in different directions. The imaging device 30c and the imaging device 30d are arranged at predetermined intervals in the booth 4 in the same direction or in different directions. Two of the plurality of imaging devices 30a, 30b, 30c, and 30d are combined to construct a stereo camera. In the embodiment, a stereo camera is configured as a combination of the imaging devices 30a and 30b, and a stereo camera is configured as a combination of the imaging devices 30c and 30d.

[0025] In the embodiment, the imaging device 30a and the imaging device 30b are directed upward, and the imaging device 30c and the imaging device 30d are directed downward. At least the imaging device 30a and the imaging device 30c are directed toward the front of the excavator 1, and in this embodiment, toward the swing body 3. The imaging device 30b and the imaging device 30d can be easily arranged toward the work machine 2, that is, toward the side of the imaging device 30a and the imaging device 30c.

[0026] In the embodiment, the excavator 1 includes four imaging devices 30, but the number of imaging devices 30 included in the excavator 1 may be at least two, that is, at least one pair, and is not limited to four. This is because the excavator 1 stereoscopically images the object by installing a stereo camera with at least one pair of imaging devices 30.

[0027] The plurality of imaging devices 30a, 30b, 30c, and 30d are arranged at the front and top of the cab 4. The top is a side perpendicular to the ground contact surface of the crawler belts 5a and 5b of the excavator 1 and spaced from the ground contact surface. The ground contact surface of the crawler belts 5a and 5b is a plane defined by at least three points that are not on the same straight line in the portion where at least one of the crawler belts 5a and 5b is in contact with the ground. The lower side is the side opposite to the upper side, that is, the side perpendicular to the ground contact surface of the crawler belts 5a and 5b and directed toward the ground contact surface.

[0028] The plurality of imaging devices 30a, 30b, 30c, and 30d stereoscopically image an object present on the front of the vehicle body 1B of the excavator 1. The object includes, for example, a section to be constructed from now on by the excavator 1, a section below the construction site, and a section after construction. Hereinafter, these sections are appropriately referred to as construction objects. In addition to the construction object of the excavator 1, the construction object may be a construction object of a work machine other than the excavator 1 or a construction object of a worker working at the construction site.

[0029] The plurality of imaging devices 30a, 30b, 30c, and 30d detect the object from a predetermined position of the excavator 1, that is, from the front and top in the cab 4 in the first embodiment. In the first embodiment, the object is measured three-dimensionally by using at least the result of stereoscopic imaging by the pair of imaging devices 30. The location where the plurality of imaging devices 30a, 30b, 30c, and 30d are arranged is not limited to the front and top in the cab 4.

[0030] Among the plurality of imaging devices 30a, 30b, 30c, and 30d, for example, the imaging device 30c is set as a reference. Each of the four imaging devices 30a, 30b, 30c, and 30d has a coordinate system. These coordinate systems are appropriately referred to as imaging device coordinate systems. Fig. 2, only the coordinate system (Xs, Ys, Zs) of the imaging device 30c is illustrated for reference. The origin of the coordinate system of the imaging device is, for example, the center of each of the imaging devices 30a, 30b, 30c, and 30d.

[0031] In the first embodiment, the imaging ranges of the imaging devices 30a, 30b, 30c, and 30d are larger than the area within which construction can be performed by the working device 2 of the excavator 1. Thus, each of the imaging devices 30a, 30b, 30c, and 30d can reliably stereoscopically image the object within the area that the working device 2 can excavate.

[0032] The vehicle body coordinate system (Xm, Ym, Zm) described above is a coordinate system with respect to an origin fixed to the vehicle body 1B, that is, the swing body 3 in the first embodiment. In the first embodiment, the origin of the vehicle body coordinate system (Xm, Ym, Zm) is, for example, the center of the swing circle of the swing body 3. The center of the swing circle is present on the swing center axis Zr of the swing body 3. The Zm axis of the vehicle body coordinate system (Xm, Ym, Zm) is an axis that becomes the swing center axis Zr of the swing body 3, and the Xm axis is an axis that extends in the front-backward direction of the swing body 3 and is perpendicular to the Zm axis. The Xm axis is a reference axis in the front-backward direction of the swing body 3.The Ym axis is an axis extending in the width direction of the swing body 3 and perpendicular to the Zm axis and the Xm axis. The vehicle body coordinate system is not limited to the example of the first embodiment. The aforementioned global coordinate system (Xg, Yg, Zg) is a coordinate system measured with GNSS and is a coordinate system with respect to the origin fixed to the earth. <Formmesssystem und Verwaltungssystem>

[0033] Fig. 3 is a diagram illustrating a shape measuring system 1S and a management system 100 according to the first embodiment. The device structure of the shape measuring system 1S and the management system 100 shown in Fig. 3 is merely an example and is not limited to the device structure of the first embodiment.

[0034] The shape measuring system 1S comprises a plurality of imaging devices 30a, 30b, 30c and 30d and a detection processing device 51. The shape measuring system 1S is installed in the vehicle body 1B of the Fig. 1 or, in the embodiment, in the swing body 3. The excavator 1 includes a position detection device 23, an IMU 24, a communication device 25, an input device 52, a sensor control device 53, a position calculation device 54, a display device 55, and a construction management device 56 in addition to the shape measurement system 1S.

[0035] In the first embodiment, the detection processing device 51, the input device 52, the sensor control device 53, the position calculation device 54, the display device 55, the construction management device 56, the position detection device 23, and the communication device 25 are connected to a signal line 59 to communicate with each other. In the first embodiment, a communication standard using the signal line 59 is a Controller Area Network (CAN). However, the present invention is not limited to this. In the following description, the term "excavator 1" may refer to various electronic devices, such as the detection processing device 51 and the input device 52, included in the excavator 1.

[0036] Fig. 4 is a diagram illustrating an example of a hardware configuration of various electronic devices included in the excavator 1 and a management device 61. In Fig. 4, the detection processing device 51, the input device 52, the sensor control device 53, the position calculation device 54, the display device 55, the construction management device 56, the position detection device 23, and the communication device 25 are various electronic devices included in the excavator 1, respectively. The management device 61, which is arranged outside the excavator 1, includes a processing unit PR, a storage unit MR, and an input / output unit IO. The processing unit PR is realized by, for example, a processor such as a central processing unit (CPU) and a memory.

[0037] As the memory unit MR, at least one non-volatile or volatile semiconductor memory such as a random access memory (RAM), a read-only memory (ROM), a flash memory, an erasable programmable read-only memory (EPROM), and an electrically erasable programmable read-only memory (EEPROM), a magnetic disk, a flexible disk, and a magneto-optical disk can be used.

[0038] The input / output unit IO is an interface circuit that uses various electronic devices included in the excavator 1 or the management device 61 to send and receive data, signals, and the like to and from other electronic devices.

[0039] Various electronic devices included in the excavator 1 and the management device 61 store a computer program for realizing the respective functions in the processing unit PR in the storage unit MR. The processing unit PR realizes the function of each device by reading out and executing the above-mentioned computer program from the storage unit MR. The various electronic devices included in the excavator 1 and the management device 61 may be realized with dedicated hardware, or the respective functions may be realized by the cooperation of multiple processing circuits. Next, various electronic devices included in the excavator 1 will be described.

[0040] The detection processing device 51 of the shape measurement system 1S performs imaging in a stereoscopic manner on a pair of images acquired by the pair of imaging devices 30 to obtain the position of the object, more specifically, the coordinates of the object in the three-dimensional coordinate system. In this way, the detection processing device 51 measures the object three-dimensionally using a pair of images obtained by imaging the same object with at least the pair of imaging devices 30. That is, at least one pair of the imaging devices 30 and the detection processing device 51 measure the object three-dimensionally in a stereoscopic manner.Stereoscopic imaging is a method of obtaining the distance to an object from two images obtained by observing the same object with two different imaging devices 30. For example, the distance to an object is expressed as a distance image in which information about the distance to the object is visualized through shading. The distance image corresponds to shape information indicating the three-dimensional shape of the object.

[0041] The detection processing device 51 acquires information of the detected object, that is, imaged by at least a pair of imaging devices 30, and obtains shape information indicating the three-dimensional shape of the object from the acquired object information. In the first embodiment, the object information is generated by imaging the object by at least the pair of imaging devices 30, and the object information is output. The object information is an image of the object imaged by at least the pair of imaging devices 30. The detection processing device 51 acquires shape information by performing an imaging process in a stereoscopic manner on the image of the object and outputs the shape information.In the embodiment, the construction object or the object after construction of the excavator 1 having at least the pair of imaging devices 30 is imaged by at least the pair of imaging devices 30. The construction object or the object after construction of another work machine 70 can be imaged by at least one pair of imaging devices 30 included in the excavator 1.

[0042] In the first embodiment, the construction object or the object after construction may be the construction object or the object after construction of at least one of the excavator 1 with the imaging device 30, the work machine 70 other than the excavator 1, and the worker.

[0043] The detection processing device 51 obtains the shape information indicating the three-dimensional shape of the object using the information of the object detected by at least the pair of imaging devices 30, and outputs the shape information. Specifically, the detection processing device 51 obtains the shape information by performing imaging in a stereoscopic manner on a pair of images acquired by at least the pair of imaging devices 30, and outputs the shape information.

[0044] In the first embodiment, the shape measurement system 1S corresponds to an object detection unit that obtains the three-dimensional shape of the object. That is, at least the pair of imaging devices 30 detects the information of the object, and the detection processing device 51 generates the shape information indicating the three-dimensional shape of the object by using the information of the object detected by at least the pair of imaging devices 30 and outputs the shape information.

[0045] A hub 31 and an imaging switch 32 are connected to the detection processing device 51. A plurality of imaging devices 30a, 30b, 30c, and 30d are connected to the hub 31. The imaging devices 30a, 30b, 30c, and 30d and the detection processing device 51 can be connected without using the hub. The result of the detection of the object by the imaging devices 30a, 30b, 30c, and 30d, that is, the result of imaging the object, is input to the detection processing via the hub 31. In the embodiment, the detection processing device 51 acquires the image of the object from the result of imaging by the imaging devices 30a, 30b, 30c, and 30d via the hub 31. In the embodiment, when the imaging switch 32 is operated, at least one pair of imaging devices 30 images the object. The imaging switch 32 is located near the operating device 35 in the Fig. 2. The installation location of the imaging switch 32 is not limited thereto.

[0046] The input device 52 is a device for issuing commands for transmitting information to and changing settings of electronic devices such as the shape measurement system 1S, the sensor control device 53, and the position calculation device 54. The input device 52 is, for example, a button, a pointing device, or a touch panel. However, the present invention is not limited thereto. By providing a touch panel on a screen 55D of the display device 55, which will be described later, the display device 55 can have an input function. In this case, the excavator 1 may not have the input device 52.

[0047] The sensor control device 53 is connected to sensors for detecting information about the state of the excavator 1 and information about the state of the surroundings of the excavator 1. The sensor control device 53 transmits the information detected by the sensors into a format that can be handled by other electronic devices and outputs the transmitted information. The information about the state of the excavator 1 is, for example, information about the position of the excavator 1 and information about the position of the work tool 2. As shown in Fig. 3, the IMU 24, a first angle detection unit 18A, a second angle detection unit 18B, and a third angle detection unit 18C as sensors that acquire information about the state of the excavator 1 are connected to the sensor control device 53. However, the sensors are not limited to this.

[0048] In the first embodiment, the first angle detection unit 18A, the second angle detection unit 18B, and the third angle detection unit 18C are, for example, stroke sensors. By detecting the stroke lengths of the boom cylinder 10, the handle cylinder 11, and the bucket cylinder 12, these angle detection units indirectly detect the rotation angle of the boom 6 with respect to the vehicle body 1B, the rotation angle of the handle 7 with respect to the boom 6, and the rotation angle of the bucket 8 with respect to the handle 7, respectively. The position of a portion of the work machine 2 in the vehicle body coordinate system can be known from the rotation angle of the boom 6 with respect to the vehicle body 1B, the rotation angle of the handle 7 with respect to the boom 6, and the rotation angle of the bucket 8 with respect to the handle 7 detected by the first angle detection unit 18A, the second angle detection unit 18B, and the third angle detection unit 18C, and the size of the work machine 2.For example, the position of a portion of the work implement 2 is, for example, the position of the cutting edge 8BT of the bucket 8. The first angle detection unit 18A, the second angle detection unit 18B, and the third angle detection unit 18C may be potentiometers or inclinometers instead of the stroke sensor.

[0049] For example, among the shape information obtained by the detection processing device 51, the construction management device 56 collects at least one of the shape information of the construction result of the construction work that the excavator 1 performs on the construction object and the shape information indicating a current state topography of the object to be constructed by the excavator 1, and stores the shape information in a storage unit 56M. The construction management device 56 transmits the shape information stored in the storage unit 56M to the management device 61 or a mobile terminal 64 via the communication device 25. The construction management device 56 transmits the shape information of the construction result stored in the storage unit to the management device 61 or the mobile terminal 64 via the communication device 25.The construction management device 56 may collect at least one of the shape information and the target construction information obtained by the detection processing device 51, and transmit the shape information and the target construction information to the management device 61 or the mobile terminal 64 without storing the shape information and the target construction information in the storage unit 56M. The storage unit 56M corresponds to the storage unit shown in FIG. Fig. 4 shown storage unit MR.

[0050] The construction management device 56 may be installed outside the excavator 1, for example, in the management device 61. In this case, the construction management device 56 acquires at least one of the shape information of the construction result from the excavator 1 via the communication device 25 and the shape information indicating the current state topography of the object to be constructed from now on by the excavator 1.

[0051] The construction result is, for example, shape information obtained by at least a pair of imaging devices 30 that image the object after construction, and by the detection processing device 51 that performs an imaging process in a stereoscopic manner on the imaging result. In order to distinguish the shape information indicating the current state topography of the object to be constructed by the excavator 1 from the construction result, the shape information is hereinafter appropriately referred to as current state topography information.As described above, in some cases, the shape information may be the shape information of the object constructed by at least one of the excavator 1, the other work machine 70, and the worker; and in the other cases, the shape information may be the shape information of the object to be constructed by at least one of the excavator 1, the other work machine 70, and the worker.

[0052] For example, the construction management device 56 collects the construction result after completion of the day's work and transmits the construction result to at least one of the management device 61 and the mobile terminal 64, or collects the construction results multiple times during the day's work and transmits the construction results to at least one of the management device 61 and the mobile terminal 64. For example, the construction management device 56 may transmit the shape information before the construction project, that is, the current state topography information, to the management device 61 or the mobile terminal 64 before work in the morning.

[0053] The display device 55 displays information on the excavator 1 on a screen 55D of a display such as a liquid crystal display panel, or displays a guidance image for the construction project on the screen 55D. In addition, in the first embodiment, the display device 55 receives the position of the work implement 2, for example, the position of the cutting edge 8BT of the bucket 8.

[0054] The display device 55 acquires the current positions of the antennas 21 and 22 detected by the position detection device 23, the rotation angles detected by the first angle detection unit 18A, the second angle detection unit 18B, and the third angle detection unit 18C, the size of the work implement 2 stored in the storage unit MR, and the output data of the IMU 24, and obtains the position of the cutting edge 8BT of the bucket 8 using these data. In the first embodiment, the display device 55 obtains the position of the cutting edge 8BT of the bucket 8, but the position of the cutting edge 8BT of the bucket 8 may also be obtained by a device other than the display device 55.

[0055] The communication device 25 is a communication unit according to the first embodiment. The communication device 25 communicates with at least one of the management device 61 of a management facility 60, the other work machine 70, and the mobile terminal 64 via a communication line NTW, and exchanges information with each other. Among the information exchanged by the communication device 25, there is buried object information transmitted from the excavator 1 to at least one of the management device 61, the other work machine 70, and the mobile terminal 64. The buried object information is information including at least the position of the buried object, which is an object buried in the ground. The position of the buried object is a three-dimensional position.The buried object information may be transmitted by the communication device 25 after being stored in the storage unit of the detection processing device 51, the storage unit of the input device 52, or the storage unit 56M of the construction management device 56, or may be transmitted without being stored. Additionally, the buried object information may include information about the type or property of the buried object. For example, the buried object information may be information indicating that a particular buried object is a water pipe.

[0056] In the first embodiment, the communication device 25 communicates through wireless communication. For this reason, the communication device 25 includes an antenna 25A for wireless communication. The mobile terminal 64 is carried, for example, by a supervisor who manages the work of the excavator 1, but the mobile terminal is not limited thereto. The other work machine 70 has a function of communicating with at least one of the excavator 1 and the management device 61. The communication device 25 can communicate with at least one of the management device 61, the management device 60, the other work machine 70, and the mobile terminal 64 via wired communication to exchange information with each other.

[0057] The management system 100 includes the position detection device 23, the IMU 24, the shape measurement system 1S, and the position calculation device 54 of the excavator 1, and the management device 61 of the management device 60. The management device 61 and a communication device 62 are arranged in the management device 60. The management device 61 communicates with at least the excavator 1 via the communication device 62 and the communication line NTW. The management device 61 can communicate with the mobile terminal 64 or can communicate with another work machine 70. A wireless communication device can be installed so that the excavator 1 and the other work machine 70 can directly conduct wireless communication.At least the excavator 1 or the other work machine 70 may be equipped with an electronic device capable of executing an operation performed by the management device 61 or the like of the management device 60. In the first embodiment, the electronic device capable of executing an operation performed by the management device 61 or the like of the management device 60 is the construction management device 56 of the excavator 1.

[0058] The management device 61 acquires at least the information about the buried object from the excavator 1 and manages the position where the buried object is buried, the size of the buried object, the type of the buried object, and the like. <Abbildung des Objekts und Erzeugung von Forminformationen>

[0059] Fig. 5 is a diagram illustrating shape information obtained by the shape measuring system 1S according to the first embodiment. In the first embodiment, the object OBP to be imaged by the shape measuring system 1S is arranged at the front of the excavator 1. The shape information is obtained from the object OBP. As the object OBP, for example, a buried object buried in the ground and a construction object of the excavator 1 are exemplified. In the case of generating shape information from the object OBP, the shape measuring system 1S causes at least a pair of the imaging devices 30 to image the object OBP. In the first embodiment, when the operator of the excavator 1 Fig. 3 is operated to input an imaging instruction to the detection processing device 51, the detection processing device 51 causes at least a pair of imaging devices 30 to image the object OBP.

[0060] The detection processing device 51 of the shape measurement system 1S performs stereoscopic imaging on the image of the object OBP acquired by at least one pair of the imaging devices 30 to obtain the position information of the object OBP, that is, the three-dimensional shape of the object OBP in the first embodiment. Since the three-dimensional shape of the object OBP obtained by the detection processing device 51 is information in the coordinate system of the imaging device 30, the three-dimensional shape of the object OBP is transformed into position information in the global coordinate system. The position information of the object, for example, the object OBP, in the global coordinate system is shape information.In the first embodiment, the shape information is information including at least one position Pr (Xg, Yg, Zg) of the surface of the object OBP in the global coordinate system. The position Pr (Xg, Yg, Zg) is a coordinate in the global coordinate system and is three-dimensional position information.

[0061] The position calculation device 54 transforms the three-dimensional shape of the object OBP obtained from the image acquired by at least the pair of imaging devices 30, i.e., the position represented by three-dimensional coordinates, into the position in the global coordinate system. The position of the surface of the object OBP includes the position of the surface of the object OBP before, after, and during the construction project.

[0062] The detection processing device 51 outputs the three-dimensional shape of the object OBP over the entire surface of the object OBP, which is imaged by at least a pair of imaging devices 30. The three-dimensional shape of the object OBP is output as the position Pr on the surface of the object OBP. The position calculation device 54, which is a position calculation unit, obtains the position Pr (Xg, Yg, Zg) of the object OBP in the global coordinate system using the position of the excavator 1 obtained by the position detection device 23, which is a position detection unit, the posture of the excavator 1 obtained by the IMU 24, which is a posture detection unit, and the three-dimensional shape of the object OBP measured by the shape measuring system 1S, and outputs the position Pr (Xg, Yg, Zg). That is, the position calculation unit transforms the position of the object OBP, iethe three-dimensional position in the first embodiment, from the imaging device coordinate system to the position in the global coordinate system and outputs the position.

[0063] Upon obtaining the position Pr (Xg, Yg, Zg) in the global coordinate system, the position calculation device 54 transforms the position Ps (Xs, Ys, Zs) of the object OBP in the imaging device coordinate system into the position Pr (Xg, Yg, Zg) in the global coordinate system. The position Ps (Xs, Ys, Zs) of the object OBP in the imaging device coordinate system is obtained by at least the pair of imaging devices 30 performing imaging and the detection processing device 51 performing an imaging process in a stereoscopic manner.The position calculation device 54 performs transformation from the imaging device coordinate system to the global coordinate system using the positions of the antennas 21 and 22 of the excavator 1 in the global coordinate system obtained by the position detection device 23 and the roll angle θr, the pitch angle θp, and the azimuth angle θd of the excavator 1 obtained by the IMU 24.

[0064] The object OBP detected by the shape measurement system 1S includes a section to be constructed by the excavator 1 from now on and a section after construction by the excavator 1. The section after construction by the excavator 1 includes the buried object. The shape measurement system 1S and the position calculation device 54 obtain and output the position of the object in the global coordinate system by the method described above.

[0065] The position Pr (Xg, Yg, Zg) in the global coordinate system obtained by the position calculation device 54 is stored, for example, in the storage unit 56M of the construction management device 56, transmitted to the management device 61 via the communication device 25, or transmitted to the mobile terminal 64. The position Pr (Xg, Yg, Zg) transmitted to the management device 61 is stored, for example, in a storage unit 61M. The storage unit 61M corresponds to the Fig. 4. In a case where the position Pr (Xg, Yg, Zg) is transmitted to the mobile terminal 64, the file can be stored in the storage unit of the mobile terminal 64. <Verwaltung von vergrabenem Objekt>

[0066] Fig. 6 is a diagram illustrating an example of a state in which the buried object TU is installed in a hole H. The buried object TU is installed in the hole H excavated by the excavator 1. As the buried object TU, pipes such as a water pipe, a gas pipe, and a drain pipe are shown as examples. In addition, various wires such as cables and communication lines are buried objects TU. The buried object TU is not limited to this, but generally any objects buried in the ground can be the buried object TU.

[0067] If the work is performed without knowing that the buried object TU exists in the ground at the time the excavator 1 is constructing the object, there is a possibility of damage to the buried object TU. In order to check whether the buried object TU is buried as intended, it is necessary for the worker to measure the position, gradient, and the like of the buried object TU. The measured position, gradient, and the like of the buried object TU are managed as a database and used to check where the buried object TU is buried at the time of construction. Even in a case where there is no worker, it is desirable to improve work efficiency by measuring the position, gradient, and the like of the buried object TU.

[0068] In the first embodiment, the management system 100 acquires the buried object information including at least the position Ptu (Xtu, Ytu, Ztu) of the buried object TU obtained by the position detection device 23, the IMU 24, the shape measurement system 1S, and the position calculation device 54. Specifically, the management device 61 of the management system 100 acquires the buried object information and stores the buried object information in the storage unit 61M. Since the buried object information includes the position Ptu (Xtu, Ytu, Ztu) of the buried object TU, the position Ptu (Xtu, Ytu, Ztu) of the buried object TU is obtained by referring to the buried object information stored in the storage unit 61M.

[0069] For example, the management device 61 or the construction management device 56 of the excavator 1 searches for the buried object information stored in the storage unit 61M by using the position of the site to be constructed by the excavator 1 from now on as a key, so that it becomes possible to detect whether or not the buried object TU exists in the soil of the site to be constructed from now on. Since the position Ptu (Xtu, Ytu, Ztu) of the buried object TU included in the buried object information is three-dimensional coordinates in the global coordinate system (Xg, Yg, Zg), the depth at which the buried object TU is buried is known by referring to the buried object information.For example, the display device 55 of the excavator 1 acquires the information indicating that the buried object TU is at the place where construction is to be carried out from now on and the position of the buried object TU from the management device 61 or the construction management device 56 of the excavator 1, and displays the information and the position of the buried object TU on the screen 55D.

[0070] Through this operation, the operator of the excavator 1 can detect the presence of the buried object TU at the site where construction is to be carried out from now on and the depth of the buried object TU. As a result, it is possible to reduce a possibility of damage to the buried object TU caused by performing work without knowing that the buried object TU exists in the ground. In addition, the information about the buried object is obtained from the three-dimensional shape of the buried object TU obtained by at least the pair of imaging devices 30 and the detection processing device 51 that three-dimensionally measures the buried object TU in a stereoscopic manner. Therefore, even in a case where there is no worker, it is possible to improve work efficiency because it is possible to measure the position, gradient, and the like of the buried object TU.The gradient of the buried object TU is obtained as long as multiple positions of the buried object TU can be obtained.

[0071] Fig. 7 is a diagram showing an example of the distance image PTtu of the buried object TU imaged by the pair of imaging devices 30. The distance image PTtu is a distance image indicating the distance from the pair of imaging devices 30 to the object, which is obtained by the pair of imaging devices 30 performing imaging and by the detection processing device 51 performing imaging in a stereoscopic manner. The distance image is three-dimensional data. In the distance image PTtu, elements such as grids are provided at predetermined intervals. Each element includes information about the three-dimensional position in the imaging device coordinate system. Coordinate transformation of the distance image PTtu is performed so that the three-dimensional position of each element is transformed into a three-dimensional position in the global coordinate system.

[0072] The position of the buried object TU included in the buried object information is a three-dimensional position included in the element corresponding to the buried object TU in the distance image PTtu. The distance image PTtu obtained from the image obtained by imaging the buried object TU includes the position information of the buried object TU. That is, the distance image PTtu is obtained from the image obtained by imaging the buried object TU, so that the three-dimensional position of the buried object TU is obtained. By specifying the element corresponding to the buried object TU in the distance image PTtu, the three-dimensional position of the buried object TU is specified.The position of the buried object TU may be the representative position of the buried object TU, may be the position of each element of the buried object TU, or may be the position of a portion of elements of the buried object TU. For example, if the buried object is a pipe, as shown in . Fig. As shown in Figure 7, the position of the straight line passing through the center of the pipe can be set as the position of the buried object TU. Alternatively, the upper end portion in the z-direction of the pipe can be set as the position of the pipe.

[0073] As in Fig. As shown in Figure 7, in the distance image PTtu, the surrounding soil is displayed next to the buried object TU. The element corresponding to the buried object TU may include the information indicating that the element is a buried object, that is, the information about the buried object, and the element corresponding to the surrounding soil may not include the information about the buried object.

[0074] The distance image includes the position Ptu of the buried object TU in the element corresponding to the buried object TU. The position Ptu of the buried object TU is obtained from the coordinates of the buried object TU contained in the element corresponding to the buried object TU in the distance image PTtu. Therefore, the information about the buried object may include at least one of the distance image itself and the position Ptu of the buried object TU extracted from the distance image.

[0075] In the first embodiment, the detection processing device 51 assigns an identifier ID to the distance image PTtu of the buried object TU. That is, the detection processing device 51 corresponds to an identification assignment unit. By assigning the identifier ID to the distance image PTtu of the buried object TU, the distance image PTtu of the buried object TU is specified from among a plurality of distance images PTtu obtained by the imaging device 30 performing imaging and subjected to imaging in a stereoscopic manner.

[0076] In the first embodiment, the position calculation device 54 can extract elements corresponding to the buried object TU from the distance image PTtu of the buried object TU generated by the detection processing device 51 or the image before being processed by the detection processing device 51, and can obtain the position and size of the buried object TU using the extracted elements. The position calculation device 54 extracts the elements corresponding to the buried object TU by performing an edge extraction process, a pattern recognition process, or the like on the distance image PTtu of the buried object TU or the image before being processed by the detection processing device. As the size of the buried object TU, the diameter Du and the length L of the buried object TU are exemplified in a case where the buried object TU is a pipe.

[0077] The position Ptu (Xtu, Ytu, Ztu) of the buried object TU obtained by the position calculation device 54 is acquired by the construction management device 56. The construction management device 56 generates the buried object information including at least the position Ptu (Xtu, Ytu, Ztu) of the buried object TU and stores the buried object information in the storage unit 56M or transmits the buried object information to the management device 61 of the management device 60 via the communication device 25. The management device 61 stores the buried object information received from the construction management device 56 of the excavator 1 in the storage unit 61M and creates a database of the buried objects TU.In this way, the management device 61 corresponds to an information acquisition unit that acquires the information about the buried object obtained by the construction management device 56. In a case where the mobile terminal 64 acquires the information about the buried object from the construction management device 56, the mobile terminal 64 corresponds to an information acquisition unit. In a case where the construction management device 56 stores the information about the buried object in the storage unit 56M, the storage unit 56M corresponds to an information acquisition unit.

[0078] Fig. 8 is a diagram illustrating an example of a database DB of the buried object TU including the buried object information IFd. The database DB is stored, for example, in the storage unit 61M of the management device 61. The database DB includes a plurality of pieces of burial information IFd1, IFd2, ..., IFdn. In the first embodiment, the buried object information IFd includes at least one of the position Ptu and the distance image PTtu of the buried object TU, and further includes the identifier ID, the type TY of the buried object TU, the size Sz of the buried object TU, and the date DT at which the buried object information IFd is obtained.The buried object information IFd may include at least one of the position Ptu and the distance image PTtu of the buried object TU, and may further include the identifier ID, the type TY of the buried object TU, and the like as additional information. The additional information is not limited to the identifier ID, the type TY of the buried object TU, the size Sz of the buried object TU, and the date DT at which the buried object information IFd is obtained.

[0079] In the first embodiment, the position calculation device 54 of the excavator 1 automatically obtains the position Ptu of the buried object TU. However, the management device 61 may automatically obtain the position Ptu of the buried object TU. In this case, the management device 61 extracts the elements corresponding to the buried object TU from the distance image PTtu included in the buried object information IFd, and obtains the position Ptu of the buried object TU from the position of each element. In addition, the mobile terminal 64 may extract the elements corresponding to the buried object TU from the distance image PTtu included in the buried object information IFd, and obtain the position Ptu of the buried object TU from the position of each element.

[0080] The position Ptu of the buried object TU can be obtained by the operator of the management device 61 determining the buried object TU present in the distance image PTtu of the buried object TU or the image before it is processed by the detection processing device 51. Specifically, the operator of the management device 61 designates the buried object TU present in the distance image PTtu of the buried object TU or the image before it is processed by the detection processing device 51. The management device 61 obtains the position Ptu of the buried object TU from the elements present in the specified area. The management device 61 writes the obtained position Ptu of the buried object TU to the database DB.

[0081] The construction management device 56 of the excavator 1 transmits at least one of the position Ptu and the distance image PTtu of the buried object TU as the buried object information IFd to the management device 61 or the mobile terminal 64. The construction management device 56 may further transmit the identifier ID, the type TY of the buried object TU, the size Sz of the buried object TU, and the date DT at which the buried object information IFd is obtained to the management device 61 or the mobile terminal.In addition, the construction management device 56 may transmit the distance image PTtu of the buried object TU as the buried object information IFd to the management device 61 or the mobile terminal 64 and the management device 61, or the mobile terminal 64 may obtain the position Ptu of the buried object TU, the type TY of the buried object TU, and the size Sz of the buried object TU from the distance image PTtu. In this case, when transmitting the buried object information IFd, the construction management device 56 may add the date on which the distance image PTtu is obtained and the identifier ID to the buried object information IFd, and transmit the date and the identifier ID.In addition, the management device 61 or the mobile terminal 64 sets the time of receiving the distance image PTtu of the buried object TU from the construction management device 56 as the date DT at which the buried object information IFd is obtained and assigns the identifier ID to the received distance image PTtu.

[0082] The database DB is updated each time the management device 61 receives the buried object information IFd transmitted from the plurality of excavators 1. The excavator 1, or more specifically, the construction management device 56, accesses the management device 61 to acquire the buried object information IFd before construction, so that it is possible to determine whether a buried object TU exists at the site to be constructed, or in a case where the buried object TU exists, it is possible to determine to what depth the buried object TU extends. More specifically, when the buried object information IFd includes the identifier ID or the type TY of the buried object TU and the position Ptu or the distance image PTtu of the buried object TU, it is possible to determine where a buried object TU exists from the buried object information IFd.Another work machine 70, which is a work machine other than the excavator 1, which stores the buried object information IFd in the storage unit 56M of the construction management device 56, accesses the management device 61 before construction, so that it is possible to acquire the buried object information IFd. In addition, the shape measurement system 1S included in the excavator 1 measures the buried object TU at multiple construction sites, so that it is possible to acquire the buried object information IFd at the multiple construction sites.

[0083] Fig. 9 is a flowchart illustrating an operation example of a management method according to the first embodiment. This management method is executed at the time of obtaining the buried object information IFd. In step S101, the position calculation device 54 of the excavator 1 obtains the position of the buried object TU using the detection values ​​of the shape measurement system 1S, the position detection device 23, and the IMU 24.

[0084] As described above, the distance image PTtu including the buried object TU includes the position Ptu of the buried object TU. For this reason, the position calculation device 54 obtains the position Ptu of the buried object TU in the global coordinate system, that is, the three-dimensional position in the first embodiment, by transforming the distance image PTtu including the position Ptu of the buried object TU into the global coordinate system. In addition to the coordinate transformation described above, the position calculation device 54 may extract the element corresponding to the buried object TU from the distance image PTtu including the buried object TU and set the three-dimensional position of the extracted element as the position Ptu of the buried object TU.

[0085] For example, the position calculation device 54 may extract an edge or a characteristic portion of the buried object TU from the distance image PTtu including the buried object TU, and may set the three-dimensional position of the extracted edge or characteristic portion and the element present within the edge or characteristic portion as the position Ptu of the buried object TU. In addition, the position calculation device 54 may, for example, display the distance image PTtu on the screen 55D of the display device 55, and may set the three-dimensional position of the element present within the area of ​​the buried object TU designated by the operator via the input device 52 as the position of the buried object TU.The element comprising the buried object TU can be extracted from the distance image PTtu or can be extracted from the image before it is subjected to a stereoscopic imaging process. If the position Ptu of the buried object TU in the distance image PTtu is known, the size Sz of the buried object TU can also be obtained.

[0086] The construction management device 56 generates the buried object information IFd including the obtained position Ptu of the buried object TU. In step S102, the management device 61 acquires the buried object information IFd from the excavator 1 and stores the buried object information in the storage unit 61M.

[0087] Fig. 10 is a flowchart illustrating another operation example of the management method according to the first embodiment. This management method is for the case of using the buried object information IFd when the excavator 1 performs the construction work. First, the construction management device 56 of the excavator 1 causes the pair of imaging devices 30 to image the construction object. The position calculation device 54 obtains the position of the construction object using the detection values ​​of the shape measurement system 1S, the position detection device 23, and the IMU 24. In step S201, the construction management device 56 acquires the position of the construction object obtained from the position calculation device 54.

[0088] In step S202, the position Ptu of the buried object TU is searched using the position of the construction object obtained in step S201 as a key. Specifically, the construction management device 56 provides the position of the construction object obtained in step S201 to the management device 61. The management device 61 searches the database DB stored in the storage unit 61M using the received position of the construction object as a key. In this case, the database DB is searched using the X and Y coordinates of the position of the construction object as a key. The management device 61 provides the search result to the construction management device 56.

[0089] In a case where the construction management device 56 acquires from the management device 61 the search result that the buried object TU is buried at the position of the construction object, the construction management device 56 notifies the fact that the buried object TU exists at the position of the construction object on the display device 55 in step S203. In a case where the construction management device 56 acquires from the management device 61 the search result that the buried object TU is not buried at the position of the construction object, the construction management device 56 notifies the fact that no buried object TU exists at the position of the construction object on the display device 55.

[0090] In the first embodiment, the detection processing device 51 realizes the three-dimensional measurement by performing an imaging operation in a stereoscopic manner on the image captured by the imaging device 30. However, the present invention is not limited to this. For example, the detection processing device 51 may transmit the image captured by the imaging device 30 to the outside, and the external management device 61 or the external mobile terminal 64 may perform an imaging operation in a stereoscopic manner.

[0091] The work tool 2 of the excavator 1 can be controlled based on the buried object information IFd. For example, since the position where the buried object TU is buried can be known from the buried object information IFd, the work tool 2 is controlled so as not to contact the buried object TU. Specifically, the lowering of the boom 6 of the work tool 2 is stopped based on the distance between the cutting edge 8BT of the bucket 8 of the work tool 2 and the buried object TU, so that the cutting edge 8BT of the bucket 8 is not in contact with the buried object TU.

[0092] In the first embodiment, the buried object information IFd is transmitted from the construction management device 56 to at least one of the management device 61 and the mobile terminal 64 via the communication device 25. However, the present invention is not limited to this. For example, the buried object information IFd may be transmitted through a storage device. In addition, the construction management device 56 and at least one of the management device 61 and the mobile terminal 64 may be connected to each other via a cable, and the buried object information IFd may be transmitted to at least one of the management device 61 and the mobile terminal 64 via this cable.

[0093] In the first embodiment, each element of the distance image PTtu is transformed into a position in the global coordinate system by the position calculator 54 of the excavator 1, so that the three-dimensional position of the buried object TU in the global coordinate system is obtained by the position calculator 54. However, the transformation into the global coordinate system may be performed by a device other than the position calculator 54. For example, the management device 61 or the mobile terminal 64 may perform the transformation into the global coordinate system to obtain the three-dimensional position of the buried object TU.In this case, the management device 61 or the mobile terminal 64 acquires the distance image PTtu including the position of the coordinate system of the imaging device or the position of the vehicle body coordinate system from the construction management device 56 and the detection values ​​of the position detection device 23 and the IMU 24. In addition, the management device 61 or the mobile terminal 64 can transform the position included in each element of the distance image PTtu into the position in the global coordinate system using the acquired information, extract elements corresponding to the buried object TU from the distance image PTtu including the buried object TU, and set the three-dimensional position of the extracted element as the position of the buried object TU. In this case, the management device 61 or the mobile terminal 64 realizes the function of the position calculation unit.

[0094] For example, the management device 61 or the mobile terminal 64 may extract an edge or a characteristic portion of the buried object TU from the distance image PTtu including the buried object TU, and set the three-dimensional position of the extracted edge or characteristic portion and the element present within the edge or characteristic portion as the position of the buried object TU. In addition, the management device 61 or the mobile terminal 64 may also set, for example, the three-dimensional position of the element present in the area of ​​the buried object TU designated by the operator as the position of the buried object TU.

[0095] In the first embodiment, the shape measurement system 1S of the excavator 1 may transmit to the management device 61 or the mobile terminal 64 an image (hereinafter appropriately referred to as a pre-processed image) of the buried object TU that has been acquired by at least one imaging device 30 and has not yet been subjected to imaging in a stereoscopic manner, without obtaining the distance image PTtu, that is, without obtaining the three-dimensional position and information (hereinafter appropriately referred to as image-time information) at the time the pre-processed image is acquired. The storage unit 61M of the management device 61 or the storage unit of the mobile terminal 64 acquires the pre-processed image and stores the pre-processed image with the added image-time information.The storage unit 61M of the management device 61 or the storage unit of the mobile terminal 64 corresponds to an information acquisition unit.

[0096] The image-time information includes at least an identifier indicating that a buried object is included in the image, a position of the excavator 1 at the time of imaging, and a date. The image-time information may further include other information. The other information is, for example, an identifier indicating a construction site, a posture of the excavator 1, and the like. The management device 61 or the mobile terminal 64, which receives the image before it is subjected to imaging in a stereoscopic manner and the information when the image is acquired, obtains the distance image PTtu and the buried object information IFd based on the received image and the information.

[0097] In the first embodiment, the object detection unit is a stereo camera including at least the pair of imaging devices 30, but the present invention is not limited thereto. For example, the object detection unit may be a laser scanner. The object detection unit may be mounted on a drone. In this case, the information of the buried object TU detected by the object detection unit mounted on the drone is transmitted to the shape measurement system 1S, for example, through communication.

[0098] In the first embodiment, the position calculation device 54 obtains the position Ptu of the buried object TU, and the construction management device 56 generates the buried object information IFd. However, the present invention is not limited to this. The position Ptu of the buried object TU and the buried object information IFd may be obtained by another electronic device included in the excavator 1, or may be obtained by the management device 61 and the mobile terminal 64.

[0099] In the first embodiment, the detection processing device 51 assigns the identifier ID to the distance image PTtu of the buried object TU. However, the identifier ID may not be assigned to the distance image PTtu. In the embodiment, the identifier ID may be assigned to the image before it is subjected to imaging in a stereoscopic manner. In this case, another electronic device included in the excavator 1, the management device 61, or the mobile terminal 64 can obtain the position Ptu of the buried object TU by performing imaging in a stereoscopic manner on the image before it is subjected to imaging with the identifier ID assigned to it.

[0100] In the first embodiment, the position of this buried object is obtained by using the position of the work machine obtained by the position detection unit, the posture of the work machine obtained by the position detection unit, and the three-dimensional shape of the buried object obtained by the object detection unit, and the information about the buried object including the position of this buried object is acquired. Since the position of the buried object buried in the ground can be known from the buried object information, it is possible to reduce the possibility of damage to the buried object under construction.Additionally, in the first embodiment, the information for obtaining the position of the buried object is automatically detected by the position detection unit that obtains the position of the work machine, the posture detection unit that obtains the posture of the work machine, and the object detection unit that obtains the three-dimensional shape of the object, and the position calculation unit automatically obtains the position of the buried object using the detected information. Therefore, according to the first embodiment, the information about the buried object can be easily obtained by the operation of the work machine operator.As a result, in the first embodiment, it is possible to reduce the labor required to obtain the information about the buried object, and the worker for measuring the position of the buried object is unnecessary, so that labor cost savings in the labor required to obtain the information about the buried object can be realized. That is, in the first embodiment, it is possible to reduce the labor required to obtain the information about the buried object.

[0101] The structure disclosed in the first embodiment can also be suitably applied in the following embodiments. Second embodiment.<Messung der Position des vergrabenen Objekts TU unter Verwendung von Arbeitsgerät 2>

[0102] Fig. 11 is a diagram illustrating an example of measuring the position of the buried object TU using the work machine 2 in a second embodiment. The excavator 1 according to the first embodiment obtains the position Ptu of the buried object TU using the detection values ​​of the shape measurement system 1S including at least a pair of imaging devices 30, the position detection device 23, and the IMU 24. The second embodiment differs from the first embodiment in that the position of a portion of the work machine 2 in a case where the portion of the work machine 2 contacts the buried object TU is set as the position of the buried object TU, so that the position of the buried object TU is obtained.

[0103] In the second embodiment, the cutting edge 8BT of the cutting edge 8B of the bucket 8 is used as a portion of the work tool 2. The position Pb (Xb, Yb, Zb) where the cutting edge 8BT of the bucket 8 contacts the buried object TU is the position Ptu of the buried object TU. The position Pb (Xb, Yb, Zb) of the cutting edge 8BT of the cutting edge 8B of the bucket 8 is obtained by the display device 55 as described in the first embodiment. The display device 55 is a work tool position detection unit that obtains the position of at least a portion of the work tool 2.

[0104] The position calculation device 54 obtains the position of the buried object TU using the position of the excavator 1 obtained by the position detection device 23, the posture of the excavator 1 obtained by the IMU 24, and the position of a portion of the work tool 2 detected by the display device 55 in a case where a portion of the work tool 2 contacts the buried object TU. In a case where the buried object TU is a pipe, the inclination of the buried object TU can be obtained from the first position Ptuf in the longitudinal direction of the buried object TU and the second position Ptus in a portion separated by a predetermined distance from the first position Ptuf along the longitudinal direction.

[0105] In the second embodiment, the position calculation device 54 obtains the position of the cutting edge 8BT as the position Ptu of the buried object TU, and the construction management device 56 generates the buried object information IFd. However, the present invention is not limited to this. The position Ptu of the buried object TU and the buried object information IFd may be obtained by another electronic device included in the excavator 1, or may be obtained by the management device 61 and the mobile terminal 64.For example, the management device 61 and the mobile terminal 64 can acquire the current positions of the antennas 21 and 22 detected by the position detection device 23, the rotation angle of the work tool 2 detected by the first angle detection unit 18A and the like, the size of the work tool 2, and the output data of the IMU 24 to obtain the position of the cutting edge 8BT.

[0106] The second embodiment has the same functions and effects as those of the first embodiment. Furthermore, even if the excavator 1 does not include the imaging device 30, if the excavator 1 includes the position detection device 23 and the IMU 24, there is an advantage in the second embodiment that the position Ptu of the buried object TU can be obtained. Third embodiment.

[0107] In the embodiments described above, the operator of the management device 61 or the operator of the excavator 1 obtains the position Ptu of the buried object TU by designating the buried object TU present in the distance image PTtu of the buried object TU or the image before it is processed by the detection processing device 51 using the position calculation device 54, which is a position calculation unit. However, the position Ptu of the buried object TU may be obtained by other methods. In addition, in a case where the operator of the management device 61 designates the buried object TU, the position calculation device 54 may be provided in the management device 61.

[0108] Fig. 12 is a diagram illustrating an example of an image captured by an imaging device 30 before processing by the detection processing device 51. The imaging device 30 corresponds to an object detection unit that detects a construction object around the excavator 1. In a case where there is an image captured by an imaging device 30 that has not yet been processed by the detection processing device 51, as shown in Fig. 12, the detection processing device 51 calculates the coordinate position in each pixel of the image in Fig. 12 by performing stereoscopic processing based on the image and another image (not shown) paired with the image.

[0109] In the third embodiment, it is determined that the position calculation unit is provided in the management device 61. For example, the management device 61 displays an image of the construction object captured by the imaging device 30, as shown in Fig. 12, on the display device, which is an output unit connected to the input / output unit IO of the management device 61. In the state where the image is displayed on the display device, the operator of the management device 61 selects a predetermined portion (point Tp) of the buried object TU in the image displayed on the display device using an input device (e.g., a mouse) connected to the input / output unit IO of the management device 61. A plurality of points Tp may be selected. The management device 61 may obtain the position of the point in the image based on the image captured by the imaging device 30 and the point Tp on the image selected by the input device, and may designate the position of the point as the position Ptu of the buried object TU.The point Tp selected in the image of the buried object TU can be selected at any position in the buried object TU. For example, as shown in . Fig. 12, the point Tp at the upper end portion of the buried object TU should be selected.

[0110] As in Fig. As shown in FIG. 12, by selecting a plurality of points Tp along the shape of the buried object TU, the management device 61 can identify the position of the buried object TU and the overall shape based on the selected plurality of points Tp. By selecting at least the points Tp at both ends of the buried object TU, the management device 61 can obtain the position of the buried object TU.

[0111] By selecting predetermined two points Tp of the buried object TU, the management device 61 can calculate and display the distance between the two points Tp based on the position information of the two points Tp. For example, in a case where the buried object TU has a pipe shape, by selecting both end portions of the buried pipe, the management device 61 can calculate the total length L of the buried object TU. In addition, the management device 61 can calculate the gradient of the buried pipe based on the positions of both end portions of the buried pipe. By selecting two points at both ends in the cross section of the buried pipe, the management device 61 can also calculate the pipe diameter Du of the buried pipe.

[0112] In the above description, the method for specifying the position Ptu of the buried object TU using the image acquired by an imaging device 30 before being processed by the detection processing device 51 was described. However, the present invention is not limited to this. For example, the position Ptu of the buried object TU can be obtained by displaying the distance image PTtu or other three-dimensional shape data (such as point group data) on the display device and selecting a point from the display data displayed on the display device. The image before being processed by the detection processing device 51, the distance image PTtu, and the three-dimensional shape data are examples of an image detected by the object detection unit.

[0113] Furthermore, the display device may have an input function such as a touch panel, and a point of the captured image may be selected by the operator touching the touch panel.

[0114] Additionally, in the third embodiment, it is assumed that the position calculation unit is configured as the management device 61, and the operation of selecting the position Ptu of the buried object TU is performed using the input device and the display device connected to the management device 61. As in the above-described embodiments, the position calculation unit may be the position calculation device 54 of the excavator 1 or the mobile terminal 64. The operation of selecting the position Ptu of the buried object TU may be performed using the input device 52 and the display device 55 of the excavator 1. The display device in the input / output unit IO and the display device 55 in the excavator 1 are examples of an output unit.In addition, the input device in the input / output unit IO and the input device 52 in the excavator 1 are examples of an input unit.

[0115] In addition, in the embodiments described above, the management system 100 may be a system including the entire excavator 1, the management device 60, the network NTW, and the mobile terminal 64, may be a system closed to the excavator 1, may be a system closed to the management device 60, or may be a system closed to the mobile terminal 64.< / bildgebungsvorrichtung>

Claims

[1] Administrative system comprising: a position detection unit configured to obtain a position of a work machine; a position detection unit configured to obtain a position of the work machine; an object detection unit configured to obtain a three-dimensional shape of a buried object; a position calculation unit configured to calculate a position of the buried object using the position of the work machine obtained by the position detection unit, the posture of the work machine obtained by the posture detection unit, and the three-dimensional shape of the buried object obtained by the object detection unit; and an information acquisition unit configured to acquire information about the buried object, including at least the position of the buried object obtained by the position calculation unit. [2] Management system according to claim 1, in which the object detection unit comprises a stereo camera mounted on the work machine and comprising at least one pair of imaging devices, wherein the management system further comprises an identifier assignment unit configured to assign an identifier to an image of the buried object imaged by the imaging device. [3] Administrative system comprising: a position detection unit configured to obtain a position of a work machine; a position detection unit configured to obtain a position of the work machine; a work implement position detection unit configured to obtain a position of at least a portion of a work implement included in the work machine; a position calculation unit configured to calculate a position of a buried object using the position of the work machine obtained by the position detection unit, the position of the work machine obtained by the posture detection unit, and the position of the portion of the work tool detected by the work tool position detection unit; and an information acquisition unit configured to acquire information about the buried object, including at least the position of the buried object obtained by the position calculation unit. [4] The management system according to any one of claims 1 to 3, wherein the information about the buried object further comprises at least one of a size of the buried object, a type of the buried object, and a date on which the information about the buried object was acquired. [5] A management system according to any one of claims 1 to 4, further comprising a storage device arranged to store the information about the buried object. [6] Administrative system comprising: a position detection unit configured to obtain a position of a work machine; at least one imaging device configured to image a buried object; and an information acquisition unit configured to acquire an image of the buried object obtained by the imaging device, wherein the information acquisition unit is configured to add to the image of the buried object an identifier indicating that the buried object is included in the image and a position and a date of the work machine at a time when the image of the buried object is acquired, and is configured to store the resulting data. [7] Administrative system comprising: a position detection unit configured to obtain a position of a work machine; a position detection unit configured to obtain a position of the work machine; an object detection unit configured to obtain a three-dimensional shape of a buried object; an output unit configured to output an image detected by the object detection unit; an input unit configured to select a position on the detected image output by the output unit; a position calculation unit configured to obtain a point on the detected image selected by the input unit as a position of the buried object using the position of the work machine obtained by the position detection unit, the posture of the work machine obtained by the posture detection unit, and the three-dimensional shape of the buried object obtained by the object detection unit; and an information acquisition unit configured to acquire information about the buried object, including at least the position of the buried object obtained by the position calculation unit. [8] Administrative system comprising: an output unit configured to output a detected image detected by an object detection unit configured to detect a construction object around a work machine; an input unit configured to select a point on the captured image output by the output unit; and a position calculation unit configured to obtain a position of the point in the detected image based on the point on the detected image selected by the input unit and configured to set the position of the point as a position of the buried object.

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