Display system, display method, and server

Abstract

To efficiently plan construction at a construction site.SOLUTION: A display system comprises: an intermediate terrain model generation part which modifies at least part of current terrain data representing three-dimensional data on a current terrain at a construction site to generate an intermediate terrain model showing a three-dimensional model for intermediate terrain at the construction site; a work machine model arrangement part which arranges a work machine model, showing a three-dimensional model for a work machine operating at the construction site, on the intermediate terrain model; a display control part which causes a display unit to display an image of a virtual space including the intermediate terrain model and the work machine model; and a work machine model operation part which causes the work machine model arranged on the intermediate terrain model to operate on the display unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a display system, a display method, and a server.

Background Art

[0002] In the technical field related to display systems, a display system as disclosed in Patent Document 1 is known. The display system disclosed in Patent Document 1 arranges field data representing the shape of a construction site in a virtual space, arranges machine data representing the shape of a working machine at a position corresponding to the field data in the virtual space, and displays the arranged machine data on a display device. In Patent Document 1, the field data is measured by a camera of a mobile terminal, and a motion for reproducing a predetermined operation is attached to the machine data. A user can confirm the presence or absence of a space where the working machine can operate at the construction site by the motion attached to the machine data.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The terrain of a construction site changes daily with the progress of construction. There is a demand for a technology that can efficiently formulate a construction plan for the construction site in accordance with the changes in the terrain of the construction site.

[0005] An object of the present disclosure is to efficiently formulate a construction plan for a construction site.

Means for Solving the Problems

[0006] According to the present disclosure, there is provided a display system including: an intermediate terrain model generation unit that generates an intermediate terrain model showing a three-dimensional model of an intermediate terrain of a construction site by changing at least a part of the current terrain data showing the three-dimensional data of the current terrain of the construction site; a work machine model placement unit that places a work machine model showing a three-dimensional model of a work machine operating at the construction site on the intermediate terrain model; a display control unit that causes an image of a virtual space including the intermediate terrain model and the work machine model to be displayed on a display device; and a work machine model operation unit that operates the work machine model placed on the intermediate terrain model in the display device.

Advantages of the Invention

[0007] According to the present disclosure, a construction plan for a construction site can be efficiently formulated.

Brief Description of the Drawings

[0008]

Figure 1

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Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. Also, some components may not be used.

[0010] [Information Terminal] FIG. 1 is a diagram showing an information terminal 1 according to an embodiment. The information terminal 1 includes a display system 2. The information terminal 1 includes a display device 420 and an input device 410. The display device 420 provides display data to the user. The display device 420 has a display screen on which the display data is displayed. Examples of the display device 420 include flat panel displays such as liquid crystal displays or organic EL displays. The input device 410 generates input data when operated by the user. Examples of the input device 410 include a touch panel (touch sensor) disposed on the display screen of the display device 420. Note that the input device 410 may include at least one of a computer keyboard and a mouse. The input device 410 may include a voice input device.

[0011] The information terminal 1 is used for formulating a construction plan at a construction site. The current terrain of the construction site is displayed on the display device 420. By operating the input device 410, the user can change at least a part of the current terrain displayed on the display device 420. By operating the input device 410, the user can virtually excavate at least a part of the current terrain displayed on the display device 420, virtually add another terrain to the current terrain, or virtually stack earth and sand on the current terrain. Changing at least a part of the current terrain includes virtually excavating at least a part of the current terrain, virtually adding another terrain to the current terrain, and virtually stacking earth and sand on the current terrain.

[0012] An image of a virtual space simulating the construction site is displayed on the display device 420. By operating the input device 410, the user can cause the display device 420 to display an intermediate terrain model showing a 3D model of an intermediate terrain in which at least a part of the current terrain has been changed. By operating the input device 410, the user can cause the display device 420 to display a work machine model showing a 3D model of a work machine operating at the construction site. By operating the input device 410, the user can operate the work machine model displayed on the display device 420.

[0013] Each of the intermediate terrain model and the work machine model displayed on the display device 420 behaves based on the physical laws in the real space. The information terminal 1 performs physical calculations to cause each of the intermediate terrain model and the work machine model to behave based on the physical laws in the real space. The physical laws include external forces acting on the intermediate terrain or the work machine. The external forces acting on the intermediate terrain or the work machine include gravity. The external forces acting on the intermediate terrain or the work machine include frictional forces with other objects. The external forces acting on the intermediate terrain or the work machine include impact forces due to collisions with other objects. By the intermediate terrain model behaving based on the physical laws in the real space, the user can recognize, for example, parts of the intermediate terrain where a landslide is likely to occur. By the intermediate terrain model behaving based on the physical laws in the real space, the user can recognize, for example, parts of the intermediate terrain where the posture of the work machine is likely to become unstable.

[0014] The user can examine the suitability of the candidate construction plan by operating the input device 410 based on the candidate construction plan. The user can easily examine the suitability of multiple candidate construction plans using the information terminal 1. Thereby, an optimal construction plan for the construction site is efficiently formulated.

[0015] [Display System] FIG. 2 is a block diagram showing the display system 2 according to the embodiment. As shown in FIG. 2, the display system 2 includes a computer system having a processor 100, a main memory 200, a storage 300, and an interface 400. The input device 410 and the display device 420 are connected to the interface 400.

[0016] The storage 300 has a display program storage unit 310, a current terrain data storage unit 320, a work machine model storage unit 330, and an object model storage unit 340.

[0017] The display program storage unit 310 stores a display program. The display program is read from the storage 300 by the processor 100 and expanded in the main memory 200, thereby causing the processor 100 to execute a predetermined process.

[0018] The current terrain data storage unit 320 stores current terrain data indicating three-dimensional data of the current terrain of the construction site. The current terrain data is detected by a three-dimensional sensor disposed at the construction site. The three-dimensional sensor acquires three-dimensional data indicating the three-dimensional shape of the terrain of the construction site. The detection data of the three-dimensional sensor includes the three-dimensional data of the construction site. The current terrain data generated based on the detection data of the three-dimensional sensor is pre-stored in the current terrain data storage unit 320.

[0019] As a three-dimensional sensor, a laser sensor (LIDAR: Light Detection and Ranging) that emits laser light to detect a detection target is exemplified. Note that the three-dimensional sensor may be an infrared sensor that emits infrared light to detect an object or a radar sensor (RADAR: Radio Detection and Ranging) that emits radio waves to detect an object. Note that the three-dimensional sensor may be a three-dimensional camera such as a stereo camera. The three-dimensional sensor may be mounted on a flying object that flies over a construction site. As the flying object, an unmanned aerial vehicle (UAV) such as a drone is exemplified. Note that the three-dimensional sensor may be arranged on a work machine operating at the construction site. The three-dimensional sensor may be installed on a structure provided at the construction site.

[0020] Note that the current topographic data may be data generated using 3D CAD (Computer Aided Design) or data generated by a predetermined institution such as the Geospatial Information Authority of Japan.

[0021] The work machine model storage unit 330 stores a work machine model 5 indicating a three-dimensional model of a work machine operating at the construction site. Examples of the work machine include a hydraulic excavator, a bulldozer, and a dump truck. Examples of the work machine model 5 include an excavator model 51 that is a three-dimensional model of a hydraulic excavator, a bulldozer model that is a three-dimensional model of a bulldozer, and a truck model 52 that is a three-dimensional model of a dump truck.

[0022] The object model storage unit 340 stores an object model 6 indicating a three-dimensional model of an object at the construction site. The object includes natural objects, people, and artificial structures. Examples of natural objects include raindrops and flowing water. Examples of the object model 6 include a flowing water model 61 indicating a three-dimensional model of flowing water and a person model 62 indicating a three-dimensional model of a person.

[0023] The processor 100 includes an intermediate terrain model generation unit 101, a work machine model placement unit 102, a work machine model operation unit 103, an object model placement unit 104, an object model operation unit 105, a viewpoint specification unit 106, a workability check unit 107, and a display control unit 108.

[0024] The intermediate terrain model generation unit 101 generates an intermediate terrain model 4 that represents a three-dimensional model of the intermediate terrain in which at least a part of the current terrain data has been changed. The intermediate terrain model generation unit 101 changes at least a part of the current terrain data to generate an intermediate terrain model 4 that represents a three-dimensional model of the intermediate terrain at the construction site. Changing at least a part of the current terrain data includes virtually excavating at least a part of the current terrain data, virtually adding other terrain data to the current terrain data, and virtually piling up earth and sand on the current terrain data. The intermediate terrain model generation unit 101 generates the intermediate terrain model 4 based on the first input data from the input device 410. The intermediate terrain model generation unit 101 performs a physical operation to cause the intermediate terrain model 4 to behave in the virtual space based on the physical laws in the real space.

[0025] As described above, the physical laws include external forces acting on the intermediate terrain. Due to differences in the materials of the intermediate terrain, the behavior of the intermediate terrain in the real space changes. Examples of the materials of the intermediate terrain include asphalt, concrete, and soil. The intermediate terrain model generation unit 101 can perform a physical operation to cause the intermediate terrain model 4 to behave in the virtual space based on the physical laws in the real space while considering the materials of the intermediate terrain.

[0026] The work machine model placement unit 102 places the work machine model 5 on the intermediate terrain model 4. The work machine model operation unit 103 places the work machine model 5 on the intermediate terrain model 4 based on the second input data from the input device 410.

[0027] The working machine model operation unit 103 operates the working machine model 5 arranged in the intermediate terrain model 4. The working machine model operation unit 103 operates the working machine model 5 based on the third input data from the input device 410. The working machine model operation unit 103 performs physical calculations to make the working machine model 5 behave in the virtual space based on the physical laws in the real space.

[0028] The object model placement unit 104 places the object model 6 in the intermediate terrain model 4. The object model placement unit 104 places the object model 6 in the intermediate terrain model 4 based on the fourth input data from the input device 410.

[0029] The object model operation unit 105 operates the object model 6 arranged in the intermediate terrain model 4. The object model operation unit 105 operates the object model 6 based on the fifth input data from the input device 410. The object model operation unit 105 performs physical calculations to make the object model 6 behave in the virtual space based on the physical laws in the real space.

[0030] The viewpoint specifying unit 106 specifies the position of the viewpoint in the virtual space where the intermediate terrain model 4 and the working machine model 5 exist. The viewpoint specifying unit 106 changes the position of the viewpoint based on the viewpoint input data from the input device 410. The viewpoint specifying unit 106 can specify the position of the viewpoint inside the working machine model 5. The viewpoint specifying unit 106 can specify the position of the viewpoint outside the working machine model 5. The inside of the working machine model 5 includes the inside of the cab of the working machine model 5. The outside of the working machine model 5 includes the outside of the cab of the working machine model 5.

[0031] The workability check unit 107 notifies that the relative position between the work machine model 5 and the intermediate terrain model 4 around the work machine model 5 has reached a specified state when the work machine model 5 operates. In the embodiment, the workability check unit 107 causes the display device 420 to notify that the relative position between the work machine model 5 and the intermediate terrain model 4 around the work machine model 5 has reached a specified state when the work machine model 5 operates. For example, when the relative distance between the work machine model 5 and the intermediate terrain model 4 around the work machine model 5 when the work machine model 5 operates becomes equal to or less than a predetermined specified value, the workability check unit 107 causes the display device 420 to notify that the relative distance has become equal to or less than the specified value.

[0032] The relative distance between the work machine model 5 and the intermediate terrain model 4 around the work machine model 5 becoming equal to or less than the specified value includes the possibility that the work machine model 5 and the intermediate terrain model 4 may come into contact. For example, when the work machine model 5 is the excavator model 51 which is a three-dimensional model of a hydraulic excavator, if the virtual working space of the excavator model 51 is small, when the revolving body 51B of the excavator model 51 rotates, for example, the counterweight of the revolving body 51B may come into contact with the intermediate terrain model 4 around the excavator model 51. As the intermediate terrain model 4 with which the revolving body 51B may come into contact, a mound or cliff of earth and sand around the excavator model 51 is exemplified. When the relative distance between the revolving body 51B of the excavator model 51 and the intermediate terrain model 4 around the excavator model 51 becomes equal to or less than the specified value, that is, when there is a possibility that the revolving body 51B and the intermediate terrain model 4 may come into contact, the workability check unit 107 causes the display device 420 to notify that the relative distance between the revolving body 51B and the intermediate terrain model 4 has become equal to or less than the specified value.

[0033] Further, the workability check unit 107 notifies that the relative position between the work machine model 5 and the object model 6 around the work machine model 5 has reached a specified state when the work machine model 5 operates. For example, when the relative distance between the work machine model 5 and the object model 6 around the work machine model 5 becomes equal to or less than a predetermined specified value when the work machine model 5 operates, the workability check unit 107 causes the display device 420 to be notified that the relative distance has become equal to or less than the specified value.

[0034] The relative distance between the work machine model 5 and the object model 6 around the work machine model 5 becoming equal to or less than the specified value includes the possibility that the work machine model 5 and the object model 6 may come into contact. For example, when the work machine model 5 is the excavator model 51 which is a three-dimensional model of a hydraulic excavator and the object model 6 is the human model 62, when the revolving body 51B of the excavator model 51 rotates, there is a possibility that the revolving body 51B may come into contact with the human model 62 around the excavator model 51. When the relative distance between the revolving body 51B of the excavator model 51 and the human model 62 around the excavator model 51 becomes equal to or less than the specified value, that is, when there is a possibility that the revolving body 51B and the human model 62 may come into contact, the workability check unit 107 causes the display device 420 to be notified that the relative distance between the revolving body 51B and the human model 62 has become equal to or less than the specified value.

[0035] The display control unit 108 causes the display device 420 to display an image of the virtual space including the intermediate terrain model 4 and the work machine model 5. The display control unit 108 causes the display device 420 to display the intermediate terrain model 4 and the work machine model 5 as viewed from the viewpoint specified by the viewpoint specifying unit 106. The work machine model operation unit 103 operates the work machine model 5 arranged on the intermediate terrain model 4 in the display device 420. That is, the work machine model operation unit 103 operates the work machine model 5 displayed on the display device 420. The object model operation unit 105 operates the object model 6 arranged on the intermediate terrain model 4 in the display device 420. That is, the object model operation unit 105 operates the object model 6 displayed on the display device 420.

[0036] [Generation of Intermediate Terrain Model] FIG. 3 is a diagram for explaining the processing of the intermediate terrain model generation unit 101 according to the embodiment. As described above, the intermediate terrain model is generated by changing at least a part of the current terrain data. The terrain of the construction site changes daily according to the progress of the construction. The construction site is constructed so that the terrain of the construction site becomes the final target terrain. The current terrain is changed to reach the final target terrain. The intermediate terrain is the terrain of the construction site at an intermediate point in time from the current terrain to the final target terrain.

[0037] As shown in FIG. 3, the current terrain of the construction site is displayed on the display device 420. The image of the current terrain displayed on the display device 420 is the current terrain model 3 showing the three-dimensional model of the current terrain. The image of the current terrain model 3 displayed on the display device 420 is an image of a virtual space generated based on the current terrain data stored in the current terrain data storage unit 320.

[0038] The user can operate the input device 410 to change at least a part of the current terrain model 3 displayed on the display device 420 for formulating a construction plan. When changing at least a part of the current terrain model 3, the user operates the input device 410 so that the first input data is generated while the current terrain model 3 is displayed on the display device 420. The intermediate terrain model generation unit 101 generates an intermediate terrain model based on the first input data from the input device 410. As shown in FIG. 3, when the first input data is generated in the input device 410 while the current terrain model 3 is displayed on the display device 420, at least a part of the current terrain model 3 is changed, and the intermediate terrain model 4 is generated. The intermediate terrain model 4 in which at least a part of the current terrain model 3 is changed is displayed on the display device 420.

[0039] In the example shown in FIG. 3, the intermediate terrain model 4 has a flat ground 41 and a passage 42. By operating the input device 410 so that the flat ground 41 and the passage 42 are formed, an intermediate terrain model 4 having the flat ground 41 and the passage 42 is generated. The user can consider whether it is appropriate to generate a flat ground and a passage on the current terrain in the construction plan.

[0040] The intermediate terrain model generation unit 101 performs a physical calculation to cause the intermediate terrain model 4 to behave in the virtual space based on the physical laws in the real space. Depending on the shape of the intermediate terrain, for example, the possibility of landslides increases. By causing the intermediate terrain model 4 to behave based on the physical laws in the real space, the user can consider, for example, whether the shape of the intermediate terrain under consideration is likely to cause a landslide.

[0041] [Arrangement of the work machine model] FIG. 4 is a diagram for explaining the processing of the work machine model arrangement unit 102 according to the embodiment. The user can operate the input device 410 to arrange the work machine model 5 on the intermediate terrain model 4 displayed on the display device 420 for formulating a construction plan. When arranging the work machine model 5 on the intermediate terrain model 4, the user operates the input device 410 so that the second input data is generated while the intermediate terrain model 4 is displayed on the display device 420. The work machine model arrangement unit 102 arranges the work machine model 5 on the intermediate terrain model 4 based on the second input data from the input device 410. As shown in FIG. 4, when the second input data is generated in the input device 410 while the intermediate terrain model 4 is displayed on the display device 420, the work machine model 5 is arranged on the intermediate terrain model 4. The work machine model 5 is displayed on the display device 420 so as to overlap the intermediate terrain model 4.

[0042] In the example shown in FIG. 4, the work machine model 5 is a shovel model 51 which is a three-dimensional model of a hydraulic shovel. The shovel model 51 has a traveling body 51A, a slewing body 51B, and a working device 51C. The working device 51C has a boom 51D, an arm 51E, and a bucket 51F. The shovel model 51 is arranged on a flat ground 41. By operating the input device 410 so that the shovel model 51 is arranged on the flat ground 41, the shovel model 51 is arranged on the flat ground 41. The user can consider whether it is appropriate to arrange a hydraulic shovel on the flat ground at the construction site in the construction plan.

[0043] The work machine model operation unit 103 performs physical calculations to cause the work machine model 5 to behave in the virtual space based on physical laws in the real space. Depending on the position where the work machine is arranged, for example, the posture of the work machine may become unstable. By causing the work machine model 5 to behave based on physical laws in the real space, the user can consider, for example, whether the position of the work machine under consideration is appropriate.

[0044] [Change of viewpoint] FIG. 5 is a diagram for explaining the processing of the viewpoint specifying unit 106 according to the embodiment. The user can operate the input device 410 to change the position of the viewpoint in the virtual space where the intermediate terrain model 4 and the work machine model 5 are displayed on the display device 420 for formulating a construction plan. When changing the position of the viewpoint, the user operates the input device 410 so that viewpoint input data is generated while the intermediate terrain model 4 and the work machine model 5 are displayed on the display device 420. The viewpoint specifying unit 106 changes the position of the viewpoint in the virtual space based on the viewpoint input data from the input device 410. As shown in FIG. 5, when the viewpoint input data is generated in the input device 410 while the intermediate terrain model 4 and the work machine model 5 are displayed on the display device 420, the position of the viewpoint is changed. The intermediate terrain model 4 and the work machine model 5 with the changed viewpoint position are displayed on the display device 420.

[0045] FIG. 4 is an image of a virtual space when the position of the viewpoint is specified outside the construction machine model 5. FIG. 5 is an image of a virtual space when the position of the viewpoint is specified in the cab of the construction machine model 5. As shown in FIG. 5, when the position of the viewpoint is arranged in the cab of the construction machine model 5, a part of the working machine 51C seen from the cab and the wall 43 of the intermediate terrain model 4 existing in front of the construction machine model 5 are displayed on the display device 420. The user can consider whether the position where the hydraulic excavator is arranged in the construction plan is appropriate.

[0046] [Operation of Construction Machine Model] FIG. 6 is a diagram for explaining the processing of the construction machine model operation unit 103 according to the embodiment. The user can operate the input device 410 to operate the construction machine model 5 displayed on the display device 420 for formulating a construction plan. When operating the construction machine model 5, the user operates the input device 410 so that the third input data is generated while the construction machine model 5 is displayed on the display device 420. The construction machine model operation unit 103 operates the construction machine model 5 based on the third input data from the input device 410. As shown in FIG. 6, when the third input data is generated in the input device 410 while the construction machine model 5 is displayed on the display device 420, the construction machine model 5 operates.

[0047] In the example shown in FIG. 6, on the display device 420, as the construction machine model 5, a shovel model 51 which is a three-dimensional model of a hydraulic excavator and a truck model 52 which is a three-dimensional model of a dump truck are displayed. When the input device 410 is operated so that the third input data is generated, the working machine 51C of the shovel model 51 operates so that the excavated material is loaded into the hopper of the truck model 52. The user can consider whether the hydraulic excavator can smoothly load the dump truck in the construction plan. Note that FIG. 6 is an image of a virtual space when the position of the viewpoint is arranged in the cab of the construction machine model 5. An image of a virtual space when the position of the viewpoint is arranged outside the construction machine model 5 may be displayed on the display device 420.

[0048] FIG. 7 is a diagram for explaining the processing of the work machine model operation unit 103 according to the embodiment. In the example shown in FIG. 7, after the user operates the input device 410 so that the intermediate terrain model 4 having the first passage 44 and the second passage 45 is formed, the user operates the input device 410 so that the track model 52 is arranged on the intermediate terrain model 4. The first passage 44 and the second passage 45 are connected via an intersection 46. The user operates the input device 410 so that the track model 52 advances from the first passage 44 to the second passage 45. The user can consider whether the first passage and the second passage through which the dump truck passes in the construction plan are appropriate passages. The user can confirm whether the track model 52 can travel safely by virtually advancing the track model 52 from the first passage 44 to the second passage 45.

[0049] Each of the first passage 44 and the second passage 45 is a part of the intermediate terrain model 4. Further, as the intermediate terrain model 4, there are embankments on both sides of each of the first passage 44 and the second passage 45. When the relative distance between the track model 52 and the embankment becomes equal to or less than a specified value when the track model 52 travels on the first passage 44 and the second passage 45, the workability check unit 107 may cause the display device 420 to notify that the relative distance between the track model 52 and the embankment has become equal to or less than the specified value. That is, when there is a possibility that the track model 52 and the embankment come into contact when the track model 52 travels on the first passage 44 and the second passage 45, the workability check unit 107 may cause the display device 420 to notify that there is a possibility that the track model 52 and the embankment come into contact.

[0050] The work machine model operation unit 103 performs a physical calculation for causing the track model 52 to behave in the virtual space based on the physical laws in the real space. Depending on the road surface condition of the passage through which the dump truck passes, the tires of the dump truck may slip. By causing the track model 52 to behave based on the physical laws in the real space, the user can consider, for example, whether the passage of the dump truck under consideration is appropriate.

[0051] FIG. 7 is an image of the virtual space when the position of the viewpoint is specified outside the track model 52. An image of the virtual space when the position of the viewpoint is specified in the driver's cab of the track model 52 may be displayed on the display device 420.

[0052] [Object model] FIG. 8 is a diagram for explaining the processing of the object model operation unit 105 according to the embodiment. The user can operate the input device 410 to arrange the object model 6 on the intermediate terrain model 4 displayed on the display device 420 for formulating a construction plan. When arranging the object model 6 on the intermediate terrain model 4, the user operates the input device 410 so that the fourth input data is generated while the intermediate terrain model 4 is being displayed on the display device 420. The object model arrangement unit 104 arranges the object model 6 on the intermediate terrain model 4 based on the fourth input data from the input device 410. As shown in FIG. 8, when the fourth input data is generated in the input device 410 while the intermediate terrain model 4 is being displayed on the display device 420, the object model 6 is arranged on the intermediate terrain model 4. The object model 6 is displayed on the display device 420 so as to overlap the intermediate terrain model 4.

[0053] In the example shown in FIG. 8, the object model 6 is a flowing water model 61 which is a three-dimensional model of flowing water. By operating the input device 410 so that the flowing water model 61 is arranged on the intermediate terrain model 4, the flowing water model 61 is arranged on the intermediate terrain model 4.

[0054] The object model operation unit 105 performs a physical calculation to make the flowing water model 61 behave in the virtual space based on the physical laws in the real space. Depending on the shape of the intermediate terrain, there is a possibility that the flowing water flows into the center of the construction site and the workability of the construction site decreases. By making the flowing water model 61 behave based on the physical laws in the real space, the user can, for example, consider whether the shape of the intermediate terrain under consideration is appropriate.

[0055] The object model operation unit 105 can calculate a water storage space in the intermediate terrain model 4 where the flowing water model 61 accumulates, based on the physical laws in the real space and the intermediate terrain model 4. Further, the object model operation unit 105 can calculate an optimal installation position of a drain pipe for discharging the water in the water storage space. The object model operation unit 105 can calculate the behavior of the flowing water model 61 based on the installation position of the drain pipe. The object model operation unit 105 can simulate the flow of the water in the water storage space when the drain pipe is installed.

[0056] FIG. 9 is a diagram for explaining the processing of the object model operation unit 105 according to the embodiment. In the example shown in FIG. 9, the user can operate the input device 410 so that the person model 62, which is a three-dimensional model of a person as the object model 6, is arranged on the intermediate terrain model 4. In the example shown in FIG. 9, the truck model 52 is also arranged on the intermediate terrain model 4. The user can examine, for example, whether the traveling route of the dump truck under consideration is appropriate. The user can examine whether the traveling route of the dump truck is a traveling route where the dump truck and the person approach each other.

[0057] [Workability check] The workability check unit 107 notifies that the relative position between the work machine model 5 and the intermediate terrain model 4 has reached a specified state when the work machine model 5 operates. For example, in the examples shown in FIG. 4 or FIG. 5, when the virtual work space of the excavator model 51 is small, when the excavator model 51 that has excavated the excavation target rotates the slewing body 51B to load the excavated material onto the loading target, for example, the counterweight of the slewing body 51B may contact the intermediate terrain model 4 around the excavator model 51. Also, the working machine 51C may contact the truck model 52 which is the loading target. When the excavator model 51 contacts the intermediate terrain model 4, in the real space, the hydraulic excavator may be damaged, the dump truck may be damaged, or the workability of the hydraulic excavator may decrease. The truck model 52 is a work machine model 5 different from the excavator model 51. When at least a part of the excavator model 51 contacts the intermediate terrain model 4 or the truck model 52 when the excavator model 51 operates, the workability check unit 107 causes the display device 420 to be notified that at least a part of the excavator model 51 contacts the intermediate terrain model 4 or the truck model 52. Thereby, the user can consider, for example, the position of the hydraulic excavator, consider changing the size of the hydraulic excavator, consider enlarging the work space in the intermediate terrain, or consider changing the travel route or parking position of the dump truck so that the excavator model 51 does not contact the intermediate terrain model 4 or the truck model 52.

[0058] In addition, the workability check unit 107 notifies that the relative position between the work machine model 5 and the object model 6 has reached a specified state when the work machine model 5 operates. For example, in the example shown in FIG. 9, depending on the travel route of the truck model 52, the truck model 52 may approach the person model 62. When the truck model 52 approaches the person model 62, the workability of the dump truck deteriorates. When the truck model 52 approaches the person model 62 when the truck model 52 operates, the workability check unit 107 causes the display device 420 to notify that the truck model 52 is approaching the person model 62. Thereby, the user can consider, for example, the travel route of the dump truck so that the truck model 52 does not approach the person model 62. In addition, the user can suppress the dump truck from approaching a person in the real space by setting a predetermined area centered on the person model 62 as an entry prohibited area that prohibits the entry of the truck model 52.

[0059] [Display method] FIG. 10 is a flowchart showing a display method according to the embodiment. The user operates the input device 410 with the image of the virtual space being displayed on the display device 420 for formulating a construction plan. The user operates the input device 410 so that viewpoint input data is generated in order to determine the position of the viewpoint.

[0060] The viewpoint specifying unit 106 acquires the viewpoint input data. The viewpoint specifying unit 106 determines the position of the viewpoint based on the viewpoint input data (step S1).

[0061] The intermediate terrain model generation unit 101 determines whether or not the first input data has been acquired from the input device 410 (step S2). In step S2, when it is determined that the first input data has been acquired (step S2: Yes), the intermediate terrain model generation unit 101 generates the intermediate terrain model 4 based on the first input data from the input device 410 (step S3). The display control unit 108 causes the display device 420 to display the intermediate terrain model 4 generated in step S3 (step S4).

[0062] The intermediate terrain model generation unit 101 determines whether the second input data has been acquired from the input device 410 (step S5). In step S5, if it is determined that the second input data has been acquired (step S5: Yes), the work machine model placement unit 102 places the work machine model 5 on the intermediate terrain model 4 based on the second input data from the input device 410 (step S6). The display control unit 108 causes the intermediate terrain model 4 and the work machine model 5 to be displayed on the display device 420 (step S7).

[0063] The intermediate terrain model generation unit 101 determines whether the third input data has been acquired from the input device 410 (step S8). In step S8, if it is determined that the third input data has been acquired (step S8: Yes), the work machine model operation unit 103 operates the work machine model 5 based on the third input data from the input device 410. The display control unit 108 causes the operating work machine model 5 to be displayed on the display device 420 (step S9).

[0064] The workability check unit 107 determines whether the relative position between the work machine model 5 and the intermediate terrain model 4 when the work machine model 5 operates is a specified state that hinders workability (step S10). In step S10, if it is determined that the relative position between the work machine model 5 and the intermediate terrain model 4 is a specified state that hinders workability (step S10: Yes), the workability check unit 107 causes the display device 420 to notify that it is a specified state that hinders workability (step S11).

[0065] In step S2, if it is determined that the first input data has not been acquired (step S2: No), in step S5, if it is determined that the second input data has not been acquired (step S5: No), in step S8, if it is determined that the third input data has not been acquired (step S8: No), and in step S10, if it is determined that it is not a specified state that hinders workability (step S10: No), the process returns to step S1.

[0066] [Effect] As described above, the processor 100 of the information terminal 1 includes an intermediate terrain model generation unit 101 that generates an intermediate terrain model 4 showing a three-dimensional model of the intermediate terrain of the construction site by changing at least a part of the current terrain data showing the current terrain of the construction site, a work machine model arrangement unit 102 that arranges a work machine model 5 showing a three-dimensional model of a work machine operating at the construction site on the intermediate terrain model 4, a display control unit 108 that causes an image of a virtual space including the intermediate terrain model 4 and the work machine model 5 to be displayed on the display device 420, and a work machine model operation unit 103 that operates the work machine model 5 arranged on the intermediate terrain model 4 in the display device 420.

[0067] According to the embodiment, the processor 100 changes at least a part of the current terrain to generate an intermediate terrain model 4 showing the intermediate terrain during construction. The processor 100 operates the work machine model 5 arranged on the intermediate terrain model 4. By displaying the intermediate terrain model 4 and the operating work machine model 5 on the display device 420, the user can efficiently formulate a construction plan for the construction site according to the terrain of the construction site that changes daily. By operating the work machine model 5 arranged on the intermediate terrain model 4, the user can confirm whether the work machine can operate properly in the intermediate terrain during construction. The intermediate terrain changes daily from the current terrain to the final target terrain. When the user simulates the construction and terrain changes of the construction site from the current terrain to the final target terrain, the user can confirm whether the work machine can operate properly each time the intermediate terrain changes. Thereby, the user can formulate an optimal construction plan for the construction site.

[0068] The intermediate terrain model generation unit 101 generates the intermediate terrain model 4 based on the first input data from the input device 410. Since the input device 410 is operated by the user, the intermediate terrain model generation unit 101 can generate the intermediate terrain model 4 based on the intention of the user.

[0069] The work machine model placement unit 102 places the work machine model 5 on the intermediate terrain model 4 based on the second input data from the input device 410. Since the input device 410 is operated by the user, the work machine model placement unit 102 can place the work machine model 5 on the intermediate terrain model 4 based on the user's intention.

[0070] The work machine model operation unit 103 can operate the work machine model 5 based on the third input data from the input device 410. Since the input device 410 is operated by the user, the work machine model operation unit 103 can operate the work machine model 5 based on the user's intention.

[0071] The intermediate terrain model generation unit 101 performs physical calculations to make the intermediate terrain model 4 behave in the virtual space based on the physical laws in the real space. As a result, the intermediate terrain model 4 can exhibit the same behavior as the intermediate terrain in the real space.

[0072] The work machine model operation unit 103 performs physical calculations to make the work machine model 5 behave in the virtual space based on the physical laws in the real space. As a result, the work machine model 5 can exhibit the same behavior as the work machine in the real space.

[0073] The processor 100 includes a viewpoint specifying unit 106 that specifies the position of the viewpoint in the virtual space where the intermediate terrain model 4 and the work machine model 5 exist. The display control unit 108 causes the display device 420 to display the intermediate terrain model 4 and the work machine model 5 as seen from the viewpoint specified by the viewpoint specifying unit 106. As a result, the user can view the intermediate terrain model 4 and the work machine model 5 from various viewpoints.

[0074] The viewpoint specifying unit 106 can specify the position of the viewpoint in the cab of the work machine model 5. As a result, the user can view the intermediate terrain model 4 and the work machine model 5 from the viewpoint of the operator of the work machine.

[0075] The processor 100 includes a workability check unit 107 that notifies that the relative position between the machine tool model 5 and the intermediate terrain model 4 has reached a specified state when the machine tool model 5 operates. Thereby, the user can confirm whether the working space of the machine tool model 5 in the intermediate terrain model 4 is large enough.

[0076] The processor 100 includes a workability check unit 107 that notifies that the relative position between the machine tool model 5 and the human model 62 showing the three-dimensional model of a person has reached a specified state when the machine tool model 5 operates. Thereby, the user can confirm whether it is possible to work so that the machine tool model 5 does not contact the human model 62.

[0077] The processor 100 includes an object model operation unit 105 that performs a physical operation to move an object model 6 showing a three-dimensional model of an object at a construction site in a virtual space based on physical laws in the real space. Thereby, the object model 6 can exhibit the same behavior as an object in the real space.

[0078] [Another Embodiment] FIG. 11 is a diagram showing the server 20 and the information terminal 1 according to the embodiment. In the above-described embodiment, the display system 2 is included in the information terminal 1. The display system 2 may be included in the server 20. The server 20 may have the functions of the processor 100 and the functions of the storage 300 described in the above-described embodiment. That is, the server 20 changes at least a part of the current terrain data indicating the three-dimensional data of the current terrain of the construction site to generate an intermediate terrain model 4 indicating a three-dimensional model of the intermediate terrain of the construction site, an intermediate terrain model generation unit 101; a work machine model placement unit 102 that places a work machine model 5 indicating a three-dimensional model of a work machine operating at the construction site on the intermediate terrain model 4; a display control unit 108 that causes an image of a virtual space including the intermediate terrain model 4 and the work machine model 5 to be displayed on the display device 420; and a work machine model operation unit 103 that operates the work machine model 5 arranged on the intermediate terrain model 4 in the display device 420. Further, the server 20 may include the object model placement unit 104, the object model operation unit 105, the viewpoint designation unit 106, and the workability check unit 107 described in the above-described embodiment. The server 20 may include a current terrain data storage unit 320, a work machine model storage unit 330, and an object model storage unit 340. The server 20 and the information terminal 1 communicate with each other via a communication system 30. Examples of the communication system 30 include the Internet, a local area network (LAN), a mobile phone communication network, and a satellite communication network. The server 20 transmits the intermediate terrain model 4 and the work machine model 5 to the information terminal 1 via the communication system 30. In the display device 420 of the information terminal 1, the work machine model 5 arranged on the intermediate terrain model 4 operates.

[0079] In the above-described embodiment, the intermediate terrain model is generated based on the first input data from the input device 410. The intermediate terrain model may be generated from the current terrain data based on predetermined sequence data.

[0080] In the above-described embodiment, the work machine model is arranged in the intermediate terrain model based on the second input data from the input device 410. The work machine model may be arranged in the intermediate terrain model based on predetermined sequence data.

[0081] In the above-described embodiment, the work machine model operates based on the third input data from the input device 410. The work machine model may operate based on predetermined motion data.

[0082] In the above-described embodiment, the current terrain data is stored in the current terrain data storage unit 320. The current terrain data may be input to the intermediate terrain model generation unit 101 via, for example, the input device 410.

[0083] In the above-described embodiment, the work machine model 5 is stored in the work machine model storage unit 330. The work machine model 5 may be input to the work machine model arrangement unit 102 via, for example, the input device 410.

[0084] In the above-described embodiment, the object model 6 is stored in the object model storage unit 340. The object model 6 may be input to the object model arrangement unit 104 via, for example, the input device 410.

[0085] In the above-described embodiment, the intermediate terrain model 4 generated in the intermediate terrain model generation unit 101 may be transmitted to the work machine in the real space.

Explanation of Reference Numerals

[0086] 1... Information terminal, 2... Display system, 3... Current terrain model, 4... Intermediate terrain model, 5... Construction machine model, 6... Object model, 20... Server, 30... Communication system, 41... Flat ground, 42... Passageway, 43... Wall, 44... First passageway, 45... Second passageway, 46... Intersection, 51... Excavator model, 51A... Traveling body, 51B... Slewing body, 51C... Working machine, 51D... Boom, 51E... Arm, 51F... Bucket, 52... Truck model, 61... Flowing water model, 62... Human model, 100... Processor, 101... Intermediate terrain model generation unit, 102... Construction machine model placement unit, 103... Construction machine model operation unit, 104... Object model placement unit, 105... Object model operation unit, 106... Viewpoint specification unit, 107... Workability check unit, 108... Display control unit, 200... Main memory, 300... Storage, 310... Display program storage unit, 320... Current terrain data storage unit, 330... Construction machine model storage unit, 340... Object model storage unit, 400... Interface, 410... Input device, 420... Display device.

Claims

1. An intermediate terrain model generation unit that generates an intermediate terrain model showing a three-dimensional model of an intermediate terrain of the construction site by changing at least a part of the actual terrain data showing the three-dimensional data of the actual terrain of the construction site; A work machine model arrangement unit that arranges a work machine model showing a three-dimensional model of a work machine operating at the construction site on the intermediate terrain model; A display control unit that causes a display device to display an image of a virtual space including the intermediate terrain model and the work machine model; A work machine model operation unit that operates the work machine model arranged on the intermediate terrain model on the display device, and comprises a display system. Display system.

2. The intermediate terrain model generation unit generates the intermediate terrain model based on first input data from an input device. The display system according to Claim 1. The display system according to Claim 1.

3. The work machine model arrangement unit arranges the work machine model on the intermediate terrain model based on second input data from an input device. The display system according to Claim 1. The display system according to Claim 1.

4. The work machine model operation unit operates the work machine model based on third input data from an input device. The display system according to Claim 1. The display system according to Claim 1.

5. The intermediate terrain model generation unit performs a physical calculation for causing the intermediate terrain model to behave in the virtual space based on physical laws in the real space. The display system according to Claim 1. The display system according to Claim 1.

6. The work machine model operation unit performs a physical calculation for causing the work machine model to behave in the virtual space based on physical laws in the real space. The display system according to Claim 1. The display system according to Claim 1.

7. It comprises a viewpoint designation unit that designates the position of a viewpoint in the virtual space where the intermediate terrain model and the work machine model exist. The display control unit causes the intermediate terrain model and the work machine model viewed from the viewpoint designated by the viewpoint designation unit to be displayed. The display system according to Claim 1. The display system according to Claim 1. The display system according to Claim 1.

8. The viewpoint designation unit designates the position of the viewpoint to the driver's cab of the work machine model. The display system according to Claim 7. The display system according to Claim 7.

9. It comprises a workability check unit that notifies that the relative position between the work machine model and the intermediate terrain model when the work machine model operates has reached a specified state. The display system according to Claim 1. The display system according to Claim 1.

10. A workability check unit that notifies that the relative position between the work machine model and a person model showing a three-dimensional model of a person when the work machine model operates has reached a specified state. The display system according to claim 1.

11. Comprising an object model operation unit that performs a physical operation to make an object model showing a three-dimensional model of an object at the construction site in the virtual space behave based on physical laws in the real space. The display system according to claim 1.

12. Changing at least a part of the current terrain data showing the three-dimensional data of the current terrain of the construction site to generate an intermediate terrain model showing a three-dimensional model of the intermediate terrain of the construction site; Arranging a work machine model showing a three-dimensional model of a work machine operating at the construction site on the intermediate terrain model; Causing an image of a virtual space including the intermediate terrain model and the work machine model to be displayed on a display device; Operating the work machine model arranged on the intermediate terrain model on the display device. Display method.

13. An intermediate terrain model generation unit that changes at least a part of the current terrain data showing the three-dimensional data of the current terrain of the construction site to generate an intermediate terrain model showing a three-dimensional model of the intermediate terrain of the construction site; A work machine model arrangement unit that arranges a work machine model showing a three-dimensional model of a work machine operating at the construction site on the intermediate terrain model; A display control unit that causes an image of a virtual space including the intermediate terrain model and the work machine model to be displayed on a display device; Comprising a work machine model operation unit that operates the work machine model arranged on the intermediate terrain model on the display device. Server.

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