Work site simulation system

Abstract

To make the behaviors of an object at a work site in a virtual space similar to behaviors of an object at an actual work site.SOLUTION: A worksite simulation system 1 includes a computer 20 for simulating an operation of a work machine 60 at a worksite S in a virtual space. The computer 20 sets a plurality of objects 50 in the virtual space. The plurality of objects 50 include an object to be subjected to behavior calculation. The computer 20 simulates the behavior of at least one of deformation and movement of the object to be subjected to behavior calculation, caused by interaction between the plurality of objects 50.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a work site simulation system that simulates a work site in a virtual space. [Background technology]

[0002] For example, Patent Document 1 describes the execution of a simulation of the operation of a work machine (a shovel in this document) in a virtual space. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 241716 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if the behavior of objects at a virtual work site differs significantly from that of reality, problems may arise, such as a sense of discomfort to the user. Therefore, it is desirable to make the behavior of objects at a virtual work site closer to reality.

[0005] Therefore, an object of the present invention is to provide a work site simulation system that can make the behavior of objects at a work site in a virtual space closer to the behavior of objects at a real work site. [Means for solving the problem]

[0006] The work site simulation system includes a computer. The computer simulates the operation of a work machine at a work site in a virtual space. The computer sets a plurality of objects in the virtual space. The plurality of objects includes an object whose behavior is to be calculated. The computer simulates one or both of deformation and movement of the object whose behavior is to be calculated due to interactions between the plurality of objects. [Effects of the Invention]

[0007] The above-described work site simulation system makes it possible to make the behavior of objects at a work site in virtual space closer to the behavior of objects at a real work site. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram of a work site simulation system 1. [Figure 2] FIG. 2 is a block diagram of a model transformation processing unit 21 shown in FIG. [Figure 3] 2 is a flowchart of the processing of the computer 20 shown in FIG. [Figure 4] 2 shows an image displayed on the display unit 41 shown in FIG. 1, and is a diagram showing an image of the work site S in the virtual space as seen obliquely from above. FIG. [Figure 5] 5 is a diagram showing an image of the site model M11 and the selected area A13 of the work site S shown in FIG. 4 as viewed obliquely from above. FIG. [Figure 6] FIG. 6 is a diagram showing a changeable model M15 into which the site model M11 in the selected area A13 shown in FIG. 5 is converted, and the like. [Figure 7] FIG. 7 is a diagram showing vertices M11v of polygons of the site model M11 shown in FIG. 6, etc. [Figure 8] FIG. 7 is a diagram showing an image of the changeable model M15 shown in FIG. 6 as viewed obliquely from above. [Figure 9] 9 is a diagram showing an image of a part of the changeable model M15 shown in FIG. 8, such as a physics calculation region M15a, viewed obliquely from above. [Figure 10] FIG. 10 is a diagram showing an image of the work site S viewed from a viewpoint inside the operator's cab 63c shown in FIG. 9, before the bucket 65d starts excavation. [Figure 11] FIG. 11 is a diagram showing an image seen from the operator's cab 63c when the bucket 65d shown in FIG. 10 is excavating earth and sand 53s on the near side X2. [Figure 12] FIG. 12 is a diagram showing an image of the work site S after the earth and sand 53s shown in FIG. 11 has been excavated, as seen from diagonally above. [Figure 13]13 is a diagram showing an image of the upper rotating body 63 having rotated from the state shown in FIG. 12, as viewed obliquely from above. [Figure 14] FIG. 14 is a diagram showing an image of bucket 65d shown in FIG. 13 discharging earth and sand 53s as viewed from operator's cab 63c. [Figure 15] 9 is a diagram showing an image of bucket 65d shown in FIG. 8 excavating earth and sand 53s in the rotation direction R, as viewed obliquely from above. FIG. [Figure 16] FIG. 9 is a diagram showing an image of bucket 65d shown in FIG. 8 excavating earth and sand 53s on the far side X1, as viewed obliquely from above. [Figure 17] FIG. 5 is a diagram showing an image of the work site S shown in FIG. 4 as seen from the side. DETAILED DESCRIPTION OF THE INVENTION

[0009] The work site simulation system 1 will be described with reference to FIGS.

[0010] As shown in FIG. 1, the work site simulation system 1 is a system that simulates a work site S in a virtual space. The work site simulation system 1 simulates at least the operation of a work machine 60 (described later) at the work site S. The work site simulation system 1 may also simulate the state (movement, etc.) of an object 50 (described later) other than the work machine 60. The work site simulation system 1 may include, for example, one or more devices selected from the group consisting of a personal computer, a tablet, and a smartphone. The work site simulation system 1 may also include a remote control device (described later) that remotely controls a real work machine (a machine or actual device that corresponds to the work machine 60 in the virtual space described later).

[0011] This work site simulation system 1 may be used for various purposes. For example, the work site simulation system 1 may be used to make a plan (construction plan) for work at a real work site. The work site simulation system 1 may be used to make a plan for a real work machine at a real work site. The work site simulation system 1 may be used as an operation simulator for simulating the operation of a real work machine. In this case, the work site simulation system 1 may be used as a training device (training device, teaching device) for a user to learn how to operate a real work machine (on-board operation, remote operation). In this case, the user can efficiently practice operating a real work machine by operating the work machine 60 in a virtual space, and efficiently become proficient in operating it. The work site simulation system 1 may be used as an operation verification device for verifying the operation (behavior) of the work machine 60. The work site simulation system 1 may be used as a situation verification device for verifying various situations at the work site S other than the operation of the work machine 60. The work site simulation system 1 may be used to reproduce the operation of a real work machine in a virtual space (performing a digital twin) based on operational data of the real work machine.

[0012] The work site simulation system 1 may include a client device 10c and a server device 10s. The work site simulation system 1 includes an input unit 11, a computer 20, and an output unit .

[0013] Each of the client device 10c and the server device 10s is a computer. The server device 10s operates in response to commands from the client device 10c. The functions of the work site simulation system 1 may be realized by the client device 10c and the server device 10s. At least one of an input unit 11, a computer 20, and an output unit 40 (described later) may be provided in either the client device 10c or the server device 10s, or in both. For example, a memory unit 20a and a calculation unit 20b of the computer 20 (described later) may be provided in either the client device 10c or the server device 10s, or in both. Only one of each of the client device 10c and the server device 10s may be provided, or multiple ones may be provided. The client device 10c and the server device 10s may be connected via wireless communication or wired communication. Specifically, information is exchanged between the client device 10c and the server device 10s via a communication means such as a mobile phone line, an optical line, a wireless LAN (Local Area Network), a wired LAN, etc. The work site simulation system 1 does not necessarily have to include the server device 10s.

[0014] The input unit 11 is a device for inputting information to the computer 20. The input unit 11 is operated by a user (operator, worker) of the work site simulation system 1. The input unit 11 may be used to operate a work machine 60 (described later) in a virtual space. For example, the input unit 11 may be used to instruct the start and end of the operation of the work machine 60, or to operate the travel of the work machine 60, the rotation of the upper rotating body 63 (see FIG. 4), and the work implement 64 (see FIG. 4). The input unit 11 may be used to operate a graphical user interface (GUI) that enables a user to perform operations in the work site simulation system 1. The input unit 11 may also be used for operations other than those described above. The input unit 11 may include one or more devices selected from a mouse, a keyboard, a touch panel, and a game pad. The input unit 11 may include levers and pedals that mimic the left and right control levers and left and right control pedals (pedals at the feet) of a real work machine. The input unit 11 may be part of a remote control device (described later). The input unit 11 may include a device for inputting information without being operated by a user.

[0015] The computer 20 performs signal input / output, calculations, and information storage. The computer 20 simulates a work site S in a virtual space. Each function of the computer 20 is realized by the calculation unit 20b executing a program (work site simulation program) stored in the memory unit 20a. The computer 20 and other devices (e.g., the input unit 11, the output unit 40, etc.) may be connected via wireless communication or wired communication (a specific example of communication is the same as the communication between the client device 10c and the server device 10s). Information output by the input unit 11 is input to the computer 20. The computer 20 outputs commands to the output unit 40. The computer 20 includes a memory unit 20a and a calculation unit 20b. Focusing on the functions of the computer 20, the computer 20 includes a model conversion processing unit 21 and a behavior processing unit 23.

[0016] The storage unit 20a stores various types of information and programs.

[0017] The calculation unit 20b performs calculations (processing such as calculation and determination).

[0018] The model conversion processing unit 21 performs processing (model conversion processing) to convert the site model M11 (see FIG. 5) into a modifiable model M15 (see FIG. 8) (details will be described later). The model conversion processing unit 21 is a data conversion unit that converts the site model M11 into the modifiable model M15. As shown in FIG. 2, the model conversion processing unit 21 includes a modifiable modeling region calculation unit 21a (e.g., a soil modeling range calculation unit), a site model clipping unit 21b, and a modifiable model generation unit 21c (details of each will be described later).

[0019] The behavior processing unit 23 performs processing (behavior processing) related to the behavior of the object 50 in the virtual space shown in Fig. 1. The behavior processing unit 23 calculates the behavior of the object 50 in the virtual space so that the object 50 in the virtual space behaves in a manner that simulates (reproduces) the behavior of a real object (details will be described later).

[0020] The output unit 40 is capable of outputting information. The output unit 40 performs output in response to a command input from the computer 20. The output unit 40 outputs a phenomenon in the virtual space. The output unit 40 includes a display unit 41 and an audio output unit 43.

[0021] The display unit 41 performs display in response to commands input from the computer 20. The display unit 41 displays an image (video) of the virtual space calculated by the computer 20. The display unit 41 may display the calculation results of the computer 20. The display unit 41 may display a GUI. Specifically, the display unit 41 is a monitor (screen). The display unit 41 may also be a monitor of a remote control device (described later).

[0022] The audio output unit 43 outputs a sound (output sound) in response to a command input from the computer 20. Specifically, the audio output unit 43 is a speaker. The audio output unit 43 may be a speaker of a remote control device.

[0023] (remote control device) The work site simulation system 1 may include a remote control device for remotely operating a real work machine. The work site simulation system 1 may be implemented in the remote control device. The input unit 11 may include a device for inputting to the remote control device (such as an operation lever, an operation pedal, or a switch). If the input unit 11 is configured to be able to remotely operate a real machine and is used to operate the work machine 60 in a virtual space, the user can experience an operation sensation similar to that of operating a real machine by operating the work machine 60 in the virtual space. As a result, for example, the user's mastery of operating the remote control device is promoted. The computer 20 may be part of the remote control device. In this case, during remote operation, the computer 20 exchanges signals with the real machine that is the target of remote operation via communication means. During remote operation, the computer 20 transmits a signal (operation command signal) to the real machine to operate the real machine based on an operation signal input from the input unit 11. During remote control, the computer 20 receives signals output by sensors mounted on the actual device (e.g., image data from a camera mounted on the actual device, audio data from a microphone mounted on the actual device, etc.) via communication means. The output unit 40 may include a device for outputting data from the remote control device. For example, if the display unit 41 is a monitor of the remote control device, the display unit 41 displays image data from a camera mounted on the actual device during remote control. For example, if the audio output unit 43 is a speaker of the remote control device, the audio output unit 43 outputs audio data from a microphone mounted on the actual device during remote control.

[0024] When the work site simulation system 1 is configured to be able to operate a work machine 60 in a virtual space (having an operator operation mode described later) and the output unit 40 is equipped with a device for outputting from a remote control device, the following effects can be obtained. In this case, the user can operate the work machine 60 in the virtual space while perceiving the same output (display, sound) from the output unit 40 as perceived (seen, heard) when remotely operating a real machine. Also, in this case, the output unit 40 of the work site simulation system 1 can also be used as a device for outputting from the remote control device. Therefore, there is no need to use a device (such as a monitor) separate from the device for outputting from the remote control device as the output unit 40 of the work site simulation system 1. When the work site simulation system 1 is configured to be able to operate a work machine 60 in a virtual space (having an operator operation mode described later) and both the input unit 11 and the output unit 40 are also used when remotely operating a real machine, the following effects can be obtained. In this case, the user can experience a sensation closer to that of operating the actual device, compared to when only one of the input unit 11 and the output unit 40 is used during remote operation of the actual device.

[0025] (Activation) The work site simulation system 1 (mainly the computer 20) is configured to perform the following operations. The computer 20 will be described below mainly with reference to FIG.

[0026] As shown in FIG. 4, the computer 20 sets up a work site S and an object 50 in a virtual space.

[0027] The work site S is a location in virtual space where the work machine 60 performs work and other operations. Below, unless otherwise specified, events that occur in virtual space will be described. For example, "the work machine 60 operates" means that the work machine 60 operates within the virtual space.

[0028] The object 50 is a simulation (model) of an object at a real work site. The object 50 is a three-dimensional model. A plurality of objects 50 may be set. For example, the objects 50 include the ground 51, a work target 53, an object in a container 55, a work machine 60, a vehicle 90, and the like.

[0029] The ground 51 is the land of the work site S. The ground 51 may include, for example, flat ground, a slope, an uneven surface, etc. (see FIG. 8). The ground 51 includes a ground surface 51g. The ground surface 51g is the surface of the ground 51.

[0030] The work object 53 is an object that is the target of work by the work machine 60. The work object 53 may be soil 53s, rocks, an object attracted to a magnet (a magnetic material such as metal), resin, waste, wood (such as logs), or a structure (such as a block). The soil 53s may be soil, sand, or gravel. The shape of the work object 53 may be set in various ways. Specifically, the work object 53 may be a surface having height information, or may be, for example, a simulation of soil 53s on the ground 51g (described later). The work object 53 may be a rectangular parallelepiped (including an approximately rectangular parallelepiped). A rectangular work object 53 may be, for example, a simulation of an object attracted to a magnet or a simulation of a structure (such as a block). The work object 53 may be a cylinder (including an approximately cylindrical cylinder). The cylindrical work object 53 may be, for example, a simulated log or a simulated structure (such as a pillar).

[0031] The object in the container 55 is an object 50 placed in the container C. The container C includes a bucket 65d and a loading platform 91, which will be described later. The object in the container 55 is, for example, a work target 53. Note that an object in the container 55 that is not a work target 53 may also be set.

[0032] The work machine 60 is a machine that performs work. The work machine 60 may be a construction machine that performs construction work, or a loading and unloading machine that performs loading and unloading work. The work machine 60 may be a shovel, a crane, a bulldozer, or a wheel loader. The following mainly describes a case where the work machine 60 is a shovel. The work machine 60 may operate (move) within a virtual space. The work machine 60 may travel. An upper rotating body 63 (described below) of the work machine 60 may rotate relative to a lower body 61 (described below). The attitude of a work device 64 (e.g., an attachment 65) (described below) of the work machine 60 may change. The work machine 60 may operate based on information preset in the computer 20. The work machine 60 may operate in response to manual operation by a user (see the operator operation mode described below). Multiple work machines 60 may be provided within the virtual space. A work machine 60 to be operated (for example, manually operated by a user) may be selected from the plurality of work machines 60. The work machine 60 includes a machine body 60a and a work implement 64.

[0033] The machine body 60a is the main body portion of the work machine 60. The machine body 60a includes a lower body 61 and an upper rotating body 63.

[0034] The lower body 61 supports the upper revolving body 63 from the lower side Z2 (the direction will be described later). The lower body 61 is a lower running body that can run on a running surface (for example, the ground surface 51g). Note that the lower body 61 does not have to be able to run. Below, an example in which the lower body 61 is able to run (when it is a lower running body) will be described. As shown in FIG. 17, the lower body 61 includes a lower frame 61a and a running part 61b.

[0035] The lower frame 61a is a frame (structure) that supports the running part 61b. The running part 61b has a part that operates (drives) relative to the lower frame 61a. The running part 61b may have crawlers or wheels. The running part 61b is provided on both sides (left and right) of the lower main body 61 in the width direction (see FIG. 13).

[0036] 4, the upper rotating body 63 is rotatable relative to the lower body 61. The upper rotating body 63 includes a driver's cab 63c.

[0037] (direction) The direction in which the rotation axis of the upper rotating body 63 relative to the lower body 61 extends is defined as the vertical direction Z. In the vertical direction Z, the side from the lower body 61 toward the upper rotating body 63 is defined as the upper side Z1, and the side opposite to the upper side Z1 is defined as the lower side Z2. The side (facing) from which the attachment 65 protrudes relative to the upper rotating body 63 is defined as the rear side X1 in the front-to-rear direction X. The side opposite to the rear side X1 is defined as the front side X2 in the front-to-rear direction X. The direction perpendicular to both the vertical direction Z and the front-to-rear direction X is defined as the lateral direction Y. The lateral direction Y is the direction in which the rotation axis of the boom 65a (described below) relative to the upper rotating body 63 extends. The direction in which the upper rotating body 63 rotates relative to the lower body 61 is defined as the rotation direction R. It should be noted that the bottom surface of the work machine 60 does not need to be arranged parallel to the horizontal direction in the virtual space. The front-rear direction X and the sideways direction Y do not have to be horizontal directions in the virtual space, and the up-down direction Z does not have to be vertical directions in the virtual space. In the following, a case will be described in which the vertical direction in the virtual space is the up-down direction Z.

[0038] The cab 63c is a portion of an actual work machine where an operator can perform operations. The cab 63c may be fixed to the bottom (swivel frame) of the upper rotating body 63. The cab 63c may be movable relative to the bottom of the upper rotating body 63. In this case, the cab 63c may be movable parallel to the vertical direction Z relative to the bottom of the upper rotating body 63, may be rotatable (rotating) in the vertical direction Z, or may be movable parallel to and rotatable in the vertical direction Z. For example, the cab 63c may be an elevator cab, a link cab, or a tilt cab. The cab 63c, which is an elevator cab, is movable in the vertical direction Z relative to the bottom of the upper rotating body 63. The cab 63c, which is a link cab, is installed at the bottom of the upper rotating body 63 via a link mechanism. The operator's cab 63c, which is a link cab, can move in the vertical direction Z and the front-to-rear direction X relative to the bottom of the upper rotating body 63 by operating a link mechanism. The operator's cab 63c, which is a tilt cab, can rotate (tilt) in the vertical direction Z around a rotation axis extending in the horizontal direction Y relative to the bottom of the upper rotating body 63.

[0039] The working device 64 is a device that performs work. The working device 64 performs work (for example, movement) on the work target object 53. The working device 64 includes a dozer 64d (see FIG. 17) and an attachment 65.

[0040] 17, the dozer 64d is a work device 64 attached to the lower frame 61a. The dozer 64d includes, for example, a plate-like member (e.g., a blade) extending in the width direction of the lower body 61 and in the up-down direction Z. The dozer 64d may be movable in the up-down direction Z relative to the lower frame 61a.

[0041] As shown in FIG. 4, the attachment 65 is a work device 64 attached to the upper rotating body 63. For example, the attachment 65 includes a boom 65a, an arm 65b, and a tip attachment 65c. The boom 65a is capable of raising and lowering (rotating in the vertical direction Z) relative to the upper rotating body 63. The arm 65b is rotatable relative to the boom 65a. The tip attachment 65c is rotatable relative to the arm 65b. The tip attachment 65c is provided at the tip of the attachment 65. The tip attachment 65c is capable of capturing (holding) and releasing the work object 53. The tip attachment 65c may be a bucket 65d or may include a magnet. The tip attachment 65c may include a device for clamping the work object 53 (such as a grapple, nibbler, or rotating fork), or a device for crushing the work object 53 (such as a breaker). The device (such as a rotating fork) that clamps the workpiece 53 may be configured so that the opening / closing direction of the clamping device (the direction in which the workpiece 53 is clamped) can be changed by rotating it relative to the base end (the part on the arm 65b side) of the tip attachment 65c. The opening / closing direction of the clamping device may be changeable, for example, in the front-rear direction X, the lateral direction Y, or in a direction inclined relative to each of the front-rear direction X and the lateral direction Y (diagonal direction).

[0042] The bucket 65d (container C) is configured to be able to perform operations such as scooping up the work object 53 and digging up the work object 53. The bucket 65d is a container C that can hold (contain) the work object 53. The bucket 65d has a bucket opening surface 65d1 and a bucket tip back surface 65d3 (see FIG. 17).

[0043] The bucket opening surface 65d1 is the opening surface of the bucket 65d. As shown in Fig. 17, the bucket front end back surface 65d3 is provided in the front end portion of the bucket 65d (the portion farther from the attachment portion to the arm 65b). The bucket front end back surface 65d3 is, for example, flat.

[0044] As shown in Fig. 4, the vehicle 90 is a machine (transport vehicle) capable of transporting an object (e.g., work target object 53) stored in a loading platform 91. The vehicle 90 is, for example, a dump truck. The vehicle 90 includes a vehicle main body 90a that supports the loading platform 91, and the loading platform 91.

[0045] The loading platform 91 (container C) is a container C that can contain an object (e.g., a work object 53). The loading platform 91 is, for example, a box-shaped object without a lid. The loading platform 91 comprises a loading platform bottom 91a and a loading platform enclosure 91c. The loading platform bottom 91a is the bottom (floor) of the loading platform 91. The loading platform enclosure 91c is a portion that surrounds the loading platform bottom 91a and protrudes upward from the loading platform bottom 91a (specifically, a gate or shrine gate).

[0046] Information about the loading platform 91 (e.g., position, dimensions, shape, etc.) can be set in various ways (the same applies to containers C other than the loading platform 91). For example, the information about the loading platform 91 may be preset in the calculator 20. For example, the information about the loading platform 91 may be set based on information about the specifications of the vehicle 90 preset in the calculator 20. The information about the loading platform 91 may be arbitrarily set in response to a manual operation by a user (input from the input unit 11 (see FIG. 1)), or may be changed in response to a manual operation. The information about the loading platform 91 may be set based on a numerical value (a numerical value indicating the position, dimensions, etc.) input (set) to the calculator 20 (similar to "(Setting the selection area A13 based on numerical values)" described later). For example, the information about the loading platform 91 may be set based on a numerical value indicating the coordinates of the position of a vertex of the loading platform 91 (e.g., a corner of the loading platform bottom 91a). For example, the information about the loading platform 91 may be set based on a numerical value indicating the height of the loading platform enclosure 91c (wall). The information about the loading platform 91 may be set or changed based on the operation of an area change section G5 (see FIG. 5) (or something similar to the area change section G5) described later.

[0047] Note that an object 50 other than the above may also be set. For example, a container C other than the loading platform 91 and the bucket 65d may be set as the object 50. Specifically, a container C placed on the ground 51g may be set. Also, a container C (e.g., a sand pit) provided in a hole in the ground 51g to store the work target 53 may be set. Also, for example, an obstacle such as a building may be set as the object 50. Also, for example, equipment provided at the work site S may be set as the object 50. Specifically, equipment such as markers, such as pylons (cones) and bars, may be set as the object 50. Also, for example, water may be set as the object 50. Specifically, a puddle on the ground 51g may be set as the object 50. Water stored in the container C may be set as the object 50. Also, only one or more of the above various objects 50 may be set.

[0048] (Operator operation mode) The work site simulation system 1 (see FIG. 1) may have an operator operation mode (operator mode) in which a user can operate the work machine 60. For example, the operator operation mode is an operating mode that simulates the operation of a real work machine. For example, in the operator operation mode, when a user operates (manually operates) the input unit 11 (see FIG. 1), the work machine 60 operates (moves, changes its posture, etc.) in response to the user's manual operation. Specifically, the lower body 61, upper revolving body 63, boom 65a, arm 65b, and tip attachment 65c move in response to the user's manual operation. If the work machine 60 is equipped with a dozer 64d shown in FIG. 17, the dozer 64d may move in response to the user's manual operation.

[0049] In this operator operation mode, the state of the work site S shown in Fig. 4 may change in response to the operation (work) of the work machine 60. For example, in response to the operation of the work machine 60, the ground 51 may deform (described later), or the work object 53 may move (described later).

[0050] (Other modes) The work site simulation system 1 (see FIG. 1) may have a mode other than the operator operation mode. For example, the work site simulation system 1 may have a mode for planning work at the work site S (construction planning mode). The computer 20 may set a mode change unit G1 as shown in FIGS. 5 and 10. The mode change unit G1 is displayed so that the user can change the mode. The mode change unit G1 is a GUI displayed on the display unit 41. The mode change unit G1 shown in FIG. 5 can be changed to the operator operation mode (operator mode), and the mode change unit G1 shown in FIG. 10 can be changed to the construction planning mode.

[0051] (perspective) The display unit 41 may display images from various viewpoints. For example, as shown in Fig. 10, in the case of an operator operation mode, the display unit 41 may display an image seen from a viewpoint inside the cab 63c. For example, as shown in Fig. 5, in the case of a construction planning mode, the display unit 41 may display an image from a viewpoint outside the work machine 60 (an overhead image of the work site S). The display unit 41 may display an image from one viewpoint, or may simultaneously display images from multiple viewpoints.

[0052] (Model conversion processing) The computer 20 (more specifically, the model conversion processing unit 21 (see FIG. 2)) performs a model conversion process that converts the site model M11 into a changeable model M15. The model conversion process is outlined below.

[0053] As described above, the computer 20 simulates a work site S as shown in Fig. 4. The computer 20 performs a change process, which is one or more of the following processes, on an object 50 (e.g., a work target 53): deformation, movement, addition, and deletion. When the computer 20 performs a change process, the calculation load on the computer 20 may increase. Therefore, the work site simulation system 1 (see Fig. 1) is configured to reduce the calculation load on the computer 20.

[0054] Specifically, the computer 20 (model conversion processing unit 21 (see FIG. 2)) acquires a site model M11, which is shape information of the work site S, as shown in FIG. 5 (step S11 (see FIG. 3)). The computer 20 can set a partial area of the site model M11 as a selected area A13 (step S13 (see FIG. 3)). The computer 20 converts the site model M11 inside the selected area A13 into a modifiable model M15 shown in FIG. 8 (step S15 (see FIG. 3)). The computer 20 performs a change process on the modifiable model M15. On the other hand, the computer 20 limits the change process on the site model M11. This reduces the calculation load on the computer 20 (the computer 20 performs calculations using a calculation method that allows for high-speed calculations). Details of the model conversion process are described below.

[0055] (Acquisition of the site model M11 (Step S11)) The computer 20 (model conversion processing unit 21 (see FIG. 2)) acquires the site model M11 as shown in FIG. 5 (see step S11 shown in FIG. 3).

[0056] The site model M11 is shape information of the work site S. The site model M11 has three-dimensional shape information. As shown in FIG. 7, the site model M11 has a plurality of polygons. For example, the vertices M11v of these polygons are set irregularly (at various positions) rather than at regular positions (a specific example will be described later). The site model M11 shown in FIG. 5 may include information of a real work site. For example, the site model M11 may include information obtained by 3D (three-dimensional) scanning of the real work site. The site model M11 may include information obtained by converting a two-dimensional image of the real work site into shape information. Furthermore, for example, the site model M11 may include information (such as design information) of a virtual work site S.

[0057] This site model M11 includes the object 50 shown in Fig. 4. For example, the site model M11 (see Fig. 5) may include the ground 51 (a 3D model of the terrain) and may include a work object 53 (e.g., soil 53s, etc.). The site model M11 may include a work machine 60 and may include a vehicle 90. The site model M11 may include color information (e.g., color information of the soil 53s, etc.).

[0058] (Setting of selection area A13 (step S13)) The computer 20 (more specifically, the modifiable modeled region calculation unit 21a (see FIG. 2)) sets a selected region A13 as shown in FIG. 5 (see step S13 shown in FIG. 3).

[0059] The selected area A13 is an area (conversion area) where conversion from the site model M11 to the modifiable model M15 (see FIG. 8) is performed. The selected area A13 is set (selected) to a part or all of the area of the site model M11. The selected area A13 can be set to a part of the area of the site model M11. The selected area A13 may also be set to the entire area of the site model M11. There may be multiple selected areas A13 within the site model M11. In this case, the multiple selected areas A13 may or may not overlap each other (they may be separated from each other).

[0060] This selection area A13 is set in an area that overlaps with the site model M11. The selection area A13 may be set in an area that overlaps with the three-dimensional site model M11 (overlapping three-dimensionally). The selection area A13 may be set in an area that overlaps with the site model M11 (overlapping two-dimensionally) when viewed from above. The above phrase "when viewed from above" refers to a view from above in virtual space, and refers to a planar view in virtual space (the same applies to "when viewed from above" below).

[0061] This selection area A13 may have various shapes. The selection area A13 may be a rectangular parallelepiped (a rectangular parallelepiped model for range specification, an area box). The selection area A13 may be cylindrical, for example, a cylindrical or polygonal cylindrical shape. The selection area A13 may be polygonal when viewed from above, for example, a quadrilateral (rectangle, diamond, trapezoid, etc.). The selection area A13 may be circular or elliptical when viewed from above.

[0062] One or more parameters of the position, shape, and size of the selection area A13 may be changeable. For example, if the position of the selection area A13 is changeable, the selection area A13 may be able to move in a parallel direction or a rotational direction.

[0063] This selection area A13 may be arbitrarily set in accordance with a manual operation by the user (input on the input unit 11 (see FIG. 1)), or may be changed in accordance with a manual operation. Initial values (default values) of the parameters of the selection area A13 may be set. This selection area A13 may also be automatically set by the calculator 20. A specific example of a method for setting the selection area A13 will be described below.

[0064] (Setting of selection area A13 based on the position of the work machine 60) [Setting example α1] The selection area A13 may be set based on the position of the work machine 60. In this case, an appropriate position based on the position of the work machine 60 can be set as the selection area A13. As a result, the appropriate position based on the position of the work machine 60 can be converted (described later) into a changeable model M15 (see FIG. 8). In this case, the work machine 60 is set (placed) at the work site S before the selection area A13 is set (determined). For example, the work machine 60 is set (placed) at the work site S after the site model M11 is set, but before the selection area A13 is set (determined). For example, the selection area A13 may be set to include part or all of the work machine 60. The calculator 20 automatically sets the selection area A13 based on the position of the work machine 60. In this case, it is possible to reduce the effort required by the user to set the selection area A13.

[0065] Note that if the selection area A13 is not set based on the position of the work machine 60, the timing at which the work machine 60 is set at the work site S may be before or after the selection area A13 is set. Also, if the selection area A13 is set based on the position of the work machine 60, the work machine 60 may be set after the setting of the selection area A13 is tentatively determined, and the tentatively determined selection area A13 may be changed based on the position of the work machine 60, and the selection area A13 may then be determined.

[0066] [Setting example α1a] The selection area A13 may be set based on the range in which the work machine 60 is capable of operating. The calculator 20 may automatically set the selection area A13 based on the range in which the work machine 60 is capable of operating.

[0067] [Setting Example α1a-1] For example, the selection area A13 may be set based on a range in which the work machine 60 can work without traveling (referred to as a workable range). Specifically, the selection area A13 may be set based on a range that the tip attachment 65c can reach. The "range that the tip attachment 65c can reach" is a range in which the tip attachment 65c can be positioned by the rotation of the upper rotating body 63 and changes in the posture of the attachment 65, without the lower body 61 traveling. When the selection area A13 is set based on a workable range, the selection area A13 may also be set based on a maximum turning radius. The "maximum turning radius" is the distance from the center of rotation of the upper rotating body 63 relative to the lower body 61 to the tip of the tip attachment 65c when the tip attachment 65c is positioned farthest from the center of rotation of the upper rotating body 63 relative to the lower body 61. Furthermore, when the selection area A13 is set based on the workable range, the selection area A13 may be set based on the range in which the tip attachment 65c can move in the up-down direction Z (see FIG. 4).

[0068] [Setting example α1a-2] Note that if the range in which the work machine 60 can travel (referred to as the travelable range) is determined, the selection area A13 may be set based on the travelable range. [Setting example α1a-3] The selection area A13 may be set based on the travelable range and the workable range. [Setting example α1a-4] When the work machine 60 travels, the selection area A13 may be moved (or updated) to match the position of the work machine 60 that has traveled (during or after travel).

[0069] (Setting of selection area A13 based on the position of vehicle 90) [Setting Example α2] The selection area A13 may be set based on the position of the vehicle 90 shown in FIG. 4. In this case, an appropriate position based on the position of the vehicle 90 can be set as the selection area A13 (see FIG. 5). As a result, the appropriate area can be converted into a modifiable model M15 (see FIG. 8). In this case, the vehicle 90 is set (placed) in the work site S before the selection area A13 is set. For example, the selection area A13 may be set to include the vehicle 90. The calculator 20 may automatically set the selection area A13 based on the position of the vehicle 90. In this case, the effort required by the user to set the selection area A13 can be reduced.

[0070] [Setting Example α2a] For example, the selection area A13 (see FIG. 5) may be set to include the loading platform 91 (for example, the interior of the loading platform 91).

[0071] [Setting example α3] If a work machine 60 and a vehicle 90 are present at the work site S, the selection area A13 (see FIG. 5) may be set based on the respective positions of the work machine 60 and the vehicle 90. In this case, the selection area A13 may be set to include, for example, the work machine 60 and the vehicle 90.

[0072] (Setting the selection area A13 based on a numerical value) [Setting Example α4] As shown in FIG. 5, the selection area A13 may be set based on numerical values input (set) into the calculator 20. In this case, the parameters (e.g., position, size, etc.) of the selection area A13 can be set based on accurate numerical values. More specifically, it is assumed that numerical values (accurate numerical values) indicating the position and size to be set as the selection area A13 are predetermined (e.g., design position, design dimensions, etc.). For example, it is assumed that in the container C that contains the work object 53 shown in FIG. 4, numerical values (accurate numerical values) indicating the position and size of a hole (earth and sand pit not shown) formed in the ground 51g are predetermined. In such a case, the selection area A13 shown in FIG. 5 can be set based on accurate numerical values. As a result, the appropriate area can be converted into a modifiable model M15 (see FIG. 8).

[0073] [Setting example α4a] The selection area A13 may be set based on a numerical value that specifies the position of the selection area A13. This "numerical value that specifies the position of the selection area A13" may include the coordinates of the selection area A13. This coordinate may be the coordinate of the center of gravity of the selection area A13, or the coordinate of the position of an edge (e.g., a corner) of the selection area A13 (see "(X, Y, Z)" in FIG. 6). Furthermore, the above-mentioned "numerical value that specifies the position of the selection area A13" may include the rotation angle of the selection area A13 relative to a reference direction (e.g., the direction of the work machine 60).

[0074] [Setting example α4b] Selection area A13 may be set based on a numerical value specifying the size (dimensions) of selection area A13. For example, if selection area A13 is a rectangular parallelepiped, the "numerical value specifying the size of selection area A13" may be the numerical values for the height, width, and depth of the rectangular parallelepiped. For example, if selection area A13 is a cylinder, the "numerical value specifying the size of selection area A13" may be the numerical values for the radius and height of the cylinder.

[0075] [Setting example α4c] The selection area A13 may be set based on a numerical value input (manually input) by the user via the input unit 11. In this case, the user can arbitrarily set the numerical value of the parameter in the selection area A13. For example, this numerical value may be set (input) via the parameter input unit G3. The parameter input unit G3 is a GUI that displays the numerical value of the parameter in the selection area A13 so that the user can manually input it. The parameter input unit G3 is displayed on the display unit 41. The input of the numerical value into the parameter input unit G3 is performed via the input unit 11.

[0076] [Setting Example α4d] The selected area A13 may be set based on values set in the calculator 20 (for example, the above-mentioned design position, design dimensions, etc.) other than values input by the user.

[0077] (Setting of the selected area A13 based on the operation of the area change unit G5) [Setting Example α5] The selected area A13 may be set based on information set (input) based on the operation of the area change unit G5.

[0078] The area change unit G5 is displayed so that the user can change one or more aspects (parameters) of the position, shape, and size of the selection area A13. The area change unit G5 is a GUI displayed on the display unit 41. The calculator 20 changes the aspect of the selection area A13 in response to the user's operation of the area change unit G5. The area change unit G5 may include an image representing three axes (X-axis, Y-axis, and Z-axis). These three axes may be three axes based on the work site S, or three axes based on the work machine 60 (the forward / backward direction X, the lateral direction Y, and the up / down direction Z shown in FIG. 4). The area change unit G5 may include an image representing an axis of rotation when rotating the selection area A13, or may include an image representing the direction of rotation. This axis of rotation may be one of the three axes described above, or may be an axis different from the three axes described above. For example, the parameters of the selection area A13 can be changed by manipulating (e.g., dragging) the axis image of the area change unit G5 shown in FIG. 5. The area change unit G5 is displayed, for example, in the center of the selection area A13. The area change unit G5 may be able to change an area different from the selection area A13 (such as an object addition unit A23a or an object deletion unit A23b (see FIG. 9) described later). The parameters (e.g., position, shape, and size) that are the subject of change by the area change unit G5 may be changed by the change target selection unit G7.

[0079] The change target selection section G7 is displayed so that the target to be changed by the area change section G5 (for example, position, shape, and size) can be changed. The change target selection section G7 is a GUI displayed on the display section 41. The computer 20 changes the target to be changed by the area change section G5 in response to the user's operation of the change target selection section G7.

[0080] (Other selection area A13 settings) The selection area A13 may be set by combining the above examples in various ways. The selection area A13 may be set by various methods different from the above examples.

[0081] The manual operation for setting the selection area A13 may be one or more of a numeric input, a drag operation, a click operation, a tap operation, and a key operation other than a numeric input (such as a cursor key operation).

[0082] The computer 20 may automatically set a selection area A13 (see FIG. 5) based on objects 50 (ground 51, work target 53, obstacles, etc.) other than the work machine 60 and the vehicle 90 shown in FIG. 4. The selection area A13 automatically set by the computer 20 may be determined as the selection area A13 as is, or may be changed (adjusted) by manual operation or the like.

[0083] (Linking) The computer 20 may link the selection area A13 shown in FIG. 5 with the object 50. For example, the selection area A13 may move in accordance with (follow) the movement of the object 50 linked to this selection area A13. For example, the position of the selection area A13 may be expressed in coordinates based on the position of the object 50 linked to this selection area A13. For example, when the computer 20 automatically sets the selection area A13 based on the position of the object 50, the computer 20 may link this selection area A13 with this object 50. Note that when the selection area A13 is not set based on the position of the object 50, the computer 20 may link the selection area A13 with the object 50.

[0084] (Generation of modifiable model M15 (step S15)) The computer 20 (more specifically, the modifiable model generation unit 21c (see FIG. 2)) converts the site model M11 inside the selected area A13 into the modifiable model M15 shown in FIG. 8 (generates the modifiable model M15) (see step S15 shown in FIG. 3). The computer 20 converts the site model M11 into the object 50 of the modifiable model M15. Through this conversion, the computer 20 generates the modifiable model M15.

[0085] If the selected area A13 (see FIG. 5) is set (newly selected or changed) after the modifiable model M15 is generated, the computer 20 performs the following process, for example. In this case, the computer 20 may leave the generated modifiable model M15 as the modifiable model M15, and convert (add) the site model M11 inside the newly set selected area A13 to the modifiable model M15. Alternatively, the computer 20 may delete the generated modifiable model M15, and convert (update) the site model M11 inside the newly set selected area A13 to the modifiable model M15. Whether to add or update the modifiable model M15 may be selectable by, for example, a manual operation by the user.

[0086] An example of a case in which the selection area A13 (see FIG. 5) is set after the modifiable model M15 is generated is when, after the modifiable model M15 is generated, the selection area A13 moves in accordance with the travel of the work machine 60 (see [Setting example α1a-4] above). In this case, the calculator 20 may set the selection area A13 based on the position of the work machine 60 after it has traveled, and convert (e.g., update) the site model M11 inside this selection area A13 into the modifiable model M15.

[0087] The modifiable model M15 is shape information that can be modified by the computer 20. The modifiable model M15 has three-dimensional shape information. The shape of the modifiable model M15 may be simpler than the shape of the on-site model M11. For example, as shown in FIG. 6, the modifiable model M15 may be information on a plurality of rectangles (meshes M15m) separated vertically and horizontally, with height information set for each rectangle (further specific examples will be described later).

[0088] This modifiable model M15 may include the ground 51 shown in FIG. 4. The modifiable model M15 (see FIG. 8) may include a work object 53. For example, the modifiable model M15 may include soil 53s (soil model). The modifiable model M15 may include a work object 53 other than soil 53s. The modifiable model M15 may include an object in a container 55. Note that the work machine 60 and the vehicle 90 are not included in the modifiable model M15 converted from the site model M11.

[0089] (Example of generating a modifiable model M15) This modifiable model M15 (see FIG. 8) can be generated (converted) by various methods. An example of a method for generating the modifiable model M15 will be described below.

[0090] The computer 20 (more specifically, the site model clipping unit 21b (see FIG. 2)) clips out (deletes) the interior of the selected region A13 from the site model M11 shown in FIG. 6. Specifically, as shown in FIG. 7, the computer 20 acquires information on all vertices M11v of the polygons of the site model M11 that exist within the selected region A13. The computer 20 deletes all polygons that include the acquired vertices M11v. As a result, polygons within the selected region A13 and an area slightly larger than the selected region A13 are deleted. In this example, the vertices M11v of the polygons of the site model M11 are not regularly located but at various positions. Therefore, when viewed from above, the periphery of the region clipped out from the site model M11 may have an irregular polygonal line shape (jagged shape). Note that the computer 20 does not need to clip out (delete) the site model M11. The computer 20 may generate (add) a modifiable model M15 shown in FIG. 6 while leaving the site model M11 as it is.

[0091] The computer 20 (more specifically, the modifiable model generation unit 21c (see FIG. 2)) generates a modifiable model M15 within the selected region A13. Specifically, the modifiable model M15 has a plurality of rectangles divided (segmented) vertically and horizontally. These rectangles are also referred to as meshes M15m. The mesh M15m is, for example, a square. The dimension of one side of the mesh M15m (division dimension, mesh size) is a predetermined dimension (for example, 100 mm) set in the computer 20. All of the meshes M15m have the same dimensions (the division intervals are uniform). Note that in FIG. 6, only some of the meshes M15m out of the many meshes M15m are shown and labeled.

[0092] The calculator 20 sets height information for each mesh M15m. The numerical values in the mesh M15m shown in FIG. 6 are an example of height information. For example, the calculator 20 sets the height information for the mesh M15m using the height of a certain object 50 (e.g., the height of the bottom of the work machine 60) as a reference (0). The calculator 20 sets (calculates) the initial value of the height information for each mesh M15m (the value before the change process is performed on the changeable model M15) as follows, for example: The calculator 20 calculates the initial value of the height information for one mesh M15m based on the height information of the site model M11 that was (or is (same below)) within the area of the one mesh M15m. Specifically, the calculator 20 sets the average value of the heights of the vertices M11v of the polygons of the site model M11 that were within the area of the one mesh M15m as the initial value of the height information for the one mesh M15m. More specifically, the calculator 20 calculates the initial value of the height information of the mesh M15m by the following formula:

[0093]

number

[0094] (Completion of missing data part M11a of field model M11) As shown in Fig. 5, it is assumed that there is a case where the site model M11 has a portion where there is no data (data missing portion M11a). In this case, the computer 20 may generate a modifiable model M15 (see Fig. 8) at the position of the data missing portion M11a so as to complement the data missing portion M11a of the site model M11 (may fill in the data missing portion M11a).

[0095] Examples of cases in which a data missing portion M11a may occur in the site model M11 include the following: For example, when the site model M11 is a 3D scan of an actual work site, if the site model M11 is generated without scanning part of the actual work site, a data missing portion M11a may occur in the site model M11. Furthermore, for example, when the information that forms the basis of the site model M11 includes topography and information other than topography (such as a work machine 60), the site model M11 may be generated from information from which the information other than topography has been deleted. In this case, a data missing portion M11a occurs in the part of the site model M11 from which the information has been deleted.

[0096] The computer 20 may complement the data-missing portion M11a, for example, as follows. The computer 20 may generate (complement, interpolate) a modifiable model M15 (see FIG. 8) at the position of the data-missing portion M11a based on the portion of the site model M11 where data exists. Specifically, the computer 20 may set initial height information of each mesh M15m of the modifiable model M15 shown in FIG. 6 based on height information around the data-missing portion M11a. More specifically, the computer 20 may set the average value of the heights around the data-missing portion M11a shown in FIG. 5 as the initial height information of the modifiable model M15 (mesh M15m) (see FIG. 6) to be complemented in the data-missing portion M11a.

[0097] (Change processing) The computer 20 can perform change processing on the modifiable model M15 shown in FIG. 8. The change processing is one or more of deformation, movement, addition, and deletion processing on the model. The computer 20 does not restrict the change processing on the modifiable model M15. Alternatively, even when the computer 20 restricts the change processing on the modifiable model M15 (described later), the computer 20 imposes fewer restrictions on the change processing on the modifiable model M15 than on the change processing on the site model M11.

[0098] The computer 20 limits the change processing that can be performed on the site model M11 compared to the change processing that can be performed on the modifiable model M15. For example, the computer 20 does not perform the change processing on the site model M11. The computer 20 performs the change processing on the modifiable model M15, but does not perform the change processing on the site model M11. Furthermore, for example, the computer 20 performs the change processing on the modifiable model M15, but performs the change processing on the site model M11 with more restrictions (restricts the change processing) than the change processing that can be performed on the modifiable model M15. Specifically, for example, when a change processing is possible on all or part of the modifiable model M15 (for example, the physical calculation domain M15a (see FIG. 9)), the change processing is not possible on the entire site model M11. When a change processing is performed on all or part of the modifiable model M15, the computer 20 does not perform the change processing on the entire site model M11. Furthermore, for example, when a specific change process (e.g., transformation and movement) is possible for the modifiable model M15, this specific change process (e.g., transformation and movement) is not possible for the site model M11. When the computer 20 performs a specific change process on the modifiable model M15, it does not perform this specific change process on the site model M11.

[0099] Specifically, when the work machine 60 comes into contact with the modifiable model M15 (for example, when working with the modifiable model M15), the modifiable model M15 can move and deform. More specifically, as shown in FIG. 12, when the bucket 65d is operated to excavate earth and sand 53s, which is the modifiable model M15, the earth and sand 53s is excavated. In this way, when the work machine 60 comes into contact with the modifiable model M15, a change process is performed on the modifiable model M15, so that work by the work machine 60 can be simulated. On the other hand, when the work machine 60 shown in FIG. 8 comes into contact with the site model M11, the site model M11 does not move or deform. More specifically, even if the bucket 65d comes into contact with the site model M11, the bucket 65d passes through the site model M11. In this way, the change process for movement and deformation that is performed when the bucket 65d comes into contact with the modifiable model M15 is restricted so that it is not performed on the site model M11. This reduces the calculation load on the computer 20.

[0100] (Color changeable for model M15) The computer 20 displays the modifiable model M15 on the display unit 41. The color of the modifiable model M15 may be set based on color information of the site model M11. Specifically, the computer 20 acquires color information of the site model M11 that was located at the position of the modifiable model M15 shown in FIG. 6 (for example, the position of each mesh M15m). Then, the computer 20 sets the color of the modifiable model M15 at this position to a color that is the same as or similar to the acquired color of the site model M11 (reflecting the color of the site model M11).

[0101] (Changeable model M15 shape) In the example shown in Fig. 6, the modifiable model M15 is a mesh M15m having height information. In this case, the computer 20 may cause the display unit 41 to display a curved surface obtained by smoothly connecting the surfaces of the mesh M15m as the modifiable model M15, as shown in Fig. 8. For example, the computer 20 may connect the meshes M15m (see Fig. 6) with curves (e.g., spline curves) and cause the display unit 41 to display a surface passing through these curves as the modifiable model M15.

[0102] (Display that distinguishes between the changeable model M15 and the field model M11) As described above, the modifiable model M15 can simulate work performed by the work machine 60, while the site model M11 cannot simulate work performed by the work machine 60. Therefore, it is preferable that the computer 20 display an image on the display unit 41 that allows the user to understand the location of the modifiable model M15. For example, it is preferable that the computer 20 display an image on the display unit 41 that allows the user to distinguish between the site model M11 and the modifiable model M15. Specifically, the display unit 41 may use different colors for the site model M11 and the modifiable model M15. The display unit 41 may also display the outer periphery (frame) of the modifiable model M15.

[0103] The display unit 41 may display (draw) a boundary line between the inside and outside of the modifiable model M15. In the example shown in FIG. 7, there is no data in the gap between the deleted polygon of the site model M11 and the periphery of the selected area A13 (i.e., the periphery of the modifiable model M15). As a result, the boundary line between the site model M11 and the modifiable model M15 may be displayed differently from both the site model M11 and the modifiable model M15. As a result, the boundary line between the modifiable model M15 and the site model M11 shown in FIG. 8 may be displayed on the display unit 41.

[0104] (Notification when work machine 60 is out of modifiable model M15) As described above, the modifiable model M15 can simulate work performed by the work machine 60, while the site model M11 cannot simulate work performed by the work machine 60. Therefore, it is preferable that the calculator 20 causes the output unit 40 to output a notification when a predetermined part of the work machine 60 leaves (protrudes from) the area of the modifiable model M15. This notification allows the user to recognize that the predetermined part of the work machine 60 has left the area of the modifiable model M15. As a result, it is possible to prevent the predetermined part of the work machine 60 from deviating from the modifiable model M15.

[0105] For example, when a predetermined part of the work machine 60 moves out of the area of the modifiable model M15 when viewed from above (in a plan view), the calculator 20 causes the output unit 40 to output a notification. The notification output by the output unit 40 may be a visual notification or an audible notification. The "predetermined part" of the work machine 60 described above may be the entire work machine 60 or a part of the work machine 60. This predetermined part may include, for example, the lower body 61, the upper rotating body 63, or the work implement 64.

[0106] (Physical calculation area M15a) As described above, the computer 20 is capable of performing change processing on the modifiable model M15. Specifically, the computer 20 is capable of performing calculations to move (transform or move, or both) the object 50, which is the modifiable model M15. On the other hand, if the computer 20 performs calculations to move the object 50 in accordance with physical phenomena in all regions of the modifiable model M15, the calculation load on the computer 20 may become large. Therefore, it is preferable that the computer 20 set a physical calculation region M15a as shown in FIG. 9.

[0107] The physical calculation domain M15a is an area where the computer 20 performs calculations to move the object 50, which is the changeable model M15, in accordance with physical phenomena. The computer 20 does not perform calculations to move the object 50 in accordance with physical phenomena in areas other than the physical calculation domain M15a (i.e., restricts the change process). The above phrase "moving in accordance with physical phenomena" includes either or both of moving in accordance with physical phenomena and deforming in accordance with physical phenomena.

[0108] A specific example of a calculation for moving the object 50 in accordance with a physical phenomenon is as follows. For example, a case will be described where the object 50 simulated by the modifiable model M15 is soil 53s. Suppose the soil 53s is dumped into the work site S (see "(Adding the Object 50)" below). At this time, if the soil 53s is dumped outside the physical calculation domain M15a, the dumped soil 53s will become, for example, a rectangular parallelepiped (an unnatural shape). On the other hand, when the dumped soil 53s enters the physical calculation domain M15a, the dumped soil 53s is calculated to move in accordance with a physical phenomenon. For example, an upper side Z1 portion of the dumped soil 53s moves to a lower side Z2 due to its own weight. As a result, the dumped soil 53s is deformed into a gentle, approximately conical shape.

[0109] This physics calculation domain M15a is set only in a portion of the domain of the modifiable model M15. The physics calculation domain M15a is not set over the entire modifiable model M15. The physics calculation domain M15a is preferably set at a position according to the need for physics calculation of the object 50. For example, it is expected that the need for physics calculation of the object 50 is greater near the work machine 60 than at a position far from the work machine 60. Therefore, it is preferable that the computer 20 set the physics calculation domain M15a based on the position of the work machine 60 at the work site S.

[0110] [Setting example β1] The physical calculation domain M15a may be set based on the position of a second predetermined part of the work machine 60. Specific examples of the above "second predetermined part" are the same as the above "predetermined part," and may be the entire work machine 60, or a part of the work machine 60 (such as the bucket 65d). For example, the physical calculation domain M15a may be set at a position that overlaps with the second predetermined part of the work machine 60 when viewed from above, or at a position surrounding the second predetermined part.

[0111] [Setting Example β1a] For example, the physical calculation domain M15a may be set based on the attachment 65 (an example of a second predetermined part). [Setting Example β1a-1] For example, when viewed from above, the physical calculation domain M15a may be set within a range of 5 m outward (left and right) from the bucket 65d (an example of a second predetermined part) in the lateral direction Y, or within a range of 10 m outward from the bucket 65d in the longitudinal direction X. Note that the numerical values "5 m" and "10 m" mentioned above are merely examples, and various settings are possible.

[0112] [Setting Example β1a-2] The setting value for the position of the physical calculation domain M15a may be a coefficient multiplied by the size of the bucket 65d. The "setting value for the position of the physical calculation domain M15a" may be, for example, the distance from the bucket 65d to the outer periphery of the physical calculation domain M15a when viewed from above, or may be the dimensions of the physical calculation domain M15a (for example, the length in the horizontal direction Y and the front-to-back direction X). The "coefficient" may be a value preset in the computer 20, or may be manually set by the user.

[0113] [Setting Example β1a-3] The physical calculation region M15a may be set based on the movable range of the attachment 65 in the up-down direction Z. For example, the lower limit position (lowest Z2 position) of the physical calculation region M15a may be a position a predetermined distance below Z2 from the position of the tip of the end attachment 65c when the attachment 65 is positioned at the lowest Z2. For example, the upper limit position (uppermost Z1 position) of the physical calculation region M15a may be a position a predetermined distance above Z1 from the position of the tip of the end attachment 65c when the attachment 65 is positioned at the highest Z1.

[0114] [Setting Example β1b] The physical calculation domain M15a may be set at a position directly below the traveling unit 61b (an example of a second predetermined portion) (for example, a crawler) and its surroundings.

[0115] [Setting Example β2] The physical calculation domain M15a may be set based on a specific location (referred to as a specific work location) where the work machine 60 performs work. The specific work location may be the inside of the container C shown in Fig. 4, for example, the inside of the loading platform 91, the inside of the bucket 65d, or the inside of a soil pit. The specific work location may also be the location where the work object 53 is placed on the ground 51g (for example, the location of a pile of soil).

[0116] The shape of the physical calculation domain M15a shown in Fig. 9 may be set in various ways. For example, when viewed from above, the physical calculation domain M15a may be polygonal, such as a quadrangle (rectangle, diamond, trapezoid, etc.). When viewed from above, the physical calculation domain M15a may be circular. The physical calculation domain M15a may be set in only one location, or in multiple locations.

[0117] This physical calculation domain M15a may move in accordance with changes in the situation of the work site S. For example, if the physical calculation domain M15a is set based on the position of the work machine 60, the computer 20 may move the physical calculation domain M15a in conjunction with the movement of the work machine 60.

[0118] When the physical calculation domain M15a moves, the object 50 that was within the physical calculation domain M15a may become an object 50 outside the physical calculation domain M15a. In this case, the object 50 that has become outside the domain does not move in accordance with the physical phenomenon, but maintains (keeps) the last state it had when it was within the physical calculation domain M15a.

[0119] (Behavior of object 50 (step S21)) The computer 20 simulates the behavior of the object whose behavior is to be calculated (see step S21 shown in FIG. 3). The object whose behavior is to be calculated is an object 50 whose behavior is to be simulated by the computer 20. More specifically, the computer 20 simulates one or both of the deformation and movement behaviors of the object whose behavior is to be calculated due to the interaction between a plurality of objects 50. An object 50 of the modifiable model M15 may be an object whose behavior is to be calculated. An object 50 that is not of the modifiable model M15 (specifically, an object 50 of the site model M11) does not have to be an object whose behavior is to be calculated. When a physical calculation domain M15a is set in the modifiable model M15, an object 50 within the physical calculation domain M15a may be an object whose behavior is to be calculated. When a physical calculation domain M15a is set in the modifiable model M15, an object 50 outside the physical calculation domain M15a does not have to be an object whose behavior is to be calculated.

[0120] Each of the above types of object 50 can be a behavior calculation target object. Specifically, the behavior calculation target object may include the ground 51 (e.g., ground surface 51g) shown in FIG. 4, or may include a work target object 53 (e.g., soil 53s). The behavior calculation target object may include an object 50 located at a position away from the ground surface 51g. The behavior calculation target object may include an object 55 inside a container. The behavior calculation target object may include a work machine 60, a vehicle 90, water, etc.

[0121] (Interactions that cause behavior) As described above, the object whose behavior is to be calculated is an object 50 whose behavior, either deformation or movement or both, due to the interaction between multiple objects 50, is simulated by the computer 20. This "interaction" may include contact between the objects 50, or may include non-contact interaction between the objects 50. The "non-contact interaction" may be magnetic force, electrostatic force, or gravity (specific examples will be described later). This gravity is an attractive force acting between the ground 51 (Earth) and an object 50 other than the ground 51 (for example, a work target 53). Hereinafter, unless otherwise specified, the object whose behavior is to be calculated will also be simply referred to as the object 50.

[0122] For example, the above-mentioned interaction may include interaction between the working device 64 and the work object 53 on which the work is performed by the working device 64. The above-mentioned interaction may also include interaction between the running part 61b (e.g., a crawler) of the lower body 61 and the ground surface 51g (specific examples will be described later). The above-mentioned interaction may also include interaction between the work objects 53.

[0123] (Physical quantities that determine behavior) The computer 20 determines (calculates) the behavior of the object 50 according to the physical quantities (parameters) of the object 50 (more specifically, the object whose behavior is to be calculated). The computer 20 determines the behavior of the object 50 based on one or more physical quantities of the object 50. The computer 20 may determine the movement behavior of the object 50, may determine the deformation behavior of the object 50, or may determine the movement and deformation behaviors of the object 50 according to the physical quantities of the object 50.

[0124] The following describes physical quantities for determining the behavior of the object for behavior calculation that is the work object 53. The physical quantities for determining the behavior of the work object 53 may include the amount of movement of the work object 53 caused by the working device 64. The physical quantities for determining the behavior of the work object 53 may include the relative position of the working device 64 with respect to the work object 53. The physical quantities for determining the behavior of the work object 53 may include the force that the working device 64 applies to the work object 53.

[0125] (Contents of behavior) The computer 20 may simulate various behaviors of the object 50. The processing (calculation) by the computer 20 to simulate the behavior is included in the above-mentioned change processing. Examples of behaviors of the object 50 will be described below.

[0126] The computer 20 may simulate the movement of the object 50 due to the interaction between the multiple objects 50. For example, as shown in Fig. 11, the computer 20 may simulate the movement of the work target 53 captured by the end attachment 65c, which is accompanied by (linked with) the movement of the end attachment 65c. As shown in Fig. 14, the computer 20 may simulate the movement (e.g., falling) of the work target 53 when the end attachment 65c releases (e.g., unloads) the work target 53. Further specific examples of the movement of the object 50 will be described later.

[0127] 11, the computer 20 may simulate deformation of the object 50 due to interaction between multiple objects 50. For example, the computer 20 may simulate deformation of the work object 53 due to contact between the tip attachment 65c and the work object 53. Further specific examples of deformation of the object 50 will be described later.

[0128] The computer 20 may simulate the behavior of the object 50 as it deforms while moving (a specific example will be described later).

[0129] The computer 20 may simulate a particulate object 50. The computer 20 may simulate the appearance of the particulate object 50. It is not necessary for the computer 20 to calculate the behavior of each of the multiple particles (one by one). The computer 20 causes the display unit 41 to display the particulate object 50 (representation of the particle) so that a user looking at the display unit 41 can understand that the object 50 is particulate. The "particle" may be a grain or a powder. The powder may be dust or dirt (such as dirt) (see FIG. 14).

[0130] The computer 20 may simulate the behavior of water when the object 50 enters water (one example of the object 50). Specifically, the computer 20 may simulate the appearance of splashing water when the object 50 enters (e.g., falls into) water.

[0131] (More concrete examples of behavior) Further specific examples of the behavior of the object 50 will be described below.

[0132] (Digging with a 65d bucket) The computer 20 may simulate the movement and deformation behavior of the soil 53s caused by the bucket 65d excavating the soil 53s, as shown in Fig. 11. In the following, "excavation" refers to the excavation of the soil 53s by the bucket 65d.

[0133] (Internal behavior of bucket 65d due to excavation) The computer 20 may simulate the behavior of the soil 53s in the bucket 65d during excavation by the bucket 65d. For example, the computer 20 may simulate the behavior of the soil 53s when the soil 53s enters the bucket 65d as the bucket 65d excavates the soil 53s. The computer 20 may simulate the movement of the soil 53s in the bucket 65d that accompanies (is linked to) the movement of the bucket 65d during excavation. For example, the computer 20 may simulate the movement of the soil 53s in the bucket 65d toward the front side X2 when the bucket 65d excavates the soil 53s toward the front side X2 that accompanies (is linked to) the movement of the bucket 65d. The computer 20 may simulate the behavior of the soil 53s that accumulates in the bucket 65d during or after excavation (see FIG. 12).

[0134] (External behavior of bucket 65d due to excavation) 12, the computer 20 may simulate the behavior of the ground surface 51g excavated by the bucket 65d. The computer 20 may simulate the behavior of the soil 53s in the excavated ground surface 51g deforming so as to be depressed. The computer 20 may also simulate the behavior of the soil 53s in the excavated ground surface 51g moving around the position (excavation position) excavated by the bucket 65d.

[0135] The computer 20 may simulate the behavior of soil 53s around the excavation position of the bucket 65d piling up higher than the ground surface 51g before excavation. For example, the computer 20 may simulate the behavior of soil 53s on the outer side (left and right) of the excavation position of the bucket 65d and on the front side X2, which rises higher than the ground surface 51g before excavation when the bucket 65d excavates soil 53s toward the front side X2 in the lateral direction Y. In this case, the computer 20 may simulate the behavior of soil 53s on the front side X2 of the excavation position rising up the highest around the excavation position of the bucket 65d.

[0136] (Behavior of soil 53s due to excavation according to physical quantities) As shown in FIG. 11 , the computer 20 may determine the behavior of the soil 53s inside the bucket 65d and / or outside the bucket 65d during excavation by the bucket 65d according to physical quantities. The physical quantities may include the amount of movement (e.g., distance, speed, etc.) of the soil 53s excavated by the bucket 65d. The physical quantities may include the amount of change in the amount (soil volume) of the soil 53s inside the bucket 65d. The physical quantities may include the relative position of the bucket 65d with respect to the soil 53s (e.g., digging depth, digging angle). The physical quantities may include the force (excavation force) with which the bucket 65d excavates the soil 53s. The physical quantities may include the quality (soil quality) of the soil 53s. The soil quality may include, for example, the moisture content, viscosity, etc.

[0137] (Behavior of particles due to excavation) The computer 20 may simulate the behavior of the soil 53s that becomes particulate (for example, changes from a lump shape to a particulate shape) due to excavation. The computer 20 may simulate the grains of the soil 53s or the powder of the soil 53s (for example, dust) during excavation.

[0138] For example, the computer 20 may simulate the behavior of the soil 53s in the bucket 65d becoming granular during excavation. The computer 20 may treat the soil 53s in the entire interior of the bucket 65d as granular, or may treat the soil 53s directly above the tip (toe) of the bucket 65d as granular.

[0139] The computer 20 may simulate the behavior of soil 53s outside the bucket 65d and near the bucket 65d becoming granular during excavation. Specifically, the computer 20 may treat soil 53s on the ground surface 51g at the excavation position by the bucket 65d as granular, or may treat soil 53s around the excavation position as granular. The computer 20 may maintain soil 53s that has once been made granular in shape.

[0140] The computer 20 may always treat the soil 53s inside the bucket 65d as granular during excavation. The computer 20 may always treat the soil 53s outside the bucket 65d and near the bucket 65d as granular during excavation. The computer 20 may determine whether the bucket 65d is "excavating" the soil 53s, for example, as follows. The computer 20 may determine that the bucket 65d is "excavating" when the tip end (toe) of the bucket 65d is located below the ground surface 51g on the Z2 side and the bucket 65d is moving (generating speed). The computer 20 may also determine that the bucket 65d is not "excavating" when the above conditions are not met.

[0141] (Behavior of particles due to excavation depending on physical quantities) The computer 20 may change the display (representation of particles) of the particulate soil 53s depending on the physical quantity (condition). For example, the computer 20 may switch whether or not to display the soil 53s as particles depending on the physical quantity. The computer 20 may change the amount of soil 53s displayed as particles, the shape of the particles, or the size of the particles (grains, powder, etc.) depending on the physical quantity.

[0142] The computer 20 may change the display of the granular soil 53s depending on the position of the soil 53s. Specifically, the computer 20 may change the display of the granular soil 53s inside the bucket 65d and outside the bucket 65d. Even more specifically, the computer 20 may simulate the behavior of the soil 53s inside the bucket 65d becoming granular and moving while crumbling during excavation. Furthermore, the computer 20 may simulate the behavior of the soil 53s outside the bucket 65d around the excavation position of the bucket 65d (see FIG. 12) becoming granular and accumulating during excavation.

[0143] The calculator 20 may change the display of the granular soil 53s depending on the amount of change in the amount of soil 53s in the bucket 65d. Specifically, the calculator 20 may increase the amount of granular soil 53s as the amount of change in the amount of soil in the bucket 65d increases, and decrease the amount of granular soil 53s as the amount of change in the amount of soil in the bucket 65d decreases.

[0144] The computer 20 may change the display of the granular soil 53s depending on the relative position of the bucket 65d with respect to the soil 53s. Specifically, the computer 20 may change the display of the granular soil 53s depending on the excavation depth of the bucket 65d with respect to the soil 53s (e.g., ground surface 51g). The computer 20 may change the display of the granular soil 53s depending on the excavation angle (bucket angle) of the bucket 65d with respect to the soil 53s. The computer 20 may increase the amount of granular soil 53s the deeper the excavation depth is and the more the back surface 65d3 of the bucket tip is upright with respect to the soil 53s. The computer 20 may decrease the amount of granular soil 53s the shallower the excavation depth is and the more the back surface 65d3 of the bucket tip is flatter with respect to the soil 53s.

[0145] The calculator 20 may change the display of the granular soil 53s depending on the force that the bucket 65d applies to the soil 53s (the force that the bucket 65d receives from the soil 53s). For example, the calculator 20 may increase the amount of granular soil 53s as the force increases, and decrease the amount of granular soil 53s as the force decreases.

[0146] The calculator 20 may change the display of the granular soil 53s depending on the quality (soil quality) of the soil 53s. As described above, the soil quality may include, for example, the moisture content, viscosity, etc. For example, the calculator 20 may make the particles of the granular soil 53s larger as the moisture content or viscosity of the soil 53s increases, and may make the particles of the granular soil 53s smaller as the moisture content or viscosity of the soil 53s decreases.

[0147] (Leveling with tip attachment 65c) The computer 20 may simulate the flattening (leveling) of the earth and sand 53s by the tip attachment 65c, similar to the excavation of the earth and sand 53s by the tip attachment 65c (specifically, the bucket 65d).

[0148] (Capture and rotation by tip attachment 65c) 13, the computer 20 may simulate the behavior of the work object 53 when the upper rotating body 63 rotates (moves in the rotating direction R) relative to the lower main body 61 with the tip attachment 65c holding the work object 53. When the upper rotating body 63 rotates relative to the lower main body 61, the tip attachment 65c rotates (moves in the rotating direction R) relative to the lower main body 61. Hereinafter, the rotation of the tip attachment 65c (for example, the bucket 65d) relative to the lower main body 61 will also be simply referred to as the rotation of the tip attachment 65c, the rotation of the bucket 65d, etc.

[0149] The computer 20 may simulate the movement (movement in the air) of the work object 53 captured by the tip attachment 65c in association with (linked to) the rotation of the tip attachment 65c. For example, the computer 20 may simulate the movement of the soil 53s in the bucket 65d so that the soil 53s in the bucket 65d moves in the air in association with (linked to) the rotation of the bucket 65d.

[0150] The computer 20 may simulate the behavior of the soil 53s in the bucket 65d moving relative to the bucket 65d (moving within the bucket 65d) due to centrifugal force when the bucket 65d swings. For example, the computer 20 may simulate the behavior of the soil 53s in the bucket 65d spilling (falling) from the bucket 65d when the bucket 65d swings. The computer 20 may also simulate the behavior of the soil 53s deforming into particles when the soil 53s in the bucket 65d spills from the bucket 65d (see the description of soil discharge).

[0151] (Earth removal) The computer 20 may simulate the movement (fall) and deformation of the earth and sand 53s from the bucket 65d when the bucket 65d discharges (discharges) the earth and sand 53s as shown in Fig. 14. Hereinafter, the discharge of the earth and sand 53s from the bucket 65d will also be simply referred to as "discharge."

[0152] The computer 20 may simulate the behavior of the soil 53s in the bucket 65d during soil discharge. For example, the computer 20 may simulate the behavior in which the soil 53s moves (falls) from the bucket 65d and the soil 53s in the bucket 65d decreases during soil discharge. The computer 20 may simulate the behavior in which the soil 53s in the bucket 65d becomes empty during soil discharge. The computer 20 may simulate the behavior of the soil 53s falling (moving) from the bucket 65d during soil discharge. The computer 20 may simulate the behavior in which the soil 53s that falls from the bucket 65d piles up at the location where it fell during soil discharge. In this case, the location where the soil 53s that fell from the bucket 65d piles up may be, for example, the ground 51g or the loading platform 91 (see FIG. 4).

[0153] The physical quantity for determining the behavior of the soil 53s during soil discharge may include the amount of movement of the soil 53s discharged from the bucket 65d, the amount of change in the amount (soil volume) of the soil 53s in the bucket 65d, or the position of the soil 53s in the bucket 65d. The physical quantity for determining the behavior of the soil 53s during soil discharge may include the soil quality.

[0154] (Behavior of particles due to soil discharge) The computer 20 may simulate the behavior of the soil 53s falling from the bucket 65d as it becomes particulate. The computer 20 may simulate the behavior of the soil 53s as it becomes particulate after it has fallen from the bucket 65d. Here, if lumpy soil 53s falls from the bucket 65d, it is likely to give the user a sense of discomfort. On the other hand, if particulate soil 53s falls from the bucket 65d, it is possible to reduce the sense of discomfort given to the user. For example, the computer 20 treats the soil 53s directly below and around the bucket 65d as particulate when the bucket 65d is unloading soil.

[0155] As described above, the calculator 20 may change the display (representation of particles) of the particulate soil 53s depending on the physical quantity (condition). Here, differences between the display of the particulate soil 53s due to excavation and the above-mentioned "(Behavior of particles due to excavation depending on physical quantity)" will be mainly described.

[0156] The computer 20 may change the display of the granular soil 53s depending on the position of the soil 53s. Specifically, the computer 20 may simulate the granular soil 53s falling at a position directly below the bucket 65d. The computer 20 may simulate the generation of powdery soil 53s (dust) around the falling granular soil 53s directly below the bucket 65d.

[0157] The calculator 20 may change the display of the particulate soil 53s depending on the amount of change (decrease) in the amount of soil 53s in the bucket 65d. Specifically, the calculator 20 may increase the amount of particulate soil 53s as the amount of soil 53s decreased from the bucket 65d increases, and may decrease the amount of particulate soil 53s as the amount of soil 53s decreased from the bucket 65d decreases.

[0158] (Excavation in the rotation direction R by the bucket 65d) 15, the computer 20 may simulate the movement and deformation behavior of the soil 53s when the bucket 65d excavates the soil 53s in the swing direction R. In particular, the computer 20 may simulate the behavior of the soil 53s when the upper swing body 63 swings relative to the lower body 61 and the attachment 65 swings with the bucket 65d buried in the soil 53s (for example, the ground surface 51g). Here, the excavation of the soil 53s in the swing direction R by the bucket 65d will be mainly described, focusing on the differences from the above-mentioned "(Excavation by the bucket 65d)".

[0159] The computer 20 may simulate the soil 53s being pushed against the side surface of the bucket 65d (the surface on the outer side in the lateral direction Y) due to excavation by the bucket 65d in the swing direction R, causing the soil 53s to move in the swing direction R. The computer 20 may also simulate the behavior in which the soil 53s on the front side X2, the back side X1, and the outer side in the swing direction R of the excavation position of the bucket 65d pile up higher than the soil 53s before excavation (for example, the ground surface 51g). In this case, the computer 20 may simulate the behavior in which the soil 53s on the side where the bucket 65d swings relative to the lower body 61 (the left side if swinging left, and the right side if swinging right) piles up highest around the excavation position of the bucket 65d.

[0160] (Excavation by pushing the arm) As shown in Fig. 16, the computer 20 may simulate the movement and deformation behavior of the soil 53s when the bucket 65d excavates the soil 53s toward the far side X1. In more detail, the computer 20 may simulate the behavior of the soil 53s when the arm 65b and the bucket 65d move toward the far side X1 (when pushing the arm) with the bucket 65d buried in the soil 53s (for example, the ground surface 51g). Here, the excavation of the soil 53s by pushing the arm will be mainly described, focusing on the differences from the above-mentioned "(excavation by the bucket 65d)."

[0161] The computer 20 may simulate the movement of the soil 53s as it is pushed by the bucket tip back surface 65d3 by the arm pushing and moves toward the far side X1. The computer 20 may simulate the behavior of the soil 53s on the outer side (left and right) in the lateral direction Y and on the far side X1 of the excavation position of the bucket 65d rising higher than the soil 53s before excavation (for example, the ground surface 51g) when the arm pushing is performed. In this case, the computer 20 may simulate the behavior of the soil 53s on the side pushed by the bucket 65d (the far side X1) rising highest around the excavation position of the bucket 65d.

[0162] (Work done by Dozer 64d) The computer 20 may simulate the behavior of the work object 53 being worked on by the dozer 64d shown in Fig. 17. For example, the computer 20 may simulate the behavior of the earth and sand 53s being pushed (pushed) by the dozer 64d. For example, the computer 20 may simulate the behavior of the earth and sand 53s being leveled by the dozer 64d. A specific example of the behavior of the earth and sand 53s being pushed by the dozer 64d may be the same as or approximately the same as the excavation of the earth and sand 53s being excavated by the bucket 65d.

[0163] (Rotation of the lower body 61) As shown in FIG. 16 , the computer 20 may simulate a behavior in which, when the lower body 61 turns relative to the ground surface 51g (traveling surface), soil 53s on the ground surface 51g is pushed and deformed by the running units 61b (e.g., crawlers). For example, the computer 20 may simulate a behavior in which, if the ground surface 51g was flat before the lower body 61 turned, a mark (unevenness) (turn mark 51ga) is left on the ground surface 51g after the lower body 61 turns. The turning of the lower body 61 relative to the ground surface 51g may be a spin turn of the lower body 61 caused by the traveling directions of the right running unit 61b and the left running unit 61b being opposite to each other. The turning of the lower body 61 relative to the ground surface 51g may be a pivot turn of the lower body 61 caused by the right running unit 61b being driven and the left running unit 61b not being driven (the left and right directions may be reversed). The computer 20 may simulate the behavior of the particles of earth and sand 53s that are generated around the traveling portion 61b when the lower body 61 turns relative to the ground surface 51g.

[0164] (Running of the lower body 61) The computer 20 may simulate the behavior of the soil 53s on the ground surface 51g when the lower body 61 runs on the ground surface 51g. For example, if the ground surface 51g was flat before the lower body 61 ran, the computer 20 may simulate the behavior of leaving marks (unevenness) (running marks 51gc) on the ground surface 51g after the lower body 61 runs. The computer 20 may also simulate the behavior of generating particulate soil 53s around the running portion 61b when the lower body 61 runs on the ground surface 51g.

[0165] (Behavior of object 55 in the container) The computer 20 may simulate the behavior of the movement of the object 55 in the container that accompanies the movement of the container C shown in Fig. 4. For example, as described above, the computer 20 may simulate the movement of the object 55 in the container (e.g., soil 53s) in the bucket 65d that accompanies (is linked to) the movement of the bucket 65d, as shown in Fig. 13. The computer 20 may also simulate the movement of the object 55 in the container in the loading platform 91 that accompanies (is linked to) the movement of the loading platform 91 shown in Fig. 4, similar to the movement of the soil 53s in the bucket 65d.

[0166] The computer 20 may simulate the behavior of the object 55 in the container leaving the container C (e.g., spilling or flowing out) when the object 55 in the container moves in conjunction with (linked to) the movement of the container C. The computer 20 may change the behavior of the object 55 in the container leaving the container C according to the physical quantities of the container C and the object 55 in the container. The computer 20 may change whether the object 55 in the container leaves the container C or may change the amount of the object 55 in the container leaving the container C according to the physical quantities. For example, the computer 20 may change the behavior of the object 55 in the container leaving the container C according to a comparison between the height of the object 55 in the container (e.g., pile height) and the height of the wall of the container C. The "wall of the container C" may be, for example, the loading platform enclosure 91c if the container C is the loading platform 91, or the side surface (the outer surface in the lateral direction Y) of the bucket 65d if the container C is the bucket 65d. Specifically, the computer 20 may simulate the behavior of the object 55 in the container not coming out of the container C when the container C is moving, when the height of the object 55 in the container is equal to or less than the height of the wall of the container C. The computer 20 may simulate the behavior of the object 55 in the container coming out of the container C when the container C is moving, when the height of the object 55 in the container exceeds the height of the wall of the container C. Furthermore, for example, the computer 20 may change the behavior of the object 55 in the container coming out of the container C depending on the moving speed of the container C. For example, the computer 20 may cause more of the object 55 in the container to come out of the container C as the moving speed of the container C increases.

[0167] (Other behaviors) In the above specific example, the tip attachment 65c was mainly the bucket 65d. However, the tip attachment 65c may be a magnet or may be capable of gripping the work object 53. In the above specific example, the object for which behavior calculation is to be performed was mainly soil 53s. However, the object for which behavior calculation is to be performed may be a work object 53 other than soil 53s (such as a magnetic material, waste, or structure). Specifically, the computer 20 may simulate the behavior of the work object 53 (magnetic material) attracted to a magnet (an example of the tip attachment 65c) by the magnetic force of the magnet. Furthermore, the computer 20 may simulate the behavior of the work object 53 when the tip attachment 65c capable of gripping the work object 53 grips the work object 53. Furthermore, the object for which behavior calculation is to be performed may be an object 50 other than the work object 53.

[0168] (multiple areas) The modifiable model M15 may be set (placed) in a plurality of regions. Furthermore, the object for which behavior calculation is to be performed may be placed (placed) in a plurality of regions. For example, the modifiable model M15 (as well as the object for which behavior calculation is to be performed) may include the ground 51g and an object 50 placed at a position away from the ground 51g. The above "position away from the ground 51g" refers to a position Z1 above the ground 51g, and is a position floating above the ground 51g (the same applies hereinafter) (specific examples will be described later). Hereinafter, the "modifiable model M15" may be read as the object for which behavior calculation is to be performed.

[0169] If the modifiable model M15 includes the ground 51g and an object 50 placed at a position away from the ground 51g, the calculator 20 can simulate not only work on the ground 51g (such as digging), but also work at a position away from the ground 51g (specific examples will be described later).

[0170] 12, the modifiable model M15 may include a ground surface 51g and a work object 53 captured by the end attachment 65c. In this case, the computer 20 can perform a modification process (e.g., movement or deformation) on the work object 53 captured by the end attachment 65c. As a result, the computer 20 can simulate the work (capturing, moving, releasing, etc.) performed on the work object 53 by the end attachment 65c.

[0171] The modifiable model M15 may include the ground surface 51g and an object 55 in the container. For example, the modifiable model M15 may include the ground surface 51g and soil 53s in the bucket 65d. In this case, the computer 20 can simulate work (such as digging, moving, and discharging) on the soil 53s by the bucket 65d. Furthermore, as shown in FIG. 17 , the modifiable model M15 may include the ground surface 51g and a work target 53 in the loading platform 91. In this case, the computer 20 can simulate work on the work target 53 in the loading platform 91 (such as moving and leveling the soil 53s in the loading platform 91). The modifiable model M15 may include the ground surface 51g, the work target 53 in the bucket 65d (see FIG. 12 ), and the work target 53 in the loading platform 91. In this case, the calculator 20 can simulate the operation of the bucket 65d capturing the work object 53 from the ground 51g, moving the work object 53 to the loading platform 91, releasing the work object 53 on the loading platform 91, and loading the work object 53 onto the loading platform 91.

[0172] For example, the behavior of the soil 53s when the changeable model M15 is set to the ground 51g and inside the loading platform 91 will be described. In this case, it is assumed that the soil 53s is discharged from the bucket 65d directly above the loading platform enclosure 91c (gate plate). At this time, the computer 20 simulates that some of the soil 53s discharged from the bucket 65d falls onto the ground 51g outside the loading platform 91. In this case, the computer 20 simulates that the fallen soil 53s piles up on the ground 51g. On the other hand, the computer 20 simulates that the rest of the soil 53s discharged from the bucket 65d (the portion that does not fall onto the ground 51g) falls into the loading platform 91. In this case, the computer 20 simulates that the fallen soil 53s piles up inside the loading platform 91.

[0173] The "object 50 placed at a position distant from the ground surface 51g" is placed within the range of the modifiable model M15 set on the ground surface 51g when viewed from above. For example, the soil 53s (modifiable model M15) in the bucket 65d placed at a position distant from the ground surface 51g is placed within the range of the modifiable model M15 on the ground surface 51g when viewed from above.

[0174] When the "object 50 placed at a position distant from the ground 51g" moves from within the range of the modifiable model M15 of the ground 51g to outside the range, the computer 20 may perform the following process. In this case, the computer 20 may treat the object 50 as a model that is not the modifiable model M15, and may cause the output unit 40 to output (notify) that the modification process cannot be performed.

[0175] (Adding or deleting an object 50 (step S23)) The computer 20 may add an object 50 to the work site S (to the virtual space) or may delete an object 50 from the work site S (see step S23 shown in FIG. 3).

[0176] (Setting object 50 to the set state) The computer 20 may set the state of the object 50 (the object 50 simulated by the modifiable model M15) to a state (referred to as a set state) set in the computer 20. As a result, the computer 20 may add the object 50 to the work site S or may delete the object 50 from the work site S.

[0177] The computer 20 may set (reset) the state of the object 50 to an initial state. The set state set in the computer 20 may be the initial state. This initial state may be the state when the modifiable model M15 was generated (converted from the site model M11 (see FIG. 8)). Furthermore, the computer 20 may set the state of the object 50 to a set state set in the computer 20 that is other than the initial state. This set state may be a state set based on information input by a user via the input unit 11. Furthermore, the set state may be a state recorded at a predetermined timing during the simulation of the work site S by the computer 20 (during calculation or simulation). This predetermined timing may be a timing arbitrarily specified by the user via the input unit 11, or may be a timing automatically set by the computer 20 (for example, at predetermined time intervals, when a predetermined event occurs, etc.). The computer 20 may set the state of the object 50 at one location to the set state, or may set the states of the objects 50 at multiple locations to the set state.

[0178] The computer 20 may set the state of the ground surface 51g to a preset state. The preset state of the ground surface 51g may be, for example, the above-mentioned initial state, a flat surface, or a specific shape.

[0179] The calculator 20 may set the state of the object 55 in the container to a preset state. The preset state of the object 55 in the container may be, for example, the initial state described above, a state in which the container C is empty (a state in which there are no object 55 in the container), or a state in which a specific amount of object 55 in the container is contained in the container C. The "specific amount" described above may be an amount preset in the calculator 20, or an amount set in the calculator 20 based on information input via the input unit 11 (for example, an amount manually set by the user).

[0180] The computer 20 sets the object 50 to the set state in response to a command (instruction) for setting the object 50 to the set state. For example, the computer 20 may cause the display unit 41 to display an operable portion (e.g., a GUI such as a button) for setting the object 50 to the set state. Then, the computer 20 may set the object 50 to the set state based on this operation.

[0181] (Example of effect of setting the setting state of object 50) In this way, the computer 20 sets the state of the object 50 to the preset state, so that the computer 20 can repeatedly simulate the same situation.

[0182] For example, the work site simulation system 1 (see FIG. 1) may be used as an operation simulator (e.g., a training device) for simulating the operation of a real work machine. In this case, the state of the object 50 is set to a preset state, making it easy for the user to repeatedly practice the same operation. For example, this eliminates the need for the user to operate the work machine 60 and put the object 50 into a specific state (e.g., return it to its original position), which is a time-consuming operation.

[0183] Specifically, when the computer 20 sets the state of the work object 53 captured by the tip attachment 65c shown in FIG. 13 to a preset state, the following effect may be obtained. For example, the tip attachment 65c may perform a series of operations, such as capturing the work object 53 (e.g., excavating), lifting and rotating (moving to a release position), releasing (e.g., discharging), and returning to the capture position. It becomes easy for the user to repeatedly practice some of the steps (e.g., capturing only, releasing only, etc.) of this series of operations. Specifically, suppose that from a state where earth and sand 53s is contained in the bucket 65d (preset state), the user performs an operation to lift and rotate the bucket 65d and discharge the earth. In this state, the computer 20 sets the state to a state where earth and sand 53s is contained in the bucket 65d (preset state). The user can then practice the lifting, swinging, and earth discharge operations without having to perform the return swing and excavation operations.

[0184] Furthermore, when the computer 20 sets the state of the work object 53 in the loading platform 91 shown in Fig. 17 to a set state, the following effect may be obtained. For example, the work machine 60 loads (e.g., unloads) the work object 53 onto the loading platform 91, and the work object 53 accumulates on the loading platform 91. The computer 20 then sets the work object 53 in the loading platform 91 to an empty state (set state). In this case, it is possible to simulate a situation in which the vehicle 90 leaves the work site S, and the vehicle 90 with an empty loading platform 91 enters the work site S, resulting in the loading platform 91 of the vehicle 90 becoming empty.

[0185] (Adding Object 50) The computer 20 may add an object 50 to the work site S (may perform a process to add) as shown in Fig. 9. For example, the computer 20 may add (put in) a work target 53 to the work site S, or may add an object 50 other than the work target 53. For example, the computer 20 may add the object 50 to the ground 51g, or may add the object 50 to a container C (see Fig. 17, etc.).

[0186] When the computer 20 adds (introduces) a work object 53 to the work site S, it can simulate a situation in which the work object 53 is introduced to the work site S. For example, it can simulate a situation in which the work object 53 is introduced to the work site S from a device that carries in the work object 53 (e.g., a loading platform 91 (see FIG. 17), a conveyor, etc.). For example, when the work machine 60 performs an operation to capture (e.g., excavate) the work object 53, it is conceivable that the work object 53 will be removed from the position where the capture operation was performed. Even in this case, the work object 53 can be added to the position where the work object 53 was removed. Therefore, the computer 20 can continue to simulate the work of the work machine 60 on the work object 53.

[0187] When the work site simulation system 1 (see FIG. 1) is used as an operation simulator (for example, a training device) for simulating the operation of a real work machine, the following effect may be obtained by adding a work object 53 to the work site S. The user can repeatedly practice the operation in which the vehicle 90 shown in FIG. 4 dumps earth and sand 53s onto the ground 51g, forming a pile of earth and sand 53s (a pile of earth and sand), and the work machine 60 works on the pile of earth and sand (for example, catching it, leveling it, etc.).

[0188] (Additional Examples of Object 50) A specific example of the process of adding an object 50 to the work site S shown in FIG. 9 will be described. The computer 20 sets an object addition unit A23a in the work site S. The object addition unit A23a is a portion (area) to which an object 50 (e.g., a work target object 53) is added. The object addition unit A23a is a portion for specifying the area to which the object 50 is added. The computer 20 adds the amount of objects 50 set in the computer 20 from the object addition unit A23a to the work site S. The object addition unit A23a is set within the area of the modifiable model M15. The computer 20 adds the objects 50 from the object addition unit A23a to the area of the modifiable model M15.

[0189] The state (position, shape, size, etc.) of the object adding section A23a can be set in various ways (similar to the selection area A13 (see FIG. 5)). The initial state of the object adding section A23a may be set in the computer 20. The computer 20 may automatically set the state of the object adding section A23a based on the situation of the work site S (such as the position of the object 50). The object adding section A23a may be set manually by the user (as desired by the user). A specific example of setting the object adding section A23a is the same as the specific example of setting the selection area A13. An initial value of the amount of objects 50 input from the object adding section A23a may be set in the computer 20. The amount of objects 50 input from the object adding section A23a may be automatically set in the computer 20 based on the situation of the work site S, or may be set manually by the user.

[0190] (Object 50 deleted) The computer 20 may delete the object 50 from the work site S (may perform a deletion process). The computer 20 may delete some of the objects 50 of the modifiable model M15 from the modifiable model M15. For example, the computer 20 may delete the work target 53 from the work site S, or may delete objects 50 other than the work target 53. The computer 20 may delete the object 50 from the ground 51g, or may delete the object 50 (object in container 55) from the container C shown in FIG. 17.

[0191] For example, as shown in Fig. 14, it is conceivable that the tip attachment 65c releases (e.g., dumps) a work object 53, and the work object 53 is added to the position where this release occurs. Even in this case, the work object 53 can be deleted from the position where the work object 53 was added. Therefore, the computer 20 can continue to simulate the work on the work object 53.

[0192] (Example of removing object 50) A specific example of a process for deleting an object 50 from the work site S shown in FIG. 9 will be described. The computer 20 may set an object deletion unit A23b in the work site S. The object deletion unit A23b is a portion (area) from which the object 50 (e.g., work target 53) is deleted. The object deletion unit A23b is a portion from which the object 50 is deleted in the modifiable model M15. The object deletion unit A23b is a portion for specifying the area from which the object 50 is deleted. The computer 20 deletes the object 50 (e.g., work target 53) within the area of the object deletion unit A23b from the modifiable model M15. Note that if at least a portion of the object deletion unit A23b is in the site model M11, the computer 20 does not need to delete the object 50 within the area of the object deletion unit A23b and from the site model M11. The state (position, shape, size, etc.) of the object deletion unit A23b can be set in various ways. A specific example of the state setting of the object deletion unit A23b is similar to the specific example of the state setting of the object addition unit A23a.

[0193] (Calculating the amount of object 50) The calculator 20 may calculate the amount of the object 50 shown in FIG. 4. The amount of the object 50 calculated by the calculator 20 may include the mass of the object 50 or the volume of the object 50 (see FIG. 10). The calculator 20 may calculate the amount of the object 50 at a certain point in time. The calculator 20 may calculate the amount of change in the object 50 from a certain point in time to a later point in time.

[0194] The calculator 20 may calculate the amount of work (productivity, workload) performed by the work machine 60. The calculator 20 may calculate the amount of work object 53, which represents the amount of work performed by the work machine 60.

[0195] The computer 20 may calculate the amount of work objects 53 in a specific area. The computer 20 may calculate the amount of change in the amount of work objects 53 in a specific area. For example, the computer 20 may calculate the amount of work objects 53 in an area where the work objects 53 have gathered (such as a pile of earth and sand). The computer 20 may calculate the amount of change in the amount of work objects 53 in this area.

[0196] The calculator 20 may calculate the amount of objects 55 in the container. For example, the calculator 20 may calculate the amount of work object 53 in the bucket 65d shown in FIG. 12 (e.g., the amount of soil in the bucket 65d) (e.g., the amount of change, etc.) (see FIG. 10). The calculator 20 may calculate the amount of work object 53 caught (scooped up) by the bucket 65d. The calculator 20 may calculate the amount of work object 53 in the loading platform 91 shown in FIG. 4 (e.g., the amount of soil in the loading platform 91). The calculator 20 may calculate the amount of work by the work machine 60 based on the amount of objects 55 in the container (e.g., the amount of change, etc.).

[0197] The calculator 20 may use the calculated values (such as the amount of object 50, the amount of work calculated from the amount of object 50, etc.) in various ways. The calculator 20 may output the calculated values to the output unit 40 and notify the user. The calculator 20 may display the calculated values on the display unit 41 (see FIG. 10) or output them to the audio output unit 43 (see FIG. 1). The calculator 20 may store (record) the calculated values in the memory unit 20a (see FIG. 1). The calculator 20 may perform evaluation (such as evaluating the amount of work) based on the calculated values.

[0198] (color change) Calculator 20 can set various colors (colors to be displayed on display unit 41) of object 50 shown in Fig. 4. Calculator 20 may change the color of object 50 depending on the situation (conditions) of work site S.

[0199] For example, as shown in Fig. 12, suppose that the object 50 includes deformable soil 53s. In this case, the computer 20 may display the soil 53s on the output unit 40 so that the display of the surface of the deformed soil 53s differs from the display of the surface of the undeformed soil 53s. In this case, the user can easily distinguish between the deformed soil 53s and the undeformed soil 53s.

[0200] The "deformed soil 53s" described above refers to soil 53s that has been deformed by, for example, the work machine 60 coming into contact with the soil 53s. Specifically, the deformed soil 53s may include soil 53s that has been deformed by the work machine 60 performing work on the soil 53s (such as excavation). More specifically, the deformed soil 53s may include soil 53s that has been depressed by excavation, or soil 53s that has piled up around the excavation position by excavation. As shown in FIG. 14, the deformed soil 53s may include soil 53s that has piled up by dumping. As shown in FIG. 6, the deformed soil 53s may include soil 53s on the ground surface 51g that has been deformed by the movement (e.g., traveling or turning) of the lower body 61. In this case, the soil 53s on the ground surface 51g does not necessarily have to be the work target 53 that is the target of work by the work machine 60.

[0201] The computer 20 determines whether or not to change the display of the soil 53s by determining whether the soil 53s shown in FIG. 12 has been deformed. This determination is made, for example, as follows: The computer 20 compares the current and past heights of the soil 53s. For example, the computer 20 compares the height (height information) of the soil 53s at a certain position when the on-site model M11 was converted to the modifiable model M15 (initial state, past) with the current height of the soil 53s at this position. Then, if the amount of change in height between the past and present (absolute value of change) exceeds a threshold, the computer 20 determines that the soil 53s at this position has been deformed. If the amount of change in height between the past and present is equal to or less than a threshold, the computer 20 determines that the soil 53s at this position has not been deformed. This threshold may or may not be 0.

[0202] As described above, the computer 20 displays the surface of the deformed soil 53s differently from the surface of the undeformed soil 53s. For example, the computer 20 uses different colors for the surface of the deformed soil 53s and the surface of the undeformed soil 53s. Specifically, the computer 20 may make the color of the surface of the deformed soil 53s darker (more intense) than the color of the surface of the undeformed soil 53s. In this case, the soil 53s that has been deformed by work (e.g., excavation) by the work machine 60 will be darker (more intense) than the undeformed soil 53s that has not been worked on. This makes it possible to obtain a change in the display of the soil 53s, similar to when a real work machine works on real soil. Note that in real soil, the interior of the soil often contains more moisture and is a darker color than the surface.

[0203] The soil 53s to be displayed differently depending on whether it is deformed or not is the modifiable model M15. The soil 53s to be displayed differently depending on whether it is deformed or not may be all the soil 53s in the modifiable model M15, or specific soil 53s in the modifiable model M15. The "specific soil 53s" may be soil 53s on the ground 51g, or soil 53s that has been deformed by a specific operation (e.g., excavation).

[0204] The computer 20 may change the display of the surface of the deformed soil 53s according to the amount of change in the height of the soil 53s. Specifically, the computer 20 may change the display of the surface of the deformed soil 53s according to the difference in the height of the surface of the soil 53s after deformation at a certain position (the same position as the "certain position" when viewed from above) relative to the height of the surface of the soil 53s before deformation at this position. In this case, the computer 20 may change the color intensity or hue of the surface of the soil 53s according to the amount of change in the height of the deformed soil 53s. The computer 20 may display the display of the surface of the deformed soil 53s like a heat map. When the soil 53s is deformed by the work of the work machine 60 and the display of the surface of the soil 53s is changed according to the amount of change in the height of the soil 53s, the user can easily grasp the amount of work (for example, the depth excavated or the height piled up).

[0205] (Program, Method) The worksite simulation system 1 shown in FIG. 1 is configured to perform each of the above operations. A worksite simulation program may be set to cause a computer 20 to execute processing to perform each of the above operations. A worksite simulation method may be performed to perform each of the above operations. Each of the above operations may be considered a "step" in the program and method. For example, the model conversion process from the worksite model M11 to the changeable model M15 shown in FIG. 8 may be considered a "model conversion processing step."

[0206] (Effects of the first invention) As shown in FIG. 1, the work site simulation system 1 includes a computer 20 that simulates the operation of a work machine 60 at a work site S in a virtual space.

[0207] [Configuration 1] The computer 20 sets up multiple objects 50 in a virtual space as shown in Figure 4. The multiple objects 50 include an object whose behavior is to be calculated. The computer 20 simulates one or both of the deformation and movement of the object whose behavior is to be calculated due to the interaction between the multiple objects 50.

[0208] The above [Configuration 1] makes it possible to make the behavior of the object 50 at the work site S in the virtual space closer to the behavior of the object at the real work site. That is, the behavior of the object at the real work site can be accurately reproduced in the virtual space. As a result, it is possible to suppress the user's sense of discomfort with the behavior of the object 50 in the virtual space. As a result, when the work site simulation system 1 (see FIG. 1) is used as an operation simulator, it may be easier for the user to become proficient in the work. Furthermore, when the work site simulation system 1 is used as an operation verification device, it may be possible to perform verification with high accuracy.

[0209] (Effects of the second invention) [Configuration 2] The objects whose behavior is to be calculated include soil and sand 53s.

[0210] By the above [Configuration 2], the computer 20 can simulate the behavior of the earth and sand 53s.

[0211] (Effect of the third invention) [Configuration 3] The object whose behavior is to be calculated includes the ground 51g.

[0212] The above-described [Configuration 3] allows the computer 20 to simulate the behavior of the ground surface 51g. For example, the behavior of soil 53s piling up on the ground surface 51g, or the behavior of soil 53s being excavated from the ground surface 51g as shown in FIG. 12, may be simulated.

[0213] (Effect of the fourth invention) [Configuration 4] The object for which behavior calculation is to be performed includes the ground surface 51g and an object 50 placed at a position distant from the ground surface 51g.

[0214] By the above [Configuration 4], the computer 20 can simulate not only the behavior of the ground surface 51g but also the behavior of the object 50 placed at a position distant from the ground surface 51g.

[0215] (Effect of the fifth invention) [Configuration 5] The object whose behavior is to be calculated includes an object 50 placed in a container C, that is, an object 55 in the container.

[0216] According to the above [Configuration 5], the computer 20 can simulate the behavior of the object 55 inside the container. For example, the computer 20 may be able to simulate the behavior of the object 50 inside the bucket 65d. For example, the computer 20 may be able to simulate the behavior of the object 50 inside the loading platform 91 shown in FIG. 4.

[0217] (Effect of the sixth aspect of the invention) [Configuration 6] The interactions between multiple objects 50 (see [Configuration 16] above) include interactions between the work implements 64 of the work machine 60 and the work target 53 that is worked on by the work implements 64. The objects whose behavior is to be calculated include the work target 53.

[0218] By the above [Configuration 6], the computer 20 can simulate the behavior of the work object 53 due to the interaction between the work device 64 and the work object 53. As a result, the computer 20 can simulate the work performed by the work device 64 on the work object 53.

[0219] (Effect of the seventh invention) [Configuration 7] As shown in FIG. 11, the computer 20 simulates the behavior of an object whose behavior is to be calculated as it deforms while moving.

[0220] By the above [Configuration 7], the behavior of the object 50 at the work site S in the virtual space can be made closer to the behavior of the object at the real work site.

[0221] (Effect of the eighth aspect of the invention) [Configuration 8] The computer 20 simulates a particle-like object whose behavior is to be calculated.

[0222] By the above [Configuration 8], the behavior of the object 50 at the work site S in the virtual space can be made closer to the behavior of the object at the real work site.

[0223] (Effect of the ninth invention) [Configuration 9] The object whose behavior is to be calculated includes a work object 53 that is worked on by a work device 64 of a work machine 60. The computer 20 determines the behavior of the particulate work object 53 based on physical quantities. The physical quantities are one or more of the following: the amount of movement of the work object 53 moved by the work device 64, the relative position of the work device 64 with respect to the work object 53, and the force that the work device 64 applies to the work object 53.

[0224] By the above [Configuration 9], the behavior of the particle-like work object 53 in the work site S in the virtual space can be made closer to the behavior of the actual work object in the actual work site.

[0225] (Effect of the 10th invention) [Configuration 10] The object whose behavior is to be calculated includes soil 53s placed in the bucket 65d of the work machine 60. The computer 20 determines the behavior of the particulate soil 53s based on physical quantities. The physical quantities are one or more of the following: the amount of change in the amount of soil 53s in the bucket 65d, the amount of soil 53s moved by the bucket 65d, the relative position of the soil 53s with respect to the bucket 65d, and the force with which the bucket 65d pushes the soil 53s.

[0226] According to the above [Configuration 10], the behavior of the granular earth and sand 53s at the work site S in the virtual space can be made closer to the behavior of the granular earth and sand at the actual work site.

[0227] (Effects of the A1 invention) The effects of the work site simulation system 1 shown in Fig. 1 are as follows: The work site simulation system 1 includes a computer 20. The computer 20 simulates the operation of a work machine 60 at a work site S in a virtual space, as shown in Fig. 5.

[0228] [Configuration A1-1] The computer 20 acquires a site model M11, which is shape information of the work site S. The computer 20 can set a partial area of the site model M11 as a selected area A13. The computer 20 converts the site model M11 inside the selected area A13 into a changeable model M15 shown in FIG. 8.

[0229] [Configuration A1-2] The modifiable model M15 is shape information that can be modified by the computer 20. The modification is one or more of deformation, movement, addition, and deletion. The computer 20 does not perform modification on the site model M11, or limits the modification that can be performed on the site model M11 to the modification that can be performed on the modifiable model M15.

[0230] In the above [Configuration A1-2], the computer 20 can perform change processing on the modifiable model M15. On the other hand, the computer 20 does not perform change processing on the site model M11, or limits change processing on the site model M11 more than change processing on the modifiable model M15. Therefore, the smaller the area of the modifiable model M15, the more the calculation load on the computer 20 due to change processing is reduced.

[0231] In the above [Configuration A1-1], the computer 20 can set a partial area of the site model M11 as the selected area A13 (see FIG. 5). Then, the computer 20 converts the site model M11 inside the selected area A13 into the modifiable model M15. Therefore, the area of the modifiable model M15 can be made smaller than when the area that becomes the modifiable model M15 is always the entire site model M11. Therefore, with the above [Configuration A1-1] and [Configuration A1-2], the calculation load on the computer 20 due to the change processing can be reduced compared to when the area that becomes the modifiable model M15 is always the entire site model M11.

[0232] (Effects of the invention A2) [Configuration A2] The computer 20 performs change processing on the modifiable model M15, but does not perform change processing on the site model M11. Alternatively, the computer 20 performs change processing on the modifiable model M15, but performs change processing on the site model M11 with more restrictions than the change processing that can be performed on the modifiable model M15.

[0233] The above [Configuration A2] allows the computer 20 to reduce the computational load caused by the change processing compared to when the change processing is performed on the site model M11 without restricting the change processing that the computer 20 can perform on the changeable model.

[0234] (Effects of the invention A3) [Configuration A3] As shown in FIG. 12, the modifiable model M15 includes a work object 53 on which the work machine 60 performs work.

[0235] By the above [Configuration A3], the computer 20 can perform change processing on the work object 53 when the work machine 60 performs work on the work object 53. Therefore, the work site simulation system 1 can simulate work on the work object 53 by the work machine 60.

[0236] (Effects of the invention A4) [Configuration A4] The computer 20 sets the selection area A13 based on the range in which the work machine 60 shown in FIG. 5 can operate.

[0237] [Configuration A4] described above makes it possible to set an appropriate area based on the operable range of the work machine 60 as the selected area A13. This prevents the selected area A13 from becoming too wide relative to the operable range of the work machine 60, thereby preventing the area of the changeable model M15 (see FIG. 8) from becoming too wide. This reduces the calculation load on the computer 20 due to the change processing. This also prevents the selected area A13 from becoming too narrow relative to the operable range of the work machine 60, thereby preventing the area of the changeable model M15 (see FIG. 8) from becoming too narrow. This allows the computer 20 to appropriately perform change processing on the objects 50 around the work machine 60 when the work machine 60 is operating (for example, when working), as shown in FIG. 12. This allows the work site simulation system 1 (see FIG. 1) to appropriately simulate the situation around the work machine 60 when the work machine 60 is operating (for example, when working).

[0238] Furthermore, in the above [Configuration A4], the computer 20 can automatically set the selection area A13 shown in Fig. 5. This reduces the time and effort required for the user to manually set the selection area A13.

[0239] (Effects of the invention A5) [Configuration A5] Calculator 20 sets selection area A13 based on the numerical value input to calculator 20.

[0240] The above-mentioned [Configuration A5] makes it possible to set an appropriate selection area A13 based on numerical values. For example, if the numerical values of the dimensions, position, etc. of the area where the change process is to be performed (such as the area where the work machine 60 works) are determined in advance, the selection area A13 can be set based on accurate numerical values.

[0241] (Effects of the invention A6) The work site simulation system 1 (see FIG. 1) includes an output unit 40 that can output information.

[0242] [Configuration A6] Calculator 20 causes output unit 40 to output region change unit G5. Region change unit G5 is a display that can change one or more aspects of the position, shape, and size of selection region A13. Calculator 20 changes the aspect of selection region A13 in response to an operation on region change unit G5.

[0243] With the above [Configuration A6], the user can easily (for example, intuitively) change the state of the selected area A13 by operating the area change unit G5.

[0244] (Effects of the invention A7) [Configuration A7] The computer 20 sets only a part of the area of the modifiable model M15 as a physical calculation area M15a, as shown in Fig. 9. The physical calculation area M15a is an area in which the computer 20 performs calculations to move the object 50, which is the modifiable model M15, in accordance with physical phenomena.

[0245] By the above [Configuration A7], the calculation load on the computer 20 can be reduced compared to when the area in which the computer 20 performs calculations based on physical phenomena is the entire area of the area of the changeable model M15.

[0246] (Effects of the invention A8) [Configuration A8] The computer 20 sets a physical calculation domain M15a based on the position of the work machine 60 in the work site S.

[0247] The above [Configuration A8] provides the following effect. In the work site simulation system 1 (see FIG. 1), the operation of the work machine 60 is simulated. Therefore, for example, it is expected that there is a high need to perform calculations to move the object 50 in accordance with physical phenomena at positions close to the work machine 60, and that there is a low need to perform calculations to move the object 50 in accordance with physical phenomena at positions far from the work machine 60. Therefore, in the above [Configuration A8], the computer 20 sets the physical calculation domain M15a based on the position of the work machine 60 at the work site S. Therefore, the physical calculation domain M15a can be set at an appropriate position based on the position of the work machine 60.

[0248] (Effects of the invention A9) The work site simulation system 1 (see FIG. 1) includes an output unit 40 that can output information.

[0249] [Configuration A9] The computer 20 causes the output unit 40 to output a notification when a predetermined portion of the work machine 60 leaves the area of the changeable model M15.

[0250] The above [Configuration A9] provides the following effect. When a predetermined part of the work machine 60 leaves the area of the modifiable model M15, modification processing around the predetermined part is restricted (for example, modification processing is not performed). This may result in a case where the situation around the predetermined part cannot be properly simulated. Therefore, in the above [Configuration A9], the calculator 20 causes the output unit 40 to output a notification when the predetermined part of the work machine 60 leaves the area of the modifiable model M15. This allows the user to know that the predetermined part of the work machine 60 has left the area of the modifiable model M15.

[0251] (Effects of the invention A10) [Configuration A10] The computer 20 sets the state of the object 50, which is the changeable model M15, to the state set in the computer 20 (set state).

[0252] The above [Configuration A10] improves the convenience of the work site simulation system 1.

[0253] For example, suppose that an object 50 at the work site S moves and deforms due to the operation of a work machine 60. Even in such a case, the computer 20 can set (e.g., reset) the state of this object 50 to a specific set state.

[0254] For example, when the work site simulation system 1 (see FIG. 1) is used as an operation simulator, the user can repeatedly practice operations in a specific situation (a situation set as a preset state). Also, when the work site simulation system 1 is used as an operation verification device, the operation of the work machine 60 from a specific situation (a situation set as a preset state) can be repeatedly verified.

[0255] (Effects of the invention A11) [Configuration A11] The computer 20 sets the state of the ground surface 51g, which is the changeable model M15, to the state set in the computer 20 (set state).

[0256] The above [Configuration A11] improves the convenience of the work site simulation system 1 (see FIG. 1). For example, as shown in FIG. 12, suppose that the ground surface 51g is deformed by a work machine 60 performing work on the ground surface 51g (e.g., digging). Even in such a case, the computer 20 can set (e.g., reset) the state of the ground surface 51g to a specific set state.

[0257] (Effects of the invention A12) [Configuration A12] The modifiable model M15 includes an object 55 in the container, which is an object 50 placed in the container C. The computer 20 sets the state of the object 55 in the container to a state (set state) set in the computer 20.

[0258] The above [Configuration A12] improves the convenience of the work site simulation system 1 (see FIG. 1). For example, suppose that the state inside the container C (bucket 65d, loading platform 91 (see FIG. 4), etc.) changes due to the operation of the work machine 60. Even in such a case, the computer 20 can set the state of the objects 55 inside the container C to a specific set state (for example, an empty state, a state with a predetermined amount, etc.).

[0259] (Effects of the invention A13) [Configuration A13] The modifiable model M15 includes an object 50 placed in a container C, which is an object 55 in the container.

[0260] The above [Configuration A13] enables the computer 20 to perform change processing on the in-container object 55. As a result, the computer 20 can simulate the situation inside the container C.

[0261] (Effects of the invention of A14) [Configuration A14] The calculator 20 calculates the amount of the object 55 in the container (see FIG. 10).

[0262] By the above [Configuration A14], the computer 20 can perform processing (for example, display, evaluation, recording, etc.) using information on the amount of the object 55 in the container. For example, if the container C is a bucket 65d and the object 55 in the container is earth and sand 53s, the amount of soil excavated by the bucket 65d and in the bucket 65d can be calculated. Also, for example, as shown in FIG. 4, if the container C is a loading platform 91 and the object 55 in the container is a work object 53, the amount of work object 53 loaded on the loading platform 91 (for example, the amount of work) can be calculated.

[0263] (Effects of the invention A15) [Configuration A15] Modifiable model M15 includes work object 53 on which work machine 60 performs work. Calculator 20 calculates the amount of change in the amount of work object 53 within a specific area.

[0264] The above [Configuration A15] makes it possible to perform processing (e.g., display, evaluation, recording, etc.) using the amount of change in the amount of work objects 53 in a specific area. For example, if the specific area is an area where work objects 53 are collected (such as a pile of earth and sand), it is possible to calculate the amount of work performed on these work objects 53. As a result, it is possible to evaluate, for example, the productivity of the work machine 60.

[0265] (Effects of the invention A16) [Configuration A16] The modifiable model M15 includes a work object 53 on which the work machine 60 performs work. The computer 20 sets an object addition unit A23a within the area of the modifiable model M15, as shown in Fig. 9. The computer 20 adds the amount of work object 53 set in the computer 20 from the object addition unit A23a to the area of the modifiable model M15.

[0266] By the above [Configuration A16], the work site simulation system 1 (see FIG. 1) can simulate the addition of a work object 53 to the work site S. For example, the work site simulation system 1 can simulate the addition of a work object 53 to the work site S from a loading platform 91 (see FIG. 4), a conveyor, etc.

[0267] (Effects of the invention A17) [Configuration A17] The modifiable model M15 includes a work object 53 on which the work machine 60 performs work. The computer 20 sets the object deletion unit A23b. The computer 20 deletes the work object 53 within the area of the object deletion unit A23b from the modifiable model M15.

[0268] By using the above [Configuration A17], the work site simulation system 1 (see FIG. 1) can simulate the disappearance of a work object 53 from the work site S. For example, the work site simulation system 1 can simulate the return of a work object 53 (such as a pile of earth and sand) that has been piled up by the work of the work machine 60 to its state before the work (such as flat ground).

[0269] (Effects of the invention of A18) The work site simulation system 1 (see FIG. 1) includes an output unit 40 that can output information.

[0270] [Configuration A18] As shown in Figure 12, the modifiable model M15 includes deformable soil 53s. The computer 20 causes the output unit 40 to display the surface of the deformed soil 53s in a manner that differs from the display of the surface of the undeformed soil 53s.

[0271] The above [Configuration A18] allows the user to easily understand whether the soil 53s has been deformed or not.

[0272] (Variation) The above-described embodiments (including modified examples within the embodiments (the same applies hereinafter)) may be modified in various ways. For example, the number of components in the above-described embodiments may be changed, or some of the components may not be provided. For example, the arrangement of the components may be changed. For example, the connections between the components shown in FIGS. 1 and 2 may be changed. For example, the inclusion relationships between the components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, what is described as multiple different elements may be combined into a single element. For example, what is described as a single element may be provided as multiple different elements. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, or some of the steps may not be performed. For example, various information (values, ranges, etc.) may be set in advance in the computer 20 shown in FIG. 1, or may be set by being read into the computer 20 from an external storage device of the computer 20. The various information may be set directly by a user's manual operation, or may be set in the computer 20 based on information set by a user's manual operation. For example, the various pieces of information may not be changeable, may be changeable by manual operation, or may be automatically changed by the calculator 20 in response to certain conditions. For example, the calculator 20 may perform substantially the same processing (calculation, determination, etc.) as the processing of the above-described embodiments. For example, the mathematical formulas, processing procedures, information used in the processing, etc. may be changed in various ways. Specifically, the calculator 20 may perform processing using information that can be converted into the various pieces of information used in the above-described embodiments. The processing performed by the calculator 20 may be combined in various ways. For example, each component may have only a part of its characteristics (function, arrangement, shape, operation, etc.). [Explanation of symbols]

[0273] 1 Workplace simulation system 20 Calculator 50 objects (including objects whose behavior is calculated) 51g ground 53s Earth and Sand 55 Object inside container 60 Work Machinery 64 Work equipment 65d Bucket C container S Work site

Claims

1. A computer is provided which simulates the operation of a work machine at a work site in a virtual space, the computer sets a plurality of objects in the virtual space; the plurality of objects includes an object whose behavior is to be calculated, the computer simulates one or both of deformation and movement of the object whose behavior is to be calculated due to the interaction between the plurality of objects; Workplace simulation system.

2. 2. The work site simulation system according to claim 1, The object to be calculated includes earth and sand. Workplace simulation system.

3. 2. The work site simulation system according to claim 1, The object to be subjected to behavior calculation includes a ground surface. Workplace simulation system.

4. 2. The work site simulation system according to claim 1, The object for behavior calculation includes a ground surface and an object disposed at a position distant from the ground surface. Workplace simulation system.

5. 2. The work site simulation system according to claim 1, The object whose behavior is to be calculated includes an object in a container, which is an object placed in a container. Workplace simulation system.

6. 2. The work site simulation system according to claim 1, the interaction between the plurality of objects includes an interaction between a work implement of the work machine and a work target object that is worked on by the work implement; The behavior calculation target object includes the work target object. Workplace simulation system.

7. 2. The work site simulation system according to claim 1, The computer simulates the behavior of the object to be subjected to behavior calculation as it deforms while moving. Workplace simulation system.

8. 2. The work site simulation system according to claim 1, The computer simulates the particle-like object whose behavior is to be calculated. Workplace simulation system.

9. 9. The work site simulation system according to claim 8, the behavior calculation target object includes a work target object that is to be worked on by a work implement of the work machine, the computer determines the behavior of the particulate work object based on one or more physical quantities of a movement amount of the work object moved by the working device, a relative position of the working device with respect to the work object, and a force applied to the work object by the working device; Workplace simulation system.

10. 10. The work site simulation system according to claim 9, the object for behavior calculation includes soil and sand placed in a bucket of the work machine, The computer determines the behavior of the granular soil based on one or more physical quantities of the amount of change in the amount of soil in the bucket, the amount of soil moved by the bucket, the relative position of the soil with respect to the bucket, and the force with which the bucket pushes the soil. Workplace simulation system.

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