Construction support device and construction support method

Abstract

To provide a construction support device and the like capable of generating construction support image data so as to make user's comprehension on a position and a posture of an underground object easily done while reducing its data amount to display the underground object.SOLUTION: A construction support method comprises steps of: integrating each of positions of depths of underground search points P1,,,Pi-1, Pi, Pi+1,,,,Pn-1, Pn of an underground object from the ground surface with an underground searching machine 60 in at least a part of underground search areas of a plurality of the underground search areas Si1, Si2,,,,Sim, Sim+1 to a representative depth position; and generating construction support image data showing a three-dimensional image in which closed curve surfaces m1, m2 as an object showing the representative depth positions arranged for each of the plurality of the underground search areas Si1, Si2,,,,Sim, Sim+1 are included.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a technique for preventing accidental damage to underground buried objects while excavating the ground with a work machine. [Background technology]

[0002] A technology has been proposed that enables efficient excavation work without damaging buried objects when using a hydraulic excavator to excavate soil around buried objects near the surface (see, for example, Patent Document 1). Specifically, the relationship between the absolute position of a buried pipe and the absolute position of the bucket cutting edge is determined, and the excavation position and excavation depth by the bucket are determined based on this relationship. By displaying the determined excavation position and excavation depth, for example, on a monitor, the operator can operate the hydraulic excavator reliably and quickly while watching the monitor display and preventing damage to the buried objects.

[0003] A technology has been proposed that can improve the accuracy and efficiency of excavation by a work machine (see, for example, Patent Document 2). Specifically, the allowable depth, which is the depth at which a radar can perform a search from the ground surface with a predetermined accuracy, and the search position where the radar has performed the search are both displayed on a map. For example, in a mesh-type work site map in which a single work site is divided into multiple underground search areas, multiple groups (multiple ranks) indicating the search results and allowable depth are assigned to the divided data corresponding to each underground search area. In the work site map, the groups (ranks) are displayed using colors, numbers, letters, etc., so that the groups (ranks) previously assigned to each underground search area Qn can be identified. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-056010 [Patent Document 2] Patent Publication No. 2021-189127 Summary of the Invention [Problem to be solved by the invention]

[0005] In order to allow users to understand the position and orientation of underground buried objects, 3D images are preferable to 2D images, but construction support image data tends to be excessively large due to the abundance of information it contains.

[0006] Therefore, the present invention aims to provide an apparatus, etc. that generates construction support image data to represent underground buried objects, while reducing the amount of data, and making it easier for users to understand the position and posture of the buried objects. [Means for solving the problem]

[0007] The construction support device of the present invention comprises: Construction support image data is generated that represents a three-dimensional image including a plurality of objects arranged in each of a plurality of underground search areas so as to represent the respective representative depth positions of an underground search point group consisting of one or more underground search points of underground buried objects whose depth positions from the ground surface have been measured by an underground search device in each of the plurality of underground search areas.

[0008] According to the construction support device having the above-described configuration, in at least some of the plurality of underground search areas, the depth position of the underground buried object measured from the ground surface by the underground search device is The depths of the intermediate search points are aggregated into a representative depth position. The "multiple underground search areas" may be predetermined underground search areas, such as multiple mesh-like underground search areas spaced apart from one another, or may be underground search areas occupied by an underground search machine at predetermined time intervals or distances. Construction support image data is then generated, representing a 3D image containing objects representing the representative depth positions located in each of the multiple underground search areas.

[0009] This reduces the amount of data in the construction support image data compared to when construction support image data is generated that includes multiple objects representing the depth positions of all underground search points detected by the underground search device.The spatial occupation patterns of the multiple objects in the construction support image (three-dimensional image) corresponding to the construction support image data output to the output interface allow the user who interacts with the output interface to understand the spatial occupation patterns of the underground buried objects in three-dimensional real space.

[0010] Furthermore, each object only needs to be positioned separately and independently to represent the corresponding representative depth position, and since there is no need to adjust the relative positions and attitudes between multiple objects, the computational processing load required for generating construction support image data is reduced.

[0011] In the construction support device having the above configuration, In each of the plurality of underground search areas, the construction support image data is generated, which represents a three-dimensional image including, as the plurality of objects, a plurality of closed surfaces that are arranged at depth positions from the ground surface that represent the representative depth positions. It is preferable.

[0012] According to the construction support device having this configuration, since the objects included in the construction support image data are closed surfaces, the data volume of the construction support image data is reduced. The term "closed surface" encompasses planes and curved surfaces enclosed by a closed curve. In particular, when the closed surface is a plane, the data volume of the construction support image data is further reduced. The layout of multiple closed surfaces in each of multiple underground search areas in the 3D virtual space included in the 3D image output to the output interface allows a user accessing the output interface to grasp the spatial occupation of underground buried objects in the 3D real space, including their depth positions from the ground surface.

[0013] In the construction support device having the above configuration, generating the construction support image data representing a three-dimensional image in which a single closed surface corresponding to a synthesis result of the plurality of closed surfaces in each of the plurality of overlapping underground search areas among the plurality of underground search areas is included as part of the plurality of objects; It is preferable.

[0014] According to the construction support device having this configuration, the amount of data in the construction support image data is reduced by the amount that multiple closed surfaces corresponding to multiple overlapping underground search areas are consolidated into a single closed surface. For example, multiple horizontal closed surfaces at the same or nearly the same depth position from the ground surface in each of multiple underground search areas are output to the output interface as a single horizontal or nearly horizontal plane covering the multiple underground search areas and at the same or nearly the same depth position as the multiple closed surfaces. Furthermore, multiple horizontal closed surfaces at different depth positions from the ground surface in each of multiple underground search areas are output to the output interface as a single plane covering the multiple underground search areas and tilted relative to the horizontal in accordance with the differences in the depth positions.

[0015] In the construction support device having the above configuration, The construction support image data representing a three-dimensional image including the plurality of closed surfaces having the same shape is generated. It is preferable.

[0016] According to the construction support device of this configuration, the shapes of the multiple closed surfaces are standardized, which simplifies the representation of the multiple closed surfaces and accordingly reduces the amount of data in the construction support image data.

[0017] In the construction support device having the above configuration, Classifying the plurality of objects into a plurality of object groups according to the relative arrangement of each of the plurality of objects, and generating the construction support image data representing a three-dimensional image in which each of the plurality of objects can be identified by a design according to the object group to which it belongs. It is preferable.

[0018] According to the construction support device of this configuration, the data volume of the construction support image data is reduced by standardizing the designs of the multiple objects that make up a common object group among the multiple object groups. "Design" means color, shape (including size), pattern, or any combination of these, and is a concept that includes both static and dynamic designs.

[0019] In the construction support device having the above configuration, generating the construction support image data representing a three-dimensional image including, as the plurality of objects, a plurality of three-dimensional objects extending from the ground surface to the representative depth position in each of the plurality of underground search areas; It is preferable.

[0020] With a construction support device of this configuration, since multiple three-dimensional objects have a common rule of extending from the surface to a representative depth position in each of multiple underground search areas, the amount of data in the construction support image data is reduced compared to when objects for which such a common rule does not exist are included.

[0021] In the construction support device having the above configuration, generating the construction support image data representing a three-dimensional image including the plurality of three-dimensional objects having the same shape or the same shape as a result of projection onto a horizontal plane; It is preferable.

[0022] According to the construction support device of this configuration, the shapes of each of the multiple three-dimensional objects, or the shapes resulting from the projection of each three-dimensional object onto a horizontal plane (or the ground surface), are standardized, thereby simplifying the representation of the shapes and postures of the multiple three-dimensional objects and correspondingly reducing the amount of data in the construction support image data.

[0023] In the construction support device having the above configuration, The plurality of underground search areas are spaced apart from one another. It is preferable.

[0024] According to a construction support device of this configuration, misidentification can be avoided when the three-dimensional image data is processed, because the three-dimensional image data representing multiple objects located in each of multiple underground search areas adjacent to each other via boundary lines contains common data representing at least a portion of the boundary lines. [Brief explanation of the drawings]

[0025] [Figure 1] FIG. 2 is an explanatory diagram of the configuration of a construction support device. [Figure 2] FIG. 2 is an explanatory diagram illustrating the configuration of a remote control device. [Figure 3] FIG. 2 is an explanatory diagram relating to the configuration of a work machine. [Figure 4] FIG. 1 is an explanatory diagram of the configuration of an underground exploration machine. [Figure 5] FIG. 2 is an explanatory diagram of the functions of the construction support device (construction support system). [Figure 6] 10A and 10B are explanatory diagrams relating to work environment images and construction support images. [Figure 7A] FIG. 10 is an explanatory diagram showing a fixed layout of multiple underground search areas. [Figure 7B] FIG. 10 is an explanatory diagram illustrating a dynamic arrangement of multiple underground search areas. [Figure 8A] FIG. 10 is an explanatory diagram of a method for processing underground search areas where the overlapping degree is equal to or greater than a threshold value. [Figure 8B] FIG. 10 is an explanatory diagram relating to a first processing method for underground search areas in which the overlapping degree is less than a threshold value. [Figure 8C] FIG. 10 is an explanatory diagram relating to a second processing method for underground search areas in which the overlapping degree is less than a threshold value. [Figure 9] FIG. 10 is an explanatory diagram of a method for determining representative coordinate values. [Figure 10] FIG. 10 is an explanatory diagram relating to another embodiment of the construction support image. DETAILED DESCRIPTION OF THE INVENTION

[0026] (Configuration of construction support device) The construction support system shown in Fig. 1 is composed of a construction support device 10 as one embodiment of the present invention, a remote control device 20 configured to be able to communicate with the construction support device 10 via a network, a work machine 40, and an underground search device 60. The construction support device may be composed of the construction support device 10 and one or two of the remote control device 20, the work machine 40, and the underground search device 60. The mutual communication network between the construction support device 10 and the remote control device 20, the mutual communication network between the construction support device 10 and the work machine 40, and the mutual communication network between the construction support device 10 and the underground search device 60 may be the same as or different from each other.

[0027] (Configuration of construction support device) The construction support device 10 is composed of one or more computers or server computers. As shown in FIG. 1, the construction support device 10 includes a database 102, an underground search result recognition element 120, a representative depth position determination element 121, and a construction support image data generation element 122. The database 102 stores captured image data as well as search results for underground buried objects in the construction target area. The database 102 may be composed of a database server separate from the construction support device 10. Each component of the construction support device 10 is composed of a calculation processing device (a single-core processor or a multi-core processor or processor cores constituting the same), which reads necessary data and software from a storage device such as a memory, and performs the calculation processing described below on the data in accordance with the software.

[0028] The components of the present invention "recognize" information (or data) and this includes any process that prepares the information in a form that can be used to perform subsequent computations, such as receiving, reading, retrieving, or otherwise obtaining the information, or performing computations on the underlying data or signals to determine, measure, identify, estimate, predict, or otherwise process the information.

[0029] (Configuration of remote control device) 1, the remote operation device 20 includes a remote control device 200, a remote input interface 210, and a remote output interface 220. The remote control device 200 is configured with a processing unit (a single-core processor or a multi-core processor or processor cores constituting the same), and retrieves necessary data from a storage device such as a memory. It reads data and software and performs arithmetic processing on the data in accordance with the software.

[0030] The remote input interface 210 includes a remote control mechanism 211. The remote output interface 220 includes a remote image output device 221, a remote sound output device 222, and a remote wireless communication device 224.

[0031] The remote operation mechanism 211 includes a travel operation device, a swing operation device, a boom operation device, an arm operation device, and a bucket operation device. Each operation device has an operation lever that is rotated. The operation lever (travel lever) of the travel operation device is operated to move the undercarriage 41 of the work machine 40. The travel lever may also serve as a travel pedal. For example, a travel pedal may be provided that is fixed to the base or lower end of the travel lever. The operation lever (swing lever) of the swing operation device is operated to operate the hydraulic swing motor that makes up the swing mechanism 43 of the work machine 40. The operation lever (boom lever) of the boom operation device is operated to operate the boom cylinder 442 of the work machine 40. The operation lever (arm lever) of the arm operation device is operated to operate the arm cylinder 444 of the work machine 40. The operation lever (bucket lever) of the bucket operation device is operated to operate the bucket cylinder 446 of the work machine 40.

[0032] The operating levers constituting the remote control mechanism 211 are arranged around a seat St for the operator to sit on, as shown in Fig. 2. The seat St is in the form of a high-back chair with armrests, but it may be in the form of a low-back chair without a headrest, or a chair without a backrest, or any other form of seating portion on which the operator can sit.

[0033] Left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat St. One operation lever may serve as multiple operation levers. For example, the left operation lever 2111 provided in front of the left frame of the seat St shown in FIG. 2 may function as an arm lever when operated in the forward / backward direction, and as a swing lever when operated in the left / right direction. Similarly, the right operation lever 2112 provided in front of the right frame of the seat St shown in FIG. 2 may function as a boom lever when operated in the forward / backward direction, and as a bucket lever when operated in the left / right direction. The lever pattern may be changed as desired by an operation command from the operator.

[0034] 2, the remote image output device 221 is composed of a central remote image output device 2210, a left remote image output device 2211, and a right remote image output device 2212, each having a substantially rectangular screen, and arranged in front of, the front left, and the front right of, the seat St. The shapes and sizes of the screens (image display areas) of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be the same or different. The remote image output device 221 may be composed of a single curved or bendable image output device, or two or four or more image output devices arranged to surround the front of the seat St.

[0035] 2, the right edge of the left remote image output device 2211 is adjacent to the left edge of the central remote image output device 2210, such that the screens of the central remote image output device 2210 and the left remote image output device 2211 form an inclination angle θ1 (e.g., 120°≦θ1≦150°). As shown in FIG. 2, the left edge of the right remote image output device 2212 is adjacent to the right edge of the central remote image output device 2210, such that the screens of the central remote image output device 2210 and the right remote image output device 2212 form an inclination angle θ2 (e.g., 120°≦θ2≦150°). The inclination angles θ1 and θ2 may be the same or different.

[0036] The screens of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be parallel to the vertical direction or may be tilted relative to the vertical direction. At least one of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be composed of multiple divided image output devices. For example, the central remote image output device 2210 may be composed of adjacent image output devices above and below, each having a substantially rectangular screen.

[0037] The remote audio output device 222 is made up of one or more speakers, and for example, as shown in Fig. 2, is made up of a central audio output device 2220, a left audio output device 2221, and a right audio output device 2222, which are arranged behind the seat St, at the rear of the left armrest, and at the rear of the right armrest, respectively. The specifications of the central audio output device 2220, the left audio output device 2221, and the right audio output device 2222 may be the same or different.

[0038] (Work machine configuration) 1, the work machine 40 is equipped with an actual machine control device 400, an actual machine input interface 410, an actual machine output interface 420, and an actual machine wireless communication device 422. Each of the components of the actual machine control device 400 is made up of an arithmetic processing device (a single-core processor or a multi-core processor or a processor core that makes up such a processor), which reads the necessary data and software from a storage device such as a memory, and executes arithmetic processing on the data in accordance with the software.

[0039] The work machine 40 is, for example, a crawler excavator (construction machine), and as shown in Fig. 3, includes a crawler-type lower traveling body 41 and an upper rotating body 42 that is rotatably mounted on the lower traveling body 41 via a rotating mechanism 43. A cab 42C (operator's compartment) is provided on the front left side of the upper rotating body 42. A work mechanism 44 is provided in the front center of the upper rotating body 42.

[0040] The actual machine input interface 410 includes an actual machine operation mechanism 411, an actual machine imaging device 412, and an actual machine positioning device 414. The actual machine operation mechanism 411 includes multiple operation levers arranged around a seat located inside the cab 42C in the same manner as the remote operation mechanism 211. A drive mechanism or robot is provided in the cab 42C that receives signals corresponding to the operation mode of the remote operation levers and moves the actual machine operation levers based on the received signals. The actual machine imaging device 412 is installed inside the cab 42C, for example, and captures images of the environment including at least a portion of the work mechanism 44 through the front window and left and right side windows. Some or all of the front window and side windows may be omitted. The actual machine positioning device 414 is configured with GPS or GNSS and, if necessary, a gyro sensor, etc., and measures the position (latitude and longitude) of the work machine 40.

[0041] 3, the working mechanism 44 includes a boom 441 that is mounted on the upper rotating body 42 so that it can be raised and lowered, an arm 443 that is rotatably connected to the tip of the boom 441, and a bucket 445 that is rotatably connected to the tip of the arm 443. The working mechanism 44 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446, each of which is made up of extendable and retractable hydraulic cylinders.

[0042] The boom cylinder 442 extends and retracts by receiving hydraulic oil, thereby raising the boom 441. The arm cylinder 444 is interposed between the boom 441 and the upper rotating body 42 so as to rotate the arm 443 in the downward direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to extend and contract by receiving a supply of hydraulic oil, thereby rotating the arm 443 about a horizontal axis relative to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to extend and contract by receiving a supply of hydraulic oil, thereby rotating the bucket 445 about a horizontal axis relative to the arm 443.

[0043] (Configuration of underground exploration machine) As shown in FIG. 1, the underground searcher 60 includes a search control device 600, a search storage device 602, a depth position measurement element 611, a search position measurement element 612, and a search wireless communication device 624.

[0044] The depth position measurement element 611 is configured with an underground radar device and measures the depth position of an underground buried object from the ground surface. For example, as shown in Fig. 4, a plurality of depth position measurement elements 611 may be mounted at different positions on a single underground search device 60. The search position measurement element 612 is configured with a GPS or GNSS and, if necessary, a gyro sensor or the like, and measures the two-dimensional position (latitude and longitude) of the underground search device 60.

[0045] The search storage device 602 stores and holds, as underground search results, the depth position measured by the depth position measurement element 611 and the horizontal position measured by the search position measurement element 612. The search storage device 602 may also store and hold coordinate values of the underground radar device in a search coordinate system (a coordinate system in which the position and attitude are fixed relative to the underground searcher 60). The search wireless communication device 624 is configured to transmit the underground search results stored and held in the search storage device 602 to the construction support device 10 (or database server) via the network. The underground search results are accumulated or saved in the database 102.

[0046] (function) The functions of the construction support device and imaging function control system configured as described above will be explained using the flowchart shown in Figure 5. In the flowchart, a block labeled "C●" is used for simplicity of description, and represents the transmission and / or reception of data, and represents a conditional branch in which processing in a branching direction is executed on the condition that the data is transmitted and / or received.

[0047] In the remote operation device 20, the remote control device 200 transmits a ground situation confirmation request to the construction support device 10 via the remote wireless communication device 224 (FIG. 4 / STEP 210). The presence or absence of a first designation operation by the operator via the remote input interface 210 may be determined, and the ground situation confirmation request may be transmitted if the determination result is affirmative. The "first designation operation" is, for example, an operation such as tapping on the remote input interface 210 for the operator to designate the work machine 40 that he or she intends to remotely operate.

[0048] When the construction support device 10 receives a ground situation confirmation request, the construction support device 10 transmits the ground situation confirmation request to the corresponding work machine 40 (FIG. 4 / C10).

[0049] When a request to confirm the ground situation is received by the work machine 40 via the actual machine wireless communication device 424 (Figure 4 / C40), the actual machine control device 400 transmits captured image data representing the captured image (which may have undergone appropriate image processing) acquired via the actual machine imaging device 412 to the construction support device 10 (Figure 4 / STEP410).

[0050] When the construction support device 10 receives the captured image data (FIG. 4 / C11), the construction support device 10 transmits environmental image data corresponding to the captured image to the remote control device 20. (FIG. 4 / STEP 110) The environmental image data is not only the captured image data itself, but also image data representing a simulated environmental image generated based on the captured image.

[0051] When the remote operation device 20 receives environmental image data through the remote wireless communication device 224 (FIG. 4 / C21), the remote control device 200 outputs an environmental image corresponding to the environmental image data to the remote image output device 221 (FIG. 4 / STEP 212).

[0052] As a result, for example, as shown in Figure 6, an environmental image is output to the remote image output device 221, which includes the ground spreading out in front of the cab 42C, as well as the boom 441 and arm 443 that are part of the work mechanism 44, and piles of rubble or earth and sand in the construction area (which are the target of work by the bucket 445).

[0053] In the remote operation device 20, the remote control device 200 transmits a request to check the underground condition to the construction support device 10 via the remote wireless communication device 224 (FIG. 4 / STEP 220). It may be determined whether or not the operator has performed a second designation operation via the remote input interface 210, and the underground condition confirmation request may be transmitted if the determination result is affirmative. The "second designation operation" is, for example, an operation such as tapping on the remote input interface 210 for the operator to designate the work machine 40 that he or she intends to remotely operate. The second designation operation may be the same operation as the first designation operation, or may be a different operation.

[0054] When a request to confirm underground conditions is received in the construction support device 10 (Figure 4 / C20), the underground search result recognition element 120 recognizes (searches from the database 102) the underground search results by the underground search device 60 in the construction target area related to the underground condition confirmation request (Figure 4 / STEP120).

[0055] The construction target area is specified, for example, by a set of horizontal coordinate values (X (longitude), Y (latitude)) in the world coordinate system that represent its boundaries. The construction target area is recognized based on communication between the construction support device 10 and the remote control device 20 or the work machine 40 that is the object of its operation, for example by searching the database 102 based on an identifier for identifying the remote control device 20 and / or the work machine 40.

[0056] In each of the multiple underground search areas in the construction target area, the depth position (Z (depth)) from the ground surface of underground buried objects such as pipes measured by the underground search device 60 is recognized as the underground search result. Each underground search area is identified, for example, by a set of horizontal coordinate values (X (longitude), Y (latitude)) in the world coordinate system that represent its boundaries. Multiple underground search areas may be defined adjacent to or contiguous with each other, but it is preferable that they are defined at a distance from each other. The shapes, or shapes and sizes, of the multiple underground search areas may be the same or different.

[0057] A plurality of underground search areas may be fixedly defined. For example, as shown in FIG. 7A, a plurality of substantially rectangular or square underground search areas S are regularly spaced apart (in a square lattice or triangular lattice). i1 , S i2 , , S im , S im+1 may be defined as multiple underground search areas. i1 , S i2 , , S im , S im+1In this case, as shown by the dashed arrow in FIG. 7A, when the underground searcher 60 is passively or actively displaced, the underground search area S i1 , S i2 , , S im , S im+1 The underground search results in the area can be registered in the database 102 and recognized by the underground search result recognition element 120. The shape of the underground search area can be various shapes, such as a triangle, a trapezoid, a parallelogram, a regular polygon (such as a regular hexagon, a regular octagon, or a regular dodecagon), a circle, or an ellipse.

[0058] The multiple underground search areas may be dynamically defined according to the search results of the underground search machine 60. For example, as shown by the dashed arrow in Fig. 7B, it is assumed that in the process of passive or active displacement of the underground search machine 60, the locations indicated by black circles (●) in Fig. 7B at each predetermined period are underground search points where the depth position of an underground buried object from the ground surface is measured. In this case, the multiple underground search areas S are roughly rectangular or square and irregularly spaced apart from each other, with the underground search point (defined by two-dimensional coordinate values (X (latitude), Y (longitude))) as the center or center of gravity. i1 , S i2 , , S im , S im+1 may be defined as multiple underground search areas. When multiple underground search points exist in one predetermined period, their centers of gravity are defined as multiple underground search areas S ik It may be defined as the center or centroid of each (k=1, 2, ..., m, m+1) search area S ik The size and shape of each search area S may be varied, but are preferably predefined. ik The size of may be determined according to the displacement speed of the underground search machine 60 and a predetermined period (time interval).

[0059] The multiple underground search areas may be dynamically defined according to the displacement mode of the underground search machine 60. For example, in the process of passive or active displacement of the underground search machine 60, the position of the center of gravity (defined by two-dimensional coordinate values) of the underground search machine 60 at each predetermined period is set as the center or center of gravity, and multiple underground search areas S having a substantially rectangular or square shape are arranged at a distance from each other. i1 , S i2 , , S im , S im+1 may be defined as multiple underground search areas. ik The orientation (for example, the orientation of the long or short side) may be defined to be along the displacement direction of the underground explorer 60.

[0060] Here, processing when multiple underground search areas overlap will be described. For example, if the degree of overlap between two substantially rectangular underground search areas S1 and S2 shown on the left side of Fig. 8A is equal to or greater than a threshold, one underground search area S2 remaining as a result of deleting (thinning out) the other underground search area S1 is defined as a single underground search area S- shown on the right side of Fig. 8A. Of the multiple overlapping underground search areas, the other underground search areas may be deleted except for the one underground search area whose depth position measured by the underground searcher 60 has the largest (or smallest) distance or average distance from the earth's surface. Of the multiple overlapping underground search areas, the other underground search areas may be deleted except for the one underground search area whose depth position has the largest (or smallest) number of measurements by the underground searcher 60.

[0061] On the other hand, when the overlapping degree of the two substantially rectangular underground search areas S1 and S2 shown on the left side of FIG. 8B is less than the threshold, the two underground search areas S1 and S2 are combined into a single underground search area S as shown on the right side of FIG. + When the degree of overlap between the two substantially rectangular underground search areas S1 and S2 shown on the left side of Fig. 8C is less than a threshold, two underground search areas S1' and S2' may be defined in which the two underground search areas S1 and S2 are displaced so as to be spaced apart from each other, as shown on the right side of Fig. 8C.

[0062] Next, the representative depth position determination element 121 determines a representative position of each of a group of depth positions consisting of one or more depth positions in each of the plurality of underground search areas (FIG. 4 / STEP 121).

[0063] For example, as shown by black circles (●) in FIG. 9, a plurality of underground search points P1, . . . P2 of the underground buried objects whose depth positions from the ground surface are measured by the underground search device 60 in one underground search area are shown. i-1 ,P i ,P i+1 ,‥P n-1 ,P n In this case, the closest underground search point P + Alternatively, the depth position of the underground search point P1 that is farthest from the ground surface may be determined as the representative depth position of the group of underground search points. i-1 ,P i ,P i+1 ,‥P n-1 ,P n The average depth position (see the dashed line in FIG. 9), the median depth position, or the most frequent depth position (see the dotted line in FIG. 9) may be determined as the representative depth position of the underground search point group.

[0064] Next, the construction support image data generation element 122 generates construction support image data and transmits it to the remote control device 20 (FIG. 5 / STEP 122). The construction support image data is three-dimensional image data that represents a three-dimensional image including a plurality of objects arranged in each of a plurality of underground search areas so as to represent the respective representative depth positions of the underground search point cloud.

[0065] The object has a shape and size similar to that of a substantially rectangular or square underground search area projected vertically or in the depth direction, and is composed of closed surfaces m1 and m2 parallel to the horizontal plane, as shown in Figure 5. If the shapes (e.g., substantially rectangular or square) and sizes of the multiple underground search areas are identical, the shapes and sizes of the multiple closed surfaces as objects will also be identical. If the shapes of the multiple underground search areas are identical, the shapes of the multiple closed surfaces as objects will also be identical and similar.

[0066] The closed surface may be defined as a surface defined by multiple control points, such as a Bezier surface and / or a NURBS (Non-Uniform Rational B-Spline) surface. The surface may be defined as a surface having continuity (G1 continuity, G2 continuity, or G3 continuity). For example, when the closed surface is defined by a Bezier triangular surface, the domain of the control net of the Bezier triangular surface is defined by a triangular mesh stretched on a horizontal plane, and the underground search points are used as control points, and the closed surface is defined so that the continuity of the triangular patches is ensured.

[0067] When the remote control device 20 receives construction support image data through the remote wireless communication device 224 (Figure 4 / C22), the remote control device 200 outputs a construction support image corresponding to the construction support information to the remote image output device 221 (Figure 4 / STEP222).

[0068] As a result, for example, as shown in Figure 5, in each of the multiple underground search areas included in the construction target area, a construction support image including multiple closed surfaces m1 and m2 arranged at the representative depth position of the underground search point cloud is output to the remote image output device 221 in a form superimposed on the environmental image. The designs (e.g., colors) of the multiple closed surfaces m1 constituting the first object group M1 and the multiple closed surfaces m2 constituting the second object group M2 shown in Figure 5 are differentiated so as to be identifiable according to the depth positions of the closed surfaces m1 and m2. As shown in Figure 5, vertical line segments extending from each closed surface m1, m2 to the ground surface may constitute part of the object, but these vertical line segments may also be omitted.

[0069] Since the spatial occupation mode of the object in the construction support information is defined in the world coordinate system, the placement mode of the object is coordinate-converted into the environmental image coordinate system. For this coordinate conversion, the coordinate values of the work machine 40 in the world coordinate system may be measured using a GPS or the like, and the actual machine coordinate system of the actual machine imaging device 412 (a coordinate system in which the position and attitude are fixed with respect to the upper rotating body 42) may be stored and held in the storage device and / or database 102 that constitute the remote control device 200. The operator can operate the operating lever that constitutes the remote operation mechanism 211 to move the bucket 445 while viewing the environmental image output to the remote image output device 221 and the construction support image superimposed thereon.

[0070] Alternatively, the construction support image may be output independently to the remote image output device 221 without being superimposed on the environmental image. In this case, a three-dimensional model image showing the spatial occupation mode of each of the objects arranged to show the depth position from the ground surface of the work machine 40 and underground buried objects present on the ground surface in the three-dimensional virtual space is output as a construction support image to the remote image output device 221 separately from the environmental image. Because the arrangement mode of the closed surface represented by the construction support information is defined in the world coordinate system, the coordinate values in the world coordinate system of the work machine 40 may be measured using GPS or the like and stored in the storage device and / or database 102 constituting the remote control device 200.

[0071] In the remote operation device 20, the remote control device 200 recognizes the operation mode of the remote operation mechanism 211, and a remote operation command corresponding to the operation mode is transmitted to the construction support device 10 via the remote wireless communication device 224 (Figure 5 / STEP 214).

[0072] When the construction support device 10 receives the remote operation command, the remote operation command is transmitted to the work machine 40 (FIG. 5 / C14).

[0073] In the work machine 40, when the actual machine control device 400 receives an operation command via the actual machine wireless communication device 422 (FIG. 5 / C44), the operation of the work mechanism 440, etc. is controlled (FIG. 5 / STEP 414). For example, the bucket 445 is used to dig up and scoop up soil in the construction target area in front of the work machine 40, and the upper rotating body 42 is rotated, after which the soil is dropped from the bucket 445 outside the construction target area.

[0074] (Action and effect) According to the construction support device 10 that performs the above-described functions, a plurality of underground search areas S i1 , S i2 , , S im , S im+1 (See FIGS. 7A and 7B) in at least a part of the underground search area, the underground search points P1, . . . P2 of the underground buried object whose depth position from the ground surface is measured by the underground search device 60 are i-1 ,P i ,P i+1 ,‥P n-1 ,P n The depths of the respective underground search areas S are aggregated at a representative depth position (see FIG. 5 / STEP 121 and FIG. 9). i1 , S i2 , , S im , S im+1 Then, construction support image data is generated that represents a three-dimensional image including closed surfaces m1 and m2 as objects representing the representative depth positions arranged at the respective positions (FIG. 5 / STEP 122, see FIG. 5).

[0075] As a result, all the underground search points P1, . . . P by the underground search device 60 i-1 ,P i ,P i+1 ,‥P n-1 ,P n The amount of data in the construction support image data is reduced compared to when construction support image data is generated that includes multiple objects representing the depth positions of the objects m1 and m2. The spatial occupation patterns of the closed surfaces m1 and m2 as multiple objects in the construction support image (see FIG. 5) output to the remote image output device 221 constituting the remote output interface 220 can allow a user or operator who interacts with the remote image output device 221 to understand the spatial occupation patterns of the underground buried objects in three-dimensional real space.

[0076] Furthermore, each closed surface m1, m2 as an object only needs to be positioned separately and independently to represent the corresponding representative depth position, and since there is no need to adjust the relative positions and attitudes between multiple objects, the computational processing load required for the generation process of construction support image data is reduced.

[0077] (Another embodiment of the present invention) In the above embodiment, the construction support device 10 is configured as a computer separate from the remote control device 20, the work machine 40, and the underground search machine 60, but in other embodiments, the construction support device 10 may be mounted on the remote control device 20, the work machine 40, or the underground search machine 60.

[0078] In the above embodiment, the work machine 40 is remotely controlled by the operator via the remote control device 20, but in another embodiment, the work machine 40 may be actually operated by an operator on board the work machine 40. In this case, the construction support device 10 may be configured to control the work machine 40. Then, the construction support image data is transmitted (see FIG. 5 / STEP 122), and a construction support image corresponding to the data may be output to the actual machine image output device constituting the actual machine output interface 420 (see FIG. 5).

[0079] Construction support image data may be generated that represents a 3D image including, as objects located in the underground search area, three-dimensional objects extending from the surface of the underground search area to the representative depth position of the underground search point cloud. For example, as shown in Figure 10, construction support image data may be generated that represents a 3D image including, as objects, multiple inverted cones m1 and m2 in each underground search area, with their bottoms located on the surface of the earth and their apexes located at the representative depth position. As in the example shown in Figure 5, the designs (e.g., colors) of the multiple inverted cones m1 constituting the first object group M1 and the multiple inverted cones m2 constituting the second object group M2 are differentiated so as to be distinguishable depending on the depth positions of the closed surfaces m1 and m2.

[0080] The surface of the three-dimensional object may be defined as a curved surface defined by a plurality of control points, such as a Bezier surface and / or a NURBS (non-uniform rational B-spline) surface. The surface may be defined as a surface having continuity (G1 continuity, G2 continuity, or G3 continuity). The three-dimensional object may have various shapes, such as an inverted cone such as an inverted square pyramid, which is different from an inverted cone, an inverted frustum, a cylinder, a sphere, or an ellipsoidal sphere. [Explanation of symbols]

[0081] 10‥Construction support equipment 102. Database 120‥Underground search result recognition element 121. Representative depth position determining element 122. Construction support image data generation element 20. Remote control device 200. Remote control device 210 Remote input interface 211. Remote control mechanism 220 Remote output interface 221 Remote image output device 222 Remote sound output device 224 Remote radio communication equipment 40. Work machinery 41. Lower running body 42. Upper rotating body 42C... Cab (operator's compartment) 44‥Working mechanism 445...Bucket 400... Actual machine control device 410... Actual machine input interface 420... Actual machine output interface 60‥Underground exploration machine 600 Search control device 602‥Search storage device 611 Depth position measurement element 612‥Search position measurement element 624‥Search wireless communication equipment m1, m2...Objects (closed surfaces, three-dimensional objects) P1,‥P i-1 ,P i ,P i+1 ,‥P n-1 ,P n ‥Underground search point S i1 , S i2 , , S im , S im+1 ...Underground exploration area.

Claims

1. The construction support image data is generated to represent a three-dimensional image including a plurality of objects arranged in each of a plurality of underground search areas so as to represent a representative depth position of each of an underground search point group consisting of one or a plurality of underground search points of underground buried objects whose depth positions from the ground surface are measured by an underground search machine in each of the plurality of underground search areas. Construction support equipment.

2. The construction support device according to claim 1, In each of the plurality of underground search areas, the construction support image data is generated, which represents a three-dimensional image including a plurality of closed surfaces arranged at the representative depth positions as the plurality of objects. Construction support equipment.

3. The construction support device according to claim 2, generating the construction support image data representing a three-dimensional image in which a single closed surface corresponding to a synthesis result of the plurality of closed surfaces in each of the plurality of overlapping underground search areas is included as part of the plurality of objects; Construction support equipment.

4. The construction support device according to claim 2, The construction support image data representing a three-dimensional image including the plurality of closed surfaces having the same shape is generated. Construction support equipment.

5. The construction support device according to claim 1, Classifying the plurality of objects into a plurality of object groups according to the relative arrangement of each of the plurality of objects, and generating the construction support image data representing a three-dimensional image in which each of the plurality of objects can be identified by a design according to the object group to which it belongs. Construction support equipment.

6. The construction support device according to claim 1, generating the construction support image data representing a three-dimensional image including, as the plurality of objects, a plurality of three-dimensional objects extending from the ground surface to the representative depth position in each of the plurality of underground search areas; Construction support equipment.

7. 7. The construction support device according to claim 6, generating the construction support image data representing a three-dimensional image including the plurality of three-dimensional objects having the same shape or the same shape as a result of projection onto a horizontal plane; Construction support equipment.

8. The construction support device according to claim 1, The plurality of underground search areas are spaced apart from one another. Construction support equipment.

9. determining a representative depth position of each of a group of underground search points consisting of one or more underground search points of underground buried objects whose depth positions from the ground surface have been measured by an underground search device in each of a plurality of underground search areas; generating construction support image data representing a three-dimensional image including a plurality of objects arranged in each of the plurality of underground search areas so as to represent the representative depth position; A construction support method including the above.

Images