Work assisting device and work system

Abstract

To provide a work assisting device and a work system that assist a work of a micro construction machine by clearly imaging a work area of the work performed by the micro construction machine regardless of a work state of the micro construction machine.SOLUTION: A work assisting device 20 is parked near a micro construction machine 10 capable of performing a specified work within a narrow area and assists a work performed by the micro construction machine 10, and comprises an imaging unit 22 that captures an image of at least a part of a work target area where the micro construction machine 10 works, to be included within an imaging range, a projector 23 that outputs auxiliary information to prompt the micro construction machine 10 to perform work operations based on the imaging information, and a moving unit 21 that moves following the micro construction machine 10 when the micro construction machine 10 moves from one work target area to another work target area and the micro construction machine 10 and the work assisting device 20 are separated from each other by a specified distance or more.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work assist device that assists a small work implement that performs work in a narrow or enclosed space. [Background technology]

[0002] In construction work, there is a demand for the development of compact work equipment and robots that can move and work efficiently in narrow or enclosed areas (e.g., tunnel construction), as well as in places that are difficult for humans to access. For example, when a rock crushing machine that crushes rocks and concrete operates, raw material fragments and powder scatter around the surrounding area, accumulating as waste. If such waste is not regularly collected, it can pose safety issues for operators in terms of movement and operation, as well as reduce work efficiency. However, when large construction equipment such as crushing equipment is operating at high energy levels, it is extremely dangerous to approach the surrounding area. Therefore, it is necessary to stop the operation of the crushing machine and clear the surrounding area, which reduces productivity.

[0003] As a technology relating to small construction equipment, for example, the technology shown in Patent Document 1 is disclosed. The technology shown in Patent Document 1 comprises a self-propelled lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and a working device attached to the upper rotating body so as to be able to move up and down, the upper rotating body having a rotating frame forming a support structure, and a floor member attached to the rotating frame with a driver's seat attachment part at the rear and a footrest part on the front where the operator places their feet, the driver's seat attachment part of the floor member being composed of a seat plate to which the driver's seat in which the operator sits is attached, and an equipment attachment part rising upward from one of the left and right sides of the seat plate, and an operating lever device operated by the operator seated in the driver's seat is provided in front of the equipment attachment part. Although the invention of Patent Document 1 uses small construction equipment that allows work to be done in a relatively small space, it requires that a driver's seat be installed and that the operator operate the equipment from there while performing construction work. This presents a problem in that it is not sufficient for work in places that are dangerous for people, such as those mentioned above, or for work that requires strength in smaller spaces.

[0004] In light of the above problems, the inventors have developed a work device (hereinafter referred to as micro construction machine) as shown in Non-Patent Document 1. The micro construction machine as shown in Non-Patent Document 1 is a very small construction machine, for example, electrically driven with a battery, and can be remotely operated from a distance using a controller. The size of the vehicle body is at least 700 mm wide or less, which is large enough to board an elevator. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2013 / 051609 [Non-patent literature]

[0006] [Non-Patent Document 1] Nakayama Iron Works Co., Ltd., "MSD700 Plant Support Robot," [online], published October 19, 2020, retrieved March 22, 2024, Internet<https: / / youtu.be / u_eqf1ln94I?si=N_FW8HuI4YKgwm_Z> Summary of the Invention [Problem to be solved by the invention]

[0007] However, the invention of Patent Document 1 has the problem that although the small construction equipment enables work to be done in a relatively small space, it requires a driver's seat to be installed and the operator to operate the equipment while performing construction work, and therefore is not sufficient for work in places that are dangerous for people to work in or for work that requires strength in smaller spaces.

[0008] Furthermore, the invention of Non-Patent Document 1 is capable of unmanned operation in small areas, but has the problem that if the operator cannot approach the work area, the information about the surrounding area of ​​the work area and the work location cannot be accurately recognized, and the desired work cannot be performed.

[0009] The present invention has been made to solve the above-mentioned problems, and aims to provide a work assistance device and work system that assists the work of micro construction machinery by clearly imaging the work area of ​​the work performed by the micro construction machinery regardless of the work state of the micro construction machinery. [Means for solving the problem]

[0010] The work assistance device of the present invention is a work assistance device that stops near a small work device that is capable of performing a specified task within a narrow area and assists the task performed by the small work device, and is equipped with an imaging means that captures an image of at least a part of the work target area where the small work device will be performing the task within an imaging range, an information output means that outputs auxiliary information to prompt the small work device to perform the task based on the imaging information, and a moving means that moves to follow the small work device when the small work device moves from one work target area to another work target area and the small work device and the work assistance device become separated by a predetermined distance or more.

[0011] In this way, the work assistance device according to the present invention is a work assistance device that stops near a small work device that is capable of performing a specified task within a narrow area and assists the task performed by the small work device, takes an image of at least a part of the work target area in which the small work device will perform the task within an imaging range, and outputs auxiliary information to prompt the work operation of the small work device based on the imaging information, and when the small work device moves from one work target area to another work target area, if the small work device and the work assistance device become separated by a predetermined distance or more, the work assistance device moves to follow the small work device, thereby achieving the effect of enabling the desired task to be accurately performed while constantly checking the working status of the small work device using stable images captured by the work assistance device. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic diagram showing the configuration of a work system according to a first embodiment of the present invention. [Figure 2] 1 is an overall perspective view showing the configuration of a vehicle section of a micro construction machine in a work system according to a first embodiment of the present invention. [Figure 3] 1 is a diagram showing an example in which an accessory device is connected to a vehicle section in a micro construction machine in a work system according to a first embodiment of the present invention. FIG. [Figure 4] 1 is a functional block diagram showing the configuration of a micro construction machine in a work system according to a first embodiment of the present invention. [Figure 5] 1 is a functional block diagram showing the configuration of a work assistance device according to a first embodiment of the present invention. [Figure 6] 3 is a flowchart showing the operation of the work assist device according to the first embodiment of the present invention. [Figure 7] FIG. 5 is a functional block diagram showing the configuration of a micro construction machine according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] (First embodiment of the present invention) A work assistance device according to this embodiment and a work system using the work assistance device will be described with reference to Figures 1 to 6. Micro construction machinery such as that shown in Non-Patent Document 1 is remotely controlled by an operator from a distant location using a controller, but if the operator cannot approach the work area, he or she will not be able to grasp the detailed state of the work area. For this reason, it is conceivable to attach a camera to the micro construction machinery and have the operator operate the micro construction machinery from a remote location while viewing the video captured by the camera.

[0014] However, in this case, the ground in the work area is often uneven and unstable, causing the image captured by the micro construction machine to vibrate, making it difficult to see a clear image. Also, an accessory device (e.g., an arm, a bucket, etc.) connected to the micro construction machine is captured in the camera's imaging area, making it difficult to see the image. The work assistance device and work system using the work assistance device according to this embodiment solve these problems by capturing images of the work area where the micro construction machine will be working from an objective viewpoint.

[0015] 1 is a schematic diagram showing the configuration of a work system according to this embodiment. The work system 1 according to this embodiment includes a micro construction machine 10 that performs construction work, for example, at a construction work site, based on operation information operated from a remote location, a work assistance device 20 that moves following the micro construction machine 10 and captures images of the construction work site, a display device 30 that displays images captured by the work assistance device 20, and a controller 40 that controls the operation of the micro construction machine 10. Each component will be described below.

[0016] 2 is an overall perspective view showing an example of the configuration of the vehicle section of the micro construction machine according to this embodiment. The vehicle section 100 of the micro construction machine 10 includes a main frame 11 that forms the vehicle body, and a pair of left and right crawlers 12 provided on the side surfaces of the main frame.

[0017] The vehicle unit 100 is able to travel on uneven ground by running on the crawlers 12, and can travel even on poor ground conditions such as at construction sites or disaster areas. The crawlers 12 can be fitted with different tracks depending on the usage environment, and the number and diameter of the drive wheels are set appropriately depending on the usage environment. The crawlers 12 are attached to the sides of the main frame 11, and naturally, the bottom of the crawlers 12 is positioned lower than the bottom of the main frame 11 to prevent the main frame from rubbing against the ground.

[0018] The main frame 11 mainly houses a power supply unit 13, a control unit 14, and a communication unit 15 (not shown in FIG. 2). The detailed configuration of these will be described later, but the power supply unit 13 is equipped with a secondary battery (e.g., a lithium-ion battery) that can be charged with power from an external generator or commercial power source and can also supply power to the drive system and control system. The control unit 14 controls the drive of the crawler 12 and the drive of the accessory device 16, which will be described later. The communication unit 15 communicates information with external devices such as the work assistance device 20 and the controller 40, and performs processes of receiving signals from the external devices and transmitting signals to the external devices.

[0019] The main frame 11 also has a connection section 17 for detachably connecting an accessory device 16 such as an arm or bucket required for work in a narrow space, and as shown in Figure 3 described below, an accessory device 16 appropriate for the work to be performed in the narrow space can be attached.

[0020] It is desirable that the main frame 12 has a waterproof function that allows it to be washed with a high-pressure washer. It is also desirable that the secondary battery of the power supply unit 13 can be fully charged with AC 100V in several tens of minutes to several hours, and can operate for at least 2 to 4 hours when fully charged.

[0021] Furthermore, by changing the belts on the crawler 12 depending on the work site, it is possible to move efficiently with the crawler 12 having a surface shape that suits the site environment. Furthermore, when using multiple different belts, it is desirable to make the belt lengths common (constant) by adjusting the vertical height and front-to-rear length of the crawler 12 in consideration of belt manufacturing efficiency.

[0022] Furthermore, the structure and shape of the vehicle section 100 shown in FIG. 2 are merely examples, and are not limited to these.

[0023] FIG. 3 is a diagram illustrating an example of a micro construction machine according to this embodiment, in which an accessory device is connected to the vehicle unit. Examples of the accessory devices 16 that can be connected to the vehicle unit 100 include a bucket 16a (see FIG. 3(A)) required for tasks such as transporting, raking, and collecting earth and debris, lifting heavy objects, and loading them onto a construction wheelbarrow; a blade 16b (see FIG. 3(B)) required for tasks such as collecting earth and debris and entering under low-height conveyors; a backhoe 16c (see FIG. 3(C)) required for tasks such as transporting earth and debris, clearing gutters, and lifting heavy objects; and a dump truck 16d (see FIG. 3(D)) required for tasks such as transporting earth and debris. Each of the accessory devices 16 (bucket 16a, blade 16b, backhoe 16c, and dump truck 16d) shown in FIG. 3 is connected to the vehicle unit 10 via a connector 17 formed above the vehicle unit 10. At this time, mechanical connections and electrical and communication connections are made, and the micro construction machine 10 is constructed by integrating the vehicle section 10 and each of the accessory devices 16.

[0024] Figure 4 is a functional block diagram showing the configuration of the micro construction machine according to this embodiment. In Figure 4, the micro construction machine 10 includes a crawler 12, the aforementioned attachment 16, a power supply unit 13 that supplies power to the drive system of the crawler 12 and attachment 16 as a driving force and also supplies power required for processing by a control system consisting of a control unit 14 and a communication unit 15, the control unit 14 that controls the operation of the crawler 12, attachment 16, and power supply unit 13, and the communication unit 15 that receives control signals sent from a controller 40 and inputs them to the control unit 14.

[0025] The micro construction machine 10 is driven and controlled by an operator operating a controller 40 and receiving operation signals from the controller 40. A communication unit 15 receives operation signals from the controller 40 and passes them to a control unit 14. The crawler 12 and the attachment device 16 are connected to the power supply unit 13 and the control unit 14 via a power cable (represented by a solid line in FIG. 4) and a communication cable (represented by a dotted line in FIG. 4). The control unit 14 controls the drive of the crawler 12 and the attachment device 16 using control signals based on the received operation signals, while the power supply unit 13 supplies drive power to the crawler 12 and the attachment device 16. The power supply unit 13 is equipped with a secondary battery that charges with power supplied from an external power source such as a grid power or a generator, and supplies the power charged in the secondary battery to the crawler 12 and the attachment device 16.

[0026] 4, the micro construction machine 10 and the work assistance device 20 may be communicably connected, and the movement state of the micro construction machine 10 may be transmitted to the work assistance device 20. In other words, movement information such as the direction and extent of movement of the micro construction machine 10 may be transmitted to the work assistance device 20. The configuration and overall operation of the work assistance device 20, including the operation of the work assistance device 20 using the movement information, will be described in detail later.

[0027] Fig. 5 is a functional block diagram showing the configuration of the work assistance device according to this embodiment. In Fig. 5, the work assistance device 20 includes a moving unit 21, such as wheels or crawlers, that serves as a drive unit for moving the work assistance device 20, an imaging unit 22 that captures an image of at least a part of a work area where the micro construction machine 10 will be working within its imaging range, a projector 23 that outputs auxiliary information to prompt the micro construction machine 10 to perform work, an illumination unit 24 that illuminates the work area to brighten it when working in a dark place, a power supply unit 25 that supplies power to drive the moving unit 12, the imaging unit 22, the projector 23, and the illumination unit 24 and also supplies power required for processing by a control system consisting of a control unit 26 and a communication unit 27, a control unit 26 that controls the operations of the moving unit 12, the imaging unit 22, the projector 23, the illumination unit 24, and the power supply unit 25, and a communication unit 27 that receives control signals transmitted from the micro construction machine 10, the display device 30, and the controller 40, and transmits information to the display device 30 and the micro construction machine 10.

[0028] When the micro construction machine 10 moves from one work area to another work area that is a predetermined distance or more away, the work assistance device 20 moves, following the movement of the micro construction machine 10. For example, as described above, the communication unit 27 may receive movement information of the micro construction machine 10, and the control unit 26 may control the movement unit 21 to move, following the micro construction machine 10, while maintaining an appropriate distance from the micro construction machine 10 based on the movement information (when the distance becomes equal to or greater than the predetermined distance). Also, the control unit 26 or the display device 30 to which the image information captured by the imaging unit 22 is transmitted may perform image analysis, and the control unit 26 or the display device 30 may calculate the movement state of the micro construction machine 10, and the control unit 26 may control the movement unit 21 so that the work assistance device 20 moves, following the micro construction machine 10, according to the calculated movement state. In other words, the operator does not need to perform any operation to cause the work assistance device 20 to follow the movement of the micro construction machine 10.

[0029] The work assistance device 20 follows the movement of the micro construction machine 10 as described above, but the positional relationship between the micro construction machine 10 and the work assistance device 20 is controlled by the control unit 26 so that they move and stop while maintaining a positional relationship that includes a part of the work target area, preferably the entire area, and more preferably the entire body of the micro construction machine 10 in addition to the target area, within the imaging range captured by the imaging unit 22.

[0030] The imaging information captured by the imaging unit 22 is transmitted to the display device 30 via the control unit 26 and the communication unit 27 and displayed on the display. The operator operates the controller 40 while viewing the imaging information displayed on the display device 30 to operate the micro construction machine 10. In other words, for example, even if imaging means is attached to the micro construction machine 10 and an image from the imaging means is displayed on the display device 30, it may be difficult for the operator to see a clear image due to vibrations or reflections of the accessory device 16, as described above. However, the imaging unit 22 of the work support device 20 makes it possible for the operator to view the imaging information captured from a bird's-eye view from a distance in a stable posture, thereby enabling the operator to operate the micro construction machine 10 clearly and with high precision.

[0031] The operator may operate the controller 40 from a remote location far away from the target work area, or from the vicinity of the target work area. The operator may operate the controller 40 from any location depending on the environment of the target work area and the radio wave conditions for communication.

[0032] The projector 23 displays, for example, information (auxiliary information) relating to the location and content of work to be performed by the micro construction machine 10, at least within the imaging range captured by the imaging unit 22. Specifically, for example, an image indicating that an object to be transported by the micro construction machine 10 is located is displayed as auxiliary information at the location, or when an object to be transported is loaded into a bucket, which is an accessory device 16 of the micro construction machine 10, an image indicating that the object is to be transported is displayed as auxiliary information at the location of the destination of the object. In this way, the operator can identify how to operate the micro construction machine 10 for the next operation while viewing the image captured by the imaging unit 22 on the display device 30.

[0033] Also, for example, when the micro construction machine 10 needs to move along a predetermined path, an image showing that path may be displayed, or the details of the work to be done may be projected onto any wall surface. Furthermore, for example, when the micro construction machine 10 is to perform deterioration diagnosis on a tunnel wall or the like, an image may be displayed that clarifies the location of the diagnosis target.

[0034] The display image as auxiliary information displayed by the projector 23 may be displayed at the appropriate position according to the work procedure, for example, by the control unit 26 or the display device 30, with its position and content registered in work procedure information (not shown in Figure 5) indicating the work procedure that has been registered in advance in the work assistance device 20 or the display device 30. Alternatively, if the work content to be performed by the micro construction machine 10 has been determined to some extent, the appropriate image may be displayed at the appropriate position by an AI that has learned the work environment and work content in advance.

[0035] Alternatively, the operator may select the work to be performed from the controller 40 or the display device 30 (for example, by selecting a work step from the flow of work procedure information displayed on the display device 30), and image information corresponding to the selected work content may be extracted from the work procedure information, and the control unit 26 may control and display the projector 23. Furthermore, the position and content of the auxiliary information displayed by the projector 23 may be specified by the operator from the controller 40 or the display device 30.

[0036] The lighting unit 24 emits light from a distance away from the micro construction machine 10 when working in a dark place, such as during tunnel construction. By illuminating from a bird's-eye view from the micro construction machine 10, the entire work area can be evenly illuminated, making it easier to see the images displayed on the display device 20. This enables the operator to operate the controller 40 reliably and accurately. Note that the lighting unit 24 is not an essential component.

[0037] As described above, the control unit 26 controls the moving unit 21 of the work assist device 20 to move to an appropriate position based on operation information from the controller 40 or an image captured by the imaging unit 22, and also appropriately controls the imaging state of the imaging unit 22, the image display state of the projector 23, the illumination state of the lighting unit 24, etc. The power supply unit 25 supplies drive power to each of the components of the moving unit 21, the imaging unit 22, the projector 23, and the lighting unit 24, and also supplies power to the control systems of the control unit 26 and the communication unit 27. The power supply unit 25 is equipped with a secondary battery that charges with power supplied from an external power source such as a grid power or a generator, and supplies the power charged in the secondary battery to each component.

[0038] Here, we will explain the shape of the work assistance device 20. As shown in the schematic diagram of Fig. 1, the work assistance device 20 includes a main body 20a to which wheels or crawlers are attached as a moving unit 21, an extension unit 20b extending in the height direction from the main body 20a and arranged so as to be extendable and contractible in this height direction, and a component mounting unit 20c arranged at the upper end of the extension unit 20b and on which an imaging unit 22, a projector 23, and an illumination unit 24 are mounted in a state that the imaging unit 22, the projector 23, and the illumination unit 24 are freely rotatable in the horizontal direction around the extension unit 20b as an axis.

[0039] When the moving unit 21 is driven to move the work assistance device 20, the telescopic unit 20b is contracted to stabilize the center of gravity of the work assistance device 20. When the movement is completed and the micro construction machine 10 stops near the work target area, the telescopic unit 20b is extended. At this time, the height of the telescopic unit 20b is set so that the position of the imaging unit 22 is higher than the vehicle height of the micro construction machine 10. This makes it possible to capture images of the work target area and the micro construction machine 10 from a bird's eye view, making it easier to grasp the positional relationship between them through the image of the imaging unit 22. Furthermore, the projector 23 and the lighting unit 24 also irradiate light from high positions, making it possible to effectively display images and increase illuminance.

[0040] It should be noted that a plurality of imaging units 22, projectors 23, and lighting units 24 may be mounted.

[0041] Next, the operation of the work assistance device 20 will be described. Fig. 6 is a flowchart showing the operation of the work assistance device according to this embodiment. First, the control unit 25 controls the moving unit 21 to move to a position in the vicinity of a work target area of ​​a pre-associated micro construction machine 10 so that the imaging unit 21 can image the work target area (S1). This movement may be performed based on an instruction from the operator, or the work assistance device 20 may perform image analysis processing while imaging the surroundings, search for an associated micro construction machine 10 (for example, the shape or identifier of a registered micro construction machine 10), and move to the vicinity of the searched micro construction machine 10, or movement information (information on the direction and extent of movement) may be transmitted from the micro construction machine 10 to the work assistance device 20.

[0042] The imaging unit 22 captures an image of the work status including at least a portion of the work target area of ​​the micro construction machine 10 (S2) and transmits the image to the display device 30 in real time (S3). The control unit 26 measures the ambient illuminance using, for example, an illuminance sensor (not shown) (S4) and determines whether the illuminance is equal to or less than a predetermined value (S5). If the illuminance is equal to or less than the predetermined value, the control unit 26 turns on the illumination of the illumination unit 24 (S6), and if the illuminance is greater than the predetermined value, the control unit 26 turns off the illumination of the illumination unit 24 (S7). Note that at this time, the ambient illuminance may actually be measured using an illuminance sensor as described above, or the operator may use the controller 40 to send a control signal to turn on / off the illumination unit 24 depending on the brightness of the image displayed on the display device 30.

[0043] The control unit 26 calculates the work that the micro construction machine 10 will perform next, and generates an image showing auxiliary information to prompt the user to perform the work (S8). The generated image is projected and displayed by the projector 23 (S9). It is determined whether the micro construction machine 10 has moved away from the micro construction machine 10 farther than a predetermined distance (S10), and if it is within the predetermined distance, the process returns to S8, and the auxiliary information for the work that the micro construction machine 10 will perform next is displayed. If it has moved away from the micro construction machine 10 from the predetermined distance, the process returns to S1, and the control unit 26 follows the micro construction machine 10 and moves to the vicinity of the micro construction machine 10, and captures an image of the work area where the work will be performed after the movement.

[0044] As described above, the work assistance device 20 according to this embodiment is a work assistance device 20 that stops near a micro construction machine 10 that is capable of performing a predetermined task within a narrow area and assists the work performed by the micro construction machine 10, and is equipped with an imaging unit 22 that captures an image of at least a part of the work target area in which the micro construction machine 10 will be working, including within its imaging range, a projector 23 that outputs auxiliary information to prompt the micro construction machine 10 to perform work operations based on the imaging information, and a moving unit 21 that moves to follow the micro construction machine 10 when the micro construction machine 10 and the work assistance device 20 become separated by a predetermined distance or more when the micro construction machine 10 moves from one work target area to another. Therefore, it is possible to accurately perform the desired task while constantly checking the working status of the micro construction machine 10 using stable images captured by the work assistance device 20.

[0045] In addition, the system is equipped with a control unit 26 that identifies the work location in the work area where the micro construction machine 10 will be performing work based on the image information, and the control unit 26 controls the projector 23 to project a specified image onto the identified work location, allowing the operator to intuitively understand the displayed image of the work that the micro construction machine 10 should perform, allowing the operator to operate the micro construction machine 10 with high precision and improving workability.

[0046] Furthermore, the imaging unit 22 is installed at a position that is at least higher than the vehicle height of the micro construction machine 10, and captures images of at least a portion of the work area and the micro construction machine 10 from a bird's-eye view, making it easier to grasp the positional relationship of the work area and the micro construction machine 10, thereby improving work efficiency.

[0047] Furthermore, the height of the imaging unit 22 can be freely changed, so that the center of gravity can be lowered during movement, allowing stable travel even on rough roads, and bird's-eye images can be taken from a high position during image capture.

[0048] Furthermore, in the work assistance device 20, the control unit 26 controls the imaging unit 22 so that the image projected and displayed by the projector 23 is included within the imaging range of the imaging unit 22, and the micro construction machine 10 operates in accordance with a signal from the controller 40 operated by the operator based on imaging information including the image captured by the imaging unit 22, so that the operator can accurately operate the micro construction machine 10 while looking at the image displayed by the projector 23.

[0049] (Second embodiment of the present invention) The work assistance device according to this embodiment and a work system using the work assistance device will be described with reference to Fig. 7. In the work system according to the first embodiment, the micro construction machine 40 is driven by an operator operating the controller 40, but in the work system according to this embodiment, the micro construction machine 40 calculates and drives its own movement based on image information captured by the work assistance device 20. Note that in this embodiment, explanations that overlap with those in the first embodiment will be omitted.

[0050] 7 is a functional block diagram showing the configuration of the micro construction machine according to this embodiment. The difference from the configuration of the first embodiment shown in FIG. 4 is that the control unit 14 is provided with a movement calculation unit 140. The movement calculation unit 140 calculates the movement of the micro construction machine 10 based on the imaging information transmitted from the work assistance device 20.

[0051] In this embodiment, the work assistance device 20 captures an image so that the work target area and the micro construction machine 10 are included in the image capturing range. At this time, an image by the projector 23 as described in the first embodiment is displayed in the work target area, and it is desirable that this image is included in the image captured, but it is not always necessary that the image by the projector 23 is displayed, and in some cases the work assistance device 20 may be configured not to include the projector 23 itself. Similarly, in some cases the illumination unit 24 may be omitted.

[0052] The imaging information captured by such a work assistance device 20 is transmitted to the micro construction machine 10 via the communication unit 27. When the imaging information is transmitted to the micro construction machine 10, the control unit 14 receives the imaging information via the communication unit 15. The operation calculation unit 140 of the control unit 14 performs image analysis on the received imaging information and generates a drive signal for the operation that the micro construction machine 10 will perform next.

[0053] That is, by analyzing the captured image, it is possible to recognize the relative positional relationship and direction between the work area and the micro construction machine 10, and the direction and position to which the micro construction machine 10 will move to perform the next task are calculated, and a drive signal for the micro construction machine 10 is generated accordingly. At this time, the drive signal for the micro construction machine 10 may be generated according to work procedure information (not shown in FIG. 7) prepared in advance, for example, or, if the projector 23 of the work auxiliary device 20 is displaying an image of auxiliary information, the drive signal for the micro construction machine 10 may be generated based on the projected and displayed image. The micro construction machine 10 operates according to the generated drive signal, and is thereby able to perform work in an autonomous driving manner.

[0054] In addition, the generation of a drive signal for operating the micro construction machine 10 based on the imaging information captured by the imaging unit 22 of the work support device 20 may be performed by the control unit 25 of the work support device 20 or by the display device 30 on the operator side.

[0055] As described above, in the work system according to this embodiment, the imaging unit 22 of the work support device 20 takes an image of the micro construction machine 10 so that it is included within the imaging range, and includes a communication unit 5 that transmits imaging information of the micro construction machine 10 included within the imaging range to the micro construction machine 10, and the micro construction machine 10 includes a control unit 14 that calculates the operation that the micro construction machine 10 will perform based on the imaging information transmitted from the work support device 20, and controls the operation of the micro construction machine 10 based on the result calculated by the control unit 14, so that the work support device 20 and the micro construction machine 10 can work together to realize work by autonomous driving.

[0056] The work assist device 20 can perform various functions other than capturing the image of the work area, etc. For example, it may capture an image of a restricted area in the work area from a distance, and issue a warning with light or sound when a person approaches the restricted area.

[0057] Furthermore, before work begins with the micro construction machine 10, it is also possible to scan the entire work area while traveling over it, and create a two-dimensional map or a virtual three-dimensional space, etc.

[0058] Furthermore, the camera used as the imaging unit 22 is not limited to a visible light camera, but may be equipped with, for example, an infrared camera so as to be able to capture images of objects that cannot be seen with the naked eye. Furthermore, the light emitted by the projector 23 and the illumination unit 24 may be not only visible light but also light of wavelengths such as infrared light as necessary. [Explanation of symbols]

[0059] 1. Work System 10 Micro Construction Machinery 11 Mainframe 12 Crawler 13 Power supply section 14 Control Unit 15 Communications Department 16 Accessory equipment 17 Connection 20 Work assistance devices 21 Mobile Unit 22 Imaging unit 23 Projector 24 Lighting Department 25 Power supply section 26 Control Unit 27 Communications Department 30 Display device 40 Controller 100 Vehicle Department 140 Operation calculation section

Claims

1. A work assisting device that stays near a small work tool that can perform a predetermined task within a narrow space and assists the task performed by the small work tool, an imaging means for imaging at least a part of a work area where the small-sized work equipment is to work, within an imaging range; an information output means for outputting auxiliary information for prompting the small-sized work equipment to perform a work operation based on the image information; a moving means for moving along with the small work implement when the small work implement and the work assist device become separated by a predetermined distance or more when the small work implement moves from one work area to another work area.

2. The work assist device according to claim 1, a control means for identifying a work location in the work target area to be performed by the small-sized work implement based on the image information; A work assist device, wherein the control means controls the information output means to project a predetermined image onto the identified work location.

3. A work assisting device that stays near a small work tool that can perform a predetermined task within a narrow space and assists the task performed by the small work tool, an imaging means for imaging at least a part of a work area where the small-sized work implement will work, and the small-sized work implement within an imaging range; a communication means for transmitting image information captured by the imaging means to the small-sized work equipment; a moving means for moving along with the small work implement when the small work implement and the work assist device become separated by a predetermined distance or more when the small work implement moves from one work area to another work area.

4. 4. The work assist device according to claim 1, A work assist device characterized in that the imaging means is installed at a position higher than at least the vehicle height of the small work implement, and is configured to capture images of at least a portion of the work target area and the small work implement from a bird's-eye view.

5. The work assist device according to claim 4, The work assist device is characterized in that the height of the imaging means can be freely changed.

6. A work system comprising the work assist device according to claim 2 and the small work equipment, The work assist device is the control means controls the imaging means so that the image projected and displayed by the information output means is included within an imaging range of the imaging means; The small working equipment includes: A work system characterized in that it performs operations in accordance with signals from a controller operated by an operator based on imaging information including the images captured by the imaging means.

7. A work system comprising the work assist device according to claim 3 and the small work equipment, The small working equipment includes: a control means for calculating an operation to be performed by the small-sized work equipment based on the image information transmitted from the work assist device; A work system characterized in that the control means controls the operation of the small work equipment based on the results of the calculation.

8. A work system comprising the work assist device according to claim 1 and the small work equipment, The small-sized working equipment is provided with a small vehicle portion that is formed to be able to move freely within a small space and to which an accessory device required for work to be performed within the small space can be connected, The vehicle section includes: a main frame that forms a vehicle body and has a connection portion for detachably connecting the accessory device; a pair of left and right crawlers provided on the sides of the main frame;

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