Work support device, construction machine, work support system, work support method, and program

Abstract

To provide a technique capable of determining a positional relationship between an area of a complicated shape in a work site of a construction machine and the construction machine.SOLUTION: The work support device includes an information processing device for supporting work by the construction machine. The information processing device determines whether or not a predetermined target point in the construction machine is present in a permissible region that is determined on the basis of reference region information regarding a shape of a reference region related to work at a work site and exclusion region information regarding a shape of an exclusion region related to the work at the work site, the permissible region permitting entry of the target point.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to technology regarding construction machines. [Background technology]

[0002] Patent Document 1 discloses a construction machine work support system that includes a construction machine, a management device, and a support device. The management device has a setting instruction unit that causes the construction machine to set a surface identified based on the coordinate values ​​of multiple points in space acquired by the support device as a virtual wall. The construction machine restricts its movement based on the positional relationship between the virtual wall and the construction machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-151634 Summary of the Invention [Problem to be solved by the invention]

[0004] The work support system of Patent Document 1 identifies a surface by setting three coordinate values ​​as the multiple coordinate values, or by specifying a surface based on the coordinate values ​​of two points set as the multiple coordinate values ​​and the direction of gravity, so even if it can set a virtual wall consisting of a plane with a simple shape, it has difficulty setting an area with a complex shape. Therefore, the work support system of Patent Document 1 cannot determine the positional relationship between an area with a complex shape and a construction machine.

[0005] The present disclosure aims to provide a technology that can determine the positional relationship between an area of ​​a complex shape at a work site of a construction machine and the construction machine. [Means for solving the problem]

[0006] The work support device of the first aspect includes an information processing device for supporting work by a construction machine, and the information processing device determines whether the target point is within an allowable area that is determined based on reference area information regarding the shape of a reference area related to work at a work site and exclusion area information regarding the shape of an exclusion area related to work at the work site, and that allows a specified target point on the construction machine to enter.

[0007] In this first aspect, the allowable area is determined based on the reference area information regarding the shape of the reference area and the exclusion area information regarding the shape of the exclusion area, so the allowable area can be defined as a complex shape compared to the conventional virtual wall consisting of a simple plane specified by setting three coordinate values, and the information processing device determines whether the target point of the construction machine is within the determined allowable area. Therefore, the work support device according to the first aspect can determine the positional relationship between an allowable area of ​​a complex shape at a work site for a construction machine and the target point of the construction machine.

[0008] In this first aspect, each of the reference region, the exclusion region, and the acceptance region may be a two-dimensional region or a three-dimensional region.

[0009] A work assistance device according to a second aspect preferably includes the following configuration in addition to the work assistance device according to the first aspect: That is, in the work assistance device according to the second aspect, it is preferable that the reference area information includes first specification information on a first specific shape corresponding to the shape of the reference area when viewed in a specific direction, the exclusion area information includes second specification information on a second specific shape corresponding to the shape of the exclusion area when viewed in the specific direction, and the information processing device determines, based on the reference area information and the exclusion area information, an area obtained by excluding the exclusion area from the reference area, as the allowable area.

[0010] In this second aspect, the shape of each of the reference area and the exclusion area when viewed in the specific direction may be the shape of each of the reference area and the exclusion area when viewed from above, specifically the shape of each of the reference area and the exclusion area when viewed vertically, or the shape of each of the reference area and the exclusion area when viewed from the side, specifically the shape of each of the reference area and the exclusion area when viewed horizontally, or the shape of each of the reference area and the exclusion area when viewed in an oblique direction different from the vertical and horizontal directions.

[0011] In this second aspect, each of the reference area, the exclusion area, and the allowance area may be a two-dimensional area or a three-dimensional area. That is, in this second aspect, the reference area information may include, for example, two-dimensional information about the shape of the reference area specified in a two-dimensional coordinate system, or may include three-dimensional information about the shape of the reference area specified in a three-dimensional coordinate system (e.g., a reference coordinate system described below). The two-dimensional coordinate system may be defined, for example, by two coordinate axes perpendicular to the specific direction. The three-dimensional coordinate system may be defined by two coordinate axes perpendicular to the specific direction and one coordinate axis parallel to the specific direction. Similarly, the exclusion area information may include, for example, two-dimensional information about the shape of the exclusion area specified in the two-dimensional coordinate system, or may include three-dimensional information about the shape of the exclusion area specified in the three-dimensional coordinate system.

[0012] A work assistance device according to a third aspect preferably includes the following configuration in addition to the work assistance device according to the second aspect: In other words, in the work assistance device according to the third aspect, it is preferable that the first specific shape is a planar view shape corresponding to the shape of the reference area when viewed from above, the first specific information is planar view information on the planar view shape, the reference area information includes the planar view information and height direction information related to the position of the reference area in the height direction, the second specific shape is a planar view shape corresponding to the shape of the exclusion area when viewed from above, and the exclusion area information includes planar view information on the planar view shape of the exclusion area and height direction information related to the position of the exclusion area in the height direction, and the information processing device defines the reference area using the planar view information and the height direction information included in the reference area information, and defines the exclusion area using the planar view information and the height direction information included in the exclusion area information.

[0013] In the work support device according to the third aspect, the information processing device can define each of the reference area, the exclusion area, and the allowable area as three-dimensional areas using the planar view information and the height direction information.

[0014] A work assistance device according to a fourth aspect preferably includes the following configuration in addition to the work assistance device according to the third aspect: That is, in the work assistance device according to the fourth aspect, it is preferable that the information processing device derives a reference area function that defines the reference area using the planar view information and the height direction information included in the reference area information, derives an exclusion area function that defines the exclusion area using the planar view information and the height direction information included in the exclusion area information, and defines the allowable area using the reference area function and the exclusion area function.

[0015] In this fourth aspect, the information processing device can define a three-dimensional area for an allowable area at the work site into which a specified target point on the construction machine is allowed to enter, using the reference area function and the exclusion area function.

[0016] The work assistance device according to the fifth aspect preferably comprises the following configuration in addition to the work assistance device according to the fourth aspect: That is, in the work assistance device according to the fifth aspect, it is preferable that the reference area function is derived so as to represent the boundary of the reference area when its value is zero, the exclusion area function is derived so as to represent the boundary of the exclusion area when its value is zero, and the information processing device derives an allowable area function that defines the allowable area by multiplying the reference area function by the exclusion area function.

[0017] In the fifth aspect, the allowable area is defined by multiplying the reference area function and the exclusion area function, and each of these functions is derived so that the value of the function represents the boundary of the area when it is zero.Therefore, the information processing device can determine whether the target point is within the allowable area based on whether the value of the allowable area function obtained by substituting the position of the target point of the construction machine into the allowable area function is positive or negative.

[0018] A work support device according to a sixth aspect is preferably the work support device according to any one of the first to fifth aspects, further comprising the following configuration: That is, in the work support device according to the sixth aspect, it is preferable that the information processing device restricts the operation of the construction machine when the target point is outside the allowable area.

[0019] In this sixth aspect, the operation of the construction machine is restricted when the target point is outside the allowable area, thereby preventing the target point of the construction machine from interfering with, for example, an obstacle present at a work site.

[0020] A work assistance device according to a seventh aspect is preferably the work assistance device according to any one of the third to sixth aspects, further comprising the following configuration. That is, in the work assistance device according to the seventh aspect, it is preferable that the information processing device generalizes the planar view shape using a linear transformation of the planar view shape and a function representing a regular polygon. The regular polygon may be, for example, an equilateral triangle, a square, or a regular polygon with five or more sides. The linear transformation may be, for example, an affine transformation, a homography transformation, or another transformation.

[0021] The work assistance device according to an eighth aspect is preferably the work assistance device according to any one of the third to seventh aspects, further comprising the following configuration: That is, in the work assistance device according to the eighth aspect, when the shape in plan view is a triangle, it is preferable that the information processing device converts the shape in plan view into an equilateral triangle using an affine transformation for the triangle and a function representing an equilateral triangle.

[0022] A work assistance device according to a ninth aspect is preferably the work assistance device according to any one of the third to eighth aspects, further comprising the following configuration: That is, in the work assistance device according to the ninth aspect, when the planar view shape is a convex quadrangle, it is preferable that the information processing device converts the planar view shape into a square using a homography transformation for the convex quadrangle and a function representing a square.

[0023] A work assistance device according to a tenth aspect is preferably the work assistance device according to any one of the third to ninth aspects, further comprising the following configuration: That is, in the work assistance device according to the tenth aspect, when the planar view shape is a fan shape, it is preferable that the information processing device represents the fan shape as a trapezoid in a polar coordinate space, and converts the planar view shape into a square using a homography transformation for the trapezoid and a function representing a square.

[0024] A work assistance device according to an eleventh aspect is preferably the work assistance device according to any one of the third to tenth aspects, further comprising the following configuration: That is, in the work assistance device according to the eleventh aspect, the height direction information included in the reference area information includes information on an upper surface of the reference area and information on a lower surface of the reference area, the height direction information included in the exclusion area information includes information on the upper surface of the exclusion area and information on the lower surface of the exclusion area, and the information processing device preferably defines the reference area using the shape of the reference area in a planar view, a function for a height position of the upper surface of the reference area, and a function for a height position of the lower surface of the reference area, and defines the exclusion area using the shape of the exclusion area in a planar view, a function for a height position of the upper surface of the exclusion area, and a function for a height position of the lower surface of the exclusion area.

[0025] A construction machine according to a twelfth aspect includes a work device including a plurality of movable parts, a posture information detector that detects the posture of the work device, and a work support device according to any one of the first to eleventh aspects.

[0026] The work support system according to the thirteenth aspect includes a construction machine having a work device including a plurality of movable parts and an attitude information detector that detects the attitude of the work device, and the work support device according to any one of the first to eleventh aspects.

[0027] A work assistance method according to a fourteenth aspect is a work assistance method for assisting work by a construction machine, and includes an information processing device determining whether a target point is within an allowable area determined based on reference area information regarding the shape of a reference area related to work at a work site and exclusion area information regarding the shape of an exclusion area related to work at the work site, the allowable area allowing a specified target point on the construction machine to enter.

[0028] The program of the 15th aspect is a program for assisting work by construction machinery, and causes a computer to execute a process of determining whether a specified target point on the construction machinery is within an allowable area determined based on reference area information regarding the shape of a reference area related to work at a work site and exclusion area information regarding the shape of an exclusion area related to work at the work site, the allowable area being an area that allows the target point to enter. [Effects of the Invention]

[0029] According to the present disclosure, a technique is provided that can determine the positional relationship between an allowable area of ​​a complex shape at a work site for a construction machine and a predetermined target point on the construction machine. [Brief explanation of the drawings]

[0030] [Figure 1] 10 is a flowchart illustrating an example of a calculation process performed by an information processing device of the work assistance device according to the embodiment. [Figure 2] FIG. 10 is a diagram for explaining a method for generalizing the shape of a convex quadrilateral (shape of the bottom surface) by combining a homography transformation and a square function that is a function representing a square. [Figure 3] FIG. 10 is a diagram for explaining generation of a function value axis. [Figure 4] FIG. 10 is a diagram for explaining generation of a normalized height direction axis. [Figure 5] FIG. 5 is a conceptual diagram for explaining the superposition (three-dimensionalization) of FIG. 3 and FIG. [Figure 6] FIG. 10 is a diagram for explaining a method for generalizing the shape of a triangle (shape of the base) by combining an affine transformation and an equilateral triangle function, which is a function that represents an equilateral triangle. [Figure 7] FIG. 10 is a diagram illustrating an example of function superposition. [Figure 8] FIG. 10 is a diagram illustrating another example of function superposition. [Figure 9] FIG. 10 is a diagram showing Example 1 in which an allowable area is set using a reference area having a convex quadrilateral bottom and a plurality of obstacle areas. [Figure 10] 10 is a diagram of the allowable region according to the first embodiment when viewed in the direction of the arrow in FIG. 9 (viewpoint 1). [Figure 11] FIG. 10 is a diagram showing Example 2 in which an allowable region is set using a reference region having a sector-shaped bottom surface and an obstacle region having a sector-shaped bottom surface. [Figure 12] 12 is a view of the allowable region according to the second embodiment when viewed in the direction of the arrow 1 in FIG. 11 (viewpoint 1). [Figure 13] 12 is a view of the allowable region according to the second embodiment when viewed in the direction of the arrow 2 in FIG. 11 (viewpoint 2). [Figure 14] FIG. 10 is a diagram showing a third embodiment in which an allowable region is set assuming a tunnel. [Figure 15] 15 is a view of the allowable region according to the third embodiment when viewed in the direction of the arrow 1 in FIG. 14 (viewpoint 1). [Figure 16] 15 is a view of the allowable region according to the third embodiment when viewed in the direction of the arrow 2 in FIG. 14 (viewpoint 2). [Figure 17] FIG. 10 is a schematic diagram of a work site according to a fourth embodiment as viewed from above. [Figure 18] FIG. 10 is a schematic diagram of a work site according to a fourth embodiment as viewed from the side. [Figure 19] 1 is a diagram illustrating an example of a construction machine equipped with the work support device. [Figure 20] 2 is a diagram showing an example of a work support system including the work support device, a construction machine, and an external device. FIG. [Figure 21] FIG. 10 is a diagram showing another example of a work assistance system including the work assistance device and a construction machine. DETAILED DESCRIPTION OF THE INVENTION

[0031] An embodiment of the present disclosure will be described with reference to the drawings.

[0032] First, the overall structure of a construction machine 100 according to this embodiment will be briefly described with reference to Figure 19. This construction machine 100 is deployed at a work site and performs various tasks at the work site, such as excavation work and ground leveling work. The construction machine 100 according to this embodiment is a shovel.

[0033] The construction machine 100 comprises a lower running body 1, an upper rotating body 2 supported on the lower running body 1 so as to be rotatable relative to the lower running body 1 around a rotation axis Z extending vertically, a work device 3 supported on the upper rotating body 2, and a plurality of actuators.

[0034] The lower traveling body 1 includes a pair of left and right crawler traveling devices and a lower frame supported by these crawler traveling devices. The lower traveling body 1 is self-propelled.

[0035] The upper rotating body 2 includes a rotating frame 2A, a cab 2B, and a rear outer wall 2C. The rotating frame 2A is a frame that is rotatably supported on the lower traveling body 1, and forms a base portion of the upper rotating body 2.

[0036] Cab 2B is disposed, for example, at the left front portion of revolving frame 2A. Inside cab 2B, a driver's seat (not shown), controller 20, and the like are disposed. Controller 20 may include, for example, a control lever and a control pedal that are operated by an operator. The operations that controller 20 receives include, for example, a boom operation for raising and lowering boom 4, an arm operation for rotating arm 5, a bucket operation for rotating bucket 6, a swing operation for rotating upper revolving structure 2, and a traveling operation for traveling lower traveling structure 1.

[0037] The rear outer wall 2C is disposed behind the cab 2B and defines a machinery compartment. Various equipment is disposed in the machinery compartment, including power equipment such as an engine, a battery, and a generator, hydraulic equipment such as a hydraulic pump, and electrical equipment. The hydraulic pump is driven by the power equipment.

[0038] The work device 3 includes a boom 4 that is attached to the upper rotating body 2 so that it can be raised and lowered, an arm 5 that is rotatably attached to the boom 4, and a bucket 6 that is rotatably attached to the arm 5. The bucket 6 is an example of a tip attachment. The tip attachment is not limited to the bucket 6, and may be other devices such as a fork, a grapple, or a lifting magnet. Each of the boom 4, the arm 5, and the bucket 6 is an example of a movable part in the present disclosure.

[0039] Each of the multiple actuators operates by receiving a supply of hydraulic oil discharged from the hydraulic pump. The multiple actuators include a boom cylinder 7 for raising and lowering the boom 4, an arm cylinder 8 for rotating the arm 5, a bucket cylinder 9 for rotating the bucket 6, a swing motor 11 for rotating the upper swing structure 2 relative to the lower traveling structure 1, and a traveling motor 12 for traveling the lower traveling structure 1.

[0040] The construction machine 100 is equipped with a posture information detector 30. The posture information detector 30 acquires posture information, which is information relating to the posture of the construction machine 100. The posture information detector 30 may include multiple posture sensors. As shown in FIG. 1 , the multiple posture sensors may include a boom posture sensor 31, an arm posture sensor 32, and a bucket posture sensor 33. The multiple posture sensors may further include a rotating bed posture sensor 34.

[0041] The boom attitude sensor 31 may be a sensor that detects the attitude of the boom 4, or may be a sensor that detects the state of the boom cylinder 7 that correlates with the attitude of the boom 4. The arm attitude sensor 32 may be a sensor that detects the attitude of the arm 5, or may be a sensor that detects the state of the arm cylinder 8 that correlates with the attitude of the arm 5. The bucket attitude sensor 33 may be a sensor that detects the attitude of the bucket 6, or may be a sensor that detects the state of the bucket cylinder 9 that correlates with the attitude of the bucket 6. The rotating structure attitude sensor 34 may be a sensor that detects the attitude of the upper rotating structure 2, or may be a sensor that detects the state of the swing motor 11 that correlates with the attitude of the upper rotating structure 2.

[0042] Each of the plurality of attitude sensors may include, for example, an inertial measurement unit (IMU), a sensor that detects the degree of extension / contraction of a cylinder (e.g., a stroke sensor), or other sensors. The rotating body attitude sensor 34 may include a sensor that detects the rotation angle of the upper rotating body 2 relative to the lower running body 1, or a sensor that detects the inclination angle of the upper rotating body 2 relative to the horizontal plane.

[0043] The attitude information detector 30 inputs the acquired attitude information to an information processing device 50 of the work support device 40. The information processing device 50 can calculate the attitude of the construction machine 100 using the attitude information input from the attitude information detector 30. Specifically, the information processing device 50 can calculate the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 based on the attitude information. The information processing device 50 may represent at least one of the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 using coordinates in any one of various coordinate systems (e.g., a machine coordinate system) described below, for example.

[0044] The construction machine 100 is equipped with a work support device 40. The work support device 40 is equipped with an information processing device 50 for supporting work performed by the construction machine 100. The information processing device 50 is equipped with a computer including an arithmetic processing device and a memory.

[0045] The information processing device 50 acquires planar view information relating to the shape of a work-related region R, such as a reference region related to work at a work site and an obstacle region (exclusion region), when viewed from above, in a planar view, acquires height direction information relating to the position of the work-related region R in the height direction, and defines the work-related region R using the planar view information and the height direction information. In this work support device 40, the information processing device 50 can use the planar view information and the height direction information to define a three-dimensional region for the work-related region R. For example, when a person involved in the work, such as an operator, inputs the planar view information and the height direction information into an input device described below, the information processing device 50 can acquire the planar view information and the height direction information from the input device.

[0046] Fig. 17 shows an example of a schematic diagram of a work site viewed vertically from above, and Fig. 18 shows an example of a schematic diagram of the work site viewed horizontally from the side. In the specific example shown in Fig. 17 and Fig. 18, the work site includes a reference area R0 as the work-related area R, a first obstacle area R1 as the work-related area R, and a second obstacle area R2 as the work-related area R. Each of the reference area R0, the first obstacle area R1, and the second obstacle area R2 may be an area occupied by a tangible object, or may be an imaginary area with no tangible object.

[0047] Each of the obstacle regions R1 and R2 is an example of an exclusion region in the present disclosure. The planar view information and the height direction information of the reference region R0 are an example of reference region information of a reference region in the present disclosure. The planar view information and the height direction information of each of the obstacle regions R1 and R2 are an example of exclusion region information of an exclusion region in the present disclosure.

[0048] The reference area R0 is a three-dimensional area that indicates the range of the work target at the work site that will be worked on by the construction machine 100. The first obstacle area R1 is a three-dimensional area that indicates the range of a first obstacle OB1 that exists at the work site. The second obstacle area R2 is a three-dimensional area that indicates the range of a second obstacle OB2 that exists at the work site.

[0049] In the specific example shown in Fig. 17, the planar shape corresponding to the shape of the reference region R0 when viewed from above is the shape of the outer edge of the reference region R0 in planar view, which is a convex quadrangle (specifically, a rectangle). The planar shape corresponding to the shape of the first obstacle region R1 when viewed from above is the shape of the outer edge of the first obstacle region R1 in planar view, which is a convex quadrangle (specifically, a trapezoid). The planar shape corresponding to the shape of the second obstacle region R2 when viewed from above is the shape of the outer edge of the second obstacle region R2 in planar view, which is a triangle.

[0050] The planar view information regarding the planar view shape of the reference region R0 may include, for example, coordinates of four vertices (four vertices of a rectangle) of the reference region R0. The planar view information regarding the planar view shape of the first obstacle region R1 may include, for example, coordinates of four vertices (four vertices of a rectangle) of the first obstacle region R1. The planar view information regarding the planar view shape of the second obstacle region R2 may include, for example, coordinates of three vertices (three vertices of a triangle) of the second obstacle region R2.

[0051] 18, the height direction information of the reference region R0 is information about the position in the height direction when the reference region R0 is viewed from the side, and this height direction information may include, for example, top surface information that is information about the top surface located at the top of the reference region R0 in the height direction, and bottom surface information that is information about the bottom surface located at the bottom of the reference region R0 in the height direction. The height direction information of the first obstacle region R1 is information about the position in the height direction when the first obstacle region R1 is viewed from the side, and this height direction information may include, for example, top surface information that is information about the top surface located at the top of the first obstacle region R1 in the height direction, and bottom surface information that is information about the bottom surface located at the bottom of the first obstacle region R1 in the height direction. Similarly, the height direction information of the second obstacle area R2 is information about the position in the height direction when the second obstacle area R2 is viewed from the side, and this height direction information may include, for example, top surface information, which is information about the top surface located at the top of the second obstacle area R2 in the height direction, and bottom surface information, which is information about the bottom surface located at the bottom of the second obstacle area R2 in the height direction.

[0052] The upper surface information of the reference region R0 may include information about the position and shape of the upper surface of the reference region R0, and the lower surface information of the reference region R0 may include information about the position and shape of the lower surface of the reference region R0. Similarly, the upper surface information of each of the first obstacle region R1 and the second obstacle region R2 may include information about the position and shape of its upper surface, and the lower surface information of each of the first obstacle region R1 and the second obstacle region R2 may include information about the position and shape of its lower surface. The positions and shapes of the upper and lower surfaces may be specified by coordinates or functions in, for example, a three-dimensional coordinate system (e.g., a reference coordinate system described below).

[0053] One or both of the upper and lower surfaces of the reference region R0 may be tangible surfaces or imaginary surfaces. Similarly, one or both of the upper and lower surfaces of the first obstacle region R1 may be tangible surfaces or imaginary surfaces. One or both of the upper and lower surfaces of the second obstacle region R2 may be tangible surfaces or imaginary surfaces.

[0054] The three-dimensional area defined by the information processing device 50 is defined using a predetermined reference coordinate system. The reference coordinate system may be, for example, a world coordinate system, a machine coordinate system that is a coordinate system based on the construction machine 100, or another coordinate system. The information processing device 50 can convert coordinates from one of these coordinate systems to another. The origin of the machine coordinate system may be, for example, any position on the rotation axis Z. Specifically, the origin of the machine coordinate system may be the intersection of the rotation axis Z and the ground. Furthermore, the origin O of the machine coordinate system may be, for example, a position on the rotation axis Z and between the lower traveling body 1 and the upper rotating body 2 (origin O shown in FIG. 19 ).

[0055] When the task-related region R is a reference region R0, the information processing device 50 may derive a reference region function Ja, which is a function that defines the reference region R0, using the planar view information of the reference region R0 and the height direction information of the reference region R0. In this case, the task support device 40 can define a three-dimensional region for the reference region R0, which is the range of the task target at the work site.

[0056] When the task-related region R is a first obstacle region R1, the information processing device 50 may derive a first obstacle region function Jo1, which is a function that defines the first obstacle region R1, using the planar view information of the first obstacle region R1 and the height direction information of the first obstacle region R1. In this case, the task support device 40 can define a three-dimensional region for the first obstacle region R1, which is the range of a first obstacle OB1 at the work site. The first obstacle region function Jo1 is an example of an exclusion region function in the present disclosure.

[0057] When the task-related region R is a second obstacle region R2, the information processing device 50 may derive a second obstacle region function Jo2, which is a function that defines the second obstacle region R2, using the planar view information of the second obstacle region R2 and the height direction information of the second obstacle region R2. In this case, the task support device 40 can define a three-dimensional region for the second obstacle region R2, which is the range of the second obstacle OB2 at the work site. The second obstacle region function Jo2 is an example of an exclusion region function in the present disclosure.

[0058] The information processing device 50 may define an allowable area Rp into which a predetermined target point TP on the construction machine 100 is allowed to enter at the work site, using a reference area function Ja, a first obstacle area function Jo1, and a second obstacle area function Jo2. In this case, the work support device 40 can define a three-dimensional area for the allowable area Rp into which a predetermined target point TP on the construction machine 100 is allowed to enter at the work site. The allowable area Rp is an area obtained by excluding the first obstacle area R1 and the second obstacle area R2 from the reference area R0.

[0059] The target point TP of the construction machine 100 may be, for example, the tip of the bucket 6, the tip of the arm 5, the tip of the boom 4, the rear part (e.g., the rear end) of the upper rotating body 2, or another part of the construction machine 100. A plurality of target points TP may be set in advance. The information processing device 50 may set and store at least one target point based on, for example, information about the target point input to an input device described below. The information processing device 50 stores in advance target point position information, which is position information about the target point TP of the construction machine 100. The target point position information is information about the part of the construction machine 100 at which the target point TP is set. Therefore, the information processing device 50 can calculate the position (coordinates) of the target point TP at that time based on the posture information input from the posture information detector 30 and the target point position information.

[0060] Next, an overview of the calculation processing performed by the information processing device 50 of the work support device 40 will be described with reference to Fig. 1. Fig. 1 is a flowchart showing an example of the calculation processing performed by the information processing device 50 according to the embodiment.

[0061] In step S101, the information processing device 50 acquires planar view information and height direction information for each of the reference region R0 and the obstacle region Rn. Specifically, the information processing device 50 acquires information (function information) necessary to generate a reference region function Ja and an obstacle region function Jon (n=1, 2, . . . , m). Note that, hereinafter, the planar view shape may be referred to as the "bottom shape," and the planar view information may be referred to as bottom information.

[0062] First, information required for the shape of the bottom surface (the planar view shape) of each of the reference region R0 and obstacle region Rn (n=1, 2, . . . , m) will be described.

[0063] The information processing device 50 acquires bottom surface information (plan view information) including information on whether the shape of the bottom surface is a convex rectangle, sector, or triangle. For example, the information processing device 50 acquires the bottom surface information from an input device (e.g., a user interface screen) provided in the construction machine 100 or an input device provided in an external device (e.g., the external device 200 described below). A person involved in the work, such as an operator or manager, inputs the bottom surface information into the input device, and the input device of the construction machine 100 outputs the input bottom surface information to the information processing device 50, or the input device of the external device transmits the input bottom surface information to the work support device 40. In this way, the information processing device 50 can acquire the bottom surface information.

[0064] If the shape of the bottom surface is a convex quadrilateral, the bottom surface information may include two-dimensional information (x, y) in the reference coordinate system (e.g., a machine coordinate system) for each of the four vertices of the convex quadrilateral. A convex quadrilateral is a quadrilateral in which each of the four interior angles is less than 180 degrees.

[0065] If the shape of the bottom surface is a sector, the bottom surface information may include two-dimensional information (x, y) about the position of a portion corresponding to one radius passing through one end of the sector arc, and two-dimensional information (x, y) about the position of a portion corresponding to the other radius passing through the other end of the sector arc. Specifically, for example, if the work-related region R is a region formed by the trajectory traced by the work implement 3 when the upper rotating body 2 rotates within a predetermined range of rotation angles, the shape of the bottom surface is a sector corresponding to the shape of the work-related region R when viewed from above, and the reference coordinate system is a machine coordinate system, the bottom surface information may include information about the minimum angle and maximum angle, information about the minimum reach at the minimum angle, information about the maximum reach at the minimum angle, information about the minimum reach at the maximum angle, and information about the maximum reach at the maximum angle. The minimum angle and maximum angle are the minimum and maximum values ​​within the predetermined range of rotation angles. Furthermore, the minimum reach is the length of the working device 3 when the working device 3 is retracted, and the maximum reach is the length of the working device 3 when the working device 3 is extended.

[0066] When the shape of the bottom surface is a triangle, the bottom surface information may include two-dimensional information (x, y) in the reference coordinate system (for example, a machine coordinate system) for each of the three vertices of the triangle.

[0067] Next, information (height direction information) required for the upper and lower surfaces of the reference region R0 and the obstacle region Rn will be described.

[0068] The information processing device 50 acquires function information characterizing the upper surface and function information characterizing the lower surface. Specifically, for example, if the upper surface is a horizontal plane parallel to the (x, y) plane in the reference coordinate system, information on the height of the upper surface (e.g., the z-coordinate of the upper surface) is required as function information characterizing the upper surface, and if the lower surface is a horizontal plane parallel to the (x, y) plane, information on the height of the lower surface (e.g., the z-coordinate of the lower surface) is required as function information characterizing the lower surface. If at least one of the upper surface and the lower surface is a slope, three-dimensional information of three points on the slope in the reference coordinate system (e.g., the three-dimensional coordinates (x, y, z) of each of the three points on the slope) is required as function information. In this case, the equation of the slope may be determined based on the three-dimensional information (x, y, z) of the three points on the slope in the reference coordinate system. The bottom surface information used when determining the shape of the bottom surface may be used as the function information characterizing the bottom surface.

[0069] The information processing device 50 acquires information about the upper surface and the lower surface (height direction information) from, for example, the input device provided in the construction machine 100 or the input device provided in the external device. Persons involved in the work, such as an operator or a manager, input the height direction information into the input device. The input device outputs or transmits the input height direction information to the information processing device 50. This allows the information processing device 50 to acquire the height direction information.

[0070] The information processing device 50 acquires relative position information, which is information indicating whether or not the obstacle region Rn is present within the reference region R0. For example, the information processing device 50 acquires the relative position information from the input device. The person involved in the work inputs the relative position information to the input device, and the input device outputs or transmits the input relative position information to the information processing device 50. In this way, the information processing device 50 can acquire the relative position information.

[0071] Steps S102 to S104 in FIG. 1 are processes for generating a reference area function Ja and an obstacle area function Jon (exclusion area function).

[0072] In step S102, the information processing device 50 generates a reference region function Ja based on the information (planar view information and height direction information) acquired in step S101. Specifically, the information processing device 50 determines coefficients that characterize the reference region function Ja based on the information acquired in step S101. The information processing device 50 stores the determined coefficients in memory. The coefficients that characterize the reference region function Ja may be, for example, coefficients of a homography transformation matrix H shown in equation (9) described later, or coefficients of an affine transformation matrix A shown in equation (31) described later.

[0073] In step S103, the information processing device 50 determines whether or not to perform processing for determining a coefficient characterizing the obstacle region function Jon (step S104). Specifically, the information processing device 50 determines whether or not the obstacle region Rn exists inside the reference region R0, based on the relative position information. If the obstacle region Rn exists inside the reference region R0 (YES in step S103), the information processing device 50 performs processing of step S104. If the obstacle region Rn does not exist inside the reference region R0 (NO in step S103), the information processing device 50 does not perform processing of step S104.

[0074] In step S104, the information processing device 50 generates an obstacle region function Jon based on the information (planar view information and height direction information) acquired in step S101. Specifically, the information processing device 50 determines coefficients that characterize the obstacle region function Jon based on the information acquired in step S101. The information processing device 50 stores the determined coefficients in a memory. The coefficients that characterize the obstacle region function Jon may be, for example, coefficients of a homography transformation matrix H shown in equation (9) described later, or coefficients of an affine transformation matrix A shown in equation (31) described later.

[0075] The processing in steps S102 to S104 will be described in detail later.

[0076] In step S105, the information processing device 50 calculates the position of at least one target point TP on the construction machine 100 based on the attitude information input from the attitude information detector 30 and specification information of the construction machine 100. The attitude information includes the angle of the boom 4, the angle of the arm 5, the angle of the bucket 6, and the angle of the upper rotating body 2. The specification information includes information such as the dimensions of each of the multiple elements that make up the construction machine 100. The multiple elements include, for example, the boom 4, the arm 5, and the bucket 6.

[0077] In step S106, the information processing device 50 determines whether or not the target point TP is within the allowable region Rp by using the product of the reference region function Ja determined in step S102 and the obstacle region function Jon determined in step S104.

[0078] If the target point TP is inside the allowable region Rp (YES in step S106), the information processing device 50 does not restrict the operation of the construction machine 100 (processing within the target point region in step S107). That is, in step S107, the information processing device 50 controls the operation of the construction machine 100 based on the operation received by the operating device 20.

[0079] If the target point TP is not inside the allowable region Rp, that is, if the target point TP is outside the allowable region Rp (NO in step S106), the information processing device 50 restricts the operation of the construction machine 100 (target point outside region processing in step S108). In step S108, the information processing device 50 may perform control to block any operation that would move the target point TP further away from the allowable region Rp. Specifically, when the operating device 20 receives an operation that would move the target point TP further away from the allowable region Rp, the information processing device 50 may perform control to prevent the target point TP from moving further away from the allowable region Rp.

[0080] In step S109, the information processing device 50 determines whether or not to perform termination processing for the entire program. If an end command has been input (YES in step S109), the information processing device 50 terminates execution of the program. If an end command has not been input (NO in step S109), the information processing device 50 performs the processing from step S105 onwards again. The end command may be input, for example, by operating a switch provided on the construction machine 100 (for example, by operating a switch by the operator).

[0081] Next, the processing of step S102 and step S104 in FIG. 1 will be specifically described with reference to FIGS.

[0082] [About convex quadrilaterals] First, we will explain how to generalize a solid with a convex quadrilateral base. Note that the term "solid" used in the following explanation can refer not only to a physical object, but also to an imaginary three-dimensional area.

[0083] If the shape of the bottom surface is a convex quadrangle, the information processing device 50 generalizes the shape of the bottom surface using a homography transformation and a square function, which is a function that represents a square. The shape of the bottom surface is the shape of the task-related area R (reference area R0 or obstacle area Rn) when viewed from above.

[0084] With respect to the height direction, the information processing device 50 expresses the position and shape of the upper surface as a function, expresses the position and shape of the lower surface as a function, and normalizes each of these functions. The position and shape of the upper surface are the position and shape of the upper part (upper edge) when the task-related area R is viewed from the side, and the position and shape of the lower surface are the position and shape of the lower part (lower edge) when the task-related area R is viewed from the side.

[0085] The information processing device 50 fits a square function to a space in which "normalization of the base function" and "normalization of the height" have been performed. The normalization of the base function refers to generalization of the shape of the base, and the normalization of the height refers to normalization of the function representing the position and shape of the upper surface and the function representing the position and shape of the lower surface.

[0086] First, the derivation of the square function will be explained. The square function is derived from the properties of the Lp norm and is defined as follows:

[0087]

number

[0088] When L1=1, the above equation (1) represents the equation of the unit square shown in equation (2).

[0089]

number

[0090] Next, a coordinate transformation is performed so that the square is parallel to the x-axis and y-axis and the coordinates of the four vertices are (±1, ±1) (hereafter referred to as a square). This coordinate transformation is expressed by the following formula:

[0091]

number

[0092] Expanding the above equation (3) and deriving the formula for x and y, we get the following:

[0093]

number

[0094]

number

[0095] From the above equations (2), (4) and (5), the equation of the square is given as follows:

[0096]

number

[0097] Using the above equation (6), the following function formula can be derived:

[0098]

number

[0099] The above equation (7) represents the inside of the square when f(x,y)<0, the boundary of the square when f(x,y)=0, and the outside of the square when f(x,y)>0.

[0100] Next, we generalize the shape of a convex quadrilateral using the above formula (7) and homography transformation. Homography transformation represents the following linear transformation:

[0101]

number

[0102] H is a homography transformation matrix, which is a matrix as follows:

[0103]

number

[0104] The above equations (8) and (9) are generalized geometric deformations of a quadrangle. This will be explained using two specific examples.

[0105] As a first concrete example, the following matrix is ​​shown.

[0106]

number

[0107]

number

[0108]

number

[0109] The above equations (10) to (12) represent that the rectangular shape is expanded by 2 times in the x-axis direction and translated by 1 in the positive direction of the x-axis, and that it is reduced by 0.5 times in the y-axis direction and translated by 1 in the negative direction of the y-axis.

[0110] As a second example, consider the following matrix:

[0111]

number

[0112]

number

[0113]

number

[0114] The above equations (13) to (15) represent the rotation of the shape.

[0115] From this, the generalized formula for the base of a convex quadrilateral can be expressed as follows using the above formula (8):

[0116]

number

[0117]

number

[0118] The meaning of the above equations (9), (16) and (17) is illustrated in FIG.

[0119] The coefficients of the homography transformation matrix H shown in the above formula (9) are determined as follows: First, the average value (x avg ,y avg Next, the coefficients of the homography transformation matrix H are determined based on the condition that the values ​​obtained by subtracting the average values ​​from the two-dimensional information (coordinates (x, y)) of the four vertices in the reference coordinate system match the four vertices of the square (the four vertices of the square on the right side of Figure 2).

[0120] As shown in Figure 2, the target point before transformation in the left diagram of Figure 2 is moved to the position of the target point after transformation in the right diagram of Figure 2 by equation (16). To obtain the function value of whether the target point after transformation is inside the square or not, equation (17) is used.

[0121] The condition for determining whether the target point is inside the square is the same as the condition in the above formula (7). That is, as shown in Figure 2, the above formula (17) is b When (x,y)<0, it represents the inside of the square, and f b When (x,y)=0, it represents the boundary of the square, and f b When (x,y)>0, it represents the outside of the square. Determining whether the target point after transformation is inside the square is equivalent to determining whether the target point before transformation is inside the convex quadrangle before transformation in the world coordinate system or machine coordinate system. As described above, the shape of the base of a convex quadrangle can be generalized and expressed as a square.

[0122] Next, we extend the above to a generalization of solids with convex quadrilateral bases.

[0123] First, the above equation (17) is transformed into the following equation (18).

[0124]

number

[0125] In the above equation (18), f bc (x,y) has the following range:

[0126]

number

[0127] By normalizing the above equation (19), the range shown in the following equation (20) is obtained.

[0128]

number

[0129] (f bc If we consider (x, y) / 2 as a one-dimensional axis (function value axis), then as shown in Figure 3, the calculation result obtained by substituting the (x, y) coordinates of the target point into equation (20) is -1 ≤ (f bc If the target point is in the range (x, y) / 2) ≦ 1, it means that the target point is inside the shape of the base. In other words, Figure 3 is equivalent to converting the two-dimensional base information into one-dimensional information (information expressed on the function value axis).

[0130] Next, the information processing device 50 normalizes the height z of the target point relative to the upper and lower surfaces. The function zu (zu=f) representing the height of the upper surface shown in FIG. zu (x, y)) is calculated using the function information characterizing the upper surface acquired in step S101. The function zb (zb=f zb(x, y)) is calculated using the function information characterizing the lower surface acquired in step S101. For example, if the upper surface and the lower surface are each horizontal surfaces parallel to the (x, y) plane, the function zu representing the height of the upper surface and the function zb representing the height of the lower surface are calculated based on the information on the height of the upper surface (z coordinate of the upper surface) and the information on the height of the lower surface (z coordinate of the lower surface), respectively. If the upper surface is an inclined surface, the function zu representing the height of the upper surface is calculated using an equation of the inclined surface representing the upper surface. If the lower surface is an inclined surface, the function zb representing the height of the lower surface is calculated using an equation of the inclined surface representing the lower surface. The specific example shown in FIG. 4 shows a case where the upper surface and the lower surface are each inclined surfaces made of flat surfaces. The function zu representing the height of the upper surface is an example of a "function for the height position of the upper surface" in the present disclosure, and the function zb representing the height of the lower surface is an example of a "function for the height position of the lower surface" in the present disclosure.

[0131] Specifically, for example, zc in Figure 4 represents the midpoint of the height between the upper and lower surfaces, and Lh represents half the width of the height between the upper and lower surfaces (half the difference between the height of the upper surface and the height of the lower surface). Each of these can be expressed mathematically as follows:

[0132]

number

[0133]

number

[0134] Using the above equations (21) and (22), normalization is performed on the height z of the target point to obtain ((z-zc) / Lh). Hereinafter, "((z-zc) / Lh)" will be referred to as normalization in the height direction. As shown in the diagram on the right side of Figure 4 (the diagram of the normalized height direction axis), the interval "-1 ≦ ((z-zc) / Lh) ≦ 1" indicates that the height z of the target point is between the upper and lower surfaces. However, processing is performed to ensure that Lh does not fall below an infinitesimal amount. In other words, processing is performed to ensure that the denominator Lh does not become zero.

[0135] Figure 5 shows the result of overlaying the contents of Figure 3 and Figure 4. The function value (f bc If we take (x,y) / 2) on the horizontal axis and the normalization in the height direction ((z-zc) / Lh) shown in Figure 4 on the vertical axis, the condition for a target point to be inside a solid is that it is inside a square in the "base function value - normalization in the height direction" space (the graph on the right side of Figure 5). Therefore, the following equation can be derived.

[0136]

number

[0137] In the above equation (23), f c When (x,y,z)<0, the target point (x,y,z) is inside the solid, and f c When (x, y, z)>0, the target point (x, y, z) is outside the solid. In other words, the function expressed by equation (23) is a function derived so as to represent the boundary between the inside and outside of the solid when the value of the function is zero. This solid may be a reference region, which is a three-dimensional region, or may be an obstacle region, which is also a three-dimensional region. The function expressed by equation (23) above is an example of a reference region function Ja and an example of an obstacle region function Jon (exclusion region function).

[0138] [About the sector] Next, we will explain the generalization of solids with sector-shaped bases.

[0139] When viewed in polar coordinate space, the base of a sector represents a trapezoid whose angle is parallel to the radial axis. Specifically, for example, a sector in a Cartesian coordinate system consisting of an x-axis and a y-axis is represented as a trapezoid in a graph (coordinate system) in which the θ-axis, which represents the argument θ, is placed on the x-axis instead of the x-axis, and the r-axis (radial axis), which represents the distance r (radius r), is placed on the y-axis instead of the y-axis. Therefore, generalization of a solid whose base is a sector can be performed in almost the same way as generalization of a solid whose base is a convex quadrilateral. However, some variables change. Therefore, the above formulas (8) and (17) are transformed into the following formulas (24) and (25). A trapezoid is a quadrilateral whose pair of opposite sides are parallel.

[0140]

number

[0141]

number

[0142] The reason why the average value is not calculated in the above equation (24) is that there is no negative radius.

[0143] The above equation (25) expresses as a function whether or not a target point is inside a trapezoid in polar coordinate space. Using polar coordinate transformation and the above equation (25), the function to determine whether or not a target point is inside a solid with a sector-shaped base is expressed as follows:

[0144]

number

[0145]

number

[0146]

number

[0147] In the above equation (28), f cp When (x,y,z)<0, the target point (x,y,z) is inside the solid, and f cp When (x, y, z)>0, the target point (x, y, z) is outside the solid. In other words, the function expressed by equation (28) is a function derived so as to represent the boundary between the inside and outside of the solid when the value of the function is zero. This solid may be a reference region, which is a three-dimensional region, or may be an obstacle region, which is also a three-dimensional region. The function expressed by equation (28) above is an example of a reference region function Ja and an example of an obstacle region function Jon (exclusion region function).

[0148] [About triangles] Next, we will explain the generalization of solids with triangular bases.

[0149] The generalization of a solid when the shape of the base is a triangle is almost the same as the generalization of a solid when the shape of the base is a convex quadrilateral, but the formulas used are slightly different. Specifically, the formula for generalizing the shape of the base is slightly different. The equilateral triangle function, which is a function that represents an equilateral triangle, is expressed as follows.

[0150]

number

[0151] The shape of a triangle can be generalized using the above formula (29) and an affine transformation. An affine transformation is a linear transformation such as the following:

[0152]

number

[0153] In the above equation (30), A is an affine transformation matrix, which is the following matrix:

[0154]

number

[0155] The reason why the type of linear transformation is an affine transformation is as follows. That is, when the shape of the base is a triangle, a condition is used that the vertices of an equilateral triangle coincide with the two-dimensional (x, y) information of the three vertices in the reference coordinate system (world coordinate system or machine coordinate system). The coefficients of the affine transformation matrix A shown in the above equation (31) are determined as follows. That is, the coefficients of the affine transformation matrix A are determined based on the condition that the two-dimensional information (i.e., coordinates (x, y)) in the reference coordinate system of the three vertices (the three vertices of the triangle on the left side of FIG. 6) obtained in the processing of step S101 coincide with the three vertices of an equilateral triangle (the three vertices of the equilateral triangle on the right side of FIG. 6). Using the affine transformation, a triangle can be generalized and expressed as follows:

[0156]

number

[0157] As shown in Fig. 6, the target point before transformation in the left diagram of Fig. 6 is moved to the position of the target point after transformation in the right diagram of Fig. 6 by Equation (30). To obtain the function value indicating whether the target point after transformation is inside the equilateral triangle or not, the above Equation (32) is used.

[0158] The condition for determining whether the target point is inside the triangle is the same as the condition in the above formula (7). That is, as shown in FIG. 6, the above formula (32) is t When (x,y)<0, it represents the interior of the triangle, and f t When (x,y)=0, it represents the boundary of the triangle, and f t When (x,y)>0, it represents the exterior of the triangle. Determining whether the target point after transformation is inside an equilateral triangle is equivalent to determining whether the target point before transformation is inside the triangle before transformation in the world coordinate system or machine coordinate system. As described above, the shape of the base of a triangle can be generalized and expressed as an equilateral triangle.

[0159] The function is transformed from the above equation (32) to derive the following equation (33).

[0160]

number

[0161] From the above equation (33), the function representing a solid having a triangular base is expressed as in the following equation (34).

[0162]

number

[0163] In the above equation (34), f ct When (x,y,z)<0, the target point (x,y,z) is inside the solid, and f ct When (x, y, z) > 0, the target point (x, y, z) is outside the solid. In other words, the function expressed by equation (34) is a function derived so that when the value of the function is zero, it represents the boundary between the inside and outside of the solid. This solid may be a reference area, which is a three-dimensional area, or may be an obstacle area, which is also a three-dimensional area. The function expressed by equation (34) above is an example of a reference area function Ja and an example of an obstacle area function Jon (exclusion area function).

[0164] Next, the processing of step S106 in FIG. 1 will be described with reference to FIGS.

[0165] As can be seen from the above description of steps S102 and S104, a solid whose base is a convex quadrilateral, a solid whose base is a sector, and a solid whose base is a triangle can each be generalized and expressed by a function. Furthermore, this embodiment makes it possible to design a generalized function that has the property of being able to determine whether a solid is inside or outside, based on a function value of 0.

[0166] A generalized function for determining whether a solid is inside or outside is expressed, for example, by the above formula (23), formula (28), or formula (34). That is, the reference region function Ja that defines the reference region R0, which is a three-dimensional region, is expressed by the above formula (23), formula (28), or formula (34) depending on the shape of the bottom surface. Similarly, the obstacle region function Jo1 that defines the obstacle region R1 (exclusion region R1) is expressed by the above formula (23), formula (28), or formula (34) depending on the shape of the bottom surface.

[0167] FIG. 7 is a conceptual diagram of the superposition of two functions. As shown in FIG. 7, the inside of the reference area R0 is represented by Ja<0 when the reference area function Ja is used. In FIG. 7, an obstacle area R1 exists within the reference area R0. The outside of this obstacle area R1 is represented by Jo1>0 when the obstacle area function Jo1 is used. The condition for avoiding the obstacle area R1 within the reference area R0 can be expressed as Ja×Jo1<0. In other words, the information processing device 50 can derive the allowable area function Jp (Jp=Ja×Jo1) that defines the allowable area Rp by multiplying the reference area function Ja by the obstacle area function Jo1. Therefore, the information processing device 50 may determine that the object point TP is within the allowable area Rp when the calculation result obtained by substituting the coordinates of the object point TP of the construction machine 100 into the allowable area function Jp is a negative value (Jp<0). On the other hand, if the calculation result is a positive value (Jp>0), the information processing device 50 may determine that the target point TP is outside the allowable region Rp. This makes it possible to generate a region for avoiding obstacles within the reference region R0, preventing cab interference within the reference region R0, and so on.

[0168] 7, the work supporting device 40 according to this embodiment can define an allowable area Rp having a complex shape, such as a cavity inside a reference area R0. That is, the allowable area Rp shown in FIG. 7 is an area obtained by excluding an exclusion area R1 as the cavity from the reference area R0.

[0169] Similarly, Fig. 8 is a conceptual diagram of the superposition of two functions. As shown in Fig. 8, by generating an obstacle region R1 so that it follows the reference region R0, it is possible to represent an allowable region Rp with a complex shape with severe irregularities. In other words, by positioning the obstacle region R1 so that part of the outer edge of the obstacle region R1 overlaps part of the outer edge of the reference region R0, it is possible to represent an allowable region Rp with severe irregularities as shown in Fig. 8 using the allowable region function Jp.

[0170] The obstacle region is determined depending on the severity of the unevenness of the allowable region Rp and / or the obstacles therein. For example, if one obstacle region R1 exists for one reference region R0, the allowable region function Jp representing the allowable region Rp can be expressed as "Jp = Ja × Jo1." Also, if multiple obstacle regions R1 exist for one reference region R0, the allowable region function Jp representing the allowable region Rp can be expressed as "Jp = Ja × Jo1 × × Jom" (m: natural number).

[0171] The conditional expression indicating that the target point Tp is within the allowable region Rp using the allowable region function Jp representing the allowable region Rp can be, for example, the conditional expression shown in step S106 in FIG. 1. That is, if there are m obstacle regions R1, R2, . . . , Rm, the left side of the conditional expression in step S106 is obtained by multiplying the reference region function Ja by each of the m obstacle region functions Jo1, Jo2, . . . , Jom. The information processing device 50 substitutes the coordinates of the target point TP into this conditional expression and determines whether the obtained value is smaller than −a. If the value is smaller than −a (YES in step S106), the target point TP is within the allowable region Rp, and the information processing device 50 performs the process of step S107. If the value is equal to or greater than −a or the value is greater than −a (NO in step S106), the target point TP is outside the allowable region Rp, and the information processing device 50 performs the process of step S108. It is preferable that the shape of the bottom surface be calculated approximately in order to reduce the computational load on the information processing device 50, taking into account the performance of the storage unit (memory), etc. For this reason, an adjustment term "a" with a number as close to 0 as possible is provided on the right side of the conditional equation in step S106.

[0172] In step S106, the information processing device 50 may perform the following calculation process. When the reference area R0 includes multiple obstacle areas R1, R2, . . . , Rm, the information processing device 50 may generate a conditional expression for each of the multiple obstacle areas in step S106. That is, in step S106, the information processing device 50 may generate a first conditional expression using an allowable area function Jp (Jp = Ja × Jo1) obtained by multiplying the reference area function Ja by a first obstacle area function Jo1, a second conditional expression using an allowable area function Jp (Jp = Ja × Jo2) obtained by multiplying the reference area function Ja by a second obstacle area function Jo2, and an m-th conditional expression using an allowable area function Jp (Jp = Ja × Jom) obtained by multiplying the reference area function Ja by an m-th obstacle area function Jom. Then, the information processing device 50 may substitute the coordinates of the target point TP into the first conditional equation and determine whether the obtained value is smaller than -a, substitute the coordinates of the target point TP into the second conditional equation and determine whether the obtained value is smaller than -a, and substitute the coordinates of the target point TP into the mth conditional equation and determine whether the obtained value is smaller than -a.

[0173] Next, the ability of the task support device 40 according to this embodiment to define areas with complex shapes will be further described with reference to several examples shown in FIGS.

[0174] In Example 1 shown in FIG. 9, a rectangular reference area R0 and three obstacle areas R1, R2, and R3 are set. The shape of the reference area R0 in the (x, y) plane, i.e., the shape (bottom shape) corresponding to the shape of the reference area R0 when viewed from above, is a diamond shape. In Example 1, the work assistance device 40 can generate an allowable area Rp that conforms to the state of the work environment around the reference area R0 (the three obstacle areas R1, R2, and R3). Furthermore, by setting an obstacle area R4 within the range of the reference area R0, it is possible to generate, for example, a depression in the reference area R0. In this case, the work assistance device 40 can express an allowable area Rp that has the depression to avoid the obstacle area R4 occupied by an obstacle such as a protrusion present in the work environment.

[0175] Figure 10 is a diagram of the allowable area Rp as viewed in the direction of arrow 1 in Figure 9 (viewpoint 1). The allowable area Rp shown in Figure 10 is characterized by a shape with an upper surface that is discontinuous in the depth direction (e.g., the y-axis direction) and includes a slope whose height gradually changes in the width direction (e.g., the x-axis direction). Figure 10 shows that it is possible to generate an appropriate allowable area Rp (specifically, an allowable area Rp having a slope that avoids electric wires) depending on the orientation of the construction machine 100 and the extension direction of the obstacle area R1 (e.g., electric wires).

[0176] 11, 12, and 13 show a second embodiment in which the bottom surface has a sectorial shape. In the second embodiment, a reference region R0 having a sectorial bottom and one obstacle region R1 having a sectorial bottom are set. FIG. 11 shows an overall view of the allowable region Rp. FIG. 12 shows the allowable region Rp viewed in the direction of arrow 1 in FIG. 11 (viewpoint 1), i.e., a top view (plan view) of the allowable region Rp. In FIG. 12, the allowable region Rp is set so that the area where the excavation operation is performed and the area where the earth removal operation is performed are different in size. FIG. 13 shows the allowable region Rp viewed in the direction of arrow 2 in FIG. 11, i.e., the shape of the allowable region Rp viewed from viewpoint 2. As can be seen from FIG. 13, the allowable region Rp is discontinuous in the vertical direction. In the embodiment shown in FIG. 13, the allowable region Rp can be generated so as to prevent the bucket 6 of the working implement 3 from colliding with a vehicle having a loading platform for loading earth and sand. This allowable region Rp is set above the vehicle (for example, the loading platform of the vehicle) as shown in FIG.

[0177] Example 3 in Figures 14 to 16 shows an allowable region Rp assuming a tunnel. Figure 14 is a diagram showing an overall image of the allowable region Rp inside a tunnel. Figure 15 is a view of the allowable region Rp when viewed in the direction of arrow 1 in Figure 14 (viewpoint 1), i.e., a view of the allowable region Rp from the side. Figure 16 is a view of the allowable region Rp when viewed in the direction of arrow 2 in Figure 14 (viewpoint 2), i.e., a view of the allowable region Rp when viewed from above. As shown in Figure 16, the bottom of the generated allowable region Rp is a convex quadrangle, the top surface of the allowable region Rp has an arched curved shape, and the bottom surface of the allowable region Rp is a nearly horizontal plane.

[0178] As described above, the work assistance device, construction machine, work assistance system, work assistance method, and program according to the embodiments of the present disclosure make it possible to define a three-dimensional area at a work site of a construction machine.

[0179] [Variations] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and includes, for example, the following modified examples.

[0180] (A) When the reference region, exclusion region, and inclusion region are two-dimensional regions In the above embodiment, the reference area R0, the obstacle area R1 (exclusion area), and the allowable area Rp are all three-dimensional areas, but the work assistance device of the present disclosure can also be applied to cases where the reference area R0, the obstacle area R1 (exclusion area), and the allowable area Rp are all two-dimensional areas. Specifically, this is as follows.

[0181] As in the above embodiment, the information processing device 50 of the work support device 40 according to this modified example, which targets a two-dimensional area, determines whether the target point TP of the construction machine 100 is within the allowable area Rp that is determined based on reference area information regarding the shape of the reference area R0 and obstacle area information (exclusion area information) regarding the shape of the obstacle area R1 (exclusion area). The work support device 40 according to this modified example can determine the positional relationship between the allowable area Rp, which has a complex two-dimensional shape, and the target point TP of the construction machine 100.

[0182] In the work assistance device 40 according to this modification, the reference area information includes first specification information on a first specific shape corresponding to the shape of the reference area R0 when viewed in a specific direction, and the obstacle area information (exclusion area information) includes second specification information on a second specific shape corresponding to the shape of the obstacle area R1 (the exclusion area) when viewed in the specific direction. The information processing device 50 determines, based on the reference area information and the obstacle area information, the area obtained by excluding the obstacle area R1 from the reference area R0 as the allowable area Rp.

[0183] In this modification, the specific direction may be the vertical direction, the horizontal direction, or a diagonal direction different from the vertical and horizontal directions. In the following, this modification will be specifically described using an example in which the specific direction is the vertical direction.

[0184] In a specific example where the specific direction is the vertical direction, for example, a convex rectangular obstacle region R1 exists within a convex rectangular reference region R0. In this case, the first specific shape for the reference region R0 is a planar view shape corresponding to the shape of the reference region R0 when viewed from above, and the first specific information for the reference region R0 is planar view information regarding the planar view shape. Furthermore, the second specific shape for the obstacle region R1 is a planar view shape corresponding to the shape of the obstacle region R1 when viewed from above, and the second specific information for the obstacle region R1 is planar view information regarding the planar view shape.

[0185] In this modified example, which targets a two-dimensional area, the reference area information includes planar view information similar to the planar view information described in the previous embodiment, but does not include the height direction information. The planar view information includes two-dimensional information about the shape of the reference area R0 specified in a two-dimensional coordinate system defined by two coordinate axes (x-axis and y-axis) perpendicular to the vertical direction. In this specific example, since the reference area R0 is a convex rectangle, the two-dimensional information includes the coordinates of the four vertices of the convex rectangle of the reference area R0.

[0186] The obstacle area information (exclusion area information) of the obstacle area R1 includes two-dimensional information about the shape of the obstacle area R1 specified in the same two-dimensional coordinate system as above. The two-dimensional information about the convex quadrilateral obstacle area R1 includes the coordinates of the four vertices of the convex quadrilateral of the obstacle area R1.

[0187] In this modification, the information processing device 50 may also perform the calculation process shown in the flowchart of FIG.

[0188] That is, in step S101, the information processing device 50 acquires planar view information for each of the reference region R0 and the first obstacle region R1.

[0189] In steps S102 to S104, the information processing device 50 generates a reference area function Ja and an obstacle area function Jo1. In this modification, since the reference area R0 and the obstacle area R1 are each two-dimensional areas, the reference area function Ja and the obstacle area function Jo1 are each expressed by the above-mentioned formula (20). As described above, (f bc If we consider (x, y) / 2 as a one-dimensional axis (function value axis), then as shown in Figure 3, the calculation result obtained by substituting the (x, y) coordinates of the target point into equation (20) is -1 ≤ (f bc If the target point is in the interval (x, y) / 2)≦1, it means that the target point is inside the target region. The target region here is the reference region R0 or the obstacle region R1.

[0190] Next, in step S105, the information processing device 50 calculates the position of the target point TP on the construction machine 100 based on the attitude information input from the attitude information detector 30 and the specification information of the construction machine 100.

[0191] Next, in step S106, the information processing device 50 determines whether the target point TP is within the allowable region Rp based on the reference region function Ja and the obstacle region function Jo1. In this modified example, the allowable region Rp is also a two-dimensional region.

[0192] The information processing device 50 may perform the determination in step S106, for example, as follows.

[0193] First, the information processing device 50 calculates (f bc (x,y) / 2) and the result is -1≦(f bc It is determined whether the calculation result is within the interval (x, y)≦1. If the calculation result is within the interval, the target point TP is on the boundary between the inside and outside of the reference region R0 or is within the reference region R0, and if the calculation result is not within the interval, the target point TP is outside the reference region R0.

[0194] Next, the information processing device 50 calculates (f bc (x,y) / 2) and the result is -1≦(f bc It is determined whether the target point TP is within the range of (x, y) / 2) ≦ 1. If the calculation result is within the range of the range, the target point TP is on the boundary between the inside and outside of the obstacle region R1 or is within the obstacle region R1, and if the calculation result is not within the range of the range, the target point TP is outside the obstacle region R1.

[0195] The allowable region Rp is a region where the target point TP is within the reference region R0 and outside the obstacle region R1. Therefore, the information processing device 50 can determine whether the target point TP is within the allowable region Rp based on the above two determination results. The processes of steps S107 to S109 are the same as those in the above embodiment.

[0196] Note that equation (20) is a judgment formula when the target area (reference area R0 or obstacle area R1) is a convex quadrangle, but a judgment formula when the target area is a fan or triangle can be derived using the same approach as the process for deriving equation (20). Specifically, the judgment formula when the target area is a fan is derived from equation (25) using the same approach as deriving equation (20) from equation (17) when the target area is a convex quadrangle. Furthermore, a judgment formula when the target area is a triangle is derived by normalizing equation (33) using the same approach as the normalization process for equation (20).

[0197] Furthermore, if the specific direction is, for example, the horizontal direction, the reference area information includes two-dimensional information about the shape of the reference area R0 specified in a two-dimensional coordinate system defined by two coordinate axes (x-axis and z-axis) perpendicular to the horizontal direction, and the obstacle area information (exclusion area information) of the obstacle area R1 includes two-dimensional information about the shape of the obstacle area R1 specified in the two-dimensional coordinate system defined by two coordinate axes (x-axis and z-axis) perpendicular to the horizontal direction. When the specific direction is the horizontal direction, it is determined whether the target point TP is within the allowable area in the same manner as when the specific direction is the vertical direction. The same applies when the specific direction is a diagonal direction different from the vertical and horizontal directions.

[0198] (B) Construction machinery The construction machine 100 according to the embodiment is a shovel, but the construction machine in the present disclosure may be a crane, a bulldozer, a forklift, or other construction machine.

[0199] (C) Work Support System 20 is a diagram showing an example of a work support system 300 including a work support device 40, a construction machine 100, and an external device 200. In this work support system 300, the work support device 40 may be an information terminal located at a location remote from the construction machine 100. In this case, the work support device 40 may further include a function as an automatic driving device for automatically driving the construction machine 100, for example. The external device 200 may be an information terminal that allows a person involved in the work, such as a supervisor monitoring work performed by the construction machine 100, to check the status of the work.

[0200] 21 is a diagram showing another example of a work support system 300 including a work support device 40 and a construction machine 100. In this work support system 300, the work support device 40 may further include a function as a remote control device for remotely controlling the construction machine 100, for example.

[0201] (D) Determining whether the target point is in the allowable area In the above embodiment, the information processing device derives the allowable region function Jp (Jp = Ja × Jo1) that defines the allowable region by multiplying the reference region function Ja by the obstacle region function Jo1 (exclusion region function), and determines whether the target point TP is within the allowable region Rp using this allowable region function Jp, but the determination of whether the target point is within the allowable region is not limited to the above embodiment. The information processing device in the present disclosure may determine whether the target point TP is within the reference region R0 using the reference region function Ja, and may determine whether the target point TP is within the obstacle region R1 (exclusion region) using the obstacle region function Jo1, and determine whether the target point TP is within the allowable region Rp based on these determination results.

[0202] (E) A program according to the present disclosure is a program for supporting work performed by a construction machine 100. This program causes a computer to execute a process for determining whether a target point TP is within an allowable area Rp that is determined based on reference area information relating to the shape of a reference area R0 related to work at a work site and exclusion area information relating to the shape of an obstacle area R1 (exclusion area) related to work at the work site, and that allows the target point TP on the construction machine 100 to enter. This program may be provided via a communication means (for example, a network such as the Internet), or may be provided stored in various recording media (for example, non-transitory tangible recording media). [Explanation of symbols]

[0203] 1: Lower running body 2: Upper rotating body 3: Work equipment 30: Attitude information detector 40: Work support device 50: Information processing device 100: Construction machinery 200: External device 300: Work support system Ja : Reference domain function Jo1: First obstacle area function Jo2: Second obstacle area function Jon: Obstacle area function Jp: tolerance range function O: Origin of the coordinate system OB1: First Obstacle OB2: Second Obstacle R: Work-related area R0:Reference area R1: First obstacle region R2: Second obstacle region Rm: Obstacle area Rp: Allowable range TP: Target point Z: Rotation axis

Claims

1. A work support device including an information processing device for supporting work by a construction machine, The information processing device is a work support device that determines whether the target point is within an allowable area that is determined based on reference area information regarding the shape of a reference area related to work at a work site and exclusion area information regarding the shape of an exclusion area related to work at the work site, and that allows a specified target point on the construction machine to enter.

2. the reference area information includes first specification information relating to a first specific shape corresponding to a shape of the reference area when viewed in a specific direction; the exclusion area information includes second specification information relating to a second specific shape corresponding to a shape of the exclusion area when viewed in the specific direction, The work support device according to claim 1 , wherein the information processing device determines, as the allowable area, an area obtained by excluding the exclusion area from the reference area based on the reference area information and the exclusion area information.

3. the first specific shape is a planar view shape corresponding to a shape of the reference area when viewed from above, the first specific information is planar view information relating to the planar view shape, and the reference area information includes the planar view information and height direction information relating to a position of the reference area in a height direction, the second specific shape is a planar view shape corresponding to a shape of the exclusion area when viewed from above, and the exclusion area information includes planar view information on the planar view shape of the exclusion area and height direction information on a position of the exclusion area in a height direction; The information processing device includes: defining the reference area using the planar view information and the height direction information included in the reference area information; The work support device according to claim 2 , wherein the exclusion area is defined using the planar view information and the height direction information included in the exclusion area information.

4. The information processing device includes: deriving a reference area function that defines the reference area using the planar view information and the height direction information included in the reference area information; deriving an exclusion area function that defines the exclusion area using the planar view information and the height direction information included in the exclusion area information; The work support device according to claim 3 , wherein the allowable region is defined using the reference region function and the exclusion region function.

5. the reference region function is derived to represent a boundary of the reference region when its value is zero, and the exclusion region function is derived to represent a boundary of the exclusion region when its value is zero; The work support device according to claim 4 , wherein the information processing device derives an allowable region function that defines the allowable region by multiplying the reference region function by the exclusion region function.

6. The work support device according to claim 1 , wherein the information processing device restricts the operation of the construction machine when the target point is outside the allowable area.

7. The task support device according to claim 3 , wherein the information processing device generalizes the planar view shape using a linear transformation of the planar view shape and a function representing a regular polygon.

8. The task support device according to claim 3 , wherein when the shape in plan view is a triangle, the information processing device converts the shape in plan view into an equilateral triangle using an affine transformation for the triangle and a function that represents an equilateral triangle.

9. The task support device according to claim 3 , wherein when the planar shape is a convex quadrangle, the information processing device converts the planar shape into a square using a homography transformation for the convex quadrangle and a function representing a square.

10. 4. The work assistance device according to claim 3, wherein, when the planar shape is a fan shape, the information processing device represents the fan shape as a trapezoid in a polar coordinate space, and converts the planar shape into a square using a homography transformation for the trapezoid and a function representing a square.

11. the height direction information included in the reference area information includes information about an upper surface of the reference area and information about a lower surface of the reference area, the height direction information included in the exclusion area information includes information about an upper surface of the exclusion area and information about a lower surface of the exclusion area, The information processing device includes: defining the reference area using the planar view shape of the reference area, a function for the height position of the upper surface of the reference area, and a function for the height position of the lower surface of the reference area; The work support device according to claim 3 , wherein the exclusion area is defined using the planar view shape of the exclusion area, a function for the height position of the upper surface of the exclusion area, and a function for the height position of the lower surface of the exclusion area.

12. a working device including a plurality of moving parts; a posture information detector for detecting the posture of the working device; A construction machine comprising the work support device according to any one of claims 1 to 11.

13. a construction machine including a working device including a plurality of movable parts and a posture information detector that detects the posture of the working device; A work support system comprising: the work support device according to any one of claims 1 to 11.

14. A work support method for supporting work performed by a construction machine, comprising: A work support method including an information processing device determining whether a target point is located within an allowable area that is determined based on reference area information regarding the shape of a reference area related to work at a work site and exclusion area information regarding the shape of an exclusion area related to work at the work site, and that allows a specified target point on the construction machine to enter the allowable area.

15. A program for supporting work by construction machinery, A program that causes a computer to execute a process of determining whether a target point is located within an allowable area that is determined based on reference area information regarding the shape of a reference area related to work at a work site and exclusion area information regarding the shape of an exclusion area related to work at the work site, and that allows a specified target point on the construction machine to enter the allowable area.

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