Construction support device and construction support method

Abstract

To provide a device which generates an image that can facilitate grasping of the position and the attitude of an underground buried object by a user while reducing a data amount of construction support data for expressing the buried object, and generates the data capable of being utilized in operation control of a construction machine avoiding contact with the buried object.SOLUTION: In at least one of a plurality of underground search areas Si1, Si2, ..., Sim and Sim+1, respective depths of underground search points P1, ...Pi-1, Pi, Pi+1, ...Pn-1 and Pn of underground buried objects whose depth positions from a ground surface are measured by an underground search machine 60 are collected at representative depth positions. Construction support image data indicating a three-dimensional image including closed surfaces m1 and m2 as objects indicating the representative depth positions arranged in each of the plurality of underground search areas Si1, Si2, ..., Sim and Sim+1 are generated.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

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

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

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

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

[0006] Therefore, an object of the present invention is to provide an apparatus for generating images that can reduce the amount of construction support data used to represent underground buried objects while enabling users to easily grasp the position and posture of the buried objects, and for generating such data that can be used to control the operation of construction machinery to avoid contact with the buried objects. [Means for solving the problem]

[0007] The present invention According to the first aspect The construction support device is From the ground surface measured by the underground probe in each of the plurality of underground search areas Up to underground buried objects and generating construction support data including a plurality of objects arranged in each of the plurality of underground search areas so as to represent the depth positions of the plurality of objects.

[0008] According to the construction support device having the above-described configuration, in each of the plurality of underground search areas, Up to underground buried objects The construction support data is generated in which the depth position of each of the plurality of underground search areas is represented by the arrangement of the object in each of the plurality of underground search areas. This reduces the amount of data in the construction support data compared to a case in which the construction support data is generated without consolidating all the underground search results by the underground search machine into the underground search areas.

[0009] In the construction support device having the above configuration, The construction support data is generated so that the depth position represents a representative depth position of each of an underground search point group consisting of one or more underground search points of the measured underground buried object. thing Characterized by . The representative depth position is the depth position of the underground search point closest to the earth's surface, or the most frequent depth position of the underground search points.

[0010] According to the construction support device having this configuration, in at least some of the underground search areas, the depths of the underground search points of the buried objects, the depth positions from the ground surface of which are measured by the underground search machine, are aggregated into a representative depth position. The "plurality of underground search areas" may be, for example, predetermined underground search areas such as a plurality of mesh-like underground search areas spaced apart from each other, or may be underground search areas occupied by the underground search machine at a predetermined time interval or distance. Then, construction support data is generated that includes objects representing the representative depth positions arranged in each of the plurality of underground search areas.

[0011] This reduces the amount of data in the construction support data compared to when construction support data is generated that includes multiple objects each representing the depth positions of all of the underground search points obtained by the underground search machine.

[0012] Furthermore, each object only needs to be positioned separately and independently to represent the corresponding representative depth position, and the relative positions and orientations between multiple objects do not need to be adjusted, thereby reducing the computational processing load required for the generation process of construction support data.

[0013] In the construction support device having the above configuration, A construction support image data representing an image including the plurality of objects is generated as the construction support data. It is preferable.

[0014] According to the construction support device of this configuration, construction support image data representing an image (three-dimensional image or two-dimensional image) including objects representing representative depth positions located in each of multiple underground search areas is generated as construction support data.

[0015] This reduces the amount of data in the construction support image data compared to when construction support image data is generated that includes a plurality of objects each representing the depth position of all of the underground search points by the underground search machine. Through the spatial occupation mode of the plurality of objects in the construction support image corresponding to the construction support image data output to the output interface, the user who comes into contact with the output interface can understand the spatial occupation mode of the underground buried object in the real space.

[0016] In the construction support device having the above configuration, The construction support image data representing an image including a plurality of closed surfaces arranged at the representative depth position as the plurality of objects in each of the plurality of underground search areas is generated. It is preferable.

[0017] According to the construction support device having this configuration, since the object included in the construction support image data is a closed surface, the amount of data of the construction support image data is reduced. The term "closed surface" is a concept that includes a plane and a curved surface surrounded by a closed curve. In particular, when the closed surface is a plane, the amount of data of the construction support image data is further reduced. Through the arrangement of multiple closed surfaces in each of multiple underground search areas in the virtual space included in the image (3D image or 2D image) output to the output interface, the user who comes into contact with the output interface can understand the spatial occupation manner, including the depth position from the ground surface, of the underground buried object in the real space.

[0018] In the construction support device having the above configuration, The construction support image data representing an image including the plurality of closed surfaces having the same shape is generated. It is preferable.

[0019] According to the construction support device of this configuration, the shapes of the multiple closed surfaces are standardized (limited to identical or similar closed surfaces), thereby simplifying the representation of the multiple closed surfaces and accordingly reducing the amount of data in the construction support image data.

[0020] In the construction support device having the above configuration, Classifying the plurality of objects into a plurality of object groups according to the relative arrangement of each of the plurality of objects, and generating the construction support image data representing an image in which each of the plurality of objects can be identified by a design corresponding to one of the object groups to which the objects belong. It is preferable.

[0021] According to the construction support device having this configuration, the amount of data in the construction support image data is reduced by standardizing the designs of the multiple objects that make up a common object group among the multiple object groups. "Design" refers to color, shape (including size), pattern, or any combination of these, and is a concept that includes not only static designs but also dynamic designs.

[0022] In the construction support device having the above configuration, The plurality of underground search areas are spaced apart from one another. It is preferable.

[0023] According to a construction support device of this configuration, misidentification of multiple objects when they are processed can be avoided because the multiple objects placed in each of multiple underground search areas adjacent to each other via boundary lines share common data representing at least a portion of the boundary lines.

[0024] A construction support device according to a second aspect of the present invention includes: determining a representative depth position of each of an underground search point group consisting of one or more underground search points of an underground buried object measured from a depth position from the ground surface to the underground buried object measured by an underground search device in each of a plurality of underground search areas; In each of the plurality of underground search areas, a plurality of closed surfaces arranged at the representative depth position are included as a plurality of objects to represent the representative depth position, and construction support image data representing an image in which a single closed surface corresponding to the composite result of the plurality of closed surfaces in each of a plurality of overlapping underground search areas among the plurality of underground search areas is included as part of the plurality of objects is generated as construction support data.

[0025] According to the construction support device of this configuration, the amount of data of the construction support image data is reduced by the amount that the multiple closed surfaces corresponding to the multiple overlapping underground search areas are consolidated into a single closed surface. For example, multiple horizontal closed surfaces having the same or almost the same depth position from the ground surface in each of the multiple underground search areas are output to the output interface as a single horizontal or almost horizontal plane that covers the multiple underground search areas and has the same or almost the same depth position as the multiple closed surfaces. Also, multiple horizontal closed surfaces having different depth positions from the ground surface in each of the multiple underground search areas are output to the output interface as a single plane that covers the multiple underground search areas and is inclined relative to the horizontal according to the difference in the depth position.

[0026] A construction support device according to a third aspect of the present invention includes: determining a representative depth position of each of an underground search point group consisting of one or more underground search points of an underground buried object measured from a depth position from the ground surface to the underground buried object measured by an underground search device in each of a plurality of underground search areas; Construction support image data is generated as construction support data, which represents an image including, as multiple objects, multiple three-dimensional objects extending from the ground surface to the representative depth position and located in each of the multiple underground search areas to represent the representative depth position.

[0027] According to a construction support device of this configuration, since multiple three-dimensional objects have a common rule of extending from the surface of the earth to a representative depth position in each of multiple underground search areas, the amount of data in the construction support image data is reduced compared to a case in which objects for which no such common rule exists are included.

[0028] In the construction support device having the above configuration, The construction support image data is generated to represent an image including the plurality of three-dimensional objects having the same shape or the same shape as a result of projection onto a horizontal plane. It is preferable.

[0029] According to a construction support device of this configuration, the shapes of each of the multiple three-dimensional objects, or the shapes of the projection results of each three-dimensional object onto a horizontal plane (or the ground surface) are standardized (the three-dimensional objects or the closed surfaces resulting from their projection onto a horizontal plane are identical or similar), thereby simplifying the representation of the shapes and postures of the multiple three-dimensional objects and correspondingly reducing the amount of data in the construction support image data. [Brief description of the drawings]

[0030] [Figure 1] FIG. 2 is an explanatory diagram of a configuration of a construction support device. [Diagram 2] FIG. 2 is an explanatory diagram relating to the configuration of a remote control device. [Diagram 3]FIG. 2 is an explanatory diagram relating to the configuration of a work machine. [Figure 4] FIG. 2 is an explanatory diagram of the configuration of an underground exploration machine. [Diagram 5] FIG. 2 is an explanatory diagram of functions of a construction support device (construction support system). [Figure 6] 1A to 1C are explanatory diagrams relating to a work environment image and a construction support image. [Figure 7A] FIG. 1 is an explanatory diagram showing a fixed arrangement of multiple underground search areas. [Figure 7B] FIG. 13 is an explanatory diagram showing a dynamic arrangement of multiple underground search areas. [Figure 8A] FIG. 13 is an explanatory diagram of a method for processing underground search areas in which the overlapping degree is equal to or greater than a threshold value. [Figure 8B] FIG. 11 is an explanatory diagram relating to a first processing method for underground search areas in which the overlapping degree is less than a threshold value. [Figure 8C] FIG. 13 is an explanatory diagram relating to a second processing method for underground search areas in which the overlapping degree is less than a threshold value. [Figure 9] FIG. 4 is an explanatory diagram regarding a method for determining representative coordinate values. [Figure 10] FIG. 11 is an explanatory diagram relating to another embodiment of the construction support image. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] (Configuration of the construction support device) The construction support system shown in Fig. 1 is composed of a construction support device 10 as one embodiment of the present invention, a remote control device 20 configured to be able to communicate with the construction support device 10 via a network, a work machine 40, and an underground search device 60. The construction support device may be composed of the construction support device 10 and one or two of the remote control device 20, the work machine 40, and the underground search device 60. The mutual communication network of the construction support device 10 and the remote control device 20, the mutual communication network of the construction support device 10 and the work machine 40, and the mutual communication network of the construction support device 10 and the underground search device 60 may be the same or different.

[0032] (Configuration of the construction support device) The construction support device 10 is composed of one or more computers or server computers. As shown in FIG. 1, the construction support device 10 includes a database 102, an underground search result recognition element 120, a representative depth position determination element 121, and a construction support image data generation element 122. The database 102 stores and holds the captured image data as well as the search results of underground buried objects in the construction target area. The database 102 may be composed of a database server separate from the construction support device 10. Each component of the construction support device 10 is composed of a calculation processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes the later-described calculation processing according to the software on the data.

[0033] The components of the present invention "recognize" information (or data) and this concept encompasses any process that prepares the information in a form that can be used to perform subsequent computations, such as obtaining the information by receiving, reading, searching, etc., or determining, measuring, identifying, estimating, predicting, etc., the information by performing computations on the underlying data or signals.

[0034] (Configuration of remote control device) 1, the remote operation device 20 includes a remote control device 200, a remote input interface 210, and a remote output interface 220. The remote control device 200 is configured with a calculation processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes calculation processing on the data according to the software.

[0035] The remote input interface 210 includes a remote control mechanism 211. The remote output interface 220 includes a remote image output device 221, a remote audio output device 222, and a remote wireless communication device 224.

[0036] The remote operation mechanism 211 includes a traveling operation device, a swing operation device, a boom operation device, an arm operation device, and a bucket operation device. Each operation device has an operation lever that receives a rotation operation. The operation lever (travel lever) of the traveling operation device is operated to move the lower traveling body 41 of the work machine 40. The travel lever may also serve as a travel pedal. For example, a travel pedal fixed to the base or lower end of the travel lever may be provided. The operation lever (swing lever) of the swing operation device is operated to move a hydraulic swing motor that constitutes the swing mechanism 43 of the work machine 40. The operation lever (boom lever) of the boom operation device is operated to move the boom cylinder 442 of the work machine 40. The operation lever (arm lever) of the arm operation device is operated to move the arm cylinder 444 of the work machine 40. The operation lever (bucket lever) of the bucket operation device is operated to move the bucket cylinder 446 of the work machine 40.

[0037] The operating levers constituting the remote control mechanism 211 are arranged around a seat St on which the operator sits, as shown in Fig. 2. The seat St is in the form of a high-back chair with armrests, but may be in the form of a low-back chair without a headrest, or in the form of a chair without a backrest, or in any other form on which the operator can sit.

[0038] Left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side in front of the seat St. One operation lever may serve as multiple operation levers. For example, the left operation lever 2111 provided in front of the left frame of the seat St shown in FIG. 2 may function as an arm lever when operated in the front-rear direction, and may function as a rotation lever when operated in the left-right direction. Similarly, the right operation lever 2112 provided in front of the right frame of the seat St shown in FIG. 2 may function as a boom lever when operated in the front-rear direction, and may function as a bucket lever when operated in the left-right direction. The lever pattern may be arbitrarily changed by an operation instruction from the operator.

[0039] 2, the remote image output device 221 is composed of a central remote image output device 2210, a left remote image output device 2211, and a right remote image output device 2212, each having a substantially rectangular screen, and disposed respectively in front of, diagonally forward left, and diagonally forward right of, the seat St. The shapes and sizes of the screens (image display areas) of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be the same or different. The remote image output device 221 may be composed of a single curved or bendable image output device, or two or four or more image output devices disposed to surround the front of the seat St.

[0040] As shown in Fig. 2, the right edge of the left remote image output device 2211 is adjacent to the left edge of the central remote image output device 2210, such that the screens of the central remote image output device 2210 and the left remote image output device 2211 form an inclination angle θ1 (e.g., 120°≦θ1≦150°). As shown in Fig. 2, the left edge of the right remote image output device 2212 is adjacent to the right edge of the central remote image output device 2210, such that the screens of the central remote image output device 2210 and the right remote image output device 2212 form an inclination angle θ2 (e.g., 120°≦θ2≦150°). The inclination angles θ1 and θ2 may be the same or different.

[0041] The screens of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be parallel to the vertical direction or may be inclined to the vertical direction. At least one of the central remote image output device 2210, the left remote image output device 2211, and the right remote image output device 2212 may be composed of a plurality of divided image output devices. For example, the central remote image output device 2210 may be composed of vertically adjacent image output devices each having a substantially rectangular screen.

[0042] The remote audio output device 222 is composed of one or more speakers, and is composed of a central audio output device 2220, a left audio output device 2221, and a right audio output device 2222, which are arranged behind the seat St, at the rear of the left armrest, and at the rear of the right armrest, respectively, as shown in Fig. 2. The specifications of the central audio output device 2220, the left audio output device 2221, and the right audio output device 2222 may be the same or different.

[0043] (Work machine configuration) 1, the work machine 40 includes an actual machine control device 400, an actual machine input interface 410, an actual machine output interface 420, and an actual machine wireless communication device 422. Each of the components of the actual machine control device 400 is configured by an arithmetic processing device (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes arithmetic processing on the data in accordance with the software.

[0044] The work machine 40 is, for example, a crawler excavator (construction machine), and as shown in Fig. 3, includes a crawler-type lower traveling body 41 and an upper rotating body 42 that is rotatably mounted on the lower traveling body 41 via a rotating mechanism 43. A cab 42C (operator's cabin) is provided on the front left side of the upper rotating body 42. A work mechanism 44 is provided in the front center of the upper rotating body 42.

[0045] The actual machine input interface 410 includes an actual machine operation mechanism 411, an actual machine imaging device 412, and an actual machine positioning device 414. The actual machine operation mechanism 411 includes a plurality of operation levers arranged around a seat arranged inside the cab 42C in the same manner as the remote control mechanism 211. A drive mechanism or robot that receives a signal according to the operation mode of the remote control lever and moves the actual machine operation lever based on the received signal is provided in the cab 42C. The actual machine imaging device 412 is installed, for example, inside the cab 42C, and images the environment including at least a part of the working mechanism 44 through the front window and the left and right side windows. Some or all of the front window and the side windows may be omitted. The actual machine positioning device 414 is configured with a GPS or GNSS and, if necessary, a gyro sensor or the like, and measures the position (latitude and longitude) of the working machine 40.

[0046] 3, the working mechanism 44 includes a boom 441 that is movably attached to the upper rotating body 42, an arm 443 that is rotatably connected to the tip of the boom 441, and a bucket 445 that is rotatably connected to the tip of the arm 443. The working mechanism 44 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446 that are configured as extendable and retractable hydraulic cylinders.

[0047] The boom cylinder 442 is interposed between the boom 441 and the upper rotating body 42 so as to extend and retract when supplied with hydraulic oil to rotate the boom 441 in the hoisting direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to extend and retract when supplied with hydraulic oil to rotate the arm 443 about a horizontal axis relative to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to extend and retract when supplied with hydraulic oil to rotate the bucket 445 about a horizontal axis relative to the arm 443.

[0048] (Configuration of underground exploration machine) As shown in FIG. 1, the underground searcher 60 includes a search control device 600, a search storage device 602, a depth position measurement element 611, a search position measurement element 612, and a search wireless communication device 624.

[0049] The depth position measurement element 611 is configured with an underground radar device and measures the depth position of an underground buried object from the ground surface. For example, as shown in Fig. 4, a plurality of depth position measurement elements 611 may be mounted at different positions of one underground searcher 60. The search position measurement element 612 is configured with a GPS or GNSS and, if necessary, a gyro sensor or the like, and measures the two-dimensional position (latitude and longitude) of the underground searcher 60.

[0050] The search storage device 602 stores and holds the depth position measured by the depth position measurement element 611 and the horizontal position measured by the search position measurement element 612 as underground search results. The search storage device 602 may also store and hold coordinate values ​​of the underground radar device in a search coordinate system (a coordinate system in which the position and attitude are fixed relative to the underground searcher 60). The search wireless communication device 624 is configured to transmit the underground search results stored and held in the search storage device 602 to the construction support device 10 (or a database server) via the network. The underground search results are accumulated or saved in the database 102.

[0051] (function) The functions of the construction support device and the imaging function control system having the above-mentioned configuration will be described with reference to the flowchart shown in Fig. 5. In the flowchart, a block "C●" is used for the sake of simplicity, and means transmission and / or reception of data, and means a conditional branch in which processing in a branching direction is executed on the condition that the data is transmitted and / or received.

[0052] In the remote operation device 20, the remote control device 200 transmits a ground situation confirmation request to the construction support device 10 via the remote wireless communication device 224 (FIG. 5 / STEP 210). The presence or absence of a first designation operation by the operator via the remote input interface 210 may be determined, and the ground situation confirmation request may be transmitted if the determination result is affirmative. The "first designation operation" is, for example, an operation such as tapping on the remote input interface 210 for the operator to designate the work machine 40 that he or she intends to remotely operate.

[0053] When the construction support device 10 receives a ground situation confirmation request, the construction support device 10 transmits the ground situation confirmation request to the corresponding work machine 40 (FIG. 5 / C10).

[0054] When a ground situation confirmation request is received in the work machine 40 via the actual machine wireless communication device 424 (Figure 5 / C40), the actual machine control device 400 transmits captured image data representing an image (which may have been subjected to appropriate image processing) acquired through the actual machine imaging device 412 to the construction support device 10 (Figure 5 / STEP 410).

[0055] When the construction support device 10 receives captured image data (FIG. 5 / C11), environmental image data corresponding to the captured image is transmitted from the construction support device 10 to the remote control device 20 (FIG. 5 / STEP 110). The environmental image data is not only the captured image data itself, but also image data representing a simulated environmental image generated based on the captured image.

[0056] When the remote operation device 20 receives environmental image data through the remote wireless communication device 224 (FIG. 5 / C21), the remote control device 200 outputs an environmental image corresponding to the environmental image data to the remote image output device 221 (FIG. 5 / STEP 212).

[0057] As a result, for example, as shown in FIG. 6, an environmental image that includes the ground spreading out in front of the cab 42C, as well as the boom 441, arm 443, which are part of the work mechanism 44, and piles of rubble or earth and sand in the construction area (the target of work by the bucket 445), is output to the remote image output device 221.

[0058] In the remote operation device 20, the remote control device 200 transmits an underground situation confirmation request to the construction support device 10 through the remote wireless communication device 224 (FIG. 5 / STEP 220). The presence or absence of a second designation operation through the remote input interface 210 by the operator may be determined, and the underground situation confirmation request may be transmitted if the determination result is positive. The "second designation operation" is, for example, an operation such as tapping on the remote input interface 210 for the operator to designate the work machine 40 that the operator intends to remotely operate. The second designation operation may be the same operation as the first designation operation or may be a different operation. The underground situation confirmation request signal (see FIG. 5 / STEP 210) and the underground situation confirmation request (see FIG. 5 / STEP 220) may be transmitted by the remote control device 200 through the remote wireless communication device 224 at the same time.

[0059] When a request to confirm underground conditions is received in the construction support device 10 (Figure 5 / C12), the underground search result recognition element 120 recognizes (searches from the database 102) the underground search results by the underground searcher 60 in the construction target area related to the underground condition confirmation request (Figure 5 / STEP 120).

[0060] The construction target area is specified, for example, by a set of horizontal coordinate values ​​(X (longitude), Y (latitude)) in the world coordinate system that represent its boundaries. The construction target area is recognized by searching the database 102 based on, for example, an identifier for identifying the remote control device 20 and / or the work machine 40, based on communication between the construction support device 10 and the remote control device 20 or the work machine 40 that is the object of its operation.

[0061] In each of the multiple underground search areas in the construction target area, the depth position (Z (depth)) from the ground surface of underground buried objects such as pipes measured by the underground search machine 60 is recognized as the underground search result. Each underground search area is specified, for example, by a set of horizontal coordinate values ​​(X (longitude), Y (latitude)) in the world coordinate system that represent its boundary. The multiple underground search areas may be defined adjacent to or contiguous with each other, but it is preferable that they are defined at a distance from each other. The shapes, or the shapes and sizes, of the multiple underground search areas may be the same or different.

[0062] A plurality of underground search areas may be fixedly defined. For example, as shown in FIG. 7A, a plurality of substantially rectangular or square underground search areas S are regularly spaced from each other (in a square lattice or triangular lattice). i1 , S i2 , , S im , S im+1 may be defined as a plurality of underground search areas. i1 , S i2 , , S im , S im+1 may be regularly arranged adjacent to each other or consecutively. In this case, as shown by the dashed arrow in FIG. 7A, when the underground searcher 60 is passively or actively displaced, the underground search area S i1 , S i2 , , S im , S im+1The underground search results in the area can be registered in the database 102 and recognized by the underground search result recognition element 120. The shape of the underground search area can be various shapes such as a triangle, a trapezoid, a parallelogram, a regular polygon (such as a regular hexagon, a regular octagon, or a regular dodecagon), a circle, or an ellipse.

[0063] A plurality of underground search areas may be dynamically defined according to the search results by the underground searcher 60. For example, as shown by the dashed arrow in Fig. 7B, assume that in the process of the underground searcher 60 being passively or actively displaced, the points indicated by black circles (●) in Fig. 7B in each predetermined period are underground search points at which the depth positions of underground buried objects from the ground surface are measured. In this case, a plurality of roughly rectangular or square underground search areas S are irregularly arranged at a distance from each other, with the underground search point (defined by two-dimensional coordinate values ​​(X (latitude), Y (longitude))) as the center or center of gravity. i1 , S i2 , , S im , S im+1 may be defined as a plurality of underground search areas. When a plurality of underground search points exist in one predetermined period, their centroids are defined as the underground search area S ik It may be defined as the center or centroid of each k-th search area S (k=1,2,...,m,m+1). ik The size and shape of each search area S may be varied, but is preferably predefined. ik The size of may be determined according to the displacement speed of the underground search machine 60 and a predetermined period (time interval).

[0064] The multiple underground search areas may be dynamically defined according to the displacement of the underground searcher 60. For example, in the process of the underground searcher 60 being passively or actively displaced, the position of the center of gravity (defined by two-dimensional coordinate values) of the underground searcher 60 at each predetermined period is set as the center or center of gravity, and multiple underground search areas S having a substantially rectangular or square shape are arranged at a distance from each other. i1 , S i2 , , S im , S im+1may be defined as multiple underground search areas. ik The orientation (e.g., the orientation of the long or short side) may be defined to be along the displacement direction of the underground explorer 60.

[0065] Here, a process for a case where multiple underground search areas overlap will be described. For example, when two substantially rectangular underground search areas S are shown on the left side of FIG. 1 and S 2 If the overlapping degree is greater than or equal to the threshold, other underground search areas S 1 The underground search area S that remains as a result of the deletion (thinning) 2 However, the single underground search area S shown on the right side of Figure 8A - Of the multiple overlapping underground search areas, the other underground search areas may be deleted, except for one underground search area in which the distance or average distance from the ground surface of the depth position measured by the underground searcher 60 is maximum (or minimum). When the other underground search areas, except for the one with the minimum distance or average distance from the ground surface, are deleted, construction support data that maintains a sufficient distance to buried objects can be generated, which contributes to the efficiency of work that prioritizes the protection of buried objects.

[0066] Of the multiple overlapping underground search areas, the other underground search areas may be deleted, except for one underground search area with the largest (or smallest) number of depth position measurements by the underground searcher 60. When the other underground search areas are deleted, except for one underground search area with the largest number of depth position measurements, construction support data having information on the depth where buried objects are likely to be located can be generated, which contributes to improving work efficiency.

[0067] On the other hand, the two rectangular underground search areas S shown on the left side of FIG. 1 and S 2 If the overlap degree is less than the threshold, the two underground search areas S are separated as shown in the right side of FIG. 1 and S 2 A single underground exploration area S +The two roughly rectangular underground search areas S shown on the left side of FIG. 1 and S 2 If the overlapping degree is less than the threshold, the two underground search areas S 1 and S 2 Two underground search areas S are displaced so that they are separated from each other. 1 ' and S 2 ' may be defined.

[0068] Next, the representative depth position determination element 121 determines a representative position of each of a depth position group consisting of one or more depth positions in each of the underground search areas (FIG. 5 / STEP 121).

[0069] For example, as shown by black circles (●) in FIG. 9, a plurality of underground search points P of underground buried objects whose depth positions from the ground surface are measured by the underground search device 60 in one underground search area are shown. 1 ,‥P i-1 ,P i ,P i+1 ,‥P n-1 ,P n In this case, the underground search point P closest to the surface is + Or the underground search point P farthest from the surface 1 The depth position of the plurality of underground search points P may be determined as a representative depth position of the group of underground search points. 1 ,‥P i-1 ,P i ,P i+1 ,‥P n-1 ,P n The average depth position (see the dashed dotted line in FIG. 9) or the median depth position or the most frequent depth position (see the dotted line in FIG. 9) may be determined as the representative depth position of the underground search point group.

[0070] Next, the construction support image data generating element 122 generates the construction support image data as "construction support data" and transmits it to the remote control device 20 (FIG. 5 / STEP 122). The construction support image data is three-dimensional image data representing a three-dimensional image including a plurality of objects arranged in each of a plurality of underground search areas so as to represent the respective representative depth positions of the underground search point cloud. In addition, the construction support image data may be two-dimensional image data representing a two-dimensional image including a plurality of objects in a cross section parallel to a vertical plane, such as a topographical cross section.

[0071] The object has a shape and size such that an underground search area of ​​a substantially rectangular or square shape is projected in the vertical or depth direction as shown in FIG. 6, and is a closed curved surface m 1 and m 2 When the shapes (e.g., approximately rectangular or approximately square) and sizes of the multiple underground search areas are the same, the shapes and sizes of the multiple closed surfaces as objects are also the same. When the shapes of the multiple underground search areas are the same, the shapes of the multiple closed surfaces as objects are also the same and are similar.

[0072] The closed surface may be defined as a surface defined by a plurality of control points, such as a Bezier surface and / or a NURBS (Non-Uniform Rational B-Spline) surface. The surface may be defined as a surface having continuity (G1 continuity, G2 continuity, or G3 continuity). For example, when the closed surface is defined by a Bezier triangular surface, the domain of the control net of the Bezier triangular surface is defined by a triangular mesh stretched on a horizontal plane, and the underground search points are set as control points, and the closed surface is defined so that the continuity of the triangular patches is ensured.

[0073] When construction support image data is received in the remote operation device 20 through the remote wireless communication device 224 (Figure 5 / C22), the remote control device 200 outputs a construction support image corresponding to the construction support information to the remote image output device 221 (Figure 5 / STEP 222).

[0074] As a result, for example, as shown in FIG. 6, in each of a plurality of underground search areas included in the construction target area, a plurality of closed surfaces m arranged at the representative depth positions of the underground search point cloud are 1 and m 2 The construction support image including the first object group M shown in FIG. 6 is output to the remote image output device 221 in a form superimposed on the environmental image. 1 The multiple closed surfaces m 1 and a second object group M 2 The multiple closed surfaces m 2 Each design (e.g., color) of the closed surface m 1 and m 2 As shown in Fig. 6, each closed surface m 1 , m 2 A vertical line segment extending from the ground to the surface of the earth may form part of the object, but the vertical line segment may be omitted.

[0075] Since the spatial occupation manner of the object in the construction support data (or construction support image data) is defined in the world coordinate system, the arrangement manner of the object is coordinate-converted into the environmental image coordinate system. For this coordinate conversion, the coordinate value in the world coordinate system of the work machine 40 may be measured using a GPS or the like, and the actual machine coordinate system of the actual machine imaging device 412 (a coordinate system in which the position and attitude are fixed with respect to the upper rotating body 42) may be stored and held in the storage device and / or database 102 constituting the remote control device 200. The operator can operate the operation lever constituting the remote operation mechanism 211 so as to move the bucket 445 while viewing the environmental image outputted to the remote image output device 221 and the construction support image superimposed thereon.

[0076] The real space position (latitude, longitude, and altitude) of each point on the earth's surface is measured by a distance measuring device (such as LiDAR or a stereo camera) constituting the real machine input interface 410. Then, based on the result of converting the measurement result into the environmental image coordinate system, the arrangement mode of the underground search area in the captured image coordinate system and the spatial occupation mode of the object representing the representative depth position from the earth's surface of the underground search point group in the underground search area are determined.

[0077] Alternatively, the construction support image may be output to the remote image output device 221 independently without being superimposed on the environmental image. In this case, a three-dimensional model image showing the respective space occupancy modes of the work machine 40 present on the ground surface in the three-dimensional virtual space and objects arranged so as to show the depth positions from the ground surface of the underground buried object is output to the remote image output device 221 as a construction support image separately from the environmental image. Since the arrangement mode of the closed surface represented by the construction support information is defined in the world coordinate system, the coordinate values ​​in the world coordinate system of the work machine 40 may be measured using a GPS or the like and stored and held in the storage device and / or database 102 constituting the remote control device 200.

[0078] In the remote operation device 20, the remote control device 200 recognizes the operation mode of the remote operation mechanism 211, and a remote operation command corresponding to the operation mode is transmitted to the construction support device 10 via the remote wireless communication device 224 (FIG. 5 / STEP 214).

[0079] When the construction support device 10 receives the remote operation command, the remote operation command is transmitted to the work machine 40 (FIG. 5 / C14).

[0080] In the work machine 40, when an operation command is received by the actual machine control device 400 via the actual machine wireless communication device 422 (FIG. 5 / C44), the operation of the work mechanism 44 and the like is controlled (FIG. 5 / STEP 414). For example, the work is performed in which the bucket 445 is used to dig up and scoop up soil in the work target area in front of the work machine 40, the upper rotating body 42 is rotated, and the soil is dumped from the bucket 445 to the outside of the work target area.

[0081] (Action and effect) According to the construction support device 10 having the above-mentioned functions, a plurality of underground search areas S i1 , S i2 , , S im , S im+1 (See FIG. 7A and FIG. 7B ) in at least a part of the underground search area, the underground search point P of the underground buried object whose depth position from the ground surface is measured by the underground search device 60 1 ,‥P i-1 ,P i ,P i+1 ,‥P n-1 ,P n The depths of the respective underground search areas S are collected at a representative depth position (see FIG. 5 / STEP 121 and FIG. 9). i1 , S i2 , , S im , S im+1 A closed surface m as an object representing the representative depth positions placed at each of 1 , m 2 Then, construction support image data representing a three-dimensional image including the above is generated (FIG. 5 / STEP 122, see FIG. 5).

[0082] As a result, all the underground search points P 1 ,‥P i-1 ,P i ,P i+1 ,‥P n-1 ,P n In comparison with the case where construction support image data is generated including a plurality of objects each representing one of the depth positions, the amount of data in the construction support image data is reduced.

[0083] A closed surface m as a plurality of objects in a construction support image (see FIG. 5) output to a remote image output device 221 constituting a remote output interface 220 1 , m 2 Through this spatial occupation mode, a user or operator connected to the remote image output device 221 can understand the spatial occupation mode of the underground buried object in the three-dimensional real space.

[0084] Furthermore, for each closed surface m 1 , m 2 Each of the objects only needs to be arranged separately and independently to represent the corresponding representative depth position, and since there is no need to adjust the relative positions and orientations between multiple objects, the computational processing load required for the generation process of the construction support image data is reduced.

[0085] (Another embodiment of the present invention) In the above embodiment, the construction support device 10 was configured as a computer separate from the remote control device 20, the work machine 40 and the underground exploration device 60, but in other embodiments, the construction support device 10 may be mounted on the remote control device 20, the work machine 40 or the underground exploration device 60.

[0086] In the above embodiment, the work machine 40 is remotely operated by the operator via the remote operation device 20, but in another embodiment, the work machine 40 may be actually operated by an operator on board the work machine 40. In this case, construction support image data may be transmitted from the construction support device 10 to the work machine 40 (see FIG. 5 / STEP 122), and a construction support image corresponding to the data may be output to an actual machine image output device constituting the actual machine output interface 420 (see FIG. 5).

[0087] The construction support image generated by the construction support device 10 may be output to a communication terminal having a display device such as a smartphone or tablet held by a worker or a construction manager. If the communication terminal is equipped with an imaging device and is configured to be able to acquire the position information of the terminal by GNSS or the like and to acquire the direction information and angle information of the terminal by a direction sensor, tilt sensor, or the like, it is possible to superimpose the construction support image on an image of the surroundings as in the above embodiment, and to grasp the spatial occupation state of the underground buried object in the three-dimensional real space.

[0088] Construction support image data representing a 3D image including a solid object extending from the ground surface of the underground search area to the representative depth position of the underground search point cloud may be generated as an object located in the underground search area. For example, as shown in FIG. 10, a plurality of inverted cones m whose bottom surface is located on the ground surface and whose apex is located at the representative depth position in each of the underground search areas may be generated. 1 , m 2 As in the example shown in FIG. 5, the first object group M 1 The multiple inverted cones m 1 and a second object group M 2 The multiple inverted cones m 2 Each design (e.g., color) of the closed surface m 1 and m 2 are differentiated so as to be identifiable according to the depth position.

[0089] The surface of the solid object may be defined as a curved surface defined by a plurality of control points, such as a Bezier surface and / or a NURBS (Non-Uniform Rational B-Spline) surface. The surface may be defined as a surface having continuity (G1 continuity, G2 continuity, or G3 continuity). The solid object may have various shapes, such as an inverted cone, such as an inverted square pyramid, which is different from an inverted cone, an inverted frustum, a cylinder, a sphere, or an ellipsoidal sphere.

[0090] In the above embodiment, construction support image data, which is three-dimensional image data or two-dimensional image data, was generated as construction support data, but in another embodiment, control data including a plurality of objects that are placed in each of a plurality of underground search areas so as to represent the respective representative depth positions of the underground search point groups in each of the plurality of underground search areas may be generated as construction support data.

[0091] In this case, construction support data is transmitted from the construction support device 10 to the work machine 40 and / or the remote control device 20, and the operation of the work machine 40, and ultimately the work mechanism 44, may be restricted or controlled by the actual machine control device 40 so that the depth position of the bucket 445 is stopped above a representative depth position related to the arrangement of multiple objects included in the construction support data in a certain underground search area.

[0092] In addition, a work machine to which control is applied in which operation is restricted by control data generated from the construction support data may be configured to be operated by an operator on board the machine, or may be configured to be operated by an operator remotely, and can also be applied to work machines that operate by automatic driving.

[0093] In the above embodiment, the depth position of each of the multiple underground search points in each underground search area was measured by the underground search machine 60, but in other embodiments, the depth position of a single underground search point in each underground search area may be measured by the underground search machine 60, and construction support data or construction support image data may be generated that includes an object that is placed in the underground search area to represent the depth position. [Explanation of symbols]

[0094] 10‥Construction support equipment 102. Database 120‥Underground search result recognition element 121. Representative depth position determination element 122. Construction support image data generation element 20. Remote control device 200. Remote control device 210 Remote input interface 211. Remote control mechanism 220 Remote output interface 221 Remote image output device 222. Remote audio output device 224 Remote radio communication equipment 40. Work machinery 41. Lower running body 42. Upper rotating body 42C... Cab (operator's compartment) 44‥Working mechanism 445...Bucket 400... Actual machine control device 410... Actual machine input interface 420... Actual machine output interface 60‥Underground exploration machine 600 Search control device 602‥Search storage device 611 Depth position measuring element 612‥Search position measurement element 624‥Search wireless communication equipment m 1 , m 2 ...Objects (closed surfaces, three-dimensional objects) P 1 ,‥P i-1 ,P i ,P i+1 ,‥P n-1 ,P n ‥Underground search point S i1 , S i2 , , S im , S im+1 Underground exploration area.

Claims

1. determining a representative depth position of each of an underground search point group consisting of one or more underground search points of an underground buried object measured from a depth position from the ground surface to the underground buried object measured by an underground search device in each of a plurality of underground search areas; generating construction support data including a plurality of objects arranged in each of the plurality of underground search areas so as to represent the representative depth position; The representative depth position is the depth position of the underground search point closest to the earth's surface. Construction support equipment.

2. A representative depth position of each of an underground search point group consisting of one or more underground search points of an underground buried object measured from a depth position from the ground surface to the underground buried object measured by an underground search device in each of a plurality of underground search areas is determined; generating construction support data including a plurality of objects arranged in each of the plurality of underground search areas so as to represent the representative depth position; The representative depth position is the most frequent depth position among the underground search points. Construction support equipment.

3. The construction support device according to claim 1 or 2, A construction support image data representing an image including the plurality of objects is generated as the construction support data. Construction support equipment.

4. The construction support device according to claim 3, The construction support image data representing an image including a plurality of closed surfaces arranged at the representative depth position as the plurality of objects in each of the plurality of underground search areas is generated. Construction support equipment.

5. The construction support device according to claim 4, The construction support image data representing an image including the plurality of closed surfaces having the same shape is generated. Construction support equipment.

6. The construction support device according to claim 3, Classifying the plurality of objects into a plurality of object groups according to the relative arrangement of each of the plurality of objects, and generating the construction support image data representing an image in which each of the plurality of objects can be identified by a design corresponding to one of the object groups to which the objects belong. Construction support equipment.

7. The construction support device according to claim 1 or 2, The plurality of underground search areas are spaced apart from one another. Construction support equipment.

8. Determining a representative depth position of each of an underground search point group consisting of one or more underground search points of an underground buried object measured from a depth position from the ground surface to the underground buried object measured by an underground search device in each of a plurality of underground search areas; A plurality of closed surfaces arranged at the representative depth position are included as a plurality of objects in each of the plurality of underground search areas so as to represent the representative depth position, and a single closed surface corresponding to a synthesis result of the plurality of closed surfaces in each of a plurality of overlapping underground search areas among the plurality of underground search areas is included as a part of the plurality of objects. Construction support image data is generated as construction support data. Construction support equipment.

9. Determining a representative depth position of each of an underground search point group consisting of one or more underground search points of an underground buried object measured from a depth position from the ground surface to the underground buried object measured by an underground search device in each of a plurality of underground search areas; Generate, as construction support data, construction support image data representing an image including, as a plurality of objects, a plurality of three-dimensional objects extending from the ground surface to the representative depth position, which are disposed in each of the plurality of underground search areas so as to represent the representative depth position. Construction support equipment.

10. In the construction support device according to claim 9, The construction support image data is generated to represent an image including the plurality of three-dimensional objects having the same shape or the same shape as a result of projection onto a horizontal plane. Construction support equipment.

11. determining a representative depth position of each of an underground search point group consisting of one or more underground search points of an underground buried object whose depth positions from the ground surface to the underground buried object are measured by an underground search device in each of a plurality of underground search areas; generating construction support data including a plurality of objects arranged in each of the plurality of underground search areas so as to represent the representative depth position; The representative depth position is the depth position of the underground search point closest to the earth's surface. Construction support method.

12. A process for determining a representative depth position of each of an underground search point group consisting of one or more underground search points of an underground buried object, the depth positions of which from the ground surface to the underground buried object are measured by an underground search device in each of a plurality of underground search areas; generating construction support data including a plurality of objects arranged in each of the plurality of underground search areas so as to represent the representative depth position; The representative depth position is the most frequent depth position among the underground search points. Construction support method.

Images