Excavation support device, excavation system, excavation support method, construction machine, and program

Abstract

The amount of data required for controlling the excavation mechanism is reduced. [Solution] The excavation support device 10 includes a buried object identification unit 110, a generation unit 120, a correction unit 130, and an output unit 140. The buried object identification unit 110 identifies the space occupied by each of the buried objects. The generation unit 120 uses the space identification results to generate barrier data indicating the bottom surface of an area that can be excavated in the space above the buried objects, for each of the buried objects. The correction unit 130 corrects the barrier data corresponding to at least one of the two bottom surfaces when the depths of two adjacent bottom surfaces are different from each other and the relative positions in a plan view satisfy a first criterion. The output unit 140 outputs the multiple barrier data when the bottom surfaces indicated by the multiple barrier data are not connected to each other.

Description

[Technical field]

[0001] The present invention relates to an excavation support device, an excavation system, an excavation support method, a construction machine, and a program. [Background technology]

[0002] When carrying out construction work on buried objects underground, excavation is required to expose the buried objects. For example, Patent Document 1 discloses a system for supporting this excavation. In this system, construction support information is generated in a form that comprehensively takes into consideration the relative arrangement or mixture of a first construction target area in which it is necessary to avoid interference between a work machine and buried objects in the construction target area, and a second construction target area in which there is no possibility of interference between the work machine and buried objects but construction based on the ground surface is required. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-173801 Summary of the Invention [Problem to be solved by the invention]

[0004] When performing excavation using an excavation mechanism, it is desirable to reduce the amount of data required for controlling the excavation mechanism. [Means for solving the problem]

[0005] According to one aspect of the present invention, a buried object specifying unit that specifies a space occupied by each of a plurality of buried objects; a generating unit that generates, for each of the buried objects, barrier data indicating a bottom surface of an area that can be excavated within the space above the buried objects, using the result of identifying the space; a correction unit that corrects the barrier data corresponding to at least one of the two adjacent bottom surfaces when a relative position of the two adjacent bottom surfaces in a plan view satisfies a first criterion; an output unit that outputs the plurality of barrier data corrected by the correction unit; A drilling support device is provided comprising:

[0006] According to one aspect of the present invention, the above-mentioned excavation support device and A drilling mechanism; a control unit that controls the excavation mechanism using the plurality of barrier data output by the output unit of the excavation support device; A drilling system is provided comprising:

[0007] According to one aspect of the present invention, A work device for performing excavation; A control unit that acquires the barrier data generated by the excavation support device and controls the work device using the barrier data; A construction machine comprising:

[0008] According to one aspect of the present invention, a computer includes: Identifying the space occupied by each buried object; generating barrier data indicating a bottom surface of an area that can be excavated within the space above the buried objects for each of the buried objects using the result of identifying the space; When a relative position of two adjacent bottom surfaces in a plan view satisfies a first criterion, the barrier data corresponding to at least one of the two bottom surfaces is modified; An excavation support method is provided that outputs the modified plurality of barrier data.

[0009] According to one aspect of the present invention, a computer includes: a buried object identification unit that identifies a space occupied by each of a plurality of buried objects; a generating unit that generates, for each of the buried objects, barrier data indicating a bottom surface of an area that can be excavated within the space above the buried objects, using the result of identifying the space; a correction unit that corrects the barrier data corresponding to at least one of the two adjacent bottom surfaces when a relative position of the two adjacent bottom surfaces in a plan view satisfies a first criterion; an output unit that outputs the plurality of barrier data corrected by the correction unit; A program will be provided to help students develop these skills. Effect of the Invention

[0010] According to one aspect of the present invention, the amount of data required for controlling the excavation mechanism can be reduced. [Brief description of the drawings]

[0011] [Figure 1] FIG. 2 is a diagram for explaining a usage environment of the excavation support device according to the embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a functional configuration of the excavation support device. [Diagram 3] 11A and 11B are diagrams for explaining a specific example of a process performed by a correction unit; [Figure 4] 13A and 13B are diagrams for explaining a specific example of processing performed by a correction unit. [Diagram 5] 11A and 11B are diagrams for explaining a specific example of a process performed by a correction unit; [Figure 6] 13A and 13B are diagrams for explaining a specific example of processing performed by a correction unit. [Figure 7] 11A and 11B are diagrams for explaining a specific example of a process performed by a correction unit; [Figure 8] 13A and 13B are diagrams for explaining a specific example of processing performed by a correction unit. [Figure 9] FIG. 2 is a diagram illustrating an example of a hardware configuration of the excavation support device. [Figure 10] 4 is a flowchart showing an example of a process performed by the excavation support device. [Figure 11]FIG. 11 is a diagram illustrating an example of a functional configuration of an excavation support device according to a modified example. [Figure 12] FIG. 11 is a diagram illustrating an example of a functional configuration of an excavation support device according to a modified example. [Figure 13] FIG. 11 is a diagram illustrating an example of a functional configuration of an excavation support device according to a modified example. [Figure 14] FIG. 2 is a diagram showing an example of a hydraulic circuit of a construction machine. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are given the same reference numerals and the description will be omitted as appropriate.

[0013] FIG. 1 is a diagram for explaining a usage environment of an excavation support device 10 according to an embodiment. The excavation support device 10 is used together with a construction machine 40. The excavation support device 10 and the construction machine 40 constitute at least a part of an excavation system. The construction machine 40 is, for example, a crawler excavator, and excavates the ground. The excavation support device 10 uses information on the position of buried objects in the ground to generate data for preventing the construction machine 40 from touching the buried objects. Hereinafter, this data will be referred to as barrier data. An example of the buried object is at least one of a gas pipe, a water pipe, a power cable, and a communication cable, but is not limited to these.

[0014] The barrier data indicates the bottom surface of an area above a buried object that can be excavated. When there are multiple buried objects, the excavation support device 10 generates barrier data for each of the multiple buried objects. The construction machine 40 then performs excavation so as not to excavate the area below the bottom surface indicated by the barrier data.

[0015] For example, the construction machine 40 includes a crawler-type lower traveling body 410 and an upper rotating body 420 that is rotatably mounted on the lower traveling body 410 via a rotating mechanism 430. A cab 424 (operator's cabin) is provided on the front left side of the upper rotating body 420. A work device 440 is provided in the front center of the upper rotating body 420. The work device 440 performs, for example, excavation.

[0016] The working device 440 includes, for example, a boom 441 that is mounted on the upper rotating body 420 so as to be able to rise and fall, 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 device 440 further includes a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446 that are configured by extendable and retractable hydraulic cylinders.

[0017] The boom cylinder 442 is interposed between the boom 441 and the upper rotating body 420 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.

[0018] The working device 440 is controlled by a control unit 460. In the example shown in the figure, the control unit is mounted on the construction machine 40.

[0019] The control unit 460 is capable of identifying the position of the bucket 445. For example, the upper rotating body 420 is provided with a sensor for detecting the position of the upper rotating body 420, for example, a Global Navigation Satellite System (GNSS) antenna 470 for detecting latitude and longitude information. For example, the upper rotating body 420 is provided with a plurality of GNSS antennas 470, and the direction in which the upper rotating body 420 faces is detected based on the position information detected by each antenna and the installation position of the antenna. In addition, a plurality of attitude detection devices 472 are installed to detect the attitude of the working device 440. The plurality of attitude detection devices 472 are installed corresponding to, for example, the boom 441, the arm 443, and the bucket 445, respectively. The plurality of attitude detection devices 472 may be, for example, a plurality of stroke sensors provided for detecting the amounts of extension and contraction of the boom cylinder 442, the arm cylinder 444, and the bucket cylinder 446, or may be a plurality of IMU (Inertial Measurement Unit) sensors provided for detecting the angles of the boom 441, the arm 443, and the bucket 445. For example, the control unit 460 can calculate the position of the bucket 445 in real space using the detection results of these sensors.

[0020] Furthermore, the control unit 460 can read the barrier data generated by the excavation support device 10 and store the read data in a storage unit provided in the control unit 460.

[0021] The control unit 460 and the excavation support device 10 may be configured to be connectable to an external storage device such as a hard disk or a nonvolatile semiconductor memory, and to be capable of sending and receiving data to and from the external storage device. For example, barrier data generated by the excavation support device 10 is stored in an external storage device such as a nonvolatile semiconductor memory connected to the excavation support device 10. The external storage device storing the barrier data is then connected to the control unit 460. The control unit 460 reads the barrier data stored in the external storage device and stores it in the memory unit. The external storage device may be a portable storage device.

[0022] The control unit 460 and the excavation support device 10 may be configured to include a communication unit capable of communicating with an external device and to be able to transmit and receive data to and from the external device via the communication unit. The communication unit may be configured to be connected to the external device by wire or wirelessly.

[0023] For example, when the excavation support device 10 and the control unit 460 are directly connected by wire through a communication unit, a communication method such as Ethernet, CAN, etc. For example, when the control unit 460 and the communication unit of the excavation support device 10 are connected by a communication cable and communicate via Ethernet, and data can be exchanged between them, the barrier data generated by the excavation support device 10 is transmitted to the control unit 460 through the communication unit, and the control unit 460 receives the barrier data through the communication unit and stores it in the storage unit.

[0024] Furthermore, when the excavation support device 10 and the control unit 460 are connected by the communication unit so as to be able to communicate with an external device such as a server on a communication network via a wired or wireless connection, the excavation support device 10 and the control unit 460 can connect to and communicate with a server connected to a communication network such as a LAN or the Internet via a wired LAN, a wireless LAN, or a mobile phone communication network. The excavation support device 10 then connects to a specific server on the Internet, uploads the generated barrier data, and stores it. The control unit 460 then connects to the server in which the barrier data is stored, downloads the stored barrier data, and stores it in the storage unit.

[0025] The method of transferring the barrier data between the excavation support device 10 and the control unit 460 is not limited to the above example.

[0026] Then, the control unit 460 controls the working device 440 so that the bucket 445 does not excavate an area below the bottom surface indicated by the barrier data. As one example, the control unit 460 reduces the speed of the bucket 445 when the distance between the bottom surface indicated by the barrier data and the bucket 445 becomes equal to or less than a reference value. As another example, the control unit 460 temporarily stops the working device 440 at a timing when it is assumed that the tip of the bucket 445 will touch the bottom surface indicated by the barrier data. Such control is performed, for example, by controlling a hydraulic circuit that supplies hydraulic pressure to the boom cylinder 442, the arm cylinder 444, and the bucket cylinder 446.

[0027] An example of this hydraulic circuit is shown in FIG. 14. For example, an engine as a power source is mounted on the upper rotating body 420. The engine drives a main pump that supplies pressure oil for driving hydraulic actuators such as a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446. The amount and direction of pressure oil generated by driving the main pump and supplied to the hydraulic actuators is controlled by a control valve provided in a hydraulic circuit between the main pump and the hydraulic actuators. The control valve receives pressure oil supplied from an electromagnetic proportional valve, and an internal spool is displaced according to the magnitude of the pressure of the pressure oil, thereby controlling the connection and opening of the passages of the hydraulic circuit. In addition, a plurality of spools of the control valve are mounted so as to correspond to the respective actuators. The electromagnetic proportional valve can control the magnitude of the pressure oil supplied from the pilot pump by the magnitude of the current output by the controller. A plurality of electromagnetic proportional valves are provided so as to correspond to each of the plurality of hydraulic actuators. The controller can control the current output to the electromagnetic proportional valve based on a signal corresponding to the magnitude of the operation amount output by the operation lever, for example, a signal proportional to this operation amount. Furthermore, the controller executes the above-mentioned control, i.e., control using barrier data, to prevent overdigging during excavation work, and when it is determined that it is necessary to stop or limit the operation of the actuator to prevent overdigging, it can give priority to outputting an output instruction to the solenoid valve based on the above-mentioned control even if an operation amount signal is input. The controller grasps the position of the bucket 445 by a sensor, and controls each hydraulic actuator by controlling the solenoid proportional valve in accordance with the positional relationship between the bottom surface and the bucket 445 indicated by the barrier data, thereby controlling the operation of the working device 440, thereby performing the above-mentioned control.

[0028] 14 is, for example, a part of the control unit 460. This controller acquires barrier data and data generated by various sensors (including, for example, a GNSS antenna 470 and an attitude detection device 472) and performs the above control.

[0029] The configuration of the construction machine 40 is not limited to the example described above.

[0030] 2 is a diagram showing an example of the functional configuration of the excavation support device 10. In the example shown in the figure, the excavation support device 10 includes a buried object identifying unit 110, a generating unit 120, a correcting unit 130, and an output unit 140.

[0031] The buried object identification unit 110 identifies the space occupied by each of the buried objects for each of the buried objects. For example, the buried object identification unit 110 identifies the space using exploration data. The exploration data is generated using the detection results of a probe that explores buried objects at the site. The probe generates the exploration data by, for example, sending exploration waves underground and receiving and analyzing the reflected waves of the exploration waves. The exploration data includes, for example, coordinate information indicating the space occupied by the buried object.

[0032] The buried object specifying unit 110 may specify the space occupied by the buried object by using site data. The site data indicates the buried position and buried depth of the buried object, and is prepared in advance.

[0033] The generating unit 120 generates barrier data for each of the plurality of buried objects using the result of space identification by the buried object identifying unit 110. The bottom surface indicated by the barrier data is a flat surface, completely covering the buried object when viewed from above. However, this bottom surface may be a curved surface. As an example, this bottom surface may have a shape that follows the outer shape of the buried object.

[0034] When the buried object extends horizontally, the generating unit 120 generates the barrier data, for example, as follows. First, the generating unit 120 identifies a part of the buried object that is closest to the ground surface, and identifies a point located a predetermined distance from the identified part. The generating unit 120 then identifies a horizontal plane that passes through this point, and generates the barrier data so that a part of this horizontal plane becomes the bottom surface indicated by the barrier data. The bottom surface indicated by the barrier data extends along the buried object. The width of this bottom surface is wider than the width of the buried object. In a plan view, in the width direction of the buried object, the edge of the bottom surface indicated by the barrier data is located outside the edge of the buried object. The distance between these two edges is, for example, set in advance.

[0035] In addition, when the buried object extends at an angle in the depth direction, the bottom surface indicated by the barrier data may also be inclined in the direction in which the buried object extends. This inclination direction and inclination angle are the same as those of the buried object.

[0036] The site data may include the size of the buried object in addition to the buried position and buried depth. The size of the buried object is indicated by at least a part of the following information, for example: (1) The length and width of the area occupied by the buried object when viewed from above (2) If the buried object is a pipe, the diameter and length of the pipe when viewed from above. (3) If the buried object is circular when viewed from above, the diameter of the circle, i.e., the diameter of the buried object when viewed from above.

[0037] If the buried object is a pipe, the site data may further include the following information: (4) The locations of bends and / or transit points in the piping, and the diameter of the piping connecting these points when viewed from above. (5) The location of any bends and / or transit points in the pipe, the direction in which the pipe extends, and the diameter of the pipe as viewed from above.

[0038] When two pieces of barrier data corresponding to two adjacent buried objects satisfy a predetermined first criterion, the correcting unit 130 corrects at least one of these two pieces of barrier data.

[0039] Here, the modifying unit 130 modifies the barrier data only when a predetermined first criterion is satisfied, so that the barrier data requiring modification can be appropriately extracted and modifications can be kept to a minimum, thereby reducing the amount of data required for controlling the maintenance device.

[0040] As an example, when the relative positions of the bottom surfaces indicated by the two barrier data in a plan view satisfy a first criterion, at least one of these two barrier data is modified. Here, a condition for satisfying the first criterion may further be added that the depths of the two bottom surfaces are different from each other. However, in this modification, the modification unit 130 does not connect the bottom surface 210a and the bottom surface 210b. This also applies to the bottom surfaces 210a and 210b that do not satisfy the first criterion. Therefore, the bottom surfaces indicated by the multiple barrier data modified by the modification unit 130 are not connected to each other.

[0041] A specific example of the process performed by the modifying unit 130 will be described later with reference to other figures.

[0042] In this way, the depths of the bottoms indicated by the two barrier data are different from each other, and the two barrier data are not connected even after correction, so the correction unit 130 does not perform correction to make the barrier data continuous in the depth direction. By not performing correction in the depth direction, correction can be performed while suppressing data increase.

[0043] The output unit 140 outputs the multiple pieces of barrier data corrected by the correction unit 130. The control unit 460 is an example of a destination to which the barrier data is output.

[0044] Next, a specific example of the process performed by the correcting unit 130 will be described with reference to Figures 3 to 8. There are, for example, the following four possible relative positions of two adjacent buried objects 200a, 200b. (1) The buried objects 200a and 200b do not overlap, and the bottom surface 210a corresponding to the buried object 200a and the bottom surface 210b corresponding to the buried object 200b do not overlap. (2) The buried objects 200a, 200b do not overlap, but the bottom surfaces 210a, 210b overlap. (3) The buried objects 200a and 200b do not overlap, but the bottom surface 210a (or the bottom surface 210b) overlaps with the buried object 200b (or the buried object 200a). (4) One of the bottom surfaces 210a, 210b overlaps with a corresponding embedded object at the other bottom surface.

[0045] In Fig. 3, the buried objects 200a and 200b extend at an angle to each other in a plan view. The above (1) corresponds to the AA cross section in Fig. 3, the above (2) corresponds to the BB cross section in Fig. 3, the above (3) corresponds to the CC cross section in Fig. 3, and the above (4) corresponds to the DD cross section in Fig. 3. Note that even when the buried objects 200a and 200b extend parallel to each other, each of the above (1) to (4) can be satisfied.

[0046] 3, in plan view, bottom surfaces 210a and 210b corresponding to buried objects 200a and 200b, respectively, have a width larger than the width of the buried object corresponding to each bottom surface, and the corresponding barrier data also has a similarly larger width. This is to allow for an error in the information assumed to be the space occupied by the buried object, and to reduce the possibility of contact between the working device and the buried object.

[0047] 4(A) and (B) are diagrams showing an example of the processing performed by the correction unit 130 in the above case (1). In this example, as shown in FIG. 4(A), there is a gap between the two bottom surfaces 210a, 210b in plan view. The first criterion is that the size d of this gap is equal to or smaller than a threshold value. In this case, as shown in FIG. 4(B), the correction unit 130 corrects the barrier data corresponding to at least one of the two bottom surfaces 210a, 210b so as to fill the gap.

[0048] 4B, the correction unit 130 corrects the barrier data corresponding to the bottom surface 210b that is located deeper than the bottom surfaces 210a and 210b. For example, the correction unit 130 corrects the barrier data corresponding to the bottom surface 210b so that the width of the bottom surface 210b is increased and the edge of the bottom surface 210b overlaps with the edge of the bottom surface 210a.

[0049] 5, the corrector 130 may correct the barrier data corresponding to the bottom surface 210a, which is located relatively shallower than the bottom surfaces 210a and 210b. For example, the corrector 130 corrects the barrier data corresponding to the bottom surface 210a so that the width of the bottom surface 210a is increased and the edge of the bottom surface 210a overlaps with the edge of the bottom surface 210b.

[0050] The correction unit 130 may also correct the barrier data corresponding to both the bottom surfaces 210a and 210b. For example, the correction unit 130 may extend the width of the bottom surface 210a and extend the width of the bottom surface 210b to overlap these two ends. The overlapping portion may be, for example, the midpoint of the bottom surfaces 210a and 210b before correction, but is not limited to this.

[0051] In this way, by correcting at least one of the barrier data corresponding to the two bottom surfaces 210a and 210b and filling the gap, the barrier data can be made continuous in a plan view without interfering with each other in the vertical direction. This ensures that the barrier data covers the buried pipe.

[0052] Furthermore, as shown in Figure 4(B), if the barrier data for the relatively deep bottom surface is modified to extend its width, the area that can be excavated can be made wider, allowing excavation work to be carried out more efficiently.

[0053] In addition, as shown in Figure 5, if the barrier data for the relatively shallow bottom surface is modified and its width is increased, the range over which excavation is restricted can be made wider, thereby further reducing the possibility of contact with buried objects during excavation work.

[0054] Furthermore, when correcting to extend the width of the bottom surface 210a and the width of the bottom surface 210b, the correction unit 130 may determine the overlapping point of the two ends by balancing the above-mentioned effect that can be obtained when stretching the bottom surface located relatively deep and the above-mentioned effect that can be obtained when stretching the bottom surface located relatively shallow. As an example, when the correction unit 130 places importance on the effect that can be obtained when stretching the bottom surface located relatively deep, the correction unit 130 moves the overlapping point of the two ends away from the buried object located relatively deep from the midpoint of the two buried objects. On the other hand, when the correction unit 130 places importance on the effect that can be obtained when stretching the bottom surface located relatively shallow, the correction unit 130 moves the overlapping point of the two ends away from the buried object located relatively shallow from the midpoint of the two buried objects.

[0055] For example, when it is desired to secure the work efficiency but also to lower the possibility of contact, the repair unit 130 makes the amount of stretching of the bottom surface located relatively deep smaller than the amount of stretching of the bottom surface located relatively shallow. For example, the repair unit 130 sets the ratio of the amount of stretching of the bottom surface located relatively deep to the amount of stretching of the bottom surface located relatively shallow to 4:6, and overlaps the two ends with the ratio of stretching from the bottom surface located relatively shallow being 40% and the ratio of stretching from the bottom surface located relatively deep being 60% of the width of the gap.

[0056] In this way, by making it possible to arbitrarily set the point where the two ends overlap, it is possible to modify the barrier data in a way that optimizes work efficiency and reduces the possibility of contacting buried objects, depending on the planned construction work and the characteristics of the construction machinery being used.

[0057] The threshold value for the size d of the gap is, for example, a value obtained by multiplying the width w of the bucket 445 of the construction machine 40 by a predetermined coefficient. This coefficient is a value of 1 or more. As an example, this coefficient is 1.

[0058] 6(A) and (B) are diagrams showing an example of the processing performed by the correcting unit 130 in the case of (2) above. In this example, as shown in FIG. 6(A), the buried objects 200a and 200b do not overlap in a plan view, but the two bottom surfaces 210a and 210b overlap. The first criterion in this case is that the two bottom surfaces 210a and 210b overlap. In this case, the correcting unit 130 corrects the barrier data corresponding to at least one of the two bottom surfaces 210a and 210b so that the overlap is eliminated, as shown in FIG. 6(B).

[0059] 6B, the correction unit 130 corrects the barrier data corresponding to the bottom surface 210b that is located deeper than the bottom surfaces 210a and 210b. For example, the correction unit 130 corrects the barrier data corresponding to the bottom surface 210b so that the width of the bottom surface 210b is shortened and the edge of the bottom surface 210b overlaps with the edge of the bottom surface 210a.

[0060] 7, the correction unit 130 may correct the barrier data corresponding to the bottom surface 210a, which is located relatively shallower than the bottom surfaces 210a and 210b. For example, the correction unit 130 corrects the barrier data corresponding to the bottom surface 210a so that the width of the bottom surface 210a is shortened and the edge of the bottom surface 210a overlaps with the edge of the bottom surface 210b.

[0061] The correction unit 130 may also correct the barrier data corresponding to both the bottom surfaces 210a and 210b. For example, the correction unit 130 may overlap these two ends by shortening the width of the bottom surface 210a and the width of the bottom surface 210b. The overlapping portion is, for example, the center of the portion where the bottom surfaces 210a and 210b before correction overlap each other, but is not limited to this.

[0062] 8A and 8B are diagrams showing an example of processing performed by the correction unit 130 in the case of the above (3), for example, on the CC cross section in FIG. 3. In this example, as shown in FIG. 8A, one of the bottom surfaces 210a and 210b overlaps with the buried object corresponding to the other. The first criterion in this case is that the two bottom surfaces 210a and 210b overlap, as in the above (2). In this case, as shown in FIG. 8B, the correction unit 130 corrects the barrier data corresponding to at least one of the two bottom surfaces 210a and 210b so that the two bottom surfaces 210a and 210b do not overlap, as in the above (2). For example, the correction unit 130 corrects the barrier data corresponding to the bottom surface 210b by deleting a portion of the barrier data corresponding to the bottom surface 210b located deep that overlaps with the bottom surface 210a located shallowly in a plan view.

[0063] In this way, by deleting the portion of the barrier data corresponding to a deep bottom surface that overlaps in a plan view with a shallow bottom surface, the amount of data required for controlling the working device can be reduced.

[0064] Furthermore, in the case of a shallowly positioned bottom surface 210a in the plan view of Figure 3, which has a larger width than the buried object 200a, it is possible to make corrections to reduce the possibility of contact between the work equipment and the buried pipe by deleting the portion of the barrier data corresponding to the deeper bottom surface that overlaps with the shallowly positioned bottom surface in the plan view.

[0065] In the case of (4) above, that is, when the two buried objects 200a, 200b overlap each other in a plan view, the first criterion is that the two bottom surfaces 210a, 210b overlap, as in the case of (2) above. Then, the corrector 130 corrects the barrier data corresponding to at least one of the two bottom surfaces 210a, 210b so that the two bottom surfaces 210a, 210b do not overlap, as in the case of (2) above.

[0066] For example, when the buried objects 200a and 200b overlap each other in plan view, the bottom surfaces 210a and 210b also overlap in plan view, and the corresponding barrier data also overlap in plan view. In this case, the barrier data corresponding to the deep bottom surface 210b is modified to delete the portion that overlaps with the shallow bottom surface 210a in plan view.

[0067] By doing so, the corrector 130 can reduce the barrier data of the portions that overlap in a plan view, and can reduce the amount of data required for controlling the working device.

[0068] 9 is a diagram showing an example of a hardware configuration of the excavation support device 10. The excavation support device 10 includes a bus 1010, a processor 1020, a memory 1030, a storage device 1040, an input / output interface 1050, and a network interface 1060.

[0069] The bus 1010 is a data transmission path for transmitting and receiving data among the processor 1020, memory 1030, storage device 1040, input / output interface 1050, and network interface 1060. However, the method of connecting the processor 1020 and the like to each other is not limited to bus connection.

[0070] The processor 1020 is implemented by a central processing unit (CPU) or a graphics processing unit (GPU).

[0071] The memory 1030 is a main storage device realized by a RAM (Random Access Memory) or the like.

[0072] The storage device 1040 is an auxiliary storage device realized by a removable medium such as a hard disk drive (HDD), a solid state drive (SSD), or a memory card, or a read only memory (ROM), etc. The storage device 1040 stores program modules that realize each function of the excavation support device 10 (for example, the buried object identification unit 110, the generation unit 120, the correction unit 130, the output unit 140, and a threshold setting unit 150 described later). The processor 1020 loads each of these program modules onto the memory 1030 and executes them, thereby realizing each function corresponding to the program module.

[0073] The input / output interface 1050 is an interface for connecting the excavation support device 10 to various input / output devices.

[0074] The network interface 1060 is an interface for connecting the excavation support device 10 to a network. This network is, for example, a LAN (Local Area Network) or a WAN (Wide Area Network). The network interface 1060 may connect to the network by wireless connection or by wired connection. The excavation support device 10 may communicate with the control unit 460 of the construction machine 40 via the network interface 1060.

[0075] An example of the hardware configuration of the control unit 460 of the construction machine 40 is also similar to the example shown in FIG.

[0076] 10 is a flowchart showing an example of processing performed by the excavation support device 10. This processing is performed before the construction machine 40 performs excavation.

[0077] First, the buried object identifying unit 110 of the excavation support device 10 acquires at least one of the exploration data and the on-site data (step S10), and identifies the position of the buried object using the acquired data (step S20).

[0078] Next, the generation unit 120 of the excavation support device 10 generates barrier data (step S30). Next, the modification unit 130 of the excavation support device 10 determines whether or not the barrier data needs to be modified, that is, whether or not the barrier data includes a portion that satisfies the first criterion (step S40). If the barrier data includes a portion that satisfies the first criterion (step S40: Yes), the modification unit 130 modifies the barrier data of that portion (step S50).

[0079] Thereafter, the output unit 140 outputs the barrier data to the control unit 460 of the construction machine 40 (step S60). In the output barrier data, adjacent bottom surfaces are not connected. Therefore, the amount of barrier data is smaller than when adjacent bottom surfaces are connected.

[0080] The control unit 460 then controls the work implement 440 of the construction machine 40 using the barrier data.

[0081] As described above, in this embodiment, in the barrier data output to the control unit 460, adjacent bottom surfaces are not connected. Therefore, the amount of barrier data is small. Also, when the relative positions of the bottom surfaces indicated by two adjacent barrier data satisfy the first criterion, the barrier data corresponding to at least one of the two bottom surfaces is corrected. As a result, even if the adjacent bottom surfaces are not connected, there is no effect on excavation.

[0082] (Variation 1) 11 is a diagram showing an example of a functional configuration of an excavation support device 10 according to Modification 1. The excavation support device 10 shown in this figure is similar to the excavation support device 10 according to the embodiment, except that it includes a threshold setting unit 150.

[0083] The threshold setting unit 150 displays on the display a screen that allows the user to input information for setting the threshold for the interval d described with reference to Figures 4 to 6, and sets the threshold using the information input on this screen. The display may be included in the excavation support device 10, or may be included outside the excavation support device 10, for example, in a portable communication terminal.

[0084] The information for setting the threshold may be, for example, a numerical value directly indicating the threshold, or bucket information capable of identifying the width of the bucket 445. The bucket information may be a numerical value directly indicating the width of the bucket 445, or may be a model number of the bucket 445. In the latter case, the threshold setting unit 150 identifies the width of the bucket 445 using a database in which the model number of the bucket 445 is associated with the width of the bucket 445 corresponding to the model number.

[0085] In this way, the user of the excavation support device 10 can easily set the threshold value for the distance d.

[0086] When the excavation support device 10 and the control unit 460 are configured to be able to communicate with each other, the excavation support device 10 can set the threshold value by reading out the machine information stored in the control unit 460 through communication. For example, when a bucket is replaced at the time of shipment from a factory or at a rental company's yard, an example of the information for setting the threshold value is the width of the bucket 445 and the model number of the bucket 445 registered as machine information in the control unit 460 when the bucket is attached.

[0087] According to this configuration, the user can set the threshold value for the distance d without inputting the threshold value for the distance d or information about the bucket 445 to the excavation support device 10, which further improves user convenience.

[0088] (Variation example 2) 12 is a diagram showing a usage environment of the excavation support device 10 according to Modification 2. The example shown in this drawing is similar to the embodiment or Modification 1, except that at least a part of the functions of the control unit 460 is provided in the control device 20.

[0089] The control device 20 controls the construction machine 40 via a communication line such as the Internet. In other words, the control device 20 is a device for remotely operating the construction machine 40.

[0090] As shown in FIG. 13, the control device 20 may be a part of the excavation support device 10.

[0091] Even in this case, the same effects as those of the embodiment or the first modified example can be obtained.

[0092] Although the embodiments of the present invention have been described above with reference to the drawings, these are merely examples of the present invention, and various configurations other than those described above can also be adopted.

[0093] In addition, in the flowcharts used in the above description, multiple steps (processes) are described in order, but the order of execution of the steps is not limited to the order described. In the embodiments and modifications, the order of the steps shown in the drawings can be changed to the extent that the content is not affected. [Explanation of symbols]

[0094] 10 Drilling Support Equipment 20 Control device 40 Drilling Rig 110 Buried object identification department 120 Generation part 130 Correction section 140 Output section 150 Threshold setting unit 445 Bucket 460 Control Unit

Claims

1. a buried object identification unit that identifies a space occupied by each of a plurality of buried objects; a generating unit that generates, for each of the buried objects, barrier data indicating a bottom surface of an area that can be excavated within the space above the buried objects, using the result of identifying the space; a correction unit that corrects the barrier data corresponding to at least one of the two adjacent bottom surfaces when a relative position of the two bottom surfaces in a plan view satisfies a first criterion; an output unit that outputs the plurality of barrier data corrected by the correction unit; Equipped with The first criterion is that there is a gap between the two bottom surfaces in a plan view, and the size of the gap is equal to or smaller than a threshold value; The correction unit corrects the barrier data corresponding to at least one of the two bottom surfaces so as to fill the gap.

2. The excavation support device according to claim 1, a threshold setting unit that displays a screen on a display for allowing a user to input information for setting the threshold and sets the threshold using the information input on the screen; A drilling support device comprising:

3. The excavation support device according to claim 1 or 2, An excavation support device comprising: a threshold setting unit that acquires bucket information capable of identifying a width of a bucket of a construction machine used for excavation, and sets the threshold value using the bucket information.

4. A buried object identification unit that identifies the space occupied by each of a plurality of buried objects; a generating unit that generates, for each of the buried objects, barrier data indicating a bottom surface of an area that can be excavated within the space above the buried objects, using the result of identifying the space; a correction unit that corrects the barrier data corresponding to at least one of the two adjacent bottom surfaces when a relative position of the two bottom surfaces in a plan view satisfies a first criterion; an output unit that outputs the plurality of barrier data corrected by the correction unit; Equipped with The first criterion is that the two bottom surfaces overlap in a plan view, The correction unit shortens a width of the barrier data corresponding to at least one of the two bottom surfaces so that the edges of the two bottom surfaces overlap each other.

5. The excavation support device according to claim 1 or 4, The correction unit corrects the barrier data when the depths of two adjacent bottom surfaces are different from each other in addition to the first criterion, so that the bottom surfaces indicated by the multiple barrier data are not connected to each other.

6. In the excavation support device according to any one of claims 1 to 4, The correction unit corrects the barrier data corresponding to the bottom surface that is located deeper than the other of the two bottom surfaces.

7. In the excavation support device according to any one of claims 1 to 4, The buried object identification unit is an excavation support device that identifies the space using data generated using detection results from a probe that explores the buried objects at site.

8. The excavation support device according to any one of claims 1 to 4, Construction machinery and a control unit that controls the construction machine using the plurality of barrier data output by the output unit of the excavation support device; A drilling system comprising:

9. A work device for performing excavation; a control unit that acquires the barrier data generated by the excavation support device according to any one of claims 1 to 4 and controls the work device using the barrier data; Construction machinery equipped with

10. The computer Identifying the space occupied by each buried object; generating barrier data indicating a bottom surface of an area that can be excavated within the space above the buried objects for each of the buried objects using the result of identifying the space; When a relative position of two adjacent bottom surfaces in a plan view satisfies a first criterion, the barrier data corresponding to at least one of the two bottom surfaces is modified; outputting the modified barrier data; The first criterion is that there is a gap between the two bottom surfaces in a plan view, and the size of the gap is equal to or smaller than a threshold value; The excavation support method, wherein the computer modifies the barrier data corresponding to at least one of the two bottom surfaces so as to fill the gap.

11. A computer comprising: Identifying the space occupied by each buried object; generating barrier data indicating a bottom surface of an area that can be excavated within the space above the buried objects for each of the buried objects using the result of identifying the space; When a relative position of two adjacent bottom surfaces in a plan view satisfies a first criterion, the barrier data corresponding to at least one of the two bottom surfaces is modified; outputting the modified barrier data; The first criterion is that the two bottom surfaces overlap in a plan view, The excavation support method, wherein the computer shortens a width of the barrier data corresponding to at least one of the two bottom surfaces so that edges of the two bottom surfaces overlap each other.

12. On the computer, a buried object identification unit that identifies a space occupied by each of a plurality of buried objects; a generating unit that generates, for each of the buried objects, barrier data indicating a bottom surface of an area that can be excavated within the space above the buried objects, using the result of identifying the space; a correction unit that corrects the barrier data corresponding to at least one of the two adjacent bottom surfaces when a relative position of the two bottom surfaces in a plan view satisfies a first criterion; an output unit that outputs the plurality of barrier data corrected by the correction unit; Let them have The first criterion is that there is a gap between the two bottom surfaces in a plan view, and the size of the gap is equal to or smaller than a threshold value; The correction unit corrects the barrier data corresponding to at least one of the two bottom surfaces so as to fill the gap.

13. A computer comprising: a buried object identification unit that identifies a space occupied by each of a plurality of buried objects; a generating unit that generates, for each of the buried objects, barrier data indicating a bottom surface of an area that can be excavated within the space above the buried objects, using the result of identifying the space; a correction unit that corrects the barrier data corresponding to at least one of the two adjacent bottom surfaces when a relative position of the two bottom surfaces in a plan view satisfies a first criterion; an output unit that outputs the plurality of barrier data corrected by the correction unit; Let them have The first criterion is that the two bottom surfaces overlap in a plan view, The program wherein the correction unit shortens a width of the barrier data corresponding to at least one of the two bottom surfaces so that edges of the two bottom surfaces overlap each other.

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