Construction support device and construction support method

Abstract

To provide a device and the like generating construction support image data for representing underground facilities so as to allow a position and a posture of the underground facilities to be easily recognized by a user as reducing the amount of the data.SOLUTION: A construction support method comprises consolidating each of depths of underground search points P1 to Pi-1, Pi, Pi+1 to Pn-1, and Pn of underground facilities for which depth positions from the ground surface are measured with an underground search machine 60 in at least a part of underground search areas of a plurality of underground search areas Si1, Si2 to Sim, and Sim+1 to a representative depth position. Then, construction support image data representing a three-dimensional image including closed curved surface m1 and m2 as objects representing representative depth positions which are placed at the respective underground search areas Si1, Si2 to Sim, and Sim+1 are created.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a technique for preventing accidental damage to underground buried objects during excavation of the ground by a working machine.

Background Art

[0002] When excavating the soil around buried objects buried in the ground near the ground surface using a hydraulic excavator, a technique has been proposed that can perform excavation work efficiently without damaging the buried objects (see, for example, Patent Document 1). Specifically, the relationship between the absolute position of the buried pipe and the absolute position of the bucket cutting edge is determined, and based on this relationship, the excavation position and excavation depth by the bucket are determined. By, for example, monitoring and displaying this determined excavation position and excavation depth, the operator can surely and quickly operate the hydraulic excavator while preventing damage to the buried object while looking at the monitor display.

[0003] Techniques have been proposed that can improve the accuracy and efficiency of excavation by a working 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 exploration, the allowable depth and the excavation position where the working device performs 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 exploration 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 exploration area. In the work site map, the group (rank) is indicated by color, numerical value, character, etc. so that the group (rank) previously assigned to each underground exploration area Qn can be identified. In order to allow the user to grasp the position and orientation of the underground buried object, a three-dimensional image is more preferable than a two-dimensional image. However, due to the abundance of information, the amount of construction support image data tends to be excessive.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] Therefore, an object of the present invention is to provide an apparatus or the like that generates data for buried objects. usable for operation control of construction machinery to avoid contact with

Means for Solving the Problems

[0007] The construction support apparatus of the present invention generates construction support data based on information regarding buried objects buried in the ground in the area where construction is to be performed, in the area above the buried objects, along the buried objects objects that are discriminately differentiated according to the depth position of the underground buried object from the ground surface arranged construction support image data. stage

[0011] In the construction support apparatus having the above configuration, The information on the underground buried object includes the information on the position of the underground buried object. this is preferable.

[0013] In the construction support apparatus having the above configuration, the construction support image data preferably includes information on the depth of the buried object from the ground surface.

[0015] In the construction support apparatus having the above configuration, the construction support image data preferably includes data of a plurality of rectangles along the buried object. Further, it is preferable that the construction support image data is output by being superimposed on a captured image that has captured the working environment.

[0017] The program of the present invention causes a computer to, based on information regarding buried objects buried in the ground in the area where construction is to be performed, in the area above the buried objects, ​​​​objects that are discriminately differentiated according to the depth position of the underground buried object from the ground surface Along the underground structure arranged Construction support image Generate data constitute To realize the function Is a program for this purpose.

Brief Description of Drawings

[0025]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7A

Figure 7B

Figure 8A

Figure 8B

Figure 8C

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0026] (Configuration of the construction support device) The construction support system shown in FIG. 1 is composed of a construction support device 10 as an embodiment of the present invention, a remote operation device 20, a work machine 40, and a subsurface exploration machine 60 that are configured to be network - communicable with the construction support device 10. The construction support device may be composed of the construction support device 10 and one or two of the remote operation device 20, the work machine 40, and the subsurface exploration machine 60. The mutual communication network between the construction support device 10 and the remote operation device 20, the mutual communication network between the construction support device 10 and the work machine 40, and the mutual communication network between the construction support device 10 and the subsurface exploration machine 60 may be the same or different.

[0027] (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, a subsurface exploration result recognition element 120, a representative depth determination element 121, and a construction support image data generation element 122. The database 102 stores and holds, in addition to the captured image data, the exploration results of underground buried objects in the construction target area, etc. 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 an arithmetic processing device (a single - core processor, 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 following arithmetic processing according to the software for the target data.

[0028] When a component of the present invention "recognizes" information (or data), it includes all processes of acquiring the information by receiving, reading, or searching, etc., and preparing the information in a form that can be used in subsequent arithmetic processing by performing arithmetic processing on the underlying data or signals, such as determining, measuring, identifying, estimating, predicting, etc.

[0029] (Configuration of the remote operation device) As shown in FIG. 1, the remote control device 20 includes a remote control unit 200, a remote input interface 210, and a remote output interface 220. The remote control unit 200 is constituted by an arithmetic processing unit (a single-core processor, 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 according to the software.

[0030] The remote input interface 210 includes a remote operation 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.

[0031] The remote operation mechanism 211 includes a traveling operation device, a slewing 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 turning operation. The operation lever of the traveling operation device (traveling lever) is operated to move the lower traveling body 41 of the work machine 40. The traveling lever may also serve as a traveling pedal. For example, a traveling pedal fixed to the base or lower end of the traveling lever may be provided. The operation lever of the slewing operation device (slewing lever) is operated to move a hydraulic slewing motor that constitutes the slewing mechanism 43 of the work machine 40. The operation lever of the boom operation device (boom lever) is operated to move the boom cylinder 442 of the work machine 40. The operation lever of the arm operation device (arm lever) is operated to move the arm cylinder 444 of the work machine 40. The operation lever of the bucket operation device (bucket lever) is operated to move the bucket cylinder 446 of the work machine 40.

[0032] Each operation lever constituting the remote operation mechanism 211 is arranged, for example, as shown in FIG. 2, around a seat St for an operator to sit on. The seat St is in the form of a high-back chair with armrests, but may be in any form of seating part on which the operator can sit, such as in the form of a low-back chair without a headrest or a chair without a backrest.

[0033] Left and right travel levers 2110 corresponding to the left and right crawlers are arranged side by side horizontally in front of the seat St. One operation lever may also serve as a plurality of 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 as a swivel 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 as a bucket lever when operated in the left-right direction. The lever pattern may be arbitrarily changed according to the operator's operation instruction.

[0034] The remote image output device 221 is composed of, for example, as shown in FIG. 2, 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 arranged in front of the seat St, in the front left diagonal direction, and in the front right diagonal direction. 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 also be composed of a single curved or bendable image output device, or two or four or more image output devices arranged so as to surround the front of the seat St.

[0035] 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 (for example, 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 (for example, 120° ≤ θ2 ≤ 150°). The inclination angles θ1 and θ2 may be the same or different.

[0036] The respective 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 with respect 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 configured by an image output device divided into a plurality. For example, the central remote image output device 2210 may be configured by image output devices adjacent to each other vertically having a substantially rectangular screen.

[0037] The remote sound output device 222 is configured by one or a plurality of speakers, and is configured by a central sound output device 2220, a left sound output device 2221, and a right sound output device 2222 disposed at the rear of the seat St, the rear of the left armrest, and the rear of the right armrest, respectively, as shown in FIG. 2 for example. The specifications of the central sound output device 2220, the left sound output device 2221, and the right sound output device 2222 may be the same or different.

[0038] (Configuration of the working machine) As shown in FIG. 1, the working 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 constituted by an arithmetic processing unit (a single-core processor, 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 according to the software on the data.

[0039] The working 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 revolving body 42 that is rotatably mounted on the lower traveling body 41 via a slewing mechanism 43. A cab 42C (driver's cab) is provided at the front left side of the upper revolving body 42. A working mechanism 44 is provided at the front center of the upper revolving body 42.

[0040] The actual machine input interface 410 includes an actual machine operation mechanism 411, an actual machine imaging device 412, and an actual machine positioning device 414. The actual machine operation mechanism 411 includes a plurality of operation levers arranged in the same manner as the remote operation mechanism 211 around the seat disposed inside the cab 42C. A drive mechanism or a robot that receives a signal according to the operation mode of the remote operation 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 an 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 constituted by GPS or GNSS and, if necessary, a gyro sensor or the like, and measures the position (latitude and longitude) of the working machine 40.

[0041] As shown in FIG. 3, the working mechanism 44 includes a boom 441 that is mounted on the upper swing body 42 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 mechanism 44 is equipped with a boom cylinder 442, an arm cylinder 444, and a bucket cylinder 446, which are each constituted by a telescopic hydraulic cylinder.

[0042] The boom cylinder 442 is interposed between the boom 441 and the upper swing body 42 so as to expand and contract upon receiving the supply of hydraulic oil and rotate the boom 441 in the rising and falling direction. The arm cylinder 444 is interposed between the arm 443 and the boom 441 so as to expand and contract upon receiving the supply of hydraulic oil and rotate the arm 443 around a horizontal axis with respect to the boom 441. The bucket cylinder 446 is interposed between the bucket 445 and the arm 443 so as to expand and contract upon receiving the supply of hydraulic oil and rotate the bucket 445 around a horizontal axis with respect to the arm 443.

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

[0044] The depth position measurement element 611 is constituted by a ground penetrating radar device and measures the depth position of underground buried objects 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 a single underground exploration machine 60. The exploration position measurement element 612 is constituted by GPS or GNSS and, if necessary, a gyro sensor or the like, and measures the two-dimensional position (latitude and longitude) of the underground exploration machine 60.

[0045] The exploration memory device 602 stores and holds the depth position measured by the depth position measurement element 611 and the horizontal position measured by the exploration position measurement element 612 as the underground exploration result. The exploration memory device 602 may also store and hold the coordinate values of the underground radar device in the exploration coordinate system (the coordinate system in which the position and orientation are fixed with respect to the underground exploration machine 60). The exploration wireless communication device 624 is configured to transmit the underground exploration result stored and held in the exploration memory device 602 to the construction support device 10 (or the database server) via the network. The underground exploration result is accumulated or stored in the database 102.

[0046] (Function) The functions of the construction support device and the imaging function control system with the above configuration will be described using the flowchart shown in FIG. 5. In the flowchart, the block “C●” is used for simplicity of description, means the transmission and / or reception of data, and means a conditional branch in which the processing in the branch direction is executed on the condition of the transmission and / or reception of the data.

[0047] In the remote operation device 20, a ground condition confirmation request is transmitted to the construction support device 10 by the remote control device 200 through the remote wireless communication device 224 (FIG. 4 / STEP210). It is determined whether there is a first designation operation through the remote input interface 210 by the operator, and if the determination result is affirmative, the ground condition confirmation request may be transmitted. 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 intended for remote operation.

[0048] In the construction support device 10, when a ground condition confirmation request is received, the ground condition confirmation request is transmitted from the construction support device 10 to the work machine 40 corresponding to the ground condition confirmation request (FIG. 4 / C10).

[0049] In the work machine 40, when a ground condition confirmation request is received through the in-machine wireless communication device 424 (Fig. 4 / C40), the in-machine control device 400 transmits imaging image data representing an imaging image (which may be subjected to appropriate image processing) acquired through the in-machine imaging device 412 to the construction support device 10 (Fig. 4 / STEP410).

[0050] In the construction support device 10, when the imaging image data is received (Fig. 4 / C11), environmental image data corresponding to the imaging image is transmitted from the construction support device 10 to the remote control device 20 (Fig. 4 / STEP110). The environmental image data is image data representing a simulated environmental image generated based on the imaging image data as well as the imaging image data itself.

[0051] In the remote control device 20, when the environmental image data is received through the remote wireless communication device 224 (Fig. 4 / C21), an environmental image corresponding to the environmental image data is output from the remote control device 200 to the remote image output device 221 (Fig. 4 / STEP212).

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

[0053] In the remote control device 20, a ground condition confirmation request is transmitted from the remote control device 200 through the remote wireless communication device 224 to the construction support device 10 (Fig. 4 / STEP220). It is determined whether there is a second designation operation through the remote input interface 210 by the operator, and the ground condition confirmation request may be transmitted if the determination result is affirmative. The "second designation operation" is, for example, an operation such as a tap on the remote input interface 210 for the operator to designate the work machine 40 for which remote operation is intended. The second designation operation may be the same operation as the first designation operation or a different operation.

[0054] In the construction support device 10, when a subsurface condition confirmation request is received (Fig. 4 / C20), the subsurface exploration result recognition element 120 recognizes (searches from the database 102) the subsurface exploration result obtained by the subsurface exploration machine 60 in the construction target area related to the subsurface condition confirmation request (Fig. 4 / STEP120).

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

[0056] In each of a plurality of subsurface exploration areas in the construction target area, the depth position (Z (depth)) from the ground surface of subsurface buried objects such as pipes measured by the subsurface exploration machine 60 is recognized as the subsurface exploration result. Each subsurface exploration area is specified, for example, by a set of horizontal coordinate values (X (longitude), Y (latitude)) of the world coordinate system representing its boundary. The plurality of subsurface exploration areas may be defined adjacent to or continuously with each other, but are preferably defined separately from each other. The shapes, or the shapes and sizes, of the plurality of subsurface exploration areas may be the same or different.

[0057] The plurality of subsurface exploration areas may be fixedly defined. For example, as shown in Fig. 7A, a plurality of substantially rectangular or square subsurface exploration areas S i1 , S i2 , …, S im , S im+1 defined as a plurality of subsurface exploration areas may be regularly arranged separately from each other (in a square lattice or triangular lattice). The plurality of subsurface exploration areas S i1 , S i2 , …, S im , S im+1They may be regularly arranged adjacent to or continuously with each other. In this case, as indicated by the dashed arrow in FIG. 7A, when the underground exploration machine 60 is displaced passively or actively, the underground exploration area S i1 、S i2 、‥、S im 、S im+1 The underground exploration results in can be registered in the database 102 and recognized by the underground exploration result recognition element 120. The shape of the underground exploration area may be various shapes such as a triangular shape, a trapezoidal shape, a parallelogram shape, a regular polygon shape (regular hexagon, regular octagon, regular dodecagon, etc.), a circular shape, or an elliptical shape.

[0058] A plurality of underground exploration areas may be defined fluidly according to the exploration results by the underground exploration machine 60. For example, as indicated by the dashed arrow in FIG. 7B, assume that in the process of the underground exploration machine 60 being displaced passively or actively, at each of the predetermined periods, the locations represented by black circles (●) in FIG. 7B are underground exploration points where the depth position of the underground buried object from the ground surface is measured. In this case, a plurality of substantially rectangular or square underground exploration areas S i1 、S i2 、‥、S im 、S im+1 centered or with the center of gravity at the underground exploration points (defined by two-dimensional coordinate values (latitude (X), longitude (Y))) and irregularly arranged apart from each other may be defined as a plurality of underground exploration areas. When there are a plurality of underground exploration points in one predetermined period, their centers of gravity may be defined as the center or the center of gravity of each underground exploration area S ik (k = 1, 2, ‥, m, m + 1). The size and shape of each underground exploration area S ik may be changed in various ways, but it is preferably defined in advance. The size of each underground exploration area S ik may be determined according to the displacement speed of the underground exploration machine 60 and the predetermined period (time interval).

[0059] A plurality of underground exploration areas may be defined fluidly according to the displacement mode of the underground exploration machine 60. For example, in the process of passive or active displacement of the underground exploration machine 60, taking the position of the center of gravity (defined by two-dimensional coordinate values) of the underground exploration machine 60 at each predetermined period as the center or the center of gravity, a plurality of substantially rectangular or square underground exploration areas S i1 , S i2 , …, S im , S im+1 may be defined as a plurality of underground exploration areas. The posture of each underground exploration area S ik (for example, the orientation of the long side or the short side) may be defined to be along the displacement direction of the underground exploration machine 60.

[0060] Here, the processing when a plurality of underground exploration areas overlap will be described. For example, when the overlap degree of two substantially rectangular underground exploration areas S 1 and S 2 shown on the left side of FIG. 8A is equal to or greater than the threshold value, as a result of deleting (thinning out) other underground exploration areas S 1 , the remaining single underground exploration area S 2 is defined as the single underground exploration area S - shown on the right side of FIG. 8A. Among the overlapping plurality of underground exploration areas, other underground exploration areas may be deleted except for the one underground exploration area with the maximum (or minimum) distance or average distance from the ground surface of the depth position measured by the underground exploration machine 60. Among the overlapping plurality of underground exploration areas, other underground exploration areas may be deleted except for the one underground exploration area with the largest (or smallest) number of depth position measurements by the underground exploration machine 60.

[0061] On the other hand, when the overlap degree of two substantially rectangular underground exploration areas S 1 and S 2 shown on the left side of FIG. 8B is less than the threshold value, as shown on the right side of FIG. 8B, a single underground exploration area S 1 and S 2 combined is defined as a single underground exploration area S + . Two substantially rectangular underground exploration areas S shown on the left side of FIG. 8C1 and S 2 If the duplication degrees of and S are less than the threshold value, as shown on the right side of FIG. 8C, the two subsurface exploration areas S 1 and S 2 are displaced so as to be separated from each other, and two subsurface exploration areas S 1 ’ and S 2 ’ may be defined.

[0062] Subsequently, the representative depth determination element 121 determines the representative position of each of the depth position groups composed of one or a plurality of depth positions in each of the plurality of subsurface exploration areas (FIG. 4 / STEP121).

[0063] For example, as schematically shown by black circles (●) in FIG. 9, a plurality of subsurface exploration points P of a subsurface buried object whose depth position from the ground surface is measured by the subsurface exploration machine 60 in one subsurface exploration area 1 , ‥P i-1 , P i , P i+1 , ‥P n-1 , P n are considered. In this case, the depth position of the subsurface exploration point P + closest to the ground surface or the subsurface exploration point P 1 farthest from the ground surface may be determined as the representative depth position of the subsurface exploration point group. The average depth position (see the dashed-dotted line in FIG. 9) or the central depth position or the most frequent depth position (see the dotted line in FIG. 9) of the plurality of subsurface exploration points P 1 , ‥P i-1 , P i , P i+1 , ‥P n-1 , P n may also be determined as the representative depth position of the subsurface exploration point group.

[0064] Subsequently, construction support image data is generated by the construction support image data generation element 122 and transmitted to the remote operation device 20 (FIG. 5 / STEP122). The construction support image data represents 3D image data including a 3D image in which a plurality of objects are arranged in each of a plurality of underground exploration areas so as to represent the representative depth positions of the underground exploration point groups.

[0065] The object has, for example, a shape and size as if a substantially rectangular or substantially square underground exploration area is projected in the vertical or depth direction, as shown in FIG. 5, and a closed surface m parallel to the horizontal plane. 1 and m 2 There is. When the shapes (for example, substantially rectangular or substantially square) and sizes of the plurality of underground exploration areas are the same, the shapes and sizes of the plurality of closed surfaces as objects are also the same. When the shapes of the plurality of underground exploration areas are the same, the shapes of the plurality of closed surfaces as objects are also the same and similar.

[0066] 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 the horizontal plane, and the underground exploration points are used as control points, and then the closed surface is defined so as to ensure the continuity of the triangular patch.

[0067] In the remote operation device 20, when the construction support image data is received through the remote wireless communication device 224 (FIG. 4 / C22), the remote control device 200 outputs a construction support image corresponding to the construction support information to the remote image output device 221 (FIG. 4 / STEP222).

[0068] Thereby, for example, FIG. 6As shown, in each of a plurality of underground exploration areas included in the construction target area, a plurality of closed surfaces m arranged at the representative depth positions of the underground exploration point groups 1 and m 2 are output to the remote image output device 221 in a form superimposed on the environmental image. In the figure 6 The plurality of closed surfaces m 1 constituting the first object group M 1 and the plurality of closed surfaces m 2 constituting the second object group M 2 are distinguishable and differentiated according to the design (for example, color) of each. In the figure 1 and m 2 The vertical line segments extending from each closed surface m 6 to the ground surface may constitute a part of the object, but the vertical line segments may be omitted. 1 m 2 Since the spatial occupancy mode of the object in the construction support information is defined in the world coordinate system, the arrangement mode of the object is coordinate-transformed into the environmental image coordinate system. For this coordinate transformation, the coordinate values of the work machine 40 in the world coordinate system are measured using GPS or the like, and the actual machine coordinate system (the coordinate system whose position and orientation are fixed with respect to the upper swing body 42) of the actual machine imaging device 412 may be stored and held in the storage device and / or the database 102 constituting the remote control device 200. The operator can operate the operation lever constituting the remote operation mechanism 211 to move the bucket 445 while viewing the environmental image output to the remote image output device 221 and the construction support image superimposed thereon.

[0069]

[0070] In addition, the construction support image may be output to the remote image output device 221 alone without being superimposed on the environmental image. In this case, a 3D model image representing the spatial occupancy mode of each object arranged to represent the depth position from the ground surface of the work machine 40 and the underground buried object existing on the ground surface in the 3D virtual space is output to the remote image output device 221 as the 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 value of the work machine 40 in the world coordinate system may be measured using GPS or the like and stored and held in the storage device and / or database 102 constituting the remote control device 200.

[0071] In the remote operation device 20, the operation mode of the remote operation mechanism 211 is recognized by the remote control device 200, and a remote operation command corresponding to the operation mode is transmitted to the construction support device 10 through the remote wireless communication device 224 (FIG. 5 / STEP214).

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

[0073] When the work machine 40 receives an operation command through the actual machine wireless communication device 422 by the actual machine control device 400 (FIG. 5 / C44), the operations of the work mechanism 440 and the like are controlled (FIG. 5 / STEP414). For example, an operation of digging up and scooping the soil in the construction target area in front of the work machine 40 with the bucket 445, turning the upper swing body 42, and then dropping the soil from the bucket 445 outside the construction target area is executed.

[0074] (Function and effect) According to the construction support device 10 that exhibits the above function, in at least some of the underground exploration areas S i1 , S i2 , …, S im , S im+1 (see FIGS. 7A and 7B), the underground exploration point P of the underground buried object whose depth position from the ground surface is measured by the underground exploration machine 60 1, ‥P i-1 , P i , P i+1 , ‥P n-1 , P n The respective depths of these are aggregated at the representative depth positions (see FIGS. 5 / STEP121 and 9). And, a construction support image data representing a three-dimensional image including closed surfaces m i1 , S i2 , ‥, S im , S im+1 serving as objects representing the representative depth positions arranged in each of the plurality of subsurface exploration areas S 1 , m 2 is generated (see FIGS. 5 / STEP122 and 5).

[0075] Thereby, compared with the case where construction support image data including a plurality of objects representing the respective depth positions of all the subsurface exploration points P 1 , ‥P i-1 , P i , P i+1 , ‥P n-1 , P n is generated by the subsurface exploration machine 60, a reduction in the data amount of the construction support image data is achieved. Through the spatial occupancy modes of the closed surfaces m 1 , m 2 serving as a plurality of objects in the construction support image (see FIG. 5) output to the remote image output device 221 constituting the remote output interface 220, a user or operator in contact with the remote image output device 221 can grasp the spatial occupancy mode of the subsurface buried object in the three-dimensional real space.

[0076] Furthermore, each closed surface m 1 , m 2 serving as an object only needs to be arranged separately and independently so as to represent the corresponding representative depth position, and the arithmetic processing load required for the generation process of the construction support image data is reduced by the amount that the relative positions and postures between the plurality of objects do not need to be adjusted.

[0077] (Another Embodiment of the Present Invention) In the above-described embodiment, the construction support device 10 was configured by a computer separate from the remote control device 20, the work machine 40, and the underground exploration machine 60. However, as another embodiment, the construction support device 10 may be mounted on the remote control device 20, the work machine 40, or the underground exploration machine 60.

[0078] In the above-described embodiment, the work machine 40 was remotely operated by an operator through the remote control device 20. However, as another embodiment, the work machine 40 may be operated directly by an operator on board the work machine 40. In this case, construction support image data is transmitted from the construction support device 10 to the work machine 40 (see FIG. 5 / STEP122), and a construction support image corresponding to the data may be output to a real machine image output device constituting the real machine output interface 420 (see FIG. 5).

[0079] As an object arranged in the underground exploration area, construction support image data representing a three-dimensional image including a three-dimensional object extending from the ground surface of the underground exploration area to the representative depth position of the underground exploration point group may be generated. For example, as shown in FIG. 10, at each of the underground exploration areas, a plurality of inverted cones m 1 , m 2 having their bottoms arranged on the ground surface and their vertices arranged at the representative depth positions are included as objects, and construction support image data representing a three-dimensional image may be generated. Similar to the example shown in FIG. 5, the designs (for example, colors) of the plurality of inverted cones m 1 constituting the first object group M 1 and the plurality of inverted cones m 2 constituting the second object group M 2 are distinguishable and differentiated according to the depth positions of the closed surfaces m 1 and m 2 .

[0080] The surface of the solid object 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). The solid object may be a solid object having various shapes such as an inverse pyramid different from an inverse cone, an inverse frustum, a prism, a sphere, or an ellipsoid.

Explanation of Signs

[0081] 10 ‥ Construction support device 102 ‥ Database 120 ‥ Subsurface exploration result recognition element 121 ‥ Representative depth positioning element 122 ‥ Construction support image data generation element 20 ‥ Remote operation device 200 ‥ Remote control device 210 ‥ Remote input interface 211 ‥ Remote operation mechanism 220 ‥ Remote output interface 221 ‥ Remote image output device 222 ‥ Remote acoustic output device 224 ‥ Remote wireless communication device 40 ‥ Working machine 41 ‥ Lower traveling body 42 ‥ Upper slewing body 42C ‥ Cab (driver's cab) 44 ‥ Working mechanism 445 ‥ Bucket 400 ‥ Actual machine control device 410 ‥ Actual machine input interface 420 ‥ Actual machine output interface 60 ‥ Subsurface exploration machine 600 ‥ Exploration control device 602 ‥ Exploration memory device 611 ‥ Depth position measurement element 612 ‥ Exploration position measurement element 624 ‥ Exploration wireless communication device m 1 、m 2 ‥ Object (closed surface, solid object) P 1 , ‥P i-1 , P i , P i+1 , ‥P n-1 , P n ‥ Underground exploration point S i1 , S i2 , ‥, S im , S im+1 ‥ Underground exploration area.

Claims

1. A construction support device having a means for generating construction support image data based on information regarding underground buried objects buried in the ground in an area where construction is to be performed, in which objects that are identifiable and differentiated according to the depth position of the underground buried objects from the ground surface are arranged along the underground buried objects in the area above the underground buried objects.

2. The construction support device according to claim 1 , wherein the information about the underground buried object includes information about a position of the underground buried object.

3. The construction support device according to claim 1 , wherein the construction support image data includes information on the depth of the underground buried object from the ground surface.

4. The construction support device according to claim 1 , wherein the construction support image data includes data of a plurality of rectangles along the underground buried object.

5. A construction support device as described in any one of claims 1 to 3, wherein the construction support image data is output superimposed on an image captured of the work environment.

6. A program for enabling a computer to realize the function of generating construction support image data based on information regarding underground buried objects buried underground in an area where construction is to be performed, in which objects that are identifiable and differentiated according to the depth position of the underground buried objects from the ground surface are arranged along the underground buried objects in the area above the underground buried objects.

Images