Display system, display control method, and display control program

Abstract

To increase work index visibility displayed in a work site.SOLUTION: A display system comprises: a display unit 25 that is placed between a construction machine operator and a work object and has transparency; a model data storage unit 22 that stores three-dimensional model data 35 inclusively including three-dimensional data of the work object, standard position data 37 of multiple standard indices set up in the work object, and work index data 38 of work indices used in construction machine work; a position specification unit 30 that specifies a display position of the work index according to the work index data 38 by detecting real images of the multiple standard indices and aligning a real image position and a standard index position, in a work site existing the work object; and a display control unit 31 that displays a work index so as to superpose the same on the real image of the work object visually recognized through the display unit 25.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a display system, a display control method, and a display control program.

Background Art

[0002] In tunnel construction and the like, in order to provide various types of information related to work to an operator, an image is projected onto the face by projection mapping. As an example, when excavating a tunnel, it has been proposed to project a marker indicating an under-excavated area (see, for example, Patent Document 1). In this method, the three-dimensional shape of the face is captured by a computer, compared with the designed face shape, and the degree of over- or under-excavation is calculated. Then, coordinates where the degree of over- or under-excavation is large and the excavation amount is insufficient are detected as the under-excavated area, and a marker, which is video light, is projected onto the portion determined to be the under-excavated area.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above-described method, the image may be difficult to visually recognize depending on the environment in which the image is projected. For example, although the projected image is clearly displayed on the face in an environment with low illuminance, the projected image may become unclear in an environment with high illuminance. Therefore, it is required to improve the visibility of the image presented to the operator.

Means for Solving the Problems

[0005] The display system for solving the above problems includes a transparent display unit located between the operator of the construction machine and the work object, a model data storage unit storing three-dimensional data of the work object, standard position data of a plurality of standard indicators set for the work object, and work indicator data of work indicators used for the work of the construction machine, a position specifying unit that detects the plurality of standard indicators at the work site where the work object exists, aligns the detected positions of the standard indicators with the standard position data, and specifies the display position of the work indicator according to the work indicator data, and a display control unit that displays the work indicator so as to overlap the real image of the work object visually recognized by the operator through the display unit.

Effect of the Invention

[0006] According to the present invention, the visibility of the work indicators displayed at the work site can be improved.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

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Embodiments for Carrying Out the Invention

[0008] (First Embodiment) Hereinafter, a first embodiment of a display system and a display control method will be described with reference to the drawings. In this embodiment, an example in which the display system and the display control method are applied to a system for displaying a target position of work in mountain tunnel construction will be described.

[0009] As shown in FIG. 1, a construction machine 2 is disposed in a tunnel 1. The construction machine 2 includes an operator's cab 3 where an operator performs operations. The construction machine 2 inserts the tip of a rod 5 into a plurality of holes formed in a face 4, and strikes the ground 8 and imparts vibration by driving a hydraulic drifter 6. A vibration receiving device 7 provided on the face 4 receives the vibration propagated through the ground 8. A measuring device 9 is connected to the rod 5 and the vibration receiving device 7 by wire or wirelessly. The measuring device 9 calculates the propagation time based on the vibration reception time received from the rod 5 and the vibration reception time received from the vibration receiving device 7. Further, the measuring device 9 obtains the elastic wave distribution of the ground 8 by measuring the propagation time for a plurality of striking positions. Here, the face 4 corresponds to the object to be worked on according to the present invention.

[0010] Also, a plurality of projection devices 11 are provided in the tunnel 1. In this embodiment, four projection devices 11 are installed at predetermined positions. The projection device 11 irradiates the face 4 with a laser beam L. The laser beam L is a visible light beam having a wavelength of about 400 nm to 800 nm, for example. The four projection devices 11 irradiate the laser beam L at positions where the absolute coordinates have been determined by performing surveying or the like in advance. The absolute coordinates are coordinates represented by geographical information such as latitude and longitude, for example.

[0011] The portions irradiated with the laser beam L are referred to as standard indicators 12A to 12D. When explaining without distinguishing the standard indicators 12A to 12D, for convenience, they are referred to as standard indicator 12. The standard indicators 12A to 12D projected onto the face 4 are visible to the operator operating the construction machine 2 or the worker near the construction machine 2. The standard indicators 12A to 12D may be markers used for measuring the amount of internal displacement of the tunnel 1 or the like. In the example shown in FIG. 1, the four standard indicators 12A to 12D are located on the lower left side, lower right side, upper left side, and upper right side with respect to the center point of the face 4. The arrangement of the standard indicators 12A to 12D is not particularly limited. Here, the number of standard indicators 12A to 12D is four, but it may be one or a plurality other than four. Also, in FIG. 1, the standard indicators 12A to 12D are shown as dot-shaped markers, but they are not limited to dot-shaped and may be linear markers.

[0012] In this embodiment, a method of receiving the vibration of the boring bit at the face (face surface) 4 will be described as an example. However, this is merely an example, and for predicting the geology in front of the face (exploring the natural ground), "Tunnel Navi (registered trademark)", "elastic wave exploration methods such as TSP", "high-speed non-core boring face forward exploration system", "tunnel face forward water inrush exploration and countermeasure work selection system", etc. are frequently used. Even when using these "Tunnel Navi (registered trademark)" etc., it is possible to obtain the same operational effects as in this embodiment.

[0013] Referring to FIG. 2, the display system 20 will be described. The display system 20 includes a control unit 21, a model data storage unit 22, a projection device 11, an imaging device 23, and a display unit 25.

[0014] The projection device 11 is arranged in the tunnel 1 as described above. The imaging device 23 may be any camera capable of imaging the standard indicators 12A to 12D. When the projection device 11 is a device that projects visible light, the imaging device 23 is a visible light camera. Also, when the projection device 11 is a device that projects infrared light, the imaging device 23 is a camera capable of imaging infrared light. Further, the imaging device 23 is arranged in the operator's cab 3 shown in FIG. 1.

[0015] The display unit 25 is provided in front of the operator's cab 3. In the present embodiment, the display unit 25 also serves as the front window of the operator's cab 3 and is located between the operator in the operator's cab 3 and the face 4 which is the work object. The brightness of the display unit 25 can be changed based on the manual operation of the operator, or can be automatically controlled by the configuration (such as a drive unit) of the display unit 25 itself. In the present embodiment, the display unit 25 is a display having transparency, for example, an organic EL display having transparency. The transparent organic EL display includes a pair of electrode layers and a pair of organic EL layers. The organic EL layer is located between the pair of electrode layers. The transparent organic EL display has a high light transmittance by providing transparent pixels in the organic EL layer or making the electrode layer mesh-shaped so as not to cover all of the organic EL layer. Therefore, the operator can visually recognize the face 4 through the display unit 25.

[0016] For example, it may be configured to be disposed between the operator and the face 4 (work object) by, for example, attaching a transparent organic EL display to the front glass of the operator's cab 3 of the construction machine 2.

[0017] The control unit 21 may be provided in one device, or its components may be distributed and provided in a plurality of devices. Further, the control unit 21 may be mounted on the construction machine 2 as long as it can transmit and receive data to and from the imaging device 23 and the display unit 25, or may be installed outside the construction machine 2. Further, the control unit 21 is connected to be able to transmit and receive data to and from the measuring device 9.

[0018] The control unit 21 includes an arithmetic unit, a memory, various interfaces, etc. The arithmetic unit is an arithmetic unit (circuitry) that loads a display control program stored in a storage such as the model data storage unit 22 into the memory and executes instructions included in the program. The arithmetic unit is, for example, a CPU, a GPU, other devices, or a combination thereof. By executing the display control program, the control unit 21 functions as a position specifying unit 30, a display control unit 31, and an external data acquisition unit 32.

[0019] Based on the image data captured by the imaging device 23, the position specifying unit 30 specifies the positions of the standard indicators 12A to 12D, etc. in the coordinate system set in the display unit 25. representation Based on the positions of the standard indicators 12A to 12D specified by the position specifying unit 30, the display control unit 31 specifies the position of the work indicator in the coordinate system. The work indicator is an indicator showing the position of work at the work site. Also, based on the specified position of the work indicator, the display control unit 31 generates display data for display on the display unit 25 and outputs it to the display unit 25. The operator present in the operator's cab 3 can visually recognize the work indicator displayed on the display unit 25 by superimposing it on the real image of the cutting face 4 and perform work along the work indicator. In the present embodiment, the position of the hole into which the tip of the rod 5 is inserted and the position where the impact is performed are indicated by the work indicator. representation

[0020] The external data acquisition unit 32 acquires various information from the construction machine 2 and other external devices. In the present embodiment, the external data acquisition unit 32 receives a measurement completion notification of the elastic wave distribution from the measuring device 9 for each measurement position.

[0021] The model data storage unit 22 stores model data 35. The model data storage unit 22 may be provided in one device, or its components may be distributed and provided in a plurality of devices. Also, the control unit 21 and the model data storage unit 22 may be provided in one device such as a personal computer, or may be provided in different devices respectively.

[0022] ​The model data 35 is CIM (Construction Information Modeling / Management) data, and includes 3D model data 36 of the tunnel 1 such as the tunnel alignment, tunnel position, and tunnel cross-sectional shape of the tunnel 1. The 3D model data 36 is represented in absolute coordinates.

[0023] Also, the model data 35 includes standard position data 37 indicating the positions of the standard indicators 12A to 12D. The standard position data 37 is represented in absolute coordinates. The model data 35 includes work index data 38. The work index data 38 indicates the position of the work index. The position of the work index is preset before the work by an operator or other workers and is represented in absolute coordinates.

[0024] With reference to FIGS. 3 to 5, a procedure for displaying a work index on the display unit 25 provided between the face 4 and the operator in the operator's cab 3 will be described. As shown in FIG. 3, the display unit 25 is located between the imaging device 23 and the face 4. The imaging device 23 is provided in the operator's cab 3 shown in FIG. 1 and is fixed with its optical axis directed toward the display unit 25. Also, a display coordinate system (u, v) representing the position within the display surface 25A is set on the display unit 25. For convenience in FIG. 3, the surface of the face 4 is parallel to the X-axis and Y-axis of the absolute coordinate system (X, Y, Z).

[0025] The display unit 25 may be parallel to the vertical plane or may be inclined. In other words, the display unit 25 may be attached to the construction machine 2 in a state having a rotation angle in the rotation direction about the X-axis of the absolute coordinate system. The position specifying unit 30 of the control unit 21 acquires the inclination angle of the display unit 25 in advance. The inclination angle may be pre-recorded in the storage or the like of the control unit 21 as a fixed value. Or, a geomagnetic sensor may be attached to the display unit 25, and the inclination angle of the display unit 25 may be calculated based on the detection data of the geomagnetic sensor, or the inclination angle may be calculated using other sensors.

[0026] First, the imaging device 23 images the standard index 12 projected onto the face 4 via the display unit 25. FIG. 4 is a diagram schematically showing the image data 23A imaged by the imaging device 23. The imaging range of the imaging device 23 includes at least a predetermined area for displaying the work index on the display surface 25A of the display unit 25. Thereby, the face 4, the standard index 12 projected onto the face 4, and the predetermined area of the display unit 25 are imaged in a superimposed state. The predetermined area for displaying the work index may be the entire display surface 25A or a part thereof.

[0027] The position specifying unit 30 may perform known image processing on the image data imaged by the imaging device 23 to determine whether a predetermined number or more of the standard indexes 12 overlap in a predetermined area of the display surface 25A of the display unit 25. The position specifying unit 30 determines that the work index 50 can be displayed when at least three or more of the standard indexes 12 overlap in the predetermined area of the display surface 25A. When a predetermined number or more of the standard indexes 12A do not overlap in the predetermined area of the display surface 25A, it is determined that the work index 50 cannot be displayed, and the system waits until a predetermined number of the standard indexes 12A overlap in the predetermined area.

[0028] Further, the position specifying unit 30 may convert the image data acquired from the imaging device 23 into image data viewed from a fixed position such as the position of the operator's eyes (viewpoint) according to the position of the imaging device 23, the direction of the optical axis, etc. For this conversion process, for example, known projective transformation or the like can be used. Note that conversion is not necessary when the imaging device 23 and the position of the operator's eyes are close.

[0029] Next, the position specifying unit 30 specifies the position of the imaged standard index 12 as the position in the display coordinate system of the display unit 25. Specifically, the two-dimensional image coordinates on the image data are associated with the display coordinate system of the display unit 25 in advance. Since the relative positional relationship between the imaging device 23 and the display unit 25 is constant and the display area of the display unit 25 is always included in a predetermined position of the imaging range, by specifying the position of the standard index 12 on the image data, the position of the specified standard index 12 can be represented by the coordinates in the display coordinate system.

[0030] On the other hand, the position of the standard index 12 is defined in absolute coordinates in the standard position data 37 stored in the model data storage unit 22. Therefore, the position of the standard index 12 in the display coordinate system specified by the position specifying unit 30 can be associated with the position of the standard index 12 in the absolute coordinate system included in the standard position data 37. For example, a determinant for converting the coordinates of the standard index 12 in the absolute coordinate system into the coordinates of the standard index 12 in the display coordinate system can be obtained. This determinant performs image conversions such as rotation, translation, enlargement, or reduction.

[0031] Next, using the conversion formula that associates the absolute coordinate system and the display coordinate system, the coordinates of the work index 50 in the display coordinate system are obtained. The position specifying unit 30 uses the conversion formula that associates the coordinates in the display coordinate system and the coordinates in the absolute coordinate system to convert the work index 50 represented in the absolute coordinate system included in the work index data 38 into the coordinates in the display coordinate system.

[0032] Next, as shown in FIG. 5, the display control unit 31 acquires the coordinates of the work index 50 in the display coordinate system specified by the position specifying unit 30 and creates display data to be output to the display unit 25. At this time, the display control unit 31 generates display data in which a predetermined image for displaying a figure or the like is arranged at the coordinates of the work index 50. In the example of FIG. 5, seven work indexes 50 are displayed on the display unit 25. At this time, the visibility of the work index 50 can be enhanced by causing the display unit 25 to emit light in the vicinity of the operator 102 to display the work index 50. In addition, since the display unit 25 can change the brightness of the work index 50 manually by the operator 102 or automatically according to the brightness of the operator's cab 3 or the like, the work index 50 can be displayed in a display mode that is easy for the operator 102 to work.

[0033] In addition, the display control unit 31 may vary the display mode of the work index 50 for which the hitting is incomplete and the display mode of the work index 50 for which the hitting is complete based on the measurement data acquired by the external data acquisition unit 32. These display modes only need to be distinguishable by the operator with the naked eye. For example, the work index 50A for which the hitting is incomplete is displayed in "red", and the work index 50B for which the hitting is complete is displayed in "yellow". At this time, the display control unit 31 may assign a sequence to the work index 50A and change the display mode of the work index being measured each time a measurement completion notification is received. Alternatively, the position of the rod 5 may be recognized by image recognition based on the image data captured by the imaging device 23, and the work index 50 for which the measurement is complete may be discriminated.

[0034] The operator 102 visually recognizes the face 4 through the display unit 25 on which the work index 50 is displayed. At this time, as viewed from the operator 102, the work index 50 is superimposed on the real image of the face 4. As a result, as shown by the dashed line in FIG. 5, the operator 102 can immediately discriminate the target position 100 of the hitting on the face 4 through the display unit 25, so that the position adjustment of the rod 5 can be efficiently performed. In addition, when the work indexes 50A and 50B are displayed in different display modes, it is possible to facilitate the discrimination of the position where the work is incomplete.

[0035] According to the first embodiment, the following effects can be obtained. (1) A transparent display unit 25 positioned between the operator 102 of the construction machine 2 and the face 4 which is the work object, a model data storage unit 22 storing the three-dimensional model data 36 of the face 4, the standard position data 37 of a plurality of standard indexes 12 set on the face 4, and the work index data 38 of the work index 50 used for the work of the construction machine 2, a position specifying unit 30 which detects a plurality of standard indexes 12 at the work site where the face 4 exists, aligns the positions of the detected standard indexes 12 with the standard position data 37, and specifies the display position of the work index 50 according to the work index data 38, and a display control unit 31 which displays the work index 50 so as to be superimposed on the real image of the face 4 visually recognized by the operator 102 through the display unit 25.

[0036] According to the above configuration, since the work index 50 is displayed on the display unit 25, the visibility of the work index 50 can be improved compared to the case where the work index 50 is actually projected onto the face 4. Further, since the work index 50 is displayed after aligning the real image of the standard index 12 set on the face 4 with the standard position data 37 included in the model data 35, the work index can be superimposed on an appropriate position of the face 4.

[0037] (2) The external data acquisition unit 32 further acquires, as external data, the control data of the construction machine 2 and the data detected by the measuring device 9 which is an external device installed at the work site. The display control unit 31 changes the display mode of the work index 50 based on the external data.

[0038] According to the above configuration, since the display mode of the work index 50 is changed based on the external data, the operator 102 can recognize the progress of the work at a glance. (3) The work index 50 is an index indicating the work position on the face 4 which is the work object of the construction machine 2.

[0039] According to the above configuration, the operator 102 can proceed with the work with the work index as the target. Therefore, the work can be advanced in accordance with the work plan. (Second Embodiment) Next, with reference to FIG. 6, a second embodiment of the display system will be described. Note that the second embodiment is different from the first embodiment in that the position of the operator's eyes is measured and the work index is displayed. Hereinafter, the same parts as those in the first embodiment will be denoted by the same reference numerals and the detailed description thereof will be omitted.

[0040] In the operator's cab 3, a detection device 51 for detecting the position 103 of the operator 102's eyes is provided. The detection device 51 may be any device that can recognize the face of the operator 102. The detection device 51 may include, for example, a projection unit that irradiates an object with a plurality of infrared rays, and an infrared camera that detects the reflected light reflected from the object.

[0041] Based on the detection data of the detection device 51, the position specifying unit 30 specifies the eye position 103 of the operator 102. At this time, the position specifying unit 30 may specify the eye position 103 of the operator 102 as two-dimensional coordinates (X, Y), or may specify it as three-dimensional coordinates (X, Y, Z). At this time, the coordinates of the image data and the coordinates of the absolute coordinate system are associated in advance. That is, if the coordinates of the image data can be specified, the coordinates of the absolute coordinate system can be specified.

[0042] Based on the eye position 103 of the operator 102 specified by the position specifying unit 30, the display control unit 31 performs image processing such as projective transformation to convert it into image data viewed from the eye position 103 of the operator 102.

[0043] Thereby, even if the height of the operator 102 is different, an image in which the deviation between the target position 100 and the work index 50 is suppressed is displayed on the display unit 25. According to the second embodiment, in addition to the effects described in (1) to (3) of the first embodiment, the following effects can be obtained.

[0044] (4) It further includes a detection device 51 that detects the eye position 103 of the operator 102, and the display control unit 31 converts the work index 50, which is an image to be displayed on the display unit 25, into an image viewed from the detected eye position 103.

[0045] According to the above configuration, since the coordinates of the work index 50 are converted based on the detected eye position 103, the work index 50 can be displayed according to the height and seat height of the operator 102.

[0046] Each of the above embodiments can be implemented with the following modifications. Each embodiment and the following modification examples can be implemented in combination with each other as long as they do not technically conflict with each other. · In the above embodiment, the model data 35, which is CIM data, is stored in the model data storage unit 22. Instead of or in addition to this, according to the work site, BIM (Building Information Modeling) data used in architectural design may be stored in the model data storage unit 22 and used for displaying work indicators.

[0047] · In each of the above embodiments, the imaging device 23 is provided in the operator's cabin 3, but it may be provided at other positions as long as the display unit 25 is included in the imaging range. Or, when the coordinates of the display unit 25 in the absolute coordinate system can be specified, etc., the imaging device 23 may be installed at a position where the display unit 25 is not included in the imaging range.

[0048] · In the above embodiment, the standard indicator 12 is projected by irradiating light from the projection device 11 onto the face 4. Instead of or in addition to this, a reflecting material that reflects visible light, infrared light, etc. may be attached to the face 4 to show the standard indicator 12.

[0049] · In each of the above embodiments, a conversion formula for converting the position of the standard indicator 12 in the absolute coordinate system to the position on the display coordinate system is obtained, and the position of the work indicator data 38 is converted to the position on the display coordinate system using this conversion formula. Instead of or in addition to this, some standard indicator may be detected, and the position of the display unit 25 in the absolute coordinate system may be obtained to specify the display position of the work indicator 50 on the display unit 25. The position of the display unit 25 in the absolute coordinate system can be calculated by the position specifying unit 30, for example, by the imaging device 23 imaging the standard indicators 12A to 12D whose positions in the absolute coordinate system are known, and obtaining the relative positional relationship of the standard indicators 12A to 12D with respect to the imaging device 23. Or, it may be specified by using a three-axis geomagnetic sensor provided on the display unit 25, an imaging device for imaging the standard indicator 12, a stereo camera or a ToF-type sensor unit provided on the display unit 25 for measuring the distance to the face 4, or in combination with the imaging device 23.

[0050] When the position of the absolute coordinate system of the display unit 25 is specified, the position of the work index 50, the position of the display unit 25, and the eye position 103 of the operator 102 are specified as the coordinates of the absolute coordinate system. The eye position 103 may be a fixed value.

[0051] As shown in FIG. 7, the position specifying unit 30 specifies the position where the straight line L1 connecting the work index 50 on the face 4 and the eye position 103 of the operator 102 overlaps with the display surface 25A of the display unit 25 as the display position 50P of the work index 50.

[0052] · In each of the above embodiments, the work index 50 is displayed on the display unit 25 having transparency. The display unit 25 is not limited to an organic EL display having transparency as long as it is a display having transparency. For example, it may be a glass window of the operator's cab 3.

[0053] For example, as shown in FIG. 8, an image may be projected onto the display surface 25A of the display unit 25 by a projection device 52 attached to the construction machine 2. In this case, the display surface 25A may be subjected to surface treatment capable of displaying the projection, or a sheet for clearly displaying the projected image may be attached to the display surface 25A.

[0054] · In each of the above embodiments, the work index indicates the target position of the impact for examining the elastic wave distribution, but it is not limited thereto. For example, as shown in FIG. 9, the planned position for providing the support work may be displayed on the display unit 25 as the work index 105. The driving position of the rock bolt may be displayed as the work index 106. Also, the spraying position of the concrete may be displayed as the work index 107. Further, the planned position for placing the covering concrete may be displayed as the work index 108. Furthermore, as the work index, the planned screen for excavation may be displayed as the work index 109 (comparison with the blasting excavation surface 114: confirmation of construction limit). When displaying a linear work index as exemplified in FIG. 9, the display positions of the work indices 105 to 109 on the display unit 25 may be specified based on the relative positional relationship between a plurality of points on the work index and the position of the standard index 12. Also, the blasting charge position may be displayed as a work index, or the display position on the display unit 25 may be specified.

[0055] · In each of the above embodiments, the work index is displayed on the face 4 of the tunnel 1 as the work index, but it may be displayed on other display objects. For example, the work index may be displayed on a building.

[0056] FIG. 10 schematically shows the operation of installing the floor slab 111 on the steel girder 110. In this aspect, the model data storage unit 22 stores BIM / CIM data. The standard index 12 is projected onto the steel girder 110 and the floor slab 111 by irradiating light from the projection device 11 or the like. Alternatively, the standard index 12 may be installed by a reflecting material that reflects visible light or the like. The position specifying unit 30 specifies the position of the standard index 12 and specifies the display position of the work index 112. The display control unit 31 displays the work index 112 at the specified display position on the display unit 25. Also, a work index 113 is displayed on the floor slab 111. The work index 113 may be image-recognized using the image data obtained by imaging the floor slab 111 and superimposed on the actual image of the end face or the like of the floor slab 111, or may be constituted by a reflecting material that reflects visible light or the like. The operator operates a construction machine (not shown) while aligning the work index 112 of the steel girder 110 and the work index 113 of the floor slab 111 to install the floor slab 111 on the steel girder 110.

[0057] Also, as another aspect, when driving a pile into the support layer, the position of the pile hole may be superimposed on the real image of the support layer as a working index and displayed on the display unit 25. In this case, the imaging device 23 may image the standard index displayed on the support layer to identify the position of the standard index. The display control unit 31 may identify the target position for driving the pile hole based on the position of the standard index and display the working index so as to superimpose it on the target position.

[0058] ·In the above embodiment, the working index is displayed on the display unit 25. In addition to this, the display system 20 may include an external data acquisition unit 32 that acquires information about workers such as the operator and other workers at the work site, and the display control unit 31 may display information about workers such as the operator and other workers on the display unit 25. In this aspect, the external data acquisition unit 32 corresponds to the worker information acquisition unit.

[0059] Specifically, as shown in FIG. 11, the worker biometric information 120 acquired from a sensor or the like that can measure biometric information and is worn by a worker such as an operator or other workers may be displayed on the display unit 25. Further, the external data acquisition unit 32 may acquire detection data from a sensor that measures the working environment. The working environment data includes data acquired from a temperature sensor, a humidity sensor, and a sensor that detects the amount of dust. The display control unit 31 may display the detection information 121 based on the working environment data on the display unit 25. According to this, while the operator proceeds with the work using the construction machine 2, the operator can grasp the state of workers such as the operator and other workers at the work site.

Explanation of reference numerals

[0060] 2... Construction machine, 4... Face as the work object, 11... Projection device, 20... Display system, 21... Control unit, 22... Model data storage unit, 23... Imaging device, 25... Display unit, 12, 12A to 12D... Standard index, 50, 50A, 50B, 106 to 109, 112, 113... Working index.

Claims

1. A display unit having transparency and located between an operator of a construction machine and a work object, a model data storage unit storing standard position data in which the positions of a plurality of standard indicators set for the work object are represented by three-dimensional coordinates in an absolute coordinate system, and work indicator data in which the positions of work indicators used for the work of the construction machine are represented by three-dimensional coordinates in the absolute coordinate system, an imaging unit that images the display unit, a position specifying unit that specifies the display position of the work indicator according to the work indicator data in the display coordinate system set for the display unit by using the imaging data imaged by the imaging unit at the work site where the work object exists and the standard position data, a display control unit that displays the work indicator on the display unit so as to overlap the real image of the work object visually recognized by the operator through the display unit, and the position specifying unit specifies the coordinates of the standard indicator in the display coordinate system by using the imaging data in which the work object, the standard indicator, and the display unit are imaged in an overlapped state, obtains a conversion formula for converting the coordinates in the absolute coordinate system into the coordinates in the display coordinate system based on the coordinates of the standard indicator in the display coordinate system and the three-dimensional coordinates of the standard indicator in the absolute coordinate system, and converts the three-dimensional coordinates of the work indicator in the absolute coordinate system into the coordinates in the display coordinate system by using the conversion formula, the display control unit displays the work indicator at the position of the coordinates in the converted display coordinate system in the display unit A display system.

2. further comprising a detection device that detects the position of the operator's eyes, the display control unit converts the image displayed on the display unit into an image seen from the detected eye position The display system according to claim 1.

3. further comprising an external data acquisition unit that acquires at least one of the control data of the construction machine and the detection data detected by an external device installed at the work site as external data, the display control unit changes the display mode of the work indicator based on the external data The display system according to claim 1 or 2.

4. The work indicator is an indicator indicating a work position on the work object of the construction machine The display system according to any one of claims 1 to 3.

5. further comprising a worker information acquisition unit that acquires information about workers including the operator at the work site, the display control unit displays the information of the worker on the display unit The display system according to any one of claims 1 to 4.

6. A display unit having transparency, which is located between an operator of a construction machine and a work object, A model data storage unit storing standard position data in which the positions of a plurality of standard indicators set for the work object are represented by three-dimensional coordinates in an absolute coordinate system, and work indicator data in which the positions of work indicators used for the work of the construction machine are represented by three-dimensional coordinates in the absolute coordinate system, An imaging unit that images the display unit, A display control method using a control unit that displays the work indicator on the display unit by using imaging data captured by the imaging unit at a work site where the work object exists and the standard position data, The control unit, Using the imaging data captured in a state where the work object, the standard indicator, and the display unit are superimposed, to specify the coordinates of the standard indicator in the display coordinate system set for the display unit, Based on the coordinates of the standard indicator in the display coordinate system and the three-dimensional coordinates of the standard indicator in the absolute coordinate system, obtaining a conversion formula for converting the coordinates in the absolute coordinate system to the coordinates in the display coordinate system, and using the conversion formula to convert the three-dimensional coordinates of the work indicator in the absolute coordinate system to the coordinates in the display coordinate system, In the display unit, at the coordinates in the converted display coordinate system, the work indicator is displayed so as to be superimposed on the real image of the work object visually recognized by the operator through the display unit Display control method.

7. A display unit having transparency, which is located between an operator of a construction machine and a work object, A model data storage unit storing standard position data in which the positions of a plurality of standard indicators set for the work object are represented by three-dimensional coordinates in an absolute coordinate system, and work indicator data in which the positions of work indicators used for the work of the construction machine are represented by three-dimensional coordinates in the absolute coordinate system, An imaging unit that images the display unit, A display control program using a control unit that displays the work indicator on the display unit by using imaging data captured by the imaging unit at a work site where the work object exists and the standard position data, The control unit, Using the imaging data captured in a state where the work object, the standard indicator, and the display unit are superimposed, to specify the coordinates of the standard indicator in the display coordinate system set for the display unit, Based on the coordinates of the standard index in the said display coordinate system and the three-dimensional coordinates of the standard index in the said absolute coordinate system, obtain a conversion formula for converting the coordinates of the absolute coordinate system into the coordinates of the display coordinate system, and use the said conversion formula to convert the three-dimensional coordinates of the said working index in the absolute coordinate system into the coordinates of the display coordinate system. Among the said display units, function as means for displaying the working index so as to overlap the real image of the said working object visually recognized by the operator through the said display unit on the coordinates of the converted display coordinate system. Display control program.

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