Construction management system, data processing device, and construction management method

Abstract

To minimize construction efficiency reduction at a construction site.SOLUTION: A construction management system is provided, comprising: an output unit for displaying remotely controllable work machines on a display unit; a selection data acquisition unit for acquiring machine selection data indicating that a work machine was specified; and a remote operation authorization unit configured to authorize start of remote operation of the work machine based on the machine selection data.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a construction management system, a data processing device, and a construction management method. [Background technology]

[0002] BACKGROUND ART In the technical field of construction management systems, a remote control system such as that disclosed in Patent Document 1 is known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-160741 Summary of the Invention [Problem to be solved by the invention]

[0004] When there are multiple work machines at a construction site, if it were possible to arbitrarily select the work machine to be remotely operated according to the situation at the construction site, it may be possible to prevent a decline in construction efficiency at the construction site.

[0005] The present disclosure aims to suppress a decrease in construction efficiency at a construction site. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a construction management system comprising an output unit that displays remotely operable work machines on a display device, a selection data acquisition unit that acquires machine selection data indicating that a work machine has been designated, and a remote operation permission unit that permits the start of remote operation of the work machine based on the machine selection data. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to suppress a decrease in construction efficiency at a construction site. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a construction management system according to an embodiment. [Figure 2] FIG. 2 is a perspective view showing the hydraulic excavator according to the embodiment. [Figure 3] FIG. 3 is a perspective view showing the crawler dump truck according to the embodiment. [Figure 4] FIG. 4 is a functional block diagram showing the construction management system according to the embodiment. [Figure 5] FIG. 5 is a flowchart showing the construction management method according to the embodiment. [Figure 6] FIG. 6 is a diagram showing current topographical data according to the embodiment. [Figure 7] FIG. 7 is a diagram showing a display example of the display device according to the embodiment. [Figure 8] FIG. 8 is a diagram showing a display example of the display device according to the embodiment. [Figure 9] FIG. 9 is a diagram showing a display example of the display device according to the embodiment. [Figure 10] FIG. 10 is a diagram showing a display example of the display device according to the embodiment. [Figure 11] FIG. 11 is a diagram showing a display example of the display device according to the embodiment. [Figure 12] FIG. 12 is a block diagram illustrating a computer system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [Construction management system] FIG. 1 is a schematic diagram showing a construction management system 1 according to an embodiment. The construction management system 1 manages construction at a construction site 2. A plurality of work machines 20 operate at the construction site 2. In the embodiment, the work machines 20 include a hydraulic excavator 21, a bulldozer 22, and a crawler dump truck 23. The work machines 20 may also include a wheel loader. In addition, a human WM is present at the construction site 2. An example of the human WM is a worker working at the construction site 2. In addition, the human WM may be a supervisor who manages the construction. The human WM may also be an observer.

[0011] As shown in FIG. 1, the construction management system 1 includes a management device 3, a server 4, an information terminal 5, a detection device 9, and a detection device 12.

[0012] The management device 3 includes a computer system that is placed at the construction site 2. The management device 3 is supported by a traveling device 6. The management device 3 can travel at the construction site 2 by the traveling device 6. Examples of the traveling device 6 include an aerial work vehicle, a truck, and a traveling robot. The server 4 is a data processing device that includes a computer system. The server 4 may be placed at the construction site 2 or at a remote location from the construction site 2. The information terminal 5 is a computer system that is placed at a remote location 13 from the construction site 2. Examples of the information terminal 5 include a personal computer or a smartphone. The management device 3, the server 4, and the information terminal 5 communicate via a communication system 10. Examples of the communication system 10 include the Internet, a local area network (LAN), a mobile phone communication network, and a satellite communication network.

[0013] The detection device 9 detects the construction site 2. The detection device 9 acquires three-dimensional data of the construction site 2. Examples of detection targets of the detection device 9 include the topography of the construction site 2 and objects present at the construction site 2. The objects include one or both of movable and stationary objects. Examples of movable objects include a work machine 20 and a person WM. Examples of stationary objects include wood or materials.

[0014] The three-dimensional data acquired by the detection device 9 includes image data of the construction site 2. The image data acquired by the detection device 9 may be video data or still image data. An example of the detection device 9 is a stereo camera. The detection device 9 may include a monocular camera and a three-dimensional measuring device. An example of the three-dimensional measuring device is a laser sensor (LIDAR: Light Detection and Ranging) that detects an object by emitting laser light. The three-dimensional measuring device may be an infrared sensor that detects an object by emitting infrared light or a radar sensor (RADAR: Radio Detection and Ranging) that detects an object by emitting radio waves.

[0015] The detection device 9 is mounted on an air vehicle 8. An example of the air vehicle 8 is an unmanned aerial vehicle (UAV) such as a drone. The detection device 9 detects the construction site 2 from above the construction site 2.

[0016] In the embodiment, the aircraft 8 and the management device 3 are connected by a cable 7. The detection data of the detection device 9 is transmitted to the management device 3 via the cable 7. The detection data of the detection device 9 transmitted to the management device 3 is transmitted to the server 4 via the communication system 10.

[0017] In an embodiment, the management device 3 includes a power source or a generator, and can supply power to the air vehicle 8 via a cable 7.

[0018] The detection device 12 detects the construction site 2. Similar to the detection device 9, the detection device 12 acquires three-dimensional data of the construction site 2. The three-dimensional data acquired by the detection device 12 includes image data of the construction site 2.

[0019] The detection device 12 is mounted on the aircraft 11. The detection device 12 detects the construction site 2 from above the construction site 2. No cable is connected to the aircraft 11. The detection data of the detection device 12 is transmitted to the server 4 via the communication system 10.

[0020] The aircraft 11 can fly higher in the sky than the aircraft 8. The aircraft 11 can fly over a wider area than the aircraft 8. The detection device 12 can detect a wider area of ​​the construction site 2 than the detection device 9. In the embodiment, the detection device 12 detects the entire construction site 2. The detection device 9 detects a part of the construction site 2.

[0021] [Work machinery] Fig. 2 is a perspective view showing a hydraulic excavator 21 according to an embodiment. As shown in Fig. 2, the hydraulic excavator 21 includes a traveling body 24, a revolving body 25 supported by the traveling body 24, a work implement 26 supported by the revolving body 25, and a hydraulic cylinder 27 that drives the work implement 26.

[0022] The running body 24 has a pair of tracks. The hydraulic excavator 21 can travel on the construction site 2 by using the running body 24. The revolving body 25 revolves while being supported by the running body 24. The work implement 26 includes a boom 26A connected to the revolving body 25, an arm 26B connected to the boom 26A, and a bucket 26C connected to the arm 26B. The hydraulic cylinder 27 includes a boom cylinder 27A that operates the boom 26A, an arm cylinder 27B that operates the arm 26B, and a bucket cylinder 27C that operates the bucket 26C.

[0023] The hydraulic excavator 21 operates. Examples of the operations of the hydraulic excavator 21 include a traveling operation of the traveling body 24, a rotating operation of the rotating body 25, a raising and lowering operation of the boom 26A, an excavating operation and a dumping operation of the arm 26B, and an excavating operation and a dumping operation of the bucket 26C.

[0024] 3 is a perspective view showing the crawler dump truck 23 according to the embodiment. As shown in FIG. 3, the crawler dump truck 23 has a traveling body 28, a vehicle body 29, and a dump truck body 30.

[0025] The running body 28 has a pair of tracks. The crawler dump 23 can travel around the construction site 2 using the running body 28. The dump body 30 is a member onto which a load is loaded. The hydraulic excavator 21 can load a load into the dump body 30 using the work implement 26. The dump body 30 can be raised by a hoist cylinder (not shown) to discharge the load.

[0026] The crawler dump truck 23 operates. Examples of the operation of the crawler dump truck 23 include the traveling operation of the traveling body 28, and the lowering operation and dumping operation of the dump truck body 30.

[0027] [server] 4 is a functional block diagram showing a construction management system 1 according to an embodiment. As shown in FIG. 4, the construction management system 1 includes an aircraft 8, an aircraft 11, a management device 3 disposed at a construction site 2, a server 4, and an information terminal 5 disposed at a remote location 13 of the construction site 2.

[0028] The flying object 8 has a position sensor 14 , an attitude sensor 15 , and a detection device 9 .

[0029] The position sensor 14 detects the position of the aircraft 8. The position sensor 14 detects the position of the aircraft 8 using a global navigation satellite system (GNSS). The position sensor 14 includes a GNSS receiver (GNSS sensor) and detects the position of the aircraft 8 in a global coordinate system. The attitude sensor 15 detects the attitude of the aircraft 8. An example of the attitude sensor 15 is an inertial measurement unit (IMU).

[0030] The flying object 11 has a position sensor 16 , an attitude sensor 17 , and a detection device 12 .

[0031] The position sensor 16 includes a GNSS receiver and detects the position in a global coordinate system of the flying object 11. The attitude sensor 17 detects the attitude of the flying object 11. An example of the attitude sensor 17 is an inertial measurement unit (IMU).

[0032] The information terminal 5 has an input device 51 and a display device 52 .

[0033] The input device 51 is operated by an administrator present at the remote location 13. The input device 51 generates input data based on the administrator's operation. Examples of the input device 51 include a touch panel, a computer keyboard, a mouse, and operation buttons. The input device 51 may be a non-contact input device including an optical sensor, or may be a voice input device.

[0034] The display device 52 displays the display data. The administrator at the remote location 13 can check the display data displayed on the display device 52. Examples of the display device 52 include a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OLED).

[0035] The server 4 has a current terrain data creation unit 41, a detection data acquisition unit 42, a recognition unit 43, a reflection unit 44, an output unit 45, a selected data acquisition unit 46, a remote operation permission unit 47, a remote operation command unit 48, a current terrain memory unit 61, a work type memory unit 62, a work object memory unit 63, and a 3D model memory unit 64.

[0036] The current terrain data creation unit 41 creates current terrain data that indicates the current terrain of the construction site 2 where the work machine 20 is operating. The current terrain data is three-dimensional terrain data that indicates the current terrain of the construction site 2. The current terrain includes the reference terrain before the specified construction work began.

[0037] The current terrain data creation unit 41 creates current terrain data based on the detection data of the detection device 12. As described above, the detection device 12 detects the entire construction site 2. The current terrain data indicates the current terrain of the entire construction site 2.

[0038] In the embodiment, the detection device 12 detects the construction site 2 at a first frequency. The detection device 12 detects the construction site 2 only once, for example, before the start of work each day. The detection device 12 detects the current topography, which indicates the reference topography before a specified construction work is started at the construction site 2. The current topography data creation unit 41 creates current topography data at a first frequency. The current topography data created by the current topography data creation unit 41 is stored in the current topography memory unit 61. The current topography data stored in the current topography memory unit 61 is updated at a first frequency.

[0039] The timing when the detection device 12 detects the construction site 2 is not limited to before the start of work in a day, but may be any timing.

[0040] The detection data acquisition unit 42 acquires detection data from the detection device 9 that detected the work machine 20 and the construction area around the work machine 20.

[0041] As described above, the detection device 9 detects a portion of the construction site 2. The portion of the construction site 2 detected by the detection device 9 includes the work machine 20 performing work. The portion of the construction site 2 detected by the detection device 9 includes the construction area around the work machine 20 performing work. An example of a construction area detected by the detection device 9 is a construction area where construction is progressing by the work machine 20.

[0042] In the embodiment, the detection device 9 detects the construction site 2 at a second frequency that is higher than the first frequency. The detection device 9 continuously detects the construction site 2 for, for example, a fixed period of time. The detection device 9 continuously detects the construction site 2 for, for example, a period during which work is being carried out by the work machine 20. Note that the detection device 9 may also detect the construction site 2 at all times. The detection data acquisition unit 42 acquires detection data from the detection device 9 at the second frequency. The detection data acquired by the detection data acquisition unit 42 is updated more frequently than the current topography data.

[0043] The recognition unit 43 recognizes objects at the construction site 2 based on the detection data acquired by the detection data acquisition unit 42. As described above, examples of objects include the work machine 20 and the person WM.

[0044] The recognition unit 43 recognizes an object by using artificial intelligence (AI) that analyzes input data using an algorithm and outputs output data. The input data is image data of the construction site 2 acquired by the detection device 9, and the output data is the object.

[0045] The recognition unit 43 holds a learning model generated by learning the feature amounts of an object. The learning model includes a learning model generated by learning the feature amounts of the work machine 20 and a learning model generated by learning the feature amounts of the human WM. In generating the learning model, machine learning is performed using training images including the object as training data, thereby generating a learning model that inputs the feature amounts of the object and outputs the object. The recognition unit 43 can input image data of the construction site 2 acquired by the detection device 9 into the learning model to recognize the object.

[0046] The reflection unit 44 generates reflection data that reflects the detection data acquired by the detection data acquisition unit 42 in the current terrain data. The current terrain data is three-dimensional terrain data of the entire construction site 2 detected by the detection device 12 at a first frequency. The detection data includes three-dimensional terrain data of the construction area, which is a part of the construction site 2 detected by the detection device 9 at a second frequency. The detection data acquired by the detection data acquisition unit 42 is sequentially updated at the second frequency. The reflection unit 44 sequentially reflects the detection data acquired by the detection data acquisition unit 42 in a part of the current terrain data at the second frequency. At least a part of the current terrain data is sequentially updated by the detection data acquired by the detection data acquisition unit 42.

[0047] The detection data acquired by the detection data acquisition unit 42 includes updated terrain data that indicates the updated terrain of the construction area. The updated terrain includes the latest terrain during or after construction. The updated terrain data is updated at a second frequency. The reflection unit 44 reflects the updated terrain data acquired by the detection data acquisition unit 42 in the current terrain data stored in the current terrain memory unit 61.

[0048] The detection data acquired by the detection data acquisition unit 42 includes non-terrain data that indicates objects at the construction site 2. The non-terrain data is three-dimensional data that indicates objects at the construction site 2. The non-terrain data is updated at a second frequency. The reflection unit 44 reflects the non-terrain data acquired by the detection data acquisition unit 42 in the current terrain data stored in the current terrain memory unit 61.

[0049] In the embodiment, the reflecting unit 44 reflects updated terrain data of the construction area, in which non-terrain data has been removed from the detection data acquired by the detection data acquiring unit 42, into the current terrain data. The non-terrain data indicating an object is recognized by the recognizing unit 43. The reflecting unit 44 removes the non-terrain data from the detection data to generate updated terrain data. Furthermore, if an object is present at the construction site 2, the reflecting unit 44 generates reflection data in which the object is reflected.

[0050] The reflection data generated by the reflection unit 44 includes updated topographical data of the construction area.

[0051] The reflection data generated by the reflection unit 44 includes the object recognized by the recognition unit 43 .

[0052] The reflection data generated by the reflection unit 44 includes a three-dimensional model of the work machine 20 recognized by the recognition unit 43. The three-dimensional model of the work machine 20 includes computer graphics (CG) of the work machine 20.

[0053] The 3D model of the work machine 20 is a 3D model that represents the work machine 20, and is constructed for each part that makes up the work machine 20, such as the running body 24, the rotating body 25, and the work implement 26. The 3D model of the work machine 20 is stored in advance in the 3D model storage unit 64.

[0054] The reflection data generated by the reflection unit 44 includes a symbol image indicating the position of the object. The symbol image is image data that emphasizes the position of the object. The reflection unit 44 generates the symbol image based on the recognition result of the recognition unit 43.

[0055] The output unit 45 outputs the reflection data generated by the reflection unit 44 to the information terminal 5. The output unit 45 transmits the reflection data to the information terminal 5 via the communication system 10.

[0056] The output unit 45 displays the reflected data generated by the reflection unit 44 on the display device 52. The output unit 45 displays the remotely controllable work machine 20 on the display device 52. The output unit 45 displays the reflected data that reflects the updated terrain data, together with the work machine 20, on the display device 52. The output unit 45 displays a three-dimensional model of the work machine 20 on the display device 52.

[0057] The selection data acquisition unit 46 acquires machine selection data indicating that a work machine 20 to be remotely operated has been designated from among the work machines 20 displayed on the display device 52. The manager at the remote location 13 can operate the input device 51 to designate the work machine 20 to be remotely operated. Machine selection data is generated by operating the input device 51. The selection data acquisition unit 46 acquires from the input device 51 machine selection data indicating that a work machine 20 to be remotely operated has been designated.

[0058] The remote operation permission unit 47 permits the start of remote operation of the work machine 20 based on the machine selection data acquired by the selection data acquisition unit 46.

[0059] The remote operation command unit 48 transmits a remote operation command to the work machine 20 that has been permitted to start remote operation.

[0060] The work type storage unit 62 stores work types corresponding to each of the multiple work machines 20.

[0061] The work object storage unit 63 stores work objects corresponding to each of a plurality of work types.

[0062] The three-dimensional model storage unit 64 stores a three-dimensional model of the work machine 20.

[0063] [Relationship between detection devices and 3D data] As described above, the aircraft 8 is equipped with a position sensor 14 and an attitude sensor 15. The position sensor 14 can detect the position of the detection device 9. The attitude sensor 15 can detect the attitude of the detection device 9. The attitude sensor 15 can detect the attitude of the detection device 9. The attitude includes, for example, a roll angle, a pitch angle, and a yaw angle. The yaw angle may be calculated based on detection data from two GNSS sensors provided on the aircraft 8. The detection device 9 detects three-dimensional data of the construction site 2. The three-dimensional data of the construction site 2 includes the relative distance and relative position between the detection device 9 and each of multiple detection points defined on the detection target. The recognition unit 43 and the reflection unit 44 can calculate the position of the three-dimensional data of the detection target in, for example, a global coordinate system based on the detection data of the position sensor 14, the detection data of the attitude sensor 15, and the detection data of the detection device 9. Furthermore, the recognition unit 43 and the reflection unit 44 can perform a predetermined coordinate transformation to calculate the position of the three-dimensional data of the detection target in, for example, a local coordinate system defined on the construction site 2. The detection targets of the detection device 9 include the updated terrain and objects.

[0064] Similarly, the current terrain data creation unit 41 can calculate the position of the three-dimensional data of the detection target in, for example, a local coordinate system defined for the construction site 2, based on the detection data of the position sensor 16, the detection data of the attitude sensor 17, and the detection data of the detection device 12. The detection target of the detection device 12 includes the current terrain.

[0065] The recognition unit 43 can recognize the presence or absence of an object and the position of the object based on the detection data acquired by the detection data acquisition unit 42.

[0066] For example, when recognizing the position of the person WM, the recognition unit 43 recognizes the person WM based on a two-dimensional image acquired by the monocular camera of the detection device 9. The recognition unit 43 also acquires three-dimensional topographical data of the construction site 2. The recognition unit 43 can recognize the position of the person WM at the construction site 2 based on the person WM recognized based on the two-dimensional image. For example, the person WM recognized based on the two-dimensional image acquired by two monocular cameras constituting a stereo camera can be subjected to image processing based on the principle of triangulation to calculate the three-dimensional position of the person WM and correspond it to the three-dimensional topographical data of the construction site 2, thereby recognizing the position of the person WM at the construction site 2. The recognition unit 43 may also recognize the position of the person WM from the three-dimensional data of the construction site 2. The recognition unit 43 may also recognize the position of the person WM based on detection data from a position sensor carried by the person WM. For example, if the person WM carries a smartphone equipped with a GNSS sensor, the recognition unit 43 can recognize the position of the person WM based on the detection data of the smartphone's GNSS sensor. The position sensor carried by the person WM may be a beacon. The position of the person WM at the construction site 2 may be estimated by geometric calculation from the coordinates on the two-dimensional image of the person WM recognized based on the two-dimensional image, the three-dimensional position and orientation of the detection device 9, and the three-dimensional topographical data.

[0067] Furthermore, the recognition unit 43 can recognize the operation of the work machine 20 based on the detection data acquired by the detection data acquisition unit 42. The hydraulic excavator 21 can operate the running body 24, the rotating body 25, and the work implement 26. The crawler dump truck 23 can operate the running body 28 and the dump body 30. The reflection unit 44 can move the three-dimensional model in synchronization with the work machine 20.

[0068] [Construction management method] 5 is a flowchart showing a construction management method according to the embodiment. The current topography data creation unit 41 creates current topography data of the construction site 2 where the work machine 20 operates (step S1).

[0069] 6 is a diagram showing current terrain data according to the embodiment. The current terrain data is three-dimensional terrain data that shows the current terrain of the entire construction site 2. The current terrain data creation unit 41 acquires detection data from the detection device 12. The current terrain data creation unit 41 creates current terrain data based on the detection data from the detection device 12.

[0070] The current terrain data created by the current terrain data creation unit 41 is stored in the current terrain storage unit 61. The output unit 45 can transmit the current terrain data to the information terminal 5. The display device 52 can display the current terrain as shown in Fig. 6.

[0071] When the work machine 20 starts working at the construction site 2, the topography of the construction site 2 changes. The detection device 9 mounted on the aircraft 8 detects the construction site 2. The detection device 9 detects, for example, the work machine 20 performing work and the construction area around the work machine 20. The detection data of the detection device 9 is transmitted to the management device 3 via the cable 7. The management device 3 transmits the detection data of the detection device 9 to the server 4. The detection data acquisition unit 42 acquires the detection data of the detection device 9 that detected the work machine 20 and the construction area around the work machine 20 (step S2).

[0072] The recognition unit 43 recognizes that an object exists at the construction site 2 based on the detection data acquired by the detection data acquisition unit 42 (step S3).

[0073] The reflection unit 44 reflects the detection data acquired by the detection data acquisition unit 42 on the current terrain data stored in the current terrain storage unit 61 to generate reflected data. The detection data acquired by the detection data acquisition unit 42 includes updated terrain data of the construction area that indicates a part of the construction site 2. The reflection unit 44 reflects the updated terrain data on the current terrain data.

[0074] For example, when a part of the construction site 2 is excavated by the hydraulic excavator 21, the detection data including the excavation location is acquired by the detection data acquisition unit 42 as updated terrain data. The updated terrain data includes the excavation location excavated by the hydraulic excavator 21. The reflection unit 44 combines a part of the current terrain data with the updated terrain data. The reflection unit 44 applies the updated terrain data to a part of the current terrain data. As a result, reflected data that reflects the updated terrain data including the excavation location is generated.

[0075] The detection data acquired by the detection data acquisition unit 42 includes updated terrain data for the construction area. The reflection unit 44 reflects the updated terrain data in the current terrain data to generate reflected data. The reflection unit 44 also generates reflected data that reflects the object.

[0076] The output unit 45 outputs the reflection data generated by the reflection unit 44 to the information terminal 5. The display device 52 displays the reflection data transmitted from the output unit 45.

[0077] FIG. 7 is a diagram showing a display example of the display device 52 according to the embodiment. As shown in FIG. 7, the display device 52 can display reflected data. The reflected data includes image data of the construction area. For example, as construction progresses in the construction area, at least a portion of the topography of the construction site 2 changes, as shown in FIG. 7. In the example shown in FIG. 7, an excavation point is generated in the construction area by the excavation work of the hydraulic excavator 21. The detection data acquired by the detection data acquisition unit 42 includes updated topography data of the construction area. The reflection unit 44 reflects changes in the topography of the construction site 2 in real time to the current topography. The reflection unit 44 reflects the updated topography data in real time to the current topography data. As shown in FIG. 7, the display device 52 can display reflected data in which the excavation point is reflected. By checking the reflected data displayed on the display device 52, the manager at the remote location 13 can recognize the progress of construction at the construction site 2 in real time.

[0078] 7, the following objects exist in the construction area: a hydraulic excavator 21, a crawler dump truck 23, a management device 3, an air vehicle 8, and a person WM. The reflected data includes three-dimensional terrain data in which updated terrain data is reflected in part of the current terrain data. The reflected data includes a three-dimensional model of the work machine 20 recognized by the recognition unit 43. In the example shown in FIG. 7, the three-dimensional model of the work machine 20 includes a three-dimensional model 21D of the hydraulic excavator 21, a three-dimensional model 23D of the crawler dump truck 23, a three-dimensional model 3D of the management device 3, and a three-dimensional model 8D of the air vehicle 8.

[0079] When a three-dimensional model of the work machine 20 is displayed on the display device 52, the recognition unit 43 calculates the position (three-dimensional position) and attitude of the work machine 20 based on the detection data of the detection device 12 acquired by the detection data acquisition unit 42. The attitude of the work machine 20 includes the inclination of the revolving unit 25 with respect to the horizontal plane and the swing angle of the revolving unit 25 with respect to the traveling unit 24. The attitude of the work machine 20 also includes the angle of the work implement 26. The angle of the work implement 26 includes the angle of the boom 26A, the angle of the arm 26B, and the angle of the bucket 26C. The detection data of the detection device 12 includes images acquired by a stereo camera. Therefore, the recognition unit 43 can calculate the three-dimensional position and attitude of the work machine 20 based on the detection data of the detection device 12. The reflection unit 44 adjusts the three-dimensional model stored in the three-dimensional model storage unit 64 so that the three-dimensional model is placed at the position calculated by the recognition unit 43 and has the attitude calculated by the recognition unit 43, and generates reflection data.

[0080] As described above, the 3D model of the work machine 20 is constructed for each part that constitutes the work machine 20, such as the running body 24, the rotating body 25, and the work implement 26. The reflection unit 44 adjusts the 3D model by changing the angles of corresponding parts of the 3D model based on the angle of the boom 26A, the angle of the arm 26B, the angle of the bucket 26C, and the rotation angle of the rotating body 25.

[0081] The output unit 45 outputs the reflection data including the three-dimensional model generated by the reflection unit 44 to the display device 52.

[0082] If the revolving unit 25 of the work machine 20 is equipped with two GNSS sensors, the recognition unit 43 may calculate the position of the work machine 20 based on detection data from one of the GNSS sensors. The recognition unit 43 may also calculate the tilt and rotation angle of the revolving unit 25 based on detection data from each of the two GNSS sensors. If a stroke sensor is provided on each of the boom cylinder 27A, arm cylinder 27B, and bucket cylinder 27C, the recognition unit 43 may calculate the angle of the work implement 26 based on detection data from the stroke sensors.

[0083] For example, when a three-dimensional model of the aircraft 8 is displayed on the display device 52, the recognition unit 43 can calculate the position of the aircraft 8 based on detection data from at least one of two GNSS sensors mounted on the aircraft 8. The recognition unit 43 can also calculate the inclination of the aircraft 8 based on the detection data from each of the two GNSS sensors. If the aircraft 8 is equipped with an inertial measurement unit (IMU), the recognition unit 43 may calculate the inclination of the aircraft 8 based on detection data from the inertial measurement unit. The recognition unit 43 stores a three-dimensional model of the aircraft 8. The recognition unit 43 adjusts the stored three-dimensional model so that the model is placed at the calculated position and has the calculated inclination, and displays the adjusted three-dimensional model on the display device 52.

[0084] The reflected data includes a symbol image indicating the position of an object. In the example shown in Fig. 7, the reflected data includes a symbol image 31 indicating the position of the hydraulic excavator 21, a symbol image 32 indicating the position of the crawler dump truck 23, a symbol image 33 indicating the position of the management device 3, and a symbol image 34 indicating the position of the person WM. Note that the reflected data may include at least one of the symbol image 31, the symbol image 32, the symbol image 33, and the symbol image 34.

[0085] The reflection unit 44 can generate a symbol image 31 based on the position of the hydraulic excavator 21 recognized by the recognition unit 43. In the example shown in FIG. 7 , the symbol image 31 is in the shape of a frame (box) surrounding the three-dimensional model 21D. The reflection unit 44 generates the reflection data so that the three-dimensional model 21D of the hydraulic excavator 21 and the symbol image 31 are displayed superimposed on each other. The symbol image 31 may be displayed adjacent to the three-dimensional model 21D. By highlighting the three-dimensional model 21D with the symbol image 31, the manager at the remote location 13 can smoothly recognize the presence of the hydraulic excavator 21. The shape of the symbol image 31 is arbitrary as long as it can highlight the hydraulic excavator 21. It is also possible for the symbol image 31 to be displayed without the three-dimensional model 21D being displayed.

[0086] Similarly, the reflection unit 44 can generate a symbol image 32 based on the position of the crawler dump truck 23 recognized by the recognition unit 43. The reflection unit 44 can generate a symbol image 33 based on the position of the management device 3 recognized by the recognition unit 43. The reflection unit 44 generates a symbol image 34 based on the position of the person WM recognized by the recognition unit 43.

[0087] In the embodiment, the hydraulic excavator 21 and the crawler dump truck 23 are each a remotely controllable work machine 20. The output unit 45 displays the remotely controllable work machines 20 on the display device 52. The remotely controllable work machines 20 displayed on the display device 52 include the hydraulic excavator 21 (first work machine) and the crawler dump truck 23 (second work machine) (step S4).

[0088] The manager at the remote location 13 operates the input device 51 to specify the work machine 20 to be remotely operated from the work machines 20 displayed on the display device 52 .

[0089] Fig. 8 is a diagram showing a display example of the display device 52 according to the embodiment. In the embodiment, the input device 51 includes a mouse that operates a pointer that moves on the display screen of the display device 52. In the example shown in Fig. 8, the administrator specifies a three-dimensional model 21D representing the hydraulic excavator 21 via the input device 51. When the three-dimensional model 21D is selected, the symbol image 31 is highlighted.

[0090] When a command for three-dimensional model 21D is issued, the display form of three-dimensional model 21D may be changed. For example, when a command for three-dimensional model 21D is issued, the color of three-dimensional model 21D may be changed, or the line type of the frame indicating three-dimensional model 21D may be changed.

[0091] The selection data acquisition unit 46 acquires machine selection data indicating that the hydraulic excavator 21 has been designated (step S5).

[0092] The output unit 45 causes the display device 52 to display the work type corresponding to the specified hydraulic excavator 21 (step S6).

[0093] The work type of a work machine 20 refers to the type of operation or work that the work machine 20 can perform. Work types corresponding to the work machines 20 are determined in advance and stored in the work type storage unit 62. The work type storage unit 62 stores work types corresponding to each of the multiple work machines 20. In the embodiment, the work type storage unit 62 stores work types for each work machine, such as a work type corresponding to the hydraulic excavator 21, a work type corresponding to the bulldozer 22, and a work type corresponding to the crawler dump truck 23.

[0094] The output unit 45 outputs a signal for displaying the work type on the display device 52 based on the machine selection data acquired by the selection data acquisition unit 46 and the data stored in the work type storage unit 62 .

[0095] In this embodiment, machine selection data indicating that the hydraulic excavator 21 has been designated is acquired by the selection data acquisition unit 46. The output unit 45 causes the display device 52 to display the work type corresponding to the hydraulic excavator 21 from among the work types of the multiple work machines 20 stored in the work type storage unit 62.

[0096] As shown in FIG. 8 , the types of work performed by the hydraulic excavator 21 are displayed as "movement," "swing," "loading," "excavation," "recovery," and "manual operation." In the embodiment, the work machine 20 is automatically operated. "Movement" refers to the automatic movement of the traveling body 24. "Swing" refers to the automatic rotation of the rotating body 25. "Loading" refers to the operation of the work equipment 26 automatically loading a load onto a loading target. "Excavation" refers to the operation of the work equipment 26 automatically excavating an excavation target. "Recovery" refers to the operation of the work equipment 26 automatically collecting loads that have fallen to the ground in one place. "Manual operation" refers to remotely operating the hydraulic excavator 21 using an operation lever provided at the remote location 13.

[0097] The manager at the remote location 13 operates the input device 51 to specify the type of work to be performed by the hydraulic excavator 21 from among the multiple work types displayed on the display device 52 .

[0098] 9 is a diagram showing a display example of the display device 52 according to the embodiment. In the example shown in FIG. 9, the operator operates the input device 51 to specify "loading".

[0099] The selection data acquisition unit 46 acquires type selection data indicating that "loading" has been designated as the type of work to be performed by the hydraulic excavator 21 (step S7).

[0100] The output unit 45 displays the work object corresponding to the specified "loading" on the display device 52 (step S8).

[0101] The work object of the work machine 20 refers to an object on which the work machine 20 performs work. Work objects corresponding to work types are determined in advance and stored in the work object memory unit 63. The work object memory unit 63 stores work objects corresponding to each of a plurality of work types. In the embodiment, the work object memory unit 63 stores a work object corresponding to "movement", a work object corresponding to "turning", a work object corresponding to "loading", a work object corresponding to "excavation", and a work object corresponding to "recovery". An example of a work object corresponding to "movement" is "destination". An example of a work object corresponding to "turning" is "destination to turn". An example of a work object corresponding to "loading" is "crawler dump" and "loading destination". An example of a work object corresponding to "excavation" is "excavation destination". An example of a work object corresponding to "recovery" is "recovery destination".

[0102] The output unit 45 outputs a signal for displaying the work object on the display device 52 based on the type selection data acquired by the selection data acquisition unit 46 and the data stored in the work object storage unit 63 .

[0103] In this embodiment, type selection data indicating that "loading" has been specified is acquired by the selection data acquisition unit 46. The output unit 45 causes the display device 52 to display the work object corresponding to "loading" from among the multiple work objects stored in the work object storage unit 63.

[0104] Examples of work objects corresponding to "loading" include "crawler dump truck" and "loading destination."

[0105] Fig. 10 is a diagram showing a display example of the display device 52 according to the embodiment. In the example shown in Fig. 10, the manager at the remote location 13 operates the input device 51 to specify, as a work target, a three-dimensional model 23D representing the crawler dump truck 23 from among the multiple work targets displayed on the display device 52. When the three-dimensional model 23D is selected, the symbol image 32 is highlighted.

[0106] The selection data acquisition unit 46 acquires target selection data indicating that the crawler dump truck 23 has been designated as the work target (step S9).

[0107] After the hydraulic excavator 21 , the work type, and the work target have been specified, the manager at the remote location 13 starts remotely operating the hydraulic excavator 21 .

[0108] 11 is a diagram showing a display example of the display device 52 according to the embodiment. In the example shown in FIG. 11, the symbol "execute" is displayed on the display device 52. The operator operates the symbol "execute" via the input device 51.

[0109] The remote operation permission unit 47 determines whether or not to permit the start of remote operation based on the specified work type and the situation around the hydraulic excavator 21 (step S10).

[0110] For example, if an obstacle is present around the hydraulic excavator 21, if there is no loading target, or if a situation occurs in which loading of a load into the dump body 30 is not possible, the remote operation permission unit 47 does not permit the start of remote operation. The recognition unit 43 can recognize obstacles based on the detection data acquired by the detection data acquisition unit 42. The recognition unit 43 can recognize obstacles by, for example, utilizing artificial intelligence. If the recognized obstacle is located around the work machine 20, the remote operation permission unit 47 does not determine to permit the start of remote operation. Furthermore, if the recognized obstacle is located between the work machine 20 and the work target, the remote operation permission unit 47 may not determine to permit the start of remote operation. Similarly, the recognition unit 43 can recognize the loading target, which is the work target, by, for example, utilizing artificial intelligence. If the loading target is not recognized, the remote operation permission unit 47 does not determine to permit the start of remote operation. Similarly, the recognition unit 43 can recognize the current load amount on the dump body 30 and the loading amount of the work machine 20 by, for example, utilizing artificial intelligence. When the recognition unit 43 recognizes that a situation has arisen in which it is not possible to load cargo onto the dump body 30 based on the current cargo amount on the dump body 30 and the loading amount of the work machine 20, the remote operation permission unit 47 does not determine to permit the start of remote operation.

[0111] In step S10, if the start of remote operation is not permitted (step S10: No), remote operation of the hydraulic excavator 21 is not performed. No remote operation command is output from the remote operation command unit 48. In step S10, if the start of remote operation is permitted (step S10: Yes), a remote operation command is transmitted from the remote operation command unit 48 to the hydraulic excavator 21 (step S11).

[0112] The hydraulic excavator 21 starts loading work onto the crawler dump truck 23 based on the remote operation command.

[0113] The reflected data displayed on the display device 52 includes a three-dimensional model 21D that moves in synchronization with the hydraulic excavator 21. As described above, the recognition unit 43 can recognize the operation of the work machine 20. The reflection unit 44 can move the three-dimensional model 21D on the display device 52 so as to synchronize with the operation of the hydraulic excavator 21, based on the operation of the hydraulic excavator 21 recognized by the recognition unit 43. When remote operation is started and the operation of the hydraulic excavator 21 begins, the three-dimensional model 21D of the hydraulic excavator 21 on the display device 52 moves in synchronization with the hydraulic excavator 21. FIG. 11 shows an example in which the boom of the three-dimensional model 21D performs a raising operation in synchronization with the raising operation of the boom 26A of the hydraulic excavator 21.

[0114] The remote control permission unit 47 determines whether the remote control has ended (step S12).

[0115] If it is determined in step S12 that the remote control has ended (step S12: Yes), the construction management method according to the embodiment ends. If it is determined in step S12 that the remote control has not ended (step S12: No), the processes from step S2 to step S11 are repeated.

[0116] For example, when the hydraulic excavator 21 has finished loading the crawler dump truck 23, the manager at the remote location 13 operates the input device 51 to switch the remotely controlled work machine 20 from the hydraulic excavator 21 to the crawler dump truck 23. The manager at the remote location 13 uses the input device 51 to specify the 3D model 23D of the crawler dump truck 23 displayed on the display device 52. When the crawler dump truck 23 is specified, the selection data acquisition unit 46 acquires machine selection data indicating that the crawler dump truck 23 has been specified (step S5). When the crawler dump truck 23 is specified, the work type corresponding to the crawler dump truck 23 is displayed on the display device 52 (step S6). Examples of work types corresponding to the crawler dump truck 23 include "entering the loading position," "leaving the loading position," and "dumping operation." The manager at the remote location 13 specifies, for example, "leaving the loading position." The selection data acquisition unit 46 acquires type selection data indicating that "leaving the loading position" has been specified (step S7). When "leaving the loading position" is specified, a work object corresponding to "leaving the loading position" is displayed on the display device 52 (step S8). Examples of work objects corresponding to "leaving the loading position" include a "first dumping position," a "second dumping position," and a "third dumping position." The manager at the remote location 13 specifies, for example, the "first dumping position." The selection data acquisition unit 46 acquires target selection data indicating that the "first dumping position" has been specified (step S9). When the "first dumping position" is specified, it is determined whether to permit the start of remote operation (step S10). For example, if an obstacle exists between the loading position and the first dumping position, the start of remote operation is not permitted. When the start of remote operation is permitted in step S10, the crawler dump truck 23 leaves the loading position and starts traveling toward the first dumping position.

[0117] Note that a remote operation command may be sent from the remote operation command unit 48 to a work machine 20, and a remote operation command may be sent to another work machine 20 before the remote operation of the work machine 20 is completed. For example, before the remote operation of the work machine 20 is completed, the other work machine 20 displayed on the display device 52 may be specified, and the work type and work target of the other work machine 20 may be specified. Also, a determination may be made as to whether or not to permit the start of remote operation of the other work machine 20.

[0118] [Computer System] FIG. 12 is a block diagram showing a computer system 1000 according to an embodiment. The server 4 described above includes the computer system 1000. The computer system 1000 includes a processor 1001 such as a central processing unit (CPU), a main memory 1002 including a nonvolatile memory such as a read-only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the server 4 described above are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, loads it into the main memory 1002, and executes the above-described processing in accordance with the program. The computer program may be distributed to the computer system 1000 via a network.

[0119] The computer program or computer system 1000 can execute the following operations in accordance with the above-described embodiment: displaying the remotely operable work machine 20 on the display device 52; acquiring machine selection data indicating that the work machine 20 has been designated; and permitting the start of remote operation of the work machine 20 based on the machine selection data.

[0120] [effect] As described above, according to the embodiment, remotely operable work machines 20 are displayed on the display device 52. The manager of the remote location 13 can specify the work machine 20 that they wish to remotely operate via the input device 51. If there are multiple work machines 20 at the construction site 2, the manager of the remote location 13 can arbitrarily select the work machine 20 to remotely operate in accordance with the situation at the construction site 2. When the work machine 20 to be remotely operated is specified, machine selection data indicating that the work machine 20 to be remotely operated has been specified is generated. When the machine selection data is generated, remote operation of the specified work machine 20 is permitted to begin. If a work machine 20 is not specified, remote operation of the work machine 20 is not permitted. The manager of the remote location 13 can arbitrarily select the work machine 20 that they wish to remotely operate in accordance with the situation at the construction site 2. This prevents a decrease in construction efficiency at the construction site 2.

[0121] When a plurality of remotely operable work machines 20 are displayed on the display device 52, if a hydraulic excavator 21 is specified, the start of remote operation of the hydraulic excavator 21 is permitted. If a crawler dump truck 23 is specified, the start of remote operation of the crawler dump truck 23 is permitted. The manager at the remote location 13 can remotely operate a plurality of work machines 20 in sequence.

[0122] The work type corresponding to the work machine 20 designated as the object of remote operation is displayed on the display device 52. This allows the manager at the remote location 13 to select a work type.

[0123] The work types corresponding to the multiple work machines 20 are pre-stored in the work type storage unit 62. Therefore, the output unit 45 can display the work types on the display device 52 based on the machine selection data and the data stored in the work type storage unit 62.

[0124] A work object corresponding to the type of work to be performed by the work machine 20 designated as the remotely operated object is displayed on the display device 52. This allows the manager at the remote location 13 to select the work object.

[0125] Work objects corresponding to each of the multiple work types are pre-stored in the work object storage unit 63. Therefore, the output unit 45 can display the work objects on the display device 52 based on the type selection data and the data stored in the work object storage unit 63.

[0126] The remote operation permission unit 47 determines whether or not to permit the start of remote operation based on the specified work type and the situation around the work machine 20. As a result, remote operation will not be started in situations where remote operation is inappropriate.

[0127] A remote operation command is sent from the remote operation command unit 48 to the work machine 20, and during the time until remote operation of the work machine 20 is completed, it is possible to specify another work machine 20 displayed on the display device 52 and specify the work type and work target of the other work machine 20. This allows for efficient remote operation of multiple work machines 20.

[0128] [Other embodiments] In the above-described embodiment, the number of remotely operable work machines 20 displayed on the display device 52 may be one. When the work machine 20 displayed on the display device 52 is specified via the input device 51, the start of remote operation of the work machine 20 is permitted. If the work machine 20 displayed on the display device 52 is not specified via the input device 51, the start of remote operation of the work machine 20 is not permitted. After the start of remote operation of the work machine 20 is permitted, the manager at the remote location 13 can remotely operate the work machine 20.

[0129] In the above-described embodiment, the manager at the remote location 13 specifies the work machine 20 to be remotely operated, specifies the work type, and specifies the work target by operating a mouse as the input device 51. For example, if a voice input device is provided in the information terminal 5, the manager at the remote location 13 may specify the work machine 20 to be remotely operated, specifies the work type, and specifies the work target by voice.

[0130] In the above-described embodiment, the output unit 45 displays the work type corresponding to the specified work machine 20 on the display device 52, and displays the work target corresponding to the specified work type on the display device 52. For example, if an audio output device is provided in the information terminal, the output unit 45 may output the work type corresponding to the specified work machine 20 to the audio output device, and may output the work target corresponding to the specified work type to the audio output device.

[0131] In the above-described embodiment, a driver may be on board the work machine 20. For example, when a driver is on board the hydraulic excavator 21, the manager at the remote location 13 can operate the input device 51 to specify a work type and a work target. The type selection data and target selection data specified by the input device 51 are transmitted to the hydraulic excavator 21 via the communication system 10. An output device that outputs the type selection data and target selection data specified by the input device 51 is disposed in the driver's cab of the hydraulic excavator 21. Examples of the output device include a monitor and a speaker. The driver of the hydraulic excavator 21 may operate the hydraulic excavator 21 based on the type selection data and target selection data specified by the input device 51. For example, when "loading" is specified and a "first dump truck" is specified as the loading target, the driver of the hydraulic excavator 21 can operate the hydraulic excavator 21 to perform loading work on the "first dump truck."

[0132] In the above-described embodiment, the recognition unit 43 recognizes the position of the work machine 20 based on detection data from the detection device 9. For example, a position sensor that detects the position of the work machine 20 may be provided on the work machine 20, and the recognition unit 43 may recognize the position of the work machine 20 based on the detection data from the position sensor.

[0133] In the above-described embodiment, the recognition unit 43 recognizes the operation of the work machine 20 based on the detection data of the detection device 9. For example, a motion sensor that detects the operation of the work machine 20 may be provided on the work machine 20, and the recognition unit 43 may recognize the operation of the work machine 20 based on the detection data of the motion sensor. Examples of the motion sensor include an angle sensor that detects the operation of the work implement 26 or a stroke sensor that detects the extension / retraction amount of the hydraulic cylinder 27.

[0134] In the above-described embodiment, the recognition unit 43 may recognize an object based on, for example, a pattern matching method without using artificial intelligence. The recognition unit 43 can recognize an object by matching a template representing a person WM with image data of the construction site 2.

[0135] In the above-described embodiment, the detection device 9 does not have to be mounted on the aircraft 8. The detection device 9 may be mounted on the work machine 20, for example, or may be attached to a structure present at the construction site 2. The same applies to the detection device 12.

[0136] In the above-described embodiment, the work type storage unit 62 is configured to store in advance the work types corresponding to each of the multiple work machines 20. Furthermore, the work object storage unit 63 is configured to store in advance the work objects corresponding to each of the multiple work types. In other embodiments, the work machine 20 may transmit information indicating the work types and the work objects corresponding to each of the multiple work types to the server 4 via the communication system 10, and the output unit 45 may display the work types and work objects on the display device 52 based on the received information.

[0137] In the above-described embodiment, the current terrain data creation unit 41, the detected data acquisition unit 42, the recognition unit 43, the reflection unit 44, the output unit 45, the selected data acquisition unit 46, the remote operation permission unit 47, the remote operation command unit 48, the current terrain memory unit 61, the work type memory unit 62, and the work target memory unit 63 may each be configured as separate hardware. For example, at least one of the functions of the current terrain data creation unit 41, the detected data acquisition unit 42, the recognition unit 43, the reflection unit 44, the output unit 45, the selected data acquisition unit 46, the remote operation permission unit 47, the remote operation command unit 48, the current terrain memory unit 61, the work type memory unit 62, and the work target memory unit 63 may be provided in the management device 3 or in a server separate from the server 4.

[0138] In the above-described embodiment, the management device 3 is supported by the traveling device 6 and can travel within the construction site 2. The management device 3 may be mounted on the work machine 20, or may be installed at a predetermined position within the construction site 2.

[0139] In the above-described embodiment, the detection device 12 detects the entire construction site 2, and the detection device 9 detects a part of the construction site 2. The detection device 9 may also detect the entire construction site 2.

[0140] In the above-described embodiment, the detection targets of the detection device 9 are not limited to the topography, the work machine 20, and the person WM of the construction site 2. In other embodiments, the detection device 9 may be configured to detect construction materials.

[0141] In the above-described embodiment, the information terminal 5 does not have to be located in the remote location 13 of the construction site 2. The information terminal 5 may be mounted on the work machine 20, for example. Furthermore, the information terminal 5 may be omitted. The progress of the construction work may be output from a monitor on the work machine 20. The monitor may include not only a display device but also an input device.

[0142] In the above-described embodiment, the output unit 45 displays the remotely operable work machines 20 on the display device 52. In other embodiments, the display device 52 may display the remotely operable work machines 20 and the non-remotely operable work machines 20.

[0143] In the above-described embodiment, the work machine 20 is not limited to the hydraulic excavator 21, the bulldozer 22, and the crawler dump truck 23. In other embodiments, the work machine 20 may include parts of the hydraulic excavator 21, the bulldozer 22, and the crawler dump truck 23. The work machine 20 may also include other types of work machines.

[0144] The above-described embodiment is not limited to detecting the position of the aircraft 8 using a Global Navigation Satellite System (GNSS) and detecting the attitude of the aircraft 8 using an inertial measurement unit. In other embodiments, the position and attitude of the aircraft 8 may be detected using Simultaneous Localization and Mapping (SLAM). Similarly, the position and attitude of the aircraft 11 and the work machine 20 may be detected using SLAM. [Explanation of symbols]

[0145] 1...construction management system, 2...construction site, 3...management device, 3D...three-dimensional model, 4...server (data processing device), 5...information terminal, 6...traveling device, 7...cable, 8...aircraft vehicle, 8D...three-dimensional model, 9...detection device, 10...communication system, 11...aircraft vehicle, 12...detection device, 13...remote location, 14...position sensor, 15...attitude sensor, 16...position sensor, 17...attitude sensor, 20...working machine, 21...hydraulic excavator, 21D...three-dimensional model, 22...bulldozer, 23...crawler dump, 23D...three-dimensional model, 24...traveling body, 25...swivel body, 26...working machine, 26A...boom, 26B...arm, 26C...bucket, 27...hydraulic cylinder, 27A...boom cylinder, 27B...arm bucket cylinder, 27C...bucket cylinder, 28...running body, 29...vehicle body, 30...dump body, 31...symbol image, 32...symbol image, 33...symbol image, 34...symbol image, 41...current terrain data creation unit, 42...detection data acquisition unit, 43...recognition unit, 44...reflection unit, 45...output unit, 46...selection data acquisition unit, 47...remote operation permission unit, 48...remote operation command unit, 51...input device, 52...display unit, 61...current terrain memory unit, 62...work type memory unit, 63...work object memory unit, 64...3D model memory unit, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface, WM...person.

Claims

1. an output unit that displays the remotely operable work machine on a display device; a selection data acquisition unit that acquires machine selection data indicating that the work machine has been designated; a remote operation permission unit that permits the start of remote operation of the work machine based on the machine selection data, the output unit causes an output device to output a work type corresponding to the specified work machine; the selection data acquisition unit acquires type selection data indicating that a work type to be performed by the work machine has been designated; the output unit causes an output device to output a work object corresponding to the specified work type. Construction management system.

2. the work machines displayed on the display device include a first work machine and a second work machine, the remote operation permission unit permits the start of remote operation of the first work machine when first machine selection data indicating that the first work machine has been designated is acquired, and permits the start of remote operation of the second work machine when second machine selection data indicating that the second work machine has been designated is acquired. The construction management system according to claim 1 .

3. a work type storage unit that stores work types corresponding to the work machine; the output unit outputs the work type based on the machine selection data and the stored data in the work type storage unit. The construction management system according to claim 1 .

4. a work object storage unit that stores work objects corresponding to the work types; the output unit outputs the work object based on the type selection data and the stored data of the work object storage unit. The construction management system according to claim 1 .

5. an output unit that displays the remotely operable work machine on a display device; a selection data acquisition unit that acquires machine selection data indicating that the work machine has been designated; a remote operation permission unit that permits the start of remote operation of the work machine based on the machine selection data; a work type storage unit that stores a work type corresponding to the work machine, the output unit outputs the work type based on the machine selection data and the stored data of the work type storage unit; the remote operation permission unit determines whether to permit the start of the remote operation based on the specified work type and the situation around the work machine. Construction management system.

6. a current topography data creation unit that creates current topography data of the construction site where the work machine is operating; a detection data acquisition unit that acquires detection data from a detection device that detected the work machine and the construction area around the work machine; a reflection unit that generates reflection data by reflecting the detection data in the current topographical data, The detection data includes updated topographical data of the construction area; the output unit displays the reflected data, in which the updated terrain data is reflected, on the display device together with the work machine. The construction management system according to any one of claims 1 to 5.

7. a recognition unit that recognizes the work machine based on the detection data, the reflection data includes a three-dimensional model of the work machine recognized by the recognition unit, the output unit causes the display device to display the three-dimensional model. The construction management system according to claim 6.

8. The recognition unit recognizes the operation of the work machine, the reflection unit moves the three-dimensional model in synchronization with the work machine. The construction management system according to claim 7.

9. The detection device is mounted on an aircraft. The construction management system according to any one of claims 6 to 8.

10. the selection data acquisition unit acquires the second machine selection data when the second work machine is designated by an input device after the start of remote operation of the first work machine is permitted and before the remote operation of the first work machine is completed, and permits the start of remote operation of the second work machine. The construction management system according to claim 2 .

11. a selection data acquisition unit that acquires machine selection data indicating that a work machine corresponding to a three-dimensional model of a remotely operable work machine has been designated by an input device; a remote operation permission unit that permits the start of remote operation of the work machine based on the machine selection data; an output unit that displays the three-dimensional model on a display device, the output unit, after the selection data acquisition unit acquires the machine selection data, causes the display device to display a work type corresponding to the specified work machine; the remote operation permission unit permits the start of the remote operation after the selection data acquisition unit acquires type selection data indicating that a work type to be performed by the work machine has been designated. Construction management system.

12. an output unit that displays the remotely operable work machine on a display device; a selection data acquisition unit that acquires machine selection data indicating that the work machine has been designated; a remote operation permission unit that permits the start of remote operation of the work machine based on the machine selection data, the output unit causes an output device to output a work type corresponding to the specified work machine; the selection data acquisition unit acquires type selection data indicating that a work type to be performed by the work machine has been designated; the output unit causes an output device to output a work object corresponding to the specified work type. Data processing device.

13. A computer comprising: Displaying a remotely operable work machine on a display device; obtaining machine selection data indicating that the work machine has been designated; permitting the start of remote operation of the work machine based on the machine selection data; outputting, to an output device, a work type corresponding to the specified work machine; acquiring type selection data indicating that a type of work to be performed by the work machine has been designated; and outputting, to an output device, a work object corresponding to the specified work type. Construction management method.

14. the work machines displayed on the display device include a first work machine and a second work machine, The computer executes the following when first machine selection data indicating that the first work machine has been designated is acquired: permitting the start of remote operation of the first work machine; and when second machine selection data indicating that the second work machine has been designated is acquired, permitting the start of remote operation of the second work machine. The construction management method according to claim 13.

15. The computer storing a work type corresponding to the work machine; and outputting the work type based on the machine selection data and the stored data of the work type. The construction management method according to claim 13.

16. The computer storing a work object corresponding to the work type; and outputting the work object based on the type selection data and the stored data of the work object. The construction management method according to claim 13.

Images