Work assistance system and work assistance program

Abstract

Provided are a work assistance system and a work assistance program, with which it is possible to quickly resume work even when the supply of power to a collection device is cut off.　A work assistance system 1 for assisting in operation of a hydraulic shovel 2 comprises: detection devices 11A-11C that obtain orientation information of movable parts of the hydraulic shovel 2; a mobile terminal 13 that serves as a work assistance device through execution of a work assistance program; and a collection device 12 that collects the orientation information from the detection devices 11A-11C, and transmits the same to the mobile terminal 13. The mobile terminal 13: establishes communication with the collection device 12 when the work assistance program is started up; provides an operator with operation assistance information of the hydraulic shovel 2 on the basis of the orientation information received from the collection device 12; when supply of power to the collection device 12 is cut off, retains collection device connection information from immediately before the supply of power was cut off; and automatically attempts to re-establish connection with the collection device 12.

Description

Work support system and work support program

[0001] The present disclosure relates to a work assistance system and a work assistance program.

[0002] A work assistance system that assists in the operation of construction machinery has been proposed. For example, the work assistance system disclosed in Patent Document 1 includes a collection device installed on the construction machinery and a mobile terminal used by the operator of the construction machinery. The collection device collects posture information of the moving parts of the construction machinery and transmits it to the mobile terminal. The mobile terminal functions as the work assistance device by executing a work assistance program, and provides the operator with operation assistance information for the construction machinery based on the posture information received from the collection device.

[0003] Patent No. 7127715

[0004] However, since the data collection device usually operates on a power source (e.g., a cigarette lighter socket) that is linked to the on / off of the construction machine's engine, if the device is applied to construction machinery that requires the engine to be turned off for safety when the user dismounts, the power supply to the data collection device may be frequently cut off. Furthermore, when resuming work after the power supply to the data collection device is cut off, processing (pairing) is required on the mobile terminal to reconnect with the data collection device, making it difficult to resume work quickly.

[0005] Therefore, an object of the present disclosure is to provide a work support system and a work support program that can quickly resume work even if the power supply to the collection device is cut off.

[0006] In one aspect, the present invention provides the following solution: a work assistance system for assisting the operation of a work machine, comprising: a detection device installed on a moving part of the work machine and acquiring attitude information of the moving part, a portable terminal that functions as the work assistance device by executing a work assistance program, and a collection device that collects the attitude information from the detection device and transmits it to the portable terminal, wherein the portable terminal comprises: communication establishment means that establishes communication with the collection device when the work assistance program is started, operation assistance information providing means that provides an operator of the work machine with operation assistance information of the work machine based on the attitude information received from the collection device, and reconnection attempt means that, when power to the collection device is interrupted, retains collection device connection information immediately before power interruption and automatically attempts to reconnect with the collection device.

[0007] According to the present disclosure, it is possible to provide a work assistance system and a work assistance program that can quickly resume work even if the power to the collection device is cut off.

[0008] FIG. 1 is a schematic side view of a work machine incorporating a work assistance system. FIG. 2 is a block diagram showing the configuration of the work assistance system. FIG. 3 is a perspective view of a detection device. FIG. 4 is a diagram showing an initial screen of a mobile terminal (work assistance program). FIG. 5 is a diagram showing an operation assistance information provision screen of a mobile terminal (work assistance program). FIG. 6 is a diagram showing a reconnection in progress screen of a mobile terminal (work assistance program), where (a) is a diagram showing the entire screen and (b) is a diagram showing an enlarged view of a main part. FIG. 7 is a diagram showing a reconnection waiting screen of a mobile terminal (work assistance program), where (a) is a diagram showing the entire screen and (b) is a diagram showing an enlarged view of a main part. FIG. 8 is a flowchart showing screen transitions of a mobile terminal (work assistance program).

[0009] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0010] 1 and 2 , a work assistance system 1 of this embodiment uses a machine guidance function in a hydraulic excavator 2, which is a work machine (construction machine), to assist the work of an operator operating the hydraulic excavator 2. Work machines to which the work assistance system 1 can be applied are not limited to excavators such as the hydraulic excavator 2, but may also be loading and unloading machines such as cranes.

[0011] As shown in FIG. 1 , the hydraulic excavator 2 includes an operating unit 3 , a work implement 4 , a support body 5 , and a traveling device 6 .

[0012] The operation unit 3 is a riding space for an operator who operates the hydraulic excavator 2. The hydraulic excavator 2 is available in a cab specification in which the entire operation unit 3 is covered with a cab 31, and a canopy specification in which only the upper part of the operation unit 3 is covered with a canopy (not shown), and the work support system 1 of this embodiment can be applied to either specification.

[0013] The work implement 4 is configured by sequentially connecting a boom 41, an arm 42, and a bucket 43, and is operated by an operator. The boom 41 is connected to the front end of the support body 5 via a boom pin 41a so as to be able to swing up and down, and swings in response to the hydraulic extension and retraction action of a boom cylinder (not shown) provided between the support body 5 and the boom 41. The arm 42 is connected to the tip of the boom 41 via an arm pin 42a so as to be able to swing back and forth and up and down, and swings in response to the hydraulic extension and retraction action of an arm cylinder (not shown) provided between the boom 41 and the arm 42. The bucket 43 is connected to the tip of the arm 42 via a bucket pin (attachment pin) 43a so as to be able to swing back and forth and up and down, and swings in response to the hydraulic extension and retraction action of a bucket cylinder (not shown) provided between the arm 42 and the bucket 43.

[0014] The bucket 43 is a type of attachment that is detachably mounted on the tip of the arm 42 and can be replaced with another attachment depending on the type of work. Examples of attachments include a grapple for gripping wood, a breaker for crushing concrete blocks, and a skeleton bucket for sieving. The work support system 1 of this embodiment is not limited to excavation work using the bucket 43, but can also be applied to work using other attachments.

[0015] The support body 5 supports the operation unit 3 and the work machine 4. The traveling device 6 supports the support body 5 so that it can turn and travel. As the traveling device 6, in addition to a crawler type equipped with crawlers 61 as shown in Figure 1, a wheel type equipped with wheels (not shown) is also known, and the work support system 1 of this embodiment can be applied to either the crawler type or the wheel type.

[0016] As shown in FIGS. 1 and 2, the work support system 1 includes a plurality of detection devices 11A, 11B, and 11C, a collection device 12, and a mobile terminal 13.

[0017] As shown in Fig. 1, the detection devices 11A, 11B, and 11C are respectively installed on the boom 41, the arm 42, and the bucket 43. As shown in Fig. 2 and Fig. 3, the detection devices 11A, 11B, and 11C each include a posture sensor 111, a wireless communication unit 112, a control unit 113, a battery 114, a case 115, and a magnetic member 116.

[0018] The attitude sensor 111 detects the attitude of the installation location. For example, an IMU (INERTIAL MEASUREMENT UNIT) sensor that detects three-dimensional acceleration and angular velocity is used as the attitude sensor 111.

[0019] The wireless communication unit 112 performs wireless communication with the collection device 12. For example, the wireless communication unit 112 uses BLUETOOTH (registered trademark) as its wireless communication method.

[0020] The control unit 113 acquires the posture information from the posture sensor 111 and transmits the acquired posture information to the collection device 12 via the wireless communication unit 112 .

[0021] The battery 114 supplies power to the attitude sensor 111, the wireless communication unit 112, and the control unit 113. With these detection devices 11A, 11B, 11C, it is possible to easily install them in a desired location without having to take the trouble of running a power supply cable or a data communication cable to the work machine 4. As a result, the work assistance system 1 of this embodiment can easily add machine guidance functions to an existing work machine or update the machine guidance functions.

[0022] The case 115 houses the attitude sensor 111, the wireless communication unit 112, the control unit 113, and the battery 114. The battery 114 may be housed in a case separate from the case 115, and may supply power to the detection devices 11A, 11B, and 11C via a cable.

[0023] The magnetic member 116 is, for example, a permanent magnet, and its magnetic force secures the detection devices 11A, 11B, and 11C to the boom 41, arm 42, and bucket 43, each of which is made of metal. For example, as shown in Fig. 3, the magnetic member 116 is provided on the bottom of the case 115, and its magnetic force secures the bottom of the case 115 to the boom 41, arm 42, and bucket 43, respectively. Such detection devices 11A, 11B, and 11C can be more easily installed at desired mounting locations.

[0024] 1, the collecting device 12 is installed on the support 5. For example, the collecting device 12 can be easily installed on the floor of the operation unit 3. As shown in FIG. 2, the collecting device 12 includes a posture sensor 121, a wireless communication unit 122, and a control unit 123.

[0025] The attitude sensor 121 detects the attitude of the support body 5. For example, the attitude sensor 121 is an IMU sensor that detects three-dimensional acceleration and angular velocity.

[0026] The wireless communication unit 122 performs wireless communication with the detecting devices 11A, 11B, and 11C and the mobile terminal 13. For example, the wireless communication unit 122 uses BLUETOOTH (registered trademark) as its wireless communication method.

[0027] The control unit 123 transmits the posture information of the work machine 4 collected from the detection devices 11A, 11B, and 11C and the posture information of the support body 5 detected by the posture sensor 121 to the mobile terminal 13 via the wireless communication unit 122. For example, when the control unit 123 of this embodiment receives a posture information request signal from the mobile terminal 13, it collects the posture information of the work machine 4 detected by the detection devices 11A, 11B, and 11C. Thereafter, the control unit 123 transmits the posture information of the work machine 4 collected from the detection devices 11A, 11B, and 11C and the posture information of the support body 5 detected by its own posture sensor 121 to the mobile terminal 13.

[0028] The collection device 12 operates on power (for example, a cigarette lighter socket) supplied from the hydraulic excavator 2. The power supplied from the hydraulic excavator 2 is usually linked to the on / off of the engine of the hydraulic excavator 2. Therefore, if it is required to turn off the engine when dismounting for safety reasons, the power supply to the collection device 12 may be frequently cut off.

[0029] The mobile terminal 13 is a smartphone or tablet terminal that is a computer equipped with a communication function, and functions as a work assistance device by executing a work assistance program (dedicated app). As shown in Fig. 2, the mobile terminal 13 includes an imaging unit 131, a wireless communication unit 132, a display unit 133, and a control unit 134.

[0030] The imaging unit 131 captures still images and videos. In this embodiment, it is used to capture a side image of the hydraulic excavator 2. The side image is an image of a feature point of the hydraulic excavator 2, and is used to register the coordinates of the feature points.

[0031] The wireless communication unit 132 performs wireless communication at least with the collection device 12. For example, the wireless communication unit 132 uses BLUETOOTH (registered trademark) as its wireless communication method.

[0032] The display unit 133 is configured as a touch screen having a display function and a touch input function, and is used to display various screens G1 to G4 shown in FIGS.

[0033] The control unit 134 includes, as hardware, an arithmetic unit, a main memory device, and an auxiliary memory device (not shown). The arithmetic unit is a central processing unit (CPU) or the like, and executes programs stored in the main memory device and the auxiliary memory device. The main memory device is a read-only memory (ROM) or a random access memory (RAM). The main memory device stores programs and data such as an operating system (OS), which is basic software, and application software. The auxiliary memory device is a hard disk drive (HDD) or a solid state drive (SSD), and stores application software and related data.

[0034] The control unit 134 has a plurality of functional components realized by cooperation between hardware and software (task assistance program). The functional components include a communication establishment means, an operation assistance information providing means, a reconnection attempt means, a reconnection stop operation means, a reconnection restriction means, and a reconnection restart operation means.

[0035] The communication establishment means establishes communication with the collection device 12 when the work assistance program is launched. For example, when the work assistance program is launched, the control unit 134 causes the display unit 133 to display an initial screen G1 (top screen) shown in FIG. 4 . The initial screen G1 includes a gateway search button B1, and when this gateway search button B1 is tapped, a pairing process is executed by the communication establishment means. The communication establishment means searches for surrounding communication devices in response to the operation of the gateway search button B1 and displays a list of ID information of the found communication devices on the display unit 133. The communication devices displayed in this list may include, for example, the collection device 12 and detection devices 11A to 11C installed on the hydraulic excavator 2 on which the operator is riding, as well as collection devices 12 and detection devices 11A to 11C installed on other hydraulic excavators 2. The operator selects the collection device 12 installed on the hydraulic excavator 2 on which the operator is riding from the list of communication devices. Thereafter, the communication establishment means establishes communication with the selected collection device 12.

[0036] The operation support information providing means provides the operator with operation support information for the hydraulic excavator 2 based on the attitude information received from the collection device 12. For example, the operation support information providing means calculates the vertical distance between the bucket 43 and the target construction surface based on the plurality of pieces of attitude information received from the collection device 12, and displays the calculated vertical distance numerically or as an image on an operation support information providing screen G2 shown in Fig. 5. Note that the operation support information may be provided not only by screen display but also by voice.

[0037] When the power supply to the collecting device 12 is interrupted, the reconnection attempt means retains the collecting device connection information (pairing information) immediately before the power supply was interrupted and automatically attempts to reconnect with the collecting device 12. For example, when the reconnection attempt means determines that the power supply to the collecting device 12 has been interrupted, the reconnection attempt means attempts to reconnect with the collecting device 12 using the collecting device connection information immediately before the power supply was interrupted while displaying the reconnection in progress screen G3 shown in FIG. 6 on the display unit 133. This reconnection attempt is repeated multiple times. If the power supply to the collecting device 12 is resumed during the reconnection attempt, the reconnection attempt means resumes communication with the collecting device 12 and the state transitions to an operation assistance information provision state using the operation assistance information provision screen G2.

[0038] With such a reconnection attempt means, even if the engine is turned off when the operator gets off the vehicle to take a break or the like, and the power to the collection device 12 is accordingly cut off, when the operator gets back on the vehicle and turns the engine on, the vehicle will automatically be reconnected to the collection device 12. This makes it possible to transition to an operation assistance information provision state on the operation assistance information provision screen G2 and quickly resume work without returning to the initial screen G1 and performing pairing processing by the communication establishment means.

[0039] 6, the reconnection screen G3 is displayed as a pop-up in the center of the darkened operation support information providing screen G2 that was displayed before the power was turned off in the collection device 12. The reconnection screen G3 displays a message such as "Reconnecting..." indicating that an attempt is being made to reconnect to the collection device 12.

[0040] The reconnection stop operation means stops the reconnection attempt by the reconnection attempt means in response to a predetermined operation by the operator. For example, the reconnection in progress screen G3 shown in FIG. 6 displays a disconnect button B2 and a message such as "If connection is not established after a while, please press disconnect," and the reconnection attempt by the reconnection attempt means is stopped in response to a tap of the disconnect button B2. Such a reconnection stop operation means can prevent the reconnection attempt means from repeatedly and unnecessarily attempting to reconnect to the collection device 12 in a situation where reconnection with the collection device 12 is not necessary. For example, if the driver turns off the engine and gets off the vehicle at the end of work for the day, the reconnection attempt by the reconnection attempt means can be stopped and the display transitions to the initial screen G1 shown in FIG. 4 by tapping the disconnect button B2 on the reconnection in progress screen G3.

[0041] The reconnection limiting means limits the time period during which the reconnection attempt means attempts to reconnect. For example, if the reconnection attempt screen G3 shown in FIG. 6 is displayed following a power outage of the collection device 12 and a predetermined time period (e.g., 60 seconds) has elapsed and the collection device 12 cannot be reconnected, the reconnection attempt is interrupted and the reconnection wait screen G4 shown in FIG. 7 is displayed. The reconnection wait screen G4 displays a message such as "Waiting for connection..." indicating that the collection device 12 is waiting to be reconnected. Such a reconnection limiting means limits the time period during which the reconnection attempt means attempts to reconnect, thereby preventing the reconnection attempt means from repeatedly and unnecessarily attempting to reconnect. Note that the reconnection limiting means may limit the number of reconnection attempts rather than limiting the time period during which the reconnection attempt means attempts to reconnect.

[0042] The reconnection restart operation means restarts the reconnection attempt in response to a predetermined operation by the operator while the reconnection restriction means is restricting reconnection. For example, a retry button B3 and a message such as "Press Retry to reconnect" are displayed on the reconnection waiting screen G4 shown in FIG. 7 , and the reconnection attempt is restarted by tapping the retry button B3. The reconnection restart operation means allows the display to reconnect to the collection device 12 and transition to the operation assistance information provision state on the operation assistance information provision screen G2 without returning to the initial screen G1 and performing pairing processing by the communication establishment means, even in a situation where the power supply to the collection device 12 is interrupted for a long period of time.

[0043] A disconnect button B4 is also displayed on the reconnection standby screen G4 shown in Fig. 7. When the disconnect button B4 on the reconnection standby screen G4 is tapped, the connection standby state is cancelled and the screen transitions to the initial screen G1 shown in Fig. 4.

[0044] Next, the transition of the screen of the mobile terminal 13 will be described with reference to the flowchart shown in FIG.

[0045] 8 , when the power supply to the collection device 12 is interrupted (S2) while the operation support information providing screen G2 is displayed on the mobile terminal 13 (S1), the control unit 134 of the mobile terminal 13 transitions to a reconnection in progress screen G3 and attempts to reconnect to the collection device 12 (S3). If power supply to the collection device 12 is resumed (S4: supply) during the reconnection attempt, the control unit 134 reconnects to the collection device 12 and transitions to the operation support information providing screen G2 (S5). Furthermore, if the disconnection button B2 is tapped during the reconnection attempt (S6: YES), the control unit 134 stops the reconnection attempt and transitions to the initial screen G1 (S7).

[0046] The control unit 134 measures the elapsed time from the start of the reconnection attempt, and if the elapsed time is less than 60 seconds (S8: NO), the control unit 134 returns to step S3 and repeats the reconnection attempt. Furthermore, if the elapsed time exceeds 60 seconds (S8: YES), the control unit 134 interrupts the reconnection attempt with the collection device 12 and transitions to a reconnection standby screen G4 (S9). While the reconnection standby screen G4 is displayed, the control unit 134 monitors tap operations on the retry button B3 and the disconnect button B4, and if the retry button B3 is tapped (S10: retry), the control unit 134 returns to step S3 and resumes the reconnection attempt with the collection device 12. Furthermore, if the disconnect button B4 is tapped (S10: disconnect), the control unit 134 stops the reconnection attempt and transitions to the initial screen G1 (S7).

[0047] Although each embodiment has been described in detail above, it is not limited to the specific embodiment, and various modifications and changes are possible within the scope of the claims. It is also possible to combine all or a plurality of components of the above-described embodiments.

[0048] 1 Work support system 2 Hydraulic excavator (work machine) 3 Operation unit 31 Cab 4 Work machine 41 Boom 41a Boom pin 42 Arm 42a Arm pin 43 Bucket 43a Bucket pin 5 5 Support body 6 Traveling device 61 Crawler 11A to 11C Detection device 111 Attitude sensor 112 Wireless communication unit 113 Control unit 114 Battery 115 Case 116 Magnetic member 12 Collection device 121 Attitude sensor 122 Wireless communication unit 123 Control unit 13 Portable terminal (computer) 131 Imaging unit 132 Wireless communication unit 133 Display unit 134 Control unit G1 Initial screen G2 Operation support information provision screen G3 Reconnection in progress screen G4 Reconnection waiting screen B1 Gateway search button B2 Disconnect button B3 Retry button B4 Disconnect button

Claims

1. A work assistance system for assisting the operation of a work machine, comprising: a detection device installed on a moving part of the work machine and acquiring attitude information of the moving part; a portable terminal that functions as a work assistance device by executing a work assistance program; and a collection device that collects the attitude information from the detection device and transmits it to the portable terminal, wherein the portable terminal comprises: a communication establishment means that establishes communication with the collection device when the work assistance program is started; an operation assistance information providing means that provides an operator of the work machine with operation assistance information of the work machine based on the attitude information received from the collection device; and a reconnection attempt means that, when power to the collection device is cut off, retains collection device connection information immediately before power cut off and automatically attempts to reconnect to the collection device.

2. The work support system according to claim 1, wherein the mobile terminal further comprises a reconnection stop operation means for stopping the reconnection attempt by the reconnection attempt means.

3. The work support system according to claim 1, wherein said mobile terminal further comprises a reconnection limiting means for limiting the time or number of attempts made by said reconnection attempt means to reconnect.

4. The work support system according to claim 3, wherein the portable terminal further comprises a reconnection restart operation means for restarting the reconnection attempt while the reconnection is being restricted by the reconnection restriction means.

5. A work assistance program that causes a computer to function as the mobile terminal according to any one of claims 1 to 4.

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