Work assistance system and work assistance program

Abstract

Provided are a work assistance system and a work assistance program that make it possible to set the length of a sloped target construction surface and give guidance that considers the length.　A work assistance system 1 that assists the operation of a hydraulic shovel 2 comprises: detection devices 11A–11C that are installed on mobile parts of the hydraulic shovel 2 and acquire posture information about the mobile parts; and a portable terminal 13 that executes a work assistance program and thereby functions as a work assistance device. The portable terminal 13 comprises: a construction surface setting means that sets a target construction surface; and a guidance means that gives notification of the vertical distance between a construction reference position for the hydraulic shovel 2 and the target construction surface on the basis of the target construction surface and the posture information. The items to be set by the construction surface setting means include the height, slope, and length of the target construction surface.

Description

Work support system and work support program

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

[0002] Conventionally, construction machines (e.g., ICT construction machines) incorporating a machine guidance function have been provided. Here, machine guidance is a technology that uses measurement technologies such as a total station (TS) and a global navigation satellite system (GNSS) to provide the operator with distance information to a target construction surface to support the operation of the construction machine. For example, Patent Document 1 proposes a work support system that displays distance information to a target construction surface on a mobile terminal. Such machine guidance can appropriately support the operator's operation and improve work efficiency, safety, work accuracy, and the like.

[0003] Patent No. 7127715

[0004] However, conventional work support systems have room for improvement in the setting of the target construction surface and the guidance content based on the target construction surface.

[0005] Therefore, an object of the present disclosure is to provide a work support system and a work support program that enable the slope length of a target construction surface to be set and that can provide guidance that takes the slope length into consideration.

[0006] In one aspect, the following solution is provided.

[0007] A work assistance system that assists in 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; and a mobile terminal that functions as a work assistance device by executing a work assistance program, wherein the mobile terminal comprises: a construction surface setting means that sets a target construction surface; and a guidance means that notifies the vertical distance between the construction reference position of the work machine and the target construction surface based on the target construction surface and the attitude information, and wherein the setting items of the construction surface setting means include the height, gradient, and slope of the target construction surface.

[0008] According to the present disclosure, it is possible to provide a work support system and a work support program that enable the slope length of a target construction surface to be set and that can provide guidance that takes the slope length into consideration.

[0009] 1 is a schematic side view of a work machine incorporating a work support system. FIG. 2 is a block diagram showing the configuration of the work support system. FIG. 3 is a perspective view of a detection device. FIG. 4 is a diagram showing a guidance screen (without slope length setting) of a mobile terminal (work support program). FIG. 5 is a diagram showing a construction surface setting screen of a mobile terminal (work support program). FIG. 6 is a diagram showing a construction surface setting screen of a mobile terminal (work support program) according to a modified example. FIG. 7 is a diagram showing a guidance screen (with slope length setting) of a mobile terminal (work support program). FIG. 8 is a diagram showing a multiple construction surface setting screen of a mobile terminal (work support program). FIG. 9 is a diagram showing a guidance screen (without multiple construction surface editing) of a mobile terminal (work support program). FIG. 10 is a diagram showing a guidance screen (with multiple construction surface editing) of a mobile terminal (work support program). FIG. 11 is a flowchart showing screen transitions when setting construction surfaces on a mobile terminal (work support program). FIG. 12 is a flowchart showing screen transitions when setting multiple construction surfaces and editing multiple construction surfaces on a mobile terminal (work support program).

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0011] 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. This work assistance system 1 is not limited to excavators such as the hydraulic excavator 2, but can be applied to various work machines that perform surface construction work.

[0012] 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 .

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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 .

[0022] 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 mounting location without having to take the trouble of routing 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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 G7 shown in FIGS.

[0034] 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, which 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), which stores application software and related data.

[0035] The control unit 134 has a plurality of functional components realized by cooperation between hardware and software (work support program). The functional components include a guidance unit, a construction surface setting unit, a multiple construction surface setting unit, and a multiple construction surface editing unit.

[0036] The guidance means notifies the vertical distance between the current construction reference position of the work implement 4 and the target construction surface M (hereinafter referred to as "vertical distance from the target construction surface M") based on the target construction surface M set by the construction surface setting means or the multiple construction surface setting means and the attitude information received from the collection device 12. The construction reference position is, for example, the tip position of the bucket 43. The guidance means of this embodiment displays the vertical distance from the target construction surface M on guidance screens G1, G3, G5, and G7 shown in Figures 4, 6, 8, and 10.

[0037] The guidance screens G1, G3, G5, and G7 include a plurality of display areas (a numerical display area R1, a meter display area R2, and an image display area R3) that show the vertical distance from the target construction surface in different formats.

[0038] The numerical display area R1 displays the vertical distance from the target construction surface in centimeters (cm).

[0039] The meter display area R2 displays the vertical distance from the target construction surface using a bar graph. The bar graph meter is represented by multiple vertically arranged segments, with the height of the target construction surface indicated by the segment S1 in a first color (e.g., blue). When the vertical distance from the target construction surface is positive (upward), the segments S2 arranged above the segment S1 are displayed in a second color (e.g., yellow) in a number corresponding to the vertical distance (e.g., one every 5 cm) (see FIGS. 4 and 6). When the vertical distance from the target construction surface is negative (downward), the segments S3 arranged below the segment S1 are displayed in a third color (e.g., red) in a number corresponding to the vertical distance (see FIG. 10). When the vertical distance from the target construction surface is approximately 0 cm, the segments S2 and S3 arranged above and below the segment S1 are not displayed in a color (see FIG. 8).

[0040] The image display area R3 displays the target construction surface M and the current construction reference position P as an image, as shown in Figures 4, 6, 8, and 10. For example, as shown in Figures 4 and 6, when one target construction surface M is set by the construction surface setting means, the image display area R3 displays the one target construction surface M and the current construction reference position P as an image. Also, as shown in Figure 6, when the slope of the target construction surface M is set by the construction surface setting means, the image display area R3 displays the target construction surface M of the set slope. Also, as shown in Figure 4, when the slope of the target construction surface M is not set by the construction surface setting means, the image display area R3 displays the target construction surface M with continuous slopes.

[0041] 8 and 10, when multiple target construction surfaces M1 and M2 are set by the multiple construction surface setting means, the image display area R3 displays the multiple target construction surfaces M1 and M2 and the current construction reference position P as images. Also, as shown in FIG. 8, when the setting values ​​of the target construction surfaces M1 and M2 have not been edited by the multiple construction surface editing means, the image display area R3 displays the target construction surfaces M1 and M2 in a fourth color (e.g., blue) indicating that they are not edited. Also, as shown in FIG. 10, when the setting values ​​of the target construction surfaces M1 and M2 have been edited by the multiple construction surface editing means, the image display area R3 displays the target construction surfaces M1 and M2 in a fifth color (e.g., red) indicating that they have been edited. The guidance screens G5 and G7 showing the multiple target construction surfaces M1 and M2 each have a setting value display area R4 showing the setting values ​​(gradient and slope) of the multiple target construction surfaces M1 and M2.

[0042] The construction surface setting means sets a target construction surface. Setting items of the construction surface setting means include the height of the target construction surface (vertical distance from the current construction reference position), gradient, and slope. However, slope is an optional setting item in the construction surface setting means. Such construction surface setting means makes it possible to set the slope of the target construction surface and provide guidance that takes slope into consideration. Furthermore, because slope is an optional setting item, the burden on the operator can be reduced by omitting slope setting for work that does not require consideration of slope.

[0043] For example, the construction surface setting means of this embodiment sets a target construction surface in response to an operator's setting operation on the construction surface setting screen G2 shown in FIG. 5. The construction surface setting screen G2 includes an explanatory image display area R5A, a height input section N1, a slope input section N2, a slope input section N3, unit selection buttons B1 to B3, a check box CB1, and a complete button B5. The explanatory image display area R5A displays explanatory images of the setting items (A = height, B = slope, C = slope). The height input section N1, slope input section N2, and slope input section N3 prompt for input of the height, slope, and slope of the target construction surface, respectively. The unit selection buttons B1 to B3 switch the units of the slope to be input in response to the operation. The check box CB1 switches the enable / disable of the slope input section N3 in response to the operation. The complete button B5 completes the construction surface setting in response to the operation. When the construction surface setting is completed, if the slope length has not been set, the screen transitions to the guidance screen G1 shown in FIG. 4, and if the slope length has been set, the screen transitions to the guidance screen G3 shown in FIG.

[0044] Alternatively, the construction plane setting means of this embodiment may set the target construction plane in response to the operator's setting operation on the construction plane setting screen G2# shown in FIG. 5A. In this case, the construction plane setting screen G2# includes an explanatory image display area R5A#, a height input field N1#, a gradient input field N2#, a depth slope (shoulder) input field N3#, a front slope (bottom) input field N4#, unit selection buttons B1# to B3#, check boxes CB1#, check boxes CB2#, and a complete button B5#. Here, "rear" and "front" in relation to the depth slope and front slope refer to the direction as seen by the operator. The explanatory image display area R5A# displays explanatory images for the setting items (A = height, B = gradient, C = depth slope, D = front slope). The height input section N1#, gradient input section N2#, depth slope input section N3#, and front slope input section N4# prompt for input of the height, gradient, and slope of the target construction surface, respectively. The unit selection buttons B1# to B3# switch the units of gradient to be input depending on the operation. The check box CB1# enables / disables the depth slope input section N3#. The check box CB2# enables / disables the front slope input section N4#. The complete button B5# completes the construction surface setting depending on the operation. Once the construction surface setting is complete, if the slope has not been set, the screen will transition to the guidance screen G1 shown in Figure 4, and if the slope has been set, the screen will transition to the guidance screen G3 shown in Figure 6.

[0045] 5A, when setting items C (= depth measurement length) and D (= front measurement length) are set, the numerical value obtained by adding these may be displayed (notified) by the guidance means. Also, when setting item D (= front measurement length) is set, the vertical distance to be notified by the guidance means may be calculated with respect to the target construction surface of the section of front measurement length D.

[0046] In addition, in the modified example shown in Figure 5A, it is possible to set either or both of the depth measurement C and the front measurement D, but a construction surface setting screen (not shown) that allows only the front measurement D to be set may also be used.

[0047] The multiple construction plane setting means sets multiple target construction planes. The multiple construction plane setting means of this embodiment records the current construction reference position as the start position or end position of the target construction plane in response to a predetermined operation. Such multiple construction plane setting means allows multiple target construction planes to be set, thereby improving work efficiency and work accuracy through guidance across multiple target construction planes. Furthermore, since the current construction reference position is recorded as the start position or end position of the target construction plane, the target construction plane can be set more easily than when the setting items for the target construction plane are input numerically.

[0048] For example, the multiple construction surface setting means of this embodiment sets multiple target construction surfaces in response to setting operations by the operator on the multiple construction surface setting screen G4 shown in FIG. 7. The multiple construction surface setting screen G4 includes a target construction surface display area R5, a set value display area R6, a record button B6, a back button B7, an edit button B8, and a complete button B9. The target construction surface display area R5 displays the recorded start and end positions and the target construction surface set based on the recorded start and end positions as an image. The set value display area R6 shows the set values ​​(gradient and slope) of the multiple target construction surfaces that have been set. The record button B6 records the current construction reference position as the start or end position of the target construction surface in response to an operation. For example, the start position of the first target construction surface is recorded in response to a first operation, the end position of the first target construction surface (the start position of the second target construction surface) is recorded in response to a second operation, and the end position of the second target construction surface is recorded in response to a third operation. The back button B7 invalidates the previous operation of the record button B6 in response to an operation. The edit button B8 transitions to a multiple construction surface edit screen G6 in response to an operation. The complete button B9 completes the multiple construction surface setting in response to an operation. When the multiple construction surface setting is completed, the screen transitions to a guidance screen G5 shown in FIG.

[0049] The multiple construction surface editing means can edit the gradients and slopes of the multiple target construction surfaces set by the multiple construction surface setting means. Such multiple construction surface editing means enables efficient setting work, such as roughly setting multiple target construction surfaces by the multiple construction surface setting means and then fine-tuning the gradients and slopes of the multiple target construction surfaces by the multiple construction surface editing means. In addition, there is an advantage that when multiple target construction surfaces are re-set, past setting information can be edited and reused.

[0050] For example, the multiple construction surface editing means of this embodiment edits the gradients and slopes of multiple target construction surfaces in response to the operator's setting operation on the multiple construction surface editing screen G6 shown in Figure 9. The multiple construction surface editing screen G6 includes an edited construction surface display area R7, a gradient input section N4, a slope input section N5, unit selection buttons B10 to B12, a screen reflection button B13, and a next button B14. The edited construction surface display area R7 displays the target construction surface to be edited. The gradient input section N4 and slope input section N5 prompt for input of the gradient and slope of the target construction surface to be edited, respectively. The unit selection buttons B10 to B12 switch the unit of the gradient to be input in response to operation. The screen reflection button B13 reflects the input of the gradient input section N4 and slope input section N5 in the edited construction surface display area R7 in response to operation. The next button B14 transitions to the guidance screen G7 shown in Figure 10 in response to operation.

[0051] Next, the screen transition of the mobile terminal 13 will be described with reference to the flowcharts shown in FIGS.

[0052] 11 , when the control unit 134 of the mobile terminal 13 detects an operation to transition to the construction surface setting screen G2 (S11) while the guidance screen G1 is displayed (S10), the control unit 134 transitions to the construction surface setting screen G2 (S12). Furthermore, when the control unit 134 detects an operation to complete the construction surface setting while the construction surface setting screen G2 is displayed (S13), the control unit 134 determines whether the slope of the target construction surface has been set (S14). If the determination result in step S14 is YES, the control unit 134 transitions to the guidance screen G3, which provides guidance taking the slope into account (S15). If the determination result is NO, the control unit 134 transitions to the guidance screen G1, which does not take the slope into account (S10).

[0053] 12, when the control unit 134 detects an operation to transition to the multiple construction surface setting screen G4 while the guidance screen G1 is displayed (S20) (S21), the control unit 134 transitions to the multiple construction surface setting screen G4 (S22). When the control unit 134 detects an operation to complete the multiple construction surface setting while the multiple construction surface setting screen G4 is displayed (S23), the control unit 134 determines whether an operation to transition to the multiple construction surface editing screen G6 has been detected (S24). If the determination result in step S24 is NO, the control unit 134 transitions to the guidance screen G5 (S25). If the determination result in step S24 is YES, the control unit 134 transitions to the multiple construction surface editing screen G6 (S26), detects an operation to complete the multiple construction surface editing (S27), and if the determination result is YES, transitions to the guidance screen G7 (S28).

[0054] 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.

[0055] DESCRIPTION OF SYMBOLS 1 Work support system 2 Hydraulic excavator (work machine) 3 Operation unit 4 Work machine 41 Boom 42 Arm 43 Bucket 5 Support 6 Traveling device 11A to 11C Detection device 12 Collection device 13 Portable terminal (computer) 134 Control unit G1, G3, G5, G7 Guidance screen G2 Construction surface setting screen G4 Multiple construction surface setting screen G6 Multiple construction surface editing screen

Claims

1. A work assistance system that assists in the operation of a work machine, comprising: a detection device installed on a moving part of the work machine and acquiring posture information of the moving part; and a mobile terminal that functions as a work assistance device by executing a work assistance program, wherein the mobile terminal comprises: a construction surface setting means for setting a target construction surface; and a guidance means for notifying a vertical distance between the construction reference position of the work machine and the target construction surface based on the target construction surface and the posture information, and the setting items of the construction surface setting means include the height, gradient and slope of the target construction surface.

2. The work support system of claim 1, wherein the slope is an optional setting item in the construction surface setting means, and the guidance means displays the target construction surface and the current construction reference position as images while displaying the vertical distance numerically, and when the slope is set, displays the target construction surface of the set slope, and when the slope is not set, displays the target construction surface with continuous slopes.

3. A work support system as described in claim 1, wherein the slope length includes at least one of a slope length in a rear direction and a slope length in a front direction based on the construction reference position as seen by an operator.

4. A work support system as described in claim 1, further comprising a multiple construction surface setting means for setting multiple target construction surfaces, wherein the guidance means displays the multiple target construction surfaces and the current construction reference position as images while displaying the vertical distance numerically.

5. A work support system according to claim 4, wherein the multiple construction plane setting means records the current construction reference position as a start position or an end position of the target construction plane in response to a specified operation.

6. A work support system as described in claim 5, further comprising a multiple construction surface editing means for enabling editing of the gradients and slope lengths of the multiple target construction surfaces set by the multiple construction surface setting means.

7. A work assistance program that causes a computer to function as the mobile terminal according to any one of claims 1 to 6.

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