Work site simulation system

Abstract

Provided is a work site simulation system provided with a computer (20). The computer (20) sets a partial region of a site model (M11), which is shape information of a work site S, as a selected region, and converts the site model (M11) within the selected region into a changeable model (M15). The changeable model (M15) is shape information on which modification processing by the computer (20) is permitted. The modification processing includes at least one of deformation, movement, addition, and deletion. The computer (20) limits the modification processing for the site model (M11) to a greater extent than the modification processing permitted to be performed on the changeable model (M15).

Description

Workplace simulation system

[0001] The present invention relates to a work site simulation system that simulates a work site in a virtual space.

[0002] Patent Document 1 describes simulating the operation of a shovel, which is a work machine, in a virtual environment.

[0003] However, the simulation places a heavy load on the computer.

[0004] International Publication No. 2021 / 241716

[0005] An object of the present invention is to provide a work site simulation system that includes a computer that simulates the operation of a work machine at a work site in a virtual space, and that is capable of reducing the calculation load on the computer for performing the simulation.

[0006] Provided is a work site simulation system that includes a computer that simulates the operation of a work machine at a work site in a virtual space. The computer is configured to acquire a site model, which is shape information regarding the shape of the work site, set a partial area of ​​the site model as a selected area, and convert the site model within the selected area into a modifiable model, the modifiable model being shape information that allows modification operations to be performed by the computer, the modification operation being at least one of deformation, movement, addition, and deletion. The computer is configured to restrict the modification operations on the site model more than the modification operations that are allowed to be performed on the modifiable model. The restriction on the modification operations on the site model includes prohibiting any of the modification operations that are allowed to be performed on the modifiable model from being performed on the site model.

[0007] 10 is a block diagram showing a work site simulation system according to an embodiment of the present invention. It is a block diagram of a model conversion processing unit included in the work site simulation system. It is a flowchart showing the flow of processing executed by a computer included in the work site simulation system. It is a perspective view showing an image of a work site simulated in a virtual space by the work site simulation system, as viewed from diagonally above. It is a view showing an image of a selected area, etc. set in a site model of the work site, as viewed from diagonally above. It is a plan view showing a site model within a selected area in the image and a modifiable model converted from the site model. It is a view showing a plurality of meshes constituting the modifiable model. It is a view showing vertices Vpg of a plurality of polygons in the site model. It is a view showing an image displayed by a display unit included in the work site simulation system in a construction planning mode. It is a perspective view showing an image of a physical calculation area, etc. set in the modifiable model shown in FIG. 8, as viewed from diagonally above. It is a view showing an image displayed by the display unit in an operator operation mode, as viewed from inside the cab of the work site shown in FIG. 9, the image showing a state before excavation by a bucket. It is a view showing an image of a state in which the bucket is excavating earth and sand in the cloud direction, as viewed from the cab of a work machine in the virtual space. It is a view showing an image of a work site after the earth and sand have been excavated, as viewed from diagonally above. Fig. 13 is a diagram showing an image of the upper rotating body of the work machine rotated from the state shown in Fig. 12, as viewed from diagonally above. Fig. 14 is a diagram showing an image of the bucket being discharged from the driver's cab. Fig. 15 is a diagram showing an image of the bucket excavating earth and sand in the swing direction, as viewed from diagonally above. Fig. 16 is a diagram showing an image of the work site shown in Fig. 4, as viewed from the side.

[0008] A preferred embodiment of the present invention will be described with reference to FIGS.

[0009] FIG. 1 shows a work site simulation system 1 according to the embodiment. The work site simulation system 1 is a system that simulates a work site S shown in FIG. 1 in a virtual space. The work site simulation system 1 simulates at least the operation of a work machine 60 at the work site S. The work site simulation system 1 may also simulate the state (movement, etc.) of an object 50 other than the work machine 60. The work site simulation system 1 includes, for example, at least one of a personal computer, a tablet, and a smartphone. The work site simulation system 1 according to the embodiment includes a remote control device that remotely controls a real work machine, i.e., an actual machine that corresponds to the work machine 60 in the virtual space, which will be described later.

[0010] The work site simulation system 1 can be used for various purposes. For example, the work site simulation system 1 may be used to create a construction plan, which is a plan for work at a real work site. The work site simulation system 1 may be used to create a plan for a real work machine at a real work site. The work site simulation system 1 may be used as an operation simulator for simulating the operation of a real work machine. Specifically, the work site simulation system 1 may be used as a training device, such as a training device or teaching device, for allowing a user to learn how to operate a real work machine (on-board operation or remote operation). This allows a user to efficiently practice operating a real work machine by operating a work machine 60 in a virtual space, thereby efficiently becoming proficient in the operation. The work site simulation system 1 may be used as an operation verification device for verifying the operation (behavior) of the work machine 60. The work site simulation system 1 may be used as a situation verification device for verifying various situations at the work site S other than the operation of the work machine 60. The work site simulation system 1 may be used to reproduce the operation of a real work machine in a virtual space based on operational data of the real work machine, that is, to perform a digital twin.

[0011] 1 includes a client device 10C and a server device 10S. The client device 10C includes an input unit 11, a computer 20, and an output unit 40, and the server device 10S includes a computer 20S.

[0012] Each of the client device 10C and the server device 10S includes a computer. The server device 10S operates in response to commands input from the client device 10C. The functions of the work site simulation system 1 are realized by the client device 10C and the server device 10S. At least one of the input unit 11 and the output unit 40 may be included in the server device 10S, or may be included in both the client device 10C and the server device 10S. Each of the computers 20 and 20S includes a storage unit 20a and a calculation unit 20b. One of the computers 20 and 20S may be omitted. The work site simulation system 1 may include only a single client device 10C or multiple client devices 10C. Similarly, the work site simulation system 1 may include only a single server device 10S or multiple server devices 10S. The client device 10C and the server device 10S may be connected to each other via wireless communication or wired communication. In the embodiment, information is exchanged between the client device 10C and the server device 10S via communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), a wired LAN, etc. The work site simulation system 1 can also be configured without including the server device 10S.

[0013] The input unit 11 is a device for inputting information to the computer 20. The input unit 11 allows operations for inputting the information to be provided to the input unit 11 by a user (operator, worker) of the work site simulation system 1. The input unit 11 may be provided with operations for moving the work machine 60 in the virtual space. For example, the input unit 11 may be provided with operations for instructing the start and end of the operation of the work machine 60, or with operations for performing operations of the work machine 60, such as the travel of the lower body 61 shown in FIG. 4, the rotation of the upper rotating body 63 shown in FIG. 4, and the operation of a work device. The input unit 11 may be provided with operations for a GUI (Graphical User Interface) that allows a user to perform operations in the work site simulation system 1. Operations other than the above operations may also be provided to the input unit 11. The input unit 11 includes, for example, at least one of a mouse, a keyboard, a touch panel, and a game pad. Alternatively, the input unit 11 may include levers and pedals that imitate operating members included in an actual work machine, such as left and right operating levers and left and right operating pedals (pedals at the feet). The input unit 11 may be included in the remote control device. The input unit 11 may be configured to input information to the computer 20 regardless of operations given by a user.

[0014] The computer 20 performs signal input / output, calculations, information storage, etc. The computer 20 simulates the work site S in the virtual space. The computer 20 has multiple functions, which are realized by the calculation unit 20b executing a work site simulation program stored in the storage unit 20a. The computer 20 and other devices (e.g., the input unit 11 and the output unit 40) may be connected via wireless communication or wired communication. Specifically, communication similar to that for connecting the client device 10C and the server device 10S may be applied. The information is input to the computer 20 from the input unit 11. The computer 20 inputs commands to the output unit 40.

[0015] The storage unit 20a stores information and programs.

[0016] The calculation unit 20b performs calculations, specifically, calculations, judgments, and other processes.

[0017] The plurality of functions include a model conversion processing unit 21 and a behavior processing unit 23 shown in FIG.

[0018] The model conversion processing unit 21 is a data conversion unit that performs model conversion processing. As will be described in detail later, the model conversion processing is processing that converts the site model M11 shown in Fig. 5 into the modifiable model M15 shown in Fig. 8. The site model M11 is shape information about the shape of the work site S, for example, as shown in Fig. 5, and the modifiable model M15 is shape information about the shape that allows the computer 20 to perform a change process on the modifiable model M15, including at least one of deformation, movement, addition, and deletion.

[0019] As shown in Fig. 2, the model conversion processing unit 21 includes a selected area setting unit 21a, a site model clipping unit 21b, and a modifiable model generation unit 21c. As will be described in detail later, the selected area setting unit 21a sets a selected area A13 shown in Fig. 5, which is an area where conversion from the site model M11 to the modifiable model M15 is to be performed. The site model clipping unit 21b performs processing to clip out, i.e., delete, a portion corresponding to the selected area A13 from the site model M11 shown in Fig. 6A. The modifiable model generation unit 21c performs processing to generate the modifiable model M15 to replace the portion clipped out of the selected area A13 by the site model clipping unit 21b.

[0020] The behavior processing unit 23 performs behavior processing, which is processing related to the behavior of the object 50 in the virtual space shown in Fig. 1. The behavior processing unit 23 calculates the behavior that the object 50 in the virtual space should exhibit, and this behavior is a behavior that simulates (reproduces) the behavior of a real object.

[0021] The output unit 40 is capable of outputting information. The output unit 40 performs output in response to a command input from the computer 20. The output unit 40 outputs information relating to a phenomenon in the virtual space.

[0022] The output unit 40 includes a display unit 41 and an audio output unit 43 .

[0023] The display unit 41 performs display in response to commands input from the computer 20. The display unit 41 displays an image (video) of the virtual space calculated by the computer 20. The display unit 41 may display the calculation results of the computer 20. The display unit 41 may display a GUI. The display unit 41 includes a monitor (screen). The display unit 41 according to this embodiment includes a monitor of the remote control device, as described below.

[0024] The audio output unit 43 outputs a sound (output sound) in response to a command input from the computer 20. The audio output unit 43 includes a speaker. The audio output unit 43 may include a speaker of the remote control device.

[0025] At least a portion of the work site simulation system 1 may be implemented in the remote control device. Specifically, the input unit 11 may include devices (such as control levers, control pedals, and switches) for inputting information to the remote control device. The input unit 11 is configured to enable remote control of a real machine, and when used to operate the work machine 60 in the virtual space, allows the user to operate the work machine 60 in the virtual space and experience an operating sensation similar to that of an actual machine, thereby, for example, promoting the user's mastery of operating the remote control device. Similarly, the computer 20 may include a portion that constitutes part of the remote control device. In this case, the computer 20 exchanges signals with the actual machine that is the target of the remote operation via communication means. Specifically, the computer 20 transmits an operation command signal, which is a signal for operating the actual machine, to the actual machine based on the operation signal input from the input unit 11. The computer 20 also receives signals output by sensors mounted on the actual machine, such as image data from a camera mounted on the actual machine and audio data from a microphone mounted on the actual machine, via the communication means. The output unit 40 may include a device for outputting information from the remote control device. For example, if the display unit 41 is a monitor of the remote control device, the display unit 41 displays image data acquired by a camera mounted on the actual machine. For example, if the audio output unit 43 is a speaker of the remote control device, the audio output unit 43 outputs audio data acquired by a microphone mounted on the actual machine.

[0026] If the work machine 60 in the virtual space is configured to be able to be operated (specifically, it has an operator operation mode, which will be described later), and the output unit 40 includes a device for output from the remote control device, the user can operate the work machine 60 in the virtual space while perceiving output (display, sound) from the output unit 40, which is information perceived (seen, heard) when remotely operating a real machine. In this case, the output unit 40 can also be used as a device for output from the remote control device. This eliminates the need to prepare a device (such as a monitor) separate from the device for output from the remote control device as the output unit 40 of the work site simulation system 1. Furthermore, if the work site simulation system 1 is configured to enable the operation of a work machine 60 in the virtual space (i.e., has an operator operation mode, which will be described later), and is configured to enable both the input unit 11 and the output unit 40 to be used for remotely operating an actual machine, the user will be able to experience a sensation closer to the sensation of operating an actual machine, compared to when only one of the input unit 11 and the output unit 40 is used for remotely operating an actual machine.

[0027] The computer 20 sets the work site S and the plurality of objects 50 in the virtual space, as shown in FIG.

[0028] The work site S is a location in the virtual space where the work machine 60 performs operations such as work. The following description will generally be about events that occur in the virtual space. For example, the operation of the work machine 60 generally refers to the operation of the work machine 60 within the virtual space.

[0029] Each of the plurality of objects 50 is a simulation, i.e., a model, of an object at a real work site. Each of the objects 50 is a three-dimensional model. The plurality of objects 50 illustrated in FIG. 4 includes the ground 51, a work target 53, an object in a container 55, a work machine 60, and a vehicle 90.

[0030] The ground 51 is the ground of the work site S. The ground 51 illustrated in Fig. 8 includes flat ground, a slope, an uneven surface, etc. The ground 51 includes a ground surface 51g, and the ground surface 51g is the surface of the ground 51.

[0031] The work object 53 is the target of work performed by the work machine 60. The work object 53 may be any of soil 53s, rocks, magnetic materials such as metals that can be attracted by a magnet, resin, waste, wood such as logs, and structures such as blocks, as illustrated in FIG. 4 . The soil 53s includes at least one of soil, sand, and gravel. The shape of the work object 53 can be set in various ways. The work object 53 may be formed by a surface having information about height, or may be a representation of the soil 53s that constitutes the ground surface 51g. The work object 53 may have a rectangular or approximately rectangular shape, such as a representation of an object that can be attracted by a magnet or a representation of a structure such as a block. The work object 53 may also have a cylindrical or approximately cylindrical shape, such as a representation of a log or a representation of a structure such as a pillar.

[0032] The object in the container 55 is the object 50 placed in a container. Examples of the container include the bucket 65d of the work machine 60 and the loading platform 91 of the vehicle 90 shown in Fig. 4. The object in the container 55 is the work target 53 in the example shown in Fig. 4. The object in the container 55 may be an object other than the work target 53.

[0033] The work machine 60 is a machine that performs work. The work machine 60 may be a construction machine that performs construction work, or a loading and unloading machine that performs loading and unloading work. Examples of the work machine 60 include a shovel, a crane, a bulldozer, and a wheel loader.

[0034] The work machine 60 includes a machine body 60a and a plurality of work devices.

[0035] The machine main body 60a is a main body portion of the work machine 60. The machine main body 60a includes the lower body 61 and the upper rotating body 63.

[0036] The lower body 61 supports the upper rotating body 63 from below. The lower body 61 illustrated in Fig. 4 is a lower running body that can run on a running surface (for example, the ground surface 51g). The lower body 61 does not necessarily have to be runnable.

[0037] The lower body 61 includes a lower frame 61a and a pair of left and right running portions 61b shown in FIG.

[0038] The lower frame 61a is a frame (structure) that supports the pair of running parts 61b. Each of the pair of running parts 61b includes a part that moves relative to the lower frame 61a, specifically a part that performs a running motion, which is an operation for running. Each of the pair of running parts 61b may include a crawler or multiple wheels. The pair of running parts 61b is disposed on both sides of the lower main body 61 in the width direction, i.e., the left and right direction.

[0039] The upper rotating body 63 is mounted on the lower main body 61 so as to be rotatable relative to the lower main body 61. The upper rotating body 63 includes a rotating frame (not shown) and a cab 63c disposed on the rotating frame.

[0040] The work machine 60 has a machine up-down direction Z, an upper rotating body fore-and-aft direction X, an upper rotating body lateral direction Y, and a swing direction R. The machine up-down direction Z is the direction in which a swing axis, which is the central axis of the swing operation of the upper rotating body 63 relative to the lower main body 61, extends. The machine up-down direction Z includes a machine up-down direction Z1, which is the direction from the lower main body 61 toward the upper rotating body 63, and a machine down-down direction Z2, which is opposite to the machine up-down direction Z1. The upper rotating body fore-and-aft direction X is a direction perpendicular to the machine up-down direction Z and is the direction in which the attachment 65 moves relative to the upper rotating body 63. The upper rotating body fore-and-aft direction X includes an upper rotating body forward direction X1, toward which the operator cab 63c faces, and an upper rotating body rearward direction X2, which is opposite to the upper rotating body forward direction X1. The upper rotating body lateral direction Y is a direction perpendicular to the machine vertical direction Z and the upper rotating body fore-and-aft direction X, and is the direction in which a rotation central axis, which is the central axis of rotation of the attachment 65 described below, extends. The rotation direction R is the direction of the rotation of the upper rotating body 63 relative to the lower main body 61. The bottom surface of the work machine 60 may be inclined with respect to the horizontal direction in the virtual space. Therefore, the upper rotating body fore-and-aft direction X and the upper rotating body lateral direction Y do not necessarily coincide with the horizontal direction in the virtual space, and the machine vertical direction Z does not necessarily coincide with the vertical direction in the virtual space. However, the following description will be based on a state in which the machine vertical direction Z coincides with the vertical direction in the virtual space.

[0041] The cab 63c is a portion of an actual work machine where an operator can perform operations. The cab 63c may be fixed to the rotating frame of the upper rotating body 63, or may be movable and capable of moving relative to the rotating frame. The relative movement includes, for example, at least one of translation along the machine-up / down direction Z and rotation in the machine-up / down direction Z. Specifically, if the cab 63c is movable, it may be any of an elevator cab, a link cab, and a tilt cab. If the cab 63c is an elevator cab, the cab 63c is movable relative to the rotating frame of the upper rotating body 63 in the machine-up / down direction Z. If the cab 63c is a link cab, the cab 63c is connected to the rotating frame of the upper rotating body 63 via a link mechanism, and the link mechanism operates to allow the cab 63c to move relative to the rotating frame in the machine-up / down direction Z and the upper rotating body fore / aft direction X. In the case of the tilt cab, the operator's cab 63c is rotatable, i.e., tiltable, in the machine up-down direction Z around a rotation axis extending in the lateral direction Y of the upper rotating body relative to the rotating frame of the upper rotating body 63.

[0042] The plurality of work devices include a dozer 64 and the attachment 65. Each work device is configured to perform a work operation for a specific task on the work object 53 (for example, a task of moving the work object 53).

[0043] Specifically, the dozer 64 includes a plate-like member (for example, a blade) extending in the width direction of the lower body 61 and in the machine up-down direction Z, and is attached to the lower frame 61a as shown in Fig. 17. The dozer 64 may be attached so as to be movable relative to the lower frame 61a in the machine up-down direction Z.

[0044] The attachment 65 is attached to the upper rotating body 63 and rotates together with the upper rotating body 63. The attachment 65 illustrated in FIG. 4 includes a boom 65a, an arm 65b, and a tip attachment 65c. The boom 65a is connected to the upper rotating body 63 so as to be able to rise and fall relative to the upper rotating body 63, i.e., so as to be able to rotate in the machine-up / down direction Z. The arm 65b is connected to the boom 65a so as to be able to rotate in the machine-up / down direction Z relative to the boom 65a. The tip attachment 65c is connected to the arm 65b so as to be able to rotate in the machine-up / down direction Z relative to the arm 65b. The tip attachment 65c constitutes the tip of the attachment 65. The tip attachment 65c is capable of capturing (holding) and releasing the work object 53. The tip attachment 65c illustrated in FIG. 4 is the bucket 65d. Alternatively, the tip attachment 65c may be any of a magnet that attracts the work object 53 by magnetic force, a device that clamps the work object 53 (such as a grapple, nibbler, or rotary fork), and a device that crushes the work object 53 (such as a breaker). The device that clamps the work object 53 (such as a rotary fork) has an arm connector connected to the arm 65b and clamping parts that clamp the work object 53, and the clamping parts are configured to rotate relative to the arm connector, thereby making it possible to easily change the direction in which the clamping parts clamp the work object 53, i.e., the opening and closing direction. The opening and closing direction may be changeable, for example, in either the fore-and-aft direction X of the upper rotating body or the lateral direction Y of the upper rotating body.

[0045] The bucket 65d has a shape that allows it to function as a container for holding (storing) the work object 53, and is capable of performing tasks such as scooping up the work object 53 and digging up the work object 53.

[0046] Specifically, as shown in Figure 17, the bucket 65d has a bucket opening surface 65e and a bucket tip back surface 65f. The bucket opening surface 65e is a surface that includes an opening formed by the bucket 65d, and the work object 53 is discharged from the bucket 65d and entered into the bucket 65d through this opening. The bucket tip back surface 65f constitutes the tip side portion of the bucket 65d, i.e., the portion opposite the tip of the arm 65b, and is, for example, flat.

[0047] The work machine 60 is set to operate within the virtual space, and examples of the operations include the traveling operation of the lower body 61, the rotating operation of the upper rotating body 63, and the operation of the work device, for example, the operation of the attachment 65 changing its attitude. The work machine 60 may be moved based on information stored in advance in the computer 20, or may be moved in response to manual operation performed by a user in an operator operation mode, which will be described later. A plurality of work machines 60 may be set within the virtual space, and a work machine 60 to be manually operated by the user may be selected from the plurality of work machines 60.

[0048] The vehicle 90 includes the loading platform 91 that functions as the container, and a vehicle body 90a that supports the loading platform 91. As shown in Fig. 4, the vehicle 90 is a transport vehicle, such as a dump truck, that is capable of transporting an object (e.g., the work object 53) contained in the loading platform 91.

[0049] In the example shown in Fig. 4, the loading platform 91 functioning as the container has a box shape that opens upward. Specifically, the loading platform 91 includes a loading platform bottom 91a and a loading platform enclosure 91c. The loading platform bottom 91a is the bottom (floor) of the loading platform 91. The loading platform enclosure 91c protrudes upward from the periphery of the loading platform bottom 91a so as to enclose the space above the loading platform bottom 91a.

[0050] The specifications of the container, including the loading platform 91, such as at least a portion of the position, dimensions, and shape of the loading platform 91, can be set in various ways. For example, information about the loading platform 91 may be pre-stored in the computer 20, or may be set based on information about the specifications of the vehicle 90 pre-stored in the computer 20. Alternatively, the information about the loading platform 91 may be arbitrarily set in response to a manual operation by a user, specifically, an operation performed on the input unit 11 shown in FIG. 1 , or pre-stored information may be changed in response to the manual operation. Alternatively, the information about the loading platform 91 may be set based on numerical values ​​(indicating the position, dimensions, etc.) input into the computer 20. The same applies to the selection area A13, which is set based on such numerical values ​​as described below. For example, the information about the loading platform 91 may be set based on numerical values ​​indicating the coordinates of the vertices of the outer shape of the loading platform 91 in a planar view, such as the four corners of the loading platform bottom 91a, or based on numerical values ​​indicating the height of the loading platform enclosure 91c. The information about the loading platform 91 may be set or changed based on an operation given to an area change section G5 shown in FIG. 5 and described later or an area change section similar to the area change section G5.

[0051] The plurality of objects 50 is not limited to the above. For example, the plurality of objects 50 may include a container other than the loading platform 91 and the bucket 65d, such as a container placed on the ground 51g, or may include a hole, such as a soil pit, dug in the ground 51g to accommodate the work target 53. The plurality of objects 50 may also include obstacles such as buildings, or may include facilities installed in the work site S, such as markers such as pylons (cones) or bars. The plurality of objects 50 may also include water. Specifically, the plurality of objects 50 may include puddles on the ground 51g, or may include water stored in the container. Furthermore, only a single object 50 may be set in the work site S.

[0052] The work site simulation system 1 according to the embodiment has an operator operation mode (operator mode) that allows a user to operate the work machine 60. The operator operation mode is an operating mode that simulates the operation of a real work machine. In the operator operation mode, the computer 20 causes the work machine 60 to perform operations such as movement and change in posture in response to manual operations manually provided by the user to the input unit 11. Specifically, at least a portion of the lower body 61, upper rotating body 63, boom 65a, arm 65b, and tip attachment 65c of the work machine 60 are moved in response to manual operations by the user. If the dozer 64 shown in FIG. 17 is included in the work machine 60, the dozer 64 may be moved in response to manual operations by the user.

[0053] 4 may be changed in accordance with the operation of the work machine 60, for example, an operation for work. In the embodiment, as will be described later, the ground 51 is deformed and the work object 53 is moved in accordance with the operation of the work machine 60.

[0054] The work site simulation system 1 may further include modes other than the operator operation mode. For example, the work site simulation system 1 may include a construction planning mode, which is a mode for planning work at the work site S. In such a case where the work site simulation system 1 includes multiple modes, the computer 20 may display a mode change section G1 as shown in FIGS. 5 and 10 on the display unit 41. The mode change section G1 is a GUI displayed by the display unit 41 to enable a user to specify a desired mode from among the multiple modes. In the embodiment, the mode change section G1 shown in FIG. 5 is a display that enables the mode to be changed to the operator operation mode (operator mode) shown in FIG. 10 by an operation applied to the mode change section G1, and the mode change section G1 shown in FIG. 10 is a display that enables the mode to be changed to the construction planning mode shown in FIG. 5 by an operation applied to the mode change section G1.

[0055] The display unit 41 may display images from various viewpoints. As exemplified in Fig. 10, in the operator operation mode, the computer 20 causes the display unit 41 to display an image seen from a viewpoint inside the cab 63c. Furthermore, in the construction planning mode exemplified in Fig. 5, the computer 20 causes the display unit 41 to display an image from a viewpoint outside the work machine 60, specifically, an image overlooking the work site S. However, the viewpoint can also be set in various ways. For example, the display unit 41 may display only an image from a single viewpoint, or may simultaneously display multiple images from multiple viewpoints.

[0056] The computer 20, more specifically, the model conversion processing unit 21 of the computer 20, performs the model conversion process, that is, the process of converting the site model M11 into the changeable model M15. Specifically, the process is as follows.

[0057] The computer 20 performs a change process, which is at least one of deformation, movement, addition, and deletion, of at least a part of the plurality of objects 50, for example, a work target 53, in the simulation of the work site S shown in Fig. 4. The change process increases the calculation load on the computer 20, but the work site simulation system 1 is configured to enable the change process to reduce the calculation load on the computer 20. Specifically, the computer 20 performs the process shown in the flowchart of Fig. 3.

[0058] First, the computer 20, specifically the model conversion processing unit 21, acquires the site model M11 as shown in FIG. 5, i.e., the shape information of the work site S (step S11 shown in FIG. 3). Next, the computer 20 sets a partial area of ​​the site model M11 as the selected area A13 (step S13). Next, the computer 20 converts the site model M11 within the selected area A13 into the modifiable model M15 shown in FIG. 8 (step S15). While performing a change process on the modifiable model M15, the computer 20 limits the change process performed on the site model M11 compared to the change process allowed for the modifiable model M15. This makes it possible to suppress an increase in the computational load on the computer 20 due to the change process, thereby enabling the computer 20 to perform calculations using a calculation method that allows for high-speed calculations. The model conversion process will now be described in detail.

[0059] The site model M11 acquired in step S11 is shape information of the work site S as described above, and includes three-dimensional shape information in the embodiment. Specifically, the site model M11 includes a plurality of polygons PG as shown in FIG. 7. The polygons PG have a plurality of vertices Vpg, but the vertices Vpg are arranged irregularly rather than regularly. That is, they are set at various positions. The site model M11 may include information of a real work site. For example, the site model M11 may include information obtained by 3D (3-dimensional) scanning of the real work site, or may include shape information appropriately converted from a two-dimensional image of the real work site. Alternatively, the site model M11 may include information of the virtual work site S, such as design information.

[0060] The site model M11 includes the plurality of objects 50 shown in Fig. 4. That is, the site model M11 according to this embodiment includes the ground 51, the work object 53 (e.g., soil 53s, etc.), the work machine 60, and at least a portion of the vehicle 90. The site model M11 may also include information relating to color, for example, information relating to the color of the soil 53s, etc.

[0061] The selected area A13 set by the computer 20, more specifically, by the selected area setting unit 21a in step S13 shown in Figure 3, is the area where conversion from the site model M11 to the modifiable model M15 shown in Figure 8 is performed, i.e., the conversion area, as described above. The selected area A13 may be a part of the site model M11 or the entire site model M11. Furthermore, multiple selected areas A13 may be set within the site model M11. The multiple selected areas A13 may include overlapping areas or may only include areas that are separated from each other.

[0062] The selection area A13 is set to an area that overlaps with the site model M11. The selection area A13 may be set to an area that three-dimensionally overlaps with the three-dimensional site model M11. The selection area A13 may be set to an area that overlaps with the site model M11 when viewed from above in the virtual space, i.e., in a planar view in the virtual space, i.e., an area that overlaps two-dimensionally.

[0063] The selection area A13 may have various shapes. For example, the selection area A13 may be a rectangular parallelepiped (a rectangular parallelepiped model for range specification, an area box), a columnar shape, a cylindrical shape, or a polygonal columnar shape. The planar shape of the selection area A13 in a planar view in the virtual space is also not limited, and the planar shape may be a polygon, for example, a quadrangle such as a rectangle, a diamond, or a trapezoid, a circle, or an ellipse.

[0064] The selection area mode, which is the mode of the selection area A13, may be changeable. The selection area mode includes at least one of parameters including the position, shape, and size of the selection area A13. For example, the position of the selection area A13 may be changed by translating the selection area A13 or by rotating the selection area A13.

[0065] The selection area A13 may be arbitrarily set in response to a manual operation given by a user to the input unit 11, or may be changed in response to the manual operation. Initial values ​​of parameters of the selection area A13 may be settable. In the embodiment, the computer 20 is configured to automatically set the selection area A13. A specific example thereof will be described below.

[0066] Example 1: The selection area A13 may be set based on the position of the work machine 60. This allows the selection area A13 to be set at an appropriate position corresponding to the position of the work machine 60, and thereby allows an appropriate area corresponding to the position of the work machine 60 to be converted from the site model M11 to the modifiable model M15. In Example 1, the work machine 60 is set (placed) at the work site S before the selection area A13 is set (determined). For example, the work machine 60 is set (placed) at the work site S after the site model M11 is set, but before the selection area A13 is set (determined). The selection area A13 may be set to include part or all of the work machine 60. The calculator 20 automatically sets the selection area A13 based on the position of the work machine 60. This reduces the effort required by the user to set the selection area A13.

[0067] Unlike Example 1 above, if the setting of the selection area A13 is not based on the position of the work machine 60, the timing of setting the work machine 60 at the work site S does not matter whether it is before or after the setting of the selection area A13. Furthermore, if the selection area A13 is set based on the position of the work machine 60, the selection area A13 may be provisionally set (provisionally determined) before the setting of the work machine 60, and the provisionally determined selection area A13 may be finally determined based on the position of the work machine 60 after the setting of the work machine 60. For example, the provisionally determined selection area A13 may be changed to a different final selection area A13.

[0068] Specifically, the selection area A13 may be set based on the range in which the work machine 60 is capable of operating. In other words, the computer 20 may be configured to automatically set the selection area A13 based on the range in which the work machine 60 is capable of operating.

[0069] For example, the selection area A13 may be set based on a workable range, which is a range within which the work machine 60 can work without traveling. Specifically, the selection area A13 may be set based on an attachment work range, which is a range within which the tip attachment 65c can reach. More specifically, the attachment work range is a range within which the tip attachment 65c can be located due to the rotation of the upper rotating body 63 and changes in the attitude of the attachment 65, without the lower body 61 traveling. As an example of setting the selection area A13 based on the workable range, the selection area A13 may be set based on a maximum turning radius. The maximum turning radius is the distance from the central axis of rotation of the upper rotating body 63 to the tip of the tip attachment 65c when the tip attachment 65c is located at a position farthest from the central axis of rotation of the upper rotating body 63. As an example of setting the selection area A13 based on the workable range, the selection area A13 may be set based on the range in which the tip attachment 65c can move in the machine up-down direction Z.

[0070] If a travelable range, which is the range within which the work machine 60 can travel, is determined, the selected area A13 may be set based on the travelable range.

[0071] The selected area A13 may be set based on both the travelable range and the workable range. Furthermore, the selected area A13 may be set so as to move in accordance with the position of the work machine 60 while the work machine 60 is traveling. In other words, the selected area A13 may be updated as the work machine 60 travels.

[0072] Example 2: The selection area A13 may be set based on the position of the vehicle 90 shown in FIG. 4 . This allows the selection area A13 to be set at an appropriate position corresponding to the position of the vehicle 90, thereby allowing the site model M11 to be converted into the modifiable model M15 within an appropriate range. In Example 2, the vehicle 90 is set (placed) at the work site S before the selection area A13 is set. For example, the selection area A13 may be set to include the vehicle 90. The computer 20 may be configured to automatically set the selection area A13 based on the position of the vehicle 90. This reduces the effort required for a user to set the selection area A13.

[0073] In the second example, the selection area A13 may be set to include at least a part of the loading platform 91 of the vehicle 90, for example, the inside of the loading platform 91.

[0074] Example 3: When both the work machine 60 and the vehicle 90 are present at the work site S, the selection area A13 may be set based on the respective positions of the work machine 60 and the vehicle 90. For example, the selection area A13 may be set to include both the work machine 60 and the vehicle 90.

[0075] Example 4: The computer 20 may be configured to set the selection area A13 based on numerical values ​​input to the computer 20. This allows parameters such as the position and size of the selection area A13 to be precisely set using specific numerical values. The setting according to Example 4 is particularly effective when specific numerical values ​​indicating the location where the selection area A13 should be set, such as a design position, or the size of the selection area A13, such as design dimensions, are predetermined. For example, in this case, the container for containing the work object 53 shown in FIG. 4 is a hole (e.g., a sand pit) not shown dug in the ground 51g, and specific numerical values ​​indicating the position or size of the hole are predetermined. Setting the selection area A13 based on the numerical values ​​allows precise determination of the area to be converted into the modifiable model M15 (see FIG. 8).

[0076] For example, the selection area A13 may be set based on a position designation value that designates the position of the selection area A13. The position designation value may include coordinates of the selection area A13 in an appropriate coordinate system. The coordinates may be coordinates of the center of gravity of the selection area A13, or may be coordinates of a specific position on the outer edge of the selection area A13 as shown in Figure 6A (a corner position in Figure 6A). The position designation value may include a rotation angle of the selection area A13 relative to a predetermined reference direction, for example, the direction of the work machine 60.

[0077] The numerical values ​​for setting the selection area A13 may be size-specifying numerical values ​​that specify the size (dimensions) of the selection area A13. For example, if the selection area A13 has a rectangular parallelepiped shape, the size-specifying numerical values ​​may be the numerical values ​​for the height, width, and depth of the rectangular parallelepiped. If the selection area A13 has a cylindrical shape, the size-specifying numerical values ​​may be the numerical values ​​for the radius and height of the cylinder.

[0078] The numerical values ​​for setting the selection area A13 may be manually input into the calculator 20 by a user operating the input unit 11. This allows the user to arbitrarily set the numerical values ​​of the parameters in the selection area A13. For example, the calculator 20 may display a parameter input section G3 shown in FIG. 5 on the display unit 41. The parameter input section G3 is a GUI displayed to allow the user to manually input the numerical values ​​of the parameters in the selection area A13. The numerical values ​​are input into the parameter input section G3 via the input unit 11.

[0079] The numerical values ​​for setting the selected area A13 may be numerical values ​​stored in advance in the computer 20, such as the design position or the design dimensions.

[0080] Example 5: The selected area A13 may be set based on an operation given to the area change unit G5 illustrated in FIG.

[0081] The area change unit G5 is displayed to allow the user to change the selection area configuration, i.e., at least one of the position, shape, and size of the selection area A13. The area change unit G5 is a GUI displayed on the display unit 41. The computer 20 changes the selection area configuration in response to the operation provided by the user to the area change unit G5. The area change unit G5 illustrated in FIG. 5 includes an image representing multiple coordinate axes (three axes: X, Y, and Z in FIG. 5). The multiple coordinate axes may be based on the work site S or may be based on the work machine 60, for example, corresponding to the upper rotating body fore-and-aft direction X, the upper rotating body lateral direction Y, and the machine up-and-down direction Z, respectively. When the selection area A13 is rotated, the area change unit G5 may include an image representing the central axis of rotation or an image representing the direction of rotation. The central axis of rotation may be one of the plurality of coordinate axes, or may be an axis different from the coordinate axes. For example, by applying an operation (e.g., a drag operation) to an image of one of the coordinate axes in the area change unit G5 shown in FIG. 5, the parameters of the selection area A13 are changed in accordance with the operation. The area change unit G5 is preferably displayed at an appropriate position, for example, a central position, within the selection area A13 as shown in FIG. 5. The operation applied to the area change unit G5 may be for changing an area different from the selection area A13, for example, the object addition area A23 or the object removal area A25 shown in FIG. 9.

[0082] 5, in addition to the area modification section G5, a change target selection section G7 is further displayed by the display unit 41. The change target selection section G7 is displayed to allow a user to select parameters (e.g., position, shape, and size) to be modified through the area modification section G5. The change target selection section G7 is a GUI displayed by the display unit 41. The computer 20 determines the target of modification through the area modification section G5 in response to an operation given to the change target selection section G7 by the user.

[0083] The selection area A13 may be set by combining the above examples in various ways. The selection area A13 may be set by a method different from the above examples.

[0084] The manual operation performed to set the selection area A13 may be any of numerical input, drag operation, click operation, tap operation, and key operation other than numerical input (such as cursor key operation), or a combination of two or more of these operations.

[0085] The computer 20 may automatically set the selection area A13 based on objects 50 other than the work machine 60 and the vehicle 90 among the plurality of objects 50, such as the ground 51, the work target 53, and obstacles. The selection area A13 automatically set by the computer 20 may be determined as the final selection area A13 as is, or may be changed (adjusted) by manual operation or the like.

[0086] The computer 20 may link the selection area A13 shown in FIG. 5 with an object 50. For example, the computer 20 may move the selection area A13 in accordance with the movement of the object 50 linked to the selection area A13 among the multiple objects 50. For example, the position of the selection area A13 may be expressed in coordinates based on the position of the object 50 linked to the selection area A13. For example, when the computer 20 automatically sets the selection area A13 based on the position of an object 50 selected from the multiple objects 50, the computer 20 may link the selection area A13 with the selected object 50, or may link the selection area A13 with an object 50 that is not related to the setting of the selection area A13.

[0087] As described above, the computer 20, more specifically the modifiable model generation unit 21c, converts the site model M11 in the selected area A13 into the modifiable model M15 shown in Fig. 8 (step S15 shown in Fig. 3), i.e., generates the modifiable model M15. Specifically, the computer 20 generates the modifiable model M15 by converting the site model M11 into an object 50 in the modifiable model M15.

[0088] When the selection area A13 is set after the generation of the modifiable model M15, for example, when a new selection area A13 is set or an existing selection area A13 is changed, the computer 20 may convert the site model M11 to the modifiable model M15 in the newly set selection area A13 while maintaining the already generated modifiable model M15 (i.e., add a new modifiable model M15), or may delete the already generated modifiable model M15 and convert the site model M11 to the modifiable model M15 in the newly set selection area A13 (i.e., update the modifiable model M15). Whether to add or update the modifiable model M15 may be selectable by, for example, a manual operation by a user. That is, the computer 20 may be configured to determine whether to add or update the modifiable model M15 based on the manual operation.

[0089] If the selected area A13 is moved in accordance with the movement of the work machine 60 after the modifiable model M15 is generated, as in Example 4 above, the computer 20 may convert (e.g., update) the on-site model M11 into the modifiable model M15 in the selected area A13 that has been moved in this way.

[0090] The modifiable model M15 is shape information that can be modified by the computer 20. The modifiable model M15 includes three-dimensional shape information. The shape of the modifiable model M15 is preferably simpler than the shape of the on-site model M11. The modifiable model M15 illustrated in Fig. 6A is information that includes a combination of the plurality of meshes MS, which are rectangular sections separated vertically and horizontally, and a plurality of pieces of height information assigned to each of the plurality of meshes MS, as shown in Fig. 6B.

[0091] The modifiable model M15 may include the ground 51 shown in FIG. 4 or may include the work object 53. For example, the modifiable model M15 may include soil 53s (soil model), or may include a work object 53 other than soil 53s. The modifiable model M15 may include the object in the container 55. The work machine 60 and the vehicle 90 are not included in the modifiable model M15 converted from the site model M11.

[0092] The modifiable model M15 can be generated, i.e., converted from the site model M11, in various ways, examples of which are described below.

[0093] The computer 20, specifically the site model clipping unit 21b, clips out, i.e., deletes, the portion within the selected area A13 from the site model M11 shown in FIG. 6A. Specifically, the computer 20 acquires information on the vertices Vpg of all polygons PG that exist within the selected area A13 among the vertices Vpg of the multiple polygons PG included in the site model M11 as shown in FIG. 7, and deletes all polygons PG that include the acquired vertices Vpg (hatched polygons PG in FIG. 7). This deletes polygons PG within an area slightly larger than the selected area A13. Because the vertices Vpg of the polygons PG included in the site model M11 illustrated in FIG. 7 are arranged in irregular, not regular, positions, the periphery of the area clipped out from the site model M11 may have an irregular shape, such as a broken line (jagged), when viewed from above. Alternatively, the computer 20 may additionally generate the modifiable model M15 shown in FIG. 6A by leaving the portion of the site model M11 corresponding to the selected area A13 uncropped.

[0094] The computer 20, more specifically the modifiable model generation unit 21c, generates the modifiable model M15 within the selected area A13. Each of the plurality of rectangular meshes MS included in the modifiable model M15 is, for example, a square. The dimension of one side of the mesh MS, i.e., the mesh size, is a predetermined dimension (e.g., 100 mm) stored in advance in the computer 20. All of the meshes MS have the same dimensions. In other words, the modifiable model M15 is divided at equal intervals. Only some of the plurality of meshes MS are shown in FIGS. 6A and 6B.

[0095] The computer 20 sets height information for each of the meshes MS. Example values ​​corresponding to the height information are shown in each mesh MS in FIG. 6B . For example, the computer 20 sets the height information for each mesh MS using the height of a specific object 50 among the multiple objects 50, such as the height of the bottom surface of the work machine 60, as a reference (e.g., 0). The computer 20 sets (calculates) an initial value of the height information for each mesh MS, i.e., the value before the change process is performed on the changeable model M15. For example, the computer 20 calculates the initial value of the height information for one mesh MS based on the height information of the site model M11 within the area of ​​the mesh MS. Specifically, the computer 20 sets the average value of the heights of the vertices Vpg of the polygons PG of the site model M11 within the area of ​​the mesh MS as the initial value of the height information for the one mesh MS. More specifically, the computer 20 calculates the initial value of the height information for the one mesh MS using the following formula:

[0096] h: initial value of height information of one mesh MS Py,n: height information of vertices Vpg within the area of ​​one mesh MS N: number of vertices Vpg within the area of ​​one mesh MS

[0097] 5, when a data missing portion Mdm, which is a portion where no data is present in the on-site model M11, the computer 20 may generate the modifiable model M15 shown in FIG. 8 at the position of the data missing portion Mdm so as to complement the data missing portion Mdm. In other words, the computer 20 may be configured to fill in the data missing portion Mdm.

[0098] The data missing portion Mdm in the site model M11 may occur, for example, in the following manner: If the site model M11 is acquired by 3D scanning an actual work site, the site model M11 may be generated without scanning a portion of the actual work site, and the portion that was not scanned may become the data missing portion Mdm. Furthermore, if the information on which the site model M11 is based includes information about the terrain and information other than the terrain (e.g., information about the work machine 60), and the site model M11 is acquired based only on the information about the terrain with the information other than the terrain excluded, the excluded information other than the terrain may become the data missing portion Mdm.

[0099] The specific method by which the computer 20 complements the data-missing portion Mdm may be set in various ways. For example, the computer 20 may generate (complement) the modifiable model M15 shown in FIG. 8 at the position of the data-missing portion Mdm based on a portion of the site model M11 where data exists. Specifically, the computer 20 may set initial height information for each mesh MS of the modifiable model M15 shown in FIGS. 6A and 6B based on height information for the portion surrounding the data-missing portion Mdm. For example, the computer 20 may be configured to set the average value of the heights surrounding the data-missing portion Mdm shown in FIG. 5 as the initial height information for the modifiable model M15 (the mesh MS shown in FIG. 6B) to be complemented with the data-missing portion Mdm.

[0100] The computer 20 can perform the change process on the modifiable model M15 shown in FIG. 8. The change process is at least one of deformation, movement, addition, and deletion of the model. The computer 20 does not restrict the change process on the modifiable model M15. Alternatively, the computer 20 relaxes the restrictions on the change process on the modifiable model M15 compared to the restrictions on the change process on the site model M11.

[0101] In other words, the computer 20 limits the change processes that can be performed on the site model M11 more than the change processes that can be performed on the modifiable model M15. The restriction on the change processes on the site model M11 also includes prohibiting all change processes on the site model M11. In other words, the computer 20 may be configured to perform change processes on the modifiable model M15 but not perform any change processes on the site model M11, or may be configured to perform change processes on the modifiable model M15 but perform only change processes on the site model M11 that are more limited than the change processes that can be performed on the modifiable model M15. For example, the computer 20 may be configured not to perform modification processing on the entire site model M11 when modification processing is possible on all or part of the modifiable model M15 (e.g., the physical calculation area A17 shown in Figure 9), or may be configured to perform only modification processing on the site model M11 excluding specific modification processing (e.g., deformation and movement) when specific modification processing is possible on the modifiable model M15.

[0102] Specifically, the computer 20 performs the modification process when the work machine 60 comes into contact with an object in the modifiable model M15, thereby simulating work by the work machine 60. More specifically, when the work machine 60 comes into contact with an object in the modifiable model M15, for example, when work is performed on the object, the computer 20 moves and / or deforms the object. For example, as shown in Figure 12, when the bucket 65d performs an operation to excavate soil 53s in the modifiable model M15, the computer 20 moves and / or deforms the soil 53s as if the soil 53s had been excavated.

[0103] On the other hand, even if the work machine 60 shown in Figure 8 comes into contact with an object in the site model M11, the computer 20 does not move or deform the object. Specifically, the computer 20 processes data so that the bucket 65d passes through the object in the site model M11. In this way, the change processing is limited so that the change processing for movement and deformation that is performed when the bucket 65d comes into contact with an object in the modifiable model M15 is not performed on the site model M11. This makes it possible to reduce the calculation load on the computer 20.

[0104] The computer 20 displays the modifiable model M15 on the display unit 41. The color of the modifiable model M15 displayed in this manner may be set based on color information of the site model M11. Specifically, the computer 20 acquires information about the color at a position in the site model M11 corresponding to the position of the modifiable model M15 shown in FIG. 6A (e.g., the position of each mesh MS), and sets the color of the modifiable model M15 at that position to the same color as or a color close to the color of the site model M11 acquired as described above. In other words, the computer 20 reflects the color of the site model M11 in the modifiable model M15.

[0105] The modifiable model M15 illustrated in Fig. 6A is composed of the plurality of meshes MS, each having height information, as illustrated in Fig. 6B. The computer 20 may display a curved surface obtained by smoothly connecting the surfaces of the plurality of meshes MS illustrated in Fig. 6B as the modifiable model M15 on the display unit 41, as illustrated in Fig. 8. For example, the computer 20 may determine a curve (e.g., a spline curve) that connects the plurality of meshes MS illustrated in Fig. 6A and 6B to one another, and display a surface passing through the curve on the display unit 41 as the modifiable model M15.

[0106] As described above, the modifiable model M15 simulates work performed by the work machine 60 and is different from the site model M11, which is shape information of the work site S. Therefore, the computer 20 is preferably configured to display, on the display unit 41, an image that enables a user to grasp the actual position corresponding to the modifiable model M15. The computer 20 is also preferably configured to display, on the display unit 41, an image that enables a user to distinguish between the site model M11 and the modifiable model M15. Specifically, the computer 20 may be configured to display the site model M11 and the modifiable model M15 in different colors, or may be configured to display only the outer periphery (frame) of the modifiable model M15 on the display unit 41. For example, the computer 20 may be configured to display (draw) on the display unit 41 a boundary line between the interior and exterior of the modifiable model M15. For example, although no data exists in the gap between the polygon PG (of the site model M11) deleted as described above and the periphery of the selected area A13 (i.e., the periphery of the modifiable model M15) in Figure 7, the computer 20 may be configured to display this portion, i.e., the boundary portion between the site model M11 and the modifiable model M15, in a manner different from the display of the site model M11 and the display of the modifiable model M15. In this way, the boundary portion between the modifiable model M15 and the site model M11 shown in Figure 8 may be displayed on the display unit 41.

[0107] As described above, the modifiable model M15 makes it possible to simulate work by the work machine 60, whereas the on-site model M11 does not, and therefore it is preferable that when a preset notification target part of the work machine 60 deviates from the area of ​​the modifiable model M15, the computer 20 causes the output unit 40 to output a notification of the deviation so that the user can recognize it. This enables the user to operate the system so as to prevent the notification target part of the work machine 60 from deviating from the modifiable model M15.

[0108] For example, the calculator 20 causes the output unit 40 to output a notification when the notification target portion of the work machine 60 deviates from the area of ​​the changeable model M15 in a plan view. The notification output from the output unit 40 may be a visual notification or an audible notification. The notification target portion may be the entire work machine 60 or a part of the work machine 60. The target portion may include, for example, any of the lower body 61, the upper revolving body 63, and the work device.

[0109] As the modification process performed on the modifiable model M15, the computer 20 can perform, for example, calculations to move the object 50 included in the modifiable model M15 (performing at least one of deformation and movement of the object 50). However, performing calculations to cause the object 50 to move in accordance with physical phenomena in all areas of the modifiable model M15 may significantly increase the calculation load on the computer 20.

[0110] In order to suppress such an increase in the calculation load, it is preferable that the computer 20 set the physical calculation area A17 as exemplified in Fig. 9. The physical calculation area A17 is an area in which the computer 20 is permitted to perform physical calculations, which are calculations for making the object 50 in the modifiable model M15 move in accordance with physical phenomena. In other words, the computer 20 is prohibited from performing calculations for making the object 50 move in accordance with physical phenomena, specifically, for making the object 50 move and / or deform in accordance with physical phenomena, in areas other than the physical calculation area A17. In this way, limiting the area in which the physical calculations are performed also corresponds to restricting the change process.

[0111] A specific example of the physical calculation will be described below in which the object 50 simulated in the modifiable model M15 is the soil 53s. When the soil 53s is dumped into an area other than the physical calculation area A17 at the work site S, the computer 20 changes the shape of the dumped soil 53s to a shape that does not match physical phenomena, such as a simple shape such as a rectangular parallelepiped. On the other hand, when the soil 53s is dumped into the physical calculation area A17, the computer 20 performs calculations to cause the dumped soil 53s to move in accordance with physical phenomena. For example, the computer 20 causes the dumped soil 53s to deform as occurs when the upper portion of the dumped soil 53s moves downward due to its own weight, such as by deforming into a gentle, approximately conical shape.

[0112] In order to reduce the calculation load, the physical calculation area A17 is set not for the entire modifiable model M15, but for only a partial area of ​​the modifiable model M15. It is preferable that the physical calculation area A17 be set in an area where the need for physical calculation is high. For example, since it is expected that the need for physical calculation is higher in the vicinity of the work machine 60 than in areas far from the work machine 60, it is preferable that the computer 20 set the physical calculation area A17 based on the position of the work machine 60 at the work site S. A specific example is shown below.

[0113] Example 1: The physical calculation area A17 may be set based on the position of a reference part that is set in advance on the work machine 60. The reference part may be the entire work machine 60, or a part of the work machine 60, such as the bucket 65d. The physical calculation area A17 may be set to an area that overlaps with the reference part of the work machine 60 in a plan view, and an area around the reference part.

[0114] When the reference location is set to an appropriate location of the attachment 65, for example, the bucket 65d, the physical calculation area A17 may be set to an area within a range from the bucket 65d to a position that is a predetermined distance (for example, 5 m to the left and right) away from the bucket 65d outward in the lateral direction Y of the upper rotating body, and within a range from the bucket 65d to a position that is a predetermined distance (for example, 10 m) away from the bucket 65d outward in the fore-aft direction X of the upper rotating body.

[0115] When the position of the physical calculation area A17 is set by a numerical value, the numerical value may be set to a value obtained by multiplying the size of the bucket 65d by a certain coefficient. The numerical value may be, for example, the distance from the bucket 65d to the outer periphery of the physical calculation area A17 in a planar view, or the dimensions of the physical calculation area A17 (for example, the dimension in the lateral direction Y of the upper rotating body and the dimension in the fore-aft direction X of the upper rotating body). The coefficient may be a value stored in advance in the computer 20, or a value manually input to the computer 20 by a user.

[0116] The physical calculation area A17 may be set based on the movable range of the attachment 65 in the machine vertical direction Z. For example, the lower limit position of the physical calculation area A17, i.e., the lowest position in the machine vertical direction Z, may be set to a position that is a predetermined distance lower than the position of the tip of the tip attachment 65c when it is located at the lowest position in the machine vertical direction Z. Similarly, the upper limit position of the physical calculation area A17, i.e., the uppermost position in the machine vertical direction Z, may be a position that is a predetermined distance higher than the position of the tip of the tip attachment 65c when it is located at the lowest position in the machine vertical direction Z.

[0117] The reference portion may be at least one of the pair of running portions 61 b. For example, the physical calculation area A17 may be set to a position directly below one of the pair of running portions 61 b ​​or a position in the vicinity thereof, for example, a position between the pair of running portions 61 b.

[0118] Example 2 of physical calculation domain setting: The physical calculation domain A17 may be set based on a specific work position, which is a specific location where the work machine 60 will work. The specific work position may be set inside the container, for example, inside the loading platform 91, inside the bucket 65d, or inside the earth and sand pit. The specific work position may alternatively be the location on the ground 51g where the work object 53 is placed, for example, the location of a pile of earth and sand.

[0119] The shape of the physical calculation area A17 can be set in various ways. For example, the shape of the physical calculation area A17 in a plan view may be a polygon, such as a rectangle, diamond, or trapezoid as shown in FIG. 9, or a circle. The physical calculation area A17 may be set in only a single location, or may be set in multiple locations.

[0120] The computer 20 may move the physical calculation area A17 in accordance with changes in the situation of the work site S. For example, when the computer 20 sets the physical calculation area A17 based on the position of the work machine 60, the computer 20 may move the physical calculation area A17 in accordance with the movement of the work machine 60. If an object 50 within the physical calculation area A17 deviates from the physical calculation area A17 in accordance with the movement of the physical calculation area A17, the computer 20 may be configured to maintain (hold) the last state of the object 50 within the physical calculation area A17 without causing the object 50 to move in accordance with a physical phenomenon.

[0121] When an interaction occurs between two or more objects included in the plurality of objects 50 (YES in step S20 of FIG. 3), i.e., when the plurality of objects 50 includes two or more interacting objects that are objects where an interaction is occurring, the computer 20 simulates the behavior of a behavior simulation target object (step S21). The behavior simulation target object is an object included in the interacting objects and whose behavior is the object to be simulated by the computer 20. When the plurality of objects 50 includes the interacting object, the computer 20 simulates at least one of deformation and movement of the behavior of the behavior simulation target object included in the interacting object. An object 50 in the modifiable model M15 may be the behavior simulation target object. An object that is not an object 50 in the modifiable model M15, specifically an object 50 in the site model M11, may be excluded from the behavior simulation target object. When the physical calculation area A17 is set in the modifiable model M15, an object 50 within the physical calculation area A17 may become the object to be simulated, and an object 50 outside the physical calculation area A17 may be excluded from the object to be simulated.

[0122] Any of the plurality of objects 50 described above can be the object for behavior simulation. Specifically, the object for behavior simulation may include either the ground 51 including the ground surface 51g or the work target 53 including the soil 53s. The object for behavior simulation may include any of the object 50 located away from the ground surface 51g, the object in the container 55, the work machine 60, and the vehicle 90, or may include water, etc.

[0123] The interaction may include an interaction that involves contact between the interacting objects, or may include a non-contact interaction that does not involve contact. As will be described later, the non-contact interaction may be due to any of magnetic force, electrostatic force, and gravity. Gravity is an attractive force acting between the ground 51 (Earth) and an object 50 other than the ground 51 (e.g., a work target 53).

[0124] The interaction may include an interaction between the working device and the work object 53 that is the target of work by the working device. The interaction may include an interaction between at least one of the pair of traveling parts 61b (e.g., crawlers) of the lower body 61 and the ground 51g, or an interaction between the work objects 53.

[0125] The computer 20 determines (calculates) the behavior to be simulated based on at least one physical quantity (parameter) of the object whose behavior is to be simulated. The computer 20 may determine at least one of the movement and deformation of the object whose behavior is to be simulated based on the physical quantity of the object whose behavior is to be simulated.

[0126] When the object whose behavior is to be simulated is the work object 53, the physical quantity for determining the behavior of the work object 53 may include an amount by which the working device moves the work object 53. The physical quantity may include a relative position of the work object 53 with respect to the working device. The physical quantity may include a force applied to the work object 53 by the working device.

[0127] The behavior of the object 50 to be simulated by the computer 20 can be set in various ways. The process (calculation) of simulating the behavior performed by the computer 20 is included in the above-mentioned change process. Examples of the behavior of the object 50 are as follows:

[0128] The computer 20 may simulate the movement of the behavior simulation target object due to the interaction between the interacting objects. For example, the computer 20 may simulate the movement of the work target 53 captured by the end attachment 65c as shown in Fig. 11, which accompanies the movement of the end attachment 65c. Alternatively, the computer 20 may simulate the movement (e.g., falling) of the work target 53 released (e.g., dumped) from the end attachment 65c as shown in Fig. 14.

[0129] The computer 20 may simulate deformation of the behavior simulation target object due to interaction between the interacting objects. For example, the computer 20 may simulate deformation of the work object 53 due to contact between the tip attachment 65c and the work object 53 as shown in FIG.

[0130] Alternatively, the computer 20 may simulate the deformation of the object whose behavior is to be simulated, which is accompanied by the movement of the object whose behavior is to be simulated.

[0131] The object to be simulated may be in the form of particles. The computer 20 may simulate the appearance of the particle-shaped object to be simulated. The computer 20 does not need to calculate the behavior of each of the particles constituting the object to be simulated. The computer 20 causes the display unit 41 to display the object to be simulated in the form of particles, i.e., to represent particles, so that a user viewing the display unit 41 can understand that the object to be simulated in the form of particles. The particles may be grains or powder. As shown in FIG. 14 , the powder may be dust or dirt (e.g., soil dust).

[0132] The computer 20 may simulate the behavior of water, which is an example of the object whose behavior is to be simulated, when another object 50 enters the water. Specifically, the computer 20 may simulate the appearance of splashes of water that rise when the other object 50 enters the water (for example, falls into the water).

[0133] The computer 20 may simulate the movement and deformation of soil 53s excavated by the bucket 65d as shown in FIG.

[0134] The computer 20 may simulate the behavior of the soil 53s excavated by the bucket 65d within the bucket 65d. For example, the computer 20 may simulate the behavior of the soil 53s when the soil 53s is excavated by the bucket 65d and enters the bucket 65d. The computer 20 may simulate the movement of the soil 53s within the bucket 65d accompanying the movement of the bucket 65d during excavation. For example, the computer 20 may simulate the movement of the soil 53s within the bucket 65d in the rear direction X2 of the upper rotating body accompanying the movement of the bucket 65d in the same direction to excavate the soil 53s in the rear direction X2 of the upper rotating body, i.e., excavate in the cloud direction. The computer 20 may simulate the deformation of the soil 53s during or after excavation until it is deposited in the bucket 65d as shown in FIG. 12 .

[0135] The computer 20 may simulate the behavior of the ground surface 51g excavated by the bucket 65d as shown in Fig. 12. The computer 20 may simulate the deformation of the soil 53s in the ground surface 51g until it is excavated and assumes a concave shape. The computer 20 may simulate the movement of the soil 53s in the excavated ground surface 51g to the periphery of the excavation position, which is the position where the bucket 65d excavates.

[0136] The computer 20 may simulate a behavior in which the soil 53s around the excavation position piles up higher than the ground surface 51g before excavation. For example, the computer 20 may simulate a behavior in which, when the bucket 65d excavates the soil 53s in the rear direction X2 of the upper rotating body, i.e., in the cloud direction, the soil 53s located on both outer sides (left and right sides) of the excavation position in the lateral direction Y of the upper rotating body and rearward of the excavation position in the fore-and-aft direction X of the upper rotating body piles up higher than the ground surface 51g before excavation. In this case, the computer 20 may simulate a behavior in which, of the soil around the excavation position by the bucket 65d, the soil 53s located rearward of the excavation position in the fore-and-aft direction X of the upper rotating body piles up the highest.

[0137] The computer 20 may determine the behavior of the soil 53s inside and / or outside the bucket 65d during excavation as shown in FIG. 11 based on physical quantities. The physical quantities may include physical quantities related to the movement of the soil 53s excavated by the bucket 65d, such as distance and speed. The physical quantities may include a change in the amount of soil 53s (soil volume) inside the bucket 65d. The physical quantities may include physical quantities related to the relative position of the bucket 65d with respect to the soil 53s, such as excavation depth and excavation angle. The physical quantities may include a force applied to the soil 53s by the bucket 65d to excavate the soil 53s, i.e., excavation force. The physical quantities may include the quality (soil quality) of the soil 53s. The soil quality may include, for example, moisture content and viscosity.

[0138] The computer 20 may simulate the behavior of the soil 53s until it becomes granular due to the excavation, for example, the transformation of the soil 53s from a lump shape to a granular shape. The computer 20 may simulate the grains of the soil 53s being excavated, or the powder (e.g., dust) of the soil 53s.

[0139] For example, the computer 20 may simulate the behavior of the soil 53s inside the bucket 65d during excavation until it becomes granular. The computer 20 may treat the entire soil 53s inside the bucket 65d as granular, or may treat only the soil 53s directly above the tip (toe) of the bucket 65d as granular.

[0140] The computer 20 may simulate the behavior of the soil 53s outside the bucket 65d near the bucket 65d during excavation until it becomes granular. Specifically, the computer 20 may treat the soil 53s on the ground 51g at the excavation position as granular, or may treat the soil 53s around the excavation position as granular. The computer 20 may maintain the soil 53s that has once been granular in shape.

[0141] The computer 20 may always treat the soil 53s inside the bucket 65d as granular during excavation, or may treat the soil 53s outside the bucket 65d near the bucket 65d as granular. The computer 20 can determine whether the bucket 65d is excavating soil 53s, for example, as follows. The computer 20 may determine that the bucket 65d is excavating soil 53s when the following conditions are met: the tip (toe) of the bucket 65d is located below the ground surface 51g in the machine up-down direction Z, and the bucket 65d is moving, i.e., the bucket 65d is generating speed. Conversely, the computer 20 may determine that the bucket 65d is not excavating soil 53s when these conditions are not met.

[0142] The computer 20 may change the display of the particulate soil 53s, i.e., the representation of particles, depending on a physical quantity (condition). For example, the computer 20 may determine whether to display the soil 53s as particles depending on the physical quantity. The computer 20 may change at least one of the amount of soil 53s to be displayed as particles, the shape of the particles, and the size of the particles depending on the physical quantity.

[0143] The computer 20 may change the display of the granular soil 53s depending on the position of the soil 53s. Specifically, the computer 20 may display the granular soil 53s inside and outside the bucket 65d in different ways. For example, the computer 20 may simulate the behavior of the soil 53s inside the bucket 65d breaking down into particles and moving during excavation. Furthermore, the computer 20 may simulate the behavior of the soil 53s (see FIG. 12 ) outside the bucket 65d and around the excavation position piling up as particles during excavation.

[0144] The computer 20 may change the display of the granular soil 53s according to the amount of change in the amount (soil volume) of the soil 53s in the bucket 65d. Specifically, the computer 20 may increase the amount of granular soil 53s as the amount of change in the amount of soil in the bucket 65d increases, and decrease the amount of granular soil 53s as the amount of change in the amount of soil in the bucket 65d decreases.

[0145] The computer 20 may change the display of the granular soil 53s depending on the relative position of the bucket 65d with respect to the soil 53s. Specifically, the computer 20 may change the display of the granular soil 53s depending on the excavation depth of the bucket 65d with respect to the soil 53s, for example, the distance from the ground surface 51g to the tip of the bucket 65d. The computer 20 may change the display of the granular soil 53s depending on the angle of the bucket tip back surface 65f with respect to the soil 53s, i.e., the excavation angle (bucket angle). More specifically, the computer 20 may increase the amount of granular soil 53s as the excavation depth increases and as the angle of the bucket tip back surface 65f with respect to the ground surface 51g approaches a right angle. The computer 20 may decrease the amount of granular soil 53s as the excavation depth decreases and as the angle of the bucket tip back surface f with respect to the ground surface 51g decreases.

[0146] The computer 20 may change the display of the granular soil 53s depending on the force applied to the soil 53s by the bucket 65d, in other words, the reaction force that the bucket 65d receives from the soil 53s. For example, the computer 20 may increase the amount of granular soil 53s as the force increases, and decrease the amount of granular soil 53s as the force decreases.

[0147] The computer 20 may change the display of the granular soil 53s depending on the quality (soil quality) of the soil 53s. As described above, the soil quality may include, for example, moisture content and viscosity. Specifically, the computer 20 may make the particles of the granular soil 53s larger as the moisture content and viscosity of the soil 53s increase, or conversely, the particles of the granular soil 53s may become smaller as the moisture content and viscosity of the soil 53s decrease.

[0148] The computer 20 may simulate the operation of leveling the soil 53s with the tip attachment 65c (specifically, the bucket 65d), in the same way as the excavation of the soil 53s with the tip attachment 65c, that is, the leveling operation.

[0149] 13 , the computer 20 may simulate the behavior of the work object 53 captured by the tip attachment 65 c when the upper rotating body 63 is rotating relative to the lower body 61 (moving in the rotation direction R). As the upper rotating body 63 rotates relative to the lower body 61, the tip attachment 65 c rotates relative to the lower body 61, i.e., moves in the rotation direction R.

[0150] The computer 20 may simulate the movement, mainly the movement in the air, of the work object 53 captured by the tip attachment 65 c as the tip attachment 65 c turns. For example, the computer 20 may simulate the movement in the air of the soil 53 s in the bucket 65 d as the bucket 65 d turns.

[0151] The computer 20 may simulate the movement of the soil 53s in the bucket 65d due to centrifugal force when the bucket 65d swings, i.e., the relative movement of the soil 53s with respect to the bucket 65d within the bucket 65d. For example, the computer 20 may simulate the spilling (falling) of the soil 53s from the bucket 65d when the bucket 65d swings. The computer 20 may also simulate the deformation of the soil 53s spilling from the bucket 65d into particles.

[0152] Specifically, the computer 20 may simulate the movement (fall) and deformation of the soil 53s discharged from the bucket 65d as shown in FIG.

[0153] The computer 20 may simulate the behavior of the soil 53s in the bucket 65d during soil discharge, i.e., when the soil 53s is being discharged from the bucket 65d. For example, the computer 20 may simulate a decrease in the amount of soil 53s in the bucket 65d due to the movement (fall) of the soil 53s from the bucket 65d. The computer 20 may simulate the soil 53s in the bucket 65d disappearing due to the soil discharge, i.e., the bucket 65d becoming empty. The computer 20 may also simulate the fall of the soil 53s from the bucket 65d during soil discharge, i.e., the downward movement of the soil 53s. The computer 20 may also simulate the accumulation of the soil 53s at a fall position, which is a position where the soil 53s falls from the bucket 65d during soil discharge. The position where the soil 53s is accumulated may be, for example, the ground 51g or the loading platform 91.

[0154] Examples of physical quantities for determining the behavior of the soil 53s during unloading include the amount of movement of the soil 53s discharged from the bucket 65d, the amount of change in the amount (soil volume) of the soil 53s in the bucket 65d, the position of the soil 53s in the bucket 65d, and the soil quality.

[0155] The computer 20 may simulate the behavior of the soil 53s falling from the bucket 65d as it becomes particulate. The computer 20 may simulate the behavior of the soil 53s as it becomes particulate after it has fallen from the bucket 65d. The falling of chunks of soil 53s from the bucket 65d is likely to cause discomfort to the user, but the falling of particulate soil 53s from the bucket 65d causes little discomfort to the user. The computer 20, for example, treats the soil 53s directly below and around the bucket 65d being unloaded as particulate.

[0156] The computer 20 may change the display of the granular soil 53s depending on the position of the soil 53s. Specifically, the computer 20 may simulate the falling of granular soil 53s at a position directly below the bucket 65d, while simulating the generation of powdery soil 53s (dust) around the granular soil 53s that falls directly below the bucket 65d.

[0157] The computer 20 may change the display of the granular soil 53s depending on the amount of change (reduction) in the amount (soil volume) of the soil 53s in the bucket 65d. Specifically, the computer 20 may increase the amount of granular soil 53s as the amount of reduction of the soil 53s in the bucket 65d increases, or in other words, the computer 20 may decrease the amount of granular soil 53s as the amount of reduction of the soil 53s in the bucket 65d decreases.

[0158] 15 , the computer 20 may simulate the movement and deformation of the soil 53s when the bucket 65d excavates the soil 53s in the swing direction R. In particular, the computer 20 may simulate the behavior of the soil 53s when the upper swing body 63 and the attachment 65 swing relative to the lower body 61 in a state where at least a portion of the bucket 65d is buried in the soil 53s, that is, in a state where the bucket 65d is located below the ground surface 51g.

[0159] The computer 20 may simulate the pressing of the soil 53s by the side surface (the outer surface in the lateral direction Y of the upper rotating body) of the bucket 65d excavating in the swing direction R, and the accompanying movement of the soil 53s in the swing direction R. The computer 20 may simulate the behavior of the soil 53s located on the front side (rear side in the fore-and-aft direction X of the upper rotating body), the rear side (front side in the fore-and-aft direction X of the upper rotating body), and the outer side in the swing direction R of the excavation position, respectively, piling up higher than the ground surface 51g of the soil 53s before excavation. For example, the computer 20 may simulate the behavior of the soil 53s on the front side (left side in the swing direction R of the bucket 65d, right side in the swing direction R) of the bucket 65d in the swing direction R piling up the highest among the soil 53s around the excavation position of the bucket 65d.

[0160] 16, the computer 20 may simulate the movement and deformation of the soil 53s when the bucket 65d is excavating the soil 53s in the forward direction X1 of the upper rotating body. In particular, the computer 20 may simulate the behavior of the soil 53s when the arm 65b and the bucket 65d move in the forward direction X1 of the upper rotating body, i.e., when operating in the arm pushing direction, in a state where at least a portion of the bucket 65d is buried in the soil 53s, i.e., in a state where at least a portion of the bucket 65d is below the ground surface 51g.

[0161] For example, the computer 20 may simulate the movement of the soil 53s in the forward direction X1 of the upper rotating body due to the pressing of the bucket tip back surface 65f, which moves in the arm pushing direction, against the soil 53s. The computer 20 may simulate the behavior of the soil 53s located on both outer sides (left and right sides) of the excavation position in the lateral direction Y of the upper rotating body and on the front side in the fore-and-aft direction X of the upper rotating body rising higher than the ground surface 51g of the soil 53s before excavation, due to the arm pushing operation. For example, the computer 20 may simulate the behavior of the soil 53s located on the front side in the fore-and-aft direction X of the upper rotating body, among the soil 53s around the excavation position, rising highest as it is pushed by the bucket 65d.

[0162] The computer 20 may simulate the behavior of the work object 53 that is the target of work by the dozer 64 shown in Fig. 17. For example, the computer 20 may simulate the behavior of earth and sand 53s pushed (push) by the dozer 64. For example, the computer 20 may simulate the behavior of earth and sand 53s that is leveled by the dozer 64. A specific example of the behavior of the earth and sand 53s pushed by the dozer 64 may be the same as or approximately the same as the excavation of the earth and sand 53s excavated by the bucket 65d.

[0163] As shown in FIG. 16 , the computer 20 may simulate the pressing of soil 53s (e.g., crawlers) of the lower body 61 rotating relative to the ground 51g (traveling surface) against the ground 51g and the resulting deformation of the soil 53s. For example, the computer 20 may simulate the formation of unevenness, i.e., turn marks 51t, on the ground 51g, which was flat before the lower body 61 rotated, due to the rotation of the lower body 61. The rotation of the lower body 61 relative to the ground 51g may be, for example, a spin turn, in which the pair of traveling units 61b move in opposite directions, or a pivot turn, in which one of the pair of traveling units 61b stops and the other moves in the same direction. The computer 20 may also simulate the generation of granular soil 53s around the traveling units 61b due to the rotation of the lower body 61 relative to the ground 51g.

[0164] The computer 20 may simulate the behavior of soil 53s constituting the ground surface 51g (running surface) as the lower body 61 travels on the ground surface 51g. For example, the computer 20 may simulate the formation of unevenness, i.e., running tracks 51r, on the ground surface 51g that was flat before the lower body 61 traveled, due to the running of the lower body 61. The computer 20 may also simulate the generation of particulate soil 53s around the pair of running portions 61b as the lower body 61 travels on the ground surface 51g.

[0165] The computer 20 may simulate the movement of the object 55 in the container accompanying the movement of the container. For example, as described above, the computer 20 may simulate the movement of the object 55 in the container (e.g., soil 53s) in the bucket 65d accompanying the movement of the bucket 65d shown in Fig. 13. The computer 20 may simulate the movement of the object 55 in the container in the loading platform 91 accompanying the movement of the loading platform 91 shown in Fig. 4, similar to the movement of the soil 53s in the bucket 65d.

[0166] The computer 20 may simulate the movement of the object 55 from the inside of the container to the outside of the container as the container moves, for example, spillage or outflow. The computer 20 may change the behavior of the object 55 leaving the container depending on physical quantities of the container and the object 55. The computer 20 may determine whether the object 55 leaves the container or change the amount of the object 55 leaving the container depending on the physical quantities. For example, the computer 20 may change the behavior of the object 55 leaving the container based on a comparison between the height of the object 55 (e.g., pile height) and the height of the container wall. An example of the container wall is the loading platform enclosure 91c when the container is the loading platform 91, or the side surface of the bucket 65d (the outer surface in the lateral direction Y of the upper rotating body) when the container is the bucket 65d. Specifically, the computer 20 may simulate the object 55 remaining in the container regardless of the movement of the container when the height of the object 55 in the container is equal to or less than the height of the wall of the container. Conversely, the computer 20 may simulate the object 55 leaving the container as the container moves when the height of the object 55 in the container exceeds the height of the wall of the container. Furthermore, the computer 20 may change the manner in which the object 55 leaves the container depending on the movement speed of the container. For example, the computer 20 may increase the amount of the object 55 leaving the container as the movement speed of the container increases.

[0167] The tip attachment 65c is not limited to the bucket 65d. The tip attachment 65c may be a magnet that attracts the work object 53 or may be capable of grasping the work object 53. The object for behavior simulation is not limited to soil 53s. The object for behavior simulation may be a work object 53 other than soil 53s, such as a magnetic material, waste, or a structure. Specifically, if the tip attachment 65c is a magnet and the work object 53 is a magnetic material that can be attracted to the magnet by the magnetic force of the magnet, the computer 20 may simulate the behavior of the work object 53 attracted to the magnet. Furthermore, if the tip attachment 65c is capable of grasping the work object 53, the computer 20 may simulate the behavior of the work object 53 grasped by the tip attachment 65c. Furthermore, the object for behavior simulation may be an object 50 other than the work object 53.

[0168] The changeable model M15 may be set (placed) in a plurality of regions, respectively. Furthermore, the behavior simulation target object may be placed (placed) in a plurality of regions, respectively. For example, at least one of the changeable model M15 and the behavior simulation target object may include a ground surface 51g and an object 50 placed at a position away from the ground surface 51g. The position away from the ground surface 51g is a position above the ground surface 51g in the machine vertical direction Z, and is a position floating above the ground surface 51g. In the following description, the term "changeable model M15" may also be interpreted as a behavior simulation target object.

[0169] If the modifiable model M15 includes the ground 51g and an object 50 placed at a position away from the ground 51g, the computer 20 can simulate not only work on the ground 51g (e.g., excavation), but also work at a position away from the ground 51g, as described below.

[0170] 12, the changeable model M15 may include a ground surface 51g and a work object 53 captured by the end attachment 65c. This allows the computer 20 to perform a change process (e.g., movement or deformation) on the work object 53 captured by the end attachment 65c, thereby simulating the work (capturing, moving, releasing, etc.) performed on the work object 53 by the end attachment 65c.

[0171] The modifiable model M15 may include the ground 51g and an object 55 in the container. For example, the modifiable model M15 may include the ground 51g and soil 53s in the bucket 65d. This allows the computer 20 to simulate work (such as digging, moving, and discharging) performed on the soil 53s by the bucket 65d. Furthermore, as shown in FIG. 17 , the modifiable model M15 may include the ground 51g and a work object 53 in the loading platform 91. This allows the computer 20 to simulate work performed on the work object 53 in the loading platform 91 (such as moving and leveling the soil 53s in the loading platform 91). The modifiable model M15 may include the ground 51g, the work object 53 in the bucket 65d, and the work object 53 in the loading platform 91 as shown in FIG. 12. This allows the computer 20 to simulate work including capturing the work object 53 from the ground 51g using the bucket 65d, moving the work object 53 to the loading platform 91, releasing the work object 53 on the loading platform 91, and loading the work object 53 onto the loading platform 91.

[0172] For example, when the changeable model M15 includes the ground 51g and the interior of the loading platform 91, and soil 53s is discharged from the bucket 65d directly above the loading platform enclosure 91c (gate board) of the loading platform 91, the computer 20 simulates, for example, a portion of the soil 53s discharged from the bucket 65d falling onto the ground 51g outside the loading platform 91, and further simulates the soil 53s that fell onto the ground 51g piling up. On the other hand, the computer 20 simulates the remaining soil 53s discharged from the bucket 65d, i.e., the soil 53s that did not fall onto the ground 51g, falling into the loading platform 91, and further simulates the soil 53s that fell onto the loading platform 91 piling up inside the loading platform 91.

[0173] The object 50 disposed at a position distant from the ground 51g is disposed within the range of the modifiable model M15 set for the ground 51g in a planar view. For example, the soil 53s in the bucket 65d disposed at a position distant from the ground 51g is disposed within the range of the modifiable model M15 for the ground 51g in a planar view.

[0174] When an object 50 placed at a position away from the ground 51g moves from within the range of the modifiable model M15 on the ground 51g to outside the range, the computer 20 may treat the object 50 as a model that is not the modifiable model M15, or may output (notify) to the output unit 40 that modification processing to the object 50 is not possible.

[0175] The computer 20 may add a new object 50 to the work site S in the virtual space, or may delete a specific object 50 from the work site S (step S23 shown in FIG. 3). The addition or deletion may be performed in response to an input of a command to the computer 20 (YES in step S22 in FIG. 3).

[0176] The computer 20 may be configured to set the state of the object 50 simulated in the modifiable model M15 to a predetermined state that is a state predetermined in the computer 20. The predetermined state may involve the addition of a new object 50 to the work site S, or the removal of a particular object 50 from the work site S.

[0177] The computer 20 may return the state of a specific object 50 to its initial state, i.e., reset it. The predetermined state may be the initial state. The initial state may be the state when the modifiable model M15 was generated, i.e., the state when the site model M11 shown in FIG. 8 was converted into the modifiable model M15. The predetermined state is not limited to the initial state. The predetermined state may be determined based on information input by a user through the input unit 11, or may be a state recorded at a predetermined input timing during simulation (calculation) of the work site S by the computer 20. The input timing may be a timing arbitrarily specified by a user through the input unit 11, or may be a timing automatically set by the computer 20 (for example, at predetermined time intervals or when a predetermined event occurs). The computer 20 may set the state of one object 50 at a predetermined state, or may set the states of multiple objects 50 at each of the multiple objects 50 at a predetermined state.

[0178] The computer 20 may set the state of the ground surface 51g to a predetermined state. The predetermined state of the ground surface 51g may be, for example, the initial state, or a state in which the ground surface 51g has a specific shape, such as a flat surface.

[0179] The computer 20 may set the state of the object 55 in the container to a predetermined state. Examples of the predetermined state of the object 55 in the container include the initial state, a state in which the container is empty, i.e., a state in which there are no object 55 in the container, and a state in which a specific amount of object 55 is contained in the container. The specific amount may be an amount stored in advance in the computer 20, or may be an amount determined by the computer 20 based on information input to the computer 20 via the input unit 11 (e.g., an amount manually set by a user).

[0180] The computer 20 puts the object 50 into the predetermined state in response to a command (instruction) for putting the object 50 into the predetermined state. For example, the computer 20 may display an operation unit (e.g., a GUI such as a button) that is a part to which a command operation for putting the object 50 into the predetermined state can be given on the display unit 41. In this case, the computer 20 puts the object 50 into the predetermined state based on the command operation given to the operation unit.

[0181] In this way, the computer 20 can repeatedly simulate the same situation by setting the state of the object 50 to the predetermined state.

[0182] 1 is used as an operation simulator (e.g., a training device) for simulating the operation of a real work machine, setting the state of the object 50 to the predetermined state allows the user to easily practice the same operation repeatedly. For example, this eliminates the need for the user to perform time-consuming operations such as operating the work machine 60 to set the object 50 to a specific state (e.g., returning it to its original position).

[0183] Specifically, when the predetermined state of the work object 53 is a state in which the work object 53 is captured by the tip attachment 65c shown in FIG. 13 , the following effect may be obtained. For example, when the tip attachment 65c performs a series of operations including capturing the work object 53 (e.g., excavation), lifting and swinging (moving to a release position), releasing the work object 53 (e.g., discharging), and return swing (returning to the capturing position), setting the work object 53 to the predetermined state allows the user to easily and repeatedly practice some steps of the series of operations (e.g., capturing only, releasing only). More specifically, when a user performs operations to lift and swing the bucket 65d and discharge soil from the bucket 65d with soil 53s in the bucket 65d, the computer 20 sets the soil 53s to the predetermined state with the soil 53s in the bucket 65d, thereby allowing the user to practice the lifting and swinging and soil discharge operations without performing the operations for the return swing and excavation.

[0184] 17, the computer 20 can appropriately simulate the situation of the work object 53 in the loading platform 91 by setting the work object 53 to the predetermined state. For example, when the work machine 60 loads the work object 53 onto the loading platform 91 (e.g., by unloading earth) and accumulates the work object 53 on the loading platform 91, the computer 20 can set the work object 53 in the loading platform 91 to the predetermined state where the work object 53 is not present in the loading platform 91 (the loading platform 91 is empty), thereby simulating a situation where the vehicle 90 leaves the work site S and then enters the work site S with its loading platform 91 empty, resulting in the loading platform 91 of the vehicle 90 becoming empty.

[0185] The computer 20 may perform a process of adding an object 50 to the work site S as shown in Fig. 9. Specifically, the computer 20 may add (introduce) the work target 53 to the work site S, or may add an object 50 other than the work target 53. For example, the computer 20 may add the object 50 to the ground 51g, or may add the object 50 to a container as shown in Fig. 17 or the like.

[0186] The computer 20 can simulate a situation in which the work object 53 is introduced into the work site S by adding (introducing) the work object 53 to the work site S. For example, the computer 20 can simulate a situation in which the work object 53 is introduced into the work site S by adding an object that carries in the work object 53 (e.g., a loading platform 91 or a conveyor shown in FIG. 17 ). For example, even if the work machine 60 performs an operation to capture (e.g., excavate) the work object 53 and removes the work object 53 from the work position where the operation was performed, the computer 20 can continue to simulate the operation of the work machine 60 on the work object 53 by adding the work object 53 to the work position.

[0187] 1 is used as an operation simulator (e.g., a training device) for simulating the operation of a real work machine, the addition of the work object 53 to the work site S allows the user to perform effective practice. For example, in a situation in which the vehicle 90 shown in FIG. 4 has dumped earth and sand 53s onto the ground 51g to form a pile of earth and sand 53s, the computer 20 allows the user to repeatedly practice operations for causing the work machine 60 to perform work on the pile of earth and sand (e.g., capturing and leveling) the pile of earth and sand.

[0188] The process of adding the object 50 is performed, for example, as follows. The computer 20 sets the object addition area A23 as shown in FIG. 9 in the work site S. The object addition area A23 is an area where the object 50 (e.g., work target object 53) is to be added. The computer 20 adds the amount of objects 50 set in the computer 20 to the object addition area A23 in the work site S. The object addition area A23 is set within the area of ​​the modifiable model M15. Therefore, the computer 20 adds the object 50 to the object addition area A23 within the area of ​​the modifiable model M15.

[0189] The position, shape, and size of the object addition area A23 can be set in various ways, similar to the selection area A13. An initial state of the object addition area A23 may be stored in the computer 20. The position, shape, and size of the object addition area A23 may be automatically set by the computer 20 based on the situation of the work site S (such as the position of the object 50), or may be manually set by a user. Specific examples of setting the object addition area A23 are the same as the specific examples of setting the selection area A13. An initial value for the amount of objects 50 to be input into the object addition area A23 may be set. The input amount may, for example, be automatically set by the computer 20 based on the situation of the work site S, or may be manually set by a user.

[0190] The computer 20 may perform a process of deleting a specific object 50 from the work site S. The computer 20 may delete some of the objects 50 in the modifiable model M15 from the modifiable model M15. Specifically, the computer 20 may delete the work target 53 from the work site S, or may delete objects 50 other than the work target 53. The computer 20 may delete an object 50 from the ground 51g, or may delete the object in the container 55 shown in FIG. 17.

[0191] As shown in FIG. 14, even if the tip attachment 65c releases the work object 53 (e.g., by discharging soil) and increases the number of work objects 53 at the release position where the release is performed, the computer 20 can continue simulating the work on the work object 53 by deleting the work object 53 from the release position where the number of work objects 53 has increased.

[0192] The process of deleting the object 50 is performed, for example, as follows. The computer 20 sets the object removal area A25 in the work site S as shown in FIG. 9 . The object removal area A25 is an area in which a specific object 50 (e.g., work target 53) should be removed. The object removal area A25 is an area in which the object 50 in the modifiable model M15 is to be deleted. The computer 20 deletes the object 50 (e.g., work target 53) within the object removal area A25 in the modifiable model M15. If at least a portion of the object removal area A25 is included in the site model M11, the computer 20 may be configured not to delete the object 50 in the site model M11 even if it is within the object removal area A25. The position, shape, and size of the object removal area A25 can be set in various ways. Specific examples of setting the position, shape, and size of the object removal area A25 are the same as the specific examples of setting the object addition area A23.

[0193] The computer 20 may calculate the amount of at least some of the plurality of objects 50. The object amount, which is the amount of the object 50 calculated by the computer 20, may include the mass of the object 50 or the volume of the object 50, as shown in Fig. 10 . The computer 20 may calculate the object amount at a predetermined time point. The computer 20 may calculate the amount of change in the object amount from a predetermined first time point to a second time point after the first time point.

[0194] The computer 20 may calculate the amount of work performed by the work machine 60. The amount of work represents productivity or a workload. The computer 20 may calculate the amount of work target 53, for example, as the amount of work.

[0195] The computer 20 may calculate the amount of the work objects 53 within a specific area as the object amount, or may calculate the amount of change in the amount. The specific area includes an area where the work objects 53 are collected, such as a pile of earth and sand.

[0196] The computer 20 may calculate the amount of the object 55 in the container as the object amount. For example, the computer 20 may calculate the amount of the work object 53 in the bucket 65d shown in Fig. 12 (e.g., the amount of soil in the bucket shown in Fig. 10 or a change in that amount), or may calculate the amount of the work object 53 captured (scooped up) by the bucket 65d, or may calculate the amount of the work object 53 in the loading platform 91 shown in Fig. 4 (e.g., the amount of soil in the dump truck shown in Fig. 10). The calculation of the work amount by the computer 20 may be performed based on the amount of the object 55 in the container (e.g., based on a change in that amount).

[0197] The computer 20 can use the calculated values ​​(the object amount, the workload calculated from the object amount, etc.) calculated as described above in various ways. For example, the computer 20 may output the calculated values ​​from the output unit 40 to notify the user, may display the calculated values ​​on the display unit 41 as shown in FIG. 10, or may output the calculated values ​​from the audio output unit 43 as shown in FIG. 1. The computer 20 may store the calculated values ​​in the memory unit 20a shown in FIG. 1. The computer 20 may evaluate the workload, etc., based on the calculated values.

[0198] 4, the computer 20 can set various colors for the object 50 displayed on the display unit 41. The computer 20 may change the color of the object 50 depending on the situation (conditions) of the work site S.

[0199] For example, when the object 50 includes deformable soil 53s as shown in Figure 12, the computer 20 may be configured to display a surface of the deformed soil 53s differently from a surface of the undeformed soil 53s, allowing a user to easily distinguish between the deformed soil 53s and the undeformed soil 53s.

[0200] The deformation of the soil 53s is caused, for example, by contact of the work machine 60 with the soil 53s. Specifically, the deformation of the soil 53s may include deformation caused by the work machine 60 performing a work operation (e.g., excavation) on the soil 53s. More specifically, the deformed soil 53s may include soil 53s that is depressed by the excavation, or soil 53s that is piled up around the excavation position where the excavation was performed. Alternatively, the deformed soil 53s may include soil 53s that is piled up by earth removal as shown in FIG. 14, or soil 53s on the ground 51g that is deformed by the operation of the machine main body 60a, for example, the traveling of the lower main body 61 or the rotation of the upper rotating body 63. The soil 53s on the ground 51g that is deformed in this manner does not necessarily have to be the work object 53 that is the target of the work performed by the work machine 60.

[0201] The computer 20 determines whether the soil 53s, as illustrated in FIG. 12, has been deformed and, based on this, determines whether to change the display of the soil 53s. For example, to determine whether the soil 53s has been deformed, the computer 20 compares a current height, which is the current height of the soil 53s, with a past height, which is the height of the soil 53s at a previous time. The past height is, for example, the height (height information) of the soil 53s at a predetermined determination target position at the time the site model M11 was converted to the modifiable model M15, i.e., in the initial state. The current height is the current height of the soil 53s at the height determination position. The computer 20 determines that the soil 53s at the determination target position has been deformed if the absolute value of the difference between the past height and the current height exceeds a threshold value. If the difference is equal to or less than the threshold value, the computer 20 determines that the soil 53s at the determination target position has not been deformed. The threshold value may be 0 or a value greater than 0.

[0202] As an example of displaying the surface of the deformed soil 53s differently from the surface of the undeformed soil 53s as described above, the computer 20 may be configured to display the surface of the deformed soil 53s in a different color from the surface of the undeformed soil 53s. For example, the computer 20 may be configured to display the surface of the deformed soil 53s in a darker color than the surface of the undeformed soil 53s. In this case, the color of the soil 53s deformed by the work (e.g., excavation) of the work machine 60 is darker than the color of the remaining soil 53s, thereby effectively simulating changes in the soil 53s due to work performed by a real work machine. This is because the interior soil of real soil often contains more moisture and has a darker color than the surface soil.

[0203] The soil 53s that is displayed differently depending on whether it has been deformed as described above, i.e., the soil to be changed in display, is at least a portion of the soil 53s in the modifiable model M15. That is, the soil to be changed in display may be all of the soil 53s in the modifiable model M15, or a portion of the soil 53s in the modifiable model M15. The portion of the soil 53s may be the soil 53s that constitutes the ground surface 51g, or may be the soil 53s that has been deformed by a specific operation (e.g., excavation).

[0204] The computer 20 may change the display of the deformed soil 53s surface in accordance with the amount of change in the surface height of the soil 53s. Specifically, the computer 20 may change the display of the deformed soil 53s surface in accordance with the difference in the surface height of the deformed soil 53s from the surface height of the soil 53s before deformation at a predetermined display change target position in a plan view. The change may be a change in the color intensity of the soil surface or a change in the hue of the soil surface. The change may be made using a heat map, i.e., a method of visualizing the intensity of matrix-type numerical data using colors. As described above, changing the display of the soil 53s surface deformed by the work of the work machine 60 in accordance with the amount of change in the surface height of the soil 53s allows the user to easily grasp the amount of work (e.g., excavation depth, pile height).

[0205] The work site simulation program is set to cause the computer 20 of the work site simulation system 1 shown in FIG. 1 to execute the work site simulation method corresponding to the processing described above.

[0206] As described above, a work site simulation system is provided that includes a computer that simulates the operation of a work machine at a work site in a virtual space. The computer is configured to acquire a site model, which is shape information regarding the shape of the work site, set a partial area of ​​the site model as a selected area, and convert the site model within the selected area into a modifiable model. The modifiable model is shape information that allows modification processing to be performed by the computer, and the modification processing is at least one of deformation, movement, addition, and deletion. The computer is configured to restrict the modification processing on the site model more than the modification processing that is allowed to be performed on the modifiable model.

[0207] Limiting the change processing to the site model allows the computational load on the computer for the simulation to be reduced.

[0208] More specifically, the computer sets a partial area of ​​the site model as the selected area and converts the site model to the modifiable model within that selected area. Therefore, unlike when the entire site model is converted to the modifiable model, the area of ​​the modifiable model is made smaller than the area of ​​the site model before the conversion, thereby reducing the computational load on the computer due to the modification process.

[0209] The restriction on the change process on the site model may be such that any of the change processes that are permitted to be performed on the changeable model are prohibited from being performed on the site model, thereby minimizing the computational load on the computer.

[0210] The modifiable model preferably includes a work object that is the target of work performed by the work machine, which enables the work site simulation system to simulate work performed on the work object by the work machine.

[0211] The computer is preferably configured to set the selected area based on the range in which the work machine can operate. This enables the selection area to be set as an appropriate area in the site model that corresponds to the range in which the work machine can operate. Specifically, the selection area, i.e., the area in which the site model is converted into the changeable model, can be prevented from becoming excessively large relative to the range in which the work machine can operate, thereby effectively reducing the calculation load on the computer due to the change process. On the other hand, the selection area can be prevented from becoming too small relative to the range in which the work machine can operate, thereby enabling the computer to appropriately change objects around the work machine while it is operating. Therefore, the work site simulation system can appropriately simulate the conditions around the operating work machine. Furthermore, by automatically setting the selected area, the computer can reduce the effort required for the user to manually set the selected area.

[0212] The computer may be configured to set the selected area based on a numerical value input to the computer, which allows the selected area to be set precisely based on the numerical value.

[0213] Preferably, the work site simulation system includes a display unit capable of displaying information, and the computer is configured to cause the area change unit to display the information on the display unit. An operation for changing the selected area configuration can be given to the area change unit, and the selected area configuration includes at least one of the position, shape, and size of the selected area. The computer changes the selected area configuration in response to the operation given to the area change unit, thereby enabling a user to easily change the selected area configuration by giving the operation to the area change unit.

[0214] The computer 20 may be configured to set a part of the area of ​​the modifiable model as a physics calculation area, which is an area in which the computer is allowed to perform calculations to cause objects included in the modifiable model to move in accordance with physical phenomena.

[0215] The setting of the physics calculation area limits the area in which physics calculations, which are calculations for making the object move in accordance with physical phenomena, are performed, thereby making it possible to reduce the calculation load on the computer.

[0216] The computer is preferably configured to set the physical calculation domain based on the position of the work machine in the work site, which allows a preferable simulation to be performed corresponding to the position of the work machine.

[0217] It is preferable that the work site simulation system further includes an output unit capable of outputting information. In this case, when a notification target part included in the work machine deviates from the area of ​​the changeable model, the computer causes the output unit to output a notification, thereby making the user aware of the deviation.

[0218] Preferably, the computer is configured to set the objects included in the modifiable model to a predetermined state, which allows the user-friendliness of the workplace simulation system to be improved.

[0219] The computer may be configured to, for example, set the ground surface included in the modifiable model to the predetermined state, which allows simulation of the work of the work machine on the ground surface, etc.

[0220] The modifiable model may include an internal container object that is an object placed in a container, which allows the computer to perform a modification process on the internal container object, thereby enabling the computer to simulate a situation inside the container.

[0221] The computer can also be configured to set the state of the object inside the container to the predetermined state, thereby making it possible to respond to changes in the state inside the container.

[0222] The computer may be configured to calculate the amount of the object in the container. This allows the computer to perform processing using information about the amount of the object in the container. For example, if the container is a bucket and the object in the container is soil, the computer can calculate the amount of soil in the bucket that has been excavated by the bucket. Also, if the container is a loading platform and the object in the container is a work object, the computer can calculate the amount of the work object (e.g., the amount of work) loaded on the loading platform.

[0223] When the modifiable model includes the work object, the computer may be configured to calculate a change in the amount of the work object within a calculation target region set within the modifiable model, which enables the computer to perform processing using the change in the amount of the work object within the calculation target region.

[0224] If the modifiable model includes the work object, the computer may be configured to set an object addition area within the modifiable model and add the determined amount of work object to the object addition area. This allows the work site simulation system to simulate the addition of work objects to the work site. For example, the work site simulation system can simulate the loading of the work object onto a loading platform, conveyor, or the like at the work site.

[0225] When the modifiable model includes the work object, the computer may be configured to set an object removal area within the modifiable model and remove the work object identified within the object removal area. This enables the work site simulation system to simulate the disappearance of the work object from the work site. For example, the work site simulation system can simulate the return of the work object (e.g., a pile of earth and sand) piled up by the work machine to its pre-work state (e.g., flat ground).

[0226] When the work site simulation system includes the display unit and the modifiable model includes deformable soil 53s, the computer is preferably configured to display the deformed soil surface on the output unit in a manner different from the display of the undeformed soil surface, which allows a user to easily understand whether the displayed soil has deformed.

[0227] Preferably, the computer is configured to set two or more interacting objects, including a behavior simulation target object, in the virtual space and simulate the behavior of the behavior simulation target object resulting from the interaction between the interacting objects. The behavior includes at least one of deformation and movement of the behavior simulation object. This makes it possible to make the behavior of the behavior simulation object at the workplace in the virtual space closer to the behavior of an object at the real workplace. In other words, it makes it possible to reproduce the behavior of an object at the real workplace with higher accuracy in the virtual space. In this way, it is possible to reduce the sense of discomfort felt by the user due to the behavior of the behavior simulation object in the virtual space.

[0228] The object whose behavior is to be simulated may include soil and sand, which enables the computer to simulate the behavior of the soil and sand.

[0229] The object whose behavior is to be simulated may include a ground surface. This allows the computer to simulate the behavior of the ground surface. Examples of the behavior include the accumulation of soil and sand on the ground surface, and behavior associated with excavation of soil and sand that constitutes the ground surface.

[0230] The object whose behavior is to be simulated may include a ground surface and an object located apart from the ground surface, which enables the computer to simulate not only the behavior of the ground surface but also the behavior of the object located apart from the ground surface.

[0231] The object whose behavior is to be simulated may include an object in a container, which is an object placed in a container, allowing the computer to simulate the behavior of the object in the container, for example, an object in a bucket or an object in a loading platform.

[0232] The object whose behavior is to be simulated may include the work object, which enables the computer to simulate the work object.

[0233] In this case, it is preferable that the interacting object includes the work object and the work device that is included in the work machine and performs work on the work object. This enables the computer to simulate the behavior of the work object due to the interaction between the work device and the work object, thereby enabling the computer to simulate the work performed on the work object by the work device.

[0234] The computer may be configured to simulate the behavior of the object to be simulated, which involves the movement of the object to be simulated, thereby enabling the behavior of the object at the workplace in the virtual space, i.e., the simulated behavior, to be closer to the behavior of the object at the real workplace.

[0235] The computer may be configured to simulate the particle-like object, which allows the behavior of the object at the work site in the virtual space, i.e., the simulated behavior, to be closer to the behavior of the object at the real work site.

[0236] When the object whose behavior is to be simulated includes the work object, the computer may be configured to determine the behavior of the particulate work object based on physical quantities related to the work object. The physical quantities help the behavior of the particulate work object to more closely resemble the behavior of a real work object. The physical quantities may include, for example, at least one of the amount of movement of the work object by the working device, the relative position of the working device with respect to the work object, and the force applied to the work object by the working device.

[0237] For example, if the work object included in the behavior simulation target object includes soil in a bucket included in the work device of the work machine, the physical quantity preferably includes at least one of the amount of change in the amount of soil in the bucket, the amount of soil moved by the bucket, the relative position of the bucket with respect to the soil, and the pressing force applied to the soil by the bucket. The physical quantity more effectively helps to make the behavior of the granular soil at the work site in the virtual space closer to the behavior of the granular soil at the work site.

[0238] The above-described embodiments (including modified examples within the embodiments (the same applies hereinafter)) may be modified in various ways. For example, the number of components in the above-described embodiments may be changed, or some of the components may not be provided. For example, the arrangement of the components may be changed. For example, the connections between the components shown in FIGS. 1 and 2 may be changed. For example, the inclusion relationships between the components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, what is described as multiple different elements may be combined into a single element. For example, what is described as a single element may be provided as multiple different elements. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, or some of the steps may not be performed. For example, various information (values, ranges, etc.) may be preset in the computer 20 shown in FIG. 1, or may be set by being read into the computer 20 from an external storage device. The various information may be set directly by a user's manual operation, or may be set in the computer 20 based on information set by a user's manual operation. For example, the various pieces of information may not be changeable, may be changeable by manual operation, or may be automatically changed by the computer 20 in response to certain conditions. For example, the computer 20 may perform substantially the same processing (calculation, determination, etc.) as the processing of the above-described embodiment. For example, the mathematical formulas, processing procedures, information used in the processing, etc. may be changed in various ways. Specifically, the computer 20 may perform processing using information that can be converted into the various pieces of information used in the above-described embodiment. The processing performed by the computer 20 may be combined in various ways. For example, each component may have only a portion of each feature (function, arrangement, shape, operation, etc.).

Claims

1. A work site simulation system comprising a computer that simulates in a virtual space the operation of a work machine at a work site, wherein the computer is configured to: acquire a site model, which is shape information regarding the shape of the work site; set a partial area of the site model as a selected area; and convert the site model into a modifiable model within the selected area, wherein the modifiable model is shape information that allows the computer to perform modification operations on the modifiable model, the modification operations including at least one of deformation, movement, addition, and deletion; and wherein the computer is configured to restrict the modification operations on the site model more than the modification operations that are allowed to be performed on the modifiable model.

2. A work site simulation system according to claim 1, wherein the computer is configured to prohibit any of the change processes that are permitted to be performed on the modifiable model from being performed on the work site model.

3. A work site simulation system according to claim 1, wherein the modifiable model includes a work object that is the target of work performed by the work machine.

4. A work site simulation system according to claim 1, wherein the computer is configured to set the selected area based on a range in which the work machine is capable of operating.

5. A work site simulation system according to claim 1, wherein said computer is configured to set said selected area based on a numerical value input to said computer.

6. A work site simulation system as described in claim 1, further comprising a display unit, wherein the computer causes an area change unit to be displayed on the display unit, to which an operation can be given to change the selected area configuration, including at least one of the position, shape, and size of the selected area, and the computer is configured to change the selected area configuration in response to the operation given to the area change unit.

7. A work site simulation system as described in claim 1, wherein the computer is configured to set a part of the area of the modifiable model as a physical calculation area, and the physical calculation area is an area that allows the computer to perform calculations to cause objects included in the modifiable model to move in accordance with physical phenomena.

8. A work site simulation system according to claim 7, wherein the computer is configured to set the physical calculation domain based on the position of the work machine in the work site.

9. A work site simulation system according to claim 1, further comprising an output unit capable of outputting information, wherein the computer is configured to cause the output unit to output a notification when a portion of the work machine to be notified deviates from the area of the changeable model.

10. A work site simulation system according to claim 1, wherein said computer is configured to set objects included in said modifiable model to a predetermined state.

11. A work site simulation system according to claim 10, wherein said computer is configured to set the ground included in said modifiable model to said predetermined state.

12. The workplace simulation system of claim 1, wherein the modifiable model includes an in-container object that is an object placed in a container.

13. A work site simulation system according to claim 12, wherein said computer is configured to set the state of the object in the container to a predetermined state.

14. The work site simulation system according to claim 12, wherein said computer is configured to calculate the amount of objects in said container.

15. A work site simulation system according to claim 3, wherein the computer is configured to calculate the amount of change in the quantity of the work object within a calculation target area set within the changeable model.

16. A work site simulation system according to claim 3, wherein the computer is configured to set an object addition area within the modifiable model, determine the amount of the work object, and add the determined amount of the work object within the object addition area of the modifiable model.

17. A work site simulation system according to claim 3, wherein the computer is configured to set an object removal area within the modifiable model, and to remove the work object identified within the object removal area.

18. A work site simulation system as described in claim 1, further comprising a display unit capable of displaying information, wherein the modifiable model includes deformable soil and sand, and wherein the computer is configured to cause the display unit to display the deformed surface of the soil and sand in a manner different from the display of the undeformed surface of the soil and sand.

19. A work site simulation system as described in claim 1, wherein the computer is configured to set two or more interacting objects including a behavior simulation target object in the virtual space, and to simulate the behavior of the behavior simulation target object associated with the interaction between the interacting objects, wherein the behavior of the behavior simulation target object includes at least one of deformation and movement of the behavior simulation target object.

20. A work site simulation system according to claim 19, wherein the object whose behavior is to be simulated includes soil and sand.

21. A work site simulation system according to claim 19, wherein the object whose behavior is to be simulated includes the ground.

22. A work site simulation system according to claim 19, wherein the object whose behavior is to be simulated includes the ground and an object located at a distance from the ground.

23. A work site simulation system according to claim 19, wherein the object whose behavior is to be simulated includes an object in a container, which is an object placed in a container.

24. A work site simulation system according to claim 19, wherein the object whose behavior is to be simulated includes a work object that is the target of work performed by a work device included in the work machine.

25. A work site simulation system according to claim 24, wherein the interactive object includes the work object and the work device included in the work machine for performing work on the work object.

26. A work site simulation system according to claim 19, wherein said computer is configured to simulate the deformation of said object whose behavior is to be simulated, which is accompanied by the movement of said object whose behavior is to be simulated.

27. A work site simulation system according to claim 19, wherein the computer is configured to simulate the object to be simulated in the form of particles.

28. A work site simulation system according to claim 26, wherein the object whose behavior is to be simulated includes a work object that is the target of work performed by a work device included in the work machine, and the computer is configured to determine the behavior of the particulate work object based on physical quantities related to the work object.

29. A work site simulation system according to claim 28, wherein the physical quantity includes at least one of the amount by which the work object is moved by the work device, the relative position of the work device with respect to the work object, and the force applied to the work object by the work device.

30. A work site simulation system as set forth in claim 29, wherein the work object included in the behavior simulation target object includes soil and sand in a bucket included in the work equipment of the work machine, and the physical quantity includes at least one of the amount of change in the amount of soil and sand in the bucket, the amount of soil and sand moved by the bucket, the relative position of the bucket with respect to the soil and sand, and the pressing force applied to the soil and sand by the bucket.

Images