U.S. patent number 10,385,542 [Application Number 15/752,677] was granted by the patent office on 2019-08-20 for construction management system, construction management method, and management device.
This patent grant is currently assigned to Komatsu Ltd.. The grantee listed for this patent is Komatsu Ltd.. Invention is credited to Ichiro Nakano, Akinori Onodera, Chikashi Shike, Taiki Sugawara, Hiroyoshi Yamaguchi.
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United States Patent |
10,385,542 |
Shike , et al. |
August 20, 2019 |
Construction management system, construction management method, and
management device
Abstract
A construction management system includes: an object detecting
unit mounted on a work machine and configured to detect an object
in a construction site and output information on the object; a
shape detecting unit configured to output shape information
indicating a three-dimensional shape of the object by using the
information on the object detected by the object detecting unit; an
information attaching unit configured to attach, to the shape
information, time information indicating a time when the object is
detected; and a management device configured to generate current
state information on the construction site on the basis of the
shape information to which a latest piece of the time information
is attached.
Inventors: |
Shike; Chikashi (Tokyo,
JP), Nakano; Ichiro (Tokyo, JP), Onodera;
Akinori (Yokohama, JP), Yamaguchi; Hiroyoshi
(Tokyo, JP), Sugawara; Taiki (Tokyo, JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
Komatsu Ltd. |
Tokyo |
N/A |
JP |
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|
Assignee: |
Komatsu Ltd. (Tokyo,
JP)
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Family
ID: |
58487735 |
Appl.
No.: |
15/752,677 |
Filed: |
October 5, 2016 |
PCT
Filed: |
October 05, 2016 |
PCT No.: |
PCT/JP2016/079708 |
371(c)(1),(2),(4) Date: |
February 14, 2018 |
PCT
Pub. No.: |
WO2017/061518 |
PCT
Pub. Date: |
April 13, 2017 |
Prior Publication Data
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Document
Identifier |
Publication Date |
|
US 20180245311 A1 |
Aug 30, 2018 |
|
Foreign Application Priority Data
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Oct 5, 2015 [JP] |
|
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2015-198081 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E02F
9/261 (20130101); H04N 13/00 (20130101); G01B
11/245 (20130101); G01C 11/06 (20130101); E02F
9/20 (20130101); E02F 9/2045 (20130101); G01C
3/06 (20130101); H04N 7/18 (20130101); H04N
13/239 (20180501); H04N 13/243 (20180501) |
Current International
Class: |
E02F
9/20 (20060101); E02F 9/26 (20060101); G01B
11/245 (20060101); G01C 3/06 (20060101); G01C
11/06 (20060101); H04N 13/00 (20180101); H04N
7/18 (20060101); H04N 13/239 (20180101); H04N
13/243 (20180101) |
Field of
Search: |
;701/99 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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H06-258077 |
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Sep 1994 |
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JP |
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H09-009197 |
|
Jan 1997 |
|
JP |
|
H10-088625 |
|
Apr 1998 |
|
JP |
|
H11-211473 |
|
Aug 1999 |
|
JP |
|
2002-328022 |
|
Nov 2002 |
|
JP |
|
2002-352224 |
|
Dec 2002 |
|
JP |
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2003-247805 |
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Sep 2003 |
|
JP |
|
2008-241300 |
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Oct 2008 |
|
JP |
|
2013-036243 |
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Feb 2013 |
|
JP |
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2014-153351 |
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Aug 2014 |
|
JP |
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2014-205955 |
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Oct 2014 |
|
JP |
|
2015-102466 |
|
Jun 2015 |
|
JP |
|
Other References
Office Action dated Jul. 20, 2018, issued for the Australian Patent
Application No. 2016336321. cited by applicant .
International Search Report dated Dec. 20, 2016, issued for
PCT/JP2016/079708. cited by applicant .
Office Action dated Mar. 8, 2019, issued in the corresponding U.S.
Appl. No. 16/121,884. cited by applicant.
|
Primary Examiner: Soofi; Yazan A
Attorney, Agent or Firm: Locke Lord LLP
Claims
The invention claimed is:
1. A construction management system comprising: an object detecting
unit mounted on a work machine and configured to detect an object
in a construction site and output information on the object; a
shape detecting unit configured to output shape information
indicating a three-dimensional shape of the object by using the
information on the object detected by the object detecting unit; a
construction information generating unit configured to generate
target construction information by using the shape information; and
a communication unit configured to transmit the target construction
information.
2. The construction management system according to claim 1, wherein
the communication unit is further configured to transmit the target
construction information to a work machine other than the work
machine.
3. The construction management system according to claim 1, wherein
the communication unit is further configured to transmit the the
target construction information to a management device configured
to communicate with the work machine.
4. The construction management system according to claim 1, wherein
the object includes at least a construction planned portion
different from a construction planned portion by the work machine,
and a constructed portion different from a constructed portion by
the work machine.
5. The construction management system according to claim 1, wherein
a removed soil amount or a banked soil amount is obtained on the
basis of pieces of the shape information obtained at different
times.
6. The construction management system according to claim 1, wherein
the shape detecting unit includes at least two imaging devices.
7. The construction management system according to claim 1, wherein
the object includes at least one of a construction planned portion
and a constructed portion by a unit other than the work
machine.
8. The construction management system according to claim 7, wherein
a removed soil amount or a banked soil amount by a different work
machine is obtained on the basis of pieces of the shape information
obtained at different times.
9. The construction management system according to claim 7, wherein
shape information on an entire construction site is generated by
using at least one of a construction result by the work machine, a
construction result by a different work machine, and a construction
result by neither the work machine nor the different work machine.
Description
FIELD
The present invention relates to a construction management system,
a construction management method, and a management device.
BACKGROUND
There is a work machine having an imaging device. Patent Literature
1 discloses a technology in which image data of a construction plan
is created on the basis of construction plan data stored in a
storage unit and positional information on a stereo camera, the
image data of the construction plan and current image data imaged
by the stereo camera are superimposed, and a superimposed composite
image is three-dimensionally displayed on a three-dimensional
display device.
CITATION LIST
Patent Literature
Patent Literature 1: Japanese Patent Application Laid-open No.
2013-036243 A
SUMMARY
Technical Problem
It is preferable that every work machine working in a construction
site has a detecting device, but it may be difficult for all of
work machines to have a detecting device due to an allocation
problem of work vehicles and the like. Patent Literature 1 neither
describes nor suggests anything about a case where both a work
machine having a detecting device and a work machine not having a
detecting device exist mixed, and there is room for improvement in
this point.
The present invention is directed to managing construction
conditions of a construction site where a work machine having a
detecting device and a work machine not having a detecting device
exist mixed.
Solution to Problem
According to an aspect of the present invention, a construction
management system comprises: an object detecting unit mounted on a
work machine and configured to detect an object in a construction
site and output information on the object; a shape detecting unit
configured to output shape information indicating a
three-dimensional shape of the object by using the information on
the object detected by the object detecting unit; an information
attaching unit configured to attach, to the shape information, time
information indicating a time when the object is detected; and a
management device configured to generate current state information
on the construction site on the basis of the shape information to
which a latest piece of the time information is attached.
It is preferable that the construction management system, further
comprises: a communication unit configured to transmit information
on construction, the information including at least one of the
shape information and information obtained from the shape
information, wherein the communication unit is configured to
transmit the information on construction to a work machine other
than the work machine.
It is preferable that the communication unit is configured to
transmit the information on construction to a management device
configured to communicate with the work machine.
It is preferable that the object includes at least a construction
planned portion different from a construction planned portion by
the work machine, and a constructed portion different from a
constructed portion by the work machine.
According to an aspect of the present invention, a construction
management system comprises: an object detecting unit mounted on a
work machine and configured to detect an object and output
information on the object; and a shape detecting unit configured to
output shape information indicating a three-dimensional shape of
the object by using the information on the object detected by the
object detecting unit, wherein the object includes at least one of
a construction planned portion different from a construction
planned portion by the work machine and a constructed portion
different from a constructed portion by the work machine.
It is preferable that a removed soil amount or a banked soil amount
is obtained on the basis of pieces of the shape information
obtained at different times.
It is preferable that the shape detecting unit includes at least
two imaging devices.
According to an aspect of the present invention, a construction
management system comprises: an object detecting unit mounted on a
work machine and configured to detect an object and output
information on the object; and a shape detecting unit configured to
output shape information indicating a three-dimensional shape of
the object by using the information on the object detected by the
object detecting unit, wherein the object includes at least one of
a construction planned portion and a constructed portion by a unit
other than the work machine.
It is preferable that a removed soil amount or a banked soil amount
by a different work machine is obtained on the basis of pieces of
the shape information obtained at different times.
It is preferable that shape information on an entire construction
site is generated by using at least one of a construction result by
the work machine, a construction result by a different work
machine, and a construction result by neither the work machine nor
the different work machine.
According to an aspect of the present invention, a construction
management method comprises: detecting an object in a construction
site from a predetermined position of a work machine; outputting
shape information indicating a three-dimensional shape of the
detected object; attaching, to the shape information, time
information indicating a time when the object is detected; and
generating current state information on a construction site on the
basis of the shape information to which a latest piece of the time
information is attached.
It is preferable that the construction management method,
comprises: detecting the object from a predetermined position of a
work machine, wherein the object includes at least one of a
construction planned portion different from a construction planned
portion by the work machine and a constructed portion different
from a constructed portion by the work machine.
According to an aspect of the present invention, a construction
management method comprises: detecting an object in a construction
site from a predetermined position of a work machine; and
outputting the detected shape information, wherein the object
includes at least one of a construction planned portion different
from a construction planned portion by the work machine and a
constructed portion different from a constructed portion by the
work machine.
According to an aspect of the present invention, a management
device is configured to: acquire shape information indicating a
three-dimensional shape of an object detected by an object
detecting unit mounted on a work machine, the object being located
in a construction site, and time information indicating a time when
the object is detected; and generate current state information on
the construction site on the basis of the shape information to
which a latest piece of the time information is attached out of
pieces of the time information indicating times when the object is
detected.
Advantageous Effects of Invention
The present invention can manage the construction conditions of a
construction site where a work machine having a detecting device
and a work machine not having a detecting device exist mixed.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is a perspective view illustrating an excavator 1 including
a control system of an imaging device according to a first
embodiment.
FIG. 2 is a perspective view illustrating a peripheral area of an
operator's seat of the excavator according to the first
embodiment.
FIG. 3 is a diagram illustrating a control system of a work machine
and a construction management system according to an
embodiment.
FIG. 4 is a diagram illustrating an exemplary hardware
configuration in each of various kinds of apparatuses included in
the excavator and a management device.
FIG. 5 is a view illustrating an exemplary construction site where
the excavator according to the first embodiment performs
construction.
FIG. 6 is a view to describe shape information obtained by the
control system of the work machine according to the first
embodiment.
FIG. 7 is a view illustrating a state in which the excavator is
inclined in an acting direction of gravity.
FIG. 8 is a view illustrating an exemplary image captured in a
state where the excavator is inclined in the acting direction of
gravity.
FIG. 9 is a diagram to describe exemplary processing for the
control system according to the first embodiment to obtain shape
information.
FIG. 10 is a diagram illustrating an exemplary data file of the
shape information obtained by the control system according to the
first embodiment.
FIG. 11 is a diagram illustrating exemplary information including a
data file transmitted by a construction management device.
FIG. 12 is a diagram illustrating an example in which a data file
is stored in a storage unit of the management device.
FIG. 13 is a view illustrating a relation between a construction
object of an entire construction site and a range corresponding to
a data file EMD.
FIG. 14 is a view in which changes of the construction object of
the entire construction site are arranged in time series.
FIG. 15 is a view illustrating an example in which a removed soil
amount or a banked soil amount is obtained from a difference
between pieces of shape information obtained at different
times.
FIG. 16 is a view illustrating an example in which a removed soil
amount or a banked soil amount is obtained from the difference
between pieces of shape information obtained at different
times.
FIG. 17 is a view to describe target construction information
generated by the control system of the work machine according to
the first embodiment.
FIG. 18 is a view to describe target construction information
generated by the control system of the work machine according to
the first embodiment.
FIG. 19 is a view to describe target construction information
generated by the control system of the work machine according to
the first embodiment.
FIG. 20 is a flowchart illustrating exemplary processing of a shape
measuring method, and a shape measuring method, and a construction
management method according to the first embodiment.
FIG. 21 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
a second embodiment.
FIG. 22 is a view illustrating a relation between shape information
and target construction information on a construction object.
FIG. 23 is a view illustrating shape information after constructing
the construction object.
FIG. 24 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
a third embodiment.
FIG. 25 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
a first modified example of the third embodiment.
FIG. 26 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
a fourth embodiment.
FIG. 27 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
a first modified example of the fourth embodiment.
DESCRIPTION OF EMBODIMENTS
Modes (embodiments) to implement the present invention will be
described in detail with reference to the drawings.
First Embodiment
<General Structure of Excavator>
FIG. 1 is a perspective view illustrating an excavator 1 including
a control system of an imaging device according to a first
embodiment. FIG. 2 is a perspective view illustrating a peripheral
area of an operator's seat of the excavator 1 according to the
first embodiment. The excavator 1 that is a work machine has a
vehicle body 1B and a work unit 2. The vehicle body 1B has a swing
body 3, an operator's compartment 4, and a traveling body 5. The
swing body 3 is mounted on the traveling body 5 in a swingable
manner while setting a swing center axis Zr as a center. The swing
body 3 houses devices such as a hydraulic pump and an engine.
The swing body 3 is swung with the work unit 2 mounted thereon. A
hand rail 9 is mounted on an upper portion of the swing body 3.
Antennas 21, 22 are mounted on the hand rail 9. The antennas 21, 22
are antennas for real time kinematic-global navigation satellite
systems (RTK-GNSS). The antennas 21, 22 are arranged apart from
each other at a predetermined interval in a Ym-axis direction of a
vehicle body coordinate system (Xm, Ym, Zm). The antennas 21, 22
each receive a GNSS radio wave and output a signal corresponding to
the GNSS radio wave. The antennas 21, 22 may be antennas for a
global positioning system (GPS).
The operator's compartment 4 is disposed at a front portion of the
swing body 3. An antenna 25A for communication is mounted on a roof
of the operator's compartment 4. The traveling body 5 has crawlers
5a, 5b. The excavator 1 travels by rotation of the crawlers 5a,
5b.
The work unit 2 is mounted on a front portion of the vehicle body
1B, and includes a boom 6, an arm 7, a bucket 8 serving as a work
tool, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder
12. According to an embodiment, a front side of the vehicle body 1B
is a directional side directed to an operating device 35 from a
backrest 4SS of an operator's seat 4S illustrated in FIG. 2. A rear
side of the vehicle body 1B is a directional side directed to the
backrest 4SS of the operator's seat 4S from the operating device
35. The front portion of the vehicle body 1B is a portion on the
front side of the vehicle body 1B, and is a portion on an opposite
side of a counterweight WT of the vehicle body 1B. The operating
device 35 is a device to operate the work unit 2 and the swing body
3, and has a right lever 35R and a left lever 35L.
A proximal end portion of the boom 6 is rotatably mounted on the
front portion of the vehicle body 1B via a boom pin 13.
Specifically, the boom pin 13 corresponds to a rotary center of the
boom 6 with respect to the swing body 3. A proximal end portion of
the arm 7 is rotatably mounted on a distal end portion of the boom
6 via an arm pin 14. Specifically, the arm pin 14 corresponds to a
rotary center of the arm 7 with respect to the boom 6. The bucket 8
is rotatably mounted on a distal end portion of the arm 7 via a
bucket pin 15. Specifically, the bucket pin 15 corresponds to a
rotary center of the bucket 8 with respect to the arm 7.
The respective boom cylinder 10, arm cylinder 11, and bucket
cylinder 12 illustrated in FIG. 1 are hydraulic cylinders driven by
hydraulic pressure. A proximal end portion of the boom cylinder 10
is rotatably mounted on the swing body 3 via a boom cylinder foot
pin 10a. A distal end portion of the boom cylinder 10 is rotatably
mounted on the boom 6 via a boom cylinder top pin 10b. The boom
cylinder 10 is extended/contracted by hydraulic pressure, thereby
driving the boom 6.
A proximal end portion of the arm cylinder 11 is rotatably mounted
on the boom 6 via an arm cylinder foot pin 11a. A distal end
portion of the arm cylinder 11 is rotatably mounted on the arm 7
via an arm cylinder top pin 11b. The arm cylinder 11 is
extended/contracted by hydraulic pressure, thereby driving the arm
7.
A proximal end portion of the bucket cylinder 12 is rotatably
mounted on the arm 7 via a bucket cylinder foot pin 12a. A distal
end portion of the bucket cylinder 12 is rotatably mounted on one
end of a first link member 47 and one end of a second link member
48 via a bucket cylinder top pin 12b. The other end of the first
link member 47 is rotatably mounted on the distal end portion of
the arm 7 via a first link pin 47a. The other end of the second
link member 48 is rotatably mounted on the bucket 8 via a second
link pin 48a. The bucket cylinder 12 is extended/contracted by
hydraulic pressure, thereby driving the bucket 8.
The bucket 8 has a plurality of blades 8B. The plurality of blades
8B is aligned in a width direction of the bucket 8. An edge of
blade 8B is a blade edge 8BT. The bucket 8 is an exemplary work
tool. The work tool is not limited to the bucket 8. The work tool
may be, for example, a tilt bucket having a single blade, a slope
bucket, a rock drilling attachment including a rock drilling chip,
or a work tool other than these.
The swing body 3 has a position detecting device 23 and an inertial
measurement unit (IMU) 24 that is an exemplary posture detecting
device. The position detecting device 23 receives signals from the
antennas 21, 22. The position detecting device 23 detects and
outputs current positions of the antennas 21, 22 in a global
coordinate system (Xg, Yg, Zg) and an azimuth direction of the
swing body 3 by using the signals acquired from the antennas 21,
22. The azimuth direction of the swing body 3 indicates an
orientation of the swing body 3 in the global coordinate system.
The orientation of the swing body 3 can be represented by, for
example, an orientation in a front-rear direction of the swing body
3 around a Zg-axis in the global coordinate system. An azimuth
angle is a rotational angle of a reference axis in the front-rear
direction of the swing body 3 around the Zg-axis in the global
coordinate system. The azimuth direction of the swing body 3 is
represented by the azimuth angle. In the present embodiment, the
position detecting device 23 calculates the azimuth angle from
relative positions of the two antennas 21, 22.
<Imaging Device>
As illustrated in FIG. 2, the excavator 1 has a plurality of
imaging devices 30a, 30b, 30c, 30d inside the operator's
compartment 4. The plurality of imaging devices 30a, 30b, 30c, 30d
is exemplary detecting devices to detect a shape of an object. In
the following, in a case of not differentiating each one of the
plurality of imaging devices 30a, 30b, 30c, 30d, each imaging
device will be referred to as an imaging device 30. Among the
plurality of imaging devices 30, the imaging device 30a and the
imaging device 30c are arranged on the work unit 2 side. A type of
the imaging device 30 is not limited, but according to the
embodiment, an imaging device including a couple charged device
(CCD) image sensor or a complementary metal oxide semiconductor
(CMOS) image sensor is used.
As illustrated in FIG. 2, the imaging device 30a and the imaging
device 30b are arranged apart from each other at a predetermined
interval inside the operator's compartment 4, and oriented in a
same direction or different directions. The imaging device 30c and
the imaging device 30d are arranged apart from each other at a
predetermined interval inside the operator's compartment 4, and
oriented in a same direction or different directions. Two of the
plurality of imaging devices 30a, 30b, 30c, 30d are paired and
constitutes a stereo camera. In the embodiment, a stereo camera is
formed by pairing the imaging devices 30a, 30b, and another stereo
camera is formed by pairing the imaging devices 30c, 30d. According
to the embodiment, the imaging device 30a and the imaging device
30b are oriented upward, and the imaging device 30c and the imaging
device 30d are oriented downward. At least the imaging device 30a
and the imaging device 30c are oriented to the front side of the
excavator 1, in the embodiment, the front side of the swing body 3.
The imaging device 30b and the imaging device 30d may also be
arranged in a manner oriented slightly toward the work unit 2,
specifically, slightly oriented to the side of the imaging device
30a and the imaging device 30c.
In the embodiment, the excavator 1 has the four imaging devices 30,
but the number of imaging devices 30 included in the excavator 1
may be at least two, and not limited to four. The reason is that
the excavator 1 performs stereo photographing for an object by
forming the stereo camera with at least one pair of the imaging
devices 30.
The plurality of imaging devices 30a, 30b, 30c, 30d is arranged on
the front and upper sides inside the operator's compartment 4. The
upper side represents a directional side orthogonal to a ground
contact surface of the crawlers 5a, 5b included in the excavator 1
and also directed away from the ground contact surface. The ground
contact surface of the crawlers 5a, 5b is a flat surface in a
portion contacted by at least one of the crawlers 5a, 5b and
defined by at least three points not located on a same line. The
lower side represents a directional side opposite to the upper
side, specifically, the directional side orthogonal to the ground
contact surface of the crawlers 5a, 5b and also directed close to
the ground contact surface.
The plurality of imaging devices 30a, 30b, 30c, 30d performs stereo
photographing for an object existing in front of the vehicle body
1B of the excavator 1. The object is, for example, a construction
object to be constructed by at least one of the excavator 1, a work
machine of the excavator 1, and a worker who works in a
construction site. The plurality of imaging devices 30a, 30b, 30c,
30d detects the object from predetermined positions of the
excavator 1, in the present embodiment, from the front and upper
sides inside the operator's compartment 4. In the present
embodiment, the object is three-dimensionally measured by using
results of stereo photographing performed by at least one pair of
the imaging devices 30. Setting places of the plurality of imaging
devices 30a, 30b, 30c, 30d are not limited to the front and upper
sides inside the operator's compartment 4.
Among the plurality of imaging devices 30a, 30b, 30c, 30d, for
example, the imaging device 30c is set as a reference thereof. Each
of the four plural imaging devices 30a, 30b, 30c, 30d has a
coordinate system. Such a coordinate system will be suitably
referred to as an imaging device coordinate system. In FIG. 2, only
the coordinate system (xs, ys, zs) of the reference imaging device
30c is illustrated. An origin in each of the imaging device
coordinate systems is a center point in each of the imaging devices
30a, 30b, 30c, 30d.
In the present embodiment, each of the imaging devices 30a, 30b,
30c, 30d has an imaging range larger than a range that can be
constructed by the work unit 2 of the excavator 1. With having such
a range, each of the imaging devices 30a, 30b, 30c, 30d can surely
perform stereo photographing for an object in the range that can be
excavated by the work unit 2.
The above-described vehicle body coordinate system (Xm, Ym, Zm) is
a coordinate system in which a fixed origin in the vehicle body 1B,
in the present embodiment, in the swing body 3 is set as a
reference. In the embodiment, the origin of the vehicle body
coordinate system (Xm, Ym, Zm) is, for example, a center of a swing
circle of the swing body 3. The center of the swing circle is
located on the swing center axis Zr of the swing body 3. The
Zm-axis in the vehicle body coordinate system (Xm, Ym, Zm) is an
axis to be the swing center axis Zr of the swing body 3, and the
Xm-axis is an axis extending in the front-rear direction of the
swing body 3 and orthogonal to the Zm-axis. The Xm-axis is a
reference axis in the front-rear direction of the swing body 3. The
Ym-axis is an axis orthogonal to the Zm-axis and the Xm-axis and
extending in a width direction of the swing body 3. The
above-described global coordinate system (Xg, Yg, Zg) is a
coordinate system to be measured by the GNSS and also is a
coordinate system in which an origin fixed in the earth is set as a
reference.
The vehicle body coordinate system is not limited to the example of
the present embodiment. The vehicle body coordinate system may have
a center of the boom pin 13 as an origin of the vehicle body
coordinate system, for example. The center of the boom pin 13 is a
center of a cross-section obtained by cutting the boom pin 13 along
a plane orthogonal to an extending direction of the boom pin 13,
and also is a center in the extending direction of the boom pin
13.
<Control System of Work Machine and Construction Management
System>
FIG. 3 is a diagram illustrating a control system 50 of a work
machine and a construction management system 100 according to an
embodiment. Device configurations of the control system 50 and the
management system 100 illustrated in FIG. 3 are merely examples and
not limited to the exemplary device configurations of the present
embodiment. For example, various devices included in the control
system 50 may not be independent from each other. In other words,
functions of a plurality of devices may also be implemented by one
device.
The control system 50 of the work machine (hereinafter, suitably
referred to as the control system 50) includes a plurality of
imaging devices 30a, 30b, 30c, 30d and various control devices in
order to control the excavator 1. These devices are provided in the
vehicle body 1B of the excavator 1 illustrated in FIG. 1, in the
present embodiment, in the swing body 3. In the present embodiment,
the control system 50 corresponds to a shape measuring system.
The various control devices included in the control system 50
include a detection processing device 51, a construction
information generating device 52, a sensor control device 53, an
engine control device 54, a pump control device 55, and a work unit
control device 56 illustrated in FIG. 3. Besides, the control
system 50 has a construction management device 57 to manage a state
of the excavator 1 and construction conditions by the excavator 1.
Furthermore, the control system 50 includes a display device 58 to
display information on the excavator 1 or display a construction
guidance image on a screen 58D, and a communication device 25 to
communicate with at least one of a management device 61 of a
management facility 60 existing outside the excavator 1, a
different work machine 70, a mobile terminal device 64, and a
device other than the management device 61 of the management
facility 60. Furthermore, the control system 50 has the position
detecting device 23 and the IMU 24 that is an example of a posture
detecting device in order to acquire information necessary to
control the excavator 1. In the present embodiment, the control
system 50 is at least required to have the detection processing
device 51 and the construction information generating device
52.
In the embodiment, the detection processing device 51, the
construction information generating device 52, the sensor control
device 53, the engine control device 54, the pump control device
55, the work unit control device 56, the construction management
device 57, the display device 58, the position detecting device 23,
and the communication device 25 are connected to a signal line 59,
and communicate with one another. According to the first
embodiment, a communication standard using the signal line 59 is a
controller area network (CAN), but not limited thereto. In the
following, the term "excavator 1" may represent various kinds of
electronic devices such as the detection processing device 51 and
construction information generating device 52 included in the
excavator 1.
FIG. 4 is a diagram illustrating an exemplary hardware
configuration in each of various kinds of apparatuses included in
the excavator 1 and the management device 61. In the embodiment,
the detection processing device 51, construction information
generating device 52, sensor control device 53, engine control
device 54, pump control device 55, work unit control device 56,
construction management device 57, display device 58, position
detecting device 23, and communication device 25 included in the
excavator 1, and management device 61 each has a processing unit
PR, a storage unit MR, and an input/output unit IO as illustrated
in FIG. 4. The processing unit PR is implemented by, for example, a
processor such as a central processing unit (CPU) and a memory.
As the storage unit MR, used is at least one of a non-volatile or
volatile semiconductor memory such as a random access memory (RAM),
a read only memory (ROM), a flash memory, an erasable programmable
read only memory (EPROM), and an electrically erasable programmable
read only memory (EEPROM), a magnetic disk, a flexible disk, and a
magnetic optical disk.
The input/output unit IO is an interface circuit for the excavator
1 or the management device 61 to transmit and receive data,
signals, and the like to and from other apparatuses and the
internal devices. The internal devices also include the signal line
59 inside the excavator 1.
Each of the excavator 1 and the management device 61 stores, in the
storage unit MR, a computer program to cause the processing unit PR
to implement an own function. Each of the processing unit PR of the
excavator 1 and the processing unit PR of the management device 61
implements the function of each device by reading and executing the
computer program from each storage unit MR. The various kinds of
electronic devices and apparatuses included in the excavator 1 and
the management device 61 may be each implemented by dedicated
hardware, or the respective functions may be implemented by
cooperation of a plurality of processing circuits. Next, various
kinds of electronic devices and apparatuses included in the
excavator 1 will be described.
The detection processing device 51 applies image processing by a
stereo method to one pair of images of an object imaged by at least
one pair of imaging devices 30, thereby achieving a position of the
object, specifically, a coordinate of the object in a
three-dimensional coordinate system. Thus, the detection processing
device 51 can three-dimensionally measure the object by using one
pair of images obtained by imaging a same object with at least one
pair of imaging devices 30. Specifically, at least the one pair of
the imaging devices 30 and the detection processing device 51
three-dimensionally measure the object by the stereo method. The
image processing by the stereo method is a method to obtain a
distance to the object from two images obtained by observing the
same object from two different imaging devices 30. The distance to
the object is represented by, for example, a range image in which
distance information to the object is visualized by shading.
The detection processing device 51 acquires information on the
object detected by at least the one pair of imaging devices 30 and
obtains, from the information on the object, shape information
indicating a three-dimensional shape of the object. In the present
embodiment, the information on the object is generated and output
by at least the one pair of imaging devices 30 imaging the object.
The information on the object corresponds to images of a
construction object imaged by at least the one pair of imaging
devices 30. The detection processing device 51 obtains the shape
information by applying the image processing by the stereo method
to the images of the object, and outputs the same. In the present
embodiment, a construction object of the excavator 1 having at
least the one pair of imaging devices 30 is imaged by at least the
one pair of imaging devices 30, but a construction object of a
different work machine may also be imaged by at least the one pair
of the imaging devices 30.
In the present embodiment, the object detected by an imaging device
30 represents an object of construction (hereinafter suitably
referred to as a construction object) and a constructed object. In
the present embodiment, the construction object and the constructed
object are only required to be a construction object and an
constructed object of at least one of the excavator 1 having the
imaging device 30, a different excavator lot, a work machine other
than the excavator, and a worker.
The detection processing device 51 has a calculation unit 51A and
an information attaching unit 51B. The calculation unit 51A applies
the image processing by the stereo system to one pair of images
captured by at least the one pair of imaging devices 30 and
acquires shape information. The information attaching unit 51B
attaches various kinds of information to the shape information and
outputs the same. The various kinds of information attached to the
shape information include time information. The time information
includes information on at least a time included in a period from a
time when the object is detected by the calculation unit 51A and at
least the one pair of imaging devices 30 to a time when the shape
information is output. The time information is acquired from, for
example, a timer inside the detection processing device 51. Besides
the time information, the various kinds of information may further
include at least one of information indicating positions where at
least the one pair of imaging devices 30 images the object, and
information to identify the excavator 1 having the imaging devices
30 that have imaged the object. Functions of each of the
calculation unit 51A and the information attaching unit 51B are
implemented by the processing unit PR illustrated in FIG. 4.
In the present embodiment, at least the one pair of imaging devices
30 is mounted on the excavator 1 and each imaging device
corresponds to an object detecting unit to detect an object and
output information on the object. The detection processing device
51 corresponds to a shape detecting unit to output shape
information indicating a three-dimensional shape of an object by
using the information on the object detected by at least the one
pair of imaging devices 30. Instead of at least the one pair of
imaging devices 30, a 3D scanner such as a laser scanner may also
be used. Since the 3D scanner detects an object and outputs shape
information indicating a three-dimensional shape of the object, the
3D scanner has functions of the above-described object detecting
unit and shape detecting unit.
The detection processing device 51 has a hub 31 and an imaging
switch 32 connected. The plurality of imaging devices 30a, 30b,
30c, 30d is connected the hub 31. The imaging devices 30a, 30b,
30c, 30d and the detection processing device 51 may be connected
without using the hub 31. Results imaged by the imaging devices
30a, 30b, 30c, 30d are received in the detection processing device
51 via the hub 31. The detection processing device 51 acquires, via
the hub 31, the results imaged by the imaging devices 30a, 30b,
30c, and 30d, in the present embodiment, images of the object. When
the imaging switch 32 is operated, at least the one pair of the
imaging devices 30 images the object in the present embodiment. The
imaging switch 32 is installed inside the operator's compartment 4
illustrated in FIG. 2. For example, the imaging switch 32 is
installed near the operating device 35, but an installation place
of the imaging switch 32 is not limited thereto.
In a case of acquiring images of the object by at least the one
pair of imaging devices 30, the control system 50 may start imaging
at the same time of start swinging the swing body 3, may finish
imaging by stopping swinging the same, and may obtain shape
information by applying the image processing by the stereo method
on the basis of images acquired during the swing. In this case, in
the control system 50, the detection processing device 51 receives,
for example, a signal or an electric signal indicating a change of
a pilot pressure output in accordance with operation of an
operating device to swing the swing body 3 out of the operating
device 35, and determines timing to start swinging or stop swinging
the swing body 3 to perform imaging.
When the excavator 1 constructs a construction object, the
construction information generating device 52 obtains and outputs
target construction information that is information on a target
shape. In the present embodiment, the construction information
generating device 52 obtains the target construction information by
using the shape information of the construction object obtained by
the detection processing device 51. In the present embodiment, the
target construction information is positional information in which
a targeted shape when the construction object is constructed is
represented by a three-dimensional coordinate in a global
coordinate system. The target construction information may also be
information on a three-dimensional coordinate in a coordinate
system other than the global coordinate system. In the present
embodiment, the construction information generating device 52
corresponds to a construction information generating unit.
The information on the construction object acquired by at least one
pair of imaging devices 30 is transmitted to the outside of the
excavator 1 via the communication device 25, and for example, the
management device 61 may obtain a coordinate of the object in the
three-dimensional coordinate system. In this case, the management
device 61 implements the function of the detection processing
device 51. Additionally, the management device 61 may also
implement the function of the construction information generating
device 52. The shape information on the construction object
obtained by the detection processing device 51 mounted on the
excavator 1 is transmitted to the outside of the excavator 1 via
the communication device 25, and for example, the management device
61 may obtain the target construction information. In this case,
the management device 61 implements the function of the
construction information generating device 52.
The sensor control device 53 has sensors connected in order to
detect information on a state of the excavator 1 and information on
a surrounding state of the excavator 1. The sensor control device
53 converts the information acquired from the sensors to a format
that can be handled by other electronic devices and apparatuses,
and outputs the converted information. The information on the state
of the excavator 1 includes information on a posture of the
excavator 1, information on a posture of the work unit 2, and the
like. In the example illustrated in FIG. 3, the IMU 24, a first
angle detecting unit 18A, a second angle detecting unit 18B, and a
third angle detecting unit 18C are connected to the sensor control
device 53 as sensors to detect the information on the state of the
excavator 1, but the sensors are not limited thereto.
The IMU 24 detects and outputs an acceleration rate and an angular
rate which act on itself, specifically, an acceleration rate and an
angular rate which act on the excavator 1. The posture of the
excavator 1 can be grasped from the acceleration rate and the
angular rate which act on the excavator 1. As far as the posture of
the excavator 1 can be detected, a device other than the IMU 24 may
also be applied. In the present embodiment, the first angle
detecting unit 18A, second angle detecting unit 18B, and third
angle detecting unit 18C are, for example, stroke sensors. These
sensors indirectly detect a rotation angle of the boom 6 relative
to the vehicle body 1B, a rotation angle of the arm 7 relative to
the boom 6, and a rotation angle of the bucket 8 relative to the
arm 7 by respectively detecting stroke lengths of the boom cylinder
10, arm cylinder 11 and bucket cylinder 12. A position of a portion
of the work unit 2 in the vehicle body coordinate system can be
grasped from the rotation angle of the boom 6 relative to the
vehicle body 1B, rotation angle of the arm 7 relative to the boom
6, and rotation angle of the bucket 8 relative to the arm 7
detected by the first angle detecting unit 18A, second angle
detecting unit 18B, and third angle detecting unit 18C, and also is
grasped from a dimension of the work unit 2. For example, the
position of the portion of the work unit 2 is, for example, a
position of the blade edge 8BT of the bucket 8. The first angle
detecting unit 18A, second angle detecting unit 18B, and third
angle detecting unit 18C may be potentiometers or inclinometers
instead of the stroke sensors.
The engine control device 54 controls an internal combustion engine
27 that is a power generation device of the excavator 1. The
internal combustion engine 27 is, for example, a diesel engine, but
not limited thereto. Furthermore, the power generating device of
the excavator 1 may be a hybrid system device combining the
internal combustion engine 27 and a generator motor. The internal
combustion engine 27 drives a hydraulic pump 28.
The pump control device 55 controls a flow rate of a hydraulic
fluid discharged from the hydraulic pump 28. In the present
embodiment, the pump control device 55 generates a control command
signal in order to adjust the flow rate of the hydraulic fluid
discharged from the hydraulic pump 28. The pump control device 55
changes the flow rate of the hydraulic fluid discharged from the
hydraulic pump 28 by changing a swash plate angle of the hydraulic
pump 28 by using the generated control signal. The hydraulic fluid
discharged from the hydraulic pump 28 is supplied to a control
valve 29. The control valve 29 supplies the hydraulic oil supplied
from the hydraulic pump 28 to hydraulic apparatuses such as the
boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and
a hydraulic motor 5M, and drives these hydraulic apparatuses.
For example, the work unit control device 56 executes control to
move the blade edge 8BT of the bucket 8 along a targeted
construction surface. The work unit control device 56 corresponds
to a work unit control unit. This control will be suitably referred
to as work unit control in the following. In executing such work
unit control, for example, the work unit control device 56 acquires
target construction information generated by the construction
information generating device 52, and controls the work unit 2 by
controlling the control valve 29 such that the blade edge 8BT of
the bucket 8 follows a target construction surface included in the
target construction information. The excavator 1 may not include
the work unit control device 56 and may be able to display, on the
screen 58D of the display device 58, a positional relation between
the own work unit 2 and target construction information, as a
construction guidance image, obtained by a method described
later.
For example, the construction management device 57 collects at
least one of the shape information obtained by the detection
processing device 51, the target construction information generated
by the construction information generating device 52, shape
information on a construction result obtained after the excavator 1
constructed a construction object, and shape information indicating
a current topography of a construction object to be constructed
from now by the excavator 1, and stores the collected information
in a storage unit 57M. The construction management device 57
transmits the construction result stored in the storage unit 57M to
the management device 61 or to the mobile terminal device 64 via
the communication device 25. The construction management device 57
transmits the construction result stored in the storage unit 57M to
the management device 61 or to the mobile terminal device 64 via
the communication device 25. The construction management device 57
may collect at least one of the shape information and the target
construction information obtained by the detection processing
device 51, and transmit the collected information to the management
device 61 or the mobile terminal device 64 without storing the same
in the storage unit 57M. The storage unit 57M corresponds to the
storage unit MR illustrated in FIG. 4.
The construction management device 57 may be provided in, for
example, the management device 61 provided outside the excavator 1.
In this case, the construction management device 57 acquires shape
information or a construction result from the excavator 1 via the
communication device 25.
A construction result is, for example, shape information obtained
by at least one pair of imaging devices 30 imaging a constructed
construction object and then the detection processing device 51
applying the image processing by the stereo method to the imaged
results. In the following, the shape information indicating the
current topography of the construction object to be constructed
will be suitably referred to as current topography information.
Additionally, the shape information may be shape information
indicating a construction result or may be shape information
indicating a current topography. The current topography information
is, for example, shape information obtained by the detection
processing device 51 after at least one pair of the imaging devices
30 images a construction object to be constructed by the excavator
1, a different work machine 70, a worker, or the like.
For example, the construction management device 57 collects
construction results after completion of daily work and transmits
the same to at least one of the management device 61 and the mobile
terminal device 64, or collects construction results from daily
work a plurality of times and transmits the same to at least one of
the management device 61 and the mobile terminal device 64. The
construction management device 57 may transmit pre-construction
shape information to the management device 61 or the mobile
terminal device 64, for example, before work in the morning.
In the present embodiment, the construction management device 57
collects, for example, two construction results at noon and at the
end of work from the daily work, and transmits the results to the
management device 61 or the mobile terminal device 64. The
construction result may be a construction result obtained by
imaging a range where construction has been performed out of an
entire construction site or may be a construction result obtained
by imaging the entire construction site. Since the construction
result to be transmitted to the management device 61 or the mobile
terminal device 64 is obtained from the range where construction
has been performed, an imaging time, an image processing time, and
a transmitting time of construction results can be suppressed from
being increased, and this is preferable.
The display device 58 displays, on the screen 58D like a liquid
crystal display panel, information on the excavator 1, displays a
construction guidance image on the screen 58D, and additionally
obtains a position of the work unit 2 in a case where the
above-described work unit control is executed in the present
embodiment. A position of the blade edge 8BT to be obtained by the
display device 58 is a position of the blade edge 8BT of the bucket
8 in the present embodiment. The display device 58 acquires current
positions of the antennas 21, 22 detected by the position detecting
device 23, rotation angles detected by the first angle detecting
unit 18A, second angle detecting unit 18B, and third angle
detecting unit 18C, the dimension of the work unit 2 stored in the
storage unit MR, and output data of the IMU 24, and obtains the
position of the blade edge 8BT of the bucket 8 by using the
obtained information. In the present embodiment, the display device
58 obtains the position of the blade edge 8BT of the bucket 8, but
the position of the blade edge 8BT of the bucket 8 may also be
obtained by a device other than the display device 58.
The communication device 25 is a communication unit in the present
embodiment. The communication device 25 communicates with at least
one of the management device 61 of the management facility 60, the
different work machine 70, and the mobile terminal device 64 via a
communication line NTW to mutually exchange information. Among the
information exchanged by the communication device 25, the
information to be transmitted from the control system 50 to at
least one of the management device 61, the different work machine
70, and the mobile terminal device 64 includes information on
construction. The information on construction includes at least one
of the above-described shape information and information obtained
from the shape information. The information obtained from the shape
information includes, for example, information obtained by
processing the above-described target construction information and
shape information, but is not limited thereto. The information on
construction may be transmitted by the communication device 25
after being stored in the storage unit of the detection processing
device 51, the storage unit of the construction information
generating device 52, and the storage unit 57M of the construction
management device 57, or may be transmitted without being
stored.
In the present embodiment, the communication device 25 performs
communication by radio communication. Therefore, the communication
device 25 has an antenna 25A for radio communication. The mobile
terminal device 64 is, for example, carried by a manager who
manages work of the excavator 1, but is not limited thereto. The
different work machine 70 has a function to communicate with at
least one of the excavator 1 having the control system 50, and the
management device 61. The different work machine 70 may be an
excavator 1 having a control system 50, an excavator not having the
control system 50, or a work machine other than an excavator. The
communication device 25 may communicate with at least one of the
management device 61 of the management facility 60, different work
machine 70, and mobile terminal device 64 via wired communication
so as to mutually exchange information.
The construction management system 100 includes the management
device 61 of the management facility 60, the control system 50, and
excavator 1 having the control system 50. The construction
management system 100 may further include the mobile terminal
device 64. The number of excavators 1 included in the construction
management system 100 and having the control system 50 may be one
or plural. The management facility 60 includes the management
device 61 and a communication device 62. The management device 61
communicates with at least the excavator 1 via the communication
device 62 and the communication line NTW. The management device 61
may communicate with the mobile terminal device 64 and also may
communicate with the different work machine 70. A radio
communication apparatus may be mounted such that the excavator 1
can directly perform vehicle-to-vehicle radio communication with at
least one of the different excavator lot and a work machine.
Additionally, at least one of the excavator 1, different excavator
lot, and work machine may be each mounted with an apparatus or an
electronic device so as to be able to execute processing executed
by the management device 61 of the management facility 60 or the
like.
The management device 61 receives at least one of a construction
result and current topography information from the excavator 1 and
manages progress of construction. The management device 61 may
receive shape information from the excavator 1, generate target
construction information using this shape information, and transmit
the generated target construction information to the excavator 1.
The management device 61 may generate target construction
information from design information of a construction object and
transmit the generated target construction information to the
excavator 1. The management device 61 may process the construction
result received from the excavator 1 and display, on a display
device 67, progress information on the construction as a moving
picture, or may transmit information of the moving picture to the
excavator 1 or the mobile terminal device 64 and display the
information on the display device 58 of the excavator 1 or on a
screen of the mobile terminal device 64. As described above,
generation of the target construction information executed by the
management device 61 may also be executed by at least one of the
excavator 1 and the different work machine 70.
<Construction of Construction Object>
In the first embodiment, the control system 50 obtains shape
information, which is information indicating a shape of a
construction object, by imaging the construction object by using at
least two of the plurality of imaging devices 30 illustrated in
FIG. 2. Then, the control system 50 obtains target construction
information by using the obtained shape information. In a case
where the excavator 1 constructs the construction object, the
control system 50 controls the work unit 2 so as to follow the
obtained target construction information.
FIG. 5 is a view illustrating an exemplary construction site where
the excavator 1 according to the first embodiment performs
construction. In the first embodiment, a construction object OBP of
the excavator 1 is the ground. In the present embodiment, the
construction object OBP is at least a part of the construction
site. In the present embodiment, as illustrated in FIG. 5,
construction performed by the excavator 1 for the construction
object OBP is work to excavate surface soil by a predetermined
depth .DELTA.DP from a surface OBS of the construction object OBP.
A portion where construction has been executed out of the
construction object OBP is a construction executed portion OBF.
Depending on a construction plan, the construction executed portion
OBF may indicate a portion where construction is not needed. The
construction executed portion OBF is at least a part of the
construction object OBP. Next, shape information obtained by the
control system 50 will be described.
<Object Imaging and Generation of Shape Information>
FIG. 6 is a view to describe shape information obtained by the
control system of the work machine according to the first
embodiment. In this case, as for the shape information, a
construction object OBP corresponding to a portion to be
constructed by the excavator 1 from now exists in front of the
excavator 1. The shape information is obtained from the
construction object OBP. In a case of generating the shape
information from the construction object OBP, the control system 50
causes at least one pair of the imaging devices 30 to image the
construction object OBP. In the present embodiment, when an
operator of the excavator 1 operates the imaging switch 32
illustrated in FIG. 3 to input an imaging command to the detection
processing device 51, the detection processing device 51 causes at
least the one pair of imaging devices 30 to image the construction
object OBP.
The detection processing device 51 of the control system 50 applies
the image processing by the stereo method to images of the
construction object OBP imaged by at least the one pair of imaging
devices 30 to obtain positional information on the construction
object OBP, in the present embodiment, three-dimensional positional
information. Since the positional information on the construction
object OBP obtained by the detection processing device 51 is
information in the coordinate system of the imaging device 30, the
obtained positional information is converted to positional
information in the global coordinate system. The positional
information on the construction object in the global coordinate
system is shape information. In the present embodiment, the shape
information is information including at least one position Pr (Xg,
Yg, Zg) on the surface OBS of the construction object OBP in the
global coordinate system. The position Pr (Xg, Yg, Zg) is a
coordinate in the global coordinate system and also is
three-dimensional positional information.
FIG. 7 is a view illustrating a state in which the excavator 1 is
inclined in an acting direction G of gravity. FIG. 8 is a view
illustrating an exemplary image in which an object Oj is imaged by
at least one pair of imaging devices 30 in the state where the
excavator 1 is inclined in the acting direction G of the gravity.
When at least the one pair of imaging devices 30 images the object
Oj in a state where the excavator 1 is installed on an inclined
surface GD, an imaging device coordinate system (xs, ys, zs) is
inclined to the acting direction G of the gravity. Since the object
Oj is inclined as illustrated in FIG. 8 in the image obtained in
this state, when shape information is obtained by applying the
image processing by the stereo method to this image, the shape
information may be influenced by this inclination. The control
system 50 detects a posture of the excavator 1 by the IMU 24 and
obtains shape information by using the information on the detected
posture of the excavator 1.
FIG. 9 is a diagram to describe exemplary processing for the
control system 50 according to the first embodiment to obtain shape
information. FIG. 10 is a diagram illustrating an exemplary data
file of the shape information obtained by the control system 50
according to the first embodiment. A position Ps (xs, ys, zs) of
the construction object OBP obtained from the images captured by at
least the one pair of imaging devices 30 is a coordinate of the
imaging device coordinate system (xs, ys, zs). Since the shape
information is to be a coordinate in the global coordinate system
(Xg, Yg, Zg), the detection processing device 51 converts the
position Ps (xs, ys, zs) to a position Pg (xs, ys, zs) of the
global coordinate system (Xg, Yg, Zg). The position Pg (xs, ys, zs)
is the position Pr (Xg, Yg, Zg) on the surface OBS of the
construction object OBP, namely, the shape information.
The position Ps (xs, ys, zs) is converted from the position in the
imaging device coordinate system (xs, ys, zs) to a position Pm (xm,
ym, zm) of the vehicle body coordinate system (Xm, Ym, Zm) by
Formula (1). The position Pm (xm, ym, zm) of the vehicle body
coordinate system (Xm, Ym, Zm) is converted to the position Pg (xs,
ys, zs) of the global coordinate system (Xg, Yg, Zg) by Formula
(2).
.times..times..alpha..times..times..alpha..times..times..alpha..times..ti-
mes..alpha..times..times..times..beta..times..times..beta..times..times..b-
eta..times..times..beta..times..times..times..gamma..times..times..gamma..-
times..times..gamma..times..times..gamma..times..times..theta..times..time-
s..times..times..theta..times..times..times..times..theta..times..times..t-
imes..times..theta..times..times..times..times..times..theta..times..times-
..times..times..theta..times..times..times..times..theta..times..times..ti-
mes..times..theta..times..times..times..times..times..theta..times..times.-
.times..times..theta..times..times..times..times..theta..times..times..tim-
es..times..theta..times..times. ##EQU00001##
R in Formula (1) represents a rotation matrix expressed by Formula
(3), and T represents a translation vector expressed by a matrix of
Formula (4) Rimu in Formula (2) represents a rotation matrix
expressed by Formula (5), and Toff represents a translation vector
expressed by a matrix of Formula (6). Toff represents an offset
value of a distance from an origin of the vehicle body coordinate
system to any one of the antennas 21, 22. Tg represents a
translation vector of any one of the antennas 21, 22, which is
expressed by a matrix of the Formula (7). An angle .alpha., an
angle .beta., and an angle .gamma. in the rotation matrix R
represent an inclination of the imaging device coordinate system
with respect to the vehicle body coordinate system. The angle
.alpha., angle .beta., and angle .gamma. are preliminarily
obtained, for example, after the plurality of imaging devices 30 is
mounted on the excavator 1, and then stored in the storage unit of
the detection processing device 51. x.sub.0, y.sub.0, z.sub.0 of
the matrix T represent a distance between an origin of the imaging
device coordinate system and the origin of the vehicle body
coordinate system. For example, x.sub.0, y.sub.0, z.sub.0 are
measured after the plurality of imaging devices 30 is mounted on
the excavator 1 or are preliminarily obtained from design
information on the excavator 1, and then stored in the storage unit
of the detection processing device 51.
An angle .theta.r, an angle .theta.p, and an angle .theta.d in a
rotation matrix Rimu correspond to a roll angle, a pitch angle, and
an azimuth angle of the excavator 1, respectively. The roll angle
.theta.r, pitch angle .theta.p, and azimuth angle .theta.d
represent a posture of the excavator 1. The roll angle .theta.r and
the pitch angle .theta.p are obtained by the IMU 24 illustrated in
FIG. 3 or obtained by the detection processing device 51 from a
detection value of the IMU 24. The azimuth angle .theta.d is
obtained by a GPS compass formed of the antennas 21, 22 and the
position detecting device 23 illustrated in FIG. 3. More
specifically, the azimuth angle .theta.d is obtained by the
position detecting device 23 on the basis of relative positions of
the two antennas 21, 22. The roll angle .theta.r, pitch angle
.theta.p, and azimuth angle .theta.d are changed by a change of the
posture of the excavator 1. In the present embodiment, a yaw angle
.theta.y obtained by the IMU 24 may be used instead of the azimuth
angle (azimuth data) obtained by the GPS compass. In the present
embodiment, the roll angle .theta.r, pitch angle .theta.p, and
azimuth angle .theta.d are values detected by the IMU 24 and the
position detecting device 23 when at least one pair of imaging
devices 30 detects an object such as a construction object in a
construction site, a constructed construction site, and the like.
The roll angle .theta.r, pitch angle .theta.p, yaw .theta.y, or
azimuth angle .theta.d may also be obtained by a device other than
the IMU 24 or by a device other than the position detecting device
23, for example, a gyroscope or the like.
x.sub.1, y.sub.1, z.sub.1 of the matrix Toff represent a distance
from the origin of the vehicle body coordinate system to the
installation positions of the antennas 21, 22 illustrated in FIGS.
1 and 3. For example, x.sub.1, y.sub.1, z.sub.1 are measured after
the antennas 21, 22 are mounted on the excavator 1, or
preliminarily obtained from the design information on the excavator
1, and then stored in the storage unit of the detection processing
device 51.
x.sub.2, y.sub.2, z.sub.2 of the matrix Tg represent positions of
the antennas 21, 22 illustrated in FIGS. 1 and 3 and the positions
of the antennas 21, 22 in the global coordinate system detected by
the position detecting device 23. x.sub.1, y.sub.1, z.sub.1 are
changed by a change of the position of the excavator 1, more
specifically, a change of the positions of the antennas 21, 22.
The detection processing device 51 converts the position Ps (xs,
ys, zs) of the construction object OBP obtained from the images
captured by at least the one pair of imaging devices 30 to the
position Pg (xg, yg, zg) in the global coordinate system by using
Formulas (1) to (7). At this point, the detection processing device
51 acquires the roll angle .theta.r and the pitch angle .theta.p
from the IMU 24, acquires the positions of the antennas 21, 22 in
the global coordinate system and the azimuth angle .theta.d from
the position detecting device 23, and uses the acquired information
in the above-described conversion. As described above, the
detection processing device 51 may also use the yaw angle .theta.y
detected by the IMU 24 instead of the azimuth angle .theta.d. The
detection processing device 51 sets the converted position Pg (xg,
yg, zg) as the position Pr (Xg, Yg, Zg) on the surface OBS of the
construction object OBP, namely, the shape information. In the
present embodiment, the position Pr on the surface OBS of the
construction object OBP is specified as an example of the shape
information, but the shape information is not limited thereto. For
example, the shape information may be a position on the surface of
the construction object OBP after construction or a position on the
surface of the construction object OBP in the middle of
construction.
The detection processing device 51 obtains and outputs the position
Pr (Xg, Yg, Zg) on the surface OBS of the construction object OBP
for all over an entire region of the construction object OBP imaged
by at least the one pair of imaging devices 30. In the present
embodiment, the detection processing device 51 generates a data
file EMD of the obtained position Pr (Xg, Yg, Zg) per predetermined
unit as illustrated in FIG. 10. The data file EMD illustrated in
FIG. 10 is a set including n pieces (n is an integer of 1 or more)
of the positions Pr (Xg, Yg, Zg). The data file EMD also
corresponds to the shape information in the present embodiment.
As the predetermined unit, for example, a range of the construction
object OBP obtained by one-time imaging and a predetermined range
of the construction object OBP can be exemplified. The
predetermined range of the construction object OBP may be a part of
the range obtained by one-time imaging or may be a range beyond the
range obtained by one-time imaging. In the latter case, the range
obtained by a plurality of times of imaging becomes an object.
In the present embodiment, when the detection processing device 51
generates a data file EMD, the data file EMD is stored in the own
storage unit. Then, the detection processing device 51 generates
target construction information by using the positions Pr of the
data file EMD. Additionally, the construction management device 57
may also transmit the data file EMD generated by the detection
processing device 51 from the communication device 25 to at least
one of the management device 61, mobile terminal device 64, and
different work machine 70 illustrated in FIG. 3.
FIG. 11 is a diagram illustrating exemplary information including a
data file EMD transmitted by the construction management device 57.
In the present embodiment, the information attaching unit 51B of
the detection processing device 51 illustrated in FIG. 3 attaches,
to shape information, time information TM in order to specify the
shape information and outputs the shape information. The time
information TM is information to specify the shape information on
the basis of a time. In the present embodiment, as illustrated in
FIG. 11, the information attaching unit 51B generates and outputs
work information LG including the time information TM and the data
file EMD that is the shape information. The time information TM may
be, for example, a time when at least one pair of imaging devices
30 images a construction object OBP, a time when the calculation
unit 51A generates the shape information, a time when the
information attaching unit 51B outputs the work information LG, or
a time when external devices of the excavator 1, such as the
management device 61 and the mobile terminal device 64, acquire
shape information. Specifically, the time information TM is at
least one piece of time information existing during a period from a
time when a construction object OBP before, during, or after
construction is detected by at least the one pair of the imaging
device 30 and the detection processing device 51 to a time when the
external device of the excavator 1 acquires shape information. In a
case where the time information TM is information at the time when
the external device of the excavator 1 acquires the shape
information, the information attaching unit 51B is provided in the
external device of the excavator 1, and the information attaching
unit 51B attaches, to the shape information, the time information
TM indicating the time when the external device acquires the shape
information.
In the present embodiment, the work information LG includes target
construction information TI, an imaging position PL, and posture
information SI of the excavator 1 in addition to the time
information TM and the data file EMD. The target construction
information TI is generated from the shape information included in
the work information LG, namely, information of the data file EMD.
The imaging position PL is information indicating places where at
least one pair of imaging devices 30 images a construction object
OBP before, during, or after construction. The imaging position PL
is obtained on the basis of positions of the antennas 21 and 22 in
the global coordinates detected by the position detecting device 23
illustrated in FIG. 3. The posture information SI is information
indicating a posture of the excavator 1, in the present embodiment,
indicating a roll angle .theta.r, a pitch angle .theta.p, and a yaw
angle .theta.y. The roll angle .theta.r, yaw angle .theta.y, and
yaw angle .theta.y are detection values of the IMU 24, but an
azimuth angle .theta.d detected by the position detecting device 23
may also be used instead of the yaw angle .theta.y. The work
information LG may also include an identification number in
addition to the above. The identification number is information to
indicate positions of at least one pair of imaging devices 30 and
identify the excavator 1 having at least the one pair of imaging
devices 30 having imaged an object. The identification number may
also be, for example, an IP address of the communication device 25.
Also, manufacturing numbers of at least the one pair of the imaging
devices and a vehicle body number of the excavator 1 are used as
the identification number, but not limited thereto.
The information included in the work information LG is not limited
to the information described above. For example, the work
information LG may also include an operator ID in order to identify
an operator of the excavator 1. As for the work information LG, the
information attaching unit 51B of the detection processing device
51 may not necessarily generate all of the information. In the
present embodiment, the information attaching unit 51B may generate
and output the work information LG including at least the time
information TM and the data file EMD. Information other than the
time information TM and the data file EMD is attached by, for
example, the construction management device 57. In this case, the
construction management device 57 acquires the target construction
information TI generated by the construction information generating
device 52, and attaches the acquired information to the work
information LG acquired from the information attaching unit 51B.
Additionally, the construction management device 57 acquires the
identification number and the imaging position PL via the signal
line 59 and attaches the acquired information to the work
information LG. The construction management device 57 transmits the
work information LG to at least one of the management device 61 and
the mobile terminal device 64 at predetermined timing, in the
present embodiment, twice a day.
In the present embodiment, when at least one pair of imaging
devices 30 images an object, the detection processing device 51
generates and outputs the work information LG including at least
the time information TM and the data file EMD, and transmits the
work information LG to the outside of the excavator 1 via the
communication device 25. The work information LG transmitted to the
outside of the excavator 1 is acquired by the management device 61
and also acquired by the mobile terminal device 64.
In the present embodiment, when the imaging switch 32 illustrated
in FIG. 3 is operated, at least one pair of the imaging devices 30
images an object. The calculation unit 51A of the detection
processing device 51 applies the image processing by the stereo
method to images captured by the imaging devices 30 to generate
shape information. The information attaching unit 51B of the
detection processing device 51 outputs the work information LG in
which the time information is attached to the shape information.
The work information LG is transmitted to at least one of the
management device 61 and the mobile terminal device 64 via the
construction management device 57 and the communication device 25
or via the communication device 25.
The detection processing device 51 causes at least the one pair of
imaging devices 30 to image the object at a predetermined time
interval, for example, every 10 minutes in order to monitor the
surroundings of the excavator 1. Two-dimensional images captured by
at least the one pair of imaging devices 30 are stored in the
storage unit of the detection processing device 51, and when a
certain amount of information is accumulated, the accumulated
information is transmitted to the management device 61 via the
communication device 25. The above-described two-dimensional images
may be transmitted at timing when the work information LG is
transmitted to the management device 61, or may also be promptly
transmitted to the management device 61 immediately after being
imaged.
In the present embodiment, the detection processing device 51
permits three-dimensional measurement using the imaging devices 30
under following conditions (conditions for permission) that: the
detection processing device 51 recognizes that, for example, a
plurality of imaging devices 30 is activated; the signal line 59 is
not disconnected; output of the IMU 24 is stable; and positioning
by the GNSS is FIX (normal). In a case where any one of the
conditions for permission is not satisfied, the detection
processing device 51 does not permit three-dimensional measurement
using the imaging devices 30 even though the imaging switch 32 is
operated. The above condition in which output of the IMU 24 is
stable means that the excavator 1 is in a stationary state.
Measurement accuracy of the object is suppressed from being
degraded by providing the above-described conditions for the
three-dimensional measurement by the imaging devices 30. The
conditions for permission are examples for the control system 50 to
permit three-dimensional measurement. The control system 50 may use
any one of the conditions for permission or may not use any of the
conditions for permission
FIG. 12 is a diagram illustrating an example in which a data file
EMD is stored in the storage unit of the management device 61. The
work information LG transmitted from the excavator 1 is stored in
the storage unit of the management device 61. In a case where the
work information LG is transmitted to the mobile terminal device
64, the work information LG may be stored in a storage unit of the
mobile terminal device 64.
For example, each piece of time information TM and each data file
EMD are stored in a correlated manner inside the storage unit of
the management device 61 as illustrated in a data table TB of FIG.
12. The data table TB is updated every time the management device
61 acquires a new piece of time information TM and a data file EMD.
A piece of information having the same number attached to a data
file EMD represents shape information on a same place of a work
site. The management device 61 can generate information indicating
a current state of a construction site (hereinafter suitably
referred to as current state information) by using a data file EMD
included in the data table TB. In this case, in a case where there
are data files EMD to which the same number attached, the current
state information is generated by using a latest data file EMD.
Whether a data file EMD is the latest one or not is determined by a
piece of time information TM correlated to the data file EMD. For
example, in a case where two data files EMD1 exist, the management
device 61 compares pieces of the time information TM correlated to
the respective data files EMD1, and generates current state
information by using a newer data file EMD1. Thus, the management
device 61 can generate the latest current state information.
The management device 61 outputs information on a current
topography of the entire construction site of the excavator 1,
namely, current state information, by using the shape information
to which the time information TM is attached, specifically, by
using the data file EMD. For example, the management device 61
generates and outputs the current state information on the entire
construction site of the excavator 1 by collecting and combining,
for all over the entire construction site, respective data files
EMD to which a latest piece of time information TM are attached.
The current state information on the entire construction site is
displayed on the display device 67 of the management facility 60
and also displayed on the mobile terminal device 64, for
example.
The current state information on the entire construction site may
be generated by using a construction result by the excavator 1, and
also may be generated by using a construction result by the
different work machine 70. Additionally, the current state
information on the entire construction site may also be generated
by using a construction result of using neither the excavator 1 nor
the different work machine 70, for example, a result of
construction executed by a worker with a shovel or the like. In the
present embodiment, the current state information on the entire
construction site may be generated by using at least one of the
construction result by the excavator 1, the construction result by
the different work machine 70, and the construction result of using
neither the excavator 1 nor the different work machine 70, for
example. At least one of the construction management device 57 of
the excavator and the mobile terminal device 64 may generate and
output the current state information on the entire construction
site.
FIG. 13 is a view illustrating a relation between a construction
object OBPt of the entire construction site and a range
corresponding to a data file EMD. FIG. 13 illustrates an example in
which the ranges corresponding to latest data files EMD1, EMD2, . .
. , EMDm are displayed inside the construction object OBPt of the
entire construction site. The ranges corresponding to the data
files EMD1, EMD2, . . . , EMDm are ranges specified by pieces of
three-dimensional positional information included in the data files
EMD1, EMD2, EMDm.
For example, the management device 61 generates information in
which the ranges corresponding to the data files EMD1, EMD2, EMDm
are superimposed on the construction object OBPt of the entire
construction site. Then, the management device 61 displays the
generated information on, for example, the display device 67 inside
the management facility 60. As a result, since the latest data
files EMD1, EMD2, . . . , EMDm are displayed inside the
construction object OBPt, a current state of the construction site
is indicated. The management device 61 can acquire the current
state of the construction site by combining the data files EMD
having pieces of time information TM which are same or can be
deemed same. The fact that the time information TM can be deemed
same means that data files EMD correlated to the pieces of the time
information TM falling within a predetermined time range are deemed
to have been obtained at the same time. For example, in the case
where the predetermined time range is set to a range from 9 o'clock
in the morning to 17 o'clock in the evening, the data files EMD
having pieces of the time information TM falling within this time
range on a certain day of the week are deemed to have been obtained
at the same time, and in a case where the day of the week is
different, data files are deemed to have been obtained at different
times.
FIG. 14 is a view in which changes of the construction object OBPt
of the entire construction site are arranged in time series. A time
t=ts indicates a state of the construction site before starting
construction. At a time t=t1, a region OBPf1 of the construction
object OBPt is constructed. Since the region OBPf1 is specified by
shape information at the time t=t1, namely, three-dimensional
information included in the data file EMD, a state of the entire
construction site at the time t=t1 can be grasped by superimposing
the region OBPf1 on the construction object OBPt before
construction.
At a time t=t2, a region OBPf2 and a region OBPf3 of the
construction object OBPt are further constructed in addition to the
region OBPf1. Since the region OBPf2 and the region OBPf3 are
specified by shape information at the time t=t2, namely,
three-dimensional information included in the data file EMD, the
state of the entire construction site at the time t=t2 can be
grasped by superimposing the region OBPf2 and the region OBPf3 on
the construction object OBP before construction. Since the region
OBPf1 has been already constructed at the time t=t2, shape
information corresponding to the region OBPf1, namely, a data file
EMD corresponding to the region OBPf1 may not be necessarily
obtained at the time t=t2. In a case where the data file EMD
corresponding to the region OBPf1 is not obtained, the information
at the time t=t1 becomes the latest for the region OBPf1.
At the time t=t2, the region OBPf1 at the time t=t1 is superimposed
on the construction object OBPt before construction together with
the region OBPf2 and the region OBPf3. In a case where the shape
information corresponding to the region OBPf1, namely, the data
file EMD corresponding to the region OBPf1 is obtained at the time
t=t2, the region OBPf1 based on the latest data file EMD is
superimposed on the construction object OBPt before construction
together with the region OBPf2 and the region OBPf3.
The management device 61 generates, in order of the times t=ts, t1,
t2, pieces of current state information on the entire construction
object OBPt, and causes the display device 67 inside the management
facility 60 to display the generated pieces of current state
information in form of the three-dimensional images. In this case,
the management device 61 can display the pieces of current state
information by frame-by-frame playback for the respective times.
With such display, a manager can easily grasp daily progress of
construction. The mobile terminal device 64 may access the
management device 61 via the communication line NTW to acquire the
pieces of current state information and display the same on the
screen. With such display, a worker of the construction site not
present in the management facility 60 can easily grasp the daily
progress of construction.
FIGS. 15 and 16 are views illustrating examples in which a removed
soil amount or a banked soil amount is obtained from a difference
between pieces of shape information obtained at different times. In
the present embodiment, the removed soil amount or the banked soil
amount is determined on the basis of the pieces of shape
information obtained at the different times. Assume that a
construction object OBP at a time t=ts before construction is
constructed and becomes a constructed object OBPf. In the global
coordinate system (Xg, Yg, Zg), a difference between a Zg
coordinate of shape information obtained after construction at the
time t=tf and a Zg coordinate of shape information obtained before
construction at the time t=ts is .DELTA.D. A case where the
difference .DELTA.D is negative indicates a case where the soil is
removed, and a case where the difference .DELTA.D is positive
indicates a case where the soil is banked. The removed soil amount
or the banked soil amount (in the present embodiment, the soil
amount is a volume) in the construction object OBP can be obtained
by multiplying the difference .DELTA.D by a dimension in an Xg
direction and a dimension in a Yg axis direction of a constructed
range. In the present embodiment, a removed soil amount or a banked
soil amount not only by the excavator 1 but also by the different
work machine 70 may also be obtained on the basis of pieces of
shape information obtained at different times.
Thus, various kinds of information related to construction of the
construction site can be obtained by correlating a data file EMD,
namely, shape information to time information TM. Processing of
generating current state information by using the data file EMD and
the time information TM and obtaining the banked soil amount or the
removed soil amount may be executed by any one of the management
device 61, mobile terminal device 64, and construction management
device 57 of the excavator 1. Also, any one of the management
device 61, mobile terminal device 64, or construction management
device 57 of the excavator 1 may execute the above-described
processing and transmit a result to another apparatus via the
communication line NTW. The above-described processing result may
be applied to not only communication but also may be stored in a
storage device and then passed to another apparatus. Next, the
target construction information will be described.
<Target Construction Information>
FIGS. 17, 18, and 19 are views to describe target construction
information generated by the control system 50 of the work machine
according to the first embodiment. In the present embodiment, the
construction information generating device 52 illustrated in FIG. 3
uses shape information generated by the detection processing device
51 to obtain target construction information, specifically,
positional information on a targeted shape when a construction
object OBP is constructed. In the present embodiment, the
construction information generating device 52 changes a position on
a surface OBS and obtains target construction information by
processing information included in the shape information and
indicating the position on the surface OBS of the construction
object OBP as illustrated in FIGS. 11 and 12.
The example illustrated in FIG. 17 illustrates exemplary
construction in which a range of a distance .DELTA.DPt is removed
from the surface OBS of the construction object OBP. In this case,
the construction information generating device 52 obtains a
position Pta (Xta, Yta, Zta) obtained by lowering a position Pra
(Xga, Yga, Zga) on the surface OBS of the construction object OBP
by the distance .DELTA.DPt. In the present embodiment, the
construction information generating device 52 moves the position
Pra (Xga, Yga, Zga) to the position lowered by the distance
.DELTA.DPt by subtracting .DELTA.DPt from Zga the position Pra
(Xga, Yga, Zga). Therefore, the position Pta (Xta, Yta, Zta)
becomes a position Pta (Xga, Yga, Zga-.DELTA.DPt). The position Pta
(Xta, Yta, Zta) thus obtained becomes the target construction
information. The construction information generating device 52
acquires shape information, in the present embodiment, a data file
EMD, from the detection processing device 51 illustrated in FIG. 3,
and generates target construction information for every position Pr
(Xg, Yg, Zg) included in the data file EMD by subtracting
.DELTA.DPt from a value of Zg.
The example illustrated in FIG. 18 illustrates exemplary
construction in which objects such as earth, sand, or rocks are
banked in a range of a distance .DELTA.ADt from the surface OBS of
the construction object OBP. In this case, the construction
information generating device 52 obtains a position Ptb (Xtb, Ytb,
Ztb) obtained by raising a position Prb (Xgb, Ygb, Zgb) on the
surface OBS of the construction object OBP by the distance
.DELTA.ADt. In the present embodiment, the construction information
generating device 52 moves the position Prb (Xgb, Ygb, Zgb) to a
position raised by the distance .DELTA.ADt by adding .DELTA.ADt to
Zg of the position Prb (Xgb, Ygb, Zgb). Therefore, the position Ptb
(Xtb, Ytb, Ztb) becomes the position Ptb (Xgb, Ygb,
Zgb+.DELTA.ADt). The position Ptb (Xtb, Ytb, Ztb) thus obtained
becomes the target construction information. The construction
information generating device 52 acquires shape information, in the
present embodiment, a data file EMD from the detection processing
device 51 illustrated in FIG. 3, and generates target construction
information for every position Pr (Xg, Yg, Zg) included in the data
file EMD by adding .DELTA.ADt to a value of Zg.
Thus, the construction illustrated in FIGS. 17 and 18 is
construction in which the surface OBS of the construction object
OBP is changed (offset) to the certain depth (.DELTA.Dpt) or the
certain height (.DELTA.ADt). Additionally, the control system 50
may be applied to construction in which, for example, a slope
having a predetermined inclination is provided on the surface OBS
of the construction object OBP. Such construction is carried out in
a case of performing construction such that a topography after
construction becomes a well-drained topography. After the detection
processing device 51 generates shape information on the basis of
images captured by at least one pair of imaging devices 30, the
construction information generating device 52 subtracts or adds a
predetermined distance from/to a Zg coordinate of a position of the
surface OBS indicated by the shape information, and generates
target construction information indicating that a predetermined
slope is provided with respect to the surface OBS. In this case
also, the construction information generating device 52 obtains the
target construction information by changing a position on the
surface OBS by processing information indicating the position of
the surface OBS of the construction object OBP included in the
shape information.
In a case where the construction site is large, construction
objects OBPa, OBPb captured by at least the one pair of imaging
devices 30 may be portions of the construction object OBPt of the
entire construction site as illustrated in FIG. 19. Ranges OBPta,
OBPtb in which positions Pta and Ptb obtained from positions Pra
and Prb located on surfaces of the construction objects OBPa, OBPb
are set as target construction information also become information
on the portions of the entire construction site. The construction
management device 57 can determine a soil amount to be removed from
the construction object OBP or a soil amount to be banked on the
construction object OBP can be obtained by using a difference
between the shape information and the target construction
information obtained from the shape information.
In a case where the construction management device 57 is provided
in, for example, the management device 61 provided outside the
excavator 1, the construction management device 57 acquires shape
information from the excavator 1 via the communication device 25.
The construction management device 57 acquires the soil amount to
be removed from the construction object OBP or the soil amount to
be banked on the construction object OBP by using the difference
between the acquired shape information and the target construction
information obtained from the shape information. In this case, the
construction management device 57 acquires the shape information
from the excavator 1 and generates the target construction
information. The construction management device 57 may acquire the
shape information and the target construction information from the
excavator 1 to obtain the soil amount to be removed from the
construction object OBP or the soil amount to be banked on the
construction object OBP.
After generation of the target construction information, the
construction information generating device 52 stores the generated
information in the own storage unit. The target construction
information stored in the storage unit of the construction
information generating device 52 is used as a target value when the
work unit control device 56 executes work unit control. In the
present embodiment, the work unit control device 56 controls the
work unit 2 of the excavator 1 such that the work unit 2, more
specifically, the blade edge 8BT of the bucket 8 follows the target
construction information. In other words, the work unit control
device 56 moves the blade edge 8BT of the bucket 8 along a targeted
shape indicated by the target construction information when the
construction object is constructed. The construction management
device 57 may transmit the target construction information
generated by the construction information generating device 52 from
the communication device 25 to at least one of the management
device 61, mobile terminal device 64, and different work machine 70
illustrated in FIG. 3. Next, exemplary processing of a shape
measuring method and a construction management method according to
the present embodiment will be described.
<Exemplary Processing of Shape Measuring Method and Construction
Management Method According to First Embodiment>
FIG. 20 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
the first embodiment. The excavator 1 having the control system 50
executes the shape measuring method according to the present
embodiment. More specifically, the control system 50 obtains shape
information on a construction object OBP, and generates target
construction information from the obtained shape information. Then,
the control system 50 controls the work unit 2 so as to follow the
obtained target construction information. The construction
management system 100, in the present embodiment, the management
device 61 executes the construction management method according to
the present embodiment.
When the imaging switch 32 illustrated in FIG. 3 is operated by an
operator, an imaging command to cause imaging devices 30 to image
the construction object OBP is received in the detection processing
device 51 of the control system 50 from the imaging switch 32. When
the imaging command is received, the detection processing device 51
causes at least the one pair of imaging devices 30 to image the
construction object OBP in Step S101. In Step S102, the detection
processing device 51 applies the image processing by the stereo
method to images captured by at least the one pair of imaging
devices 30, obtains position (three-dimensional positions) of the
construction object OBP, and generates shape information on the
construction object OBP by using the obtained position of the
construction object OBP. The detection processing device 51 causes
at least one of the own storage unit and the storage unit 57M of
the construction management device 57 to store the generated target
construction information. The method of generating shape
information is as described above.
In Step S103, the construction information generating device 52
acquires the shape information from the detection processing device
51, and generates the target construction information. The
construction information generating device 52 causes at least one
of the own storage unit and the storage unit 57M of the
construction management device 57 to store the generated target
construction information. The method of generating the target
construction information is as described above. In the present
embodiment, the construction management device 57 illustrated in
FIG. 3 transmits work information LG including the shape
information obtained in Step S102 and the target construction
information obtained in Step S102 to at least one of the management
device 61 and the mobile terminal device 64.
In Step S104, the excavator 1 constructs the construction object
OBP. At this point, the work unit control device 56 executes work
unit control. In other words, the work unit control device 56 moves
the blade edge 8BT of the bucket 8 along a targeted shape indicated
by the target construction information at the time of constructing
the construction object OBP.
In the present embodiment, the excavator 1 performs construction by
executing work unit control on the basis of the target construction
information to perform construction. In a construction site, a
worker sometimes manually performs excavation and the like by using
a work tool such as a shovel. In such a case, the worker may
perform construction such as excavation while confirming the target
construction information transmitted from the excavator 1 and
acquired by the mobile terminal device 64.
After finishing the construction, in Step S105, the detection
processing device 51 causes at least the one pair of the imaging
devices 30 to image the constructed construction object OBP and
generates shape information by using obtained images. Next, in Step
S106, the construction management device 57 transmits
post-construction shape information generated by the detection
processing device 51 to the management device 61 via the
communication device 25 illustrated in FIG. 3. The construction
management device 57 may transmit the post-construction shape
information to the mobile terminal device 64 illustrated in FIG. 3
via the communication device 25. The management device 61 having
acquired the post-construction shape information may transmit the
post-construction shape information to the mobile terminal device
64 illustrated in FIG. 3 via the communication device 62. In the
flowchart illustrating the exemplary processing of the construction
method illustrated in FIG. 20, Step S106 and Step S107 may not be
necessarily executed.
In the present embodiment, since time information TM is attached to
shape information, progress of construction can be displayed by at
least one of the management device 61 and the mobile terminal
device 64 displaying, for a predetermined execution site, pieces of
shape information before and after construction transmitted from
the control system 50 on a screen of at least one of the display
devices included in the display device 67 and the mobile terminal
device 64. Additionally, daily progress of construction is
displayed in an easy-to-understand manner by at least one of the
management device 61 and the mobile terminal device 64 causing the
screen of at least one of the display devices included in the
display device 67 and the mobile terminal device 64 to: display
pieces of the shape information on the construction site in time
series; display the pieces of the shape information by
frame-by-frame playback; or display a numerical value of a
coordinate of a position Pr. In a case where the construction
management device 57 of the excavator 1 can also obtain pieces of
shape information on the construction site in time series from the
management device 61, the construction management device 57 can
also cause the screen 58D of the display device 58 to display the
pieces of shape information on the construction site in time
series. In other words, at least one of the management device 61,
mobile terminal device 64, construction management device, and
construction management device 57 includes a display device to
display, in time series, pieces of topography information on the
entire construction site of the work machine by using a plurality
of pieces of shape information to which pieces of time information
are attached.
In the present embodiment, the construction management device 57
may transmit not only the post-construction shape information but
also target construction information to at least one of the
management device 61 and the mobile terminal device 64 via the
communication device 25. In a case where the post-construction
shape information and the target construction information are
transmitted only to the management device 61 from the excavator 1,
the management device 61 may transmit the post-construction shape
information and the target construction information to the mobile
terminal device 64 via the communication device 62. With such
transmission, at least one of the management device 61 and the
mobile terminal device 64 can display the post-construction shape
information and the target construction information on the screen
of the display device 67 in a parallel or in a superimposed manner,
and therefore, a manager and the like can quickly and easily
confirm the progress of construction.
Modified Example of Object Detecting Method
A modified example of a method in which at least one pair of
imaging devices 30 of the excavator 1 detects an object will be
described. At least the one pair of imaging devices 30 is mounted
on the swing body 3 of the excavator 1. The detection processing
device 51 can acquire shape information on an entire periphery of
the excavator 1 by at least the one pair of the imaging devices 30
imaging an object while swinging the swing body 3.
In a case where at least the one pair of the imaging devices 30
images the object while swinging the swing body 3, the detection
processing device 51 may stop swinging the swing body 3 at the
timing of imaging the object. In this case, the swing body 3 is
swung intermittently. In a case where at least the one pair of
imaging devices 30 images the object while continuously swinging
the swing body 3, imaging is performed as follows.
In the case where at least the one pair of imaging devices 30
images the object while continuously swinging the swing body 3, at
least the one pair of the imaging devices 30 starts imaging at the
same time when swinging of the swing body 3 is started, and imaging
is finished by stopping swinging the swing body. Then, the
detection processing device 51 may acquire shape information by
performing the image processing by the stereo method on the basis
of images obtained while swinging the swing body 3. In this case,
for example, the detection processing device 51 receives a signal
or an electric signal which is output in accordance with operation
of an operating device to swing the swing body 3 out of the
operating device 35 and indicates a change of a pilot pressure, and
the detection processing device determines timing to start swinging
the swing body 3 and timing to stop the swing, and then causes at
least the one pair of the imaging devices 30 to perform
imaging.
In a case where three-dimensional measurement is executed by the
imaging devices 30 imaging the object while swinging the swing body
3, the detection processing device 51 generates time information TM
every time a shutter of the imaging device 30 is clicked, and
correlates each piece of the time information to a captured image.
Furthermore, the detection processing device 51 may set, as the
time information TM, a time when swinging of the swing body 3 is
started or a time when swinging is stopped.
Since the control system 50 correlates each piece of shape
information on the object imaged by at least one pair of imaging
devices 30 to each piece of the time information obtained when the
shape information is obtained, a current state of a work site can
be obtained by combining the pieces of the shape information on the
basis of the pieces of the time information.
The work machine like the excavator 1 often performs construction
for a complex topography, and the imaging device 30 is often
largely inclined with respect to an object to be imaged. In a case
where an object is imaged at the same place at different timings,
it is also assumed that an inclination of the ground in the place
is changed due to execution of construction and the like. Since the
one pair of imaging devices 30 is firmly mounted on the excavator 1
such that a relative positional relation is not deviated from each
other while the excavator 1 is working, postures of the one pair of
the imaging devices 30 are hardly changed according to a posture of
the excavator 1.
In the present embodiment, the control system 50 obtains shape
information by using the posture of the excavator. At this point,
the control system 50 converts three-dimensional positional
information obtained by the imaging device 30 to three-dimensional
positional information in the global coordinate system by using a
detected value of the IMU 24 and an azimuth of the excavator
obtained from the position of the excavator 1 detected by the
position detecting device 23. The three-dimensional positional
information after conversion becomes the shape information. With
such processing, influence of the inclination of the excavator 1 is
suppressed and comparison between topographies before and after
construction and the like can be appropriately performed with the
shape information obtained by the control system 50.
The control system 50 can obtain the shape information on the work
site, specifically, the three-dimensional positional information on
the work site by imaging the work site with the imaging device 30.
Since the control system 50 is provided in the excavator 1, the
control system 50 can be moved to various places of the work site
to obtain shape information. A state of the work site and a change
of the state of the work site can be grasped by combining a
plurality of pieces of shape information obtained as described
above on the basis of pieces of the time information. As a result,
the management device 61 manages construction conditions by using
the detection results obtained by the excavator 1 that is the work
machine having: at least the one pair of the imaging device 30
serving as detecting devices to detect the position of the object;
and the detection processing device 51.
For example, the management device 61 can obtain a construction
state of the construction site within a range that can be deemed as
a same time by extracting and combining a plurality of different
pieces of shape information obtained within the range that can be
deemed as the same time. For example, progress of construction is
grasped by obtaining a plurality of construction states of the
construction site within the range that can be deemed as the same
time. Thus, the management device 61 can manage the construction
conditions of the construction site where a work machine having an
imaging device 30 and a detection processing device 51 and a work
machine not having an imaging device 30 and a detection processing
device 51 exist mixed. Thus, in a case where there is one excavator
1 having the control system 50 in a work site, the excavator 1 can
generate shape information not only for an own construction object
but also for a construction object for a different work machine,
and therefore, the progress of construction in the entire
construction site can be managed and also achievement of a work
amount can be managed.
The control system 50 detects a construction object by using at
least one pair of imaging devices 30 provided in the excavator 1,
obtains shape information on the construction object from at least
one pair of images corresponding to a detection result, and
obtains, from the obtained shape information, shape information
that is information on a targeted shape at the time of constructing
the object. Therefore, the control system 50 eliminates necessity
of work in which a worker obtains a shape of an object by surveying
a construction object by using a surveying instrument or the like
in a construction site, and also eliminates necessity of work to
generate a targeted shape on the basis of the obtained construction
object, in other words, work to design information on the targeted
shape. As a result, the control system 50 can reduce labor to
survey a current topography of the construction object and labor to
obtain the targeted shape at the time of constructing the
construction object. As far as the imaging device 30 can perform
imaging, the control system 50 can generate target construction
information even in a place that can be hardly surveyed with a
surveying instrument or the like, and therefore, construction to be
performed by a work machine and manual construction such as
excavation by a worker can be more efficiently performed.
Additionally, since survey of the construction object can be
performed by the control system 50, a burden on a worker who
performs surveying in the construction site is reduced.
For example, in a case where there is target construction
information on a construction object created by a design tool such
as a computer aided design (CAD), a work machine may be needed to
be moved to a place indicated by the target construction
information, specifically, to a place to be constructed from now in
order to perform construction by the work machine. The excavator 1
having the control system 50 has at least one pair of imaging
devices 30, images a construction object to be constructed from now
with at least the one pair of imaging devices 30, and generates
target construction information on the basis of imaging results.
Thus, the excavator 1 functions as a surveying instrument and also
as a design tool. In other words, since the target construction
information on the construction object can be generated in the
place to be constructed, the work machine is not needed to be moved
to the place to be constructed from now. As a result, a moving time
and a designing period can be shortened, and therefore, working
efficiency is improved.
In the present embodiment, the control system included in the
excavator 1 generates shape information, but the management device
61 may also generate the shape information. In this case, a result
obtained by applying the image processing by the stereo method to
images captured by the one pair of imaging devices 30, information
needed to obtain information indicating a posture of the excavator
1, a position in the global coordinate system of the excavator 1,
and other shape information are transmitted to the management
device 61 via the communication device 25.
Since the work machine like the excavator 1 is moved in the
construction site, there are various inclinations imaged by at
least the one pair of imaging devices 30 in the site, and also an
inclination of a place to be imaged may also be changed with time
due to construction. In such a construction site also, the control
system 50 generates shape information by using the information
indicating a posture of the excavator 1, in the present embodiment,
a roll angle .theta.r, a pitch angle .theta.p, and an azimuth angle
.theta.d, and therefore, appropriate construction management can be
achieved.
In the present embodiment, the control system 50 generates the
shape information by using the roll angle .theta.r, pitch angle
.theta.p, and azimuth angle .theta.d which indicate the posture of
the excavator 1, but the one pair of imaging devices 30 may be
supported by a mechanism in which postures of both the excavator
and the imaging devices are kept constant while a relative
positional relation of the one pair of imaging devices 30 is
retained against a posture change of the excavator 1. In this case,
for example, the one pair of imaging devices 30 is supported by the
mechanism in which base lines of the one pair of imaging devices 30
are constantly kept horizontal.
In the present embodiment, the control system 50 generates shape
information for a range to be constructed by the excavator 1 having
the control system 50 and a work machine not having the control
system 50 and a range after construction is performed, but a range
for which the control system 50 generates shape information is
generated is not limited to thereto. For example, the control
system 50 can also generate shape information for a range
constructed by a worker who executes work such as excavation with a
shovel or the like in a construction site, or a range to be used
for construction from now. This enables the control system 50 and
the construction management system 100 having the control system 50
to manage construction conditions of an entire construction site.
As described above, the control system 50 can also obtain an
excavated soil amount or a banked soil amount by a worker using a
shovel or the like from a difference between pieces of shape
information before and after construction.
In the present embodiment, the control system 50 is provided in the
excavator 1 that is a work machine, but a system to generate shape
information and generate target construction information may also
be provided in a surveying vehicle. For example, in a case of
generating shape information, at least one pair of imaging devices
30 and a detection processing device 51 are provided in the
surveying vehicle. In a case of generating target construction
information in addition to the shape information, not only at least
the one pair of the imaging device 30 and the detection processing
device 51 but also a construction information generating device 52
is provided in the surveying vehicle. In either case, it is
preferable that the surveying vehicle has a communication device 25
capable of communicating with at least one of a work machine
working in a construction site, the management device 61, and the
mobile terminal device 64.
In the present embodiment, the image processing by the stereo
method may also be performed outside the excavator 1, for example,
by at least one of the management device 61 of the management
facility 60 and the mobile terminal device 64. In this case, for
example, one pair of images of an object captured by at least the
one pair of imaging devices 30 is transmitted to at least one of
the management device 61 and the mobile terminal device 64 via the
communication device 25, and at least one of the management device
61 and the mobile terminal device 64 applies the image processing
by the stereo method to the images of the object.
In the present embodiment, generation of shape information may also
be performed outside the excavator 1, for example, by at least one
of the management device 61 of the management facility 60 and the
mobile terminal device 64. In particular, conversion using a roll
angle .theta.r, a pitch angle .theta.p, and an azimuth angle
.theta.d indicating a posture of the excavator 1 may also be
performed outside the excavator 1, for example, by at least one of
the management device 61 of the management facility 60 and the
mobile terminal device 64. In this case, information obtained by
applying the image processing by the stereo method to one pair of
images of the object imaged by at least the one pair of imaging
devices 30 is transmitted together with the roll angle .theta.r,
pitch angle .theta.p, and azimuth angle .theta.d via the
communication device 25 to the outside of the excavator 1, for
example, to at least one of the management device 61 of the
management facility 60 and the mobile terminal device 64.
In the present embodiment, a position Ps of a construction object
OBP obtained from the images captured by at least the one pair of
imaging devices 30 is obtained first, and then converted to a
position Pg of the global coordinate system, and at the same time,
an inclination caused by the posture of the excavator may be
corrected. In the present embodiment, for example, when the IMU 24
detects at least one of swinging of the swing body 3 of the
excavator 1 and movement of the excavator 1, the control system 50
may execute control so as to prohibit imaging by the imaging device
30 or stops the detection processing device 51 from generating
shape information. In the present embodiment, the excavator 1 may
transmit shape information to the different work machine 70, and
the different work machine 70 may generate target construction
information.
The configuration disclosed in the present embodiment can also be
suitably applied to following embodiments.
Second Embodiment
In a second embodiment, an excavator 1 that is a work machine
having a control system 50 acquires information on a construction
object OBP and generates at least one of shape information and
target construction information in a construction site where a
plurality of work machines works. Then, the excavator 1 transmits
the generated target construction information to a different work
machine, specifically, a work machine other than the excavator 1.
The excavator 1 and the different work machine construct the
construction object OBP by using the target construction
information generated by the excavator 1. The different work
machine may be, for example, a bulldozer, a wheel loader, or a
grader besides a different work machine 70 illustrated in FIG. 3.
The different work machine may include a control system 50.
Additionally, the different work machine may or may not include an
imaging device 30. The different work machine includes at least a
communication device.
FIG. 21 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
the second embodiment. FIG. 22 is a view illustrating a relation
between pieces of shape information SIa, SIb of a construction
object OBP and pieces of target construction information TIa, TIb.
FIG. 23 is a view illustrating pieces of shape information SIas,
Sibs after constructing the construction object OBP. The
construction management method according to the present embodiment
is implemented by the control system 50. In the present embodiment,
the control system 50 also functions as a construction management
system.
In the present embodiment and following embodiments, the excavator
1 having the control system 50 illustrated in FIG. 3 corresponds to
a first work machine and the different work machine 70 corresponds
to a second work machine. It is assumed that the different work
machine 70 does not have the control system 50. Shape information
and target construction information generated from the shape
information are stored in at least one of a storage unit of
apparatuses of the control system 50 and a storage unit of a
management device 61.
When an imaging switch 32 illustrated in FIG. 3 is operated by an
operator and an imaging command is received in a detection
processing device 51, the detection processing device 51 causes at
least one pair of imaging devices 30 to image the construction
object OBP in Step S201. A range imaged by at least the one pair of
imaging devices 30 is not only a range where the excavator 1
constructs, and a range constructed by the different work machine
70 working in a construction site is also imaged. Additionally, a
range constructed by a worker who works in the construction site
may also be imaged. In other words, an object to be imaged by at
least the one pair of imaging devices 30 included in the control
system 50 includes at least: a construction planned portion
different from a construction planned portion by the excavator 1
mounted with at least the one pair of imaging devices 30; and a
constructed portion different from a constructed portion by the
excavator 1. At least one of a construction planned portion and a
constructed portion by a means other than the excavator 1, for
example, a means like a shovel by a worker may also be included in
an object to be imaged by at least the one pair of the imaging
devices 30. In other words, the object to be imaged by at least the
one pair of imaging devices 30 included in the control system 50
may include at least one of the construction planned portion by a
means other than the excavator 1 and a constructed portion by the
means other than the excavator 1. The excavator 1 may be moved
around the construction site or the swing body 3 may be swung in
order to image a range to be constructed by the different work
machine 70.
In Step S202, the detection processing device 51 applies image
processing by a stereo method to images captured by at least the
one pair of imaging devices 30, obtains a position
(three-dimensional position) of the construction object OBP, and
generates shape information on the construction object OBP by using
the obtained position of the construction object OBP. As
illustrated in FIG. 22, the shape information SIa is generated from
the construction object OBP of the excavator 1, and the shape
information SIb is generated from the construction object OBP of
the different work machine 70. The detection processing device 51
causes at least one of an own storage unit and a storage unit 57M
of a construction management device 57 to store the generated
pieces of shape information SIa, SIb. A method of generating the
shape information is as described in a first embodiment.
In Step S203, a construction information generating device 52
acquires the pieces of shape information SIa, SIb from the
detection processing device 51, and generates the pieces of target
construction information TIa, TIb. The target construction
information TIa is generated from the shape information SIa and the
target construction information TIb is generated from the shape
information SIb. A method of generating the target construction
information is as described in the first embodiment. The
construction information generating device 52 causes at least one
of the own storage unit and the storage unit 57M of the
construction management device 57 to store the generated target
construction information. In this case, all of the generated pieces
of target construction information, specifically, the target
construction information on the construction object OBP of the
excavator 1 and the target construction information on the
construction object OBP of the different work machine 70 are stored
in a storage unit of the construction information generating device
52. In Step S203, the control system 50 may not store the target
construction information in the storage unit and may perform
control to transmit target construction information to the
different work machine immediately after generation thereof in
order to execute next Step S204.
In Step S204, the construction information generating device 52 or
the construction management device 57 transmits the target
construction information to the different work machine 70 via a
communication device 25 illustrated in FIG. 3. In Step S205A, the
excavator 1 constructs the construction object OBP by using the
generated target construction information. In Step S205B, the
different work machine 70 constructs the construction object OBP by
using the target construction information acquired from the
excavator 1. In Steps S205A and S205B, each of the excavator 1 and
the different work machine 70 includes a work unit control device
56, and can execute work unit control in accordance with the target
construction information. Each of the excavator 1 and the different
work machine 70 moves a blade edge 8BT of a bucket 8 and a work
unit along a targeted shape indicated by the target construction
information at the time of constructing the construction object
OBP.
In this case, in a case where the different work machine 70
includes the control system 50, movement of the work unit may be
controlled in accordance with the acquired target construction
information. In a case where the different work machine 70 does not
include the control system 50, the target construction information
is displayed on a display device provided in the different work
machine 70, and an operator can operate the work unit while viewing
the target construction information displayed on the display
device.
After finishing the construction, in Step S206, the detection
processing device 51 causes at least the one pair of imaging
devices 30 to image the constructed construction object OBP, and
generates the shape information SIas illustrated in FIG. 23 by
using the obtained images. At this point, the detection processing
device 51 generates the shape information SIbs illustrated in FIG.
23 by also imaging the construction object OBP constructed by the
different work machine. The detection processing device 51 causes
at least one of the own storage unit and the storage unit 57M of
the construction management device 57 to store the generated shape
information.
The excavator 1 may be also moved around the construction site or
the swing body 3 may be swung in order to image the range
constructed by the different work machine 70. Next, in Step S207,
the construction management device 57 transmits post-construction
shape information generated by the detection processing device 51
to the management device 61 via the communication device 25.
Similar to the first embodiment, the construction management device
57 may transmit the post-construction shape information to the
mobile terminal device 64 illustrated in FIG. 3, and not only the
post-construction shape information but also the target
construction information may be transmitted to at least one of the
management device 61 and the mobile terminal device 64 via the
communication device 25. In the present embodiment, Step S206 and
Step S207 may not be necessarily executed in the flowchart
illustrating the exemplary processing of the construction method
illustrated in FIG. 21.
In the present embodiment, at least one work machine having the
control system 50, in the present embodiment, the excavator 1
obtains pieces of shape information on construction objects of the
own machine and the different work machine 70 existing in the
construction site. Therefore, the management device 61 can manage
construction conditions of the construction site by using the
pieces of shape information obtained by the excavator having the
control system. Since the control system 50 can generate pieces of
shape information on not only the construction object of the work
machine but also on the construction object by a worker who works
in the construction site, surveying on the construction object by a
worker becomes unnecessary. As a result, the construction
conditions of the entire construction site can be easily
managed.
Since the control system 50 attaches time information to each piece
of the generated shape information, the shape information and time
information are handled in a correlated manner in the construction
management system 100. Therefore, the management device 61 can
extract a plurality of pieces of shape information used to manage
the construction conditions on the basis of the time information.
For example, the management device 61 can obtain a construction
state of the construction site within a range that can be deemed as
a same time by extracting and combining a plurality of different
pieces of shape information obtained within the range that can be
deemed as the same time. For example, progress of construction is
grasped by obtaining a plurality of construction states of the
construction site within the range that can be deemed as the same
time. Thus, the construction management system 100 can manage the
construction conditions of the construction site where a work
machine having the imaging device 30 and the detection processing
device 51 and a work machine not having the imaging device 30 and
the detection processing device 51 exist mixed.
In the present embodiment, the work machine having the control
system 50, in the present embodiment, the excavator 1 generates
target construction information on a construction object of the
different work machine 70 existing in the construction site.
Therefore, in a case where at least one work machine having the
control system 50 exists in a construction site, this work machine
generates shape information and target construction information on
the construction site and a different work machine can perform
construction by using the generated target construction
information. As a result, efficiency at the time of constructing a
construction site with a plurality of work machines without having
target construction information is improved, for example.
The configuration disclosed in the present embodiment can also be
suitably applied to following embodiments.
Third Embodiment
In a third embodiment, an excavator 1 having a control system 50
acquires information on a construction object OBP, generates shape
information and target construction information, and transmits the
generated shape information to a management device 61 of a
management facility 60 and a different work machine 70 illustrated
in FIG. 3 in a construction site where the excavator 1 works.
FIG. 24 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
the third embodiment. The construction management method according
to the present embodiment is implemented by at least the control
system 50 and the management device 61. In the present embodiment,
the control system 50 and the management device 61 also function as
construction management systems.
When an imaging switch 32 illustrated in FIG. 3 is operated by an
operator and an imaging instruction is received in a detection
processing device 51, the detection processing device 51 causes at
least one pair of imaging devices 30 to image a construction object
OBP in Step S301. A range imaged by at least the one pair of
imaging devices 30 is not only a range where the excavator 1
constructs, and a range constructed by the different work machine
70 working in a construction site is also imaged. The excavator 1
may be moved around the construction site in order to image a range
to be constructed by the different work machine 70.
In Step S302, the detection processing device 51 applies image
processing by a stereo method to images captured by at least the
one pair of imaging devices 30, obtains a position
(three-dimensional position) of the construction object OBP, and
generates shape information on the obtained construction object OBP
by using the obtained position of the construction object OBP. The
detection processing device 51 causes at least one of an own
storage unit and a storage unit 57M of a construction management
device 57 to store the generated shape information. A method of
generating the shape information is as described in a first
embodiment.
In Step S303, the construction information generating device 52
acquires the shape information from the detection processing device
51 and generates target construction information. A method of
generating the target construction information is as described in
the first embodiment. The construction information generating
device 52 causes at least one of the own storage unit and the
storage unit 57M of the construction management device 57 to store
the generated target construction information. In this case, all of
the generated pieces of target construction information,
specifically, the target construction information on the
construction object OBP of the excavator 1 and the target
construction information on the construction object OBP of the
different work machine 70 are stored in a storage unit of the
construction information generating device 52.
In Step S304, the detection processing device 51 or the
construction management device 57 transmits the shape information
to the management device 61 of the management facility 60 via a
communication device 25 illustrated in FIG. 3. The construction
information generating device 52 or the construction management
device 57 transmits the target construction information to the
different work machine 70. The construction information generating
device 52 or the construction management device 57 may also
transmit the target construction information to the management
device 61. In Step S305, the management device 61 causes the
storage unit 57M to store the shape information acquired from the
excavator 1. In a case where the target construction information is
also acquired from the excavator 1, the management device 61 causes
the storage unit 57M to store the acquired target construction
information.
In Step S306A, the excavator 1 constructs the construction object
OBP by using the target construction information generated by the
construction information generating device 52 of the control system
50. In Step S306B, the different work machine 70 constructs the
construction object OBP by using the target construction
information acquired from the excavator 1. In Step S306A and Step
S306B, each of the excavator 1 and the different work machine 70
moves a blade edge 8BT of a bucket 8 and a work unit along a
targeted shape indicated by the target construction information at
the time of constructing the construction object OBP.
At least one of the excavator 1 and the different work machine may
not include a work unit control device 56 and may be able to
display, as a construction guidance image, a positional relation
between the target construction information and an own work unit 2
on a screen 58D of a display device 58. As described in a second
embodiment, an operator operates the work unit 2 along a shape
indicated by the target construction information while viewing the
screen 58D.
After finishing the construction, in Step S307, the detection
processing device 51 of the excavator 1 causes at least one pair of
the imaging devices 30 to image the constructed construction object
OBP, and generates shape information by using the obtained images.
At this point, the detection processing device 51 generates the
shape information by also imaging the construction object OBP
constructed by the different work machine. The detection processing
device 51 causes at least one of the own storage unit and the
storage unit 57M of the construction management device 57 to store
the generated shape information. Next, in Step S308, the detection
processing device 51 or the construction management device 57
transmits the post-construction shape information generated by the
detection processing device 51 to the management device 61. At this
point, the detection processing device 51 or the construction
management device 57 may transmit the post-construction shape
information to a mobile terminal device 64 illustrated in FIG. 3.
In Step S309, the management device 61 having acquired the
post-construction shape information causes a storage unit to store
the post-construction shape information. The management device 61
may transmit the post-construction shape information to the mobile
terminal device 64 illustrated in FIG. 3.
First Modified Example
FIG. 25 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
a first modified example of the third embodiment. The first
modified example differs from the third embodiment in that the
target construction information generated by the construction
information generating device 52 of the control system 50 is
transmitted to the different work machine 70 by the management
device 61.
Steps S401 to S405 of the present modified example are the same as
Steps S301 to S305 of the third embodiment. In Step S406, the
management device 61 transmits target construction information
acquired from the excavator 1 to the different work machine 70 via
the communication device 62. Steps S407A and S407B to S410 are the
same as Steps S406A and S406B to S409 of the third embodiment. The
present modified example is effective in a case where communication
between the management device 61 and a work machine in the
construction site can be performed but communication between the
excavator 1 and the different work machine 70 cannot be
performed.
The present embodiment and the modified example thereof provide
functions and effects similar to the second embodiment. The
configuration disclosed in the present embodiment can also be
suitably applied to following embodiments.
Fourth Embodiment
FIG. 26 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
a fourth embodiment. In the fourth embodiment, a management device
61 generates target construction information by using shape
information transmitted from an excavator having a control system
50. A construction management method according to the present
embodiment is implemented by at least the control system 50 and the
management device 61. In the present embodiment, the control system
50 and the management device 61 also function as construction
management systems.
Steps S501 and S502 of the fourth embodiment are the same as Steps
S301 and S302 of a third embodiment. In Step S503, an excavator 1
transmits generated shape information to the management device 61
via a communication device 25. In Step S504, the management device
61 causes a storage unit to store the shape information acquired
from the excavator 1. In Step S505, the management device 61
generates target construction information by using the shape
information acquired output Step S504, and causes the storage unit
to store the target construction information. In Step S506, the
management device 61 transmits the generated target construction
information to the excavator 1 via a communication device 62.
In Step S507, a construction management device 57 of the excavator
1 stores, in a storage unit 57M, the target construction
information acquired via the communication device 25 and also
transmits the same to a different work machine 70 via the
communication device 25. In Steps S508A and S508B, each of the
excavator 1 and the different work machine 70 moves a blade edge
8BT of a bucket 8 and a work unit along a targeted shape indicated
by the target construction information at the time of constructing
a construction object OBP. Steps S509 to S511 are the same as Steps
S307 to S309 of the third embodiment.
First Modified Example
FIG. 27 is a flowchart illustrating exemplary processing of a shape
measuring method and a construction management method according to
a first modified example of the fourth embodiment. The first
modified example differs from the fourth embodiment in that the
target construction information generated by the management device
61 is transmitted to the excavator 1 and the different work machine
70 by the management device 61.
Steps S601 to S605 of the present modified example are the same as
Steps S501 to S505 of the fourth embodiment. In Step S606, the
management device 61 transmits the generated target construction
information to the excavator 1 and the different work machine 70
via the communication device 62. Steps S606A and S606B to S610 are
the same as Steps S507A and S507B to S511 of the fourth embodiment.
The present modified example is effective in a case where
communication between the management device 61 and a work machine
in the construction site can be performed but communication between
the excavator 1 and the different work machine 70 cannot be
performed.
The present embodiment and the modified example thereof provide
functions and effects similar to the second embodiment.
Furthermore, in the present embodiment and the modified example
thereof, a load to the control system 50 of the excavator 1, more
specifically, the construction information generating device 52 can
be reduced because the management device 61 generates the target
construction information.
While the embodiments have been described above, note that the
embodiments are not limited by the described content. Additionally,
the components described above may include components readily
conceivable by those skilled in the art, components substantially
identical, and components included in a so-called equivalent range.
The components described above can be suitably combined. At least
one of various kinds of omission, replacement, and modification can
be made for the components in the scope without departing from the
gist of the embodiment. As far as the work machine is capable of
constructing a construction object by performing excavating,
transferring, and the like, the work machine is not limited to an
excavator and may also be work machines like a wheel loader and
bulldozer.
REFERENCE SIGNS LIST
1 EXCAVATOR 2 WORK UNIT 3 SWING BODY 4 OPERATOR'S COMPARTMENT 5
TRAVELING BODY 21, 22 ANTENNA 23 POSITION DETECTING DEVICE 25
COMMUNICATION DEVICE 30, 30a, 30b, 30c, 30d IMAGING DEVICE 32
IMAGING SWITCH 50 CONTROL SYSTEM FOR WORK MACHINE 51 DETECTION
PROCESSING DEVICE 51A CALCULATION UNIT 51B INFORMATION ATTACHING
UNIT 52 CONSTRUCTION INFORMATION GENERATING DEVICE 53 SENSOR
CONTROL DEVICE 54 ENGINE CONTROL DEVICE 55 PUMP CONTROL DEVICE 56
WORK UNIT CONTROL DEVICE 57 CONSTRUCTION MANAGEMENT DEVICE 57M
STORAGE UNIT 58 DISPLAY DEVICE 59 SIGNAL LINE 60 MANAGEMENT
FACILITY 61 MANAGEMENT DEVICE 62 COMMUNICATION DEVICE 64 MOBILE
TERMINAL DEVICE 67 DISPLAY DEVICE 70 DIFFERENT WORK MACHINE 100
CONSTRUCTION MANAGEMENT SYSTEM EMD DATA FILE ID POSTURE INFORMATION
LG WORK INFORMATION NTW COMMUNICATION LINE OBP CONSTRUCTION OBJECT
PR PROCESSING UNIT MR STORAGE UNIT IO INPUT/OUTPUT UNIT TM TIME
INFORMATION
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