JP7080686B2 - Construction machinery support equipment, support methods, support programs - Google Patents

Description

The present invention relates to a support device for construction machinery, a support method, and a support program.

A management system for managing the position information of construction machinery is known (for example, Patent Document 1 and the like).

Japanese Patent No. 4262180

However, when a serviceman or the like heads to the work site of the construction machine to be maintained, even if the route guidance is performed using the current position information of the construction machine, the serviceman or the like may not be able to reach the construction machine. There is.

For example, construction machinery often works outside of public roads. Therefore, with the usual route search method, it is not possible to search for a route to reach the construction machine directly from general map information, and usually the purpose is the point on the nearest public road in the position information of the construction machine. In many cases, route guidance is provided on the ground. As a result, on the two-dimensional map, even if it is the nearest point, there are actually cliffs, stairs, rough roads, etc. between the point and the current position of the construction machine, and if a serviceman Even if you go to that point, you may not be able to reach the construction machinery.

Therefore, in view of the above problems, the serviceman and the like are provided with a construction machine support device and the like that provide route guidance capable of reaching the construction machine at the work site.

In one embodiment of the invention
The display unit displays the route from the predetermined starting point position to the construction machine, which is searched based on the history of the position information regarding the time-series position of the construction machine.
Support equipment for construction machinery is provided.
Further, in another embodiment of the present invention.
The route from the predetermined starting point to the position where the construction machine was unloaded from the carrier, which was searched based on the position information regarding the position of the construction machine acquired when the construction machine was most recently unloaded from the carrier. Access the published API and display it on the display in the form of superimposing it on the returned map image.
Support equipment for construction machinery is provided.

Further , still another embodiment of the present invention is realized by a support method and a support program.

According to the above-described embodiment, it is possible to provide a serviceman or the like with a construction machine support device or the like that provides route guidance capable of reaching the construction machine at the work site.

It is a schematic diagram which shows an example of the structure of the route guidance system. It is a block diagram which shows an example of the structure of the route guidance system. It is a sequence diagram which shows the operation of a route guidance system. It is a figure which shows an example of the route guidance image which concerns on the comparative example, and the route guidance display which concerns on this Embodiment. It is a figure which shows the other example of the route guidance display which concerns on this embodiment.

[Overview of route guidance system]
First, the route guidance system SYS according to the present embodiment will be described with reference to FIG.

FIG. 1 is a schematic diagram showing an example of the configuration of the route guidance system SYS.

The route guidance system SYS includes a shovel 100, a support terminal device 200, and a management terminal device 300, and a shovel at a work site is provided to a user of the support terminal device 200 (for example, a serviceman or the like) through the support terminal device 200. We will guide you to the route to 100.

<Overview of excavator>
The excavator 100 (an example of a construction machine) is a working machine attached to a lower traveling body 1, an upper turning body 3 that is rotatably mounted on the lower traveling body 1 via a turning mechanism 2, and an upper turning body 3. Including attachments.

Specifically, the attachment is configured as an excavation attachment centered on a boom 4, an arm 5, and a bucket 6. A boom 4 is mounted so as to be able to move up and down (rotat up and down) near the center of the front portion of the upper swing body 3, and an arm 5 is attached to the tip of the boom 4 so as to be rotatable up and down. A bucket 6 is attached to the tip so as to be rotatable up and down. The boom 4, arm 5, and bucket 6 are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively.

Further, the upper swing body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11.

The excavator 100 can communicate with the management terminal device 300, for example, through a predetermined communication network NW including a mobile communication network ending at a base station, the Internet, and the like. As a result, the excavator 100 can transmit (upload) various information such as its own position information to the management terminal device 300. Details will be described later.

<Overview of support terminal device>
The support terminal device 200 (an example of a support device and a user terminal) is a mobile terminal possessed by a user (for example, a serviceman or a worker heading to a work site) who is a target of route guidance. The support terminal device 200 is, for example, a general-purpose notebook PC, a tablet terminal, a smartphone, or the like possessed by the user. Further, the support terminal device 200 may be a dedicated terminal for route guidance (for example, a car navigation terminal device mounted on a service car used by a serviceman or the like).

The support terminal device 200 can communicate with the management terminal device 300 through the communication network NW. As a result, the support terminal device 200 receives the information for performing the route guidance transmitted from the management terminal device 300, and guides the user to the excavator 100 through the display device 204 described later mounted on the support terminal device 200. be able to. Details will be described later.

<Overview of management terminal device>
The management terminal device 300 (an example of a support device and an external device) is a terminal device that is geographically separated from the shovel 100 and the support terminal device 200. The management terminal device 300 is, for example, a server device installed in a management center or the like provided outside the work site where the excavator 100 works, and is mainly composed of one or a plurality of server computers and the like. In this case, the server device may be an in-house server operated by a business operator operating the route guidance system SYS or a related business operator related to the business operator, or may be a so-called cloud server. Further, the management terminal device 300 may be a stationary or portable computer terminal arranged in a management office or the like in the work site of the excavator 100.

As described above, the management terminal device 300 can communicate with each other of the excavator 100 and the support terminal device 200 through the communication network NW. As a result, the management terminal device 300 can receive and store various information uploaded from the shovel 100. Further, the management terminal device 300 can receive the request signal transmitted from the support terminal device 200 and transmit information for providing route guidance to the user through the display device 204 of the support terminal device 200.

[Specific configuration of route guidance system]
In addition to FIG. 1, a specific configuration of the route guidance system SYS (excavator 100, support terminal device 200, management terminal device 300) will be described with reference to FIG. 2.

FIG. 2 is a configuration diagram showing an example of the configuration of the route guidance system SYS.

<Composition of excavator>
The excavator 100 includes an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a controller 30, and an engine control device 74.

The engine 11 is a drive source for the excavator 100, and is mounted on the rear portion of the upper swing body 3, for example. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 operates so as to maintain a predetermined rotation speed under the control of, for example, the engine control device 74. The rotary shaft of the engine 11 is connected to the rotary shafts of the main pump 14 and the pilot pump 15, and the power of the engine 11 is transmitted to the main pump 14 and the pilot pump 15.

The main pump 14 supplies hydraulic oil to the control valve 17 via the hydraulic oil line 16. The main pump 14 is, for example, a swash plate type variable displacement hydraulic pump, and the discharge flow rate per rotation changes according to a change in the swash plate tilt angle. The tilt angle of the swash plate of the main pump 14 is controlled by, for example, the regulator 14a. The regulator 14a can change the tilt angle of the swash plate according to the change of the control current from the controller 30, for example. The excavator 100 is equipped with, for example, a discharge pressure sensor that detects the discharge pressure of the main pump 14, a tilt angle sensor that detects the tilt angle of the swash plate, and the like.

The pilot pump 15 supplies hydraulic oil to various hydraulic control devices such as the operating device 26 via the pilot line 25. The pilot pump 15 is, for example, a fixed capacity hydraulic pump.

The control valve 17 is a hydraulic control device that controls the flow of hydraulic oil related to a hydraulic actuator that hydraulically drives various operating elements of the excavator 100, and includes a plurality of flow rate control valves corresponding to the various operating elements. The control valve 17 selectively supplies the hydraulic oil received from the main pump 14 through the hydraulic oil line 16 to one or a plurality of hydraulic actuators according to the change in the pilot pressure corresponding to the operation direction and the operation amount of the operation device 26. do. The hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a traveling unit corresponding to each of the boom 4, arm 5, bucket 6, lower traveling body 1, and upper swivel body 3 (swivel mechanism 2) as operating elements. Includes hydraulic motors 1A and 1B, turning hydraulic motors 2A and the like. The excavator 100 may be equipped with a hydraulic pressure sensor that detects the pressure of hydraulic pressure in the hydraulic actuator.

In the operation device 26, an operation input for operating the hydraulic actuator is performed by an operator of the excavator 100 or the like. The operating device 26 receives hydraulic oil from the pilot pump 15 via the pilot line 25 and generates a predetermined pilot pressure. Then, the pilot pressure is applied to the pilot port of the corresponding flow control valve through the pilot line 25a. The pilot pressure acting on the corresponding flow control valve from the operating device 26 changes according to the operating direction and operating amount of the operating device 26. The pilot pressure sensor 15a detects the pilot pressure, and the detection signal corresponding to the detected value is taken into the controller 30.

The controller 30 is a control device for driving and controlling the excavator 100. The function of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is mainly composed of a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a non-volatile auxiliary storage device, and various inputs / output interfaces. Then, the controller 30 realizes various functions by, for example, executing one or more programs stored in a ROM or a non-volatile auxiliary storage device on the CPU. Hereinafter, the same applies to the control device 201 of the support terminal device 200 and the control device 301 of the management terminal device 300, which will be described later.

For example, the controller 30 transmits (uploads) various information of the excavator 100 to the management terminal device 300 through the transmission device S1 described later. The various information of the excavator 100 includes the position information of the excavator 100 positioned by the positioning device S3 described later. Details will be described later (see FIG. 3). In this case, the controller 30 transmits various information to the management terminal device 300 through the receiving device S2 described later.

The engine control unit (ECU) 74 drives and controls the engine 11. The engine control device 74 is controlled by various actuators of the engine 11 so as to rotate at a constant engine speed corresponding to, for example, a set engine speed or a set work mode via a predetermined input device. It outputs a command to control the fuel injection amount and so on. An engine rotation speed sensor, an engine load factor sensor, a fuel injection amount sensor, and the like are communicably connected to the engine control device 74 through a one-to-one communication line or the like. Further, an engine torque sensor may be provided instead of the engine load factor sensor.

Further, the excavator 100 includes a transmission device S1, a reception device S2, a positioning device S3, an attitude detection device S4, an orientation detection device S5, a camera S6, a driving information acquisition device S7, and a biological information acquisition device attached to the upper swivel body 3. Includes S8, operation input device S9, and display device 40. The transmission device S1, the reception device S2, the positioning device S3, the attitude detection device S4, the orientation detection device S5, the camera S6, the operation information acquisition device S7, the biometric information acquisition device S8, the operation input device S9, and the display device 40, respectively. For example, the controller 30 is communicably connected to the controller 30 through a one-to-one communication line or an in-vehicle network such as a CAN (Controller Area Network).

Under the control of the controller 30, the transmission device S1 transmits various information to the outside of the excavator 100, for example, the management terminal device 300, through the communication network NW. Further, the transmission device S1 may directly transmit information to the management terminal device 300 (for example, by Bluetooth (registered trademark) communication or the like) without going through the communication network NW. Further, the transmission device S1 may be configured to be capable of transmitting various information to the support terminal device 200.

The receiving device S2 receives information from the outside of the excavator 100, for example, the management terminal device 300, through the communication network NW under the control of the controller 30. Further, the receiving device S2 may receive information directly from the management terminal device 300 (for example, by Bluetooth communication or the like) without going through the communication network NW. Further, the receiving device S2 may be configured to be able to receive various information from the support terminal device 200. The information received by the receiving device S2 is taken into the controller 30.

The transmitting device S1 and the receiving device S2 may be integrally realized as a communication device for communicating with the outside of the shovel 100 (for example, a mobile communication module that communicates with the outside through the communication network NW). Hereinafter, the same applies to the transmitting device 202 and the receiving device 203 of the support terminal device 200, and the transmitting device 302 and the receiving device 303 of the management terminal device 300.

The positioning device S3 positions the excavator 100 and acquires the position information of the excavator 100. The positioning device S3 is, for example, a GNSS (Global Navigation Satellite System) device that receives signals from three or more (preferably four or more) satellites above the shovel 100 and receives signals from the shovel 100. Measure the latitude, longitude, and altitude of the position. Hereinafter, the same applies to the positioning device 206 of the support terminal device 200. The position information of the excavator 100 acquired by the positioning device S3 is taken into the controller 30.

The posture detection device S4 detects the posture of the excavator 100, for example, the posture of the excavation attachment. The attitude detection device S4 includes, for example, a boom angle sensor, an arm angle sensor, a bucket angle sensor, and an airframe tilt sensor. The boom angle sensor is a sensor that acquires the elevation angle (boom angle) of the boom 4 with respect to the upper swing body 3. For example, a rotation angle sensor that detects the rotation angle of the boom foot pin and the stroke amount of the boom cylinder 7. It includes a stroke sensor, an inclination (acceleration) sensor that detects the inclination angle of the boom 4, and the like. Further, the boom angle sensor may be a combination of an acceleration sensor and a gyro sensor, that is, a 6-axis sensor or an IMU (Inertial Measurement Unit). The same applies to the arm angle sensor and the bucket angle sensor. Further, the airframe tilt sensor is a sensor that acquires the airframe tilt angle, and detects, for example, the tilt angle of the upper swivel body 3 with respect to the horizontal plane. The body tilt sensor may be a two-axis accelerometer that detects the tilt angle around a predetermined front-rear axis and left-right axis of the upper swivel body 3. Further, the airframe tilt sensor may be a 3-axis acceleration sensor. The detection information corresponding to the posture of the excavator 100 detected by the posture detection device S4 is taken into the controller 30.

The orientation detection device S5 detects the orientation of the excavator 100. The orientation detection device S5 is composed of, for example, a geomagnetic sensor, a resolver or encoder related to the swivel axis of the swivel mechanism 2, a gyro sensor, and the like. Specifically, the orientation detection device S5 may be composed of a combination of a 3-axis geomagnetic sensor and a gyro sensor. Further, the orientation detection device S5 may be composed of a pair of GNSS receivers. The detection information regarding the orientation of the excavator 100 detected by the orientation detection device S5 is taken into the controller 30.

The controller 30 can acquire information about the locus of the toes of the bucket 6 based on the outputs of the positioning device S3, the posture detecting device S4, the orientation detecting device S5, and the like, for example.

The camera S6 captures a space in a predetermined range around it. The camera S6 outputs the acquired image (captured image) to the controller 30, and the captured image is captured by the controller 30. For example, the camera S6 includes a camera S6B that captures the space behind the excavator 100. Further, the camera S6 may include at least one of a camera that images the space on the right side of the excavator 100 and a camera that images the space on the left side of the excavator 100. Further, the camera S6 may include a camera that captures an operator or the like in the cabin 10. As a result, the controller 30 can perform various image processing on the image of the operator captured by the camera in the cabin 10, identify (identify) the operator, and authenticate the operator.

The operation information acquisition device S7 acquires operation information which is information on the operation state of the excavator 100. For example, the operation information acquisition device S7 includes a pilot pressure sensor 15a, a positioning device S3, a posture detection device S4, an orientation detection device S5, and the like. Further, the operation information acquisition device S7 may include a discharge pressure sensor, a tilt angle sensor, an operating hydraulic pressure sensor, an engine rotation speed sensor, an engine load factor sensor, and a fuel injection amount sensor. Further, the operation information acquisition device S7 may include information regarding the working environment. In this case, the operation information acquisition device S7 may include an outside temperature sensor, an inside temperature sensor, a barometric pressure sensor, a humidity sensor, an illuminance sensor, a machine body tilt sensor, a vibration sensor, and the like. The operation information acquired by the operation information acquisition device S7 is taken into the controller 30.

The biological information acquisition device S8 acquires biological information which is information related to various states of the operator and the like (living body) of the excavator 100. The biological information acquisition device S8 includes, for example, a pulse sensor, a body pressure sensor, and a body temperature sensor embedded in the driver's seat in the cabin 10. Further, the biological information acquisition device S8 may include a weight scale or the like embedded in the driver's seat. Further, the biometric information acquisition device S8 may be configured to repeatedly acquire biometric information of the operator or the like at a predetermined control cycle when the operator or the like sits in the driver's seat.

Further, the biological information acquisition device S8 may include a camera that can be included in the camera S6 and captures an operator or the like in the cabin 10. As a result, the controller 30 can determine the physical condition of the operator or the like by performing various image processing on the captured image including the operator or the like captured by the camera.

Further, the biological information acquisition device S8 may be a sensor worn by an operator such as a wristband type pulse rate monitor or a wristband type sphygmomanometer, that is, a wearable sensor. In this case, the wearable sensor may be configured to output biometric information together with information (detachment information) indicating whether or not the operator or the like wears the wearable sensor.

The biometric information acquired by the biometric information acquisition device S8 is taken into the controller 30.

The operation input device S9 receives various operation inputs related to the excavator 100 from an operator or the like. The operation input device S9 may include a hardware operation unit such as a button, a toggle, and a lever. Further, for example, a software-based operation unit such as a button icon displayed on the touch panel type display device 40 may be included. That is, the operation input device S9 may be configured to include a touch panel type display device 40. For example, in the operation input device S9, the excavator 100 is a truck or trailer for transportation from an operator or the like (transport operator) (both are examples of a transportation vehicle. Hereinafter, for convenience, the term "transport truck or the like"). It accepts an operation indicating that it has been taken down from (hereinafter referred to as "lowering instruction operation" for convenience). The signal corresponding to the operation state in the operation input device S9 is taken into the controller 30.

The display device 40 displays various information images under the control of the controller 30. The display device 40 is arranged at a position easily visible to an operator or the like in the vicinity of the driver's seat in the cabin 10, for example. The display device 40 displays, for example, an image captured by the camera S6. In this case, the display device 40 may display a composite image obtained by synthesizing images captured by a plurality of cameras. Further, the composite image may be subjected to various image processing such as viewpoint conversion processing. Further, the display device 40 may be a portable terminal device such as a notebook computer, a tablet terminal, or a smartphone. In this case, the mobile terminal device may be appropriately arranged by an operator or the like at a position easily visible from the operator or the like in the cabin 10.

Further, the excavator 100 includes a storage battery 70 mounted on the upper swing body 3.

The controller 30, the display device 40, the engine control device 74, and the like operate by receiving electric power from the storage battery 70 mounted on the upper swing body 3. Further, the transmission device S1, the reception device S2, the positioning device S3, the attitude detection device S4, the orientation detection device S5, the camera S6, the operation information acquisition device S7, the biometric information acquisition device S8, and the operation input device S9 are also directly used. Alternatively, it operates by receiving power from the storage battery 70 through an internal power supply circuit or the like of the controller 30 or the like. The storage battery 70 is charged by the generated power of the generator driven by the engine 11. The storage battery 70 also supplies electric power to the starter of the engine 11 and the like. As a result, the starter is driven by the electric power from the storage battery 70, and the engine 11 can be started.

<Configuration of support terminal device>
The support terminal device 200 includes a control device 201, a transmission device 202, a reception device 203, a display device 204, an operation input device 205, and a positioning device 206.

The control device 201 controls various operations of the support terminal device 200. The control device 201 includes, for example, a route search unit 2011, a display control unit 2012, and functional units realized by executing one or more programs stored in a ROM or a non-volatile auxiliary storage device on the CPU. Includes route guidance unit 2013. The functions of the route search unit 2011, the display control unit 2012, and the route guidance unit 2013 are, for example, application programs for route guidance installed in advance in the ROM of the control device 201 or the auxiliary storage device (hereinafter, for convenience, ". It may be a mode in which the user can use it by activating the "route guidance application").

The transmission device 202 transmits information to the outside of the support terminal device 200 through the communication network NW under the control of the control device 201. For example, the transmission device 202 can transmit various information to the management terminal device 300. Further, the transmission device 202 may be in a mode capable of transmitting information to the excavator 100.

The receiving device 203 receives information from the outside of the support terminal device 200 through the communication network NW. For example, the receiving device 203 can receive various information from the management terminal device 300. Further, the receiving device 203 may be in a mode in which various information can be received from the excavator 100. The information received by the receiving device 203 is taken into the control device 201.

The display device 204 displays various information images. The display device 204 is, for example, a liquid crystal display. For example, the display device 204 uses the function of the route guidance application (that is, the display control unit 2012) to display a map image and a predetermined starting point position (for example, the current position of the support terminal device 200 corresponding to the current position of a user such as a serviceman). The route from the sales office where the user such as a serviceman or a serviceman works to the excavator 100 at the work site is displayed. Further, the display device 204 may display information on work by the excavator 100, information on fatigue of the operator of the excavator 100, information on topographical data, and the like.

The operation input device 205 receives an operation input from the user. The operation input device 205 includes, for example, a touch panel arranged on a liquid crystal display. Further, the operation input device 205 may include a touch pad, a keyboard, a mouse, a trackball, and the like. Hereinafter, the same applies to the operation input device 305 of the management terminal device 300. Information about the operation state of the operation input device 205 is taken into the control device 201.

The positioning device 206 positions the support terminal device 200 and acquires the position information of the support terminal device 200. The position information of the support terminal device 200 acquired by the positioning device 206 is taken into the control device 201.

The route search unit 2011 searches for a route from a predetermined starting point position to the excavator 100 in response to a predetermined operation of the user with respect to the operation input device 205.

The route search unit 2011 (an example of the request unit) causes the management terminal device 300 to display information for providing route guidance toward the excavator 100, in other words, a route toward the excavator 100 on the display device 204. Requests the transmission of information (hereinafter referred to as "route guidance information"). That is, the route search unit 2011 transmits the route guidance information request requesting the transmission of the route guidance information to the management terminal device 300 through the transmission device 202. For example, the route search unit 2011 controls the transmission device 202 when one excavator 100 is selected from one or a plurality of excavator 100s to be selected by the operation of the operation input device 205 by the user, and the management terminal device. A route guidance information request is transmitted to 300. At this time, one or a plurality of excavators 100 to be selected are registered (stored) in advance in the control device 201 (for example, an auxiliary storage device) or the like, and are updated received from the management terminal device 300 by the receiving device 203. May be updated based on information about the edition. Further, the route guidance information request includes identification information of the selected excavator 100 (for example, an aircraft number or an ID (Identifier) defined for each excavator 100). Then, when the route guidance information transmitted from the management terminal device 300 in response to the route guidance information request is received by the receiving device 203 (an example of the receiving unit), the route search unit 2011 uses the route guidance information. Based on this, a route search for the excavator 100 is performed. The details of the operation of the route search unit 2011 will be described later (see FIG. 3).

The display control unit 2012 causes the display device 204 to display a route guidance image for performing route guidance from a predetermined starting point position toward the excavator 100 based on the route guidance information. Specifically, the display control unit 2012 causes the display device 204 to display a route guidance image for guiding the route from a predetermined starting point position to the excavator 100 based on the search result by the route search unit 2011. The route guidance image includes a map image and an image related to the route as a search result by the route search unit 2011 (hereinafter referred to as “route image”), and the route image is superimposed on the map image. Details of the operation of the display control unit 2012 will be described later (see FIGS. 3 to 5).

The route guidance unit 2013 guides the user toward the excavator 100 by a known method based on the route guidance image displayed on the display device 204. For example, the route guidance unit 2013 determines the timing of turning left or right on the route toward the excavator 100 based on the route image included in the route guidance image, the current position information of the support terminal device 200 acquired by the positioning device 206, and the like. Notify by voice or superimposed display on the display device 204.

<Configuration of management terminal device>
The management terminal device 300 includes a control device 301, a transmission device 302, a reception device 303, a display device 304, and an operation input device 305.

The control device 301 controls various operations of the management terminal device 300. The control device 301 includes, for example, an information acquisition unit 3011 and an information provision unit 3012 as functional units realized by executing one or more programs stored in a ROM, a non-volatile auxiliary storage device, or the like on a CPU. include. Further, the control device 301 includes, for example, a storage unit 3010 as a storage area defined by the non-volatile auxiliary storage device included in the management terminal device 300 (control device 301).

The transmission device 302 transmits various information to the outside of the management terminal device 300 through the communication network NW under the control of the control device 301. For example, the transmission device 302 can transmit various information to the shovel 100 and the support terminal device 200.

The receiving device 303 receives information from the outside of the management terminal device 300 through the communication network NW. For example, the receiving device 303 can receive various information from the shovel 100 and the support terminal device 200. The information received by the receiving device 303 is taken into the control device 301.

The display device 304 displays various information images. In the present embodiment, the display device 304 is a liquid crystal display, and may display information on work by the shovel 100, information on fatigue of the operator of the shovel 100, information on topographical data, and the like.

The operation input device 305 receives an operation input by an operator, an administrator, or the like of the management terminal device 300. Information about the operation state of the operation input device 305 is taken into the control device 301.

The information acquisition unit 3011 (an example of the acquisition unit) acquires information of a predetermined type among the information transmitted from the excavator 100 received by the reception device 203, and stores the information in the storage unit 3010. At this time, the information acquisition unit 3011 associates the identification information of the target excavator 100 with the information regarding the reception date and time (reception date and time information) of the information of the type to be stored in the storage unit 3010. , Stored in the storage unit 3010. Further, when the information received from the excavator 100 includes information regarding the transmission date and time of the information (transmission date and time information) and information regarding the acquisition date and time of the information (acquisition date and time information), the information acquisition unit 3011 receives. Instead of the date and time information, the transmission date and time information and the acquisition date and time information may be associated with the information of the type to be stored in the storage unit 3010 and stored in the storage unit 3010. The information of the type to be stored in the storage unit 3010 is the information of the excavator 100 acquired by a predetermined operation (teaching operation at the time of unloading) by the transport operator or the like when the excavator 100 is unloaded from the truck or the like for transportation. Position information (hereinafter referred to as "lowered position information" for convenience) is included. Further, the information of the type to be stored in the storage unit 3010 includes the position information of the excavator 100 (hereinafter referred to as “the excavator 100”, which is acquired at least at a predetermined timing, for example, when the excavator 100 is started and when the excavator 100 is stopped. It may include (referred to as "start-up position information" and "stop-time position information").

The information providing unit 3012 (an example of a transmitting unit) provides various information to the support terminal device 200 in response to a request from the support terminal device 200. For example, when the information providing unit 3012 receives the route guidance information request from the support terminal device 200 by the receiving device 303, the information providing unit 3012 acquires the route guidance information from the storage unit 3010 in response to the request and passes through the transmitting device 302. , Transmit to the support terminal device 200. As a result, the management terminal device 300 can cause the support terminal device 200 to guide the route toward the excavator 100, in other words, cause the display device 204 of the support terminal device 200 to display the route toward the excavator 100. The route guidance information includes, for example, the latest down position information of the excavator 100 specified in the route guidance information request. Further, the route guidance information includes the start-up position information and the stop-time position information acquired by the excavator 100 after the excavator 100 is unloaded from the transport truck or the like at the position corresponding to the latest unloading position information. It may be. That is, the route guidance information is associated with the reception date / time information corresponding to the timing after the reception date / time information associated with the latest lowering position information of the storage unit 3010, such as the start-up position information or the stop. Time position information may be included. Hereinafter, after the excavator 100 is unloaded from a truck or the like for transportation at a position corresponding to the latest unloading position information, the start-up position information and the stop-time position information acquired by the excavator 100 are the movement of the excavator 100 at the work site. For convenience, it is referred to as "movement history information" to represent the history.

[Specific operation of route guidance system]
Next, the specific operation of the route guidance system SYS will be described with reference to FIG.

FIG. 3 is a sequence diagram showing an example of the operation of the route guidance system SYS.

First, the operation (steps S102 to S110) of the route guidance system SYS (excavator 100, management terminal device 300) when the excavator 100 is carried to the work site by a truck or the like for transportation and is unloaded from the truck or the like will be described. ..

In step S102, the controller 30 of the excavator 100 receives the lowering instruction operation from the operator (transport worker) through the operation input device S9.

In step S102, the controller 30 of the excavator 100 may determine whether or not the excavator 100 has been dismounted from the truck or the like for transportation, without relying on the instruction operation at the time of dismounting by the transport operator. For example, the controller 30 may determine whether or not the shovel 100 is being lowered by applying various image processes based on the captured image of the camera S6. As a result, the controller 30 can automatically determine that the excavator 100 has been removed from the truck or the like for transportation, and can perform the processes of steps S104 and S106.

In step S104, when the controller 30 of the excavator 100 is input with the information regarding the operation state that the instruction operation at the time of lowering is accepted from the operation input device S9, the current position information of the excavator 100, that is, the position information of the excavator 100 is input from the positioning device S3. , Get the down position information.

In step S106, the controller 30 of the excavator 100 transmits (uploads) the lowered position information to the management terminal device 300 through the transmission device S1.

In step S108, the receiving device 303 of the management terminal device 300 receives the shovel 100 lowering position information from the shovel 100.

In step S110, the information acquisition unit 3011 of the management terminal device 300 acquires the lowering position information of the excavator 100 received by the reception device 303 from the reception buffer or the like. Then, the information acquisition unit 3011 associates the shovel 100 lowering position information with the identification information of the excavator 100 and the corresponding date / time information (for example, reception date / time information), and stores the information in the storage unit 3010. As a result, the management terminal device 300 can hold the position information (lowering position information) regarding the position where the excavator 100 carried to the work site is lowered from the truck or the like for transportation.

Subsequently, the operation (steps S112 to S120) of the route guidance system SYS (excavator 100, management terminal device 300) when the work is performed at the work site where the excavator 100 has been transported will be described. Hereinafter, the operation related to the specific work of the excavator 100 between step S112 and step S114 will be omitted.

In step S112, when the excavator 100 is activated, the controller 30 of the excavator 100 acquires the current position information of the excavator 100, that is, the activation position information from the positioning device S3.

In step S114, when the excavator 100 is stopped, the controller 30 of the excavator 100 acquires the current position information of the excavator 100, that is, the stopped position information from the positioning device S3.

In step S116, the controller 30 of the excavator 100 transmits the start-up position information and the stop-time position information to the management terminal device 300 through the transmission device S1.

It should be noted that the engine 11 may or may not have already stopped when the processes of steps S114 and S116 are being performed. Further, the excavator 100 is completely stopped by stopping the controller 30 after transmitting the start-up position information and the stop-time position information. That is, the controller 30 performs the processes of steps S114 and S116 as the end process. Further, the controller 30 may perform the process of step S116 at the next activation of the excavator 100 instead of performing the process as the end process. Further, the controller 30 may transmit the start-up position information to the management terminal device 300 through the transmission device S1 without waiting for the excavator 100 to stop (for example, immediately after acquisition).

In step S118, the receiving device 303 of the management terminal device 300 receives the starting position information and the stopping position information from the excavator 100.

In step S120, the information acquisition unit 3011 of the management terminal device 300 acquires the start-up position information and the stop-time position information of the excavator 100 received by the receiving device 303 from the reception buffer or the like. Then, the information acquisition unit 3011 associates the start time position information and the stop time position information of the excavator 100 with the identification information of the excavator 100 and the corresponding date and time information (for example, the reception date and time information), and the storage unit 3010. Save to. As a result, the management terminal device 300 can hold not only the lowered position information but also the movement history of the excavator 100 moving according to the work after being lowered to the work site.

Subsequently, when route guidance is given to a user heading to the work site where the excavator 100 is working (for example, a serviceman of the excavator 100) through the support terminal device 200, the route guidance system SYS (support terminal device 200, management terminal) The operation of the device 300) will be described.

In step S122, the control device 201 of the support terminal device 200 activates the route guidance application in response to a predetermined operation from the user through the operation input device 205. As a result, in the support terminal device 200, the functions of the route search unit 2011, the display control unit 2012, the route guidance unit 2013, and the like become effective.

In step S124, the route search unit 2011 of the support terminal device 200 receives a destination from one or a plurality of excavators 100 registered in advance according to a predetermined operation (selection operation) from the user through the operation input device 205. Select one excavator 100 corresponding to. For example, the user operates the touch panel on the display device 204 as the operation input device 205 from the list of registered excavators 100 presented on the predetermined operation screen displayed on the display device 204. One excavator 100 corresponding to the destination can be selected.

In step S126, the route search unit 2011 of the support terminal device 200 transmits a route guidance information request including the identification information of one excavator 100 selected in step S124 to the management terminal device 300 through the transmission device 202.

In step S128, the receiving device 303 of the management terminal device 300 receives the route guidance information request from the support terminal device 200.

In step S130, the information providing unit 3012 of the management terminal device 300 acquires the route guidance information request received by the receiving device 303 from the reception buffer or the like. Then, the information providing unit 3012 acquires the latest down position information of the selected one excavator 100 specified by the route guidance information request from the storage unit 3010.

Further, in step S132, the information providing unit 3012 of the management terminal device 300 acquires the history of the position information from the latest date and time when the one excavator 100 was dropped from the truck or the like for transportation to the present. Specifically, the information providing unit 3012 has the start-up position information and the stop-time position associated with the reception date / time information corresponding to the timing after the reception date / time information associated with the latest down position information. The movement history information composed of the information is acquired from the storage unit 3010.

The processes of steps S130 and S132 may be performed in the reverse order or in parallel.

In step S134, the information providing unit 3012 of the management terminal device 300 is for route guidance including the latest unloading position information acquired through the transmission device 202 and the movement history information from the date and time corresponding to the unloading position information to the present. Information is transmitted to the support terminal device 200.

In this example, the management terminal device 300 transmits the route guidance information in response to the route guidance information request from the support terminal device 200, that is, the request is transmitted, but the request is automatically transmitted, that is, You may push it. For example, the management terminal device 300 transmits the latest down position information to the support terminal device 200 every time the down position information of the storage unit 3010 is updated, that is, every time the down position information is acquired from the shovel 100. May be good. As a result, the latest lowered position information of each of the one or a plurality of excavators 100 registered in advance is stored in the internal memory of the non-volatile auxiliary storage device of the control device 201 in the support terminal device 200. Further, even if the excavator 100 is not unloaded from the truck for transportation or the like, for example, the management terminal device 300 may update the movement history information of the excavator 100 of the storage unit 3010 at the current work site, that is, , The latest updated movement history information may be transmitted to the support terminal device 200 each time the start-up position information and the stop-time position information are acquired from the shovel 100. As a result, in the internal memory of the non-volatile auxiliary storage device of the control device 201 in the support terminal device 200, the movement history information of one or more excavators 100 registered in advance at the latest work site is stored. ..

In step S136, the receiving device 203 of the support terminal device 200 receives the route guidance information from the management terminal device 300.

In step S138, the route search unit 2011 of the support terminal device 200 acquires the route guidance information received by the reception device 203 from the reception buffer or the like. Then, the route search unit 2011 searches for a route from a predetermined starting point position to the destination with a location corresponding to the latest down position information included in the route guidance information as a destination based on a known route search algorithm. ..

For example, the route search unit 2011 specifically performs processing based on a predetermined route search algorithm from a predetermined starting point position to the destination, that is, a place corresponding to the latest lowered position information of the excavator 100. Search for a route. Further, the route search unit 2011 may perform a route search by accessing an API (Application Programming Interface) related to the route search published on the web outside the support terminal device 200. Further, in the route search algorithm, when the destination, that is, the place corresponding to the latest lowered position information of the excavator 100 is significantly deviated from the public road, for example, the route is set to the position on the public road closest to the destination. A search may be conducted .

In step S140, the display control unit 2012 of the support terminal device 200 displays on the display device 204 the route corresponding to the search result by the route search unit 2011 whose destination is the place corresponding to the latest lowered position information of the excavator 100. Let me. For example, the display control unit 2012 includes a map image of a scale including a predetermined starting point position and a destination, and a route guide including a route image corresponding to a search result by the route search unit 2011 superimposed on the map image. The image is displayed on the display device 204. Further, the display control unit 2012 may display the route guidance image in which the map image and the route image are superimposed, which is returned through the above-mentioned API, as it is on the display device 204. As a result, a user such as a serviceman can, for example, move from a predetermined starting point position to a position where the target excavator 100 is lowered from a transport truck or the like at the latest work site when heading for the excavator 100 to be maintained. It is possible to grasp the movement route.

In step S142, the route search unit 2011 superimposes the movement history from the date and time corresponding to the latest lowered position information of the excavator 100 to the present on the route guidance image of step S140 based on the movement history information of the excavator 100. Display on the display device 204. As a result, a user such as a serviceman can grasp the movement locus at the work site after the excavator 100 is unloaded from the transport truck.

The process of step S142 may be omitted.

[Specific example of route guidance image]
Next, a specific example of the route guidance image displayed on the display device 204 of the support terminal device 200 will be described with reference to FIGS. 4 and 5.

First, FIG. 4 is a diagram showing an example of a route guidance image according to a comparative example and a route guidance image according to the present embodiment. Specifically, FIG. 4A is a diagram showing a route guidance image according to a comparative example, and more specifically, based on the position information of the excavator 100 acquired most recently, the same as that of the present embodiment. It is a route guidance image when a route search is performed by a route search algorithm. Further, FIG. 4B is a diagram showing an example of the route guidance image according to the present embodiment, and more specifically, the route guidance image displayed on the display device 204 by the process of step S140 in FIG. Equivalent to.

In FIGS. 4A and 4B, the thin black line represents a road, the thick gray line represents a river, and the thick black line represents a route corresponding to the route search result. Further, FIGS. 4A and 4B show route guidance images when a region near the work site of the excavator 100 is enlarged and displayed instead of the entire route from the predetermined starting point position to the excavator 100. Hereinafter, the same applies to the case of FIG. 5 described later.

As shown in FIGS. 4A and 4B, the excavator 100 is working at a work site 401 in a mountainous area at a position 402 significantly off the public road.

In the comparative example, as described above, the route search is performed based on the position information of the excavator 100 acquired most recently, that is, the information regarding the position 402. Therefore, in the comparative example, as shown in FIG. 4A, the position 403 on the public road closest to the position 402 of the excavator 100 is selected as the destination, and the route 404 with the position 403 as the search result as the end point is the route. It is displayed on the guide image.

However, position 403 corresponds to a dead end on a public road corresponding to route 404, and the area 405 between position 403 and position 402 where the excavator 100 is working has a passable road. Not maintained. Therefore, it is highly possible that the user of the support terminal device 200 cannot reach the excavator 100 after all even toward the excavator 100 along the route 404.

In this way, in the case of the comparative example, the route search is performed based on the latest position information of the excavator 100, so that the excavator 100 may be reached depending on the position of the excavator 100 working at the work site in the mountainous area. Routes that cannot be provided may be provided.

On the other hand, in the present embodiment, as described above, the route search is performed based on the position information regarding the latest unloading position of the excavator 100, specifically, the latest unloading position information. Therefore, as shown in FIG. 4B, the position 406 when the excavator 100 is unloaded from the truck or the like for transportation at the work site 401, that is, the path 407 whose end point (destination) is the latest unloading position 406. Is displayed on the route guidance image. Therefore, since the latest lowering position 406 of the excavator 100 is assumed to be a position where a truck for transportation or the like can enter, the user can work on the excavator 100 by heading toward the excavator 100 along the route 407. You can reach the work site 401 where you are doing. Then, the user can reach the excavator 100 to be maintained by moving with a work vehicle in the work site or by walking depending on the terrain or the like in the work site 401.

As described above, in this example of the present embodiment (one example shown in FIG. 4B), the support terminal device 200 excavates from a predetermined starting point position searched based on the position information regarding the latest lowering position of the excavator 100. The display device 204 displays the route toward 100. Specifically, the support terminal device 200 searches for a route from a predetermined starting point position to the shovel 100 based on the position information regarding the latest lowered position of the shovel 100, and displays the search result route on the display device 204. That is, the support terminal device 200 is a predetermined starting point based on the position information of the excavator 100 (that is, the latest excavator 100 lowering position information) acquired when the excavator 100 is most recently unloaded from a truck or the like for transportation. Search for a route from the position to the excavator 100. This makes it possible to present the user with a route to the position where the excavator 100 is lowered at the latest work site. Therefore, the user can reach a specific position of the work site where at least a transport truck or the like carrying the excavator 100 can enter, and by moving in the work site by a predetermined method, the user can reach the excavator 100. Can be attached. Therefore, the support terminal device 200 can provide a user such as a serviceman with route guidance capable of reaching the excavator 100 at the work site.

Subsequently, FIG. 5 is a diagram showing another example of the route guidance image according to the present embodiment. Specifically, FIG. 5 corresponds to a route guidance image displayed on the display device 204 by the process of step S142 of FIG.

As shown in FIG. 5, in this example, in addition to the route 407 of FIG. 4 ( b ), the movement locus 501 at the work site 401 of the excavator 100 is further displayed on the route guidance image. As a result, a user such as a serviceman can refer to the movement locus 501 when moving toward the shovel 100 in the work site 401. Specifically, since the movement trajectory of the excavator 100 corresponds to the route that the excavator 100 has taken while performing the work, there is a high possibility that the excavator 100 can be moved at least by walking. Therefore, a user such as a serviceman can more easily reach the excavator 100 in the work site.

Although the embodiment for carrying out the present invention has been described in detail above, the present invention is not limited to such a specific embodiment and varies within the scope of the gist of the present invention described in the claims. Can be transformed / changed.

For example, in the above-described embodiment, the position information regarding the latest position where the excavator 100 is dropped from the transport truck or the like is the position information acquired when the excavator 100 was recently dropped from the transport truck or the like. However, the present invention is not limited to this aspect. Specifically, the position information regarding the position where the excavator 100 is lowered from the truck for transportation or the like is the movement locus information of the excavator 100 at the work site (for example, a position information group including the start position information and the stop position information). It may be the position information inferred from. For example, it can be inferred that the starting point in the movement locus of the excavator 100 at the work site is a place close to the position where the excavator 100 is lowered from the transport truck or the like to some extent.

Further, in the above-described embodiment and modification, the movement locus information at the work site is the position information of the excavator 100 up to the present starting from the date and time when the excavator 100 was actually unloaded from the truck or the like for transportation. Acquired as a group, but not limited to this aspect. Specifically, the movement locus information at the work site is a time series in which the relative distance is separated from the history of the time series position information of the excavator 100 to the extent that it can be determined that the excavator has been transferred by a truck or the like. A pair of adjacent position information may be used as a reference. That is, it may be a time-series position information group of the excavator 100 whose starting position is the position information later in the time-series of the pair of reference position information.

Further, in the above-described embodiments and modifications, the support terminal device 200 performs the route search, but the management terminal device 300 may perform the route search. In this case, the function of the route search unit 2011 is transferred to the control device 301 of the management terminal device 300. Then, the control device 301 of the management terminal device 300 displays information for displaying the route toward the excavator 100 on the display device 204 through the transmission device 302, that is, information related to the route corresponding to the search result as the route guidance information. It is transmitted to the support terminal device 200.

Further, in the above-described embodiment and modification, the construction machine corresponding to the destination of the route guidance to the user is the excavator 100, but other construction machines may be used. For example, the route guidance system SYS according to the above-described embodiment is an embodiment including a road machine such as a bulldozer, a wheel loader, an asphalt finisher, a forestry machine provided with a harvester, etc., in place of or in addition to the excavator 100. You may.

30 Controller 100 Excavator 200 Support terminal device (support device, terminal used)
201 Control device 202 Transmitter device 203 Receiver device (receiver)
204 Display device 205 Operation input device 300 Management terminal device (support device, user terminal)
301 Control device 302 Transmit device 303 Receiver device 304 Display device 305 Operation input device 2011 Route search unit (request unit)
2012 Display control unit 2013 Route guidance unit 3010 Storage unit 3011 Information acquisition unit (acquisition unit)
3012 Information provision section (transmission section)
S1 Transmitter S2 Receiver S3 Positioning device S9 Operation input device SYS Route guidance system

Claims (8)

The display unit displays the route from the predetermined starting point position to the construction machine, which is searched based on the history of the position information regarding the time-series position of the construction machine.
Support equipment for construction machinery. The route from the predetermined starting point to the position where the construction machine was unloaded from the carrier , which was searched based on the position information regarding the position of the construction machine acquired when the construction machine was most recently unloaded from the carrier. Access the published API and display it on the display in the form of superimposing it on the returned map image .
Support equipment for construction machinery. The position information includes the position information of the construction machine acquired when the construction machine was most recently removed from the carrier.
The support device for construction machinery according to claim 1. Equipped with the display unit
A requesting unit that requests information for displaying the route on the display unit from an external device that holds the position information, and a requesting unit.
A receiving unit that receives the information transmitted from the external device in response to a request from the requesting unit.
A display control unit for displaying the route on the display unit based on the information received by the reception unit is provided.
The support device for construction machinery according to any one of claims 1 to 3. The acquisition unit that acquires the position information from the construction machine,
A storage unit that stores the position information acquired by the acquisition unit, and a storage unit.
In response to a request from the user's terminal, information for displaying the route searched based on the position information stored in the storage unit on the display unit of the user terminal is transmitted to the user terminal. With a transmitter,
The support device for construction machinery according to any one of claims 1 to 3. It is a support method executed by the support equipment of construction machinery.
The display unit displays the route from the predetermined starting point position to the construction machine, which is searched based on the history of the position information regarding the time-series position of the construction machine.
Support method. It is a support method executed by the support equipment of construction machinery.
The route from the predetermined starting point to the position where the construction machine was unloaded from the carrier , which was searched based on the position information regarding the position of the construction machine acquired when the construction machine was most recently unloaded from the carrier. Access the published API and display it on the display in the form of superimposing it on the returned map image .
Support method. Have the construction machinery support device perform the support method according to claim 6 or 7 .
Support program.

Images