JP7317926B2 - Construction management device, display device and construction management method - Google Patents

Description

The present invention relates to a construction management device, a display device, and a construction management method.

Patent Literature 1 discloses a technique for generating current terrain data based on position information through which a bucket has passed in order to obtain the current terrain deformed as a result of construction on a construction target by a working machine. Specifically, according to the method described in Patent Document 1, the construction management device identifies the trajectory of the blade edge of the bucket based on the position data of the blade edge of the bucket, and the height of the position where the blade edge of the bucket has passed is the current topography. If it is lower than the height of the data, update the height of the current terrain data to the height that the blade edge of the bucket passed.

WO2014/167740

The technique described in Patent Literature 1 aims to obtain the latest current topography in excavation work by a work machine, so topography data is updated based on the lowest point of the cutting edge of the bucket. On the other hand, when the work machine performs embankment work, the bucket operates at a position higher than the current height of the construction target, so the current topography data is not updated, resulting in a deviation from the actual current topography.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a construction management device, a display device, and a construction management method capable of updating current terrain data during embankment work by a working machine.

According to a first aspect of the present invention, a construction management system comprises a current topography storage unit storing current topography data, which is three-dimensional data representing a current topography to be constructed, and a work machine including a bucket. a bucket position obtaining unit for obtaining the position of the bucket; an upper update flag obtaining unit for receiving an input of an upper update flag indicating whether or not to allow updating of the current terrain data to an upper value ; a current terrain update unit that updates the current terrain data based on the position of the bucket when an update flag is on .

According to at least one of the above aspects, the construction management device can update the current terrain data during embankment work by the work machine.

It is a figure which shows the example of the attitude|position of a working machine. BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the structure of the construction management system which concerns on 1st Embodiment. 1 is a perspective view showing the configuration of a hydraulic excavator according to a first embodiment; FIG. 1 is a schematic block diagram showing the configuration of a control system of a hydraulic excavator according to a first embodiment; FIG. 1 is a block diagram showing the configuration of a working machine control device according to a first embodiment; FIG. FIG. 4 is a diagram showing the relationship between a plurality of contour points of a bucket and a design surface; 4 is a flow chart showing the operation of the work implement control device according to the first embodiment; It is a schematic block diagram which shows the structure of the construction management apparatus which concerns on 1st Embodiment. It is a flow chart which shows operation of a construction management device concerning a 1st embodiment. It is a figure which shows the example of embankment work. FIG. 7 is a diagram showing an example of update processing of current terrain data by the construction management device according to the first embodiment; It is a flowchart which shows operation|movement of the construction management apparatus which concerns on 2nd Embodiment. FIG. 10 is a diagram showing an example of update processing of current topography data by the construction management device according to the second embodiment; It is a flowchart which shows operation|movement of the construction management apparatus which concerns on 3rd Embodiment. It is a flowchart which shows operation|movement of the construction management apparatus which concerns on 4th Embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings.
<Coordinate system>
FIG. 1 is a diagram showing an example of the posture of a working machine.
In the following description, a three-dimensional field coordinate system (Xg, Yg, Zg) and a three-dimensional vehicle body coordinate system (Xm, Ym, Zm) are defined, and positional relationships are described based on these.

The site coordinate system is a coordinate system composed of the Xg axis extending north and south, the Yg axis extending east and west, and the Zg axis extending vertically with the position of the GNSS reference station provided at the construction site as a reference point. An example of GNSS is GPS (Global Positioning System).

The vehicle body coordinate system is a coordinate system composed of an Xm-axis extending forward and backward, a Ym-axis extending laterally, and a Zm-axis extending vertically with reference to a representative point O defined on the revolving body 120 of the hydraulic excavator 100, which will be described later. With the representative point O of the revolving body 120 as a reference, the front is called +Xm direction, the rear is called -Xm direction, the left is called +Ym direction, the right is called -Ym direction, the upward direction is called +Zm direction, and the downward direction is called -Zm direction.

A work implement control device 126 of the hydraulic excavator 100, which will be described later, can convert a position in one coordinate system into a position in another coordinate system by calculation. For example, the work implement control device 126 can transform a position in the vehicle body coordinate system into a position in the field coordinate system, and vice versa.

<First embodiment>
FIG. 2 is a schematic diagram showing the configuration of the construction management system according to the first embodiment.
The construction management system 1 includes a hydraulic excavator 100 and a construction management device 200 . The hydraulic excavator 100 and the construction management device 200 are connected via a network N. Hydraulic excavator 100 is an example of a working machine. Note that the work machine according to other embodiments does not necessarily have to be the hydraulic excavator 100 . The hydraulic excavator 100 transmits the positional information related to the site coordinate system of a plurality of contour points including the cutting edge of the bucket 133 to the construction management device 200 .
The construction management device 200 generates current topographical data of the construction site based on the position information of the contour points of the bucket 133 acquired from the hydraulic excavator 100 .

《Hydraulic Excavator》
FIG. 3 is a perspective view showing the configuration of the hydraulic excavator according to the first embodiment.
A hydraulic excavator 100 includes a traveling body 110 , a revolving body 120 supported by the traveling body 110 , and a working machine 130 which is hydraulically operated and supported by the revolving body 120 . The revolving body 120 is rotatably supported by the traveling body 110 about the center of revolving.

Work implement 130 includes a boom 131 , an arm 132 , a bucket 133 , a boom cylinder 134 , an arm cylinder 135 and a bucket cylinder 136 .

A base end of the boom 131 is attached to the revolving body 120 via a boom pin P1.
Arm 132 connects boom 131 and bucket 133 . The base end of the arm 132 is attached to the tip of the boom 131 via an arm pin P2.
The bucket 133 includes a cutting edge for excavating earth and sand, and a container for containing the excavated earth and sand. The base end of the bucket 133 is attached to the tip of the arm 132 via a bucket pin P3. The bucket 133 may be, for example, a bucket intended for ground leveling, such as a slope bucket, or may be a bucket without an accommodating portion.

A boom cylinder 134 is a hydraulic cylinder for operating the boom 131 . A base end of the boom cylinder 134 is attached to the rotating body 120 . A tip of the boom cylinder 134 is attached to the boom 131 .
Arm cylinder 135 is a hydraulic cylinder for driving arm 132 . A base end of the arm cylinder 135 is attached to the boom 131 . A tip of the arm cylinder 135 is attached to the arm 132 .
Bucket cylinder 136 is a hydraulic cylinder for driving bucket 133 . A base end of the bucket cylinder 136 is attached to the arm 132 . A tip of the bucket cylinder 136 is attached to the bucket 133 .

The revolving body 120 is provided with a cab 121 in which an operator rides. The driver's cab 121 is provided in front of the revolving body 120 and on the left side (+Ym side) of the working machine 130 . An operating device 1211 for operating the work implement 130 is provided inside the operator's cab 121 . Hydraulic oil is supplied to boom cylinder 134, arm cylinder 135, and bucket cylinder 136 according to the amount of operation of operation device 1211, and work implement 130 is driven.

《Hydraulic excavator control system》
FIG. 4 is a schematic block diagram showing the configuration of the control system of the hydraulic excavator according to the first embodiment.
The hydraulic excavator 100 includes a stroke detector 137 , an operating device 1211 , a position/orientation calculator 123 , an inclination detector 124 , a hydraulic device 125 , a work machine control device 126 and an input/output device 127 .

Stroke detector 137 detects the stroke lengths of boom cylinder 134 , arm cylinder 135 , and bucket cylinder 136 . Thus, work implement control device 126 detects the position and attitude angle of work implement 130 including bucket 133 in the vehicle body coordinate system based on the stroke lengths of boom cylinder 134, arm cylinder 135, and bucket cylinder 136. be able to.

The operation device 1211 includes an operation lever 1212 provided on the right side of the operator's cab 121 and an operation lever 1213 provided on the left side of the operator's cab 121 . The operation device 1211 detects the amount of operation in the longitudinal direction and the lateral direction of the operation lever 1212 and the amount of operation in the longitudinal direction and the lateral direction of the operation lever 1213, and outputs an operation signal corresponding to the detected amount of operation to the work implement control device. 126. A method of generating an operation signal by the operation device 1211 according to the first embodiment is a PPC (Pressure Proportional Control) method. The PPC system is a system in which a pressure sensor detects the pilot hydraulic pressure generated by operating the control lever 1212 and the control lever 1213 to generate an operation signal. The operation lever 1212 and the operation lever 1213 are used to operate the boom 131 , the arm 132 , the bucket 133 , and the revolving body 120 to revolve.

The position/orientation calculator 123 calculates the position of the revolving superstructure 120 in the site coordinate system and the azimuth to which the revolving superstructure 120 faces. The position and orientation calculator 123 includes a first receiver 1231 and a second receiver 1232 that receive positioning signals from artificial satellites that form the GNSS. The first receiver 1231 and the second receiver 1232 are installed at different positions on the revolving body 120, respectively. The position/orientation calculator 123 detects the position of the representative point O (origin of the vehicle body coordinate system) of the revolving superstructure 120 in the field coordinate system based on the positioning signal received by the first receiver 1231 .
The position and orientation calculator 123 uses the positioning signal received by the first receiver 1231 and the positioning signal received by the second receiver 1232 to calculate the orientation of the rotating body 120 in the field coordinate system.

The tilt detector 124 measures the acceleration and angular velocity of the revolving structure 120, and based on the measurement results, the attitude of the revolving structure 120 (for example, roll representing rotation about the Xm axis, pitch representing rotation about the Ym axis, and rotation about the Zm axis). yaw, which represents rotation). The tilt detector 124 is installed, for example, on the lower surface of the driver's cab 121 . An example of the tilt detector 124 is an IMU (Inertial Measurement Unit).

The hydraulic system 125 includes a hydraulic oil tank, a hydraulic pump, a flow control valve, and an electromagnetic proportional control valve (not shown). The hydraulic pump is driven by the power of an engine (not shown), and supplies working oil to boom cylinder 134, arm cylinder 135, and bucket cylinder 136 via flow control valves. The electromagnetic proportional control valve limits the pilot hydraulic pressure supplied from operating device 1211 based on a control command received from work implement control device 126 . The flow control valve has a rod-shaped spool, and adjusts the flow rate of hydraulic oil supplied to boom cylinder 134, arm cylinder 135, and bucket cylinder 136 depending on the position of the spool. The spool is driven by pilot hydraulic pressure adjusted by an electromagnetic proportional control valve.

Work implement control device 126 operates based on the position and orientation of revolving superstructure 120 calculated by position/orientation calculator 123, the tilt angle of revolving superstructure 120 detected by tilt detector 124, and the stroke length detected by stroke detector 137. , identify the position and orientation of the bucket 133 in the field coordinate system. Work implement control device 126 also outputs a control command for boom cylinder 134 , a control command for arm cylinder 135 , and a control command for bucket cylinder 136 to the electromagnetic proportional control valves of hydraulic device 125 .

Input/output device 127 displays a screen based on a signal from work implement control device 126 . Input/output device 127 also generates an input signal according to the user's operation and outputs it to work implement control device 126 . Examples of the input/output device 127 include a touch panel, monitor, mobile terminal, and the like. The input/output device 127 may be provided in the operator's cab of the hydraulic excavator 100 or, for example, may be provided in a remote control room for remotely controlling the hydraulic excavator 100 outside the operator's cab.

《Position of work machine》
Here, the position and attitude of the working machine 130 will be described with reference to FIG. Work implement control device 126 calculates the position and orientation of work implement 130 and generates a control command for work implement 130 based on the position and orientation. The work machine control device 126 controls the boom angle α, which is the attitude angle of the boom 131 with respect to the boom pin P1, the arm angle β, which is the attitude angle of the arm 132 with respect to the arm pin P2, and the bucket 133 with respect to the bucket pin P3. and the position of the contour point of the bucket 133 in the vehicle body coordinate system. The contour points of the bucket 133 are a plurality of points set at predetermined positions along the contour of the bucket 133 . The contour points according to the present embodiment include points on the edge of the bucket 133 , points on the bottom surface of the bucket 133 , and a plurality of points on the bottom of the bucket 133 . Note that in other embodiments, the contour points may be points along the contour of the bucket 133 and may not be points related to the above positions. In another embodiment, the number of contour points may be one.

The boom angle α is represented by an angle formed by a half line extending upward (+Zm direction) of the revolving structure 120 from the boom pin P1 and a half line extending from the boom pin P1 to the arm pin P2. Depending on the posture (pitch angle) θ of the revolving body 120, the upward direction (+Zm direction) of the revolving body 120 and the vertically upward direction (+Zg direction) do not necessarily match.
The arm angle β is represented by an angle formed by a half line extending from the boom pin P1 to the arm pin P2 and a half line extending from the arm pin P2 to the bucket pin P3.
The bucket angle γ is represented by an angle formed by a half line extending from the arm pin P2 to the bucket pin P3 and a half line extending from the bucket pin P3 to the cutting edge of the bucket 133.
Here, the bucket end angle η, which is the attitude angle of the bucket 133 with respect to the revolving body 120, is equal to the sum of the boom angle α, the arm angle β, and the bucket angle γ. The bucket end angle η is equal to the angle formed by a half line extending upward (+Zm direction) of the revolving body 120 from the bucket pin P3 and a half line extending from the bucket pin P3 to the cutting edge of the bucket 133 .

The positions of the contour points of the bucket 133 are the boom length L1 that is the dimension of the boom 131, the arm length L2 that is the dimension of the arm 132, the bucket length L3 that is the dimension of the bucket 133, the boom angle α, the arm angle β, and the bucket angle γ. , the shape information of the bucket 133, the position of the representative point O of the swing structure 120 in the field coordinate system, and the positional relationship between the representative point O and the boom pin P1. The boom length L1 is the distance from the boom pin P1 to the arm pin P2. Arm length L2 is the distance from arm pin P2 to bucket pin P3. Bucket length L3 is the distance from bucket pin P3 to the cutting edge of bucket 133 . The positional relationship between the representative point O and the boom pin P1 is represented, for example, by the position of the boom pin P1 in the vehicle body coordinate system.

《Intervention control》
The work implement control device 126 limits the speed of the bucket 133 in the direction of approaching the construction target so that the bucket 133 does not enter the design plane set at the construction site. Hereinafter, the restriction of the speed of bucket 133 by work implement control device 126 is also referred to as intervention control.

In intervention control, work implement control device 126 generates a control command for boom cylinder 134 to prevent bucket 133 from intruding into the design surface when the distance between bucket 133 and the design surface becomes less than a predetermined distance. The control command is output to the electromagnetic proportional control valve of the device 125 . As a result, the boom 131 is driven such that the speed of the bucket 133 corresponds to the distance between the bucket 133 and the design surface. In other words, work implement control device 126 limits the speed of bucket 133 by raising boom 131 according to a control command for boom cylinder 134 . By intervention control, the operator of the hydraulic excavator 100 simply moves the bucket 133 along the design surface by manipulating the arm, thereby leveling the earth and sand in contact with the bucket 133 and generating a flat surface corresponding to the design surface. Leveling work can be performed. Leveling work is an example of a predetermined work state.
In another embodiment, a control command for the arm cylinder 135 or a control command for the bucket cylinder 136 may be output in the intervention control. That is, in other embodiments, the speed of bucket 133 may be limited by raising arm 132 in intervention control, or the speed of bucket 133 may be directly limited.

《Work equipment control device》
Work implement control device 126 includes processor 1261 , main memory 1262 , storage 1263 and interface 1264 .

Storage 1263 stores a program for controlling work machine 130 . Examples of the storage 1263 include HDDs (Hard Disk Drives), SSDs (Solid State Drives), and non-volatile memories. Storage 1263 may be an internal medium directly connected to the bus of work implement control device 126, or an external medium connected to work implement control device 126 via interface 1264 or a communication line.

The processor 1261 reads a program from the storage 1263, develops it in the main memory 1262, and executes processing according to the program. Also, the processor 1261 secures a storage area in the main memory 1262 according to the program. The interface 1264 is connected to the stroke detector 137, the operation device 1211, the position/orientation calculator 123, the tilt detector 124, the electromagnetic proportional control valve of the hydraulic system 125, the input/output device 127, and other peripheral devices, and receives signals. output.

The program may be for realizing part of the functions that work implement control device 126 is caused to exhibit. For example, the program may function in combination with another program already stored in storage 1263 or in combination with another program installed in another device.

FIG. 5 is a block diagram showing the configuration of the work implement control device according to the first embodiment.
Work machine control device 126 includes work machine information storage unit 601, operation amount acquisition unit 602, detection information acquisition unit 603, bucket position identification unit 604, target construction data storage unit 605, distance identification unit 606, control line determination unit 607, A target speed calculation unit 608 , a control command generation unit 609 , a control command output unit 610 , a bucket position storage unit 611 , a bucket position transmission unit 612 , an upper update flag acquisition unit 613 and an upper update flag storage unit 614 are provided.

The work machine information storage unit 601 stores the boom length L1, the arm length L2, the bucket length L3, the position of contour points of the bucket 133, and the positional relationship between the position of the representative point O of the revolving body 120 and the boom pin P1.

The operation amount acquisition unit 602 acquires an operation signal indicating an operation amount (pilot oil pressure, angles of the operation levers 1212 and 1213, etc.) from the operation device 1211 . For example, the operation amount acquisition unit 602 acquires an operation amount related to the boom 131, an operation amount related to the arm 132, an operation amount related to the bucket 133, and an operation amount related to turning.

A detection information acquisition unit 603 acquires information detected by each of the position/orientation calculator 123 , the tilt detector 124 , and the stroke detector 137 . For example, the detection information acquisition unit 603 obtains the position information of the revolving superstructure 120 in the field coordinate system, the orientation of the revolving superstructure 120, the attitude of the revolving superstructure 120, the stroke length of the boom cylinder 134, the stroke length of the arm cylinder 135, and the bucket cylinder. Get a stroke length of 136.

Bucket position identifying section 604 identifies the position and attitude of bucket 133 based on the information acquired by detection information acquiring section 603 . At this time, the bucket position specifying unit 604 specifies the bucket end angle η. The bucket position specifying unit 604 specifies the bucket end angle η by the following procedure. Bucket position specifying unit 604 calculates boom angle α from the stroke length of boom cylinder 134 . Bucket position specifying unit 604 calculates arm angle β from the stroke length of arm cylinder 135 . Bucket position specifying unit 604 calculates bucket angle γ from the stroke length of bucket cylinder 136 . Then, bucket position specifying unit 604 calculates bucket end angle η by adding boom angle α, arm angle β, and bucket angle γ.

Also, the bucket position specifying unit 604 specifies the positions of the plurality of contour points of the bucket 133 in the field coordinate system based on the information acquired by the detection information acquisition unit 603 and the information stored in the working machine information storage unit 601. . Bucket position specifying unit 604 specifies the positions of contour points of work implement 130 in the field coordinate system in the following procedure. Bucket position specifying unit 604 specifies the position of arm pin P2 in the vehicle body coordinate system based on boom angle α acquired by detection information acquiring unit 603 and boom length L1 stored in working machine information storage unit 601 . Based on the position of the arm pin P2, the arm angle β acquired by the detection information acquisition unit 603, and the arm length L2 stored in the working machine information storage unit 601, the bucket position specifying unit 604 determines the position of the bucket pin P3 in the vehicle body coordinate system. Locate. Bucket position specifying unit 604 determines the position and attitude of bucket 133 based on the position of bucket pin P3, the bucket angle γ acquired by detection information acquisition unit 603, and bucket length L3 stored in working machine information storage unit 601. identify. Bucket position specifying unit 604 specifies the position of contour points of bucket 133 in the vehicle body coordinate system based on the specified position and orientation of bucket 133 and the shape information of bucket 133 stored in working machine information storage unit 601. . Based on the position information of the revolving superstructure 120 in the field coordinate system, the orientation of the revolving superstructure 120, and the posture of the revolving superstructure 120 acquired by the detection information acquisition unit 603, the bucket position specifying unit 604 determines the position of the bucket in the vehicle body coordinate system. Transform the positions of the 133 contour points to positions in the field coordinate system. The position of the contour point of the bucket 133 obtained at this time is, for example, the position of the central point in the width direction among the contour points of the bucket 133 .

The target construction data storage unit 605 stores target construction data representing the design surface of the construction site. The target construction data is three-dimensional data represented by the site coordinate system, such as three-dimensional landform data consisting of a plurality of triangular polygons representing a design plane. The triangular polygons forming the target construction data have sides common to other adjacent triangular polygons. In other words, the target construction data represent continuous planes composed of a plurality of planes. The target construction data is stored in the target construction data storage unit 605 by being read from an external storage medium or by being received from an external server via the network N.

The distance specifying unit 606 specifies the distance between each of the contour points E of the bucket 133 and the design surface. For example, the distance identifying unit 606 identifies the distance between contour point E and the design surface by the following method. Note that in other embodiments, contour points may be provided only at one predetermined position on the bucket 133 . In this case, the distance identifying unit 606 identifies the distance from the design surface for that contour point.
FIG. 6 is a diagram showing the relationship between a plurality of contour points of a bucket and a design surface. A plurality of contour points E according to the first embodiment are intersections of a plurality of transverse lines of the bucket 133 and a plurality of longitudinal sections. The plurality of transverse lines of the bucket 133 are composed of a cutting edge line along which the cutting edge 133A of the bucket 133 is aligned, and a plurality of lines parallel to the cutting edge line in areas such as the bottom surface 133B and the bottom portion 133C of the bucket 133 . The plurality of longitudinal sections of the bucket 133 are composed of both side surfaces of the bucket 133 and planes parallel to the both side surfaces and dividing the two side surfaces.
The distance specifying unit 606 specifies each intersection line between each longitudinal section of the bucket 133 and the design surface. The distance specifying unit 606 obtains the distance between the contour point E on the longitudinal section and the specified intersection line for each longitudinal section.

A control line determination unit 607 determines a control line G used for intervention control of the bucket 133 . The control line determining unit 607 determines, as the control line G, for example, the line of intersection between the longitudinal section of the bucket 133 including the contour point E associated with the shortest distance specified by the distance specifying unit 606 and the design plane. In other embodiments, the vertical plane for determining the control line is not limited to the one including the contour point E associated with the shortest distance. It may be a selected face.

The target speed calculation unit 608 calculates the boom target speed, which is the target speed of the boom 131 based on the boom pin P1 and the arm pin P2, based on the operation amounts of the control levers 1212 and 1213 obtained by the operation amount obtaining unit 602. The arm target speed, which is the target speed of the arm 132, and the bucket target speed, which is the target speed of the bucket 133 based on the bucket pin P3, are determined. Hereinafter, the vertical target speed of the bucket 133 with respect to the revolving structure 120, which is represented by the sum of the vertical components of the boom target speed, arm target speed, and bucket target speed, is referred to as a bucket end target speed. The speed of the boom 131 with reference to the boom pin P1 is called boom speed, the speed of the arm 132 with reference to the arm pin P2 is called arm speed, and the speed of the bucket 133 with reference to the bucket pin P3 is called bucket speed. , boom speed, arm speed, and bucket speed. Below, the vertical downward velocity is represented by a positive number, and the vertical upward velocity is represented by a negative number.

Control command generation unit 609 performs intervention control to control work implement 130 so that bucket 133 does not enter below control line G based on the distance specified by distance specifying unit 606 . The control command generation unit 609 controls the boom 131 so as to satisfy the speed table showing the relationship between the distance between the contour point E of the bucket 133 and the control line G and the allowable upper limit value of the bucket end speed at which the bucket 133 approaches the control line G. determine the vertical speed limit of the An example of the speed table is a table in which the allowable upper limit value of the bucket end speed approaches zero as the distance between the contour point E of the bucket 133 and the control line G approaches zero. In the present embodiment, the control command generator 609 determines the vertical speed limit of the boom 131, but is not limited to this, and may determine the normal speed limit, for example.
For example, if the bucket end target speed obtained from the boom target speed, the arm target speed, and the vertical component of the bucket target speed is greater than the allowable upper limit value of the bucket end speed in the speed table, the control command generation unit 609 performs intervention control. I do. When performing intervention control, the control command generator 609 calculates the vertical speed limit of the boom 131 by subtracting the sum of the vertical components of the arm target speed and the bucket target speed from the upper limit value of the bucket end speed. . The control command generator 609 determines the boom speed from the vertical speed limit of the boom 131 .
On the other hand, the control command generator 609 does not perform intervention control when the target bucket end speed is equal to or less than the allowable upper limit value of the bucket end speed in the speed table. When intervention control is not performed, control command generator 609 generates control commands for boom 131, arm 132, and bucket 133 based on the boom target speed, arm target speed, and bucket target speed.

Control command output unit 610 outputs the control command for boom 131 , the control command for arm 132 , and the control command for bucket 133 generated by control command generation unit 609 to the electromagnetic proportional control valve of hydraulic device 125 .

The bucket position storage unit 611 stores the positions of the plurality of contour points E of the bucket 133 specified by the bucket position specifying unit 604 in the field coordinate system, an intervention flag indicating whether or not intervention control is performed by the control command generation unit 609, and a leveling operation. An upward update flag indicating whether or not to allow updating of the current terrain data to an upward value (a value greater than the current value of Zg) is stored in association with the time. When intervention control is being performed by the control command generator 609, the intervention flag is turned on. When the intervention control is not performed by the control command generator 609, the intervention flag is turned off. If the update-up flag is on, it is allowed to update the current terrain data to an upward value during the leveling operation. If the update-up flag is off, updating the current terrain data to an upward value is not allowed during the leveling operation. Here, updating the height of the current landform data to an upper value means updating the height value Zg1 at an arbitrary plane position (Xg1, Yg1) in the current landform data to a value Zg1' higher than Zg1. , that is, to update the current topography data Xg1, Yg1, Zg1 of that point to Xg1, Yg1, Zg1'.

Bucket position transmission unit 612 transmits information stored in bucket position storage unit 611 to construction management device 200 .

The upper update flag acquisition unit 613 allows the operator of the hydraulic excavator 100 to update the current terrain data to an upper value during leveling work to the construction management device 200 via the input/output device 127. accepts input from The upward update flag acquisition unit 613 updates the upward update flag stored in the upward update flag storage unit 614 based on the input information.

<<Operation of the work equipment control device>>
A control method for the hydraulic excavator 100 according to the first embodiment will be described below.
FIG. 7 is a flow chart showing the operation of the work implement control device according to the first embodiment. Work implement control device 126 executes the following control at each predetermined control cycle.
The operation amount acquisition unit 602 acquires the operation amount related to the boom 131, the operation amount related to the arm 132, the operation amount related to the bucket 133, and the operation amount related to turning from the operation device 1211 (step S1). The detection information acquisition unit 603 acquires information detected by the position/orientation calculator 123, the tilt detector 124, and the stroke detector 137 (step S2).

Bucket position specifying unit 604 calculates boom angle α, arm angle β, and bucket angle γ from the stroke length of each hydraulic cylinder (step S3). Bucket position specifying unit 604 also detects calculated pin reference attitude angles α, β, and γ, boom length L1, arm length L2, bucket length L3, and shape information of bucket 133 stored in working machine information storage unit 601 . Based on the position, orientation, and attitude of the revolving structure 120 acquired by the information acquisition unit 603, the bucket end angle η and the positions of a plurality of contour points E of the bucket 133 in the field coordinate system are calculated (step S4). The bucket position specifying unit 604 causes the bucket position storage unit 611 to store the positions of the contour points E of the bucket 133 in association with the current time. At this time, the upward update flag acquisition unit 613 stores the upward update flag stored in the upward update flag storage unit 614 in the bucket position storage unit 611 in association with the current time (step S5). That is, when the upper update flag stored in upper update flag storage unit 614 indicates ON, control command generation unit 609 records the upper update flag indicating ON in bucket position storage unit 611, and upper update flag storage unit 614 When the stored upper update flag indicates OFF, the upper update flag indicating OFF is recorded in the bucket position storage unit 611 .

The distance specifying unit 606 specifies the distance between each of the plurality of contour points E and the design surface represented by the target construction data stored in the target construction data storage unit 605 (step S6). The control line determining unit 607 determines the control line G based on the distance specified by the distance specifying unit 606 (step S7).

The target speed calculation unit 608 calculates a boom target speed, an arm target speed, and a bucket target speed based on the operation amount acquired by the operation amount acquisition unit 602 in step S1 (step S8).

The control command generation unit 609 determines whether or not the shortest of the distances identified by the distance identification unit 606 is less than a predetermined distance (step S9). If the distance between the control line G and the contour point E of the bucket 133 is greater than or equal to the predetermined distance (step S9: YES), the control command generator 609 does not perform intervention control. When intervention control is not performed, the control command generator 609 generates control commands for the boom 131, arm 132 and bucket 133 based on the boom target speed, arm target speed and bucket target speed (step S10). At this time, the control command generation unit 609 causes the bucket position storage unit 611 to store an intervention flag indicating that intervention control is not performed in association with the current time (step S11). That is, the control command generator 609 turns off the intervention flag.

On the other hand, when the distance between the control line G and the contour point E of the bucket 133 is less than the predetermined distance (step S9: YES), the control command generator 609 performs intervention control. When intervention control is performed, the control command generation unit 609 identifies the allowable upper limit value of the bucket end speed based on the distance identified by the distance identification unit 606 and the above-described speed table stored in the work machine information storage unit 601. (step S12). Next, the control command generator 609 calculates the bucket end target speed based on the boom target speed, the arm target speed, and the vertical component of the bucket target speed calculated in step S8 (step S13). Next, the control command generator 609 determines whether or not the bucket end target speed calculated in step S13 is less than the allowable upper limit value of the bucket end speed specified in step S12 (step S14).

If the target bucket end speed is less than the allowable upper limit value of the bucket end speed (step S14: YES), the control command generator 609 controls the boom 131, the arm 132 based on the boom target speed, the arm target speed, and the bucket target speed. and generate a control command for the bucket 133 (step S10). On the other hand, if the target bucket end speed is equal to or greater than the allowable upper limit value of the bucket end speed (step S14: NO), the control command generator 609 controls the boom 131, arm 132 and bucket 133 are generated (step S15). At this time, the control command generation unit 609 causes the bucket position storage unit 611 to store an intervention flag indicating that intervention control is to be performed in association with the current time (step S16). That is, the control command generator 609 turns on the intervention flag.

When the control command generator 609 generates the control commands for the boom 131, the arm 132 and the bucket 133, the control command output unit 610 outputs the control commands to the electromagnetic proportional control valves of the hydraulic device 125 (step S17). The hydraulic device 125 thereby drives the boom cylinder 134 , the arm cylinder 135 and the bucket cylinder 136 .

By repeating the above process, the bucket position storage unit 611 of the work implement control device 126 stores the positions of the plurality of contour points E in the field coordinate system, the intervention flag, and the upward update flag in chronological order. be. Bucket position transmission unit 612 transmits information stored in bucket position storage unit 611 to construction management apparatus 200 via network N at a predetermined timing.

<Configuration of construction management device>
FIG. 8 is a schematic block diagram showing the configuration of the construction management device according to the first embodiment.
The construction management device 200 is a computer having a processor 2100 , a main memory 2200 , a storage 2300 and an interface 2400 . Storage 2300 stores programs. The processor 2100 reads a program from the storage 2300, develops it in the main memory 2200, and executes processing according to the program. Construction management device 200 is connected to network N via interface 2400 . The construction management apparatus 200 is also connected to an input/output device (not shown) via an interface 2400 .

Examples of the storage 2300 include HDDs (Hard Disk Drives), SSDs (Solid State Drives), non-volatile memories, and the like. The storage 2300 may be an internal medium directly connected to the bus of the construction management apparatus 200 or an external medium connected to the construction management apparatus 200 via the interface 2400 . Storage 2300 is a non-transitory tangible storage medium.

The storage 2300 has storage areas as a target construction data storage unit 2301 and a current topography storage unit 2302 .
Like the target construction data storage unit 605, the target construction data storage unit 2301 stores target construction data representing the design surface of the construction site. The target construction data is, for example, data relating to the site coordinate system.
The current topography storage unit 2302 stores current topography data, which is three-dimensional data representing the topography of the construction site. The current topography data may be point cloud data representing the current topography of the construction site, for example, by a set of points representing the height (Zg) on each grid that delimits the horizontal plane (Xg-Yg plane) in the site coordinate system. . Note that the current terrain data may be updated to the latest data based on predetermined conditions.

The processor 2100 functions as a bucket position acquisition unit 2101, a time series selection unit 2102, a work state identification unit 2103, a distance identification unit 2104, a shortest distance line determination unit 2105, and a current terrain update unit 2106 by executing programs.

Bucket position acquisition unit 2101 acquires the positions of a plurality of contour points E of bucket 133 in the field coordinate system, the intervention flag, and the time series of the upward update flag from work implement control device 126 .

The time series selection unit 2102 selects the time to be processed one by one in the chronological order of the position of the contour point E, the intervention flag, and the upward update flag acquired by the bucket position acquisition unit 2101 .

Based on the intervention flag associated with the time selected by time series selection section 2102 in the time series acquired by bucket position acquisition section 2101, work state identification section 2103 determines that the work state of work implement 130 is in the leveled work state. Determine whether or not there is That is, when the intervention flag indicates that intervention control has been performed, the work state identification unit 2103 determines that the work state is the leveling work state.

Distance specifying unit 2104 specifies the distance between each of a plurality of contour points E of bucket 133 and the design surface, similarly to distance specifying unit 606 of work implement control device 126 . That is, the distance specifying unit 2104 specifies the intersection line between each longitudinal section of the bucket 133 and the design surface, and obtains the distance between the contour point E on the longitudinal section and the specified intersection line for each longitudinal section. .

The shortest distance line determination unit 2105 uses the line in the bucket width direction passing through the contour point E, which is the shortest distance among the distances between each contour point specified by the distance specifying unit 2104 and the design surface, to update the current topography data. determined to be the shortest distance line Lm. The bucket width direction line passing through the contour point E is a line segment passing through the contour point E, extending in the width direction of the bucket 133 and having the same length as the width of the bucket 133 .

When the work state identifying unit 2103 identifies that the work state is not the leveling work state, the current topography updating unit 2106 updates the plane position corresponding to the position of the bucket 133 among the current topography data stored in the current topography storage unit 2302 . is updated with the height of the contour point E of the shortest distance line Lm and the height of the current topographical data, whichever is lower. In other words, if the work state is not the leveling work state and the height of the lowest point of the bucket 133 is equal to or less than the height of the current state topography data, the current state terrain update unit 2106 updates the lowest point height of the bucket 133. Update the height of the existing terrain data with height. A method of updating the current terrain data with the lowest point of the current terrain data and the bucket 133 is called lowest point update. On the other hand, the current topography update unit 2106 does not update the current topography data when the work state is not the leveling work state and the height of the lowest point of the bucket 133 is higher than the height of the current topography data.
When the work state identification unit 2103 identifies that the work state is the leveling work state, the current topography update unit 2106 updates the current topography data stored in the current topography storage unit 2302 as the shortest distance line Lm and the current topography data. is updated with the height of the shortest distance line Lm regardless of the positional relationship of . In other words, if the work state is the leveling work state, and if the height of the shortest distance line Lm is higher than the height of the current topography data, the current topography update unit 2106 updates the current topography data to an upper value. A method of updating the current terrain data to an upper value based on the position of the shortest distance line Lm is called upward updating. Also, a method of updating the current terrain data based on the position of the shortest distance line Lm, regardless of the height of the current terrain data, is also called constant update.
The current terrain update unit 2106 performs upward update when the upward update permission condition that the upward update flag and the intervention flag are ON is satisfied, and updates the lowest point when the upward update permission condition is not satisfied. .

Note that, as described above, the operator of the hydraulic excavator 100 can set in advance an upward update flag that indicates whether updating of the current terrain data to an upward value during leveling work is permitted. The upward update flag is obtained in time series by the bucket position obtaining unit 2101 .

<<Operation of construction management device>>
The operation method of the construction management device 200 according to the first embodiment will be described below.
FIG. 9 is a flow chart showing the operation of the construction management device according to the first embodiment.
A bucket position acquisition unit 2101 of the construction management device 200 acquires the positions of a plurality of contour points E of the bucket 133 in the field coordinate system, the intervention flag, and the time series of the upward update flag from the work machine control device 126 of the hydraulic excavator 100. (step S51).

The time series selection unit 2102 selects one of the earliest time points in the time series of the position of contour point E, the intervention flag, and the upward update flag that have not yet been selected (step S52).
The distance specifying unit 2104 specifies the distance between each of the positions of the contour points E at the selected time and the design surface (step S53). Next, the shortest distance line determination unit 2105 identifies the shortest distance line Lm passing through the contour point E having the shortest distance from the design surface (step S54).

The current terrain update unit 2106 determines whether or not the upward update flag for the selected time is ON (step S55). If the upper update flag is off (step S55: NO), the current terrain update unit 2106 updates the current terrain data of the contour points E on the shortest distance line Lm that have the same plane position as the contour points E. is compared with the height of contour point E, and it is determined whether or not the height of contour point E is less than the height of the current terrain data (step S56). Here, the “plane position” is a plane position in plan view from above.

If the height of the contour point E is less than the height of the current topography data (step S56: YES), the current topography update unit 2106 updates the height of the current topography data of the point that shares the same plane position with the contour point E as The height is updated to the height of contour point E (step S57). That is, the current terrain update unit 2106 updates the current terrain data based on the height of the lowest bucket 133 . On the other hand, if the height of the contour point E is equal to or higher than the height of the current terrain data (step S56: NO), the height of the current terrain data is not updated.

On the other hand, if the upward update flag is ON (step S55: YES), work state identification unit 2103 determines whether the work state of work implement 130 is the leveling work state based on the intervention flag associated with the selected time. It is determined whether or not (step S58). If the working state of the working machine 130 is not the leveling state (step S58: NO), the current terrain update unit 2106 determines that the height of contour point E is less than the height of the current terrain data in steps S56 and S57. If so, update the height of the target construction data.
On the other hand, if the working state of the working machine 130 is the leveling state (step S58: YES), the current terrain update unit 2106 advances the process to step S57, and the height of contour point E is the height of the current terrain data. The height of the current terrain data is updated to the height of contour point E regardless of whether it is less than or not. That is, the current terrain update unit 2106 always updates the current terrain data based on the latest position of the bucket 133 .

Next, the time series selection unit 2102 determines whether or not there is an unselected time in the time series acquired in step S51 (step S59). If there is a time that has not been selected (step S59: YES), the time series selection unit 2102 returns the process to step S52 and selects the next time.
On the other hand, if there is no unselected time (step S59: NO), the construction management device 200 terminates the update processing of the current topography data.

《Action and effect》
FIG. 10 is a diagram showing an example of embankment work.
For example, when a construction site is flat in construction work of an expressway, it is necessary to carry out embankment work in order to form a bank. The dump truck 300 transports earth and sand required for embankment formation and discharges it to the construction site. As a result, a mound M of earth and sand is formed at the construction site. The hydraulic excavator 100 cuts down the mound M of earth and sand with the bucket 133 and forms a bank by leveling work. In this case, the current topography after the start of construction will be higher than before construction.

FIG. 11 is a diagram illustrating an example of update processing of current topography data by the construction management apparatus according to the first embodiment.
When it is permitted to update the height of the current terrain data to an upper value during leveling work and the work state is the leveling work state, as shown in FIG. It is updated to the height of contour point E closest to the face. That is, according to the first embodiment, the construction management device 200 corresponds to the position of the bucket 133 based on the height through which the contour point E of the bucket 133 passes when the work state is the leveling work state. Update the height of the current terrain data at the plane position to the upper value. As a result, the construction management device 200 can update the current topography data so as to reflect the current topography at the actual site during embankment work by the hydraulic excavator 100 . At this time, the height of the area in the current terrain data that the bucket 133 has not passed through is not updated upward. In this case, the input/output device 127 may display a diagram representing the current topography shown in FIG. That is, the input/output device 127 updates and displays the line representing the height of the current topography to an upper position based on the height of the bucket 133 when the working state of the working machine 130 is the predetermined working state. It functions as a display device having a display unit (not shown) that FIG. 11 shows an example of a screen displayed on the display section of the input/output device 127. As shown in FIG. The display unit displays at least a side view image of the bucket 133, a line indicating the design surface, and a line indicating the current topography from a side view of the hydraulic excavator 100. FIG.

Further, when the distance between the design surface and the bucket 133 is less than the predetermined distance, the hydraulic excavator 100 according to the first embodiment performs intervention control to decelerate the work implement 130 based on the distance between the design surface and the bucket 133. have a function. Then, construction management device 200 determines that the work state is leveling work when work implement 130 is under intervention control. As a result, the construction management apparatus 200 can automatically determine the work state without depending on input from an operator or the like.

Further, the construction management apparatus 200 according to the first embodiment updates the height of the current terrain data based on the point closest to the design surface among the contour points E of the bucket 133 . As a result, the construction management device 200 can appropriately update the height of the current terrain data regardless of whether the leveling work is performed with the cutting edge of the bucket 133 or the bottom surface of the bucket 133. can.

Further, the construction management device 200 according to the first embodiment acquires the position of the bucket 133 from the hydraulic excavator 100, and updates the height of the current terrain data with the lowest point based on the position of the bucket 133. The lowest point is updated, or the upward update is performed to update the height of the current landform data upward. The construction management apparatus 200 performs upward update when the upward update permission condition that the upward update flag and the intervention flag are ON is satisfied, and performs lowest point update when the upward update permission condition is not satisfied. As a result, the construction management apparatus 200 can update the current terrain data to the upper value during embankment work by the work machine.

<Second embodiment>
Next, a second embodiment will be described. The construction management apparatus 200 according to the first embodiment determines that leveling work is being performed when intervention control is being performed, and allows updating of the current topography data to an upper value. At this time, if the operator of the hydraulic excavator 100 moves the bucket 133 upward at the end of the leveling work, there is a possibility that the current terrain data will be updated to an upward value along with the movement. The construction management apparatus 200 according to the second embodiment does not update the current terrain data even if the bucket 133 is moved upward at the end of the leveling work.

<Configuration of construction management device>
A construction management apparatus 200 according to the second embodiment has the same configuration as that of the first embodiment, but differs from the first embodiment in the operations of a time-series selector 2102 and a current terrain updater 2106 .

If the work related to the selected time is the leveling work, the time series selection unit 2102 specifies the time period related to the leveling work after that time from the time series acquired in step S51. That is, the time series selection unit 2102 identifies a time period from the start to the end of a series of smoothing operations from the time series.
The current terrain update unit 2106 identifies the height of the lowest point for each plane position based on the positions of the plurality of contour points E for each time in the time period specified by the time series selection unit 2102, and updates the current terrain. Update. In other words, when there are multiple times during the above time period when the contour point E exists at a predetermined plane position, the current terrain update unit 2106 calculates the height of the lowest point of the contour point E at each time. The height of the contour point E is determined to be the lowest point height, and the height of the current terrain at the plane position is updated.

<<Operation of construction management device>>
The operation method of the construction management device 200 according to the second embodiment will be described below.
FIG. 12 is a flow chart showing the operation of the construction management device according to the second embodiment.
The construction management apparatus 200 according to the second embodiment executes the processes from step S51 to step S55, as in the first embodiment. In step S55, the construction management apparatus 200 according to the second embodiment does not allow updating of the current topography data to an upper value during the leveling work (step S55: NO), and the work implement 130 is not the leveling work state (step S58: NO), the processing from step S56 to step S59 is executed as in the first embodiment.

On the other hand, if the working state of work machine 130 is the leveling work state (step S58: YES), time-series selection unit 2102 specifies a time period related to the leveling work state after the time selected in step S52 ( step S151). Next, the current terrain update unit 2106 identifies the height of the lowest point for each plane position based on the positions of the contour points E at each time in the identified time period (step S152).
Then, the current terrain update unit 2106 updates the height of the current terrain data at the same plane position as each lowest point to the height of each lowest point (step S57).

《Action and effect》
FIG. 13 is a diagram illustrating an example of update processing of current topography data by the construction management apparatus according to the second embodiment.
When it is permitted to update the current topography data to an upper value during the leveling work and the work state is the leveling work state, as shown in FIG. It is updated to the height of the lowest point of contour point E. For example, as shown in FIG. 13, when the bucket 133 moves upward after finishing the leveling work, the height of the plane position of the bucket 133 becomes higher than the height of the bucket 133 when the leveling work was actually performed. get higher Therefore, movement of the bucket 133 after completion of the leveling work in the second embodiment is not used to update the current terrain data. That is, according to the construction management device 200 according to the second embodiment, it is possible to prevent the current topography data from being erroneously updated when the bucket 133 is moved upward at the end of the leveling work.

<Third embodiment>
Next, a third embodiment will be described. The construction management apparatus 200 according to the third embodiment prevents the current topography data from being erroneously updated even when the bucket 133 is moved upward at the end of the leveling work, using a method different from that of the second embodiment. .

<Configuration of construction management device>
The construction management apparatus 200 according to the third embodiment has the same configuration as that of the first embodiment, and the operations of the bucket position acquisition unit 2101, the work state identification unit 2103, and the current terrain update unit 2106 are the same as those in the first embodiment. Different from the form.

Bucket position acquisition unit 2101 further acquires the time series of the operation amount of work implement 130 from work implement control device 126 of hydraulic excavator 100 . That is, the operation amount acquisition unit 602 of the work implement control device 126 according to the third embodiment stores the operation amounts of the boom 131, the arm 132, and the bucket 133 in the bucket position storage unit 611 in association with the time, and transmits the bucket position. Unit 612 transmits the operation amounts of boom 131 , arm 132 and bucket 133 in addition to the positions of contour points E, intervention flags, and upward update flags. That is, bucket position acquisition unit 2101 is an example of an operation signal acquisition unit that acquires an operation signal of an operation lever for operating work implement 130 .
Based on the operation amounts of boom 131, arm 132, and bucket 133 acquired by bucket position acquisition unit 2101, work state identification unit 2103 determines whether bucket 133 moves upward.

<<Operation of construction management device>>
The operation method of the construction management device 200 according to the third embodiment will be described below.
FIG. 14 is a flow chart showing the operation of the construction management device according to the third embodiment.
In step S51, the bucket position acquisition unit 2101 of the construction management device 200 according to the third embodiment receives from the work machine control device 126 of the hydraulic excavator 100 the positions of the plurality of contour points E of the bucket 133 in the field coordinate system, the intervention A flag, an upward update flag, and a time series of the operation amount of work implement 130 are acquired (step S251).
Next, the construction management apparatus 200 executes the processes from step S52 to step S55 as in the first embodiment. The construction management apparatus 200 according to the third embodiment, in step S55, when the upper update flag is off (step S55: NO), and when the working state of the work implement 130 is not in the leveling state (step S58: NO), the processing from step S56 to step S57 is executed as in the first embodiment.

On the other hand, if the work state of work machine 130 is the leveling work state (step S58: YES), the work state identification unit 2103 boom operation determination unit determines the operation of boom 131, arm 132, and bucket 133 at the selected time. Based on the amount, it is determined whether or not the bucket 133 moves upward (step S252). If it is determined that the bucket 133 will move upward (step S252: YES), the current terrain update unit 2106 does not update the height of the current terrain data to an upward value. That is, when it is determined that the bucket 133 moves upward, the current terrain update unit 2106 prohibits updating the height of the current terrain data to an upward value. The fact that the operator is performing an operation to move the bucket 133 upward is because the operator intends to end the leveling work.

If it is determined that the bucket 133 moves upward (step S253: YES), the current terrain update unit 2106 proceeds to step S57 and updates the height of the current terrain data based on the shortest distance line Lm. (Step S57).

《Action and effect》
As described above, the construction management apparatus 200 according to the third embodiment updates the height of the current terrain data when the work state is the leveling work state and the operation of raising the bucket 133 is not performed. . As a result, as in the second embodiment, it is possible to prevent the current topography data from being erroneously updated when the bucket 133 is moved upward at the end of the leveling work.
In another embodiment, when the position of the bucket 133 is within a predetermined range in the vertical direction with respect to the design surface and the work implement 130 is operated, Based on the position of the bucket 133, the height of the current terrain data may be updated to an upper value. The predetermined range of the design plane also includes a region within the predetermined range in the direction normal to the design plane. Further, the operation of work implement 130 includes an operation of bringing bucket 133 closer to the design surface and an operation of moving bucket 133 away from the design surface.

<Fourth Embodiment>
The construction management apparatus 200 according to the first embodiment updates the current topography data to an upper value when the working state of the working machine 130 is the leveling state. On the other hand, the construction management apparatus 200 according to the fourth embodiment updates the current topography data to an upper value when the working state of the working machine 130 is the rolling compaction state. The rolling compaction operation is an operation for compacting the ground by hitting the earth and sand with the bottom surface of the bucket 133 . The rolling compaction work state is an example of a predetermined work state.

<Configuration of construction management device>
A construction management apparatus 200 according to the fourth embodiment has the same configuration as that of the first embodiment, and the operation of the work state identification unit 2103 differs from that of the first embodiment.

The work state identifying unit 2103 identifies the bottom angle, which is the angle between the bottom of the bucket 133 and the design surface, based on the target construction data and the positions of the contour points E of the bucket 133 .
The work state identification unit 2103 determines that the work state is the rolling compaction work state when the bottom surface angle is less than a predetermined angle. For example, during excavation work, the work implement 130 is lowered onto the construction target while the cutting edge of the bucket 133 faces the design surface, so the bottom angle increases. On the other hand, during rolling compaction work, the work implement 130 is lowered onto the construction target while the bottom surface of the bucket 133 faces the design surface, so the bottom surface angle becomes small.

<<Operation of construction management device>>
The operation method of the construction management device 200 according to the fourth embodiment will be described below.
FIG. 15 is a flow chart showing the operation of the construction management device according to the fourth embodiment.
The construction management apparatus 200 according to the fourth embodiment executes the processes from step S51 to step S55, as in the first embodiment. The construction management apparatus 200 according to the fourth embodiment executes the processing from step S56 to step S57 in the same manner as in the first embodiment when the upper update flag is off in step S55 (step S55: NO). do.

On the other hand, if the upward update flag is ON (step S55: YES), the work state identifying unit 2103 determines the angle formed by the bottom surface of the bucket 133 and the design surface based on the positions of the contour points E selected in step S52. is specified (step S351). Next, the work state identification unit 2103 determines whether or not the work state is the rolling compaction state based on the identified bottom surface angle (step S352).

When it is determined that the work state is not the rolling compaction work state (step S352: NO), that is, when the bottom surface angle is equal to or greater than the predetermined angle, the construction management device 200 performs step S56 to step S56 as in the first embodiment. The process of S57 is executed. On the other hand, if it is determined that the work state is the rolling compaction work state (step S352: YES), that is, if the bottom surface angle is less than the predetermined angle, the construction management device 200 advances the process to step S57, and the contour point E The height of the current terrain data is updated to the height of the contour point E regardless of whether the height of E is less than the height of the current terrain data.

《Action and effect》
As described above, according to the fourth embodiment, the construction management device 200 stores current topography data related to the plane position of the bucket 133 based on the height of the bucket 133 when the work state is the rolling compaction state. Update the height to the upper value. As a result, the construction management device 200 can update the current terrain data when the hydraulic excavator 100 performs a rolling compaction operation during embankment work. In this embodiment, it is determined whether it is a rolling compaction work based on the bottom angle, but it is also possible to determine whether it is a rolling work by another method and change the update method of the current terrain data. .

Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the one described above, and various design changes and the like can be made.
In the above-described embodiment, the leveling work state and the rolling compaction work state are given as examples of the predetermined work state. good.

The construction management apparatus 200 according to the above-described embodiment updates the current topography data using the shortest distance line Lm passing through the contour point E closest to the design surface among the contour points E of the bucket 133. is not limited to For example, the construction management device 200 according to another embodiment updates the current terrain data using the shortest distance line Lm passing through the contour point E that is closest to the current terrain among the contour points of the bucket 133. good. Further, for example, the construction management apparatus 200 according to another embodiment may update the current topography data using a predetermined line of the bucket 133 such as the edge of the bucket 133 or the bottom surface. In another embodiment, when the bucket 133 is located below the design surface, the construction management device 200 determines the shortest contour point E of the bucket 133 that is closest to the design surface. Instead of using the distance line Lm, that is, the uppermost line, the line through which the lowest contour point passes may be used to update the current terrain data.

Moreover, although the construction management apparatus 200 according to the above-described embodiment determines that the leveling work is being performed when the intervention control is performed, the present invention is not limited to this. For example, the construction management apparatus 200 according to another embodiment fixes the line for updating the current topographical data to the cutting edge line, performs the intervention work, and determines the contour point E related to the cutting edge among the contour points E of the bucket 133. may be updated upwards at the contour point E on the cutting edge line when is closest to the design surface. Then, the construction management apparatus 200 according to another embodiment, even if intervention work is being performed, when the contour point E related to other than the cutting edge of the bucket 133 is closest to the design surface, the height of the contour point E is The height of the current terrain data may be updated only if it is lower than the height of the current terrain data. This is because in construction, leveling work using the cutting edge of the bucket 133 is often performed, and then finishing work is performed on the bottom surface of the bucket 133 .

In another embodiment, the construction management apparatus 200 may determine whether or not the leveling work is performed based on the lever operation (combination of boom, arm, and bucket operations), or may determine whether the leveling work is performed by analyzing video data. It may be determined whether or not it is work. Further, the leveling operation may be determined by AI (Artificial Intelligence) processing such as machine learning using signal values of lever operation and image data.

Further, in another embodiment, the construction management device 200 can be set to a predetermined level such as an excavation work state and a rolling compaction work state when the boom cylinder 134, the arm cylinder 135, or the bucket cylinder 136 is subjected to a pressure equal to or greater than a predetermined value. It may be determined that the work is in progress, and the current terrain data may be updated upward. This is because pressure is applied to the work implement 130 during predetermined work such as excavation and rolling compaction, and the work state can be determined based on this pressure. In another embodiment, the construction management device 200 determines that a predetermined work state such as an embankment work state exists when the bucket 133 enters an area within a predetermined range in the vertical direction with respect to the design surface. and update the current terrain upwards. This is because the fact that the bucket 133 is moving in the vicinity of the design surface is likely to be embankment work. Each of the excavation work state, the rolling compaction work state, and the embankment work state is an example of a predetermined work state.

When the upward update flag is on, the construction management device 200 not only updates the current terrain upward, but also updates the lowest point of the bucket 133 when it is located below the current terrain in the same manner as for the lowest point. You can update it below. That is, the construction management device 200 may constantly update the current terrain based on the bucket position.

In the above-described embodiment, the construction management device 200 obtains the shortest distance line Lm of the bucket 133 and uses only contour points E on the shortest distance line Lm to update the current topography, but this is not limitative. For example, the construction management device 200 according to another embodiment may update the current terrain using lines of a plurality of buckets 133 that pass through each contour point E, respectively. That is, since the plane position differs depending on the line, the construction management apparatus 200 may determine whether or not the current topography should be updated for each line. Also, if there is data on the position of the contour point E on a plurality of lines at a predetermined plane position, the height of the lowest point among them may be used to update the height of the current terrain data at that plane position. good.

Also, the construction management apparatus 200 according to another embodiment may update the current topography upward based on other conditions without using the upward update flag and the leveling work determination result. For example, the construction management device 200 according to another embodiment may perform upward updating only when intervention control using an intervention flag is in operation. That is, the construction management device 200 according to another embodiment may update the current topographical data upward when the work state is the intervention control state. In that case, the intervention control state is an example of a predetermined working state.

In addition, in the above-described embodiment, the work implement control device 126 transmits the intervention flag and the upward update flag to the construction management device 200 in addition to the bucket position information, but the present invention is not limited to this. For example, the work implement control device 126 according to another embodiment may transmit only the bucket position information and the upward update flag to the construction management device 200 by turning on the upward update flag during intervention control. In this case, the construction management apparatus 200 can omit the process of step S58 of FIG.

Further, in the above-described embodiment, the work machine control device 126, which is an in-vehicle device, and the construction management device 200, which is a server, share the above processing, but the processing is not limited to this. For example, in other embodiments, either one of the work implement control device 126 and the construction management device 200 may perform all the processing, or the work implement control device 126 and the construction management device 200 may perform the above-described operations. A similar process may be executed with a division different from the form. For example, in the above embodiment, the construction management device 200 updates the current topography, but in other embodiments, the work implement control device 126 stores the current topography data, and the work implement control device 126 updates the current topography data. It may be updated. In other words, the construction management device 200 may be a device provided in the work machine.

1 Construction Management System 100 Hydraulic Excavator 120 Revolving Body 110 Traveling Body 130 Work Machine 200 Construction Management Device 2101 Bucket Position Acquisition Unit 2102 Time Series Selection Unit 2103 Work State Identification Unit 2104 Distance Identification Unit 2105 Shortest distance line determination unit 2106 Current state topography update unit 2301 Target construction data storage unit 2302 Current state topography storage unit 2303 Upper update flag storage unit

Claims (5)

a current topography storage unit that stores current topography data, which is three-dimensional data representing the current topography to be constructed;
a bucket position acquisition unit that acquires the position of the bucket from a work machine that includes the bucket;
Receiving an input as to whether to turn on or off an upward update flag indicating whether to allow updating of the current terrain data to an upward value , and updating the upward update flag based on the input. an upward update flag acquisition unit;
and a current terrain update unit that updates the current terrain data based on the position of the bucket when the upward update flag is on. The current terrain update unit allows updating the current terrain data to an upper value when the upper update flag is on, and updates the current terrain data to an upper value when the upper update flag is off. not allowed to update to the value,
The construction management system according to claim 1. The current terrain update unit updates the height of the current terrain data with the height of the bucket when the upper update flag is off and the height of the bucket is equal to or less than the height of the current terrain data. and if the upward update flag is off and the height of the bucket is higher than the height of the current terrain data, the current terrain data is not updated;
The construction management system according to claim 1 or 2. When the upper update flag is off and the height of the bucket is lower than the height of the current terrain data, the current terrain update unit updates the current terrain data based on the height of the bucket at the lowest point. to update the
The construction management system according to any one of claims 1 to 3. A bucket position storage unit that stores the position of the bucket,
The construction management system according to any one of claims 1 to 4, wherein the bucket position storage unit stores the upward update flag in association with the position of the bucket.

Images