CN-116848307-B - Work support system and work support composite system

CN116848307BCN 116848307 BCN116848307 BCN 116848307BCN-116848307-B

Abstract

The invention provides a system capable of reliably notifying an operator of a movement mode of a work machine regardless of the length of a gap between the work machine and the operator. An identification image (M) is projected by an unmanned aerial vehicle (60) onto a peripheral region of an operator (for example, the ground located near the operator to such an extent that the operator can visually recognize the ground). The identification image (M) is an image representing the movement mode of the work machine (40). Therefore, compared with the case of projecting the identification image (M) at a location which is independent of the position of the operator, the movement mode of the operator can be reliably notified to the operator regardless of the length of the interval between the working machine (40) and the operator.

Inventors

YUUKI MORITA
FUJIWARA YUSUKE
UEDA YOSHIHIRO
YAMAZAKI YOICHIRO

Assignees

神钢建机株式会社

Dates

Publication Date: 20260512
Application Date: 20211213
Priority Date: 20210202

Claims (9)

1. A work support system, characterized in that, is a work support system including: A1 st support processing means for identifying respective positions of an operator and a work machine in time series, and identifying a1 st designated area determined based on time series of the positions of the work machine; A2 nd support processing unit that causes the unmanned aerial vehicle to move to a position where the worker identified by the 1 st support processing unit faces the unmanned aerial vehicle from below by controlling a flight operation function of the unmanned aerial vehicle, and causes the unmanned aerial vehicle to project an identification image indicating a movement pattern of the work machine determined based on a time series of the position of the work machine identified by the 1 st support processing unit onto a peripheral region of the worker, on the condition that the position of the worker identified by the 1 st support processing unit is included in the 1 st designated region by controlling an identification projection function of the unmanned aerial vehicle, The size of the 1 st designated area is determined according to the size of the space occupation volume or the width of the working machine and/or the moving speed of the working machine.
2. A work support system, comprising: A1 st support processing means for identifying respective positions of an operator and a work machine in time series, and identifying a1 st designated area determined based on time series of the positions of the work machine; And a 2 nd support processing unit configured to control a flight operation function of an unmanned aerial vehicle, to cause the unmanned aerial vehicle to orbit according to a time series of positions of the unmanned aerial vehicle, that is, an aircraft target position for navigation according to a time series of positions of the working machine recognized by the 1 st support processing unit, to move the unmanned aerial vehicle to a position facing the unmanned aerial vehicle from below with respect to the position of the working machine recognized by the 1 st support processing unit, and to project an identification image representing a movement pattern of the working machine to a surrounding area of the working machine by controlling an identification projection function of the unmanned aerial vehicle, the movement pattern of the working machine being determined based on the time series of positions of the working machine recognized by the 1 st support processing unit, on the condition that the position of the working machine recognized by the 1 st support processing unit is included in the 1 st designated area.
3. The work support system according to claim 2, wherein, The 1 st support processing element identifies a2 nd designated area determined based on a time series of the operator's position identified by the 1 st support processing element, The 2 nd support processing element causes the unmanned aerial vehicle to project the identification image differently on the ground of the 1 st specified area according to whether at least a portion of the 1 st specified area or at least a portion of the time series of positions of the work machine is included in the 2 nd specified area identified by the 1 st support processing element.
4. The work support system according to claim 1 to 3, The 2 nd support processing element causes the unmanned aerial vehicle to project the identification image on a location in a surrounding area of the worker, the location of the work machine identified by the 1 st support processing element or a location offset from a location in which a time series exists, the location being based on a location of the worker.
5. The work support system according to claim 1 to 3, The 2 nd support processing element causes the unmanned aerial vehicle to project the identification image indicating the position of the working machine or the azimuth in which the time series exists with respect to the position of the worker, onto the peripheral region of the worker based on the respective positions of the working machine and the worker recognized by the 1 st support processing element.
6. The work support system according to claim 1 to 3, The 2 nd support processing means outputs an identification notification to the working machine so that the operator can visually recognize the operation machine, wherein the operation machine is a working machine in which a movement mode is indicated by the identification image projected by the unmanned aerial vehicle to a peripheral area of the operator.
7. The work support system according to claim 6, wherein, The 2 nd support processing means associates a projection mode in which the unmanned aerial vehicle projects the identification image on a peripheral region of the worker with an output mode in which the identification notification is output by the work machine in which a movement mode is indicated by the identification image.
8. The work support system according to claim 1 to 3, The 2 nd support processing element outputs information indicating that the position of the unmanned aerial vehicle to be moved to the position facing the unmanned aerial vehicle from below is brought into contact with an operator of the working machine when the unmanned aerial vehicle is moved to the position facing the unmanned aerial vehicle from below, which is recognized by the 1 st support processing element.
9. A job support composite system is characterized in that, The work support system according to any one of claims 1 to 3, and the unmanned aerial vehicle.

Description

Work support system and work support composite system Technical Field The present invention relates to a technique for notifying an operator of a state of a work machine. Background When the work machine is moved by a remote operation or an actual machine operation by an operator, it is necessary to notify the operator of the traveling direction of the work machine in order to ensure the safety of the operator at the work site. Accordingly, a technique of projecting an image of a navigation route of a vehicle onto a road surface by an unmanned aerial vehicle when the vehicle operates in an unmanned mode is considered (for example, refer to patent document 1). Prior art literature Patent literature Patent document 1 Japanese patent No. 6707600 Disclosure of Invention Technical problem to be solved by the invention However, when the operator leaves the navigation route of the work machine, it becomes difficult to notify the operator that the navigation route is projected on the road surface, and further it becomes difficult to notify the operator of the traveling direction of the work machine. Accordingly, an object of the present invention is to provide a system capable of reliably notifying an operator of a movement mode of a work machine regardless of the length of a gap between the work machine and the operator. Solution to the above technical problems The work support system of the present invention includes: a1 st support processing means for identifying respective positions of the operator and the work machine in time series; And a 2 nd support processing unit that controls a flight operation function of the unmanned aerial vehicle to move the unmanned aerial vehicle to a position where the operator's position identified by the 1 st support processing unit faces the unmanned aerial vehicle from below, and controls an identification projection function of the unmanned aerial vehicle to project an identification image indicating a movement pattern of the working machine, which is determined based on a time series of the position of the working machine identified by the 1 st support processing unit, onto a surrounding area of the operator. According to the work support system of this configuration, the unmanned aerial vehicle projects the identification image on the peripheral region of the worker (for example, the ground located near the worker to the extent that the worker can visually recognize the ground). The "identification image" is an image indicating a movement mode of the work machine. Therefore, the movement mode of the working machine can be reliably notified to the operator regardless of the length of the interval between the working machine and the operator, as compared with the case where the identification image is projected at a location regardless of the position of the operator. Drawings Fig. 1 is a schematic diagram of a job support composite system according to an embodiment of the present invention. Fig. 2 is an explanatory diagram of the configuration of the remote operation device. Fig. 3 is an explanatory diagram of the structure of the work machine. Fig. 4 is an explanatory diagram of the 1 st function of the work support system. Fig. 5 is an explanatory diagram of the 2 nd function of the work support system. Fig. 6 is an explanatory diagram of a work environment image. Fig. 7 is an explanatory view of a navigation function of the unmanned aircraft with respect to the work machine. Fig. 8A is an explanatory diagram of the 1 st specifying method of the operator who is the notification target of the real machine state. Fig. 8B is an explanatory diagram of the 2 nd determination method of the operator who is the notification target of the real machine state. Fig. 9A is an explanatory diagram of the 1 st notification method of the status of the real machine of the worker by the unmanned aerial vehicle. Fig. 9B is an explanatory diagram of the 2 nd notification method of the status of the real machine of the worker by the unmanned aerial vehicle. Fig. 9C is an explanatory diagram of the 3 rd notification method of the status of the real machine of the worker by the unmanned aerial vehicle. Fig. 10A is an explanatory diagram of the 4 th notification method of the status of the real machine of the worker by the unmanned aerial vehicle. Fig. 10B is an explanatory diagram of the 5 th notification method of the status of the real machine of the worker by the unmanned aerial vehicle. Fig. 11A is an explanatory view of the 1 st cooperative system of the plurality of unmanned aircraft. Fig. 11B is an explanatory view of the 2 nd cooperative mode concerning a plurality of unmanned aerial vehicles. Fig. 12 is an explanatory diagram of a6 th notification method of the status of the real machine of the worker by the unmanned aerial vehicle. Detailed Description (Construction of remote operation System) The work support system shown in fig. 1 as an embodiment of the present invention is constitut