US-12618227-B2 - Method for controlling work assistance system, and program for controlling work assistance system

Abstract

The present invention enables proper assistance of an operation by an operator even when a sensor is not disposed in the correct position. In a method for controlling a work assistance system that assists work of an operator by using a machine guidance function, the work assistance system comprises: a sensor unit that is held by a moving part of a construction machine and acquires attitude information by using a sensor; and a portable information terminal device that acquires, by means of data communication with the sensor unit, the attitude information acquired by the sensor unit, and that, on the basis of the attitude information, reports information for assisting an operation by the operator. The method for controlling the work assistance system comprises: an imaging result acquisition step for acquiring an imaging result from the moving part having the sensor unit; an error calculation step for subjecting the imaging result to image processing to calculate a mounting error of the sensor unit with respect to a reference mounting position; and a correction step for using the mounting error to correct the attitude information.

Inventors

• Masamichi Suzuki

Assignees

• NIPPON SEIKI CO., LTD.

Dates

Publication Date

20260505

Application Date

20220310

Priority Date

20210615

Claims (9)

1. 1 . A method for controlling a work assistance system which assists work of an operator by a machine guidance function, the method comprising: acquiring an imaging result of a moving part of a working machine holding a sensor unit; performing image processing on the imaging result, and calculating a mounting error of the sensor unit with respect to a reference mounting position, wherein the mounting error represents a physical spatial deviation between an actual installation position of the sensor unit and the reference mounting position on the moving part, wherein the reference mounting position is a predetermined position at which the sensor unit is designed to be correctly mounted; registering data regarding the mounting error; acquiring posture information by means of an inertial measurement unit sensor provided in the sensor unit; correcting the posture information by using the registered data; and sending out the corrected posture information as information for assisting the work of the operator, wherein, during operation of the working machine, the posture information is repeatedly acquired from the sensor on the moving part of the working machine, wherein correcting the posture information includes applying a correction corresponding to the mounting error to the posture information to generate corrected posture information, and wherein the machine guidance function uses the corrected posture information to update, in real time, guidance output presented on an operator interface display or generate a control signal for a control system of the working machine.
2. 2 . The method for controlling the work assistance system according to claim 1 , wherein: the imaging result is acquirable by capturing an image of the moving part by an imaging unit provided in a portable information terminal device; and imaging assistance information is displayed on a display unit of the portable information terminal device before an image of the moving part is captured by the imaging unit.
3. 3 . The method for controlling the work assistance system according to claim 2 , wherein the imaging assistance information includes at least one of imageable area information that is displayed on the display unit and model imaging information of the working machine that is displayed on the display unit.
4. 4 . The method for controlling the work assistance system according to claim 3 , wherein the display unit displays notifying information associated with the imageable area information or the model imaging information.
5. 5 . The method for controlling the work assistance system according to claim 3 , wherein the model imaging information is a silhouette image.
6. 6 . The method for controlling the work assistance system according to claim 3 , wherein the model imaging information is displayed on the display unit for a predetermined time when a model imaging icon displayed on the display unit is operated.
7. 7 . The method for controlling the work assistance system according to claim 5 , wherein: a plurality of selection candidates of the silhouette image are displayed on the display unit by operating a silhouette selection icon displayed on the display unit; and by selecting one selection candidate from among the plurality of selection candidates, the silhouette image having been selected is displayed on the display unit.
8. 8 . The method for controlling the work assistance system according to claim 1 , wherein: the moving part includes a first reference point whose position remains unchanged when the moving part is operated, and a second reference point whose position is changed when the moving part is operated; and the work assistance system comprises an arithmetic unit which virtually defines, as the first reference point, a center point of a circle passing through the second reference points at three places or more obtained by operating the moving part and capturing an image of a required part of the working machine.
9. 9 . The method for controlling the work assistance system according to claim 8 , wherein the arithmetic unit sets a straight line, which connects the first reference point which is invisible from a side of an image-capturing person who captures an image of the required part of the working machine and the second reference point, to the reference mounting position defined virtually.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application is the U.S. National Phase under 35 U.S.C. § 371 of International Application No. PCT/JP2022/010479, filed on Mar. 10, 2022, which claims the benefit of Japanese Application No. 2021-099304, filed on Jun. 15, 2021, and the entire contents of each are hereby incorporated by reference. TECHNICAL FIELD The present invention relates to a method for controlling a work assistance system and a program for a controlling a work assistance system, and can be applied to a hydraulic shovel, for example. BACKGROUND ART Conventionally, construction machines (the so-called ICT construction machinery) in which a machine guidance function is incorporated have been provided. The machine guidance refers to a technology of supporting an operation of a construction machine by using a measurement technology such as total station (TS) and a global navigation satellite system (GNSS). With the machine guidance, it is possible to appropriately assist an operator with the work, and improve the work efficiency, safety, and work accuracy. With respect to such ICT construction machinery, Patent Document 1 discloses a configuration for correcting a deviation in a hydraulic cylinder stroke length. PRIOR ART DOCUMENT Patent Document Patent Document 1: JP 2014-137343 A SUMMARY OF THE INVENTION Problems to be Solved by the Invention Incidentally, the machine guidance function may be introduced into an existing construction machine by mounting a sensor or the like thereon afterward. However, when a sensor is arranged afterward in this way, a case where the sensor is not arranged at the correct position may be expected. In addition, a case where a sensor is replaced for maintenance or the like may be expected, and also in this case, it is expected that the sensor may not be arranged at the correct position. In the ICT construction machinery, if the sensor is not arranged at the correct position as in the above case, it may be difficult to accurately assist an operation of an operator. The present invention has been conceived in consideration of the above points, and it is an object of the present invention to propose a method for controlling a work assistance system and a program for a controlling a work assistance system which can accurately assist an operation of an operator even when a sensor is not arranged at the correct position. Solution to Problem In order to resolve such a problem, a method for controlling a work assistance system according to a first aspect of the present invention pertains to a method for controlling a work assistance system which assists work of an operator by a machine guidance function, in which the work assistance system includes: a sensor unit which is held on a moving part of a working machine and acquires posture information by a sensor; and a portable information terminal device which acquires the posture information acquired by the sensor unit via data communication with the sensor unit, and notifies the operator of information for assisting an operation of the operator on the basis of the posture information. The method for controlling the work assistance system includes: an imaging result acquisition step of acquiring an imaging result of the moving part including the sensor unit; an error calculation step of performing image processing on the imaging result, and calculating a mounting error of the sensor unit with respect to a reference mounting position; and a correction step of correcting the posture information in view of the mounting error. According to the configuration of the first aspect, by calculating the mounting error of the sensor unit with respect to the reference mounting position and correcting the posture information, even when a sensor is not arranged at the correct position, an operation of the operator can be accurately assisted. Further, a program for a controlling a work assistance system according to a second aspect of the present invention pertains to a program for controlling a work assistance system causing, by being executed by an arithmetic processing circuit, a predetermined processing procedure to be executed, in which the work assistance system includes: a sensor unit which is held on a moving part of a working machine and acquires posture information by a sensor; and a portable information terminal device which acquires the posture information acquired by the sensor unit via data communication with the sensor unit, and notifies the operator of information for assisting an operation of the operator on the basis of the posture information. The processing procedure includes: an imaging result acquisition step of acquiring an imaging result of the moving part including the sensor unit; an error calculation step of performing image processing on the imaging result, and calculating a mounting error of the sensor unit with respect to a reference mounting position; and a correction step of correcting the posture information i