阅读说明：本技术 再生装置、分析支援系统以及再生方法 (Reproduction device, analysis support system, and reproduction method ) 是由 滨田真太郎 大西喜之 青木充广 于 2020-04-14 设计创作，主要内容包括：作业机械的控制装置具备：位置指定接受部,其确定针对所述显示面板显示的所述状态图像的位置的指定；以及画面控制部,其进行与构成所述状态图像的一部分的零部件图像之中显示于所述确定的位置的图像相对应的画面控制。(A control device for a working machine is provided with: a position specification accepting unit that specifies specification of a position of the status image displayed on the display panel; and a screen control unit that performs screen control corresponding to an image displayed at the specified position among component images constituting a part of the state image.)

1. A regeneration device, wherein,

the reproduction device includes:

an acquisition unit that acquires log information of a construction machine;

a reproduction unit that reproduces the operation of the construction machine by sequentially applying the angle information of the construction machine included in the log information to a construction machine model; and

a synchronization unit that synchronizes the regeneration of the construction machine model based on first log information as the log information with the regeneration of the construction machine model based on second log information as the log information.

2. The regeneration device of claim 1,

the synchronization unit sets a timing at which the operation of the construction machine is switched from a predetermined operation to another predetermined operation as a regeneration start timing.

3. The regeneration device according to claim 2,

the synchronization unit sets a timing at which the operation of the construction machine is switched from waiting for soil discharge to soil discharge as a regeneration start timing.

4. The regeneration device according to any one of claims 1 to 3, wherein,

the acquisition unit acquires the second log information including information having a predetermined relationship with information included in the first log information.

5. The regeneration device of claim 4, wherein,

the acquisition unit acquires the second log information in which a difference between a variation in the turning angle indicated by the first log information and a variation in the turning angle indicated by the second log information is within a predetermined range.

6. The regeneration device according to claim 4 or 5, wherein,

the acquisition unit acquires the second log information in which a difference between the bucket height at the time of the discharging wait shown by the first log information and the bucket height at the time of the discharging wait shown by the second log information is within a predetermined range.

7. The regeneration device according to any one of claims 4 to 6, wherein,

the acquisition unit acquires the second log information so that a difference between the vehicle specification of the construction machine indicated by the first log information and the vehicle specification of the construction machine indicated by the second log information falls within a predetermined range.

8. The regeneration device according to any one of claims 4 to 7, wherein,

the acquisition unit acquires the second log information so that the driving pattern included in the first log information is the same as the driving pattern included in the second log information.

9. The regeneration device according to any one of claims 4 to 8, wherein,

the acquisition unit acquires relatively long log information (TL2) such that a difference between the size of the loading-target transport vehicle indicated by the first log information and the size of the loading-target transport vehicle indicated by the second log information falls within a predetermined range.

10. An analysis support system, wherein,

the analysis support system includes:

an acquisition unit that acquires log information of a construction machine;

a reproduction unit that reproduces the operation of the construction machine by sequentially applying the angle information of the construction machine included in the log information to a construction machine model; and

a synchronization unit that synchronizes the regeneration of the construction machine model based on first log information as the log information with the regeneration of the construction machine model based on second log information as the log information.

11. A method of regeneration, wherein,

the regeneration method comprises the following steps:

acquiring log information of the construction machine;

sequentially applying the angle information of the construction machine included in the log information to a construction machine model, thereby regenerating the operation of the construction machine; and

synchronizing the regeneration of the construction machine model based on first log information as the log information with the regeneration of the construction machine model based on second log information as the log information.

12. A regeneration device, wherein,

the reproduction device includes:

an acquisition unit that acquires log information of a construction machine; and

and a reproduction unit that sequentially applies the angle information of the construction machine, which is included in the first log information and the second log information, to a construction machine model, and reproduces the operation of the construction machine model corresponding to the first log information and the operation of the construction machine model corresponding to the second log information while displaying the operation of the construction machine model in a superimposed or aligned manner.

Technical Field

The invention relates to a reproduction device, an analysis support system, and a reproduction method.

The present application claims priority to Japanese application laid-open application No. 2019-086576, 4/26/2019, and the contents of which are incorporated herein by reference.

Background

Patent document 1 discloses a work support image generation device capable of supporting the work of an operator without arranging a dedicated camera-mounted vehicle on site and generating a support image including relative position information between a construction machine and a transport vehicle, and a remote control system for a construction machine including the work support image generation device.

Prior art documents

Patent document

Patent document 1: japanese laid-open patent publication No. 2016-089388

Disclosure of Invention

Problems to be solved by the invention

In the field related to driving and operation of construction machines, there is a need to review own operations, understand operations of skilled operators, understand operations when a construction machine has a failure, and understand operations when an abnormality occurs in a construction machine. Therefore, there is a demand for development of a tool capable of analyzing the operation of the construction machine in detail by faithfully reproducing the operation of the construction machine by the operation of the operator.

In the above-described tool, a function of being able to grasp a difference in operation between two different construction machines is desired.

In view of the above-described problems, an object of the present invention is to provide a regeneration device, an analysis support system, and a regeneration method having a function of recognizing a difference in operation between two different construction machines.

Means for solving the problems

According to one aspect of the present invention, a playback device includes: an acquisition unit that acquires log information of a construction machine; a reproduction unit that reproduces the operation of the construction machine by sequentially applying the angle information of the construction machine included in the log information to a construction machine model; and a synchronization unit that synchronizes the regeneration of the construction machine model based on first log information as the log information and the regeneration of the construction machine model based on second log information as the log information.

Effects of the invention

According to the above aspect, the difference in the operation of the two different construction machines can be grasped.

Drawings

Fig. 1 is a diagram showing an overall configuration of an analysis support system according to a first embodiment.

Fig. 2 is a diagram showing the structure of the construction machine of the first embodiment.

Fig. 3 is a diagram showing the structure of the cab of the construction machine according to the first embodiment.

Fig. 4 is a diagram showing a functional configuration of the playback device according to the first embodiment.

Fig. 5 is a diagram showing a process flow of the playback device according to the first embodiment.

Fig. 6 is a first diagram showing an example of log information in the first embodiment.

Fig. 7 is a second diagram showing an example of log information in the first embodiment.

Fig. 8 is a third diagram showing an example of log information in the first embodiment.

Fig. 9 is a diagram showing a heatmap used for estimation of job content according to the first embodiment.

Fig. 10 is a diagram showing a flow of processing performed by the determination unit of the playback device according to the first embodiment.

Fig. 11 is a diagram showing an example of a construction machine model of the first embodiment.

Fig. 12 is a diagram illustrating an example of a display image according to the first embodiment.

Fig. 13 is a diagram showing an example of a display image according to a modification of the first embodiment.

Detailed Description

< first embodiment >

Hereinafter, a reproduction device according to a first embodiment and an analysis support system including the reproduction device will be described in detail with reference to fig. 1 to 10.

(Overall configuration of analysis support System)

Fig. 1 is a diagram showing an overall configuration of an analysis support system according to a first embodiment.

The analysis support system 1 includes a playback device 10 and data recorders 20 mounted on the plurality of construction machines 3, respectively.

The construction machine 3 is the object of the work analysis performed by the regeneration device 10. Examples of the construction machine 3 include a hydraulic excavator, a wheel loader, and the like. In the following description, a hydraulic excavator is described as an example of the construction machine 3. Each construction machine 3 is provided with a plurality of sensors. The data recorder 20 records and stores information indicating the state of the construction machine 3 acquired by the sensor in time series. Hereinafter, information indicating the state of the construction machine 3 at each time recorded by the data recorder 20 is also described as log information. In the case where the construction machine 3 is operated by using the electric operation signal as the operation means for operating the construction machine 3, the information of the operation signal of the construction machine 3 may be recorded and stored in time series and included in the log information. The data recorder 20 transmits the recorded log information to the playback device 10 via the wide area communication network at regular time intervals. Note that the predetermined time interval is, for example, a 5-minute interval. The playback device 10 records the log information received from the data recorder 20 on a recording medium.

The function of the playback device 10 will be described later.

(construction machine Structure)

Fig. 2 is a diagram showing the structure of the construction machine of the first embodiment.

The construction machine 3 as a hydraulic excavator excavates sand and the like at a work site or the like to level the ground. As shown in fig. 2, the construction machine 3 as a hydraulic excavator includes a lower traveling structure 31 for traveling, and an upper revolving structure 32 provided above the lower traveling structure 31 and capable of revolving. Further, upper revolving structure 32 is provided with cab 32A, work implement 32B, and two GPS antennas G1 and G2.

Lower traveling body 31 has left crawler belt CL and right crawler belt CR. The construction machine 3 moves forward, revolves, and moves backward by the rotation of the left crawler belt CL and the right crawler belt CR.

The cab 32A is a place where an operator of the construction machine 3 gets on and operates. The cab 32A is provided, for example, in a left portion of a front end portion of the upper slewing body 32. The structure of the interior of the cab 32A will be described later.

The work device 32B includes a boom BM, an arm AR, and a bucket BK. The boom BM is attached to the front end portion of the upper slewing body 32. Further, the arm AR is attached to the boom BM. Further, the bucket BK is attached to the arm AR. Further, a boom cylinder SL1 is mounted between the upper swing body 32 and the boom BM. The boom BM can be operated with respect to the upper slewing body 32 by driving the boom cylinder SL 1. An arm cylinder SL2 is installed between the boom BM and the arm AR. The arm AR can be operated with respect to the boom BM by driving the arm cylinder SL 2. A bucket cylinder SL3 is installed between the arm AR and the bucket BK. The bucket BK can be operated with respect to the arm AR by driving the bucket cylinder SL 3.

The upper revolving structure 32, the boom BM, the arm AR, and the bucket BK provided in the construction machine 3 as a hydraulic excavator are one aspect of the movable portion of the construction machine 3.

(Structure of cab)

Fig. 3 is a diagram showing the structure of the cab of the construction machine according to the first embodiment.

As shown in fig. 3, cab 32A is provided with operation levers L1, L2, pedals F1, F2, and travel levers R1, R2.

The operating lever L1 and the operating lever L2 are disposed on the left and right of the seat ST in the cab 32A. In addition, the footrest F1 and the footrest F2 are disposed in front of the seat ST and on the floor surface in the cab 32A.

An example of an operation mode showing a correspondence relationship between input operations to the operation levers L1 and L2 and the travel levers R1 and R2 and an operation of the construction machine 3 as a hydraulic excavator will be described below.

The operation lever L1 disposed on the left side when facing the cab front is an operation mechanism for performing the swing operation of the upper swing body 32 and the excavating/dumping operation of the arm AR. Specifically, when the operator of the construction machine 3 tilts the operation lever L1 forward, the arm AR performs the discharging operation. When the operator of the construction machine 3 tilts the operation lever L1 backward, the arm AR performs the excavation operation. When the operator of the construction machine 3 turns the operating lever L1 to the right, the upper turning body 32 turns to the right. When the operator of the construction machine 3 turns the operating lever L1 in the left direction, the upper turning body 32 turns left. When the operation lever L1 is tilted in the front-rear direction, the upper swing body 32 may swing right or left, and when the operation lever L1 is tilted in the left-right direction, the arm AR may perform the dumping operation or the excavating operation.

The operating lever L2 disposed on the right side when facing the cab front is an operating mechanism for performing the excavating/discharging operation of the bucket BK and the raising/lowering operation of the boom BM. Specifically, when the operator of the construction machine 3 tilts the operation lever L2 forward, the boom BM is lowered. When the operator of the construction machine 3 tilts the lever L2 backward, the boom BM is lifted. When the operator of the construction machine 3 tilts the operating lever L2 in the right direction, the bucket BK is discharged. When the operator of the construction machine 3 tilts the control lever L2 in the left direction, the excavation operation of the bucket BK is performed.

The travel levers R1 and R2 are operation mechanisms for controlling the operation of the lower traveling structure 31, that is, the travel of the construction machine 3. The travel lever R1 disposed on the left side when facing the cab front corresponds to the rotational drive of the left crawler belt CL of the lower traveling structure 31. Specifically, when the operator of the construction machine 3 tilts the travel lever R1 forward, the left crawler belt CL rotates in the forward direction. When the operator of the construction machine 3 tilts the travel lever R1 backward, the left crawler belt CL rotates backward.

The travel lever R2 disposed on the right side when facing the cab front corresponds to the rotational driving of the right crawler CR of the lower traveling structure 31. Specifically, when the operator of the construction machine 3 tilts the travel lever R2 forward, the right crawler belt CR rotates in the forward direction. When the operator of the construction machine 3 tilts the travel lever R2 backward, the right crawler belt CR rotates backward. The pedals F1 and F2 are linked to the travel levers R1 and R2, respectively, and travel control can be performed by the pedals F1 and F2.

The above operation mode is merely an example, and is not limited to the above embodiment depending on the type of the hydraulic excavator or the like.

In the embodiment, the construction machine 3 described with reference to fig. 2 may not include the GPS antennas G1 and G2.

(functional Structure of reproduction apparatus)

Fig. 4 is a diagram showing a functional configuration of the playback device according to the first embodiment.

Hereinafter, the function of the playback device 10 according to the first embodiment will be described with reference to fig. 4.

As shown in fig. 4, the playback device 10 includes a CPU100, a memory 101, a display unit 102, an operation receiving unit 103, a communication interface 104, and a memory 105. The CPU100 may be a processor such as an FPGA or a GPU instead of the CPU.

The CPU100 is a processor that manages control of the entire operation of the playback device 10. Various functions of the CPU100 will be described later.

The memory 101 is a so-called main storage device. In the memory 101, commands and data necessary for the CPU100 to operate based on a program are developed.

The display unit 102 is a display device capable of visually displaying information, and is, for example, a liquid crystal display, an organic EL display, or the like.

The operation receiving unit 103 is an input device, and is, for example, a normal mouse, a keyboard, a touch sensor, or the like.

The communication interface 104 is a communication interface for communicating with the data recorder 20.

The storage 105 is a so-called auxiliary storage device, such as an hdd (hard Disk drive), ssd (solid State drive), or the like. The storage 105 stores therein log information TL received from the data recorder 20, the type of vehicle of the construction machine 3, a construction machine model TM prepared in advance for each type, and the like. The construction machine model TM will be described later. The memory 105 also stores a unit work prediction model PM1 used when estimating the content of the construction machine 3, an element work prediction model PM2, heatmaps (H1 and H2) generated during estimation, the estimated work content R of the construction machine 3, and the like. The unit work prediction model PM1, the element work prediction model PM2, and the heatmap (H1, H2) will be described later.

The functions of the CPU100 of the playback device 10 according to the first embodiment will be described in detail. The CPU100 functions as an acquisition unit 1000, a reception unit 1001, an extraction unit 1002, a reproduction unit 1003, an estimation unit 1004, a determination unit 1005, and a synchronization unit 1006 by operating based on a predetermined program.

The predetermined program may be used to realize a part of the functions of the playback device 10. For example, the program may function in combination with another program already stored in the storage 105 or in combination with another program installed in another device. In addition to or instead of the above-described configuration, the playback device 10 may include a custom lsi (large Scale Integrated circuit) such as pld (programmable Logic device) in another embodiment. Examples of PLDs include PAL (Programmable Array Logic), GAL (generic Array Logic), CPLD (Complex Programmable Logic device), FPGA (field Programmable Gate Array). In this case, a part or all of the functions implemented by the processor may be implemented by the integrated circuit.

The acquisition unit 1000 acquires log information TL to be reproduced from among the plurality of log information TL recorded and stored in the storage 105. Here, the plurality of pieces of log information TL may be separately recorded in files recorded with different file names in the storage 105.

The acquisition unit 1000 acquires two pieces of log information TL to be compared. One of the two pieces of log information acquired by the acquisition unit 1000 is log information specified by an operator as a target of reproduction by a file name or the like. Hereinafter, the log information is described as designated log information TL1 (first log information). The other of the two pieces of log information is log information that is reproduced simultaneously with the reproduction based on the specified log information TL 1. Hereinafter, the log information is referred to as comparison log information TL2 (second log information). The comparison log information TL2 may be, for example, log information that is selected in advance as a "sample" of various work contents and conditions from the viewpoints of excellent fuel efficiency, short work time, driving by a skilled person, and the like.

The acquiring unit 1000 according to the present embodiment automatically searches for and acquires appropriate comparison log information TL2 as a comparison target of the designated log information TL1 based on the determination result of the determining unit 1005 described later. However, the acquisition unit 1000 according to another embodiment is not limited to the above-described embodiment, and for example, the acquisition unit 1000 may acquire log information specified by an operator by a file name or the like as the comparison log information TL 2. In addition, when only one piece of comparison log information TL2 is recorded, the acquisition unit 1000 may acquire the one piece of comparison log information TL 2.

The receiving unit 1001 receives a predetermined reproduction instruction from an operator of the reproduction apparatus 10. For example, the receiving unit 1001 receives a regeneration instruction of the construction machine 3 from an operator of the regeneration device 10.

The extraction unit 1002 extracts angle information for reproduction of the construction machine 3 from the acquired log information TL.

The regeneration unit 1003 applies the extracted angle information of the construction machine 3 to the construction machine model TM corresponding to the construction machine 3 to regenerate the same.

The estimation unit 1004 estimates the work content at each time of the construction machine 3 from the acquired log information TL.

The determination unit 1005 determines whether or not the comparison log information TL2 is appropriate as a comparison target of the designated log information TL1, based on the information included in the designated log information TL 1.

The synchronization unit 1006 performs a process of synchronizing the reproduction of the construction machine model TM based on the designated log information TL1 with the reproduction of the construction machine model TM based on the comparison log information TL 2. Specifically, the synchronization unit 1006 determines the time-series reproduction start time of the animation of the construction machine model TM based on the work content estimated by the estimation unit 1004.

(treatment flow of the reproduction apparatus)

Fig. 5 is a diagram showing a process flow of the playback device according to the first embodiment.

Fig. 6 to 8 are first to third diagrams showing examples of log information according to the first embodiment.

Fig. 9 is a diagram showing a heatmap used for estimation of job content according to the first embodiment. Fig. 10 is a diagram showing a flow of processing performed by the determination unit of the playback device according to the first embodiment. Fig. 11 is a diagram showing an example of a construction machine model of the first embodiment.

Hereinafter, a specific process flow performed by the playback device 10 will be described in detail with reference to fig. 5 to 11.

The process flow shown in fig. 5 starts when the dedicated application is started by the operator of the playback device 10.

When the dedicated application is started by the operation of the operator, the acquisition unit 1000 of the CPU100 acquires the designation log information TL1 designated as the reproduction target and expands it in the memory 101 (step S00).

Here, the log information TL (designated log information TL1, comparison log information TL2) will be described with reference to fig. 6 to 8.

As shown in fig. 6 to 8, the log information TL includes construction machine identification information. Specifically, the construction machine identification information is an individual identification number for identifying each construction machine 3. In fig. 6 to 8, the construction machine identification information is assigned so as to correspond to a vehicle type, model number, body number, and the like of the construction machine 3 such as a hydraulic excavator, a wheel loader, and the like. The construction machine identification information may be a number, an english alphabet, a symbol, or a combination thereof, in addition to the number.

As shown in fig. 6, the log information TL includes information indicating the position and posture of the construction machine 3 at each time and angle information of the movable part of the construction machine 3. Specifically, the log information TL includes, for each time, the position of the construction machine 3, a roll (roll) angle of the construction machine 3 which is an inclination of the body in the left-right direction, a pitch (pitch) angle which is an inclination of the body in the front-rear direction, a swing angle, a boom angle, an arm angle, and a bucket angle. Here, the data recorder 20 mounted on the construction machine 3 specifies and records the position of the construction machine 3 based on positioning information indicating latitude/longitude, which is obtained by receiving information from the GPS antennas G1 and G2, for example. The data recorder 20 calculates and records the roll angle and the pitch angle of the construction machine 3 based on the Measurement results of the imu (inertial Measurement unit) mounted on the construction machine 3. The data recorder 20 calculates and records the rotation angle of the upper turning body 32 based on the positioning information obtained from the GPS antennas G1 and G2 provided in the upper turning body 32. Further, the data recorder 20 calculates and records the boom angle, the arm angle, and the bucket angle based on the respective extension and contraction degrees of the boom cylinder SL1, the arm cylinder SL2, and the bucket cylinder SL 3.

The position, the roll angle, and the pitch angle are information necessary for determining the position and the attitude of the construction machine 3 itself. Therefore, for example, in an embodiment in which the motion of only the upper revolving structure 32, the boom BM, the arm AR, and the bucket BK, which are the movable parts of the construction machine 3, is reproduced as a moving image, and the position and the posture of the construction machine 3 itself are not reproduced, the information of the position, the roll angle, and the pitch angle does not need to be included in the log information.

As shown in fig. 7, the log information TL includes a pilot hydraulic pressure (PPC pressure) indicating the degree of input to the operation levers L1, L2, and the like by the operator at each time, that is, the degree of inclination of the levers and the degree of depression of the pedals. Specifically, the log information TL records the PPC pressures of the control levers L1 and L2, the travel levers R1 and R2, and the pedals F1 and F2, which correspond to the respective operation types such as the left/right turning, the arm excavation/discharge, the boom raising/lowering, the bucket excavation/discharge, the right crawler forward/backward, and the left crawler forward/backward performed by the operator, for each time. The respective timings shown in fig. 7 correspond to the respective timings in fig. 6.

As shown in fig. 8, the log information TL includes information indicating the state of the main drive mechanism such as the engine and the hydraulic pump of the construction machine 3 at each time. Specifically, the log information TL records the engine cooling water temperature, the engine output, the instantaneous fuel consumption, and the oil temperature of the hydraulic pump at each time. The respective timings shown in fig. 8 correspond to the respective timings in fig. 6 and 7.

As shown in fig. 8, the log information TL includes the driving mode and the transport vehicle ID for identifying the transport vehicle to which the loading destination is assigned.

The driving modes include, for example, a fuel efficiency priority mode and a horsepower priority mode. In the fuel efficiency priority mode, the output (horsepower) of the construction machine 3 is automatically limited to suppress the fuel efficiency to a certain level or less. In the horsepower priority mode, since there is no limitation as described above, work can be performed while the original horsepower performance of the construction machine 3 is exhibited. The driving mode may be freely switched not only by the operator of the construction machine 3 but also automatically switched according to the current state of the construction machine 3. For example, when the fuel is equal to or less than the predetermined position during operation, the construction machine 3 is automatically switched from the horsepower-priority mode to the fuel efficiency-priority mode.

The transport vehicle ID is information for identifying the transport vehicle of the loading destination in the loading operation currently performed by the construction machine 3. The transport vehicle ID may be acquired by, for example, wireless communication or the like performed between the construction machine 3 and the transport vehicle, or may be manually input to the terminal device by an operator of the construction machine 3 by visual confirmation or the like.

Returning to fig. 5, the estimation unit 1004 of the CPU100 estimates the work content at each time of the construction machine 3 based on the designated log information TL1 acquired in step S00 (step S01).

Here, a procedure in which the estimation unit 1004 estimates the work content of the construction machine 3 from the log information TL will be described with reference to fig. 9. The estimation unit 1004 estimates the work content of the construction machine 3 for both the unit work and the element work. A unit job refers to a job that performs one job purpose. An element job is a series of operations or jobs that represent elements constituting a unit job and are divided into sections according to purposes.

Examples of the division of the unit work include "digging, loading", "hoeing", "sloping (from below)", "cargo concentration", "traveling", "parking/parking", and "trench digging", "landfill", "sloping (from above)" as well as "digging into a trench", "hoeing" shown in fig. 9.

The excavation loading is an operation of excavating and shoveling earth and sand or rock and loading the shoveled earth and sand or rock on a loading bed of a carrier vehicle. The excavation and loading are unit operations consisting of excavation, cargo turning, dumping, no-load turning, dumping waiting, and cargo bed pressing.

Hoeing is an operation of cutting an excess undulation of the ground to a flat level to a predetermined height. Hoeing consists of digging and dumping, or digging, cargo-carrying turning, dumping, and no-load turning, and may include a unit operation of pushing and sweeping.

The slope (from below) is an operation of making a slope by the construction machine 3 located below the target position. The slope (from below) is composed of rolling, digging, cargo carrying rotation, soil discharging and no-load rotation, and can comprise a unit operation of pushing flat.

The load collection is an operation of previously collecting earth and sand dug out by excavation or the like before loading the earth and sand into a transport vehicle. The cargo concentration is composed of digging, cargo turning, dumping and no-load turning, and can include a unit operation of pushing flat.

The traveling is an operation of moving the construction machine 3. The unit work is a unit work constituted by the unit work of the travel.

The parking/rest is a state in which the bucket BK is not filled with earth and soil and rocks and is stopped for a predetermined time or more. The parking/rest as the unit work is a unit work constituted by parking as the element work.

The trench excavation is an operation of excavating and shoveling a foundation into a trench shape in a slender manner. Trench excavation is comprised of excavation, cargo slewing, dumping, and no-load slewing, and may include a push-flat unit operation.

The landfill is an operation of filling sand into a vacant groove or hole in the ground to fill the ground flat. Landfilling is comprised of excavation, cargo-carrying slewing, dumping, rolling, and no-load slewing, and may include unit operations of pushing and sweeping.

The slope (from above) is an operation of making a slope by the construction machine 3 located above the target position. The slope (from above) is composed of rolling, digging, cargo-carrying turning, soil discharging and no-load turning, and can include a unit operation of pushing flat.

Examples of the partition for the element work include "excavation", "load turning", "waiting for discharging", "idle turning", and "load bed pressing" shown in fig. 9, and "rolling", "pushing", and "sweeping" as well.

Excavation is an operation of excavating and chipping earth or rock with the bucket BK.

The load turning is an operation of turning the upper turning body 32 while holding the cut earth and sand or rock in the bucket BK.

The discharging waiting is an operation for waiting for the loaded transport vehicle while holding the scooped earth and sand or rock in the bucket BK.

The dumping is an operation of discharging the scraped sand or rock from the bucket BK to a transport vehicle or a predetermined place.

The idle rotation is an operation of rotating the upper slewing body 32 in a state where the bucket BK is free from earth and sand.

The load bed pressing is an operation of pressing the soil loaded on the load bed of the transport vehicle from above with the bucket BK to level the soil.

Rolling is an operation of pressing sand with the bucket BK against the turned foundation to shape or reinforce the foundation.

The leveling is an operation of leveling earth and sand using the bottom surface of the bucket BK.

Sweeping is an operation of leveling earth and sand using the side of the bucket BK.

The estimation unit 1004 obtains a time series of likelihoods of the unit jobs by inputting the log information TL to the unit job prediction model PM1 in time series order. The unit job prediction model PM1 is a model of likelihood of outputting a unit job when the log information TL is input by learning using teacher data, and may be stored in the memory 105, for example.

The estimation unit 1004 obtains a time series of likelihoods related to the element job by inputting the log information TL to the element job prediction model PM2 in time series order. The element job prediction model PM2 is a model of likelihood of outputting an element job when the log information TL is input by learning using teacher data, and may be stored in the memory 105, for example.

The estimation unit 1004 smoothes the time series of likelihoods by applying the time series of likelihoods related to the unit jobs and the time series of likelihoods related to the element jobs to a time average filter, and generates a unit job heat map H1 showing the time series of likelihoods related to the smoothed unit jobs and an element job heat map H2 showing the time series of likelihoods related to the smoothed element jobs, as shown in fig. 9. The heat maps H1 and H2 are graphs in which colors indicating the likelihoods of the work sections are plotted on a plane having the vertical axis as the work section and the horizontal axis as the time on the basis of the time series of the smoothed likelihoods. The color of the heat map may be, for example, closer to blue as the likelihood of the partition of the job is lower, and closer to red as the likelihood of the partition of the job is higher. The inference unit 1004 stores the heatmaps H1 and H2 in the storage 105.

The estimation unit 1004 determines a time zone in which the likelihood of the unit work is dominant based on the time series of the smoothed likelihoods, and estimates the work content of the construction machine 3 in the time zone. For example, in a time zone in which the likelihood of "excavation load" as a unit work is dominant, the work content of the construction machine 3 is estimated as "excavation load". Similarly, the estimation unit 1004 specifies a time zone in which the likelihood of the element work is dominant based on the time series of the smoothed likelihoods, and estimates the work content of the construction machine 3 in the time zone. For example, in a time zone in which the likelihood of "digging" as an element work is dominant, the work content of the construction machine 3 is estimated as "digging". The estimation unit 1004 stores information on the work content R estimated for the construction machine 3 in the memory 105.

Returning to fig. 5, the acquiring unit 1000 then acquires appropriate comparison log information TL2 as the comparison target of the designated log information TL1 acquired in step S00 (step S02).

At this time, the determination unit 1005 performs a determination process flow for determining whether or not the comparison target of the designated log information TL1 acquired in step S00 is appropriate for the plurality of comparison log information TL2 recorded in the storage 105. This processing flow will be described with reference to fig. 10.

First, the determination unit 1005 acquires one piece of comparison log information TL2 from among the pieces of comparison log information TL2 recorded in advance in the storage 105 (step S20).

Next, the determination unit 1005 determines whether or not the designated log information TL1 acquired in step S00 (fig. 5) and the comparison log information TL2 selected in step S20 are acquired from the construction machine 3 of the same vehicle specification (step S21). Specifically, the determination unit 1005 determines the vehicle specification of the construction machine 3 for which the designated log information TL1 is created, based on the construction machine identification information included in the designated log information TL 1. Next, the determination unit 1005 determines the vehicle specification of the construction machine 3 for which the comparison log information TL2 is created, based on the construction machine identification information included in the comparison log information TL 2. The determination section 1005 determines whether or not the vehicle specifications determined with respect to the designation log information TL1 and the comparison log information TL2 are the same degree.

When the vehicle specifications are the same (step S21; yes), determining unit 1005 proceeds to the next determination process (step S22). If the vehicle specifications are not the same (step S21; no), the determination unit 1005 proceeds to step S27 without adding the comparison log information TL2 selected in step S20 as a candidate for reproduction.

Next, the determination unit 1005 determines whether or not the amounts of change in the turning angle (the magnitudes of the swings) of the construction machine 3 indicated by the designated log information TL1 acquired in step S00 (fig. 5) and the comparison log information TL2 selected in step S20 are the same (step S22). Specifically, the determination unit 1005 determines the amount of change in the turning angle at the time of the cargo turning and the idle turning of the construction machine 3 for which the designated log information TL1 is created, based on the turning angle included in the designated log information TL 1. Next, the determination unit 1005 determines the amount of change in the turning angle at the time of the loaded turning and the unloaded turning of the construction machine 3 for which the comparison log information TL2 is created, based on the turning angle included in the comparison log information TL 2. The determination unit 1005 determines whether or not the amounts of change in the turning angle determined by the designated log information TL1 and the comparison log information TL2 are the same.

When the amount of change in the turning angle is the same (step S22; yes), the determination unit 1005 proceeds to the next determination process (step S23). If the amounts of change in the turning angles are not the same (step S22; no), the determination unit 1005 proceeds to step S27 without adding the comparison log information TL2 selected in step S20 as a candidate for reproduction.

Next, the determination unit 1005 determines whether or not the bucket heights of the construction machine 3 at the time of the discharging waiting time, which are indicated by the designated log information TL1 acquired in step S00 (fig. 5) and the comparison log information TL2 selected in step S20, are the same (step S23). Specifically, the determination unit 1005 determines the bucket height of the construction machine 3 at the time of waiting for discharging, at which the designated log information TL1 is created, based on the boom angle, arm angle, and bucket angle included in the designated log information TL 1. Next, the determination unit 1005 determines the bucket height of the construction machine 3 at the time of waiting for soil discharge, which is created as the comparison log information TL2, based on the boom angle, arm angle, and bucket angle included in the comparison log information TL 2. The determination section 1005 determines whether or not the bucket heights at the time of the discharging waiting determined by the designation log information TL1 and the comparison log information TL2 are the same.

When the bucket heights during the discharging waiting are the same (step S23; yes), determining unit 1005 proceeds to the next determining process (step S24). If the bucket heights at the time of the discharging wait are not the same (step S23; no), the determination unit 1005 proceeds to step S27 without adding the comparison log information TL2 selected in step S20 as a candidate for regeneration.

Next, the determination unit 1005 determines whether or not the driving modes of the construction machine 3 indicated by the designated log information TL1 acquired in step S00 (fig. 5) and the comparison log information TL2 selected in step S20 are the same (step S24). Specifically, the determination unit 1005 refers to the driving mode indicated by the designated log information TL1, and specifies the driving mode of the construction machine 3 in which the designated log information TL1 is created. Next, the determination unit 1005 refers to the driving pattern indicated by the comparison log information TL2, and specifies the driving pattern of the construction machine 3 in which the comparison log information TL2 is created. The determination section 1005 determines whether or not the driving patterns determined with respect to the designation log information TL1 and the comparison log information TL2 are the same.

If the driving modes are the same (step S24; yes), determining unit 1005 proceeds to the next determining process (step S25). If the driving modes are not the same (step S24; no), the determination unit 1005 proceeds to step S27 without adding the comparison log information TL2 selected in step S20 as a candidate for reproduction.

Next, the determination unit 1005 determines whether or not the sizes of the transport vehicles to be installed, which are indicated by the designated log information TL1 acquired in step S00 (fig. 5) and the comparison log information TL2 selected in step S20, of the construction machines 3 are the same (step S25). Specifically, the determination unit 1005 refers to the transport vehicle ID indicated by the designated log information TL1, and specifies the size of the transport vehicle to be installed in the construction machine 3 that created the designated log information TL 1. Next, the determination unit 1005 refers to the transport vehicle ID indicated by the comparison log information TL2, and specifies the size of the transport vehicle to be installed in the construction machine 3 for which the comparison log information TL2 is created. The determination unit 1005 determines whether or not the sizes of the transport vehicles determined by the designated log information TL1 and the comparison log information TL2 are the same.

If the sizes of the transport vehicles as the loading targets are the same (step S25; yes), the determination unit 1005 adds the comparison log information TL2 selected in step S20 as a candidate for reproduction (step S26). If the sizes of the transport vehicles as the loading targets are not the same (step S25; no), the determination unit 1005 proceeds to step S27 without adding the comparison log information TL2 selected in step S20 as a candidate for reproduction.

The determination section 1005 determines whether or not all the comparison log information recorded in the storage 105 is selected (step S27). If all the pieces of comparison log information are not selected (no in step S27), the determination unit 1005 returns to step S20 to select a new piece of comparison log information TL2 and perform the same determination process as described above.

When all the pieces of comparative log information are selected (step S27; yes), the determination unit 1005 receives designation of one piece of comparative log information TL2 from among the candidates for reproduction from the operator (step S28). The acquisition unit 1000 acquires the comparison log information TL2 designated in step S28.

Note that, when only one piece of comparison log information TL2 is added as a candidate for reproduction as a result of the processing from step S20 to step S27, the determination unit 1005 may omit the processing of receiving a designation from the operator. In addition, when one piece of the comparison log information TL2 added as a candidate for reproduction does not exist as a result of the processing from step S20 to step S27, the determination unit 1005 may notify the operator of the fact.

The order of the determination processing in steps S21 to S25 may be changed as appropriate, and the order shown in fig. 10 is not limited to that in other embodiments. In another embodiment, at least one of step S21 to step S25 may be performed without performing all of step S21 to step S25.

In addition, the determination unit 1005 according to another embodiment may filter the regeneration candidates based on the job position, the job time, the job partition, and the like, in addition to the determination processing in step S21 to step S25.

Returning to fig. 5, the synchronization unit 1006 then performs a process of synchronizing the animation reproduction of the construction machine model TM based on the designated log information TL1 with the animation reproduction of the construction machine model TM based on the comparison log information TL 2. Specifically, the synchronization unit 1006 specifies the time-series playback start time of the animation of the construction machine model TM based on the designated log information TL1 and the time-series playback start time of the animation of the construction machine model TM based on the comparison log information TL 2.

The method of determining the reproduction start time for synchronizing the two is as follows. That is, the synchronization unit 1006 extracts the timing of switching from the discharging standby to the discharging in the designated log information TL1 based on the element job heatmap H2 regarding the designated log information TL1 generated by the estimation unit 1004. Next, the synchronization unit 1006 extracts the timing of switching from the waiting for discharging to discharging in the comparison log information TL2 based on the element job heatmap H2 regarding the comparison log information TL2 generated by the estimation unit 1004. The synchronization unit 1006 selects one of the extracted timings and determines the selected timing as the reproduction start timing of each moving image.

The playback device 10 according to the other embodiment is not limited to the above embodiment. The reproduction device 10 (synchronization unit 1006) according to another embodiment may compare the combination of the angle information of the boom, arm, bucket, and the like in the comparison log information TL2 with the combination of the angle information of the boom, arm, bucket, and the like in the designation log information TL1, extract the timing at which the angles are close to each other, and determine the timing as the reproduction start time of each moving image, for example.

Next, the receiving unit 1001 receives a regeneration instruction from the operator (step S04). As an example of the reproduction instruction, an operation such as pressing a reproduction button may be used. The regeneration instruction may be given including information that becomes a starting point of regeneration, such as time, a position of the construction machine 3, and various events such as an abnormality occurring in the construction machine 3.

Next, the obtaining unit 1000 selects and reads the construction machine model TM corresponding to the referenced construction machine identification information from the memory 105 based on the construction machine identification information as the type of the construction machine 3 received by the receiving unit 1001 (step S05).

Here, the construction machine model TM will be described with reference to fig. 11.

As shown in fig. 11, the construction machine model TM is information including construction machine identification information, and the outer shape 3D model M0, the operation panel model M1, and the like of the construction machine 3 indicated by the construction machine identification information. The outer shape 3D model M0 is a 3D model representing the construction machine 3, and is constructed for each component of the construction machine 3 such as the lower traveling structure and the upper revolving structure. For example, the outline 3D model M0 shows the shape of the construction machine 3. For example, the external shape 3D model M0 is composed of a lower traveling body external shape model M01 showing the lower traveling body 31 of the construction machine 3, an upper revolving body external shape model M02 showing the upper revolving body 32, a boom external shape model M03 showing the boom BM, an arm external shape model M04 showing the arm AR, and a bucket external shape model M05 showing the bucket BK.

The operation panel model M1 is a model indicating the operation panel of the construction machine 3 specified by the construction machine identification information, and reproduces the input direction and the input degree corresponding to the operation levers L1 and L2 and the travel levers R1 and R2 by the operator of the construction machine 3. The operation panel model M1 includes information indicating the correspondence between the operation type of the construction machine 3 (right/left turn, arm excavation/discharge, boom raising/lowering, bucket excavation/discharge, right crawler forward/backward, left crawler forward/backward (see fig. 7)) and the input operation type of the operator of the construction machine 3 (forward of the operation lever L1, right direction of the operation lever L2, …).

Returning to fig. 5, the extraction unit 1002 extracts information used for reproduction from each of the designated log information TL1 and the comparison log information TL2 (step S06). For example, the extraction unit 1002 extracts various kinds of angle information such as a boom angle, an arm angle, and a bucket angle as information used for reproduction. Note that, as the information used for the regeneration, the pilot oil pressure shown in fig. 7 may be extracted. In addition, only the information used for reproduction may be acquired in step S00 and step S02.

Next, the reproduction unit 1003 reproduces the animation of the construction machine model TM based on the designated log information TL1 simultaneously with the reproduction of the animation of the construction machine model TM based on the comparison log information TL2 (step S07). Here, the reproduction unit 1003 applies the various pieces of information recorded in the designated log information TL1 to the construction machine model TM in the order of older time stamps from the reproduction start time determined by the synchronization processing in step S03, and reproduces the motion of the construction machine 3 as a moving image. Simultaneously with the animation reproduction, the reproduction unit 1003 applies the various information recorded in the comparison log information TL2 to the construction machine model TM in the order of older time stamps from the reproduction start time determined by the synchronization processing in step S03, and reproduces the animation of the operation of the construction machine 3.

The processing content of the playback unit 1003 will be described in detail below. The reproduction unit 1003 changes the angle of the corresponding portion in the outline 3D model M0 based on various angle information such as the pivot angle and the boom angle indicated by the log information TL (the designated log information TL1 and the comparison log information TL 2). For example, the regeneration unit 1003 reproduces the position and posture of the bucket BK of the construction machine 3 by tilting the bucket outline model M05 around the rotation axis defined at the connection position with the arm outline model M04 so as to be the bucket angle indicated by the log information TL.

Similarly, the regeneration unit 1003 reproduces the position and posture of the arm AR of the construction machine 3 by tilting the arm profile model M04 around the rotation axis defined at the connection position with the boom profile model M03 to the arm angle indicated by the log information TL.

Similarly, the regeneration unit 1003 reproduces the position and posture of the upper slewing body 32 of the construction machine 3 by tilting the upper slewing body outline model M02 about the rotation axis defined at the connection position with the lower traveling body outline model M01 to the slewing angle indicated by the log information TL.

Similarly, the regeneration unit 1003 regenerates the attitude of the upper revolving body 32 of the construction machine 3 by tilting the lower traveling body figure model M01 so as to be at the roll angle indicated by the log information TL about the roll rotation axis defined by the lower traveling body figure model M01 and tilting it so as to be at the pitch angle indicated by the log information TL about the pitch rotation axis defined by the lower traveling body figure model M01.

The playback device 10 according to the first embodiment can perform moving image playback of the traveling of the construction machine 3 based on the PPC pressures of the right track forward/backward and the left track forward/backward at each time included in the log information TL.

Specifically, the outline 3D model M0 is advanced, retreated, advanced left and right, and retreated left and right based on the PPC pressures of right crawler advance/retreat and left crawler advance/retreat. For example, the outline 3D model M0 is moved in the forward direction based on the values of the PPC pressures for right track advance and left track advance. The speed of movement may also be varied based on the value of the PPC pressure.

Further, the outer shape 3D model M0 is moved backward based on the numerical values of the PPC pressures of the right crawler backward and the left crawler backward. Further, the outline 3D model M0 is moved so as to turn in the forward left-right direction based on the difference in the values of the PPC pressures between the right crawler travel and the left crawler travel. For example, when the value of the PPC pressure at which the right crawler advances is larger than the value of the PPC pressure at which the left crawler advances, the right crawler moves to turn in the left-front direction. The speed of movement and the magnitude of the curve may be changed according to the difference between the values of the PPC pressures and the difference between the values of the PPC pressures.

Similarly, the outline 3D model M0 is moved to turn in the rear left-right direction based on the difference in the PPC pressure values between the right crawler retreat and the left crawler retreat. For example, when the value of the PPC pressure at the right crawler backward is larger than the value of the PPC pressure at the left crawler backward, the crawler moves to turn in the left-rear direction. The speed of movement and the magnitude of the curve may be changed according to the difference between the values of the PPC pressures and the difference between the values of the PPC pressures.

By reproducing the PPC pressure of the right track forward/backward and the PPC pressure of the left track forward/backward, and by using the position information, the traveling of the construction machine 3 can be animated more accurately. In this case, the speed and position of the movement of the construction machine 3 can be more accurately displayed by using the position information. Further, by reproducing the construction machine 3 as an animation based on the roll angle, the pitch angle, or both the roll angle and the pitch angle in addition to the PPC pressure for the right crawler forward/backward and the left crawler forward/backward, the inclination in the lateral direction of the construction machine 3 during traveling or the inclination in the longitudinal direction of the construction machine 3 can be reproduced.

The regeneration unit 1003 applies the PPC pressures of the operation levers L1 and L2 and the travel levers R1 and R2 for each operation type indicated by the log information TL to the operation panel model M1 of the construction machine model TM in order from the time stamp old, thereby performing animation regeneration of the input operations to the various operation levers and travel levers performed by the operator of the construction machine 3. The playback unit 1003 simultaneously plays back the moving image on the same screen while matching the playback timings of the outline 3D model M0 and the operation panel model M1.

The reproduction unit 1003 determines whether or not to end the moving image reproduction during the moving image reproduction of the operation of the two construction machines 3 (step S08). For example, when an instruction to end playback is received, such as by pressing a stop button, it is determined that the animation playback is ended. After a predetermined period of time has elapsed after the start of the moving image reproduction, it may be determined that the moving image reproduction is ended. If the animation reproduction is not to be ended (step S08; no), the reproduction unit 1003 continues the simultaneous animation reproduction of the two construction machine models TM. On the other hand, when the motion picture reproduction is ended (step S08; yes), the reproduction unit 1003 ends the motion picture reproduction process.

Steps S00, S01, S03, S04, S05, S06, and S08 in each process flow described with reference to fig. 5 are not essential to the regeneration device 10, and the steps described above may not be included in other embodiments.

(display screen of reproduction apparatus)

Fig. 12 is a diagram showing an example of a display screen of the playback apparatus according to the first embodiment.

The CPU100 of the playback device 10 according to the first embodiment causes the display unit 102 to display a display image D as shown in fig. 12, for example.

The display image D is configured to include an outline 3D model display image D1, time scroll bars D4a, D4b, and heat map images D6a, D6 b.

The outline 3D model display image D1 is a region in which animation is simultaneously reproduced while two outline 3D models M0 are drawn so as to overlap each other. In the outline 3D model display image D1, a construction machine model image D10a to which various information such as a boom angle, an arm angle, and a bucket angle included in the designated log information TL1 is applied is drawn on the outline 3D model M0 (fig. 11). In the external 3D model display image D1, the construction machine model image D10b to which various information such as the boom angle, the arm angle, and the bucket angle included in the comparison log information TL2 is applied is drawn so as to overlap the construction machine model image D10a with the external 3D model M0.

The playback device 10 according to another embodiment may display the two outer shape 3D models M0 in a non-overlapping manner (so that they overlap with each other) and display the two outer shape 3D models M0 in a side-by-side manner. In this case, two external 3D models M0 may be displayed on two displays arranged side by side.

In the external 3D model display image D1, a button image D11 is drawn to instruct the operator of the playback device 10 to play back, pause, and the like simultaneously.

The time scroll bars D4a and D4b are scroll bars for controlling the reproduction of the animation, and correspond to the reproduction of the animation based on the designated log information TL1 and the reproduction of the animation based on the comparison log information TL2, respectively.

The time scroll bars D4a and D4b depict bar images D40a and D40b indicating the time axis from the start time to the end time, and reproduction time icons D41a and D41b corresponding to the times during reproduction in the time axis indicated by the bar images D40a and D40 b. The playback time icons D41a, D41b are drawn in the bar images D40a, D40b at positions corresponding to the playback times, respectively. The operator can change the reproduction time of the animation reproduction based on the designated log information TL1 as desired by performing an operation of sliding the reproduction time icon D41a on the bar image D40 a. Further, the operator can change the reproduction time of the moving image reproduction based on the comparison log information TL2 as desired by performing an operation of sliding the reproduction time icon D41b on the bar image D40 b.

For example, as shown in fig. 12, the reproduction start time of the animation reproduction based on the designated log information TL1 is set to coincide with the timing of switching from "waiting for discharging" to "discharging" in the heat map image D6 a. Similarly, the reproduction start time of the moving image reproduction based on the comparison log information TL2 is set to coincide with the timing of switching from "waiting for discharging" to "discharging" in the heat map image D6 b.

Alternatively, the playback device 10 sets the position of the playback time icon D41a slid on the bar image D40a as the playback start time of the moving image playback based on the designated log information TL 1. The reproduction start time of the moving image reproduction by the comparison log information TL2 may be the same section as the work section of the reproduction start time of the moving image reproduction by the designated log information TL1, or may be the reproduction start time of the angle information close to the combination of the angle information of the boom, the arm, the bucket, and the like in the comparison log information TL 1.

When the simultaneous playback instruction is received from the operator, the playback device 10 performs simultaneous animation playback from the playback start time set on each of the time scroll bars D4a and D4 b. In this case, as the moving image reproduction proceeds, the reproduction time icon D41a slides in the screen right direction on the bar image D40a, and at the same time, the reproduction time icon D41b slides in the screen right direction on the bar image D40 b.

The heat map images D6a and D6b are images in which colors indicating the likelihood of the work partition are plotted on a plane having the vertical axis as the work partition and the horizontal axis as the time, and the element work heat map H2 generated by the estimation unit 1004 is displayed on the display screen. The timings of the horizontal axes of the heat map images D6a, D6b are displayed corresponding to the times displayed by the time scroll bars D4a, D4b, respectively. As shown in fig. 12, on the left side of the heat map image D6, "excavation", "load swing", "waiting for dumping", "idle swing", and "load bed push" of the divisional areas indicating the element work of each row are shown. The relationship between the likelihood and the color is displayed on the right side of the heat map images D6a and D6 b.

In fig. 12, the element work heat map H2 is displayed as the heat map images D6a and D6b, but the unit work heat map H1 may be displayed as the heat map images D6a and D6 b. In fig. 12, the heat map images D6a and D6b have a 6-line structure, but may have an arbitrary line structure corresponding to the unit job or the element job to be displayed.

In fig. 12, the case where the display image D includes the outer-shape 3D model display image D1, the two time scroll bars D4a and D4b, and the two heat map images D6a and D6b that display a moving image is described, but the present invention is not limited to this in other embodiments. For example, the display image D may be configured by only the outline 3D model display image D1 that is a simultaneous animation in which the two construction machine model images D10a and D10b are displayed.

In fig. 12, the scroll bar D4b and the heat map image D6b corresponding to the animation playback based on the comparison log information TL2 may not be displayed.

(action, Effect)

As described above, the playback device 10 of the first embodiment includes: an acquisition unit 1000 that acquires log information TL (designated log information TL1, comparison log information TL2) of the construction machine 3 associated with the time; a receiving unit 1001 that receives a regeneration instruction of the operation of the construction machine 3; a regeneration unit 1003 that, when receiving a regeneration instruction, regenerates the operation of the construction machine 3 by sequentially applying the angle information of the construction machine 3 included in the log information TL to the construction machine model TM; and a synchronization unit 1006 that synchronizes the regeneration of the construction machine model TM based on the designated log information TL1 and the regeneration of the construction machine model TM based on the comparison log information TL 2.

In this way, since the two construction machine models TM synchronously reproduce the moving images, the operator can clearly grasp the difference in the operation of the two construction machines. That is, the difference in the operation of the two different construction machines can be easily grasped.

The regeneration device 10 according to the first embodiment sets the timing at which the operation of the construction machine 3 is switched from a predetermined operation (e.g., waiting for discharging soil) to another predetermined operation (e.g., discharging soil) as the regeneration start time.

In this way, since two different construction machine models are simultaneously reproduced from the same job, the animation reproduction can be synchronized based on the two pieces of log information TL.

In particular, by synchronizing the timing of switching from the waiting for soil discharge to the soil discharge, the timing of starting loading of the two construction machines 3 into the respective transport vehicles can be synchronized with reference to the timing, and therefore, the difference (superiority or inferiority) in the loading work of the two construction machines 3 can be clearly grasped.

The playback device 10 according to the first embodiment is characterized by acquiring comparison log information TL2 that includes information that has a predetermined relationship with the information included in the designated log information TL 1.

In this way, when the simultaneous animation reproduction is performed with the designated log information TL1, the comparison log information TL2 suitable for comparison is selected.

In particular, the playback device 10 of the first embodiment acquires the comparison log information TL2 in which the amount of change in the pivot angle (the size of the wobble) indicated by the designated log information TL1 is approximately the same as the amount of change in the pivot angle indicated by the comparison log information TL2, i.e., the difference between the two is within a predetermined range.

Here, even if the operation of the two construction machines 3 whose turning angles have largely different amounts of change are regenerated at the same time, there is a low possibility that much knowledge is obtained by the comparison. Therefore, by adopting the above-described method, it is possible to compare the operations of the two construction machines 3 having the same degree of change in turning angle by simultaneous moving image reproduction.

The reproduction device 10 according to the first embodiment acquires the comparison log information TL2 that the bucket height at the time of the discharging wait indicated by the designation log information TL1 is about the same as the bucket height at the time of the discharging wait indicated by the comparison log information TL2, that is, the difference between the two is within a predetermined range.

Here, the positional relationship in the height direction between the two construction machines 3 and the conveyance vehicle, in which the bucket heights at the time of the discharging waiting are greatly different, may be greatly different. Even if both operations are regenerated at the same time, the possibility of obtaining more findings by comparison is low. Therefore, by adopting the above-described manner, it is possible to compare the operations of the two construction machines 3 in which the bucket heights are the same at the time of the discharging wait by the simultaneous animation reproduction.

The playback device 10 according to the first embodiment obtains the comparison log information TL2 so that the vehicle specification of the construction machine 3 indicated by the designation log information TL1 and the vehicle specification of the construction machine 3 indicated by the comparison log information TL2 are similar to each other.

Here, even if the operation of two construction machines having greatly different vehicle specifications is regenerated at the same time, there is a low possibility that much knowledge is obtained by the comparison. Therefore, by adopting the above-described manner, the operations of the two construction machines 3 of the same vehicle specifications can be compared.

The playback device 10 of the first embodiment acquires the comparison log information TL2 so that the driving pattern of the construction machine 3 indicated by the designation log information TL1 is the same as the driving pattern of the construction machine 3 indicated by the comparison log information TL 2.

Here, even if the operations of two construction machines whose outputs are largely different according to the difference in driving patterns are simultaneously regenerated, there is a low possibility that much insight is obtained by the comparison. Therefore, by adopting the above-described manner, the operations of the two construction machines 3 in the same driving mode can be compared.

The playback device 10 of the first embodiment acquires the comparison log information TL2 so that the size of the loading-target transport vehicle indicated by the designated log information TL1 is approximately equal to the size of the loading-target transport vehicle indicated by the comparison log information TL 2.

Here, if the sizes of the transport vehicles to be loaded are greatly different, the operation of the loading work is also greatly changed in accordance with the size. Therefore, even if the operation of the two construction machines as described above is regenerated at the same time, there is a low possibility that much knowledge is obtained by the comparison. Therefore, by adopting the above-described configuration, the operations of the two construction machines 3 in which the sizes of the conveyance vehicles to be loaded are the same can be compared.

(modification of the first embodiment)

The above has described the reproduction device 10 of the first embodiment and the analysis support system 1 including the reproduction device 10 in detail, but the other embodiments are not limited to the above embodiments.

Fig. 13 is a diagram showing an example of a display screen of a playback device according to a modification of the first embodiment. The CPU100 of the playback device 10 according to the modification of the first embodiment causes the display unit 102 to display a display image D as shown in fig. 13, for example.

The display image D is configured to include operation mode images D5a, D5b, time scroll bars D4a, D4b, and heat map images D6a, D6 b.

The operation mode images D5a and D5b are regions in which animation is reproduced for input operations to the operation lever and the travel lever by the operator of the construction machine 3. The operation mode image D5a is an image obtained by applying information specifying the PPC pressure included in the log information TL1 to the operation panel model M1 (fig. 11). The operation mode image D5b is an image obtained by applying information of the PPC pressure included in the comparison log information TL2 to the operation panel model M1 (fig. 11).

The operation mode images D5a, D5b are composed of operation images D50, D51, D52, D53 and operation icons D501, D511, D521, D531, respectively.

Specifically, the operation image D50 is an area in which a moving image is reproduced by an input operation to the operation lever L1, which is the left-hand operation lever. The position of the operation icon D501 on the operation image D50 shows the input direction to the operation lever L1. Further, the color of the operation icon D501 displayed on the operation image D50 shows the degree of input to the operation lever L1. For example, in the case where there is no input to the operation lever L1, the icon D501 is displayed with full "white" and is displayed so as to change from "white" to "red" as the degree of input becomes greater. The combination of colors that change according to the input level is not limited to this example. The same applies to icons D511, D521, and D531 to be described later.

The operation image D51 is an area in which a moving image is reproduced by an input operation to the operation lever L2, which is the operation lever on the right side. The position of the operation icon D511 on the operation image D51 shows the input direction to the operation lever L2. Further, the operation icon D511 displayed on the operation image D51 shows the color of the input degree to the operation lever L2.

The operation image D52 is an area in which a moving image is reproduced by an input operation to the travel lever R1, which is a travel lever on the left side. The position of the operation icon D521 on the operation image D52 shows the input direction to the travel lever R1. Further, the color of the operation icon D521 displayed on the operation image D52 shows the degree of input to the travel lever R1.

The operation image D53 is an area in which a moving image is reproduced by an input operation to the travel lever R2, which is a travel lever on the right side. The position of the operation icon D531 on the operation image D53 shows the input direction to the travel lever R2. Further, the color of the operation icon D531 displayed on the operation image D53 shows the degree of input to the travel lever R2.

According to the regeneration device 10 of the modification example of the first embodiment, since the input operations to the operation lever and the travel lever by the operator of the construction machine 3 are simultaneously regenerated, the comparison between the two input operations can be easily performed.

(other modification example)

In addition, the description has been given of the mode of distinguishing the designated log information TL1 designated as the reproduction target by the operator from the comparison log information TL2 prepared in advance as a sample with respect to the log information TL in the first embodiment, but the present invention is not limited to this mode in other embodiments. For example, in the playback device 10 according to another embodiment, the log information TL may be played back simultaneously using two pieces of log information TL that are not distinguished as described above.

Note that, as shown in fig. 6 to 8, the log information according to the first embodiment has been described as a method in which angle information and the like are recorded in association with an acquisition time (time stamp), but the present invention is not limited to this method in other embodiments.

For example, the log information of the other embodiment may be recorded by associating angle information and the like with a symbol (number, letter) with which the order can be recognized. In another embodiment, only angle information may be recorded in the log information, and the playback device 10 may read the angle information in the order from the top (the order of recording).

The following is described with respect to the playback device 10 of the first embodiment: the construction machine model image D10a to which the angle information included in the designated log information TL1 is applied and the construction machine model image D10b to which the angle information included in the comparison log information TL2 is applied are reproduced in synchronization by specifying the reproduction start times of both images based on the element work heat map H2, but the reproduction apparatus 10 according to the other embodiment is not limited to this embodiment.

The playback device 10 according to another embodiment may set the first time recorded in the designated log information TL1 as the playback start time of the construction machine model image D10a, and set the first time recorded in the comparison log information TL2 as the playback start time of the construction machine model image D10 b. The reproduction device 10 according to another embodiment may set the same time as the reproduction start time specified for the construction machine model image D10a as the reproduction start time of the construction machine model image D10 b.

In addition, the reproduction device 10 according to the first embodiment describes an embodiment in which the construction machine model image D10a to which the angle information included in the designated log information TL1 is applied and the construction machine model image D10b to which the angle information included in the comparison log information TL2 is applied are drawn so as to overlap each other, but the present invention is not limited to this embodiment in other embodiments.

For example, in the playback device 10 according to another embodiment, the construction machine model image D10a and the construction machine model image D10b may be displayed separately and in parallel.

The contents of the log information TL (fig. 6 to 8) in the first embodiment are not limited to this in other embodiments. For example, when the construction machine 3 is not a hydraulic excavator but another vehicle type, the log information TL corresponding to the vehicle type is recorded. Other vehicle types are for example wheel loaders and the like.

Similarly, a model representing the outer shape and the operation panel of the construction machine 3 is prepared for each vehicle type and model of the construction machine 3 for the construction machine model TM of the first embodiment.

The log information TL of the first embodiment is described as including the position of the construction machine 3, the angles of the various movable portions (fig. 6), the PPC pressure of the operating mechanism (fig. 7), and the state of the drive mechanism of the construction machine 3 (fig. 8) at each time, but the other embodiments are not limited thereto.

The playback device 10 according to another embodiment may acquire only the information shown in fig. 6 as the log information TL. However, in this case, the playback device 10 cannot select the comparison log information TL2 based on the driving mode and the size of the transport vehicle.

The reproduction device 10 according to the first embodiment has been described as including both the outer shape 3D model M0 and the operation panel model M1 as the construction machine model TM and reproducing both the models, but the present invention is not limited to this embodiment. The reproduction device 10 according to another embodiment may reproduce only one of the external shape 3D model M0 and the operation panel model M1 from among the construction machine models TM including either the external shape 3D model M0 or the operation panel model M1. The playback device 10 may be configured to be able to change which of the outline 3D model M0 and the operation panel model M1 is played back by setting.

The playback device 10 according to another embodiment may have not only a function of normal-speed playback but also functions of fast-forward, slow-speed playback, rewind, and rewind.

For example, in the case of performing reproduction using 15 angle information per second or the like in normal reproduction, the reproduction unit 1003 performs reproduction using 30 angle information per second or the like, or skips a set of 15 angle information per second or the like, thereby realizing a fast forward function at 2 × speed. The fast forward function of 3 × speed or the like can be realized by the same principle.

Similarly, in the case of performing reproduction using 15 pieces of angle information per second or the like in normal reproduction, the reproduction unit 1003 reproduces 15 pieces of angle information or the like for 2 seconds to realize a slow reproduction function of 1/2 times. In particular, the trainer can grasp the lever operation technique of the skilled person in more detail by making it possible to reproduce the operation mode images D5a and D5b (fig. 13) at a slow speed.

Similarly, in the case of performing reproduction by applying the time stamps in order from the old time stamp in normal reproduction, the rewind reproduction is realized by applying the time stamps in order from the newer time stamp.

In addition, although the case where the degree of input to each operation mechanism is indicated by the PPC pressure has been described with respect to the operation mechanisms such as the operation levers L1 and L2, the travel levers R1 and R2 of the first embodiment, the present invention is not limited to this embodiment.

For example, the operating mechanism of the other embodiment may be an electric operating mechanism. In this case, the various operating mechanisms may include an operating member such as an electric lever and a load sensor such as a potentiometer for electrically detecting the tilting amount of the operating member. In this embodiment, the detection data of the workload sensors is recorded in the data recorder 20.

In addition, although the description has been given of the case where the construction machine 3 is represented by the outer shape 3D model M0 in the playback device 10 according to the first embodiment, the present invention is not limited to this embodiment. The reproduction device 10 according to another embodiment may represent the construction machine 3 by a 2D model, for example.

In addition, although the playback device 10 according to the first embodiment has been described in the case where the degree of input to the operation mechanism by the operator is indicated by a change in the color of the icon D501 or the like shown in the operation mode images D5a and D5b, the present invention is not limited to this embodiment in other embodiments. For example, the playback device according to another embodiment may indicate the degree of input by drawing the position of the icon D501 or the like. For example, when the degree of input to the operation lever L1 is small, the playback device 10 draws the operation image D50 at a position closer to the center and draws the operation image D50 at a position farther from the center as the degree of input to the operation lever L1 is larger.

In another embodiment, the degree of input may be expressed by the intensity of the gradation of the color drawn in the operation image D50.

Further, although the description has been given of the case where the playback device 10 of the first embodiment is installed at a location remote from the construction machine 3 and is connected to the data recorder 20 mounted on the construction machine 3 via a wide area communication network, the present invention is not limited to this embodiment.

For example, in the regeneration device 10 according to another embodiment, a part or all of the structure of the regeneration device 10 may be provided inside the construction machine 3. In this case, the data recorder 20 may transmit the log information TL to the playback device 10 via a network or the like inside the construction machine 3, instead of via the wide area communication network. In this way, the operator riding on the construction machine 3 can confirm the operation of the construction machine 3 operated by the operator himself/herself with the video image reproduced on the spot. The operator of the construction machine 3 can also use the operation of the construction machine 3 as a sample as a guidance by regenerating it.

The playback device 10 installed inside the construction machine 3 may acquire the log information TL of another construction machine 3 via a wide area communication network or the like. In this way, the state of the construction machine 3 other than the construction machine 3 on which the playback device 10 is mounted can be played back as a moving image.

The playback device 10 according to another embodiment may be installed at a location remote from the construction machine 3, and may transmit and display video information generated by the moving image playback process to a monitor mounted on the construction machine 3.

In another embodiment, as one mode of the regeneration instruction received from the operator, for example, a mode of designating the regeneration period may be used. For example, the regeneration period may be a regeneration start time and a regeneration end time. In this case, the regeneration device 10 performs regeneration of the construction machine 3 during the received regeneration period. In other embodiments, the specification of the regeneration completion time is not essential. For example, in another embodiment, the reproduction instruction from the operator may be a method of receiving only the reproduction start time and performing reproduction for a certain period of time from the reproduction start time, a method of performing reproduction for a certain period of time as long as log information is present, or a method of performing reproduction stop in association with occurrence of other various events.

The acquired log information TL (fig. 6 to 8) does not need to be arranged in time series. In this case, the reproduction unit 1003 may apply the information used for reproduction in the log information TL to the construction machine model TM in time series.

The display unit 102 of the first embodiment displays the contents of the job estimated by the estimation unit 1004 as the heat map images D6a and D6b, but the present invention is not limited to this. For example, the job content estimated by the estimation unit 1004 may be displayed only by character information. Specifically, only the "digging load: character information such as "is extracted" and the job content estimated by the estimation unit 1004 is displayed.

The procedures of the various processes of the playback device 10 are stored in a computer-readable recording medium in the form of a program, and the various processes are performed by reading out and executing the program by a computer. The recording medium that can be read by the computer is a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. The computer program may be distributed to a computer via a communication line, and the computer that has received the distribution may execute the program.

The above-described program may also be used to implement a part of the above-described functions. The functions may be realized by a combination with a program already recorded in a computer system, that is, a so-called differential file, a differential program, or the like.

Several embodiments of the present invention have been described above, but these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in other various manners, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope equivalent to the invention described in the claims.

Industrial applicability

According to the aspects of the present invention, the difference in the operation of two different construction machines can be grasped.

Description of reference numerals:

an analysis support system; a regeneration device; a CPU; an acquisition unit; a receiving portion; an extraction section; a regeneration section; an inference section; 1005.. judging section; a synchronization portion; a memory; 102.. a display portion; an operation receiving portion; a communication interface; a reservoir; a data logger; a construction machine; H1-H2.. heatmap; TM.. construction machine model; TL.. log information; a unit job prediction model; a factor job prediction model; the inferred job content.