Shovel and work support system for construction machine
A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, and a controller configured to control a projection device that projects light onto a ground surface. The controller is attached to the upper turning body, and is configured to control the projection device so as to enable visualization of the relationship between the current shape of the ground surface and the shape of a target surface.
1. A shovel comprising:
a lower traveling body;
an upper turning body turnably mounted on the lower traveling body;
an attachment attached to the upper turning body and including an end attachment at an end of the attachment;
a sensor configured to obtain information on a shape of a ground surface;
a storage configured to store data on a shape of a target surface; and
a hardware processor attached to the upper turning body and configured to control a projection device to project light onto the ground surface,
wherein the hardware processor is configured to calculate a difference between the shape of the ground surface and the shape of the target surface with respect to each of three-dimensional coordinate points on the ground surface based on the obtained information and the stored data, and to control the projection device so as to change information visualized on the ground surface with respect to said each of the three-dimensional coordinate points based on the calculated difference.
2. The shovel according, to claim 1 , wherein the hardware processor is configured to change a color or illuminance of the light projected by the projection device as the information visualized on the ground surface.
3. The shovel according to claim 1 , wherein the hardware processor is configured to derive a current shape of the ground surface as the shape of the ground surface, based on a known shape of the ground surface at a predetermined point in time and a trajectory of an end attachment at and after the predetermined point in time.
4. The shovel according to claim 1 , wherein
the sensor is a stereo camera that captures an image of the ground surface as the information on the shape of the ground surface, and
the hardware processor is configured to derive a current shape of the ground surface as the shape of the ground surface; based on output from the stereo camera.
5. The shovel according to claim 1 , wherein the hardware processor is configured to control the projection device so as to enable visualization of an underground buried object.
6. The shovel according to claim 1 , wherein the hardware processor is configured to control the projection device so, as to cause a display device provided within a cabin to display information that is same as the information visualized on the ground surface.
7. The shovel according to claim 1 , wherein the hardware processor is configured to derive the three-dimensional coordinate points onto which the projection device projects the light.
8. A work support system for a shovel configured to project light in vicinity of the shovel, the shovel, including a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an attachment attached to the upper turning body and including, an end attachment at an end of the attachment, a sensor configured to obtain information on a shape of a ground surface, and a storage configured to store data on a shape of a target surface, the work support system comprising:
a hardware processor; and
a projection device configured to project light onto the ground surface,
wherein the hardware processor is configured to calculate a difference between the shape of the ground surface and the shape of the target surface with respect to each of three-dimensional coordinate points on the ground, surface based on the obtained information and the stored data, and to control the projection device, so as to change information visualized on the ground surface with respect to said each of the three-dimensional coordinate points based on the calculated difference.