JP2022055296A - Work area setting system, and work object detection system - Google Patents

Abstract

To provide a technique for more easily performing automatic operation control of a work machine.SOLUTION: A work area setting system includes an area setting part (24) for setting a work area (50) in a predetermined range where a work object (100) worked by a work machine (1) is loaded. The area setting part (24) sets, for example, a point where a tip of an attachment (4) of the work machine (1) is placed as a point for specifying a boundary between the inside and the outside of the work area (50).SELECTED DRAWING: Figure 2

Description

The present invention relates to a work area setting system and a work object detection system.

Regarding the technology for detecting a work object in the automatic operation technology of a work machine, Patent Document 1 describes the distance from the wheel loader to the ground to be excavated, or the rest angle of the ground, as measured data of a three-dimensional measuring device. The technique to calculate based on is described.

Japanese Unexamined Patent Publication No. 2019-178599

For example, assume that there are a plurality of grounds in the detection area of the three-dimensional measuring device. In this case, it is difficult to specify the calculation target range of the excavation target by the technique described in Patent Document 1. Further, it is assumed that the work machine is made to perform repetitive work in the automatic operation of the work machine. In this case, it is desirable to classify the movement of the work machine in the repetitive work so that the work machine can be easily controlled.

An object of the present invention is to provide a technique for facilitating automatic operation control of a work machine.

The work area setting system according to the present invention includes an area setting unit for setting a work area within a predetermined range in which work objects to be worked by the work machine are stacked.

In addition to the work area setting system, the work object detection system according to the present invention is based on a three-dimensional measurement device that acquires data on the work object and its surroundings, and measurement data acquired by the three-dimensional measurement device. , A calculation unit for calculating three-dimensional information regarding the position, range, and shape of the work object existing in the work area.

According to the present invention, it is possible to make it easier to perform automatic operation control of a work machine.

It is a side view which shows the hydraulic excavator which is a work machine, and the earth and sand mountain which is a work object. It is a top view for explaining the setting procedure of a work area. It is a top view which added the three-dimensional information about the position, the range, and the shape of the earth and sand mountain to the work area shown in FIG. It is a block diagram of the controller mounted on the hydraulic excavator constituting the work object detection system. It is a flowchart which shows the process in the detection controller shown in FIG. It is a top view for demonstrating the calculation process of 3D information about the position, the range, and the shape of the earth and sand mountain when the earth and sand mountain exists over the work area and the outside of the work area. It is a top view for demonstrating the calculation process of 3D information about the position, the range, and the shape of the earth and sand mountain when the earth and sand mountain exists over the work area and the outside of the work area. FIG. 1 is a diagram corresponding to FIG. 1 of the second embodiment. FIG. 3 is a diagram corresponding to FIG. 3 of the second embodiment. 9 is a view taken along the line F10-F10 in FIG. FIG. 4 is a diagram corresponding to FIG. 4 of the second embodiment. It is a flowchart of setting such as the work area shown in FIG. 9 and the work initial height shown in FIG. It is a flowchart which shows the processing by the controller shown in FIG.

(First Embodiment)
Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the following description, the hydraulic excavator 1 will be described as an example as a working machine. The work area setting system and the work object detection system of the first embodiment will be described.

(Construction of hydraulic excavator)
As shown in FIG. 1, the hydraulic excavator 1 is a machine that performs work with the attachment 4, and includes a lower traveling body 2, an upper swivel body 3, and an attachment 4.

The lower traveling body 2 is a portion for traveling the hydraulic excavator 1 and has a crawler 5. The upper swivel body 3 is mounted on the lower traveling body 2 so as to be swivelable via the swivel device 6. The upper swivel body 3 is provided with a cab 7 which is a driver's cab in front of the upper swivel body 3.

The attachment 4 is attached to the upper swing body 3 so as to be rotatable in the vertical direction. The attachment 4 has a boom 10, an arm 11, and a bucket 12. The base end of the boom 10 is attached to the upper swing body 3. The base end of the arm 11 is attached to the tip of the boom 10. The bucket 12 is attached to the tip of the arm 11. The bucket 12 is a tip attachment for excavating, leveling, scooping, and the like for work objects such as the earth and sand mountain 100.

The boom 10, arm 11, and bucket 12 are driven by the boom cylinder 13, arm cylinder 14, and bucket cylinder 15, respectively. The boom cylinder 13, the arm cylinder 14, and the bucket cylinder 15 are all hydraulic actuators. For example, the boom cylinder 13 drives the boom 10 in the upward direction and the downward direction by its expansion and contraction, respectively.

Further, the hydraulic excavator 1 includes an angle sensor 16 and an inclination angle sensor 20.

The angle sensor 16 detects the turning angle of the upper turning body 3 with respect to the lower traveling body 2. As the angle sensor 16, for example, an encoder, a resolver, or a gyro sensor is used.

The tilt angle sensor 20 detects the posture of the attachment 4. The tilt angle sensor 20 includes a boom tilt angle sensor 17, an arm tilt angle sensor 18, and a bucket tilt angle sensor 19.

The boom tilt angle sensor 17 detects the posture of the boom 10. The boom tilt angle sensor 17 is a sensor that acquires the tilt angle of the boom 10 with respect to the horizon. The boom tilt angle sensor 17 is attached to the boom 10, for example. As the boom tilt angle sensor 17, for example, a tilt sensor or an acceleration sensor is used. The boom tilt angle sensor 17 may detect the posture of the boom 10 by detecting the rotation angle of the boom foot pin 10a (boom base end portion). Further, the boom tilt angle sensor 17 may detect the posture of the boom 10 by detecting the stroke amount of the boom cylinder 13.

The arm tilt angle sensor 18 detects the posture of the arm 11. The arm tilt angle sensor 18 is a sensor that acquires the tilt angle of the arm 11 with respect to the horizon. The arm tilt angle sensor 18 is attached to the arm 11, for example. As the arm tilt angle sensor 18, for example, a tilt sensor or an acceleration sensor is used. The arm tilt angle sensor 18 may detect the posture of the arm 11 by detecting the rotation angle of the arm connecting pin 11a (arm base end portion). Further, the arm tilt angle sensor 18 may detect the posture of the arm 11 by detecting the stroke amount of the arm cylinder 14.

The bucket tilt angle sensor 19 detects the posture of the bucket 12. The bucket tilt angle sensor 19 is a sensor that acquires the tilt angle of the bucket 12 with respect to the horizon. The bucket tilt angle sensor 19 is attached to, for example, a link member 21 for driving the bucket 12. As the bucket tilt angle sensor 19, for example, a tilt sensor or an acceleration sensor is used. The bucket tilt angle sensor 19 may detect the posture of the bucket 12 by detecting the rotation angle of the bucket connecting pin 12a (bucket base end portion). Further, the bucket tilt angle sensor 19 may detect the posture of the bucket 12 by detecting the stroke amount of the bucket cylinder 15.

(Work area setting system and work object detection system)
The hydraulic excavator 1 includes a work object detection system. The work object detection system includes a three-dimensional measuring device 9 and a controller 8.

The three-dimensional measuring device 9 is an image pickup device that acquires data on the work object and its surroundings. In the present embodiment, the three-dimensional measuring device 9 is attached to the hydraulic excavator 1, but may not be attached to the hydraulic excavator 1. The three-dimensional measuring device 9 may be installed at a position where the work object can be imaged, such as around a place where the work object is piled up.

As the three-dimensional measuring device 9, for example, a lidar, a laser radar, a millimeter wave radar, or a stereo camera is used. Further, as the three-dimensional measuring device 9, a combination of a rider and a camera is used.

The mobile terminal 29 shown in FIG. 2 is a terminal operated by a worker at a work site, and is, for example, a tablet terminal. The mobile terminal 29 can communicate with each other with the hydraulic excavator 1.

The controller 8 may be arranged outside the hydraulic excavator 1 or may be mounted on the hydraulic excavator 1 as shown in FIG. The controller 8 has a control controller 22 and a detection controller 23.

The control controller 22 has an area setting unit 24, a work target area determination unit 25, and a position determination unit 30 via the attach tip. The detection controller 23 has a data receiving unit 27 and a calculation unit 28.

The area setting unit 24 is for setting (determining) a work area 50 (see FIGS. 2 and 3) in a predetermined range in which the earth and sand pile 100 to be worked by the hydraulic excavator 1 is piled up. The area setting unit 24 constitutes a work area setting system. The area setting unit 24, the three-dimensional measuring device 9, and the calculation unit 28 constitute a work object detection system.

The work target area determination unit 25 is for determining an area containing a work target. For example, the work target area determination unit 25 determines the sediment mountain range (described later) calculated by the calculation unit 28.

Note that FIGS. 2 and 3 show a three-dimensional coordinate system based on the hydraulic excavator 1. The direction from the hydraulic excavator 1 to the work area 50 is the X-axis direction (X-axis). The Y-axis is an axis in the horizontal plane in the direction perpendicular to the X-axis, and the Z-axis is an axis perpendicular to both the X-axis and the Y-axis. The Z-axis is an axis that faces in the vertical direction. The Z-axis direction is a vertically upward direction.

The setting procedure of the work area 50 will be described with reference to FIGS. 2 and 4. The operator teaches (teaches) the work area 50 to the hydraulic excavator 1 as follows, for example.

Instructed from the mobile terminal 29, the operator of the hydraulic excavator 1 is made to specify points A and C for specifying the boundary between the area to be the work area 50 and the outside of the area. The operator of the hydraulic excavator 1 places the tip of the attachment 4 (the tip of the claw of the bucket 12) at points A and C on the ground G.

The area setting unit 24 includes an angle sensor 16 that detects the turning angle of the upper turning body 3, and an inclination angle sensor 20 that detects the posture of the attachment 4 (boom inclination angle sensor 17, arm inclination angle sensor 18, bucket inclination angle sensor 19). The coordinates of points A and C are calculated from the signals from. Specific examples of teaching are as follows. The operator operates the attachment 4 and moves the tip of the attachment 4 (the tip of the claw of the bucket 12) to a position to be set as the point A. Then, the operator presses, for example, the enter button of the mobile terminal 29. The area setting unit 24 calculates the coordinates of the tip of the attachment 4 when, for example, the enter button is pressed, and sets the calculated coordinates as the coordinates of the point A. Similarly, teaching and calculation are performed for point C. The coordinates of points A and C may be calculated at a place other than the area setting unit 24, and the result may be transmitted to the area setting unit 24.

The coordinates of the remaining two points B and D that specify the work area 50 are determined from the coordinates of the points A and C. That is, the area setting unit 24 determines points B and D from points A and C. When all the coordinates of points A to D are determined, the area setting unit 24 sets (determines) and stores the work area 50.

Point A is the point (first point) on the side closer to the hydraulic excavator 1 of the two places where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed. Point C is the point (second point) on the side farther from the hydraulic excavator 1 of the two places where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed. Points A and C are points located diagonally to the rectangular work area 50 in a plan view. For example, when the upper swivel body 3 is arranged so as to face the midpoint between the point A and the point C, the front-rear direction of the upper swivel body 3 is the two sides (opposing each other) of the rectangular work area 50 in a plan view. Two sides, specifically, the line segment AB and the line segment DC) are in the extending direction. Further, the width direction of the upper swivel body 3 at this time is the direction in which the remaining two sides (specifically, the line segment AD and the line segment BC) of the rectangular work area 50 extend in the plan view.

Let the two-dimensional coordinates of the point A be A (XA, YA), and the two-dimensional coordinates of the point C be C (XC, YC). The two-dimensional coordinates of points B and D are B (XC, YA) and D (XA, YC), respectively, from the two-dimensional coordinates of points A and C.

The area setting unit 24 stores the points (points A and C) where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed as a point for specifying the boundary of the work area 50 with the outside of the area. Further, the area setting unit 24 stores the points (points B and D) determined by the points A and C as points for specifying the boundary of the work area 50 with the outside of the area. When setting the work area 50, the point for specifying the work area 50 is determined by the actual operation, so that the worker can grasp the work area 50.

The area setting unit 24 transmits the coordinate data of the points A and C to the data receiving unit 27 of the detection controller 23. The data receiving unit 27 passes the coordinate data of the points A and C to the calculation unit 28.

In the above, the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed at two points A and C on the ground G, and the coordinates of the points A, B, C, and D are obtained. Alternatively, the work area 50 may be set (determined) by placing the tip of the attachment 4 (the tip of the claw of the bucket 12) at all points A, B, C, and D on the ground G. In this case, the area setting unit 24 has an angle sensor 16 that detects the turning angle of the upper swivel body 3, and an tilt angle sensor 20 that detects the posture of the attachment 4 (boom tilt angle sensor 17, arm tilt angle sensor 18, bucket tilt angle). From the signal from the sensor 19), the coordinates of the points A, B, C, and D that specify the work area 50 are calculated, respectively. The coordinates of points A to D may be calculated in a place other than the area setting unit 24, and the result may be transmitted to the area setting unit 24.

Of the two locations where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed, the first location on the side closer to the hydraulic excavator 1 and the remaining two points B from the second location on the side farther from the hydraulic excavator 1. When D is determined, the operation of the hydraulic excavator 1 can be reduced.

The operator of the hydraulic excavator 1 is made to specify the lifting and turning start point P1 by the instruction from the mobile terminal 29. The lifting turn start point P1 is a starting point when the bucket 12 lifted by scooping up earth and sand leaves the work area 50. The point P1 is a point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes.

The coordinates of the lift turning start point P1 are the angle sensor 16 that detects the turning angle of the upper turning body 3, and the tilt angle sensor 20 that detects the posture of the attachment 4 (boom tilt angle sensor 17, arm tilt angle sensor 18, bucket tilt angle). It is calculated from the signal from the sensor 19) (the same applies to the lift turn end point P2, the return turn start point P3, and the return turn end point P4, which will be described later).

As shown in FIG. 2, the lifting and turning start point P1 is set on the line segment CD that specifies the work area 50, for example, in a plan view. The lifting turn start point P1 is above the ground G. For example, when the line segment CD is set on the ground G, the lifting turn start point P1 is above the line segment CD in the side view. The lifting turn start point P1 is above the boundary of the work area 50 with the outside of the area in a plan view.

The attachment tip via position determining unit 30 sets the lifting and turning start point P1 as a transit point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) moves from the inside of the work area 50 to the outside of the area. decide.

Further, the operator of the hydraulic excavator 1 is made to specify the lifting and turning end point P2 by the instruction from the mobile terminal 29. The lifting turn end point P2 is a point when the bucket 12 containing the earth and sand reaches the upper part of the earth and sand discharge place (for example, the loading platform of the transport vehicle for transporting the earth and sand). The point P2 is a point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes.

When moving the attachment 4 from the lift turning start point P1 to the lifting turning end point P2, the angle sensor 16 and the tilt angle sensor 20 (boom tilt angle sensor 17, arm tilt angle sensor 18, bucket tilt angle sensor 19) are always continuously performed. ) Signal data (angle data) is recorded.

The operator of the hydraulic excavator 1 is made to specify the return turning start point P3 by the instruction from the mobile terminal 29. The return turning start point P3 is a starting point when the bucket 12 from which the earth and sand have been discharged leaves the earth and sand discharge place (for example, the loading platform of the transport vehicle for transporting the earth and sand). The point P3 is a point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes.

Further, the operator of the hydraulic excavator 1 is made to specify the return turning end point P4 by the instruction from the mobile terminal 29. The return turning end point P4 is a point when the bucket 12 from which the earth and sand have been discharged reaches the work area 50. The point P4 is a point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) passes.

As shown in FIG. 2, the return turning end point P4 is set on the line segment CD that specifies the work area 50, for example, in a plan view. The return turn end point P4 is above the ground G. For example, when the line segment CD is set on the ground G, the return turning end point P4 is above the line segment CD in the side view. The return turn end point P4 is above the boundary of the work area 50 with the outside of the area in plan view.

The attachment tip via position determining unit 30 sets the return turning end point P4 as a transit point through which the tip of the attachment 4 (the tip of the claw of the bucket 12) moves from outside the area of the work area 50 into the area. decide.

The attachment tip via position determining unit 30 may determine only one of the lifting turning start point P1 and the returning turning end point P4 as the passing point.

When moving the attachment 4 from the return turning start point P3 to the return turning end point P4, the controller 8 constantly continuously performs the angle sensor 16 and the tilt angle sensor 20 (boom tilt angle sensor 17, arm tilt angle sensor 18, bucket). The signal data (angle data) of the tilt angle sensor 19) is recorded.

Teaching (teaching) of the work area 50, teaching (teaching) of the lift turn start point P1, the lift turn end point P2, the return turn start point P3, and the return turn end point P4, and the lift turn end point from the lift turn start point P1. It is not always necessary to teach the locus to P2 and teach the locus from the return turn start point P3 to the return turn end point P4 by the instruction from the mobile terminal 29.

Next, the detection of the earth and sand mountain 100 will be described with reference to FIGS. 3 to 5.

The data receiving unit 27 receives the coordinate data of the points A and C from the area setting unit 24. (Displayed as S1 in step 1 and FIG. 5, and the same display is used for other steps). The work area 50 specified by points A to D is determined (S2).

On the other hand, the three-dimensional measuring device 9 acquires the point cloud data of the earth and sand mountain 100 and its surroundings. The data receiving unit 27 receives the point cloud data acquired by the three-dimensional measuring device 9 (S3). The data receiving unit 27 stores the received point cloud data (S4). The calculation unit 28 extracts the stored point cloud data and the coordinate data of the points A and C from the data reception unit 27 (S5).

The calculation unit 28 calculates three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 existing in the work area 50 from the point cloud data (measurement data acquired by the three-dimensional measuring device 9) (S6).

The three-dimensional information is, for example, the three-dimensional coordinates of the points a, b, c, d, and e shown in FIG. Areas including the bottom of the sediment mountain 100 are specified at points a, b, c, and d, and the apex of the sediment mountain 100 is specified at the point e. The earth and sand mountain 100 illustrated in FIG. 1 has a conical shape. On the other hand, the shape specified by the points a, b, c, d, and e is a quadrangular pyramid shape. The calculation unit 28 calculates three-dimensional information regarding a quadrangular pyramid-shaped earth and sand mountain range, that is, the position, range, and shape of the quadrangular pyramid-shaped earth and sand mountain 100 so as to include the conical earth and sand mountain 100. The calculation unit 28 may calculate, for example, an octagonal pyramid-shaped earth and sand mountain range so as to include the conical earth and sand mountain 100. The three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 is not limited to the area of the earth and sand mountain having a quadrangular pyramid shape.

The calculation unit 28 transmits the calculated three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 to the work target area determination unit 25 of the control controller 22 (S7). As a result, the detection of the earth and sand mountain 100 is completed.

The three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 is calculated every time the earth and sand mountain 100 is excavated once by the attachment 4 (bucket 12). Even when the processing of the earth and sand mountain 100 is completed and the earth and sand mountain 100 is changed to another earth and sand mountain 100, the above three-dimensional information is calculated.

When the work area 50 in a predetermined range in which the earth and sand pile 100 to be worked by the hydraulic excavator 1 is piled up is set by the area setting unit 24, the earth and sand pile 100 to be excavated in the automatic operation control of the hydraulic excavator 1 or the like is set. Easy to identify. Since it is easy to identify the earth and sand mountain 100, it is easy to perform the calculation in the calculation unit 28. That is, it is easy to automatically control the operation of the hydraulic excavator 1. Further, it is possible to prevent erroneous detection when there is another earth and sand mountain outside the work area 50.

P5 shown in FIG. 3 indicates an excavation start point (work start position). The excavation start point P5 is a point at which excavation is started at the attachment 4 (bucket 12). The work target area determination unit 25 has a work position determination unit 26. The work position determination unit 26 determines the excavation start point P5 in the work object based on the three-dimensional information calculated by the calculation unit 28. According to this, in the automatic operation of the hydraulic excavator 1, an appropriate excavation position can be automatically determined. In FIG. 3, the excavation start point P5 is aligned with the point c in the plan view.

The attachment 4 (bucket 12) is moved from the return turn start point P3 to the return turn end point P4, and then from the return turn end point P4 to the excavation start point P5.

The excavation start point P5 changes each time according to the excavation condition of the earth and sand mountain 100. On the other hand, the locus of the attachment 4 (bucket 12) from the return turn start point P3 to the return turn end point P4 does not change according to the excavation condition of the earth and sand mountain 100. Therefore, it is not necessary to correct the locus of the attachment 4 (bucket 12) from the return turn start point P3 to the return turn end point P4 due to the change in the excavation condition of the earth and sand mountain 100.

By setting the work area 50 in a predetermined range where the earth and sand pile 100 is piled up, the locus of the attachment 4 (bucket 12) from the return turn start point P3 to the return turn end point P4 and excavation from the return turn end point P4. It can be divided (regionally divided) into the locus of the attachment 4 (bucket 12) to the start point P5. As a result, even if the condition of the earth and sand mountain 100 changes due to excavation or the like, it is not necessary to correct the trajectory of the attachment 4 (bucket 12) from the return turn start point P3 to the return turn end point P4. That is, it is easy to automatically control the operation of the hydraulic excavator 1.

The above-mentioned action and effect are the transit points through which the tip of the attachment 4 of the hydraulic excavator 1 moves from the outside of the work area 50 to the inside of the area and / or from the inside of the work area 50 to the outside of the area. It is obtained more surely by the presence of the position determination unit 30 via the attach tip that determines.

Further, by determining the transit point on the boundary with the outside of the work area 50 in a plan view, the area division of the locus of the attachment 4 (bucket 12) becomes clear, and the worker can work with peace of mind. It can be carried out.

Further, in the locus region between the lifting turn start point P1 and the lifting turn end point P2 and the locus region between the return turning start point P3 and the return turning end point P4, the teaching (teaching) instruction is prioritized. It is an area. Since the trajectory of the attachment 4 secured in the area where these teaching (teaching) instructions are prioritized can be known, it is safe for the operator.

6 and 7 show the calculation processing of the three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 when the earth and sand mountain 100 extends over the work area 50 and the area outside the work area 50. It is a top view for demonstrating.

When the earth and sand hill 100 exists straddling the work area 50 and the outside of the work area 50, the calculation unit 28 relates to the position, range, and shape of the portion existing only in the work area 50 of the work area 100. Calculate 3D information.

According to this, when the earth and sand hill 100 exists straddling the work area 50 and the outside of the work area 50, only the inside of the work area 50 can be targeted.

In FIG. 6, the earth and sand mountain 100 exists across the line segment CD connecting the point C and the point D that specify the work area 50. In this case, when calculating the three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100, the calculation unit 28 does not use the point cloud data of the portion existing outside the work area 50 of the earth and sand mountain 100 without using the point cloud data. Three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100 is calculated using only the point cloud data in the work area 50. As shown in FIG. 6, of the calculated points a, b, c, d, and e, the points c and d are located on the line segment CD that specifies the work area 50 in a plan view.

In FIG. 7, the earth and sand mountain 100 exists across the line segment BC connecting the point B and the point C that specify the work area 50. In this case, when calculating the three-dimensional information regarding the position, range, and shape of the earth and sand mountain 100, the calculation unit 28 uses only the point cloud data in the work area 50, and the position, range, and shape of the earth and sand mountain 100. Calculate 3D information about. As shown in FIG. 7, of the calculated points a, b, c, d, and e, the points b and c are located on the line segment BC that specifies the work area 50 in a plan view.

(Second Embodiment)
The differences between the work area setting system and the work object detection system of the second embodiment will be described with reference to FIGS. 8 to 13. Of the work area setting system and the work object detection system of the second embodiment, the common points with the first embodiment will be omitted.

In the example shown in FIG. 1, the height at which the work by the attachment 4 (specifically, excavation, for example) is performed is substantially the same as the height of the lower traveling body 2. On the other hand, as shown in FIG. 8, the height at which the work is performed may be lower than that of the lower traveling body 2. For example, the earth and sand mountain 100 may be in the earth and sand pit Pi, or may be surrounded by the wall W of the earth and sand pit Pi.

In the first embodiment, the work start point by the attachment 4 shown in FIG. 3, specifically, the excavation start point P5 is the work position determination unit 26 based on the three-dimensional information calculated by the calculation unit 28 shown in FIG. Was determined by. The position in the height direction of the start point of the work by the attachment 4 shown in FIG. 3 was also determined by the work position determination unit 26 based on the three-dimensional information calculated by the calculation unit 28 shown in FIG. On the other hand, in the present embodiment, the work initial height Z1 shown in FIG. 10 is determined by teaching. Specifically, the work object detection system includes a work initial height determination unit 240 (see FIG. 11) for determining the work initial height Z1 (described later).

(Setting)
In the work object detection system, teaching is performed as follows. Similar to the first embodiment, the operator of the hydraulic excavator 1 shown in FIG. 9 operates the hydraulic excavator 1 to teach points A and C (S201 and S202 shown in FIG. 12). As shown in FIG. 10, the heights of the points A and C may be above the upper end of the wall W, at the same height as the upper end of the wall W, or below the upper end of the wall W.

The initial work height Z1 is taught (S203 shown in FIG. 12). The work initial height Z1 is the height of the (initial) excavation start point P5 when the work (for example, excavation) on the work object by the attachment 4 is first performed after the work area 50 shown in FIG. 9 is set. Is. For example, the operator operates the attachment 4 and moves the tip of the attachment 4 to a height to be set as the work initial height Z1 (see FIG. 10). At this time, the position of the tip of the attachment 4 in a plan view may be any position. Then, when the operator presses, for example, the decision button of the mobile terminal 29, the position of the tip of the attachment 4 at this time is set as the work initial height Z1. Specifically, the work initial height determination unit 240 shown in FIG. 11 sets the height of the portion where the tip of the attachment 4 shown in FIG. 10 is placed as the work initial height Z1. In this way, since the initial work height Z1 is determined by teaching, the initial work height Z1 is determined by the actual operation by the operator when setting the initial work height Z1. Therefore, the worker can grasp the work initial height Z1. Further, since the initial work height Z1 is determined by teaching, for example, even when it is difficult to detect the earth and sand mountain 100 with the three-dimensional measuring device 9 (see FIG. 11), the initial work height Z1 is surely determined. be able to.

One cycle depth Z2 may be set in the controller 8 (see FIG. 11) (eg, arithmetic unit 28) (S204 shown in FIG. 12). The one-cycle depth Z2 is the work depth when the attachment 4 works for one cycle, specifically, the excavation depth in the bucket 12. The controller 8 may receive, for example, a value (numerical value) of the 1-cycle depth Z2 input to the mobile terminal 29 (see FIG. 11), and set the received value as the 1-cycle depth Z2 (final depth). The same applies to Z3). The controller 8 may calculate the one-cycle depth Z2 based on the information about the bucket 12 (for example, capacity, shape, etc.). The 1-cycle depth Z2 may be a fixed value preset in the controller 8 (the same applies to the final depth Z3).

The final depth Z3 may be set in the controller 8 (see FIG. 11) (S205 shown in FIG. 12). The final depth Z3 is the depth at which the attachment 4 completes a series of operations (for example, excavation operations that are repeated a plurality of times). When the attachment 4 finishes the work at the final depth Z3, the work at the earth and sand mountain 100 is completed. The final depth Z3 is the depth from a predetermined position (for example, point A).

(Determination of excavation start point P5 by work position determination unit 26)
The work position determination unit 26 (see FIG. 11) is the excavation start point P5 (initial position of the excavation start point P5) when the work at the attachment 4 is first performed after the work area 50 shown in FIG. 9 is set. To determine. At this time, the work position determination unit 26 shown in FIG. 11 receives the work initial height Z1 (see FIG. 10) determined by the work initial height determination unit 240, and sets the work initial height Z1 shown in FIG. It is determined as the height of the initial position of the excavation start point P5 (S210 shown in FIG. 13).

(Work at the initial work height Z1)
Next, the controller 8 (see FIG. 11) causes the attachment 4 to perform work (for example, excavation) at the height of the work initial height Z1. At this time, the attachment 4 excavates only one cycle depth Z2 from the work initial height Z1.

(Work at a position deeper than the initial work height Z1)
When the work at the work initial height Z1 is completed, the controller 8 performs the work at the position deeper than the work initial height Z1 by one cycle depth Z2 (work at "Z1-Z2") attachment 4. Let me do it. For example, the work at the height of "Z1-Z2" may be performed after the work at the height of the initial work height Z1 is completed for the entire earth and sand mountain 100 (see FIG. 9) in a plan view. .. After the work at the height of the initial work height Z1 is completed in a part of the earth and sand mountain 100 in the plan view, the work at the height of "Z1-Z2" may be performed. Similarly, the controller 8 (see FIG. 11) causes the attachment 4 to gradually work at a deeper position, specifically, work at a deeper position by one cycle depth Z2, and work up to the final depth Z3. To do. The controller 8 does not allow the attachment 4 to work at a position deeper than the final depth Z3.

(Correction of initial work height Z1)
As described above, the work initial height Z1 is set by teaching. Then, when the earth and sand mountain 100 has no undulations or few undulations, the attachment 4 can appropriately perform the work at the work initial height Z1. On the other hand, it is assumed that the earth and sand mountain 100 exists at a position higher than the initial work height Z1 (see the protruding portion 100a in FIG. 10). In this case, when the attachment 4 tries to perform the work at the work initial height Z1 at the excavation start point P5, the attachment 4 comes into contact with the protruding portion 100a before reaching the excavation start point P5, and at the excavation start point P5. It is assumed that the work at the initial work height Z1 cannot be performed properly.

Therefore, the work position determination unit 26 (see FIG. 11) sets the height of the excavation start point P5 as the work initial height Z1 or the height corrected for the work initial height Z1 (the corrected work initial height). Z1a) is determined based on the three-dimensional information calculated by the calculation unit 28 (see FIG. 11). The details of this process are as follows. The work position determination unit 26 compares the three-dimensional information calculated by the calculation unit 28 (see FIG. 11) with the work initial height Z1 (S211 shown in FIG. 13). For example, the work position determining unit 26 compares the height of the earth and sand mountain 100 at the excavation start point P5 and its peripheral portion with the height in the three-dimensional information and the work initial height Z1. For example, the work position determining unit 26 may compare the height of the apex of the earth and sand mountain 100 (for example, the height of the apex of the protruding portion 100a) in the three-dimensional information with the work initial height Z1.

The work position determination unit 26 (see FIG. 11) determines whether or not the work can be performed at the work initial height Z1 at the excavation start point P5 (S212 shown in FIG. 13). For example, when the height of the earth and sand mountain 100 at the excavation start point P5 is a height equal to or less than the work initial height Z1, the work can be performed at the work initial height Z1 at the excavation start point P5. When the work can be performed at the work initial height Z1 at the excavation start point P5 (NO in S212 shown in FIG. 13), the work position determination unit 26 sets the work initial height Z1 at the excavation start point P5. Set as height. Then, the controller 8 causes the attachment 4 to perform the work at the work initial height Z1 at the excavation start point P5 (S213 shown in FIG. 13).

On the other hand, for example, when the height of the earth and sand mountain 100 at the excavation start point P5 is higher than the work initial height Z1, the work at the work initial height Z1 cannot be performed at the excavation start point P5. When the work at the work initial height Z1 cannot be performed at the excavation start point P5 (YES in S212 shown in FIG. 13), the work position determination unit 26 (see FIG. 11) performs the following processing. In this case, the work position determination unit 26 corrects the height of the excavation start point P5 based on the three-dimensional information of the earth and sand mountain 100 (S214 shown in FIG. 13). Specifically, the work position determination unit 26 corrects the work initial height Z1 based on the three-dimensional information calculated by the calculation unit 28 (see FIG. 11). Initial height Z1a "). Then, the work position determination unit 26 sets the corrected work initial height Z1a as the height of the excavation start point P5. At this time, the work position determination unit 26 sets, for example, a height equal to or higher than the height of the earth and sand mountain 100 at the excavation start point P5 in the three-dimensional information as the corrected work initial height Z1a. For example, the work position determining unit 26 may set the height of the earth and sand mountain 100 at the excavation start point P5 in the three-dimensional information as the corrected initial work height Z1a. For example, the work position determination unit 26 may set the height of the apex of the earth and sand mountain 100 in the three-dimensional information as the corrected work initial height Z1a. Then, the controller 8 (see FIG. 11) causes the attachment 4 to start the work from the corrected work initial height Z1a (S215 shown in FIG. 13). Therefore, the attachment 4 can properly perform the work.

The above embodiment can be changed as follows. For example, the components of different embodiments may be combined. For example, the arrangement and shape of each component may be changed. For example, the connection between the components shown in FIGS. 4 and 11 may be changed. For example, the order of the steps in the flowcharts shown in FIGS. 5, 12, and 13 may be changed, and some of the steps may not be performed. For example, the number of components may be changed and some of the components may not be provided. For example, fixing or connecting components may be direct or indirect. For example, what has been described as a plurality of members or parts different from each other may be regarded as one member or part. For example, what has been described as one member or part may be provided separately in a plurality of different members or parts.

As the attachment at the tip, a device for sandwiching an object (for example, a grapple) may be used instead of the bucket 12, or a device for crushing or excavating (such as a breaker) may be used. A grapple is an attachment that grabs scrap, wood, etc. by closing two or three curved claws that face each other.

The work object may be a crushed stone pile, a scrap pile, a rubber pile, or the like, instead of the earth and sand pile 100.

The work area 50 does not have to be rectangular in a plan view, and may be, for example, circular, elliptical, or polygonal.

In the above embodiment, the place where the tip of the attachment 4 (the tip of the claw of the bucket 12) is placed is set as a point for specifying the boundary with the outside of the work area 50. Instead of this, the drawing data of the work place may be used, and a predetermined place in the drawing data may be used as a point for the area setting unit 24 to specify the boundary of the work area 50 with the outside of the area. In this case, the drawing data is stored in, for example, the area setting unit 24.

At least a part of each component (for example, area setting unit 24, calculation unit 28, etc.) of the controller 8 constituting the work area setting system and the work object detection system may not be mounted on the hydraulic excavator 1. That is, at least a part of each component of the work area setting system and the work object detection system may be provided outside the hydraulic excavator 1.

The embodiment of the present invention has been described above. Of course, it is possible to make various changes within the range that can be assumed by those skilled in the art.

1: Hydraulic excavator (working machine)
4: Attachment 9: Three-dimensional measuring device 24: Area setting unit 26: Work position determination unit 30: Position determination unit via the attachment tip 50: Work area 100: Sediment mountain (work object)
240: Work initial height determination unit P1: Lifting turn start point (via point)
P4: Return turn end point (via point)
P5: Excavation start point (work start position)
Z1: Initial work height Z1a: Work start height after correction

Claims (11)

A work area setting system including an area setting unit for setting a work area in a predetermined range in which work objects to be worked by a work machine are piled up. In the work area setting system according to claim 1,
The area setting unit sets a point where the tip of the attachment of the work machine is placed as a point for specifying a boundary between the work area and the outside of the area.
Work area setting system. In the work area setting system according to claim 2,
The work area is rectangular in plan view,
Work area setting system. In the work area setting system according to claim 3,
The remaining two points are determined from the first point on the side closer to the work machine and the second point on the side farther from the work machine from the two places where the tip is placed.
Work area setting system. In the work area setting system according to any one of claims 1 to 4.
Via the attachment tip that determines the waypoint through which the tip of the attachment of the work machine moves from outside the area of the work area to inside the area and / or from inside the area of the work area to outside the area. Further equipped with a positioning unit,
Work area setting system. In the work area setting system according to claim 5,
The attachment tip via position determining unit determines the transit point on the boundary with the outside of the work area in a plan view.
Work area setting system. In the work area setting system according to any one of claims 1 to 6.
After the work area is set, the work initial height determination unit that determines the work initial height, which is the height of the work start position when the work on the work object by the attachment of the work machine is first performed, is provided. Prepare,
The work initial height determination unit sets the height of the place where the tip of the attachment is placed as the work initial height.
Work area setting system. The work area setting system according to any one of claims 1 to 7.
A three-dimensional measuring device that acquires data on the work object and its surroundings,
A calculation unit that calculates three-dimensional information about the position, range, and shape of the work object existing in the work area from the measurement data acquired by the three-dimensional measurement device.
A work object detection system. In the work object detection system according to claim 8,
When the work object extends over the work area and the outside of the work area, the calculation unit calculates the three-dimensional information of the portion existing only in the work area of the work area. do,
Work object detection system. In the work object detection system according to claim 8 or 9.
A work position determination unit for determining a work start position in the work object is further provided based on the three-dimensional information calculated by the calculation unit.
Work object detection system. In the work object detection system according to claim 10,
After the work area is set, the work initial height determination unit that determines the work initial height, which is the height of the work start position when the work on the work object by the attachment of the work machine is first performed. Equipped with
The work initial height determination unit sets the height of the place where the tip of the attachment is placed as the work initial height.
The work position determination unit determines whether the height of the work start position is the work initial height or the height corrected by the work initial height based on the three-dimensional information calculated by the calculation unit. Determine based on
Work object detection system.

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